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2018.2.0版中AGV如何乘升降机?

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1#
Pureua 发表于 2018-11-4 16:20:35 | 只看该作者 回帖奖励 |倒序浏览 |阅读模式
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,如何实现这个操作?
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2#
慧娴亚伦 发表于 2018-11-4 19:12:47 | 只看该作者
办法1:从2016版本里面复制相应的代码" k  U6 U! R0 W5 P# z3 y: X

' F! M( D  B7 e( i$ f具体代码如下:! ^: f$ [5 }& ~
  1. treenode agv = param(1);( i2 Z6 L/ r8 ~* k; `5 O
  2. treenode currentCP = param(2);" t& G3 p, @3 |2 I' m
  3. ; m0 s5 s) H) f2 y2 d/ w% H1 y
  4. { //************* PickOption Start *************\\, }% z: @. [( z6 @& i1 }
  5. /***popup:AGV_DivertToElevator*/" h" H; j5 o9 C1 K. ?
  6. /***tag:Description*//**Divert to Elevator*/; ?6 P7 [2 z" ~. v- A
  7. . {/ a8 ]9 X( O0 f; |1 l! M$ D
  8. int operation = param(3);  u% L/ _$ A8 K
  9. * r, J. E1 H* w' g9 h
  10. #define AGV_LABEL_NAME "fs_AGV_Elev_State"
    + i' T# Q# b# ^5 w' d
  11. if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME))
    / t9 M2 L. P" X" d7 m! j
  12.                 && (/** \nCondition: *//***tag:Condition*//**/fabs(zloc(currentCP) - zloc(agvinfo(agv, AGV_DEST_CP))) > zsize(agv)/**/)) { // if it's a pointer, then do the initial case
    + a1 {' R* w% k, w
  13.         // initial trigger execution
    8 M( ?; u3 ^9 E, q/ _
  14.         #define ON_ELEVATOR_START 1: s0 {2 C7 ~' N0 @4 e
  15.         #define ON_ELEVATOR_PICKUP_ARRIVAL 29 @; R! s; x! [& ]
  16.         #define ON_ELEVATOR_DROPOFF_ARRIVAL 3
    # [- l* C! Q9 K2 Y: @% v
  17.         #define ON_AGV_AT_CP 4* [5 u: z) C: ~$ f+ d
  18.         #define ON_BOTH_AT_PICKUP 5# z/ d- s; K, Q! N# K
  19.         #define ON_OPEN_DOOR 6; j$ x6 R5 N- k7 H% P8 I- i3 {6 H
  20.         #define ON_CLOSE_DOOR 7
    3 x  d4 ?2 d8 W
  21.         #define ON_PICKUP_DOOR_OPENED 8
    . f2 B6 `  q8 U) G7 T
  22.         #define ON_PICKUP_DOOR_CLOSED 95 p  ?( r" Q* f, L7 f
  23.         #define ON_DROPOFF_DOOR_OPENED 10
    8 r/ c; o0 b; C4 D3 n
  24.         #define ON_DROPOFF_DOOR_CLOSED 11* ~7 b& [' w1 @: M: D, U: l$ R5 W
  25.         ( [/ d: p+ R# ^9 p3 e) l
  26.         #define AGV_STATE_START 0# `6 Q5 y8 M3 W) z6 G, k# ]1 v9 g6 G
  27.         #define AGV_STATE_AT_ENTRY_CP 1
    ( ~: f  X3 n, Y4 u2 C  r
  28.         #define AGV_STATE_AT_ELEV_CP 2
    ) a  V1 y6 D* u3 H
  29.         #define AGV_STATE_AT_EXIT_CP 3
    ) X8 q, c, r/ U  h& N3 Z
  30.         0 S* z$ G* d7 u; D
  31.         #define ELEV_STATE_NONE 09 D9 S$ Q1 ]8 ?4 L/ A  d* t
  32.         #define ELEV_STATE_AT_PICKUP_FLOOR 1
    5 T8 }6 N) \0 ~6 c- c
  33.         #define ELEV_STATE_OPENING_DOOR 28 L& {  b. R1 g
  34.         #define ELEV_STATE_DOOR_OPENED 38 @6 M( q9 x) [# I) P$ q  I- Z
  35. 4 t. ^% ?; d8 Y4 o" R* r3 N

  36. ' H; g; _2 ?4 ?, _, S! W
  37.         treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;
    4 n* D/ h& s( i! y0 c6 s. G
  38.         #define elevator outobject(elevDisp, $iter(1))
    6 a; ]. n0 ~9 o
  39. + k- C/ c6 \2 s4 o( {
  40.         if (!objectexists(elevDisp)); W' r1 j1 z0 r  S
  41.                 return 0;
    " w+ r$ F, Q! b6 S

  42. ; Q- Y$ Z/ t6 V4 y) t, d7 j
  43.         if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {" T  l; b# j6 M% B
  44.                 query(% ?! A4 v& H( V. k8 d, I% K
  45.                         /** \nFull Query: */
    / V; {4 B" ~  B* l5 G; d
  46.                         /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,
    7 S( G& x) ~" a6 ^; \
  47.                         nrop(elevDisp),1 U! q+ h& N1 w! r: B' Y
  48.                         elevator( f+ G& _0 G7 G9 R* e$ @( o
  49.                         /** \nWhere*/- L8 U( Y; \' F8 h
  50.                         /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/
    - X) W% }2 [4 t$ k* _
  51.                         /***/8 h, O$ u5 |* ]
  52.                         /** \nOrderBy*/8 Q! ^* i) j, Z" L( S
  53.                         /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*// r6 R! n- R/ e+ @' ~
  54.                         /***/);
    # r! X4 a" N& o
  55. - d# C: D5 ~% e4 J
  56.                 if (getquerymatchcount() > 0)3 _- Y9 ?& D( @! h; H7 s+ A( l
  57.                         elevDisp = getqueryvalue(1, 1);
      G# e6 X6 M( O0 v. e1 T+ t4 b; Q
  58.         }
    " E  z' K/ A+ j8 [/ M3 ~) N2 @
  59.         if (!objectexists(elevDisp))  S7 x1 R! h9 Z: w0 v
  60.                 return 0;
    6 {1 V4 S: Q- H. Q/ |
  61.         treenode destCP = agvinfo(agv, AGV_DEST_CP);( [" P$ h3 A- n8 ]4 A: t; q

  62. 2 ^; L' s4 J4 [& S
  63.         agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);/ {5 u: b! I7 T/ j
  64. + L! t, d2 z& N$ H# S
  65.         // Create the task sequence for the elevator1 ~3 V) s4 X" l, M. L
  66.         double destZ = zloc(destCP);
    $ @1 ^2 W0 d3 _6 @5 [5 f( Q* j
  67.         treenode ts = createemptytasksequence(elevDisp, 0, 0);' z- I7 \, i% F& E- Y+ b! u. }- P0 l
  68.         inserttask(ts, TASKTYPE_TAG, agv, destCP);
    ) d- c3 V' \9 D" t; g
  69.         // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START
    $ ^' W# w1 e$ ]5 I2 f7 W
  70.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);/ m" g1 b. Z; o; ~" ^- z
  71.         // travel to the z location of the current control point& D/ |  ^1 G6 @% n
  72.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));- y; C- ~9 L! a" p5 V  `3 l
  73.         // then call ON_ELEVATOR_PICKUP_ARRIVAL4 @$ S) x$ ?" |1 z2 w
  74.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);
    7 Y- S; u: p' s
  75.         // then wait for the agv to get on
    8 K! T8 N' h, m5 S' B1 A
  76.         inserttask(ts, TASKTYPE_UTILIZE, agv);
    & }2 X+ m. C) i' }
  77.         // then travel to the destination z location5 e$ j2 F' n0 w! |1 X' N, ~
  78.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);
    ; @  \. ]* h9 J
  79.         // then call ON_ELEVATOR_DROPOFF_ARRIVAL
    4 u2 @4 y  S! n3 C8 c! r7 b
  80.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);
    + d6 _8 F- ]9 b7 E, Q# U! M
  81.         inserttask(ts, TASKTYPE_UTILIZE, agv);% A$ Q/ |( a. h) R! T- D7 ?
  82.         dispatchtasksequence(ts);
    " Z3 U4 R2 g9 ?1 u' E+ A. {
  83. } else switch (operation) {1 [4 Z5 a# B! X. d9 ~2 H
  84.         case ON_ELEVATOR_START: {/ A, i/ _1 u' w! z' A1 m
  85.                 // this is fired when I get a valid elevator
    * Y9 T+ w! z% r+ A% c) Q
  86.                 treenode elev = param(1);0 I- m& i" P. g; U5 ]
  87.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);% \3 v0 K7 p& t+ ~5 i& W  O+ R
  88. 3 _. w, Q0 O  q$ S
  89.                 // find the closest floor control point+ ^( f" I% J& n' u6 b+ B9 O% h
  90.                 int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);
    1 A5 Y5 b9 ~) h3 {9 t& [
  91.                 treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon),
    & n! m" k! Y. G4 ~2 |2 c0 i8 h
  92.                                                         fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),
    1 S2 ?. A5 F/ Z$ a  u5 g' J
  93.                                                         cpconnection(elev, floorCPCon, count));5 t+ T! z- E) ?% V* ?
  94.                 // return if there is none8 Q4 `+ i% r4 o; {+ F" q  P) O, m
  95.                 if (!objectexists(curFloorCP))
      r5 p& G9 _/ A  G
  96.                         return 0;3 y' h0 \$ X( A& c

  97. ( G& @6 m2 k1 u$ S$ J" `
  98.                 // get the entry control point$ J$ ]% [) S# a) N: ]6 V
  99.                 treenode floorCP = curFloorCP;  Z- {5 i, y0 v  H) d( e4 N, w
  100.                 treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;
    # k7 q- Y1 y  n% W: s) @, L, u
  101.                 if (!objectexists(curFloorEntryCP))
    5 W( f, X. v! `$ Y4 s: P6 k7 P  G
  102.                         return 0;& g7 m) M) P  o3 P) O4 W" \' @9 E
  103.                 treenode floorEntryCP = curFloorEntryCP;' t+ o0 d4 W' A8 v; U5 c
  104.                 treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;3 m% E7 u, g* S3 X
  105.                 if (!objectexists(curFloorElevCP))" Z" ~8 c2 s3 l* c
  106.                         return 0;
    ) n) |' b8 ^) j2 m* s" T6 O
  107. / q7 i1 w3 r* D5 B: e" R
  108.                 double destZ = param(4);! C6 f7 L+ K6 }' v3 L, M
  109.                 // find the floor control point closest to the destination floor
    / m; H2 [$ B5 H% F1 P
  110.                 treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon), ; c7 D  ^: u$ [
  111.                                                         fabs(destZ - zloc(cpconnection(elev, floorCPCon, count))),
    * j( D( ]2 H6 ^. f$ H
  112.                                                         cpconnection(elev, floorCPCon, count));
    ' i9 ^! U  Z& m5 L
  113.                                                         . C8 e4 b8 f: h" {  D
  114.                 floorCP = destFloorCP;
    , j1 P% H7 u7 D) E
  115.                 treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;
    ; f4 l& m& f/ ]1 a1 c! ~
  116.                 if (!objectexists(destFloorElevCP))
    # T- m9 J' S4 N% |
  117.                         return 0;- h' M* h/ A; X7 Z5 M
  118.                 // get the destination exit control point; a) B) n3 x5 T
  119.                 treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;
    7 p$ y% U( \) ~  h; a6 O
  120.                 if (!objectexists(destExitCP))+ Y; K' r1 Y9 h: |- c
  121.                         return 0;5 x' _0 g! `  }. v) C' s

  122. 9 H$ A# r( v4 F* ]

  123. # g1 o7 W: ]8 C9 ]' ?
  124.                 // add a listener for the agv. This will call this nodefunction in the ON_AGV_AT_CP section whenever the 2 Q- C5 g, w& D' H% w4 c/ }+ p
  125.                 // agv arrives at a node. I keep a state on the agv's state label, and then increment it each time
    1 ^% G1 `5 j9 F$ f  X/ O- k/ n
  126.                 // the listener is called so I know which control point he's at, i.e. entry, elev, or exit.
    5 \. r* S' M% w/ H* \# p
  127.                 agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,
    : x" b7 l' k- j  x! F/ r& J! ?: m) Y
  128.                         agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);1 V& p6 q& b8 B' v; ^+ e
  129.                 7 [7 v  C6 s, J, q
  130.                 // set the data on the state label . t# X+ A0 B$ ^! W: |- ]- G
  131.                 treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);
    7 d% ~& c. C- x7 p
  132.                 switch_destroyonreset(stateLabel, 1);: e% x: m1 U. h
  133.                 set(stateLabel, AGV_STATE_START);: d! P, x; m$ n, Z2 T
  134.                 set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);8 [7 ~, F. r( C' t
  135.                 nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);6 ?1 y7 `) S! P9 {& E/ y7 V/ K
  136.                 nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);" \& T- L$ f4 z: j3 j7 ^+ t$ b
  137.                 nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);
      z9 W0 V; r# _, u( i0 Z# {$ c
  138.                 agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);
    , Y) g' m4 y4 l* g4 r
  139.                 return 0;
    4 J8 `5 |9 u7 y+ B6 }
  140.         }! B& z: X: f# G7 G( w, C
  141.         case ON_AGV_AT_CP: {4 H" U' V) K& o) r0 m
  142.                 // this is fired by the agv listener every time the agv arrives at a node.# i! g2 Z' o, ~3 T
  143.                 treenode agv = param(1);+ P5 r. b0 m/ U' u7 S/ `. ^9 n
  144.                 treenode elev = param(2);
    9 a; i# S' O8 _: K% _, V+ A" r
  145.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
    - u( d  c' G- t1 Z, C9 H% a
  146.                 // I increment the state label, and then switch on it  A6 ^0 s4 r: W. T9 s( J
  147.                 inc(stateLabel, 1);
    ' C! @1 W, h. E2 X$ W" r
  148.                 switch (get(stateLabel)) {
    ) y  H: g8 y. e5 Z: ?1 S
  149.                         case AGV_STATE_AT_ENTRY_CP: {
    7 e: ]5 A% N! U
  150.                                 // the agv just arrived at the entry cp* |# @: c, F: M
  151.                                 // so, figure out where the elevator is.
    # U0 O2 a& B1 i
  152.                                 int elevState = get(node("ElevState", stateLabel));
    + w# D$ ~0 ]4 ~
  153.                                 // if he's at the pickup floor with his door closed then open the door.% U& E8 `; k) p6 I6 K0 H
  154.                                 if (elevState == ELEV_STATE_AT_PICKUP_FLOOR): ?$ x$ |0 ]* }: O+ p9 d
  155.                                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);' g9 z2 j6 Q, I0 f# x
  156.                                 else if (elevState == ELEV_STATE_DOOR_OPENED) {+ F" H* d$ x- }2 d" y4 ?/ i6 w
  157.                                         // if his door is alread opened, then move the agv onto the elevator, i.e. to& l$ K) h0 L" j" s: s1 s, ^
  158.                                         // the elevator cp
    7 o9 Z& y! [" x* r4 S
  159.                                         treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
    9 w3 f% W- U5 s. _# D" M; ^
  160.                                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);: Z! U: W. T- D# \& k
  161.                                 }
    : U' Y% P4 ?3 B' s, `4 J
  162.                                 break;; q& E7 [9 C% i
  163.                         }# b- H/ u4 C9 d9 ~
  164.                         case AGV_STATE_AT_ELEV_CP: {6 t! d8 K6 @; s+ Z& y* r+ K# {
  165.                                 // once the agv is at the elevator cp, close the door& H- p8 U- l7 t2 V- U$ e1 m
  166.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);. |% K' @3 H% d1 i
  167.                                 break;/ R) E/ K$ }3 T) ^8 P) p9 k2 u% L. u
  168.                         }
    ( e+ o. O5 `5 r2 l# D7 h/ g& V
  169.                         case AGV_STATE_AT_EXIT_CP: {1 U* R3 ~- J6 S  e- p" ^
  170.                                 // the agv is at the exit cp
    3 D3 y) o$ X, y
  171.                                 // destroy the listener node because I'm finished listening
    3 A4 Q1 Q* G, G1 i
  172.                                 treenode listenerNode = param(4);
    7 X) `: ^& ]3 ?
  173.                                 destroyobject(listenerNode);; d; P0 a  @0 q# ]# j* O: m! E  H
  174.                                 int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;) f5 C- @8 L5 U. G! N; I- L
  175.                                 if (!agvWait) {
    . Q) x/ o5 q! w6 T" |
  176.                                         // if the agv is supposed to continue on, then tell him to go to his final destination
    # ]5 h, n* [9 s0 o7 q) T
  177.                                         treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);* s: f# M2 R! Y# d$ V$ m- o/ h2 |
  178.                                         agvredirect(agv, destCP, REDIRECT_AS_FINAL);' t9 \( [: c* l/ E* v: B/ ?$ P
  179.                                 }
    " ~9 @( o" Q6 a8 F5 t/ W7 z& j
  180.                                 // close the door5 O8 O& j( G  N. {
  181.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);
    ) [9 E# s0 n, V
  182.                                 // and I'm finished with the state label so I can destroy it.
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  183.                                 destroyobject(stateLabel);
    9 P" K  ^4 I3 w
  184.                                 break;; U1 \6 a. T# @3 i: j. v
  185.                         }; c7 g- F1 E3 Q+ {3 A
  186.                 }
    - i) R! I7 I, b+ _4 H) [+ Q$ Q
  187.                 return 0;" K/ w& M1 f$ m* n. j. f8 ~
  188.         }6 p4 @( P$ G. U5 X
  189.         case ON_ELEVATOR_PICKUP_ARRIVAL: {
    " }/ M7 a# z5 X# ~- r* S! k$ l
  190.                 // the elevator has arrived at the pick floor2 i2 S4 y& s3 u0 e$ {' c( `
  191.                 treenode elev = param(1);
    + J, Y4 c5 N; k: z% q  S
  192.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);) ]* f8 m& `- x1 C) h: v
  193.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);# p  j" ?  z7 F% \9 Z" N( a
  194.                 treenode elevState = node("ElevState", stateLabel);  J( I- \" t, m5 m5 E$ c
  195.                 // set the elevator state to at-pickup-floor, L- T2 Z2 j+ N# X9 U
  196.                 set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);0 ~) p1 I8 K! q4 K% w% a
  197.         & V0 J6 c! B8 H  r* J
  198.                 int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;- d% C6 f2 k4 {: M8 g9 U
  199.                 4 H8 D8 }: I5 B7 ]" Y# K4 I
  200.                 // if the agv is at the entry control point or I open the door immediately, then open it
    6 K# j; x2 ^5 t: N1 @
  201.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {
    5 b# j) Z' U& \- @- u
  202.                         set(elevState, ELEV_STATE_OPENING_DOOR);
    ; ?& e: ~& q, V9 {. ?
  203.                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
    / V4 E/ H) ^1 s/ H
  204.                 }& Z. a' \+ E7 W3 y  U8 H
  205.                 return 0;: F* X3 R0 h8 n- G
  206.         }
    % L0 S7 d) [+ V/ b' _1 q' \
  207.         case ON_OPEN_DOOR: {: |! k3 L8 |+ u4 t9 E# p8 X) X5 X
  208.                 treenode agv = param(1);
    ! V# H2 J& K% i% L3 a
  209.                 treenode elev = param(2);2 F- V$ s4 w* {7 u9 G
  210.                 int nextStep = param(4);0 J, m: X& B& ~* R4 a
  211.                 // open the door based on the time to open the door
    ' D$ U1 z' u- c% v
  212.                 double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;0 J5 Z! F  x* S% r' M( @$ n
  213.                 delayednodefunction(c, openDoorTime, elev, agv, nextStep);) z4 l: N1 T# r  v
  214.                 return 0;
    ( d0 u3 v  V  `% O  \( G
  215.         }
    1 P+ L) X3 I" X; ~- s& j
  216.         case ON_CLOSE_DOOR: {  x# c) k) l3 {
  217.                 treenode agv = param(1);
    " u$ z. V& i& U( j
  218.                 treenode elev = param(2);
    % i1 V4 z; }0 T( Z8 B
  219.                 int nextStep = param(4);6 [, H1 m: W% N' G5 l5 A' p
  220.                 // close the door base on the time to close the door
    4 L, Q) T! u0 o0 K+ g, }! w
  221.                 double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;
    3 C( r: t2 j' x4 Q' X
  222.                 delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));1 O7 w3 \+ a5 ^! S
  223.                 return 0;4 ]* r- R7 a+ d5 N
  224.         }
    & R( M: }$ ]( ?4 }. F  u5 w* a/ Y
  225.         case ON_PICKUP_DOOR_OPENED: {
    1 v. y. ]) k. O8 A6 K. D
  226.                 // the elevator door has been opened on the pickup floor- ?: }1 F. t& `( ?
  227.                 treenode elev = param(1);( |& H( S" M. [4 `+ m  S! n
  228.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);/ [- l- S6 D5 E- i
  229.                 treenode entryCP = cp(agv);
    4 r8 E% c/ [2 @) F" k/ C- V
  230.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);6 n' S, a3 w/ x6 i3 c& N. T
  231.                 treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
    : H1 l% G4 ^1 ?
  232.                 treenode elevState = node("ElevState", stateLabel);
    * T% T5 z$ k- H1 C# h5 k/ K
  233.                 // set the elevator state! J" c: {6 [8 u& f) F% e% b
  234.                 set(elevState, ELEV_STATE_DOOR_OPENED);
    . D7 k3 \0 ~* D7 |
  235.                 // if the agv is at the entry control point, move him to the elevator control point
    % c! {( c" x  \* X+ X3 p$ P! }3 {
  236.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP)
    3 ~7 |9 z  r6 a! f" K, B& f
  237.                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
    5 O  x5 G4 B5 s6 k! {
  238.                 return 0;
    2 `' Z2 ?# Q( w) O
  239.         }/ v3 L/ V0 n* t, g3 A7 u  ^
  240.         case ON_PICKUP_DOOR_CLOSED: {
    . Y7 P: A2 g& N& C) k! p
  241.                 treenode elev = param(1);
    , t8 I3 c! ^* V' v+ T
  242.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    : z: k7 d9 f' g) ?5 G
  243.                 // assign the agv to "no control point"7 _8 X& d6 |& d4 ]  p. X  g% m  y
  244.                 agvreassigncp(agv, 0);* _( `2 R2 `( T4 ~- j- F
  245.                 // move the agv into the elevator
    & ?) p# X% e4 H5 ?" S  S
  246.                 moveobject(agv, elev);
    * N1 H8 K" P$ M& v' x8 B. r9 Z
  247.                 setrot(agv, 0, 0, 0);0 B$ \4 A2 i) S& e
  248.                 // release the elevator to continue to the destination floor
    * s+ [  F  y) b( |
  249.                 freeoperators(elev, agv);
    5 z* ^, V+ A: m6 V' a
  250.                 return 0;
    3 f; n; [" D8 B
  251.         }' u' l" z: b. i
  252.         case ON_ELEVATOR_DROPOFF_ARRIVAL: {
    ; h& Z; b, O  `3 y# k- q2 z
  253.                 treenode elev = param(1);! O& S1 H: \( q; u5 h$ y
  254.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);/ ?6 d* d9 e) L. y+ P* m0 }
  255.                 // when the elevator arrives at the destination floor$ B* u) F: Z- S  e+ a4 E7 T4 \
  256.                 // move the agv back into the model' x$ F; [) B! Z. L! T, v- j, K5 R
  257.                 moveobject(agv, model());
    ; k0 e; X, d$ x; k! e% k
  258.                 // reassign it to the destination floor control point
    ! @( _; l3 W! [8 E1 ~3 X
  259.                 agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));
    / a* }0 }! T' |; b/ Y( c. o
  260.                 // open the elevator door! I3 c3 x7 A7 z  e" h, b* F  @( Z
  261.                 nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);
    7 @! ?9 e: h' Y3 X
  262.                 return 0;, [5 C0 `9 o0 x/ U4 b
  263.         }
    1 I  K: e  J  G) z+ e/ {7 E
  264.         case ON_DROPOFF_DOOR_OPENED: {8 K; b$ p# U9 n0 V$ v& G% H2 i
  265.                 treenode elev = param(1);
    5 j" ^8 s* v& i+ i. m: h+ z8 P
  266.                 treenode agv = param(2);
    7 v1 V3 W/ h4 n0 R" F9 I
  267.                 treenode agvLabel = label(agv, AGV_LABEL_NAME);9 _' [6 x& _% J3 K! e
  268.                 // once the elevator door is opened on the destination floor,
      b' N6 P$ i# _/ A6 R9 C
  269.                 // redirect the agv to the exit control point" i: W0 ~0 J$ _% [4 W
  270.                 agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);
    % \) h2 J( @9 o& N6 w! p, O, D
  271.                 return 0;6 y: l; Q& a( r3 f" a
  272.         }: V! D3 M0 r0 V  g
  273.         case ON_DROPOFF_DOOR_CLOSED: {0 I! l2 G/ J7 L" `1 n
  274.                 treenode elev = param(1);
    $ f; J/ F; \5 i
  275.                 treenode agv = param(2);+ Y+ U1 D/ K1 z8 ^. V
  276.                 int isAGVWaiting = param(4);
    $ u1 r6 T* q5 F; w
  277.                 // once the door is closed at the destination floor,% K% o6 f2 d9 ]4 Y% m% g9 r
  278.                 // if the agv is waiting, then send him to the final destination
    + p. Z. n* V) J( l$ t' _4 T1 ~# l
  279.                 if (isAGVWaiting)5 a7 F, q: F  X# M0 h" H
  280.                         agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);
    9 U3 }" G! G4 t& m
  281.                 // release the elevator to finish his task sequence# Y. O; a! a( \( |9 W$ T7 ]
  282.                 freeoperators(elev, agv);
    - w6 G2 `5 G+ {0 f, ?9 x$ a2 d3 @
  283.                 return 0;9 Q8 j; q( e4 m7 m( O& r2 v8 I3 c
  284.         }
    1 o5 G9 z" `7 V! S9 _
  285. }
    : s6 _" c" _8 w* q! ^* j
  286. } //******* PickOption End *******\\
    8 y8 _2 z& t  O2 v! C. Z
  287. / m4 X( L6 m5 S6 V' l; @! I
复制代码

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办法2:使用工艺流程模块完成
3#
 楼主| Pureua 发表于 2018-11-5 09:25:46 | 只看该作者
慧娴亚伦 发表于 2018-11-4 19:126 ]( z* l2 _, Z1 K6 O
办法1:从2016版本里面复制相应的代码
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' F, h) X" A8 j; c. K具体代码如下:
9 P$ s& J' y; Y2 N
好的,非常感谢陈老师的解答~
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