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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- treenode agv = param(1);" e- V* I- q' @( i7 b f: j
- treenode currentCP = param(2);4 V( i$ ]/ r9 t5 { ?1 T) a
& d3 V* r% C5 M5 f8 m- { //************* PickOption Start *************\\
1 Q+ L3 D& Q/ Z: ^5 R7 r - /***popup:AGV_DivertToElevator*/7 z4 K" f! X* E. D
- /***tag:Description*//**Divert to Elevator*/: h: G w: a; ]- S( K7 M
- + O$ d- V2 e! E% ^
- int operation = param(3);4 w. n5 U6 d- ?. w9 t1 o+ O
9 k+ T- B6 q2 ~- #define AGV_LABEL_NAME "fs_AGV_Elev_State"& z2 ?- l7 [! Y3 E! X! A8 k
- if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME))2 a! c3 ^- s( T" h+ E
- && (/** \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
- // initial trigger execution
9 w( i; j% j( j+ g) b1 f: [ - #define ON_ELEVATOR_START 1
! J# j* P( z g* F: D: L1 b - #define ON_ELEVATOR_PICKUP_ARRIVAL 2! f$ U4 _* k: q! f% X9 h
- #define ON_ELEVATOR_DROPOFF_ARRIVAL 3; {' P' R' x m V/ L
- #define ON_AGV_AT_CP 4
* P7 F# o$ \4 W5 i - #define ON_BOTH_AT_PICKUP 5
% A/ x' ~ @ g* a$ q; Z% k3 W: W1 Q - #define ON_OPEN_DOOR 6
+ _! o% J0 e; }; u8 T - #define ON_CLOSE_DOOR 7; I o9 Z0 U4 y+ B0 i+ `" I
- #define ON_PICKUP_DOOR_OPENED 8% K" l. A$ t$ H
- #define ON_PICKUP_DOOR_CLOSED 90 ~( F# C% g( h2 o5 [) z" y
- #define ON_DROPOFF_DOOR_OPENED 10
6 E- s- F# {0 O- b' q - #define ON_DROPOFF_DOOR_CLOSED 11
5 p- K* }- U0 }- \1 v' P - ( S( l+ F% y$ j c4 \
- #define AGV_STATE_START 0/ d/ Z f& `, ^9 F$ f% U! i. ]
- #define AGV_STATE_AT_ENTRY_CP 1
# R8 j6 C4 N- {! ~6 P - #define AGV_STATE_AT_ELEV_CP 2/ G0 ~6 i. f$ \3 j) K( H
- #define AGV_STATE_AT_EXIT_CP 3
6 A! J: p: t$ S5 y3 y- }+ Z - / X g8 [. C1 m2 R" z( } H# r* A
- #define ELEV_STATE_NONE 0
) u P% s4 u) i - #define ELEV_STATE_AT_PICKUP_FLOOR 19 Y# E1 A& `8 O/ d6 F
- #define ELEV_STATE_OPENING_DOOR 2
: D# _# [1 N. I$ c0 @9 `% X1 ^% P - #define ELEV_STATE_DOOR_OPENED 3
) ? u0 y3 h/ P - 4 `! h7 q+ j8 I/ f
. [1 D$ l" J4 E0 K6 o6 B) o- treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;
; |% V& p0 G* N& b% L - #define elevator outobject(elevDisp, $iter(1))
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. F4 i+ Y3 j$ s( X6 Y; F* D- if (!objectexists(elevDisp))% S6 B9 F3 r( s/ y% M
- return 0;* b8 y' c. p: @. `) `
- + ?5 G+ u( x$ J( l, {/ V2 s; j
- if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {
9 F# n8 p& _7 c" ^) ]+ l - query(. |! ?! X n0 ]" @
- /** \nFull Query: */3 ?9 b& f& S. k9 w
- /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,; J1 v/ d% A# E& D! L
- nrop(elevDisp),1 c; N; N* O' O. f; R4 A
- elevator
# _/ I A5 U( ?. c - /** \nWhere*/; A3 m5 }3 l1 N; x
- /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/
4 Y _0 U/ ~8 T' q: L9 M - /***/
9 Y9 {( R3 r0 t7 X" i - /** \nOrderBy*/3 _6 [& i0 [8 Z; W' Z. G
- /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*/$ N( L7 M( U- M6 v9 R. z
- /***/);: }' c% o# B% a- {5 a4 b
- : i1 U9 {6 o4 M6 q7 I; n8 P
- if (getquerymatchcount() > 0). `& v9 q9 ~+ s4 r9 {
- elevDisp = getqueryvalue(1, 1);
1 e2 j" c" g9 u! B# u' t% q$ V - }' f; k4 L ]* m5 v1 O" q$ }
- if (!objectexists(elevDisp))9 c3 q* p7 [8 r# |! F& G
- return 0;
% Y* |- j+ F- c' n - treenode destCP = agvinfo(agv, AGV_DEST_CP);
$ _) M3 Q4 V2 t- K
0 m+ Z8 L& k6 a. |0 ]1 D- agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);
z1 m8 p8 I o - M4 U$ ]5 g+ F5 v/ `
- // Create the task sequence for the elevator
* g5 N% a- ]! Z3 A6 ~, R - double destZ = zloc(destCP);0 V& O% C- i5 g$ i* ]
- treenode ts = createemptytasksequence(elevDisp, 0, 0);
& Q7 q+ c/ T0 k. h, o - inserttask(ts, TASKTYPE_TAG, agv, destCP);
/ @1 ^4 z1 o- k: G; m4 J - // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START
1 y+ o' m/ }7 ]) M, w0 m - inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);
# L. a, \8 a$ O2 n3 g( l/ B5 s8 ]# a) [ - // travel to the z location of the current control point
- I9 e$ p i( j$ l* u5 T - inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));/ r F5 L5 ?2 x/ B% K; |
- // then call ON_ELEVATOR_PICKUP_ARRIVAL
! i b+ X5 Y1 L# Z3 w$ q& A - inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);
8 Q( s, O$ A$ d+ X, G - // then wait for the agv to get on
8 f, Q8 R+ A/ }$ }7 m" p9 B- J - inserttask(ts, TASKTYPE_UTILIZE, agv);3 `" H4 {( G4 @6 ^# _; s! u+ j
- // then travel to the destination z location! F) ?" s4 ]) @) b, a' c' X" V
- inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);
- U8 B! P; r% I/ v$ S - // then call ON_ELEVATOR_DROPOFF_ARRIVAL
$ @! C* `, J. z3 V. ?- Q2 q - inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);
! H4 ~$ v, @: e( R - inserttask(ts, TASKTYPE_UTILIZE, agv); Z# M3 @+ i3 c" S& r
- dispatchtasksequence(ts);( E9 X! Z6 {" M8 v. x" L
- } else switch (operation) {- n, s: j/ [5 V6 ^6 b, B
- case ON_ELEVATOR_START: {& i0 z& ?% O' [) w* n
- // this is fired when I get a valid elevator( }! M0 ]+ e( y# p5 Q
- treenode elev = param(1);, q2 s2 B9 H; c1 l5 ~6 [, H
- treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);- O. |2 }$ s h
7 n% M& g$ T9 e2 {' X% t% ~- // find the closest floor control point
" P( o4 _+ P: G# h! L - int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);
. }7 d9 d! k, C, A; p: X - treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon),
/ M6 y/ U- M- e2 o% M' c6 r( V- y - fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),* z2 N0 ]9 Z, G
- cpconnection(elev, floorCPCon, count));
! l. C! c1 c, k, a3 o - // return if there is none# k& `) a: s8 b% M
- if (!objectexists(curFloorCP))" V Z5 Z/ ?& l# n3 U
- return 0;
" [* s9 m C: Q; W9 _
% K E& ?: l5 @- // get the entry control point- L9 @, u: w1 t3 G. S
- treenode floorCP = curFloorCP;7 A2 k& e- O7 F3 a
- treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;' b: ]0 g4 v. z7 j
- if (!objectexists(curFloorEntryCP))" E% W9 z c7 m$ Q' B
- return 0;2 a( C, r0 \0 \! o
- treenode floorEntryCP = curFloorEntryCP;
" I/ I! |$ H* h# N+ K3 A - treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;
9 C2 y- o: |( U3 J" ]1 d, a - if (!objectexists(curFloorElevCP))) L7 t, l* c) ^# a
- return 0;9 h+ j; A8 L' I1 x4 S/ k
- $ q/ J' _5 Y) }4 h
- double destZ = param(4);) w. r8 b/ n5 }9 R6 O! B1 I
- // find the floor control point closest to the destination floor
; @* k+ M$ p0 y3 d$ O - treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon),
2 E' X9 [, Q* v8 w - fabs(destZ - zloc(cpconnection(elev, floorCPCon, count))),/ k1 b! A/ p+ A$ \8 x& c8 o& g4 V
- cpconnection(elev, floorCPCon, count));1 V" p3 _+ _0 v5 a# ?
- ' N3 c& v( B \4 ~& B4 r
- floorCP = destFloorCP;6 Z6 n: \* T7 \
- treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;9 P$ t8 A' s/ }+ m1 a2 |
- if (!objectexists(destFloorElevCP))6 O/ B* t! ?( w& p$ _3 Q
- return 0;
# |* j: ?8 }/ o2 U2 } Q' { - // get the destination exit control point
3 K( `% A, Y" e- \8 s" x! y - treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;
# G( U2 P6 V; r% B - if (!objectexists(destExitCP))0 d! A5 ] v5 a$ t
- return 0;
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- 1 f4 `/ m9 n9 W2 z2 Y
- // 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 - // 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
- // 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 - agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,
/ {7 N. P; x) G1 j) U, h$ I7 T! q, E - agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);& x* ]) @4 Y3 y
- ; g; A# @% ^6 |4 V
- // set the data on the state label ) V& {+ Z/ c7 u# G% y8 R
- treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);* w! r2 E5 f' ~( \, S% Y- H
- switch_destroyonreset(stateLabel, 1);
5 L3 {8 t0 x9 {/ q6 C6 Q; W - set(stateLabel, AGV_STATE_START);" S8 a- H" ~/ _# `4 B
- set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);
$ z8 r1 e' k3 z2 W. o$ u$ } D - nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);
4 x, {+ J# Z& Y: G9 P - nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);
8 u4 T0 p% d4 U+ n( c9 A" W - nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);
) {/ W. K0 e% X# ]: Z# k; E - agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);
8 j( e/ u @; G% I' N% Y - return 0;
2 I2 e! {/ ], d( {% W2 N: x - }
9 w7 `$ v! u8 l* D% j - case ON_AGV_AT_CP: {9 _7 A5 X+ X' y
- // this is fired by the agv listener every time the agv arrives at a node.9 F/ C7 b! `0 D! x6 E
- treenode agv = param(1);
' x' O* R8 \! [- G" T0 N; E - treenode elev = param(2);3 ~4 ?" F% M" I2 x. M
- treenode stateLabel = label(agv, AGV_LABEL_NAME);2 b2 k) Y! ^/ v. n( R. H
- // I increment the state label, and then switch on it3 s4 N$ g1 o% J4 z6 V
- inc(stateLabel, 1);
: i; N/ i! r' U- l4 u4 [5 O/ _* ~% Z - switch (get(stateLabel)) {- n$ g5 `2 ~: Q
- case AGV_STATE_AT_ENTRY_CP: {
$ A3 [ ?' ]$ N8 }. b! j - // the agv just arrived at the entry cp
& v5 U7 p5 I- X2 m - // so, figure out where the elevator is.
p; C5 S0 k3 {) I l9 } - int elevState = get(node("ElevState", stateLabel));
8 h c% F) B/ k - // 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! ^
- if (elevState == ELEV_STATE_AT_PICKUP_FLOOR)/ v3 O6 d; c8 b8 r6 @, A: t
- nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);3 }) Y3 J+ l8 \4 T
- else if (elevState == ELEV_STATE_DOOR_OPENED) {3 v. I$ ?$ o7 g J; _7 ?
- // if his door is alread opened, then move the agv onto the elevator, i.e. to
0 H( H" g9 @* R( N. y - // the elevator cp
; B' _; I! a0 P - treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));* `1 Z" e6 {0 f1 p& V/ F
- agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);, B7 @; q" d4 y
- }
; s( P1 R- I& W9 \! G+ f% j4 b - break;
! o& h! X+ T2 F' l! ?% y2 j - }9 P8 d* w. p, w) c
- case AGV_STATE_AT_ELEV_CP: {3 N- `1 c+ O" g5 i. ]' E
- // once the agv is at the elevator cp, close the door
' h }! d4 Z/ o7 u* g - nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);+ D( D/ O; O6 t" u5 [7 A3 I- m
- break;& Y4 |9 Q, Y! T5 I: _ E. h
- }
% _( a1 o9 t7 R% T - case AGV_STATE_AT_EXIT_CP: {! }( K" Y( R7 E- k
- // the agv is at the exit cp) Q# c; `/ n# g, d
- // destroy the listener node because I'm finished listening8 ?# f1 x/ H8 S: Y- t: T
- treenode listenerNode = param(4);& O& d) }. [4 P0 E2 r- N8 t+ ~
- destroyobject(listenerNode);
' |% Q! c+ i1 v3 z - int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;/ @" ?0 F5 }" Q+ R9 O
- if (!agvWait) {5 I7 J( F% D- c+ D* v4 O
- // 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 } - treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);- U, r8 H: w& ^' ~! {
- agvredirect(agv, destCP, REDIRECT_AS_FINAL);
$ D3 H" q8 a8 F0 `- H" W" D - }5 X& J3 J( `: g7 b
- // close the door# ]' W# U5 k1 ]7 E5 k
- nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);- t3 w# N! V" L6 s( M" g
- // and I'm finished with the state label so I can destroy it.; m' g2 A6 \1 N: j! x
- destroyobject(stateLabel);0 g4 {( e1 Q3 ^" C' ^2 `
- break;8 Q1 S5 E& _: R& C0 d. R% w
- }5 P5 S! g5 |, q* {
- }
6 p4 V2 G! J/ v9 W& z - return 0;
4 l2 a4 B- m6 L) P - }
. x" I5 a+ ~+ x; D9 G - case ON_ELEVATOR_PICKUP_ARRIVAL: {4 H' ^: z+ L. Y; N: W
- // the elevator has arrived at the pick floor7 t) j, _. q' l x9 V- M
- treenode elev = param(1);
0 n( b4 c4 [ B - treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);# ~# v$ \0 h7 V/ q# v3 N& b. z
- treenode stateLabel = label(agv, AGV_LABEL_NAME);" O7 H4 W: P: N4 K q
- treenode elevState = node("ElevState", stateLabel);
/ `6 w4 B- @! D& O - // set the elevator state to at-pickup-floor) p9 T( c8 _$ A" K, x
- set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);0 h% u) O' w _2 \ p; a
- : {; t2 `+ _! o# j
- int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;
: p) H, g9 s7 Z0 r! V2 R& M m" h -
% ]: |- b# I- h - // if the agv is at the entry control point or I open the door immediately, then open it
" }% \( A {6 M - if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {
! b5 j: D4 A0 T$ f- P - set(elevState, ELEV_STATE_OPENING_DOOR);
: X9 N0 A" o3 g, w! p - nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
s. `. d' i4 M- H. w3 q - }7 `) m O& V4 p# O8 |' j) Z
- return 0;; Q. ^( b, T& B7 n, D2 j
- }" g. \0 t) @9 S. }% m
- case ON_OPEN_DOOR: {8 m9 d& K- K6 K' L8 j6 b! l' V
- treenode agv = param(1);) t U2 J3 j: |$ x' {
- treenode elev = param(2);
; C) r1 @- K$ D- T& Y - int nextStep = param(4);
& I# O/ M6 v+ b& J5 ]" T; q1 { - // open the door based on the time to open the door( h3 f- j. y- {
- double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;
7 E! ^' k% V j' @ - delayednodefunction(c, openDoorTime, elev, agv, nextStep);
; I) w7 x& w* \' s# \ - return 0;
: B% J+ R" Q, Z1 L - }
, b# Z5 b9 E- l5 B& s$ Q$ a n - case ON_CLOSE_DOOR: {8 E4 l% x8 j2 B8 O
- treenode agv = param(1);
7 E5 a9 m& F; o& M$ Y; S; [ - treenode elev = param(2);
9 E" e( e: k- R - int nextStep = param(4);
* i! h& u6 W) n. j - // close the door base on the time to close the door0 A9 X: F7 W2 o {( u$ j
- double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;
6 T1 Q$ X: G3 X4 C/ f! ]0 }; u" J3 L% ? - delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));" C% |3 f, Q0 x% p7 u
- return 0;
2 C" J$ R: B; {3 O$ m# m# o5 ^: b - }( g3 q% O/ _3 ?9 C$ P* |9 h
- case ON_PICKUP_DOOR_OPENED: {1 Z: q$ Z, P. B, i6 D. [9 c
- // the elevator door has been opened on the pickup floor: v3 e q7 J9 z2 m w7 F( ?
- treenode elev = param(1);( v% [: z$ u! A
- treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);0 D- w; v; ]: L7 K- z! G5 U
- treenode entryCP = cp(agv);& S' L5 Z' j. z0 m' Y
- treenode stateLabel = label(agv, AGV_LABEL_NAME);3 j. P: n( C6 H$ U, d2 z
- treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
3 V+ \) @; k8 n: Y- j - treenode elevState = node("ElevState", stateLabel);' D1 d9 ~- W8 K ?% {- R2 b
- // set the elevator state& i$ c7 E8 A+ f$ Z$ U$ t
- set(elevState, ELEV_STATE_DOOR_OPENED);
: P, f9 \8 b: z9 `+ y* _ - // if the agv is at the entry control point, move him to the elevator control point
P: S( T- F- E/ G - if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP)( r* N, J$ T9 K" l
- agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);( j) H" W2 w( S3 L. Y: R0 w
- return 0;
" f" a6 C! T( m" J - }/ d* l! Z, }9 L: q7 f8 z( `
- case ON_PICKUP_DOOR_CLOSED: {
# P( A6 W: J! C/ |) z - treenode elev = param(1);+ r& Z- j: D4 d
- treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);2 [" j! ~) [( N) |* L
- // assign the agv to "no control point"* c% |% g# a4 g8 w" a
- agvreassigncp(agv, 0);" W& i0 \% G8 c3 ]. z2 b4 i
- // move the agv into the elevator# V2 H# w8 S% H: `1 ?4 \/ V
- moveobject(agv, elev);
# }, A/ [! o7 g - setrot(agv, 0, 0, 0);4 A t; j9 u( K4 x( ]
- // release the elevator to continue to the destination floor
$ j2 R; C5 t& @/ F5 \ - freeoperators(elev, agv);7 z% t3 `" f% W. j2 [
- return 0;. g. o: B) \6 |- I2 V% j/ n0 G
- }
1 V6 E; G' Z5 K; P# L - case ON_ELEVATOR_DROPOFF_ARRIVAL: {' |) b3 T9 k, W9 q: d/ `; D
- treenode elev = param(1);% A" E2 L. m- q2 E' y* m2 t6 U
- treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
* m6 P7 `& G- `' m# C1 t$ l - // when the elevator arrives at the destination floor7 I) Z ?4 i1 N Q
- // move the agv back into the model, O& |, B4 A1 w e* v
- moveobject(agv, model());
3 {1 `9 h6 \: Z - // reassign it to the destination floor control point
5 u+ K* R; P( @3 f8 e4 X - agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));
. E5 \ Q( `6 J! Y# C; s9 L - // open the elevator door( e) ]+ I1 A+ f; U( x
- nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);
* F6 r# B: b8 ]1 }3 L0 V8 P: e - return 0;& a# t- I/ s) `# x: b# g! i+ c
- }
) G0 ~' _) x! P5 } - case ON_DROPOFF_DOOR_OPENED: {- L7 M# K4 B2 n9 i/ v0 @
- treenode elev = param(1);
. f& w1 C1 \8 v H9 E8 K - treenode agv = param(2);
0 _0 U, Z, g8 d - treenode agvLabel = label(agv, AGV_LABEL_NAME);
: D' s" J% D4 H0 k2 F+ Q( { - // once the elevator door is opened on the destination floor, ! g( u) P, q+ Q2 ?, o9 W- _6 {' u
- // redirect the agv to the exit control point
$ x7 G) {' ~* A6 o5 F- d5 Z - agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);
7 g* D2 C; O4 N3 M9 s) q5 r: Y. v - return 0;
+ i8 l% x$ _$ R$ ` T - }
" \9 ~7 C0 v, |# ]$ W - case ON_DROPOFF_DOOR_CLOSED: { N& m' F3 y& s
- treenode elev = param(1);1 V4 ~' [4 ^- O! ^1 @
- treenode agv = param(2);
8 g( e( T+ C/ x" m) [: v4 ^* O1 s - int isAGVWaiting = param(4);9 c( j) ~* p! m" M) W/ X
- // once the door is closed at the destination floor,3 M/ Z7 w$ C& t' p8 o0 u
- // if the agv is waiting, then send him to the final destination
# x6 E: K9 s: K/ L% G+ w4 O' L - if (isAGVWaiting)6 p" E: U! B9 e2 N# o3 k' i
- agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);* t9 A z$ l; s9 i
- // release the elevator to finish his task sequence
1 u+ v1 ]; h3 r* N - freeoperators(elev, agv);4 x8 E, R, L' o: r
- return 0;
7 I" _( G/ I% ?1 |# e* t - }/ a0 @$ i" D; k
- }
8 M3 L7 r" k3 W* f - } //******* PickOption End *******\\
* c" b( z* }# z& ?$ a! t - " r V; }) p; e$ k! c
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" o6 n7 S( V7 s办法2:使用工艺流程模块完成 |
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