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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?
$ x. \# Z8 I5 ~0 x2 k( }: d0 ^4 p5 ?7 {4 h% x3 i3 S

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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1 Y6 U; b- ]- _7 S
3 H4 p" E# I. l! W4 N: _; w9 u
具体代码如下:& X$ d" x$ t  z! |
  1. treenode agv = param(1);
    * [7 w" _& r) R9 o  `* p6 F/ q
  2. treenode currentCP = param(2);
    , P- n* X$ w' j$ R
  3. ! w3 J4 }- I4 n4 U) l7 S
  4. { //************* PickOption Start *************\\
    0 P  A5 Q. k% M9 H1 j6 {
  5. /***popup:AGV_DivertToElevator*/
    8 \8 o9 l, i4 S
  6. /***tag:Description*//**Divert to Elevator*/
    7 q8 N% U( ?8 e. R! j3 h0 v
  7. ! r0 p6 }8 |$ t& Z8 O( J
  8. int operation = param(3);
    # p" _8 W8 k3 Z% x% x
  9. . n" L7 w1 D; R
  10. #define AGV_LABEL_NAME "fs_AGV_Elev_State"
    9 _5 O- Q. w! p$ N$ {7 Y
  11. if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME))! h' w% i/ m& j3 A) u
  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
    / |( V- m/ W, Q/ [
  13.         // initial trigger execution
    5 Z$ Z( x4 j/ x% r- a3 ^7 p# M  O
  14.         #define ON_ELEVATOR_START 16 c; L) A7 z4 @' d* d
  15.         #define ON_ELEVATOR_PICKUP_ARRIVAL 21 n+ C/ d- d7 K: M
  16.         #define ON_ELEVATOR_DROPOFF_ARRIVAL 3
    6 ?* A+ @$ ?3 Z& a
  17.         #define ON_AGV_AT_CP 4
    ; `* f( R9 }) p* E4 h) b
  18.         #define ON_BOTH_AT_PICKUP 5
    7 d/ b9 g- ]0 y% d
  19.         #define ON_OPEN_DOOR 6; G7 i7 }" t6 a9 }
  20.         #define ON_CLOSE_DOOR 7
    9 b" r3 @9 i+ V1 _- B% Y
  21.         #define ON_PICKUP_DOOR_OPENED 84 Q+ B" k( N6 ~: w* u; G6 n
  22.         #define ON_PICKUP_DOOR_CLOSED 9
    3 r! l# Q0 T# T& g& R( O: h
  23.         #define ON_DROPOFF_DOOR_OPENED 10& M: m/ _1 X. g% c; T( Z. Y) ]
  24.         #define ON_DROPOFF_DOOR_CLOSED 11  ]+ V5 ^4 s7 I8 W
  25.         9 [& S: S3 }8 ]9 _9 L1 h
  26.         #define AGV_STATE_START 0) J7 M) [6 r' K- R
  27.         #define AGV_STATE_AT_ENTRY_CP 1
    / r, B& i( w: n
  28.         #define AGV_STATE_AT_ELEV_CP 2; h+ ^' t2 C+ `( ^
  29.         #define AGV_STATE_AT_EXIT_CP 3
    5 R$ T9 _. ]% s5 F
  30.        
    1 m. r3 I0 H8 N2 l7 \
  31.         #define ELEV_STATE_NONE 0" n+ d. o  _. C4 j# [5 P- r3 I
  32.         #define ELEV_STATE_AT_PICKUP_FLOOR 1: ]  `- f9 D  b9 J
  33.         #define ELEV_STATE_OPENING_DOOR 2. E! ~4 s0 i; n' |! ]  c
  34.         #define ELEV_STATE_DOOR_OPENED 3, g# e3 a% V: O& Y1 ^. I  w4 F

  35. ; q3 q( ?& o% o% C6 A$ @! J2 b
  36. & L) l3 N; _7 d. F( C  U+ |
  37.         treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;$ b& x" x; }* }" Y# k9 E
  38.         #define elevator outobject(elevDisp, $iter(1))+ z# h$ q& p* Q/ F  y
  39. 5 L# q: o  C" w' o3 y* i. v
  40.         if (!objectexists(elevDisp))& N0 k  X6 u! b" j3 G! G
  41.                 return 0;
    : K7 A% I  E& x. v9 q( R

  42. 6 q5 S7 s1 C3 F4 F, Y! x
  43.         if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {7 v2 R* o8 B, f# a; r6 W
  44.                 query(3 m. c. N* Q, m% ?
  45.                         /** \nFull Query: */' k$ r; B9 V; b0 W( M0 d  ?2 s9 Z: c
  46.                         /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,
    ) k+ Q/ I" a+ z  y: q
  47.                         nrop(elevDisp),' u7 E( G, M. H  b3 D4 }
  48.                         elevator
    2 v9 k; d1 X; x
  49.                         /** \nWhere*/
    # i- u9 b+ Q0 R. S
  50.                         /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/
    $ b5 s0 R  F; m
  51.                         /***/
    ' B7 @1 T6 [3 a0 P: Q$ ^
  52.                         /** \nOrderBy*/
    % d! @+ g7 A" P( |. Q9 I9 ~" A
  53.                         /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*// U$ k, h! x$ k- |' x$ R( y
  54.                         /***/);
    ' `9 [" Z6 ?6 D! g9 U$ _& F) [6 ?
  55. 7 y& l/ n" {, e7 e( J, ~- j' S
  56.                 if (getquerymatchcount() > 0)
    3 w/ e" L) j7 a3 B0 k1 W7 w: }1 \
  57.                         elevDisp = getqueryvalue(1, 1);
    4 E# E0 U1 @! p1 @2 k, J2 r
  58.         }, h+ P. U) a6 y7 X6 D: d& `
  59.         if (!objectexists(elevDisp))+ g  ]; T2 G9 P: O
  60.                 return 0;
    % r3 P6 K, `0 v: r' I
  61.         treenode destCP = agvinfo(agv, AGV_DEST_CP);
    . v$ V% b8 z, m! L, }# v. e

  62. . b7 |. T  ^8 b4 u
  63.         agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);8 Q. Y6 v/ k  \
  64. % K- e/ h) s% O1 y8 X4 J
  65.         // Create the task sequence for the elevator
    3 u! C6 j" O* t# k% t& L
  66.         double destZ = zloc(destCP);
    ! Y2 N0 o- c5 H+ A: z. b3 m! W7 N
  67.         treenode ts = createemptytasksequence(elevDisp, 0, 0);8 B1 I8 Y; _* r
  68.         inserttask(ts, TASKTYPE_TAG, agv, destCP);
    ' Q/ f3 Q+ R# s- o
  69.         // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START. M0 v2 g: N3 r; [0 @5 s
  70.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);
    ; T- s# b0 k2 `" o7 g
  71.         // travel to the z location of the current control point
    : X! u( L# D4 h+ G9 O, ], E
  72.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));2 H" y5 B; t. ^4 n* B2 |" }
  73.         // then call ON_ELEVATOR_PICKUP_ARRIVAL
    - U4 p& D; F1 P6 {/ J$ T- P
  74.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);, X% |, z. ?1 X/ P6 O  q8 e
  75.         // then wait for the agv to get on
    ; u" ~, E; c$ D1 A( h% b1 B4 o* J
  76.         inserttask(ts, TASKTYPE_UTILIZE, agv);4 J: i: ~: M! J0 d# {
  77.         // then travel to the destination z location2 i, p# J7 y8 ?2 Y: ?! j. k3 c/ @
  78.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);( I6 x4 n/ g0 \3 i* s6 I
  79.         // then call ON_ELEVATOR_DROPOFF_ARRIVAL
    . c$ J( F9 q! {, X/ u0 U2 q
  80.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);, `9 f6 s; j( H/ s& h7 ?, T. S4 V* H+ Z
  81.         inserttask(ts, TASKTYPE_UTILIZE, agv);$ b( f0 ?- k0 N
  82.         dispatchtasksequence(ts);
    * Z0 P2 u5 o! m  W7 W& K
  83. } else switch (operation) {/ x5 a& d) D. [8 |! W: ~
  84.         case ON_ELEVATOR_START: {5 a% W, d- j% h
  85.                 // this is fired when I get a valid elevator
    ) J( X) ^! D$ _9 G2 |
  86.                 treenode elev = param(1);. O9 M' V6 I+ g% m8 h) S
  87.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    0 Z9 d. h0 s( E( s- W' W, _
  88. % \8 n: w5 t8 @- d! y
  89.                 // find the closest floor control point
    5 E+ P- c2 R4 J8 H3 B
  90.                 int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);0 D- D3 F$ g' v- r+ Z. d# G  ?
  91.                 treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon), - K6 W4 O7 T  I# E( m. E
  92.                                                         fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),
    8 Q3 R  ?4 h8 W. e! j
  93.                                                         cpconnection(elev, floorCPCon, count));
    . E8 D1 W: M7 U$ M! w3 T
  94.                 // return if there is none4 D, h/ T. y$ ]3 p" V8 E9 ?- Q( l: z
  95.                 if (!objectexists(curFloorCP))! U% N' t3 u5 ~( e( K- i& I
  96.                         return 0;
    8 W. p1 T: U; a$ N" w) M
  97. 7 G3 W6 h  L0 N1 P: o& O6 a  |
  98.                 // get the entry control point4 S$ U- \5 b: _8 E
  99.                 treenode floorCP = curFloorCP;
    + R0 k9 s& a3 h9 r& ~
  100.                 treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;
    # d" [9 }) V4 k+ D
  101.                 if (!objectexists(curFloorEntryCP))# [+ r  z  ]2 ?5 e
  102.                         return 0;
    4 K7 ?0 n6 a7 K( l/ f4 S+ t
  103.                 treenode floorEntryCP = curFloorEntryCP;' ?# J- Z% }% ?- k* G, x/ f
  104.                 treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;0 [5 G* u+ q# i7 z4 }6 t3 g5 l
  105.                 if (!objectexists(curFloorElevCP)), t) V' B: I9 M" `+ q
  106.                         return 0;3 n1 g& Q1 U6 ^3 _5 S$ F' c
  107. & z& ^& f+ |# w# _- Q
  108.                 double destZ = param(4);
    & v4 D% {7 ?. U; n$ j0 s4 o
  109.                 // find the floor control point closest to the destination floor7 ?/ I: a) D8 T. H, ^, P1 F
  110.                 treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon), ! `) {+ r( c3 o. F( O5 A0 G
  111.                                                         fabs(destZ - zloc(cpconnection(elev, floorCPCon, count))),
    8 k" Y8 [7 \' m( {* x& T) H% S' h
  112.                                                         cpconnection(elev, floorCPCon, count));' [8 w1 d8 l5 R2 ~* J2 j4 |2 j
  113.                                                         / S3 M) _+ ]3 Y" j8 L- g) H
  114.                 floorCP = destFloorCP;
    ' |, t5 s, Z  K+ M: U' n
  115.                 treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;
    ' N3 R% P: u  Q5 b, {" E1 n
  116.                 if (!objectexists(destFloorElevCP))& r% i/ I: [+ N( v) O$ K( d) K
  117.                         return 0;
    , o( P6 g, q, _
  118.                 // get the destination exit control point
    / I- O9 w+ Q" T; D8 P: p
  119.                 treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;6 @" r9 k# n( t+ x9 J
  120.                 if (!objectexists(destExitCP))5 d& g4 y4 G2 }! M8 Q
  121.                         return 0;  \/ S* L! v. ~, y* ]

  122. 6 w" }* @3 V9 H, }
  123. $ V2 l3 G% }0 I5 E/ H5 m
  124.                 // add a listener for the agv. This will call this nodefunction in the ON_AGV_AT_CP section whenever the - o% r5 A6 i# C# ^" G/ E! y
  125.                 // agv arrives at a node. I keep a state on the agv's state label, and then increment it each time* n4 X- @% K" h- h# A" `# G/ u7 f5 m
  126.                 // the listener is called so I know which control point he's at, i.e. entry, elev, or exit.# U# i( o/ E9 l* A" @7 k+ x$ s
  127.                 agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,
    % z# d5 `; R$ G3 u6 M, p1 t
  128.                         agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);
    + ?; }: ]. n, b+ P9 y9 ?+ P
  129.                
    ( J4 f' @! g& p- I) A7 U( ]* X
  130.                 // set the data on the state label + w" D. D# S( m/ @
  131.                 treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);
    & c4 k% E) x7 N8 j( v
  132.                 switch_destroyonreset(stateLabel, 1);
    . W/ l0 i  f; q' r" O! s
  133.                 set(stateLabel, AGV_STATE_START);
    " Y4 `/ [  b7 W' s+ q" `8 h4 u
  134.                 set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);
    : v7 v! T5 X. L, }# {  w
  135.                 nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);" T( d; v# l# V7 B# F
  136.                 nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);$ J. t4 n! U# [+ r- H" ~4 d! H" ~
  137.                 nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);( j) z# |2 Z7 N& N4 L
  138.                 agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);
    2 L# U! x3 }$ I: M4 y* |1 l& E
  139.                 return 0;" z( e8 l. F! T/ y9 s' q
  140.         }
    ' X7 M: G5 l, j
  141.         case ON_AGV_AT_CP: {
    7 I- f: L5 k" A9 O! }( S
  142.                 // this is fired by the agv listener every time the agv arrives at a node.7 K6 U( d5 a) }
  143.                 treenode agv = param(1);
    ; U. c% N8 k1 T' Z+ l$ [+ Z7 n- n
  144.                 treenode elev = param(2);* ~" t; x6 A/ N  K' n; Y% z
  145.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);9 u2 K# G1 m1 i3 a1 r) O
  146.                 // I increment the state label, and then switch on it" N* f9 L, w' B0 s8 I- v
  147.                 inc(stateLabel, 1);
    / P3 C4 I7 G. d8 Z, E" b
  148.                 switch (get(stateLabel)) {
    9 {& x$ P6 e" h) L' t
  149.                         case AGV_STATE_AT_ENTRY_CP: {
    , R7 {6 b8 T, v
  150.                                 // the agv just arrived at the entry cp
    8 U, E9 y" I2 J' S5 P/ d
  151.                                 // so, figure out where the elevator is.+ D$ B& I8 N1 D. ]6 t
  152.                                 int elevState = get(node("ElevState", stateLabel));2 K* n# J4 T" `5 G" q4 R
  153.                                 // if he's at the pickup floor with his door closed then open the door.0 B( V% j  `! }
  154.                                 if (elevState == ELEV_STATE_AT_PICKUP_FLOOR)- X1 `! Z+ q+ A7 ~9 d
  155.                                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
    % J  o9 l3 A$ B) U( T* C
  156.                                 else if (elevState == ELEV_STATE_DOOR_OPENED) {
    7 a. ^! ~$ g& `) C4 t) d. B( V
  157.                                         // if his door is alread opened, then move the agv onto the elevator, i.e. to
    3 O$ {! e' k1 d$ u4 a- e
  158.                                         // the elevator cp+ x5 Y! @( J& G, I; |8 ~' O
  159.                                         treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
    : R+ ^& G7 h" j. X6 B: ]" ?# r
  160.                                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
    2 g4 I( p2 z7 m
  161.                                 }6 t* k' T9 z4 V+ u- J6 g
  162.                                 break;
    6 U; J% N4 m0 f, h' V/ X* l
  163.                         }7 d0 P- I8 C1 Z8 ?# Y& u
  164.                         case AGV_STATE_AT_ELEV_CP: {
    . R- O+ u: J9 U+ p
  165.                                 // once the agv is at the elevator cp, close the door+ G) q( [7 y3 U6 w* t* J0 X9 A
  166.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);3 g+ E( f! K  R, Y; F! X
  167.                                 break;
    + K! @/ M3 x/ W( ]
  168.                         }
    - j0 k$ f. Y6 Z$ X+ u. X: j
  169.                         case AGV_STATE_AT_EXIT_CP: {
    ) ?5 S2 Y4 Q# ^: V" |( p# i
  170.                                 // the agv is at the exit cp
    / {+ C2 l' m4 _$ ]: ?4 F+ J
  171.                                 // destroy the listener node because I'm finished listening! X5 G4 J1 m( r9 m/ o& O' h; u' f
  172.                                 treenode listenerNode = param(4);& S# c) T' ]9 _/ g! _
  173.                                 destroyobject(listenerNode);0 m$ t$ g; o, k# ?
  174.                                 int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;1 k% R7 \& \, q$ P5 G- z% t) G/ v
  175.                                 if (!agvWait) {; p$ V9 Y- S9 G/ c9 ?
  176.                                         // if the agv is supposed to continue on, then tell him to go to his final destination
    ( |; @6 d# O& e6 T* S4 u* M) Q) l* t: e
  177.                                         treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);
    ) f5 J5 V$ x4 G7 U" P
  178.                                         agvredirect(agv, destCP, REDIRECT_AS_FINAL);/ J! Q( X" H0 G2 K) R( N
  179.                                 }# Q$ m( o! O* Y; ^8 a0 I% O
  180.                                 // close the door' [9 F, `9 R6 H4 R7 C
  181.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);
    4 X' l) J; F3 L3 y" P) ^
  182.                                 // and I'm finished with the state label so I can destroy it.
    2 X" p' B9 ~, ?$ O$ N
  183.                                 destroyobject(stateLabel);" ]/ j. q& l* K% [* S
  184.                                 break;
    9 t0 ^7 ?/ w5 w  v. g& ~$ b/ Z
  185.                         }
      y0 E* o1 Q3 J& U
  186.                 }
    ) J; e1 j9 J! C; r" @1 m. r. D
  187.                 return 0;" u; U- V  l8 ]! c0 ?  x
  188.         }7 a; J8 r$ T9 K$ M
  189.         case ON_ELEVATOR_PICKUP_ARRIVAL: {6 ^  V( o: c  U7 f: ]
  190.                 // the elevator has arrived at the pick floor
    : Q8 ]; @0 E3 \& g# j) {
  191.                 treenode elev = param(1);
    & Y' c+ R  u3 O4 h; |. Q6 J
  192.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    8 @. U8 W5 x, V! S& l
  193.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
    , g! _% H, `1 a: k# R
  194.                 treenode elevState = node("ElevState", stateLabel);
    & H  ]/ I+ ]9 e" r
  195.                 // set the elevator state to at-pickup-floor' P4 t& X) Q' e* ^  ?( k
  196.                 set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);
    - ^6 ?6 I! Y) v7 _, k8 J6 ?, H
  197.         4 f6 K& W) e( P# @$ I5 Z! k* P
  198.                 int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;
    7 C$ l. {8 ~' a- E1 k+ ^5 k
  199.                 , y& r! M7 R& c
  200.                 // if the agv is at the entry control point or I open the door immediately, then open it3 N( q) b% k9 z& h- h: o
  201.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {1 z0 ]8 L2 z0 i# x% R
  202.                         set(elevState, ELEV_STATE_OPENING_DOOR);
    9 L1 T' y$ l1 f/ v5 v9 q2 G  S3 i
  203.                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);0 |' R6 {' b8 A; I# [
  204.                 }, t( V2 j# ~) v+ k( t3 v
  205.                 return 0;6 V8 ?2 {$ r$ |2 [4 q
  206.         }0 P1 u) |! P: P/ l
  207.         case ON_OPEN_DOOR: {) |, j9 A! ^1 H; [4 L8 D5 S- e
  208.                 treenode agv = param(1);( q8 T2 C; ?7 G+ U; {  ]+ l+ c1 ]
  209.                 treenode elev = param(2);" @: Z7 w- K) @0 w
  210.                 int nextStep = param(4);
    + m9 W9 B; B1 O/ F$ c( ~1 T) t
  211.                 // open the door based on the time to open the door
    9 G, g7 p* F0 g
  212.                 double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;6 G  a  d  x' @$ L
  213.                 delayednodefunction(c, openDoorTime, elev, agv, nextStep);
    : f, J! K# m$ z" B- _: Y
  214.                 return 0;6 T, i: `1 z! K- b. a* N
  215.         }& t. K. X# u9 `+ I
  216.         case ON_CLOSE_DOOR: {
    2 W( l/ h( o4 n2 D4 P! Y1 o0 z0 H
  217.                 treenode agv = param(1);' x" X/ P/ a% A7 Z( c1 }
  218.                 treenode elev = param(2);
    3 m4 R. n( K3 C/ d; u
  219.                 int nextStep = param(4);1 Y# k, ~! Y( H) ?8 z7 z/ c
  220.                 // close the door base on the time to close the door
    3 d% ?# _$ f4 |7 I+ i2 a" `. Q
  221.                 double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;
    5 U" j3 u  n" |% j* q2 ?
  222.                 delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));) k+ j8 _0 t$ m5 ?" t
  223.                 return 0;4 F+ Y$ |( f+ [# {% v6 Z9 K9 p
  224.         }1 W- o9 z7 c7 ]9 k
  225.         case ON_PICKUP_DOOR_OPENED: {0 |2 W- W" {! M: q% z2 m
  226.                 // the elevator door has been opened on the pickup floor
    , l5 B; n# v# j. E- B" M
  227.                 treenode elev = param(1);* E0 k+ \# `- N  _( H  O" W2 w
  228.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    & f. v! h: d3 o$ @% z
  229.                 treenode entryCP = cp(agv);
    ) W! g1 f9 W- W; Q7 z. P( k
  230.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
      |; g, M& A5 R8 n% d8 t9 Q2 S9 ?
  231.                 treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
    * ~% }  A: @# f
  232.                 treenode elevState = node("ElevState", stateLabel);! p( \' C4 N- ^2 k6 C: ?3 N
  233.                 // set the elevator state
    & g+ _# H8 a6 k" _
  234.                 set(elevState, ELEV_STATE_DOOR_OPENED);& m' r* w' V( l
  235.                 // if the agv is at the entry control point, move him to the elevator control point
    1 a% Y3 h/ ~$ C% N# ]$ ]3 U8 R
  236.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP)3 K- @( [9 N& N. M' p; L) r
  237.                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);3 u5 G3 Y# P0 k- J
  238.                 return 0;
    & Z' ]) A" p# N2 d! [
  239.         }- }, {$ F0 v7 G, t
  240.         case ON_PICKUP_DOOR_CLOSED: {, }2 g$ V9 E/ w8 V; }- G
  241.                 treenode elev = param(1);
    " ^/ Z/ [: }. ~" S. G! A  g
  242.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    * S; ?4 \# ^# h& O3 s6 ^) O
  243.                 // assign the agv to "no control point"
    # \- ]% M; y. J' U& Y4 W
  244.                 agvreassigncp(agv, 0);; E, Z1 ^# z% U. H/ V  t8 n
  245.                 // move the agv into the elevator$ ?0 l$ l( t1 t6 v
  246.                 moveobject(agv, elev);3 c; C/ G& z0 W3 u) ]' E$ z4 r* C
  247.                 setrot(agv, 0, 0, 0);7 {; u! a6 k, g( x  A$ u
  248.                 // release the elevator to continue to the destination floor
    4 a# o- T. n# M$ l
  249.                 freeoperators(elev, agv);$ k( I8 t5 o6 A' E0 G9 `* p
  250.                 return 0;' T- |* a& Z- e' g
  251.         }/ Q& B& p: e; X; l) I/ r  e7 Z+ f9 I$ H
  252.         case ON_ELEVATOR_DROPOFF_ARRIVAL: {* ?8 ?1 u  p' N& {. q
  253.                 treenode elev = param(1);
    # b3 p9 t# O" n2 l
  254.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);; m( j- @( ]+ y2 W" A
  255.                 // when the elevator arrives at the destination floor) ~, k$ T; E( F, q. j1 K. M& E& L
  256.                 // move the agv back into the model
    + S& Y- i* L+ }- p$ W5 _
  257.                 moveobject(agv, model());
    5 R1 m+ h- p+ m. K9 m; K. q! C- e4 k4 X
  258.                 // reassign it to the destination floor control point$ t( q! x; i& a; G5 J; d
  259.                 agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));
    5 P& Z1 n0 j% P( q1 M
  260.                 // open the elevator door
    # f% I* B' }$ K
  261.                 nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);/ E% _& l2 G0 p6 w
  262.                 return 0;
      t/ g) d3 x- b& V$ A7 Z- ?
  263.         }' N! q7 h8 [+ A' p4 W& }5 g
  264.         case ON_DROPOFF_DOOR_OPENED: {
    : i( W" ?* A% i+ V! L( Q6 B8 N
  265.                 treenode elev = param(1);$ l, L  R0 j7 i: R3 q
  266.                 treenode agv = param(2);
    % i; t% I0 E+ R$ H! p& w+ v
  267.                 treenode agvLabel = label(agv, AGV_LABEL_NAME);
    1 v# N# b+ F6 `0 G& D/ e
  268.                 // once the elevator door is opened on the destination floor,
    9 Y- z; F/ b$ P" {. u5 p& A
  269.                 // redirect the agv to the exit control point
    , V( B1 L/ ^4 I3 _1 b: \7 _
  270.                 agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);
    % ^! {# q1 E8 m9 R) d* M; F
  271.                 return 0;% B% w- K' D  [$ s& q+ V
  272.         }1 ?& M5 c$ z% k6 s
  273.         case ON_DROPOFF_DOOR_CLOSED: {7 O/ o! X; m5 T
  274.                 treenode elev = param(1);% t' m7 S# l7 G. Z
  275.                 treenode agv = param(2);
      }8 v) B, M7 j" `% [% C
  276.                 int isAGVWaiting = param(4);/ }% I1 i0 J$ e7 l% Z# X% x
  277.                 // once the door is closed at the destination floor,  G9 f9 t2 A/ W* ]9 ], C/ X3 B
  278.                 // if the agv is waiting, then send him to the final destination
    0 Y/ e; R( n8 e1 \9 G) ^
  279.                 if (isAGVWaiting)
    6 E' E3 T- X4 T; t7 P0 @
  280.                         agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);# p; o. S+ k* M: m
  281.                 // release the elevator to finish his task sequence
    1 g: Z" G, Z  [5 E) E( X
  282.                 freeoperators(elev, agv);
    / H6 d( d2 G6 B+ P0 w
  283.                 return 0;( U  j9 n6 T# Q$ S( Z6 w
  284.         }
    % y* e" x9 W. t+ C: ~) a8 d
  285. }
    " J9 ?0 O. Y+ S8 N8 _) f% t; c
  286. } //******* PickOption End *******\\3 W: Q  a# t' U" a

  287. 7 r( Y( e" {# U' p, f
复制代码
# p. o4 Y, l; \- C. H! [
" n% h, v7 K# A4 q: A8 S( ^* J. y

2 U; f$ o7 j4 I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
* r2 s6 D% y3 b, T6 j! L* }办法1:从2016版本里面复制相应的代码+ K' F9 o3 C5 b# I

. n* |4 B0 Y" N; l( q/ Q; j具体代码如下:
- \3 f* F. c3 b$ n) @$ {' e$ |
好的,非常感谢陈老师的解答~
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