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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？& R1 t/ |2 L. n
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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4 S. h' H1 N& {
- [, @* P$ \" w& p" \2 l
具体代码如下：
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  1. treenode agv = param(1);- b' C$ f! F% x0 _
  2. treenode currentCP = param(2);: h$ v( W, S9 M9 K9 G

  3. , u% S% J' W1 j! y) ~
  4. { //************* PickOption Start *************\\( B' a# l# @8 b% h0 {: k# L
  5. /***popup:AGV_DivertToElevator*/
    : {1 k# E. ?6 o0 B
  6. /***tag:Description*//**Divert to Elevator*/
    0 ~* {9 X, |& ]; y
  7. $ J  ?5 S( o9 G7 v  k- G( n1 T
  8. int operation = param(3);
    * \& M6 b/ \) p& i$ h

  9. + _4 |) e, a2 Z+ F8 ^+ \5 u
  10. #define AGV_LABEL_NAME "fs_AGV_Elev_State"
    + V8 b1 e+ U+ J' D3 c
  11. if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME))
    . x/ [+ v3 N' f5 [2 M5 n3 Q' T
  12.                 && (/** \nCondition: *//***tag:Condition*//**/fabs(zloc(currentCP) - zloc(agvinfo(agv, AGV_DEST_CP))) > zsize(agv)/**/)) { // if it's a pointer, then do the initial case9 U' W- g7 l6 _7 ]" z# B$ r1 b
  13.         // initial trigger execution
    ; y+ N" x1 Z" ^- j
  14.         #define ON_ELEVATOR_START 19 k( i9 u1 A8 ^1 O* o6 ?/ T/ M
  15.         #define ON_ELEVATOR_PICKUP_ARRIVAL 23 t: E0 N3 K, _# f0 L& T
  16.         #define ON_ELEVATOR_DROPOFF_ARRIVAL 3( n# m+ T5 i5 ]
  17.         #define ON_AGV_AT_CP 4/ Q9 T1 K1 h' v# n
  18.         #define ON_BOTH_AT_PICKUP 5! T! M% s4 J5 i4 A$ m3 e
  19.         #define ON_OPEN_DOOR 69 ]4 I- S& i3 V9 Z/ q$ l
  20.         #define ON_CLOSE_DOOR 7  c  O+ u. ~8 X- f1 K/ {/ b! f
  21.         #define ON_PICKUP_DOOR_OPENED 8
    , s( H* I: A* R6 f
  22.         #define ON_PICKUP_DOOR_CLOSED 9
    9 r( |& u" J- \$ c
  23.         #define ON_DROPOFF_DOOR_OPENED 10
    6 K/ h6 @9 }) g5 k7 u/ m& E
  24.         #define ON_DROPOFF_DOOR_CLOSED 11
    ' @+ n. A7 [4 q, Y. x
  25.         1 `: O6 n, ]6 V8 a3 ?
  26.         #define AGV_STATE_START 0
    ! x$ N0 N6 @3 e+ W
  27.         #define AGV_STATE_AT_ENTRY_CP 13 T7 d% h" E( B. A6 }! E0 F# i2 G: o2 u9 `
  28.         #define AGV_STATE_AT_ELEV_CP 2' J" n5 e6 `& ]1 c, N
  29.         #define AGV_STATE_AT_EXIT_CP 3
    - c  V, D, u7 O# M
  30.         0 F3 h) k) J/ r# w
  31.         #define ELEV_STATE_NONE 0
    , i2 D* N0 ~  h+ g; o3 P5 ^# N
  32.         #define ELEV_STATE_AT_PICKUP_FLOOR 1$ M, w; P% y2 O0 T8 a6 e" s
  33.         #define ELEV_STATE_OPENING_DOOR 20 m# @& d, _; U4 S6 G
  34.         #define ELEV_STATE_DOOR_OPENED 3
    1 |% g2 \! D) n1 M4 a5 O
  35. 2 ], D" V, S* x  T

  36. ! X" z! F" I$ Q4 {
  37.         treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;& V, B) S- q! D1 W1 d2 j( h  V; t5 ~
  38.         #define elevator outobject(elevDisp, $iter(1))
      }7 m0 T; n# q, \  ~* w

  39. : r) P3 ^  L3 v2 K
  40.         if (!objectexists(elevDisp))
    % }8 P/ J# l% |! V+ J, g
  41.                 return 0;
    3 e4 e( t: X* Y  U

  42. ( }& K( ^& q$ d& L$ }  h: A! F- `
  43.         if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {
    3 X; ?. b8 P. W' M7 e- \
  44.                 query(
      p3 H- V5 a, R# q) w( N
  45.                         /** \nFull Query: */5 Y& Z! y+ D" O6 e( Q
  46.                         /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,: d0 r' @% D: M- B' z
  47.                         nrop(elevDisp),2 [  m6 y$ D" c' Q& l& N6 n
  48.                         elevator3 C7 L! R. a) E* |7 B
  49.                         /** \nWhere*/  x; a! M" H: L& C
  50.                         /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/% }# S+ g. u/ I* N# }( R; Q
  51.                         /***/+ J# H+ a3 A9 j4 ?1 d$ r+ `5 x" A
  52.                         /** \nOrderBy*/! S' {! U- ?4 v& @7 \: U9 B
  53.                         /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*/& ]) m# d( l$ a1 Q" z% B% I* J1 g
  54.                         /***/);# A  m7 Q* Q1 {+ d7 R

  55. 8 r6 z% B4 X( `( p# F
  56.                 if (getquerymatchcount() > 0)
    " C% o" E9 L1 A
  57.                         elevDisp = getqueryvalue(1, 1);6 W$ J) g( \4 X3 H& S  V/ Q
  58.         }# o! h4 \- [  n9 P# q
  59.         if (!objectexists(elevDisp)). h9 a% Y, \. F
  60.                 return 0;% H0 G) h: s" W( {* |* a2 w: f
  61.         treenode destCP = agvinfo(agv, AGV_DEST_CP);
      @) {, P% C* w0 \
  62. " J5 w0 V1 U( [& C$ q' h
  63.         agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);5 n3 x/ g/ w, Q4 l6 g7 }

  64. ) K; k& K6 Y* r; K# d
  65.         // Create the task sequence for the elevator+ F9 p+ n: j, ~
  66.         double destZ = zloc(destCP);6 t- I3 w5 {+ L8 \
  67.         treenode ts = createemptytasksequence(elevDisp, 0, 0);! x: V. ?0 c4 K1 Q& H0 Y4 G: V% u
  68.         inserttask(ts, TASKTYPE_TAG, agv, destCP);- }4 y7 z( i4 l6 b8 h
  69.         // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START9 x. J* ^8 q% C% p5 M2 D
  70.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);  ~; i. e4 T! `; i, e
  71.         // travel to the z location of the current control point9 u1 y- H, v$ k- v* \0 S  d; r' U
  72.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));
    # t, Q2 |: k" d. u: r: i7 b
  73.         // then call ON_ELEVATOR_PICKUP_ARRIVAL
    : V9 u0 T6 E# |; \4 t0 K& ]
  74.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);$ X! c+ q. v- R% m9 _/ {' x+ P
  75.         // then wait for the agv to get on
    " r, w# S6 e7 a1 ?+ h: J
  76.         inserttask(ts, TASKTYPE_UTILIZE, agv);
    # K* @/ c5 }$ G& }
  77.         // then travel to the destination z location  J) C) I5 q3 N9 ~
  78.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);/ ]) ]8 X4 l" x( ~4 W' Y6 U. K6 q
  79.         // then call ON_ELEVATOR_DROPOFF_ARRIVAL
    2 ~" c/ E- q# ~# ~6 N2 P
  80.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);0 }& d. k( _! Z9 |: ?
  81.         inserttask(ts, TASKTYPE_UTILIZE, agv);
    + k8 H, @5 _/ S$ X
  82.         dispatchtasksequence(ts);
    1 A+ T$ ?$ _% p2 I& w/ r3 w' a
  83. } else switch (operation) {
    $ n9 n" S6 r' c
  84.         case ON_ELEVATOR_START: {
    9 Q& V  P$ D- j6 }7 H
  85.                 // this is fired when I get a valid elevator! @4 c4 G: F2 c' h' f
  86.                 treenode elev = param(1);/ X# X" E8 W3 n
  87.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    ! v- v% Q+ F4 v5 a- h

  88. 8 Z# ]5 ^- c" _0 R7 P# t% k) G
  89.                 // find the closest floor control point
    ; @5 i  A) ~! x( Z, o  `1 Z/ i0 o
  90.                 int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);
    $ {: d/ O" Y# F3 b2 F3 \
  91.                 treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon), * @5 p9 t2 f. ?1 \4 g
  92.                                                         fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),
    5 u! f: l. I1 s( h# o' z8 m
  93.                                                         cpconnection(elev, floorCPCon, count));
    : q1 Q8 `' n% T
  94.                 // return if there is none! F% D' U3 X1 J' l5 H& h$ r
  95.                 if (!objectexists(curFloorCP))
      \7 b+ ]" ?8 w
  96.                         return 0;  @/ i6 ^! Q2 a% l2 U

  97. 8 A$ J& o, p% ~  @/ h
  98.                 // get the entry control point
    4 _/ v9 F( q% q, ~
  99.                 treenode floorCP = curFloorCP;' F2 O8 v0 g0 X9 `# ]
  100.                 treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;; a% G$ J& x- K3 ]
  101.                 if (!objectexists(curFloorEntryCP))$ n1 T! _" B4 K( H; I5 r/ z; w8 e
  102.                         return 0;
    5 F8 c  t" w& B2 m  M3 h' ^
  103.                 treenode floorEntryCP = curFloorEntryCP;
    + u  a$ Z" |$ Z* G7 w1 @
  104.                 treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;
    3 G% G7 a5 w7 ^0 m9 Q
  105.                 if (!objectexists(curFloorElevCP))
    # f; D+ `& ~7 _! f# N6 h+ p
  106.                         return 0;
    / T. e. a- M% m. E7 P
  107. / \' x% T" x. ]3 m" p4 K4 [
  108.                 double destZ = param(4);& A" S* e( i- W
  109.                 // find the floor control point closest to the destination floor) b  I: D6 K& G  p2 {
  110.                 treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon), $ ]5 U  {8 L  `! L3 t
  111.                                                         fabs(destZ - zloc(cpconnection(elev, floorCPCon, count))),
    6 I; k; s; d/ g8 S3 i3 o  }8 N+ [
  112.                                                         cpconnection(elev, floorCPCon, count));, N: u7 k1 C' Q  e$ Y/ t
  113.                                                         / b/ L/ N6 D0 I0 b( m) J& U
  114.                 floorCP = destFloorCP;: g8 _& e1 Q9 H/ s# \
  115.                 treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;9 ~6 y  K( i8 O6 R
  116.                 if (!objectexists(destFloorElevCP)); ?: A, ?6 O. u0 J" a3 N5 X
  117.                         return 0;
    . N3 Z. a1 W/ Z
  118.                 // get the destination exit control point. B6 m! M- u: j4 }. k, M
  119.                 treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;
    1 ]$ |0 h$ Q! ]0 J! i
  120.                 if (!objectexists(destExitCP))
    4 F3 H9 ^1 G. i. G+ p% v
  121.                         return 0;
    6 w; \& ?$ L& J: @6 s9 t' T
  122. # n: @" ^+ \. x  y: O! R9 A: I

  123. * s4 M! [9 B+ V
  124.                 // add a listener for the agv. This will call this nodefunction in the ON_AGV_AT_CP section whenever the
    + A. ?- q" T* j/ _; |- L
  125.                 // agv arrives at a node. I keep a state on the agv's state label, and then increment it each time
    * r2 C% g, C6 N; o, D
  126.                 // the listener is called so I know which control point he's at, i.e. entry, elev, or exit.9 n6 g* q/ H1 F" ^+ C( D1 u4 @" t
  127.                 agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,4 @# ]+ m7 A; r+ n+ }
  128.                         agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);
    6 B9 b. r! E- O- _6 _0 J
  129.                
    $ `6 n2 M+ d7 a4 R
  130.                 // set the data on the state label 9 G4 m0 p( k: ^& H, x4 Z! G
  131.                 treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);; O" v2 S+ d' K) r( ?7 n, Q
  132.                 switch_destroyonreset(stateLabel, 1);
    " Q* F$ Y. v) x" U  _
  133.                 set(stateLabel, AGV_STATE_START);
    ) @# A) k7 F! h6 D! H/ x/ [* a
  134.                 set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);
      b8 @4 E; `" F) f1 j
  135.                 nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);
    ' X7 \, i* t' S
  136.                 nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);
    . [: H0 ?1 n3 }* k2 i4 U6 F
  137.                 nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);
    ( v4 \" I4 q3 M! y! |2 g% X
  138.                 agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);
    * e6 \; f; O  c1 |
  139.                 return 0;
    + N$ ^3 Z8 R4 Y- g& ^' l
  140.         }6 }/ c/ |; o! |' d% _
  141.         case ON_AGV_AT_CP: {9 [8 ?+ p+ x2 t6 z! q
  142.                 // this is fired by the agv listener every time the agv arrives at a node.( `2 j3 o- ~; B( _" N9 X$ Y2 i3 Y) u
  143.                 treenode agv = param(1);" O4 m8 _6 |! _$ b  H
  144.                 treenode elev = param(2);( s* }: D4 F% [: z) m& C0 m, S
  145.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
    0 W- M- [+ H" _! I4 R9 X
  146.                 // I increment the state label, and then switch on it. {5 k; K' k4 ]
  147.                 inc(stateLabel, 1);& v1 V9 |) E6 ?! O0 f2 Z
  148.                 switch (get(stateLabel)) {
    1 t. T3 A6 T: f" _; }, M
  149.                         case AGV_STATE_AT_ENTRY_CP: {# U3 A, ~! I$ m' R- d% r! A
  150.                                 // the agv just arrived at the entry cp
    9 ~6 x  [+ l) H1 p$ V4 k  O
  151.                                 // so, figure out where the elevator is.
    & C, x$ `1 h* P
  152.                                 int elevState = get(node("ElevState", stateLabel));
    8 x: U  B7 t8 G( [/ l
  153.                                 // if he's at the pickup floor with his door closed then open the door.  W  N' P+ ?/ e9 `# G4 ]) i! ?
  154.                                 if (elevState == ELEV_STATE_AT_PICKUP_FLOOR)8 g! D! M. u- d/ S
  155.                                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
    9 g1 k' |, E, \# J; S! G" p0 O% m
  156.                                 else if (elevState == ELEV_STATE_DOOR_OPENED) {1 K: I. b6 P: U7 y
  157.                                         // if his door is alread opened, then move the agv onto the elevator, i.e. to. N9 l: j0 K# R: ]0 \5 s* z4 `
  158.                                         // the elevator cp
    1 Z4 \& D6 T3 a
  159.                                         treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));4 u7 p0 O6 @& V, S
  160.                                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
    7 A/ D5 i( D6 ?4 e) X0 ~  E5 [
  161.                                 }7 Z" y" _( t8 V$ {5 v
  162.                                 break;
    ; J) o. B; f5 s) Y6 ?! \3 f# q2 C5 q
  163.                         }& r& \- _8 P3 \  ?7 a
  164.                         case AGV_STATE_AT_ELEV_CP: {
    0 R1 N) P! K) ~, d* V: D$ H0 M
  165.                                 // once the agv is at the elevator cp, close the door$ C3 [6 ], @2 D. j
  166.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);
    - i8 f/ S! V7 z: f  T# ?+ f- @
  167.                                 break;) G" ^; F) m5 U# E+ E6 T5 k- i- ^
  168.                         }/ `& n9 B' K: g* i! e6 H( L: C
  169.                         case AGV_STATE_AT_EXIT_CP: {
    7 A5 q  _/ i: D9 o' G
  170.                                 // the agv is at the exit cp
    8 o7 e- J- W" i2 B# i: Z  b
  171.                                 // destroy the listener node because I'm finished listening" [: ^. ]& a& F
  172.                                 treenode listenerNode = param(4);/ c; Q5 I( [0 Y: R0 I/ N+ g+ U+ y
  173.                                 destroyobject(listenerNode);* x5 ~9 k+ k2 R
  174.                                 int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;
    8 I" g, N! G4 I. B
  175.                                 if (!agvWait) {) |  \. ~) W- n
  176.                                         // if the agv is supposed to continue on, then tell him to go to his final destination) A  M* D2 @% m4 c! t' f
  177.                                         treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);* H$ s& \) k' K: ]0 @3 V
  178.                                         agvredirect(agv, destCP, REDIRECT_AS_FINAL);
    ! C; O  X) l% w9 X
  179.                                 }& P# u/ D: @9 O. C5 |4 Z
  180.                                 // close the door! w% b4 L+ a2 |' c2 w
  181.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);3 _( G, W6 t* y+ }- H: M
  182.                                 // and I'm finished with the state label so I can destroy it.  i& x2 A1 l9 s3 [" ?
  183.                                 destroyobject(stateLabel);% R+ }: d- d* X) ]
  184.                                 break;. @1 ?. j# [" N. H" e3 g7 I+ M( [
  185.                         }
    1 H4 Z" M, [: s9 B" F! ?
  186.                 }
    & c. t4 a9 u/ M& Y, u; r2 m
  187.                 return 0;/ |$ n% U5 V1 y( N0 U
  188.         }1 c- n3 i0 I0 v4 J- I8 `
  189.         case ON_ELEVATOR_PICKUP_ARRIVAL: {
    * |" n: O& T6 j  V: N  w
  190.                 // the elevator has arrived at the pick floor
    / z) F0 D1 u" [4 @' C
  191.                 treenode elev = param(1);
    6 @- \# H- q& J0 d# C: k4 J
  192.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);1 L' V9 @( J7 ^: @
  193.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);) G0 d7 J( ?4 C5 ?3 i' i
  194.                 treenode elevState = node("ElevState", stateLabel);9 v# O9 Y7 X1 I+ p$ {( ?" C
  195.                 // set the elevator state to at-pickup-floor
    ) m2 ^7 W; w6 m
  196.                 set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);' P3 _* N; m# e8 [3 B+ t0 Y( L
  197.        
    , e, z" ~/ Y# {* b+ E
  198.                 int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;7 R; p  }5 t( ?: g( n) m7 y
  199.                 8 {+ ~; ?8 S2 Y* ]* b' }
  200.                 // if the agv is at the entry control point or I open the door immediately, then open it
    ( E3 {: N1 \* d+ I0 `& {
  201.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {$ J# Q3 r  E$ a7 a; D
  202.                         set(elevState, ELEV_STATE_OPENING_DOOR);1 c& Z; q' \8 ~& l0 x' w% \! s
  203.                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
    ) V$ K6 l! I1 G) }6 {  A" _
  204.                 }( r, n2 `+ X8 d; S
  205.                 return 0;
    ' a( m/ p* e# o6 C3 G4 K- r1 U
  206.         }
    2 D$ `4 F* Y% ?& ?# t5 I5 [. k2 i
  207.         case ON_OPEN_DOOR: {2 M& u! U3 T' j6 t! x; H* y
  208.                 treenode agv = param(1);# h; e* k# }3 l: @* n7 |& H* T
  209.                 treenode elev = param(2);. c5 A" Q) X) ?8 d1 h5 |$ H
  210.                 int nextStep = param(4);
    % q% W' T- A' _* F3 E: t1 \  N
  211.                 // open the door based on the time to open the door. M) p1 s& o! |" I, _( X. r  `
  212.                 double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;
    ) i- Z% ^3 X9 D* A3 l
  213.                 delayednodefunction(c, openDoorTime, elev, agv, nextStep);
    3 Z( k, s. T. z0 P/ N. \0 K3 Q5 S
  214.                 return 0;; N+ ?3 r% N: w( u
  215.         }
    ! S8 N7 D- u2 O9 F+ ?
  216.         case ON_CLOSE_DOOR: {
    ; Y, O4 y  }) X: W
  217.                 treenode agv = param(1);
    8 C' j; y: Z  M  n
  218.                 treenode elev = param(2);$ X: A/ f" b- Z6 e9 i& \
  219.                 int nextStep = param(4);
    4 ?) _" h; v4 \. B* d$ t' z4 Q% U
  220.                 // close the door base on the time to close the door2 O: A  K2 d7 d4 x" t. {
  221.                 double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;
    ' N: T; {" W! i# `- B
  222.                 delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));
    + h! q  E# e- e2 m2 P
  223.                 return 0;
    " q. K+ v, ?/ E
  224.         }; g0 B$ ^! V) {% x
  225.         case ON_PICKUP_DOOR_OPENED: {) E2 l! R. [8 l# H+ u" F3 b
  226.                 // the elevator door has been opened on the pickup floor
    1 s/ v) W4 x6 K9 [8 Y
  227.                 treenode elev = param(1);4 [; J+ g/ k& Q) Q! @2 }6 t( y
  228.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);8 `# N" x0 `$ q- f
  229.                 treenode entryCP = cp(agv);
    % `1 ]8 @5 Y2 u+ I8 f
  230.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
    5 z  B# r& E9 w1 g
  231.                 treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));* s) S) g% ~& n+ ?9 i; r
  232.                 treenode elevState = node("ElevState", stateLabel);% |/ b" z2 w" T8 @! \3 t
  233.                 // set the elevator state
    / k! ?6 M1 S4 ~1 d, A/ T
  234.                 set(elevState, ELEV_STATE_DOOR_OPENED);
    9 F! R9 x* v. U4 W8 R  N* S
  235.                 // if the agv is at the entry control point, move him to the elevator control point  P: @% W& m6 x8 v5 r
  236.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP)/ E& R0 k' R' u5 g, t
  237.                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
    % d$ y9 }3 ~4 @
  238.                 return 0;
    4 C* s% c, E9 j5 t$ \
  239.         }
      m' A1 a# G+ S" M2 _1 ?7 Z
  240.         case ON_PICKUP_DOOR_CLOSED: {
    ( N9 ?) H5 X, F/ b+ Q1 t  R: J2 O
  241.                 treenode elev = param(1);9 y1 j- i8 a; R9 j% K% I. y
  242.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    9 Y9 H7 c7 t$ J/ f
  243.                 // assign the agv to "no control point"  _8 j* Z. A7 O$ s- g3 @$ q
  244.                 agvreassigncp(agv, 0);
    9 N8 Z7 l& M& q  M! w! l8 y; X
  245.                 // move the agv into the elevator$ S% }0 A3 p  R0 t+ q$ V  a2 W3 p
  246.                 moveobject(agv, elev);6 I, I' s* y$ M: N
  247.                 setrot(agv, 0, 0, 0);! u! N9 M8 S# T- T$ }1 k/ Q
  248.                 // release the elevator to continue to the destination floor
    9 g6 Q5 P* J0 u+ J
  249.                 freeoperators(elev, agv);
    4 c+ F! Q6 q$ l1 D$ e
  250.                 return 0;3 t7 M$ e3 S9 f! D7 L6 l
  251.         }# V: n" x3 f, a) C
  252.         case ON_ELEVATOR_DROPOFF_ARRIVAL: {
    ) C5 H+ o0 ?8 Y, b8 M" J$ B
  253.                 treenode elev = param(1);
    2 L: i& d4 ?% u% _2 h7 ]
  254.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);; t4 E; d* i+ w3 j
  255.                 // when the elevator arrives at the destination floor
    1 u% b3 @* _; l4 T
  256.                 // move the agv back into the model8 i9 g2 t: N' C/ T
  257.                 moveobject(agv, model());
    : s% r0 u0 g" \: H3 Y* J
  258.                 // reassign it to the destination floor control point0 b3 R- k5 U7 _0 {5 T' x" L
  259.                 agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));
    - h" X( q4 s8 F- S9 w, C) l# g
  260.                 // open the elevator door0 K/ b& x; @- y8 ]3 @! Z
  261.                 nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);
    $ I3 r1 H4 K/ x& E$ o8 z9 W# H
  262.                 return 0;; f: e" s! j( _1 H. r: D
  263.         }! b4 d' p5 U( m. E
  264.         case ON_DROPOFF_DOOR_OPENED: {
    ) p. ~6 R$ w4 d% O
  265.                 treenode elev = param(1);
    , y9 A: `- z2 f5 @! ~
  266.                 treenode agv = param(2);' N8 ~! ^3 N1 ]
  267.                 treenode agvLabel = label(agv, AGV_LABEL_NAME);) z- G$ n6 i0 [
  268.                 // once the elevator door is opened on the destination floor,
    , ^' i; i; H: f& e7 m" a
  269.                 // redirect the agv to the exit control point, N; z9 L4 |. N! N3 a. ?' o
  270.                 agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);5 r; m" N+ K/ o8 o7 q
  271.                 return 0;4 y. a% p3 y) I# X! h+ F5 @( `$ K
  272.         }& Z* R. Z; J8 f* U. ?6 P9 V
  273.         case ON_DROPOFF_DOOR_CLOSED: {% y3 H; ?  F5 w; x! X* e& I
  274.                 treenode elev = param(1);
    7 d4 Z; d  T0 ?
  275.                 treenode agv = param(2);9 I* Y* v( k& G* a2 y
  276.                 int isAGVWaiting = param(4);, v8 O+ ?7 K* A" d
  277.                 // once the door is closed at the destination floor,
    + c, {4 H! \, M
  278.                 // if the agv is waiting, then send him to the final destination
    6 _* g5 q/ t5 p0 V" [. O
  279.                 if (isAGVWaiting)
    2 Q- n9 J4 e) F  S  q; n2 K7 [
  280.                         agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);
    ! J3 G+ e- ?; G. k7 L
  281.                 // release the elevator to finish his task sequence
    7 k4 @. P3 c3 [7 L2 Q1 _
  282.                 freeoperators(elev, agv);- f# R) s" c$ Q( e
  283.                 return 0;' e) O; S+ J3 B7 {
  284.         }
    0 R" |& F0 m2 ^" n2 v! y- X7 J
  285. }
    7 f# A+ o  d9 E
  286. } //******* PickOption End *******\\  K1 s& h( E+ j0 g2 O
  287. 9 m2 l  [" S& p& [
复制代码

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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
# O4 @2 S) f, O! T" ~5 D办法1：从2016版本里面复制相应的代码
, `# R0 d; }) a2 y3 j) i5 A4 t
3 k3 |9 b1 t$ v! z具体代码如下：
' D$ H6 D; s  ^8 Z( |1 c; l0 _
好的，非常感谢陈老师的解答~



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