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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?- r- N! R' z8 A+ f! w

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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
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6 @% D! N7 \: w; b1 |/ U* L具体代码如下:
- V1 m3 r) m4 e
  1. treenode agv = param(1);" e- V* I- q' @( i7 b  f: j
  2. treenode currentCP = param(2);4 V( i$ ]/ r9 t5 {  ?1 T) a

  3. & d3 V* r% C5 M5 f8 m
  4. { //************* PickOption Start *************\\
    1 Q+ L3 D& Q/ Z: ^5 R7 r
  5. /***popup:AGV_DivertToElevator*/7 z4 K" f! X* E. D
  6. /***tag:Description*//**Divert to Elevator*/: h: G  w: a; ]- S( K7 M
  7. + O$ d- V2 e! E% ^
  8. int operation = param(3);4 w. n5 U6 d- ?. w9 t1 o+ O

  9. 9 k+ T- B6 q2 ~
  10. #define AGV_LABEL_NAME "fs_AGV_Elev_State"& z2 ?- l7 [! Y3 E! X! A8 k
  11. if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME))2 a! c3 ^- s( T" h+ E
  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: L" O* C/ H/ C
  13.         // initial trigger execution
    9 w( i; j% j( j+ g) b1 f: [
  14.         #define ON_ELEVATOR_START 1
    ! J# j* P( z  g* F: D: L1 b
  15.         #define ON_ELEVATOR_PICKUP_ARRIVAL 2! f$ U4 _* k: q! f% X9 h
  16.         #define ON_ELEVATOR_DROPOFF_ARRIVAL 3; {' P' R' x  m  V/ L
  17.         #define ON_AGV_AT_CP 4
    * P7 F# o$ \4 W5 i
  18.         #define ON_BOTH_AT_PICKUP 5
    % A/ x' ~  @  g* a$ q; Z% k3 W: W1 Q
  19.         #define ON_OPEN_DOOR 6
    + _! o% J0 e; }; u8 T
  20.         #define ON_CLOSE_DOOR 7; I  o9 Z0 U4 y+ B0 i+ `" I
  21.         #define ON_PICKUP_DOOR_OPENED 8% K" l. A$ t$ H
  22.         #define ON_PICKUP_DOOR_CLOSED 90 ~( F# C% g( h2 o5 [) z" y
  23.         #define ON_DROPOFF_DOOR_OPENED 10
    6 E- s- F# {0 O- b' q
  24.         #define ON_DROPOFF_DOOR_CLOSED 11
    5 p- K* }- U0 }- \1 v' P
  25.         ( S( l+ F% y$ j  c4 \
  26.         #define AGV_STATE_START 0/ d/ Z  f& `, ^9 F$ f% U! i. ]
  27.         #define AGV_STATE_AT_ENTRY_CP 1
    # R8 j6 C4 N- {! ~6 P
  28.         #define AGV_STATE_AT_ELEV_CP 2/ G0 ~6 i. f$ \3 j) K( H
  29.         #define AGV_STATE_AT_EXIT_CP 3
    6 A! J: p: t$ S5 y3 y- }+ Z
  30.         / X  g8 [. C1 m2 R" z( }  H# r* A
  31.         #define ELEV_STATE_NONE 0
    ) u  P% s4 u) i
  32.         #define ELEV_STATE_AT_PICKUP_FLOOR 19 Y# E1 A& `8 O/ d6 F
  33.         #define ELEV_STATE_OPENING_DOOR 2
    : D# _# [1 N. I$ c0 @9 `% X1 ^% P
  34.         #define ELEV_STATE_DOOR_OPENED 3
    ) ?  u0 y3 h/ P
  35. 4 `! h7 q+ j8 I/ f

  36. . [1 D$ l" J4 E0 K6 o6 B) o
  37.         treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;
    ; |% V& p0 G* N& b% L
  38.         #define elevator outobject(elevDisp, $iter(1))
    5 d7 Y" s; O. K3 @

  39. . F4 i+ Y3 j$ s( X6 Y; F* D
  40.         if (!objectexists(elevDisp))% S6 B9 F3 r( s/ y% M
  41.                 return 0;* b8 y' c. p: @. `) `
  42. + ?5 G+ u( x$ J( l, {/ V2 s; j
  43.         if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {
    9 F# n8 p& _7 c" ^) ]+ l
  44.                 query(. |! ?! X  n0 ]" @
  45.                         /** \nFull Query: */3 ?9 b& f& S. k9 w
  46.                         /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,; J1 v/ d% A# E& D! L
  47.                         nrop(elevDisp),1 c; N; N* O' O. f; R4 A
  48.                         elevator
    # _/ I  A5 U( ?. c
  49.                         /** \nWhere*/; A3 m5 }3 l1 N; x
  50.                         /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/
    4 Y  _0 U/ ~8 T' q: L9 M
  51.                         /***/
    9 Y9 {( R3 r0 t7 X" i
  52.                         /** \nOrderBy*/3 _6 [& i0 [8 Z; W' Z. G
  53.                         /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*/$ N( L7 M( U- M6 v9 R. z
  54.                         /***/);: }' c% o# B% a- {5 a4 b
  55. : i1 U9 {6 o4 M6 q7 I; n8 P
  56.                 if (getquerymatchcount() > 0). `& v9 q9 ~+ s4 r9 {
  57.                         elevDisp = getqueryvalue(1, 1);
    1 e2 j" c" g9 u! B# u' t% q$ V
  58.         }' f; k4 L  ]* m5 v1 O" q$ }
  59.         if (!objectexists(elevDisp))9 c3 q* p7 [8 r# |! F& G
  60.                 return 0;
    % Y* |- j+ F- c' n
  61.         treenode destCP = agvinfo(agv, AGV_DEST_CP);
    $ _) M3 Q4 V2 t- K

  62. 0 m+ Z8 L& k6 a. |0 ]1 D
  63.         agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);
      z1 m8 p8 I  o
  64.   M4 U$ ]5 g+ F5 v/ `
  65.         // Create the task sequence for the elevator
    * g5 N% a- ]! Z3 A6 ~, R
  66.         double destZ = zloc(destCP);0 V& O% C- i5 g$ i* ]
  67.         treenode ts = createemptytasksequence(elevDisp, 0, 0);
    & Q7 q+ c/ T0 k. h, o
  68.         inserttask(ts, TASKTYPE_TAG, agv, destCP);
    / @1 ^4 z1 o- k: G; m4 J
  69.         // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START
    1 y+ o' m/ }7 ]) M, w0 m
  70.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);
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  71.         // travel to the z location of the current control point
    - I9 e$ p  i( j$ l* u5 T
  72.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));/ r  F5 L5 ?2 x/ B% K; |
  73.         // then call ON_ELEVATOR_PICKUP_ARRIVAL
    ! i  b+ X5 Y1 L# Z3 w$ q& A
  74.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);
    8 Q( s, O$ A$ d+ X, G
  75.         // then wait for the agv to get on
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  76.         inserttask(ts, TASKTYPE_UTILIZE, agv);3 `" H4 {( G4 @6 ^# _; s! u+ j
  77.         // then travel to the destination z location! F) ?" s4 ]) @) b, a' c' X" V
  78.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);
    - U8 B! P; r% I/ v$ S
  79.         // then call ON_ELEVATOR_DROPOFF_ARRIVAL
    $ @! C* `, J. z3 V. ?- Q2 q
  80.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);
    ! H4 ~$ v, @: e( R
  81.         inserttask(ts, TASKTYPE_UTILIZE, agv);  Z# M3 @+ i3 c" S& r
  82.         dispatchtasksequence(ts);( E9 X! Z6 {" M8 v. x" L
  83. } else switch (operation) {- n, s: j/ [5 V6 ^6 b, B
  84.         case ON_ELEVATOR_START: {& i0 z& ?% O' [) w* n
  85.                 // this is fired when I get a valid elevator( }! M0 ]+ e( y# p5 Q
  86.                 treenode elev = param(1);, q2 s2 B9 H; c1 l5 ~6 [, H
  87.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);- O. |2 }$ s  h

  88. 7 n% M& g$ T9 e2 {' X% t% ~
  89.                 // find the closest floor control point
    " P( o4 _+ P: G# h! L
  90.                 int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);
    . }7 d9 d! k, C, A; p: X
  91.                 treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon),
    / M6 y/ U- M- e2 o% M' c6 r( V- y
  92.                                                         fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),* z2 N0 ]9 Z, G
  93.                                                         cpconnection(elev, floorCPCon, count));
    ! l. C! c1 c, k, a3 o
  94.                 // return if there is none# k& `) a: s8 b% M
  95.                 if (!objectexists(curFloorCP))" V  Z5 Z/ ?& l# n3 U
  96.                         return 0;
    " [* s9 m  C: Q; W9 _

  97. % K  E& ?: l5 @
  98.                 // get the entry control point- L9 @, u: w1 t3 G. S
  99.                 treenode floorCP = curFloorCP;7 A2 k& e- O7 F3 a
  100.                 treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;' b: ]0 g4 v. z7 j
  101.                 if (!objectexists(curFloorEntryCP))" E% W9 z  c7 m$ Q' B
  102.                         return 0;2 a( C, r0 \0 \! o
  103.                 treenode floorEntryCP = curFloorEntryCP;
    " I/ I! |$ H* h# N+ K3 A
  104.                 treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;
    9 C2 y- o: |( U3 J" ]1 d, a
  105.                 if (!objectexists(curFloorElevCP))) L7 t, l* c) ^# a
  106.                         return 0;9 h+ j; A8 L' I1 x4 S/ k
  107. $ q/ J' _5 Y) }4 h
  108.                 double destZ = param(4);) w. r8 b/ n5 }9 R6 O! B1 I
  109.                 // find the floor control point closest to the destination floor
    ; @* k+ M$ p0 y3 d$ O
  110.                 treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon),
    2 E' X9 [, Q* v8 w
  111.                                                         fabs(destZ - zloc(cpconnection(elev, floorCPCon, count))),/ k1 b! A/ p+ A$ \8 x& c8 o& g4 V
  112.                                                         cpconnection(elev, floorCPCon, count));1 V" p3 _+ _0 v5 a# ?
  113.                                                         ' N3 c& v( B  \4 ~& B4 r
  114.                 floorCP = destFloorCP;6 Z6 n: \* T7 \
  115.                 treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;9 P$ t8 A' s/ }+ m1 a2 |
  116.                 if (!objectexists(destFloorElevCP))6 O/ B* t! ?( w& p$ _3 Q
  117.                         return 0;
    # |* j: ?8 }/ o2 U2 }  Q' {
  118.                 // get the destination exit control point
    3 K( `% A, Y" e- \8 s" x! y
  119.                 treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;
    # G( U2 P6 V; r% B
  120.                 if (!objectexists(destExitCP))0 d! A5 ]  v5 a$ t
  121.                         return 0;
      N5 ]8 k4 }5 P8 X( s
  122. , M- J' `( l- O9 i% A% O* U+ N* L
  123. 1 f4 `/ m9 n9 W2 z2 Y
  124.                 // add a listener for the agv. This will call this nodefunction in the ON_AGV_AT_CP section whenever the
    ; j8 B. K4 }' h' J
  125.                 // agv arrives at a node. I keep a state on the agv's state label, and then increment it each time, {" ]) O8 h; D. m- I/ Z
  126.                 // the listener is called so I know which control point he's at, i.e. entry, elev, or exit.
    ; I1 k0 _0 L* ]0 u+ y: L! P0 Q: u
  127.                 agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,
    / {7 N. P; x) G1 j) U, h$ I7 T! q, E
  128.                         agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);& x* ]) @4 Y3 y
  129.                 ; g; A# @% ^6 |4 V
  130.                 // set the data on the state label ) V& {+ Z/ c7 u# G% y8 R
  131.                 treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);* w! r2 E5 f' ~( \, S% Y- H
  132.                 switch_destroyonreset(stateLabel, 1);
    5 L3 {8 t0 x9 {/ q6 C6 Q; W
  133.                 set(stateLabel, AGV_STATE_START);" S8 a- H" ~/ _# `4 B
  134.                 set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);
    $ z8 r1 e' k3 z2 W. o$ u$ }  D
  135.                 nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);
    4 x, {+ J# Z& Y: G9 P
  136.                 nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);
    8 u4 T0 p% d4 U+ n( c9 A" W
  137.                 nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);
    ) {/ W. K0 e% X# ]: Z# k; E
  138.                 agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);
    8 j( e/ u  @; G% I' N% Y
  139.                 return 0;
    2 I2 e! {/ ], d( {% W2 N: x
  140.         }
    9 w7 `$ v! u8 l* D% j
  141.         case ON_AGV_AT_CP: {9 _7 A5 X+ X' y
  142.                 // this is fired by the agv listener every time the agv arrives at a node.9 F/ C7 b! `0 D! x6 E
  143.                 treenode agv = param(1);
    ' x' O* R8 \! [- G" T0 N; E
  144.                 treenode elev = param(2);3 ~4 ?" F% M" I2 x. M
  145.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);2 b2 k) Y! ^/ v. n( R. H
  146.                 // I increment the state label, and then switch on it3 s4 N$ g1 o% J4 z6 V
  147.                 inc(stateLabel, 1);
    : i; N/ i! r' U- l4 u4 [5 O/ _* ~% Z
  148.                 switch (get(stateLabel)) {- n$ g5 `2 ~: Q
  149.                         case AGV_STATE_AT_ENTRY_CP: {
    $ A3 [  ?' ]$ N8 }. b! j
  150.                                 // the agv just arrived at the entry cp
    & v5 U7 p5 I- X2 m
  151.                                 // so, figure out where the elevator is.
      p; C5 S0 k3 {) I  l9 }
  152.                                 int elevState = get(node("ElevState", stateLabel));
    8 h  c% F) B/ k
  153.                                 // if he's at the pickup floor with his door closed then open the door.6 W5 l( n6 F8 J: C- z8 |5 L! ^
  154.                                 if (elevState == ELEV_STATE_AT_PICKUP_FLOOR)/ v3 O6 d; c8 b8 r6 @, A: t
  155.                                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);3 }) Y3 J+ l8 \4 T
  156.                                 else if (elevState == ELEV_STATE_DOOR_OPENED) {3 v. I$ ?$ o7 g  J; _7 ?
  157.                                         // if his door is alread opened, then move the agv onto the elevator, i.e. to
    0 H( H" g9 @* R( N. y
  158.                                         // the elevator cp
    ; B' _; I! a0 P
  159.                                         treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));* `1 Z" e6 {0 f1 p& V/ F
  160.                                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);, B7 @; q" d4 y
  161.                                 }
    ; s( P1 R- I& W9 \! G+ f% j4 b
  162.                                 break;
    ! o& h! X+ T2 F' l! ?% y2 j
  163.                         }9 P8 d* w. p, w) c
  164.                         case AGV_STATE_AT_ELEV_CP: {3 N- `1 c+ O" g5 i. ]' E
  165.                                 // once the agv is at the elevator cp, close the door
    ' h  }! d4 Z/ o7 u* g
  166.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);+ D( D/ O; O6 t" u5 [7 A3 I- m
  167.                                 break;& Y4 |9 Q, Y! T5 I: _  E. h
  168.                         }
    % _( a1 o9 t7 R% T
  169.                         case AGV_STATE_AT_EXIT_CP: {! }( K" Y( R7 E- k
  170.                                 // the agv is at the exit cp) Q# c; `/ n# g, d
  171.                                 // destroy the listener node because I'm finished listening8 ?# f1 x/ H8 S: Y- t: T
  172.                                 treenode listenerNode = param(4);& O& d) }. [4 P0 E2 r- N8 t+ ~
  173.                                 destroyobject(listenerNode);
    ' |% Q! c+ i1 v3 z
  174.                                 int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;/ @" ?0 F5 }" Q+ R9 O
  175.                                 if (!agvWait) {5 I7 J( F% D- c+ D* v4 O
  176.                                         // if the agv is supposed to continue on, then tell him to go to his final destination
    7 t4 q: [: p1 N/ Y$ T/ K9 }
  177.                                         treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);- U, r8 H: w& ^' ~! {
  178.                                         agvredirect(agv, destCP, REDIRECT_AS_FINAL);
    $ D3 H" q8 a8 F0 `- H" W" D
  179.                                 }5 X& J3 J( `: g7 b
  180.                                 // close the door# ]' W# U5 k1 ]7 E5 k
  181.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);- t3 w# N! V" L6 s( M" g
  182.                                 // and I'm finished with the state label so I can destroy it.; m' g2 A6 \1 N: j! x
  183.                                 destroyobject(stateLabel);0 g4 {( e1 Q3 ^" C' ^2 `
  184.                                 break;8 Q1 S5 E& _: R& C0 d. R% w
  185.                         }5 P5 S! g5 |, q* {
  186.                 }
    6 p4 V2 G! J/ v9 W& z
  187.                 return 0;
    4 l2 a4 B- m6 L) P
  188.         }
    . x" I5 a+ ~+ x; D9 G
  189.         case ON_ELEVATOR_PICKUP_ARRIVAL: {4 H' ^: z+ L. Y; N: W
  190.                 // the elevator has arrived at the pick floor7 t) j, _. q' l  x9 V- M
  191.                 treenode elev = param(1);
    0 n( b4 c4 [  B
  192.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);# ~# v$ \0 h7 V/ q# v3 N& b. z
  193.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);" O7 H4 W: P: N4 K  q
  194.                 treenode elevState = node("ElevState", stateLabel);
    / `6 w4 B- @! D& O
  195.                 // set the elevator state to at-pickup-floor) p9 T( c8 _$ A" K, x
  196.                 set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);0 h% u) O' w  _2 \  p; a
  197.         : {; t2 `+ _! o# j
  198.                 int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;
    : p) H, g9 s7 Z0 r! V2 R& M  m" h
  199.                
    % ]: |- b# I- h
  200.                 // if the agv is at the entry control point or I open the door immediately, then open it
    " }% \( A  {6 M
  201.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {
    ! b5 j: D4 A0 T$ f- P
  202.                         set(elevState, ELEV_STATE_OPENING_DOOR);
    : X9 N0 A" o3 g, w! p
  203.                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
      s. `. d' i4 M- H. w3 q
  204.                 }7 `) m  O& V4 p# O8 |' j) Z
  205.                 return 0;; Q. ^( b, T& B7 n, D2 j
  206.         }" g. \0 t) @9 S. }% m
  207.         case ON_OPEN_DOOR: {8 m9 d& K- K6 K' L8 j6 b! l' V
  208.                 treenode agv = param(1);) t  U2 J3 j: |$ x' {
  209.                 treenode elev = param(2);
    ; C) r1 @- K$ D- T& Y
  210.                 int nextStep = param(4);
    & I# O/ M6 v+ b& J5 ]" T; q1 {
  211.                 // open the door based on the time to open the door( h3 f- j. y- {
  212.                 double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;
    7 E! ^' k% V  j' @
  213.                 delayednodefunction(c, openDoorTime, elev, agv, nextStep);
    ; I) w7 x& w* \' s# \
  214.                 return 0;
    : B% J+ R" Q, Z1 L
  215.         }
    , b# Z5 b9 E- l5 B& s$ Q$ a  n
  216.         case ON_CLOSE_DOOR: {8 E4 l% x8 j2 B8 O
  217.                 treenode agv = param(1);
    7 E5 a9 m& F; o& M$ Y; S; [
  218.                 treenode elev = param(2);
    9 E" e( e: k- R
  219.                 int nextStep = param(4);
    * i! h& u6 W) n. j
  220.                 // close the door base on the time to close the door0 A9 X: F7 W2 o  {( u$ j
  221.                 double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;
    6 T1 Q$ X: G3 X4 C/ f! ]0 }; u" J3 L% ?
  222.                 delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));" C% |3 f, Q0 x% p7 u
  223.                 return 0;
    2 C" J$ R: B; {3 O$ m# m# o5 ^: b
  224.         }( g3 q% O/ _3 ?9 C$ P* |9 h
  225.         case ON_PICKUP_DOOR_OPENED: {1 Z: q$ Z, P. B, i6 D. [9 c
  226.                 // the elevator door has been opened on the pickup floor: v3 e  q7 J9 z2 m  w7 F( ?
  227.                 treenode elev = param(1);( v% [: z$ u! A
  228.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);0 D- w; v; ]: L7 K- z! G5 U
  229.                 treenode entryCP = cp(agv);& S' L5 Z' j. z0 m' Y
  230.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);3 j. P: n( C6 H$ U, d2 z
  231.                 treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
    3 V+ \) @; k8 n: Y- j
  232.                 treenode elevState = node("ElevState", stateLabel);' D1 d9 ~- W8 K  ?% {- R2 b
  233.                 // set the elevator state& i$ c7 E8 A+ f$ Z$ U$ t
  234.                 set(elevState, ELEV_STATE_DOOR_OPENED);
    : P, f9 \8 b: z9 `+ y* _
  235.                 // if the agv is at the entry control point, move him to the elevator control point
      P: S( T- F- E/ G
  236.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP)( r* N, J$ T9 K" l
  237.                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);( j) H" W2 w( S3 L. Y: R0 w
  238.                 return 0;
    " f" a6 C! T( m" J
  239.         }/ d* l! Z, }9 L: q7 f8 z( `
  240.         case ON_PICKUP_DOOR_CLOSED: {
    # P( A6 W: J! C/ |) z
  241.                 treenode elev = param(1);+ r& Z- j: D4 d
  242.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);2 [" j! ~) [( N) |* L
  243.                 // assign the agv to "no control point"* c% |% g# a4 g8 w" a
  244.                 agvreassigncp(agv, 0);" W& i0 \% G8 c3 ]. z2 b4 i
  245.                 // move the agv into the elevator# V2 H# w8 S% H: `1 ?4 \/ V
  246.                 moveobject(agv, elev);
    # }, A/ [! o7 g
  247.                 setrot(agv, 0, 0, 0);4 A  t; j9 u( K4 x( ]
  248.                 // release the elevator to continue to the destination floor
    $ j2 R; C5 t& @/ F5 \
  249.                 freeoperators(elev, agv);7 z% t3 `" f% W. j2 [
  250.                 return 0;. g. o: B) \6 |- I2 V% j/ n0 G
  251.         }
    1 V6 E; G' Z5 K; P# L
  252.         case ON_ELEVATOR_DROPOFF_ARRIVAL: {' |) b3 T9 k, W9 q: d/ `; D
  253.                 treenode elev = param(1);% A" E2 L. m- q2 E' y* m2 t6 U
  254.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    * m6 P7 `& G- `' m# C1 t$ l
  255.                 // when the elevator arrives at the destination floor7 I) Z  ?4 i1 N  Q
  256.                 // move the agv back into the model, O& |, B4 A1 w  e* v
  257.                 moveobject(agv, model());
    3 {1 `9 h6 \: Z
  258.                 // reassign it to the destination floor control point
    5 u+ K* R; P( @3 f8 e4 X
  259.                 agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));
    . E5 \  Q( `6 J! Y# C; s9 L
  260.                 // open the elevator door( e) ]+ I1 A+ f; U( x
  261.                 nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);
    * F6 r# B: b8 ]1 }3 L0 V8 P: e
  262.                 return 0;& a# t- I/ s) `# x: b# g! i+ c
  263.         }
    ) G0 ~' _) x! P5 }
  264.         case ON_DROPOFF_DOOR_OPENED: {- L7 M# K4 B2 n9 i/ v0 @
  265.                 treenode elev = param(1);
    . f& w1 C1 \8 v  H9 E8 K
  266.                 treenode agv = param(2);
    0 _0 U, Z, g8 d
  267.                 treenode agvLabel = label(agv, AGV_LABEL_NAME);
    : D' s" J% D4 H0 k2 F+ Q( {
  268.                 // once the elevator door is opened on the destination floor, ! g( u) P, q+ Q2 ?, o9 W- _6 {' u
  269.                 // redirect the agv to the exit control point
    $ x7 G) {' ~* A6 o5 F- d5 Z
  270.                 agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);
    7 g* D2 C; O4 N3 M9 s) q5 r: Y. v
  271.                 return 0;
    + i8 l% x$ _$ R$ `  T
  272.         }
    " \9 ~7 C0 v, |# ]$ W
  273.         case ON_DROPOFF_DOOR_CLOSED: {  N& m' F3 y& s
  274.                 treenode elev = param(1);1 V4 ~' [4 ^- O! ^1 @
  275.                 treenode agv = param(2);
    8 g( e( T+ C/ x" m) [: v4 ^* O1 s
  276.                 int isAGVWaiting = param(4);9 c( j) ~* p! m" M) W/ X
  277.                 // once the door is closed at the destination floor,3 M/ Z7 w$ C& t' p8 o0 u
  278.                 // if the agv is waiting, then send him to the final destination
    # x6 E: K9 s: K/ L% G+ w4 O' L
  279.                 if (isAGVWaiting)6 p" E: U! B9 e2 N# o3 k' i
  280.                         agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);* t9 A  z$ l; s9 i
  281.                 // release the elevator to finish his task sequence
    1 u+ v1 ]; h3 r* N
  282.                 freeoperators(elev, agv);4 x8 E, R, L' o: r
  283.                 return 0;
    7 I" _( G/ I% ?1 |# e* t
  284.         }/ a0 @$ i" D; k
  285. }
    8 M3 L7 r" k3 W* f
  286. } //******* PickOption End *******\\
    * c" b( z* }# z& ?$ a! t
  287. " r  V; }) p; e$ k! c
复制代码
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  z& c/ p" ~" |) {8 v$ C
" o6 n7 S( V7 s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 19:12
  s$ e  Q' m: j7 U# @  F- M办法1:从2016版本里面复制相应的代码0 E( C0 W8 T+ F" H7 C

$ A; d3 s2 b1 s' C具体代码如下:

8 M6 {( p, l, G/ X- ^" c# L3 C  k好的,非常感谢陈老师的解答~
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