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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 }& ~
- treenode agv = param(1);( i2 Z6 L/ r8 ~* k; `5 O
- treenode currentCP = param(2);" t& G3 p, @3 |2 I' m
- ; m0 s5 s) H) f2 y2 d/ w% H1 y
- { //************* PickOption Start *************\\, }% z: @. [( z6 @& i1 }
- /***popup:AGV_DivertToElevator*/" h" H; j5 o9 C1 K. ?
- /***tag:Description*//**Divert to Elevator*/; ?6 P7 [2 z" ~. v- A
- . {/ a8 ]9 X( O0 f; |1 l! M$ D
- int operation = param(3); u% L/ _$ A8 K
- * r, J. E1 H* w' g9 h
- #define AGV_LABEL_NAME "fs_AGV_Elev_State"
+ i' T# Q# b# ^5 w' d - if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME))
/ t9 M2 L. P" X" d7 m! j - && (/** \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 - // initial trigger execution
8 M( ?; u3 ^9 E, q/ _ - #define ON_ELEVATOR_START 1: s0 {2 C7 ~' N0 @4 e
- #define ON_ELEVATOR_PICKUP_ARRIVAL 29 @; R! s; x! [& ]
- #define ON_ELEVATOR_DROPOFF_ARRIVAL 3
# [- l* C! Q9 K2 Y: @% v - #define ON_AGV_AT_CP 4* [5 u: z) C: ~$ f+ d
- #define ON_BOTH_AT_PICKUP 5# z/ d- s; K, Q! N# K
- #define ON_OPEN_DOOR 6; j$ x6 R5 N- k7 H% P8 I- i3 {6 H
- #define ON_CLOSE_DOOR 7
3 x d4 ?2 d8 W - #define ON_PICKUP_DOOR_OPENED 8
. f2 B6 ` q8 U) G7 T - #define ON_PICKUP_DOOR_CLOSED 95 p ?( r" Q* f, L7 f
- #define ON_DROPOFF_DOOR_OPENED 10
8 r/ c; o0 b; C4 D3 n - #define ON_DROPOFF_DOOR_CLOSED 11* ~7 b& [' w1 @: M: D, U: l$ R5 W
- ( [/ d: p+ R# ^9 p3 e) l
- #define AGV_STATE_START 0# `6 Q5 y8 M3 W) z6 G, k# ]1 v9 g6 G
- #define AGV_STATE_AT_ENTRY_CP 1
( ~: f X3 n, Y4 u2 C r - #define AGV_STATE_AT_ELEV_CP 2
) a V1 y6 D* u3 H - #define AGV_STATE_AT_EXIT_CP 3
) X8 q, c, r/ U h& N3 Z - 0 S* z$ G* d7 u; D
- #define ELEV_STATE_NONE 09 D9 S$ Q1 ]8 ?4 L/ A d* t
- #define ELEV_STATE_AT_PICKUP_FLOOR 1
5 T8 }6 N) \0 ~6 c- c - #define ELEV_STATE_OPENING_DOOR 28 L& { b. R1 g
- #define ELEV_STATE_DOOR_OPENED 38 @6 M( q9 x) [# I) P$ q I- Z
- 4 t. ^% ?; d8 Y4 o" R* r3 N
' H; g; _2 ?4 ?, _, S! W- treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;
4 n* D/ h& s( i! y0 c6 s. G - #define elevator outobject(elevDisp, $iter(1))
6 a; ]. n0 ~9 o - + k- C/ c6 \2 s4 o( {
- if (!objectexists(elevDisp)); W' r1 j1 z0 r S
- return 0;
" w+ r$ F, Q! b6 S
; Q- Y$ Z/ t6 V4 y) t, d7 j- if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {" T l; b# j6 M% B
- query(% ?! A4 v& H( V. k8 d, I% K
- /** \nFull Query: */
/ V; {4 B" ~ B* l5 G; d - /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,
7 S( G& x) ~" a6 ^; \ - nrop(elevDisp),1 U! q+ h& N1 w! r: B' Y
- elevator( f+ G& _0 G7 G9 R* e$ @( o
- /** \nWhere*/- L8 U( Y; \' F8 h
- /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/
- X) W% }2 [4 t$ k* _ - /***/8 h, O$ u5 |* ]
- /** \nOrderBy*/8 Q! ^* i) j, Z" L( S
- /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*// r6 R! n- R/ e+ @' ~
- /***/);
# r! X4 a" N& o - - d# C: D5 ~% e4 J
- if (getquerymatchcount() > 0)3 _- Y9 ?& D( @! h; H7 s+ A( l
- elevDisp = getqueryvalue(1, 1);
G# e6 X6 M( O0 v. e1 T+ t4 b; Q - }
" E z' K/ A+ j8 [/ M3 ~) N2 @ - if (!objectexists(elevDisp)) S7 x1 R! h9 Z: w0 v
- return 0;
6 {1 V4 S: Q- H. Q/ | - treenode destCP = agvinfo(agv, AGV_DEST_CP);( [" P$ h3 A- n8 ]4 A: t; q
2 ^; L' s4 J4 [& S- agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);/ {5 u: b! I7 T/ j
- + L! t, d2 z& N$ H# S
- // Create the task sequence for the elevator1 ~3 V) s4 X" l, M. L
- double destZ = zloc(destCP);
$ @1 ^2 W0 d3 _6 @5 [5 f( Q* j - treenode ts = createemptytasksequence(elevDisp, 0, 0);' z- I7 \, i% F& E- Y+ b! u. }- P0 l
- inserttask(ts, TASKTYPE_TAG, agv, destCP);
) d- c3 V' \9 D" t; g - // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START
$ ^' W# w1 e$ ]5 I2 f7 W - inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);/ m" g1 b. Z; o; ~" ^- z
- // travel to the z location of the current control point& D/ | ^1 G6 @% n
- inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));- y; C- ~9 L! a" p5 V `3 l
- // then call ON_ELEVATOR_PICKUP_ARRIVAL4 @$ S) x$ ?" |1 z2 w
- inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);
7 Y- S; u: p' s - // then wait for the agv to get on
8 K! T8 N' h, m5 S' B1 A - inserttask(ts, TASKTYPE_UTILIZE, agv);
& }2 X+ m. C) i' } - // then travel to the destination z location5 e$ j2 F' n0 w! |1 X' N, ~
- inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);
; @ \. ]* h9 J - // then call ON_ELEVATOR_DROPOFF_ARRIVAL
4 u2 @4 y S! n3 C8 c! r7 b - inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);
+ d6 _8 F- ]9 b7 E, Q# U! M - inserttask(ts, TASKTYPE_UTILIZE, agv);% A$ Q/ |( a. h) R! T- D7 ?
- dispatchtasksequence(ts);
" Z3 U4 R2 g9 ?1 u' E+ A. { - } else switch (operation) {1 [4 Z5 a# B! X. d9 ~2 H
- case ON_ELEVATOR_START: {/ A, i/ _1 u' w! z' A1 m
- // this is fired when I get a valid elevator
* Y9 T+ w! z% r+ A% c) Q - treenode elev = param(1);0 I- m& i" P. g; U5 ]
- treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);% \3 v0 K7 p& t+ ~5 i& W O+ R
- 3 _. w, Q0 O q$ S
- // find the closest floor control point+ ^( f" I% J& n' u6 b+ B9 O% h
- int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);
1 A5 Y5 b9 ~) h3 {9 t& [ - treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon),
& n! m" k! Y. G4 ~2 |2 c0 i8 h - fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),
1 S2 ?. A5 F/ Z$ a u5 g' J - cpconnection(elev, floorCPCon, count));5 t+ T! z- E) ?% V* ?
- // return if there is none8 Q4 `+ i% r4 o; {+ F" q P) O, m
- if (!objectexists(curFloorCP))
r5 p& G9 _/ A G - return 0;3 y' h0 \$ X( A& c
( G& @6 m2 k1 u$ S$ J" `- // get the entry control point$ J$ ]% [) S# a) N: ]6 V
- treenode floorCP = curFloorCP; Z- {5 i, y0 v H) d( e4 N, w
- treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;
# k7 q- Y1 y n% W: s) @, L, u - if (!objectexists(curFloorEntryCP))
5 W( f, X. v! `$ Y4 s: P6 k7 P G - return 0;& g7 m) M) P o3 P) O4 W" \' @9 E
- treenode floorEntryCP = curFloorEntryCP;' t+ o0 d4 W' A8 v; U5 c
- treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;3 m% E7 u, g* S3 X
- if (!objectexists(curFloorElevCP))" Z" ~8 c2 s3 l* c
- return 0;
) n) |' b8 ^) j2 m* s" T6 O - / q7 i1 w3 r* D5 B: e" R
- double destZ = param(4);! C6 f7 L+ K6 }' v3 L, M
- // find the floor control point closest to the destination floor
/ m; H2 [$ B5 H% F1 P - treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon), ; c7 D ^: u$ [
- fabs(destZ - zloc(cpconnection(elev, floorCPCon, count))),
* j( D( ]2 H6 ^. f$ H - cpconnection(elev, floorCPCon, count));
' i9 ^! U Z& m5 L - . C8 e4 b8 f: h" { D
- floorCP = destFloorCP;
, j1 P% H7 u7 D) E - treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;
; f4 l& m& f/ ]1 a1 c! ~ - if (!objectexists(destFloorElevCP))
# T- m9 J' S4 N% | - return 0;- h' M* h/ A; X7 Z5 M
- // get the destination exit control point; a) B) n3 x5 T
- treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;
7 p$ y% U( \) ~ h; a6 O - if (!objectexists(destExitCP))+ Y; K' r1 Y9 h: |- c
- return 0;5 x' _0 g! ` }. v) C' s
9 H$ A# r( v4 F* ]
# g1 o7 W: ]8 C9 ]' ?- // 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
- // 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 - // 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 - agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,
: x" b7 l' k- j x! F/ r& J! ?: m) Y - agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);1 V& p6 q& b8 B' v; ^+ e
- 7 [7 v C6 s, J, q
- // set the data on the state label . t# X+ A0 B$ ^! W: |- ]- G
- treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);
7 d% ~& c. C- x7 p - switch_destroyonreset(stateLabel, 1);: e% x: m1 U. h
- set(stateLabel, AGV_STATE_START);: d! P, x; m$ n, Z2 T
- set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);8 [7 ~, F. r( C' t
- nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);6 ?1 y7 `) S! P9 {& E/ y7 V/ K
- nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);" \& T- L$ f4 z: j3 j7 ^+ t$ b
- nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);
z9 W0 V; r# _, u( i0 Z# {$ c - agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);
, Y) g' m4 y4 l* g4 r - return 0;
4 J8 `5 |9 u7 y+ B6 } - }! B& z: X: f# G7 G( w, C
- case ON_AGV_AT_CP: {4 H" U' V) K& o) r0 m
- // this is fired by the agv listener every time the agv arrives at a node.# i! g2 Z' o, ~3 T
- treenode agv = param(1);+ P5 r. b0 m/ U' u7 S/ `. ^9 n
- treenode elev = param(2);
9 a; i# S' O8 _: K% _, V+ A" r - treenode stateLabel = label(agv, AGV_LABEL_NAME);
- u( d c' G- t1 Z, C9 H% a - // I increment the state label, and then switch on it A6 ^0 s4 r: W. T9 s( J
- inc(stateLabel, 1);
' C! @1 W, h. E2 X$ W" r - switch (get(stateLabel)) {
) y H: g8 y. e5 Z: ?1 S - case AGV_STATE_AT_ENTRY_CP: {
7 e: ]5 A% N! U - // the agv just arrived at the entry cp* |# @: c, F: M
- // so, figure out where the elevator is.
# U0 O2 a& B1 i - int elevState = get(node("ElevState", stateLabel));
+ w# D$ ~0 ]4 ~ - // if he's at the pickup floor with his door closed then open the door.% U& E8 `; k) p6 I6 K0 H
- if (elevState == ELEV_STATE_AT_PICKUP_FLOOR): ?$ x$ |0 ]* }: O+ p9 d
- nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);' g9 z2 j6 Q, I0 f# x
- else if (elevState == ELEV_STATE_DOOR_OPENED) {+ F" H* d$ x- }2 d" y4 ?/ i6 w
- // if his door is alread opened, then move the agv onto the elevator, i.e. to& l$ K) h0 L" j" s: s1 s, ^
- // the elevator cp
7 o9 Z& y! [" x* r4 S - treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
9 w3 f% W- U5 s. _# D" M; ^ - agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);: Z! U: W. T- D# \& k
- }
: U' Y% P4 ?3 B' s, `4 J - break;; q& E7 [9 C% i
- }# b- H/ u4 C9 d9 ~
- case AGV_STATE_AT_ELEV_CP: {6 t! d8 K6 @; s+ Z& y* r+ K# {
- // once the agv is at the elevator cp, close the door& H- p8 U- l7 t2 V- U$ e1 m
- nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);. |% K' @3 H% d1 i
- break;/ R) E/ K$ }3 T) ^8 P) p9 k2 u% L. u
- }
( e+ o. O5 `5 r2 l# D7 h/ g& V - case AGV_STATE_AT_EXIT_CP: {1 U* R3 ~- J6 S e- p" ^
- // the agv is at the exit cp
3 D3 y) o$ X, y - // destroy the listener node because I'm finished listening
3 A4 Q1 Q* G, G1 i - treenode listenerNode = param(4);
7 X) `: ^& ]3 ? - destroyobject(listenerNode);; d; P0 a @0 q# ]# j* O: m! E H
- int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;) f5 C- @8 L5 U. G! N; I- L
- if (!agvWait) {
. Q) x/ o5 q! w6 T" | - // 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 - treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);* s: f# M2 R! Y# d$ V$ m- o/ h2 |
- agvredirect(agv, destCP, REDIRECT_AS_FINAL);' t9 \( [: c* l/ E* v: B/ ?$ P
- }
" ~9 @( o" Q6 a8 F5 t/ W7 z& j - // close the door5 O8 O& j( G N. {
- nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);
) [9 E# s0 n, V - // and I'm finished with the state label so I can destroy it.
1 d# Y! `- {; m( o% ?: M - destroyobject(stateLabel);
9 P" K ^4 I3 w - break;; U1 \6 a. T# @3 i: j. v
- }; c7 g- F1 E3 Q+ {3 A
- }
- i) R! I7 I, b+ _4 H) [+ Q$ Q - return 0;" K/ w& M1 f$ m* n. j. f8 ~
- }6 p4 @( P$ G. U5 X
- case ON_ELEVATOR_PICKUP_ARRIVAL: {
" }/ M7 a# z5 X# ~- r* S! k$ l - // the elevator has arrived at the pick floor2 i2 S4 y& s3 u0 e$ {' c( `
- treenode elev = param(1);
+ J, Y4 c5 N; k: z% q S - treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);) ]* f8 m& `- x1 C) h: v
- treenode stateLabel = label(agv, AGV_LABEL_NAME);# p j" ? z7 F% \9 Z" N( a
- treenode elevState = node("ElevState", stateLabel); J( I- \" t, m5 m5 E$ c
- // set the elevator state to at-pickup-floor, L- T2 Z2 j+ N# X9 U
- set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);0 ~) p1 I8 K! q4 K% w% a
- & V0 J6 c! B8 H r* J
- int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;- d% C6 f2 k4 {: M8 g9 U
- 4 H8 D8 }: I5 B7 ]" Y# K4 I
- // 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 @ - if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {
5 b# j) Z' U& \- @- u - set(elevState, ELEV_STATE_OPENING_DOOR);
; ?& e: ~& q, V9 {. ? - nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
/ V4 E/ H) ^1 s/ H - }& Z. a' \+ E7 W3 y U8 H
- return 0;: F* X3 R0 h8 n- G
- }
% L0 S7 d) [+ V/ b' _1 q' \ - case ON_OPEN_DOOR: {: |! k3 L8 |+ u4 t9 E# p8 X) X5 X
- treenode agv = param(1);
! V# H2 J& K% i% L3 a - treenode elev = param(2);2 F- V$ s4 w* {7 u9 G
- int nextStep = param(4);0 J, m: X& B& ~* R4 a
- // open the door based on the time to open the door
' D$ U1 z' u- c% v - double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;0 J5 Z! F x* S% r' M( @$ n
- delayednodefunction(c, openDoorTime, elev, agv, nextStep);) z4 l: N1 T# r v
- return 0;
( d0 u3 v V `% O \( G - }
1 P+ L) X3 I" X; ~- s& j - case ON_CLOSE_DOOR: { x# c) k) l3 {
- treenode agv = param(1);
" u$ z. V& i& U( j - treenode elev = param(2);
% i1 V4 z; }0 T( Z8 B - int nextStep = param(4);6 [, H1 m: W% N' G5 l5 A' p
- // close the door base on the time to close the door
4 L, Q) T! u0 o0 K+ g, }! w - double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;
3 C( r: t2 j' x4 Q' X - delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));1 O7 w3 \+ a5 ^! S
- return 0;4 ]* r- R7 a+ d5 N
- }
& R( M: }$ ]( ?4 }. F u5 w* a/ Y - case ON_PICKUP_DOOR_OPENED: {
1 v. y. ]) k. O8 A6 K. D - // the elevator door has been opened on the pickup floor- ?: }1 F. t& `( ?
- treenode elev = param(1);( |& H( S" M. [4 `+ m S! n
- treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);/ [- l- S6 D5 E- i
- treenode entryCP = cp(agv);
4 r8 E% c/ [2 @) F" k/ C- V - treenode stateLabel = label(agv, AGV_LABEL_NAME);6 n' S, a3 w/ x6 i3 c& N. T
- treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
: H1 l% G4 ^1 ? - treenode elevState = node("ElevState", stateLabel);
* T% T5 z$ k- H1 C# h5 k/ K - // set the elevator state! J" c: {6 [8 u& f) F% e% b
- set(elevState, ELEV_STATE_DOOR_OPENED);
. D7 k3 \0 ~* D7 | - // if the agv is at the entry control point, move him to the elevator control point
% c! {( c" x \* X+ X3 p$ P! }3 { - if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP)
3 ~7 |9 z r6 a! f" K, B& f - agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
5 O x5 G4 B5 s6 k! { - return 0;
2 `' Z2 ?# Q( w) O - }/ v3 L/ V0 n* t, g3 A7 u ^
- case ON_PICKUP_DOOR_CLOSED: {
. Y7 P: A2 g& N& C) k! p - treenode elev = param(1);
, t8 I3 c! ^* V' v+ T - treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
: z: k7 d9 f' g) ?5 G - // assign the agv to "no control point"7 _8 X& d6 |& d4 ] p. X g% m y
- agvreassigncp(agv, 0);* _( `2 R2 `( T4 ~- j- F
- // move the agv into the elevator
& ?) p# X% e4 H5 ?" S S - moveobject(agv, elev);
* N1 H8 K" P$ M& v' x8 B. r9 Z - setrot(agv, 0, 0, 0);0 B$ \4 A2 i) S& e
- // release the elevator to continue to the destination floor
* s+ [ F y) b( | - freeoperators(elev, agv);
5 z* ^, V+ A: m6 V' a - return 0;
3 f; n; [" D8 B - }' u' l" z: b. i
- case ON_ELEVATOR_DROPOFF_ARRIVAL: {
; h& Z; b, O `3 y# k- q2 z - treenode elev = param(1);! O& S1 H: \( q; u5 h$ y
- treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);/ ?6 d* d9 e) L. y+ P* m0 }
- // when the elevator arrives at the destination floor$ B* u) F: Z- S e+ a4 E7 T4 \
- // move the agv back into the model' x$ F; [) B! Z. L! T, v- j, K5 R
- moveobject(agv, model());
; k0 e; X, d$ x; k! e% k - // reassign it to the destination floor control point
! @( _; l3 W! [8 E1 ~3 X - agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));
/ a* }0 }! T' |; b/ Y( c. o - // open the elevator door! I3 c3 x7 A7 z e" h, b* F @( Z
- nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);
7 @! ?9 e: h' Y3 X - return 0;, [5 C0 `9 o0 x/ U4 b
- }
1 I K: e J G) z+ e/ {7 E - case ON_DROPOFF_DOOR_OPENED: {8 K; b$ p# U9 n0 V$ v& G% H2 i
- treenode elev = param(1);
5 j" ^8 s* v& i+ i. m: h+ z8 P - treenode agv = param(2);
7 v1 V3 W/ h4 n0 R" F9 I - treenode agvLabel = label(agv, AGV_LABEL_NAME);9 _' [6 x& _% J3 K! e
- // once the elevator door is opened on the destination floor,
b' N6 P$ i# _/ A6 R9 C - // redirect the agv to the exit control point" i: W0 ~0 J$ _% [4 W
- agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);
% \) h2 J( @9 o& N6 w! p, O, D - return 0;6 y: l; Q& a( r3 f" a
- }: V! D3 M0 r0 V g
- case ON_DROPOFF_DOOR_CLOSED: {0 I! l2 G/ J7 L" `1 n
- treenode elev = param(1);
$ f; J/ F; \5 i - treenode agv = param(2);+ Y+ U1 D/ K1 z8 ^. V
- int isAGVWaiting = param(4);
$ u1 r6 T* q5 F; w - // once the door is closed at the destination floor,% K% o6 f2 d9 ]4 Y% m% g9 r
- // if the agv is waiting, then send him to the final destination
+ p. Z. n* V) J( l$ t' _4 T1 ~# l - if (isAGVWaiting)5 a7 F, q: F X# M0 h" H
- agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);
9 U3 }" G! G4 t& m - // release the elevator to finish his task sequence# Y. O; a! a( \( |9 W$ T7 ]
- freeoperators(elev, agv);
- w6 G2 `5 G+ {0 f, ?9 x$ a2 d3 @ - return 0;9 Q8 j; q( e4 m7 m( O& r2 v8 I3 c
- }
1 o5 G9 z" `7 V! S9 _ - }
: s6 _" c" _8 w* q! ^* j - } //******* PickOption End *******\\
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复制代码
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办法2:使用工艺流程模块完成 |
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