全球FlexSim系统仿真中文论坛

标题: 2018.2.0版中AGV如何乘升降机？ [打印本页]
作者: Pureua    时间: 2018-11-4 16:20
标题: 2018.2.0版中AGV如何乘升降机？
请教一下，2018.2.0版中AGV模块，路径点逻辑里没有乘升降机的选项，该如何实现这个操作？
% ?7 r$ Z- }" h. M% k) d; u2 ~' i
作者: 慧娴亚伦    时间: 2018-11-4 19:12
办法1：从2016版本里面复制相应的代码+ O/ {# J! T0 Z  d( z4 d: L* u+ q& B

5 X' d/ |0 H4 G: l4 j/ m7 y具体代码如下：
* b' c' `: N( n7 Z! `
  1. treenode agv = param(1);, [. D1 S+ t0 E1 R4 X) P7 W: v
  2. treenode currentCP = param(2);
    + R6 ^5 \2 G! u5 S0 C: M& z6 k
  3. ( g' o* }8 W& m8 j1 W$ S- `
  4. { //************* PickOption Start *************\\" R" m- p3 ]  D$ Z' ^5 Y% r( I
  5. /***popup:AGV_DivertToElevator*/2 W( U- A% r# j' y: f
  6. /***tag:Description*//**Divert to Elevator*/
    + t5 h1 R4 Q+ B: I% G) u& e0 Z  Z
  7. " G7 X6 S, P+ K) _; }
  8. int operation = param(3);
    : P! T! o8 {1 X! ?; H+ g* M  t
  9. 7 Q$ ~$ Y- J3 R
  10. #define AGV_LABEL_NAME "fs_AGV_Elev_State"* e  K( H+ v( {
  11. if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME))
    . q2 _, R0 h" T( Q: ?7 y8 r
  12.                 && (/** \nCondition: *//***tag:Condition*//**/fabs(zloc(currentCP) - zloc(agvinfo(agv, AGV_DEST_CP))) > zsize(agv)/**/)) { // if it's a pointer, then do the initial case0 O9 O+ Z" T( @0 }% o
  13.         // initial trigger execution
    4 {* z& b/ a9 v6 F6 u
  14.         #define ON_ELEVATOR_START 14 m/ ]+ }& m. b7 w2 p8 d0 @
  15.         #define ON_ELEVATOR_PICKUP_ARRIVAL 22 ^  s- e* @3 F, ^, e8 q( u6 [0 ^
  16.         #define ON_ELEVATOR_DROPOFF_ARRIVAL 3& b) t9 ^+ V" K- i8 Q4 f2 O- c
  17.         #define ON_AGV_AT_CP 4
    0 u% p9 {7 t' Y' T
  18.         #define ON_BOTH_AT_PICKUP 5$ X; J. A# q  y# Q7 {8 I
  19.         #define ON_OPEN_DOOR 6
    3 R  |) V: Z$ I1 C
  20.         #define ON_CLOSE_DOOR 7
    1 |0 Z& y( W; q% J. U/ O2 v0 N, G9 I
  21.         #define ON_PICKUP_DOOR_OPENED 83 y/ T, ?% U, y1 \
  22.         #define ON_PICKUP_DOOR_CLOSED 99 @, `' o; u, r- |# T9 E
  23.         #define ON_DROPOFF_DOOR_OPENED 10: g: E) H- S8 [4 V4 u
  24.         #define ON_DROPOFF_DOOR_CLOSED 11. A6 D" X  c2 w" R
  25.        
    2 i% f- C  Z: ]1 X
  26.         #define AGV_STATE_START 04 f3 ]/ l' ]4 t/ ^
  27.         #define AGV_STATE_AT_ENTRY_CP 1% O0 h9 s' R5 C6 d: q2 ~4 d; e
  28.         #define AGV_STATE_AT_ELEV_CP 2# {$ ^- M( J8 k% r9 S
  29.         #define AGV_STATE_AT_EXIT_CP 3
    / |: E6 u% n7 ^
  30.        
    / K" I  z- C* m/ G- J
  31.         #define ELEV_STATE_NONE 0
    1 w5 h. U5 m6 u, x3 @3 M) B/ N
  32.         #define ELEV_STATE_AT_PICKUP_FLOOR 17 S7 ^* T6 ~& E5 K5 b1 O4 A
  33.         #define ELEV_STATE_OPENING_DOOR 2
    ( \9 k& B* x' p  R
  34.         #define ELEV_STATE_DOOR_OPENED 35 l+ Y, Y* e3 z* ^0 w

  35. / [- k- a3 C) Q

  36. 0 m1 [) P8 u- z5 ]
  37.         treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;
    + }7 O2 @8 v" H5 R
  38.         #define elevator outobject(elevDisp, $iter(1))
    % f) W! d! ^& ?* ], J

  39. . w- X( U9 N2 E& `  k
  40.         if (!objectexists(elevDisp))
    1 y6 Y% ?. Q# B+ Y+ M  T
  41.                 return 0;
      \' S" a/ w! P8 m! I
  42. % A0 r9 H9 j1 F6 N
  43.         if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {
    # z$ y# d" x2 C2 Y& O/ j
  44.                 query(
    0 [( m7 d5 F2 \% u, U9 E
  45.                         /** \nFull Query: */
    - a: F: V4 Y" Q# O, u! p5 h
  46.                         /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/," o( p1 m& ?0 H
  47.                         nrop(elevDisp),( d5 M* {+ h& R! A5 N
  48.                         elevator
    , w  @4 Y2 F$ ~7 i
  49.                         /** \nWhere*/5 B1 C" B7 K4 |# N. ~: `* Q5 O3 q
  50.                         /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/! b% w- R( p1 k, T& N2 O
  51.                         /***/
    6 O& c5 r0 G1 w1 r0 C
  52.                         /** \nOrderBy*/9 ^% a! `2 a3 {. W7 L' L
  53.                         /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*/" T8 }1 j+ B  V
  54.                         /***/);% T9 h7 ]2 \* l
  55. " l% p+ L' L1 ~: M1 v7 Y" _3 G
  56.                 if (getquerymatchcount() > 0)9 @4 H- C; \1 W
  57.                         elevDisp = getqueryvalue(1, 1);1 @2 N2 q% f0 l6 B. y# w8 k0 y
  58.         }, ]1 F1 v, `7 P1 B! X: C1 M- ^6 L
  59.         if (!objectexists(elevDisp))
    , C* R) V/ E+ d) G! P% q4 x
  60.                 return 0;
    ; O. A* n; b0 R1 V9 P* K
  61.         treenode destCP = agvinfo(agv, AGV_DEST_CP);4 @1 R) @( \" ?: C5 ^; k" F

  62. ! U3 n- A/ g: F$ z4 U
  63.         agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);! k/ ^1 |# r) e! ]8 f0 _

  64. + r& X, z* M; z+ l; Q
  65.         // Create the task sequence for the elevator
    3 c. ^8 m+ x9 H5 |4 N! P
  66.         double destZ = zloc(destCP);) J: H* v( C0 j% i7 K# W2 ]  ~+ v* `
  67.         treenode ts = createemptytasksequence(elevDisp, 0, 0);7 t* E6 N; x4 l- I  ^
  68.         inserttask(ts, TASKTYPE_TAG, agv, destCP);
    8 w1 \$ I) A* f5 ~1 K9 |0 R
  69.         // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START. w! o( a; ]% s+ ]; O, D, K
  70.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);
    4 N, e# H; n7 K3 w' v
  71.         // travel to the z location of the current control point7 N' f  x) ^7 b
  72.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));
    6 R5 k. F1 A$ Y. e. n
  73.         // then call ON_ELEVATOR_PICKUP_ARRIVAL
    3 e7 [2 ~3 L# ]+ b
  74.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);
    " w, s8 \. L, ^' r# U
  75.         // then wait for the agv to get on+ B# y3 d9 S) ~! z
  76.         inserttask(ts, TASKTYPE_UTILIZE, agv);2 G5 y5 p1 L, x- A
  77.         // then travel to the destination z location! N. C+ p+ V8 R: R" i
  78.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);0 H, D; w" w3 x. n4 ]4 I
  79.         // then call ON_ELEVATOR_DROPOFF_ARRIVAL
    ; h% n( }8 t1 U  r+ u* y6 z$ [* @
  80.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);
    $ b0 Y& B; A3 S. Z3 p4 T' ]
  81.         inserttask(ts, TASKTYPE_UTILIZE, agv);
    + j* G# o- U3 e
  82.         dispatchtasksequence(ts);  a9 E9 }6 d6 a, f
  83. } else switch (operation) {" ]) _+ f. F9 T' t; l2 b: [
  84.         case ON_ELEVATOR_START: {# |2 A; O# X% Y; f+ h. X9 e
  85.                 // this is fired when I get a valid elevator  ^- U* f& e! Q( p. |3 G3 f* N6 x# X. Z
  86.                 treenode elev = param(1);+ e: {+ M2 {9 h; n( j3 z5 ~
  87.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);6 o& v" z4 b( j) s* p) O- T' v& E' z
  88. - D- n3 P2 I" v! ^6 w" C& Y
  89.                 // find the closest floor control point4 t' X! N  C. s* ^- x' U
  90.                 int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);7 S% [: m0 u: g+ D
  91.                 treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon),
    ' v- N1 u. C6 @6 p
  92.                                                         fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),/ I0 x+ B" |6 B" l1 \
  93.                                                         cpconnection(elev, floorCPCon, count));3 S; f3 V9 R& m$ M. L
  94.                 // return if there is none
    ! d: I3 n4 V' e
  95.                 if (!objectexists(curFloorCP))
    4 y2 w5 k9 i* }
  96.                         return 0;7 L4 M  `, F! x
  97. & x* z0 v9 J5 ~: X1 o
  98.                 // get the entry control point# u/ g$ o% T6 x* G9 P
  99.                 treenode floorCP = curFloorCP;
    , o9 j# c8 g+ j4 U( b( d7 q% N
  100.                 treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;9 S" p' a, r( v/ T0 {" J. A) ^
  101.                 if (!objectexists(curFloorEntryCP))5 Y, ?8 F) g2 C
  102.                         return 0;# @# J% C9 z8 A9 W* A
  103.                 treenode floorEntryCP = curFloorEntryCP;
    4 }( P5 O8 A6 Y- T; z
  104.                 treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;+ J% ]% D, ?5 D+ F9 Q& ]& X
  105.                 if (!objectexists(curFloorElevCP))
    5 W/ Y" p$ W2 _9 G$ X: n+ s
  106.                         return 0;, Y0 o" u8 `: I1 x0 z" f
  107. 7 h. B3 Q7 _: K; ?- b
  108.                 double destZ = param(4);* u" l9 S, G0 o0 C
  109.                 // find the floor control point closest to the destination floor
    % {  u4 c# N2 y
  110.                 treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon), ; W$ F& o/ a8 e! o1 v  H8 B/ j
  111.                                                         fabs(destZ - zloc(cpconnection(elev, floorCPCon, count))),
    * r+ y* o! s$ ^1 k- Z
  112.                                                         cpconnection(elev, floorCPCon, count));% A; M2 p8 m% a8 J! @' y- D
  113.                                                         + _+ v6 }% v- B, U, o3 f
  114.                 floorCP = destFloorCP;
    - u9 F8 f9 c" `  r4 ^  {2 s
  115.                 treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;$ {( ~! G# m5 p1 S6 M6 C, D
  116.                 if (!objectexists(destFloorElevCP))
    $ g5 T8 `% Q8 v
  117.                         return 0;
    % U+ O6 T( E# s) K0 z8 X0 e/ T8 E
  118.                 // get the destination exit control point; f( M. `- G: M7 t6 G6 _
  119.                 treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;
      H, v# N6 {8 X6 w# @5 q  c
  120.                 if (!objectexists(destExitCP))/ S) D  i* P- \4 P/ ]) C
  121.                         return 0;
    + z; N, h( x( J
  122. ; f3 M% X( ~& C! s; k

  123. 7 V* Z, i3 t7 {& m
  124.                 // add a listener for the agv. This will call this nodefunction in the ON_AGV_AT_CP section whenever the 2 F0 X  I( c$ L/ i0 c$ @
  125.                 // agv arrives at a node. I keep a state on the agv's state label, and then increment it each time
    ( |( |+ A% F8 `1 i- |* F
  126.                 // the listener is called so I know which control point he's at, i.e. entry, elev, or exit.
    * D2 [2 d3 s* Y: f; H  Y( h8 `
  127.                 agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,
    4 t  d9 a, O& _$ ~' q+ s3 W+ I
  128.                         agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);
    ( }# Y/ x, w2 Y7 q9 o6 S1 p5 `* s
  129.                 ) n* E" C$ t( \8 n9 {$ `$ H
  130.                 // set the data on the state label
    ! ^- @+ ]8 h0 R, w
  131.                 treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);
    ) r7 t) F) E9 Q+ g% v1 s: q
  132.                 switch_destroyonreset(stateLabel, 1);
    + Y% O) j) m9 r
  133.                 set(stateLabel, AGV_STATE_START);9 n  d; ?: ?# L' A) e, ^/ S
  134.                 set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);" K6 d7 H( g6 O: _6 I
  135.                 nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);1 ^9 a; b; i6 H* g3 e1 H$ s4 U* o
  136.                 nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);
    2 I* ?. Z) K7 z& G# \
  137.                 nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);
    : K$ ?& [+ u1 M! p8 G1 P* |7 F$ R3 g
  138.                 agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);  V$ P# H3 p* K0 G0 s# a# k
  139.                 return 0;
    1 x1 o% f. z2 F- S
  140.         }
      l" m' d+ q1 X( g
  141.         case ON_AGV_AT_CP: {. }' g* ~) ]3 }! p
  142.                 // this is fired by the agv listener every time the agv arrives at a node.
    + r% O0 }7 q. h' `$ a& o
  143.                 treenode agv = param(1);
    ! H9 _- g; P  \) v
  144.                 treenode elev = param(2);( H  I& V$ Q2 \+ C6 j/ H
  145.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
    3 C# `6 o- K' h* L$ W+ |( Y' O
  146.                 // I increment the state label, and then switch on it5 h  {2 K( ^) v3 ~" v
  147.                 inc(stateLabel, 1);
      k! V. t3 [$ Z- E
  148.                 switch (get(stateLabel)) {
    % M& i& M8 k$ l7 ^4 O
  149.                         case AGV_STATE_AT_ENTRY_CP: {
    " V. P  i2 J$ k# ^
  150.                                 // the agv just arrived at the entry cp& C3 J- F6 F4 C6 T2 f; f
  151.                                 // so, figure out where the elevator is.
    1 v4 c! ?, |, A
  152.                                 int elevState = get(node("ElevState", stateLabel));
    $ s. K& T1 d" i
  153.                                 // if he's at the pickup floor with his door closed then open the door.
    * @8 t/ O) Q' q
  154.                                 if (elevState == ELEV_STATE_AT_PICKUP_FLOOR)5 h0 e2 t/ f$ I; D
  155.                                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);% i9 w  ~5 x4 S3 F: @& g
  156.                                 else if (elevState == ELEV_STATE_DOOR_OPENED) {
    ( ~- k1 p# ]% b- r0 e& c. E
  157.                                         // if his door is alread opened, then move the agv onto the elevator, i.e. to
    & ]$ q! g% ^- _+ E" m3 p3 s" T
  158.                                         // the elevator cp" b! h4 T& ^+ n# l8 `- x) `+ x
  159.                                         treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
    2 \, Z- v2 p9 G7 ]3 m+ Z/ N
  160.                                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);6 `8 q( L' M7 M
  161.                                 }9 g( ?' W6 j- i, t& ?) U9 _
  162.                                 break;% ~- l: B, O/ u0 z; e& z4 o3 K
  163.                         }
    , W3 l9 I& G. K8 B. J' r* g2 X
  164.                         case AGV_STATE_AT_ELEV_CP: {
    ' U$ W, g! _( A7 l0 h
  165.                                 // once the agv is at the elevator cp, close the door
      _" b5 X' L9 J' \- o2 T& X6 D7 N
  166.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);
    5 f: j" }( _2 B' G
  167.                                 break;0 _/ c" ]" s; q/ K
  168.                         }
      O$ V5 a! ]0 e' I( a
  169.                         case AGV_STATE_AT_EXIT_CP: {2 d) d& ~! ?/ c% i4 W
  170.                                 // the agv is at the exit cp% A" ~' a2 ~; S& I' K6 i: i
  171.                                 // destroy the listener node because I'm finished listening1 K: e3 q! D6 o# S: ~3 E. Q5 B5 e
  172.                                 treenode listenerNode = param(4);6 V  F1 p  E! {8 v: F
  173.                                 destroyobject(listenerNode);
      d6 R( {) H( u1 b/ N
  174.                                 int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;( V: Z: W) j- i) Q9 K& C+ H0 v
  175.                                 if (!agvWait) {5 j5 Q) h3 T/ @: O
  176.                                         // if the agv is supposed to continue on, then tell him to go to his final destination
    2 Q7 K! \, w: ^6 Y7 P* N9 M
  177.                                         treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);6 Z& O4 A# F# L
  178.                                         agvredirect(agv, destCP, REDIRECT_AS_FINAL);, l. V) c( g6 G3 u* h8 `5 h
  179.                                 }
      q" l" I+ W: I; Q
  180.                                 // close the door. C' x0 Y2 c: t: b: h& ~
  181.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);5 C& k3 q1 X4 L' a
  182.                                 // and I'm finished with the state label so I can destroy it.: q% Y* ^5 u0 C) v* ?
  183.                                 destroyobject(stateLabel);8 j1 ?% \& ?+ l2 M. x8 W* e
  184.                                 break;
    ( ], ~- P1 h. Y6 m2 J9 {
  185.                         }! K' I! L+ H% L! |% w* ?# C
  186.                 }. p  V/ M1 u- j, X
  187.                 return 0;
    5 r  P$ e4 ~  p) \7 j' H
  188.         }, a, Z+ y2 Y! w
  189.         case ON_ELEVATOR_PICKUP_ARRIVAL: {3 Y" e- i& Q5 [4 l
  190.                 // the elevator has arrived at the pick floor
    7 V* f' ~2 k6 N) [7 z5 T7 O
  191.                 treenode elev = param(1);
    / J: E, `& q( P( l) S  |, J
  192.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);" O+ f/ X3 ], D
  193.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);+ L' z. Z% x! a  }) J+ M
  194.                 treenode elevState = node("ElevState", stateLabel);
    # Y# G. g* b: I; y0 F* W9 H
  195.                 // set the elevator state to at-pickup-floor1 K5 v. a6 Y1 z# R! i
  196.                 set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);
    9 `4 l  T2 b: U+ Z$ _" z
  197.        
    ! I6 k3 A' T* K  p
  198.                 int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;$ t* [; t: X- N( U# y$ P: y# @" _
  199.                   j, _1 v# `! e: f$ `8 k
  200.                 // if the agv is at the entry control point or I open the door immediately, then open it
    " W+ P% L( q+ t5 }, K
  201.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {( K' E' O6 U6 A- u
  202.                         set(elevState, ELEV_STATE_OPENING_DOOR);
      W4 y* w, [) W3 r3 L; B
  203.                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);( h9 b! Y* B+ a) G( G, A6 E7 V) B
  204.                 }1 a+ S0 E5 S" E) g$ Q. V, \5 j
  205.                 return 0;
    + k3 A) U6 }) F% T/ U. z8 l5 G' A
  206.         }
    " b" L4 i0 A+ ~5 I9 f/ m. s  A
  207.         case ON_OPEN_DOOR: {
    $ a+ w# n7 \9 v- V: A6 L, |) V
  208.                 treenode agv = param(1);- u+ V% M1 `+ ]/ q5 Y
  209.                 treenode elev = param(2);* Y& ~" a  G0 b! K: T' s
  210.                 int nextStep = param(4);5 v/ n; }2 o0 [$ E; ]+ V
  211.                 // open the door based on the time to open the door
    " L3 {( m; t& A* y& k4 i
  212.                 double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;8 s3 I7 F- j) V; c
  213.                 delayednodefunction(c, openDoorTime, elev, agv, nextStep);: I( u  r2 \8 ]; V2 q1 j" P
  214.                 return 0;1 v) H& b! T9 _$ W. ~1 I/ h
  215.         }1 U+ P' w' q& h( B. E
  216.         case ON_CLOSE_DOOR: {7 d: K* Z  d, H2 ~! W, a  h3 ~, Z& q% ^
  217.                 treenode agv = param(1);+ ^9 G" n! W0 `% y) X
  218.                 treenode elev = param(2);
    5 \2 b( l! p2 l0 A+ Z! v
  219.                 int nextStep = param(4);
    $ Y1 D8 W8 \/ b) Z
  220.                 // close the door base on the time to close the door  u6 _. J0 h0 ^5 W: X5 q% }& o1 Q3 A; c
  221.                 double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;/ U* V0 l' g5 Q9 |  ~1 R/ K6 h
  222.                 delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));7 s! V, ~+ S; L5 Y; ~
  223.                 return 0;% s$ k' G" e* X& O
  224.         }
    ! @  [1 ~# f2 M3 W2 Q
  225.         case ON_PICKUP_DOOR_OPENED: {
    & i* t. l7 \& |5 a" [. h- {! r
  226.                 // the elevator door has been opened on the pickup floor
    ! B  Z  H' G5 v# |! \5 K3 h
  227.                 treenode elev = param(1);9 [4 }' v9 I! Q) g3 X) k
  228.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);" T0 j- {' X# T  J$ q
  229.                 treenode entryCP = cp(agv);
    8 X' Z' V  w" Q4 R7 H* Z" z2 i) |
  230.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);1 Q2 Y6 P3 T% p! A% m- \% Z9 Z
  231.                 treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));0 U) w4 y1 ]- a9 M* @. G
  232.                 treenode elevState = node("ElevState", stateLabel);
    0 I' _4 S5 w5 Y/ C' d1 C3 x" K/ C
  233.                 // set the elevator state
    ! p0 X# e$ s: v  G
  234.                 set(elevState, ELEV_STATE_DOOR_OPENED);& a3 K! s+ ]- A8 U# Y
  235.                 // if the agv is at the entry control point, move him to the elevator control point
    / K' Q, ?- U! ]6 h) P* p
  236.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP)! u7 y  ?- x' O8 ^# g
  237.                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);. ~5 ^. Z# a/ M% f; @
  238.                 return 0;5 q5 h5 B& i8 x* R
  239.         }
    0 |# S- V/ L: a; G! |
  240.         case ON_PICKUP_DOOR_CLOSED: {3 P! R/ a4 U; O* c  ~5 v
  241.                 treenode elev = param(1);  `6 x) J4 a' X) A
  242.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);, _1 B( H3 ~3 b; t) h
  243.                 // assign the agv to "no control point"8 }0 t$ q) h- B7 K, {9 X
  244.                 agvreassigncp(agv, 0);
    / K& a  N: l: I) q# u4 n& L
  245.                 // move the agv into the elevator
    0 S" E' d2 L% u9 W/ O6 R0 L+ O2 t
  246.                 moveobject(agv, elev);0 W6 W. O2 H' l% O. l  R9 I4 {1 s
  247.                 setrot(agv, 0, 0, 0);( U0 h  K. t1 B0 R8 [
  248.                 // release the elevator to continue to the destination floor
    . i( ]" U' b/ W6 W+ I: A
  249.                 freeoperators(elev, agv);
    4 ~! ]" }$ w! c3 _3 k1 P
  250.                 return 0;
    $ \1 _; H' }! U/ G
  251.         }$ J( ~! o6 }8 Q; `+ E/ |8 Y4 E, h
  252.         case ON_ELEVATOR_DROPOFF_ARRIVAL: {
    9 q) f8 ]0 c/ M9 ?
  253.                 treenode elev = param(1);* ?0 Y! D& R7 L6 n4 }
  254.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);: ?9 C, ]% v, W
  255.                 // when the elevator arrives at the destination floor
    3 o( p) U( k( S. H5 w. K3 F7 a7 v
  256.                 // move the agv back into the model* I' a0 L$ u/ i: }  b/ [/ m. d! ~
  257.                 moveobject(agv, model());: M% }+ ~' N& h% u
  258.                 // reassign it to the destination floor control point
    / X7 W- p( v; u# ^
  259.                 agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));4 ]8 ^0 T. s4 m2 N6 l  p; p
  260.                 // open the elevator door
    + r" h3 q' Q3 L+ C
  261.                 nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);
    $ v  z. C) j4 ]0 _& f1 R  a
  262.                 return 0;/ A. E9 z0 E9 p: }
  263.         }6 ]4 x9 l4 q1 z9 G9 K$ Q  B
  264.         case ON_DROPOFF_DOOR_OPENED: {
    0 ^6 F! U7 c  ?
  265.                 treenode elev = param(1);# Y/ s* i% z" x. X0 g
  266.                 treenode agv = param(2);2 Q, X/ }1 x$ h  Z
  267.                 treenode agvLabel = label(agv, AGV_LABEL_NAME);
    6 C5 S6 U5 I, X/ j
  268.                 // once the elevator door is opened on the destination floor,
    3 h. \' v9 c9 H
  269.                 // redirect the agv to the exit control point
      B* F3 ?: K2 r" o
  270.                 agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);& v* W5 s; P( |) [9 S. |
  271.                 return 0;
    6 ]6 K8 i2 p4 p1 D
  272.         }$ C% X/ I" n0 X% F4 b- Y( Q8 x
  273.         case ON_DROPOFF_DOOR_CLOSED: {) A7 K% F1 w4 g5 A( p  m. ]# b
  274.                 treenode elev = param(1);  P$ B' y/ w4 s9 \4 h
  275.                 treenode agv = param(2);. O$ u1 \2 C" q9 Y8 Y9 b6 Z
  276.                 int isAGVWaiting = param(4);
    . _, [9 Q; K, u1 a8 B3 D+ U
  277.                 // once the door is closed at the destination floor,* B2 h1 \6 l, n! ^
  278.                 // if the agv is waiting, then send him to the final destination  I# W# k! l7 p8 t& j
  279.                 if (isAGVWaiting). f" G+ \$ R! z; K2 M9 D- Z1 S' a; o
  280.                         agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);
    , w6 q4 u' l, v2 D; n: t4 a' Q& ~
  281.                 // release the elevator to finish his task sequence
    5 j4 ?$ d7 B5 ]9 c1 ]  i
  282.                 freeoperators(elev, agv);% k4 _  |  {0 q8 D. ^6 F$ K1 A3 t
  283.                 return 0;
    : y0 r4 ?! O* ~
  284.         }: [( ~' {3 H7 {& y
  285. }5 ]' o4 P  H  _7 e
  286. } //******* PickOption End *******\\
    " I8 k' a( `; Q' k  s: B; w% ~
  287. ) o' F$ o2 c8 W# s8 o& h! d
复制代码
( ~& y- ]+ j6 B' G

- n2 [! ~" W! X( p( u3 X8 w/ k3 G" G+ I. c0 l1 @4 B# \( u5 W
办法2：使用工艺流程模块完成
作者: Pureua    时间: 2018-11-5 09:25
慧娴亚伦 发表于 2018-11-4 19:12
: E& O1 n- V* T! ?3 u办法1：从2016版本里面复制相应的代码# }; |0 M: c  u
5 K7 T/ h% D! \. t' n/ n
具体代码如下：
+ i8 y3 _6 L( B& c2 H- O
好的，非常感谢陈老师的解答~



欢迎光临 全球FlexSim系统仿真中文论坛 (http://www.flexsimasia.com/) Powered by Discuz! X3.3