|
办法1:从2016版本里面复制相应的代码
( U% t' [4 h2 E2 l8 n% k1 p4 ~
具体代码如下:, k. z+ |. ^9 J2 |8 z
- treenode agv = param(1);
, w( y! y% v! P, q* F - treenode currentCP = param(2);
% e: q2 |7 Q3 }; H' B2 s; K - 4 o9 T6 G' C3 Z
- { //************* PickOption Start *************\\
# W( U$ V o+ ?, O% v& \ - /***popup:AGV_DivertToElevator*// [8 j2 o* O& i; J/ L' R* w
- /***tag:Description*//**Divert to Elevator*/
; e) N( ?' \: u
) _1 \" N' I! a- int operation = param(3);
" {/ }. O2 g7 c; w2 M - 2 z) s j6 E7 f2 _" ^1 t: Y+ s
- #define AGV_LABEL_NAME "fs_AGV_Elev_State"
/ j2 g1 _ h8 @ - if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME)), u* Z0 S9 A# d6 L* w- U
- && (/** \nCondition: *//***tag:Condition*//**/fabs(zloc(currentCP) - zloc(agvinfo(agv, AGV_DEST_CP))) > zsize(agv)/**/)) { // if it's a pointer, then do the initial case
& C5 @. [; @3 C$ w& f3 k+ M - // initial trigger execution
' @8 K, R) |- S2 W4 C+ [# p - #define ON_ELEVATOR_START 1
6 {# |4 p* N6 D5 Q& k7 ^- e6 [ - #define ON_ELEVATOR_PICKUP_ARRIVAL 2
5 J5 }# ?0 P$ l' O - #define ON_ELEVATOR_DROPOFF_ARRIVAL 35 G$ d+ w! i. Z
- #define ON_AGV_AT_CP 4
8 M) z3 ?2 R8 f! E+ d- C - #define ON_BOTH_AT_PICKUP 5
8 `1 l8 h$ ?. a3 r0 A7 B/ `# X - #define ON_OPEN_DOOR 6
+ K7 {- G- V& d - #define ON_CLOSE_DOOR 76 i( W. }7 @0 n! H8 b4 a+ m: _& ^
- #define ON_PICKUP_DOOR_OPENED 8: w. p) P) M& `. l# N& J
- #define ON_PICKUP_DOOR_CLOSED 9
5 r& _* z1 e# C3 b. T5 S - #define ON_DROPOFF_DOOR_OPENED 10
( q4 w7 ?6 N- s Z9 U( Y - #define ON_DROPOFF_DOOR_CLOSED 11$ g8 {! [2 ~; y7 q% ?$ H3 K% d& j2 h
-
* u# {7 K% ~. Z6 e - #define AGV_STATE_START 09 q% C6 z' a2 } U2 {4 e
- #define AGV_STATE_AT_ENTRY_CP 1& H1 F9 | j3 _
- #define AGV_STATE_AT_ELEV_CP 22 \* n5 y0 i6 f
- #define AGV_STATE_AT_EXIT_CP 38 q; G5 R& h* N. [) E. A
- 9 h7 x" I3 y8 b' t2 T0 d! m G
- #define ELEV_STATE_NONE 05 d9 G+ U3 j/ s4 Q
- #define ELEV_STATE_AT_PICKUP_FLOOR 1* W: ]3 {% \0 {: C
- #define ELEV_STATE_OPENING_DOOR 2
T: n+ W. _( u - #define ELEV_STATE_DOOR_OPENED 3" p* q% r! K1 ]- i
- / w/ E- F/ `! R8 \; h) Y) }
- 5 f1 }% ^) D- i: G
- treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;0 `6 X& c7 X6 E2 e* A* V7 d: a) F
- #define elevator outobject(elevDisp, $iter(1))
1 @1 V, n' Y, w' J; ]" P( W' ] - ' D1 o' ]* l* b2 ^1 e
- if (!objectexists(elevDisp))
5 a8 T$ e0 z/ _& i _ - return 0;' d% Y, o( W9 {- n: Y4 ^( j
- . r/ q. s0 Y: s5 Y) d$ G
- if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {" X a$ t# V4 B5 V
- query() k% A. e/ E$ A5 T5 @" u
- /** \nFull Query: */* U4 P- v: X! v& u9 [* T& m
- /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,1 Q; n! U3 ?" L0 ]7 {
- nrop(elevDisp),
0 ~" T3 \. m0 G; m: N - elevator
; B( y& s" y% R# Q4 @1 H# l/ I4 d - /** \nWhere*/' B5 D6 l0 P% b$ {$ o
- /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/
- b; X1 e$ [; p( K( @0 C. K9 g7 P - /***/7 [! y: L1 [# l* p, m2 N
- /** \nOrderBy*/
0 p1 }9 T' D/ x8 X - /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*/
0 [" K- {. V% R P7 g - /***/);
2 p. L* V4 D* ^$ F - * q0 s3 _( m4 r, p% j$ i) T1 C
- if (getquerymatchcount() > 0)" ^, |8 b4 `+ c5 R0 C
- elevDisp = getqueryvalue(1, 1);4 |9 {3 \4 e) i1 O( _
- }2 K8 c" r7 t* u/ G6 x* t2 F' ~
- if (!objectexists(elevDisp))* v6 b' e& L$ @5 M( p5 D* c
- return 0; u) X+ Z) \6 ]. m4 i6 y# v
- treenode destCP = agvinfo(agv, AGV_DEST_CP);
; v+ [' {) u9 J4 w
c" \( f5 N" |& ]: N- agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);: C4 [5 {9 m" y
! `2 S" {: U) b6 _6 L# T; J8 C( t- // Create the task sequence for the elevator2 N- M. I. c5 F6 L
- double destZ = zloc(destCP);
% o& V, P8 \8 y# Z2 E0 P# h - treenode ts = createemptytasksequence(elevDisp, 0, 0);
1 Z& H$ Z3 N' c7 p- u4 _- a" ~3 A% P8 l - inserttask(ts, TASKTYPE_TAG, agv, destCP);
$ T8 X) i! v. L( ^ - // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START0 I! ?/ A1 S. H l
- inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);
. j9 t* d x O$ }0 L. W7 }& H - // travel to the z location of the current control point
" z* B$ M% ~6 G" v) L - inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));, Z) M) M6 b* ]0 C3 A8 q
- // then call ON_ELEVATOR_PICKUP_ARRIVAL
+ r8 F; |- |- y: h0 |5 ~3 n - inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);
0 v$ m: s! B( ]$ D - // then wait for the agv to get on5 U( A' j8 Y. E. E
- inserttask(ts, TASKTYPE_UTILIZE, agv);* T6 i8 h, m! i6 T. e. I
- // then travel to the destination z location
- @0 `. O7 I4 {" c - inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);% z4 g! r6 O/ H8 X$ Y' V" P1 l
- // then call ON_ELEVATOR_DROPOFF_ARRIVAL# l# K: e/ s0 e
- inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);4 j+ J3 M! o! Y0 q
- inserttask(ts, TASKTYPE_UTILIZE, agv);
7 {, k& `! R M - dispatchtasksequence(ts);
9 Z1 w/ s8 a$ R$ _4 ? - } else switch (operation) {
# `& ^% S @( R" p: l - case ON_ELEVATOR_START: {3 ?2 g' l; @& P; Y- i* e; A# B0 ]
- // this is fired when I get a valid elevator
2 s4 S g% o) g - treenode elev = param(1); J k: V5 I. X/ K, _ S
- treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
# s! z0 g/ M8 r% J3 j4 J - # q5 [9 \1 J2 i4 U1 E+ l' S- m
- // find the closest floor control point! H7 D- j/ r7 K. }
- int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);, y% I& _' m! ?& a1 B
- treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon), * b% m& Q7 M; Q& q% J' x* Q3 D1 F/ e
- fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),# ?# _, Q5 C# A+ K# }% q; N
- cpconnection(elev, floorCPCon, count));; m- z9 G5 l) {. G$ ?. [ \
- // return if there is none
* b8 `$ a% B0 ^. s4 [, D. p! A- z0 M - if (!objectexists(curFloorCP))
6 y& Y+ z9 S" z, x% D. A - return 0;' G3 P( Y, D* ?6 _# D. {9 u
- 5 R. b/ |% M, `2 Z
- // get the entry control point
6 s. T t# K g! i6 v$ h - treenode floorCP = curFloorCP;3 b/ G. K0 G5 u) q+ p
- treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;
( y1 O4 H' O: M( ]9 a - if (!objectexists(curFloorEntryCP))
% r N8 o" ~; W- J1 T% L7 ] - return 0;
X T, I- Q8 ]7 v: A7 y - treenode floorEntryCP = curFloorEntryCP;
6 a$ E1 X, X6 ~/ W5 G& _$ {$ g - treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;4 G" z! {/ t. m ]# y
- if (!objectexists(curFloorElevCP))
8 x3 K5 Z4 e8 H1 N - return 0;: I8 P& q2 \; A8 |5 k" ^5 o
- 8 M$ f }+ p) n0 ^
- double destZ = param(4);& i5 d1 E8 N" [6 B# ]
- // find the floor control point closest to the destination floor2 S. P1 p# l8 m! ?7 |- B
- treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon),
: o3 S5 {% ?5 Q# ^: F& C- e, p- Z9 n/ H - fabs(destZ - zloc(cpconnection(elev, floorCPCon, count))),
0 W# p6 r& C- A" T' U8 L9 Y" N' j% G3 q# F3 i - cpconnection(elev, floorCPCon, count));
K5 `( Y3 }) [5 U9 G -
* K$ s# l) c' I$ F7 V - floorCP = destFloorCP;
/ [, ]& s# m. |! } - treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;0 ]- b. A6 @# n' {+ I0 n
- if (!objectexists(destFloorElevCP))# R! D" h& |) v
- return 0;3 @5 |0 ^" J8 m# F' m U
- // get the destination exit control point5 Q- h; ]: [: M1 O: M% p( S9 V
- treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;
0 h! l ]9 p' u6 ?- h4 }3 ?( |, A5 u - if (!objectexists(destExitCP))+ d8 j' _3 e: T3 r8 L$ R
- return 0;
/ n9 |$ K% w; p
4 y- |& C+ j/ c, s2 P- . p) k4 q) |) |
- // add a listener for the agv. This will call this nodefunction in the ON_AGV_AT_CP section whenever the
5 q( o' c6 R9 D1 J9 i - // agv arrives at a node. I keep a state on the agv's state label, and then increment it each time5 d: |: L6 K, d* g [
- // the listener is called so I know which control point he's at, i.e. entry, elev, or exit.
: _% D& @4 o" Q) h - agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,0 p. C, f6 v n: o" U/ w' H) H/ ?
- agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);( e* W, i, C. _7 u7 @
-
. ^ b, W5 D; @6 c - // set the data on the state label 4 J' g' o; y5 M, ^
- treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);
2 x. B* E7 B% r0 ^! n* ^: B - switch_destroyonreset(stateLabel, 1); J+ ? p0 ^, `0 P
- set(stateLabel, AGV_STATE_START);9 ~. G: x% R& F9 k3 O8 R
- set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);
: E M' {* q: w, K! Q# t - nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);! A0 K& B1 o7 j5 p, Z* U
- nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);3 v7 T. u7 u" V) E2 w; g$ A7 [2 |9 @
- nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);, H8 k' V) k: K
- agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);
! [6 m. ]# q1 I. J' u( l" D - return 0;
( _3 G3 t/ n' Y3 M. A - }9 A" ?4 k) u! ^4 Z: n
- case ON_AGV_AT_CP: {# ^, Y: s' K" C, N; C5 }
- // this is fired by the agv listener every time the agv arrives at a node.( e" w! R$ c" e+ h' m& E, ~
- treenode agv = param(1);% n A8 [! Y8 ^" w
- treenode elev = param(2);
0 F6 m/ J( F. q" @; u' [ - treenode stateLabel = label(agv, AGV_LABEL_NAME);
1 t x1 L* U0 A8 V' h5 F. y+ N r - // I increment the state label, and then switch on it
& t5 j& q( q. X# W5 G - inc(stateLabel, 1);9 ?1 D6 T2 X8 c% _' q! d) J
- switch (get(stateLabel)) {1 `. n6 u# h X+ @/ N
- case AGV_STATE_AT_ENTRY_CP: {) U3 I1 O4 d% A6 l
- // the agv just arrived at the entry cp
- r$ k8 V+ i+ v! N b5 T, `! S - // so, figure out where the elevator is.8 \9 g; }& I5 M$ r/ K
- int elevState = get(node("ElevState", stateLabel));" O2 t$ s7 Q3 B
- // if he's at the pickup floor with his door closed then open the door.
. ^* }6 i$ l; w2 B5 ?4 h7 C( Q/ m - if (elevState == ELEV_STATE_AT_PICKUP_FLOOR)
' |* Y4 |" g' i# Q. @ - nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
^$ n+ o0 o5 j6 w" S7 h - else if (elevState == ELEV_STATE_DOOR_OPENED) {, X3 J9 i- C1 e. U0 _7 ]
- // if his door is alread opened, then move the agv onto the elevator, i.e. to- {* w3 u: G+ ^
- // the elevator cp
5 y- ~) O9 b; q/ X! G& \" I - treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
/ q! a- E$ a. l - agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);/ i" C4 R- K$ x% W, X9 ~
- }: z+ @, X9 u2 L+ L* Z7 j) U3 U
- break;$ E. m5 X4 s$ C8 {$ ^& j6 N( t
- }2 U% {" l. _- n. o3 \. M1 I2 C
- case AGV_STATE_AT_ELEV_CP: {2 \+ x2 W3 Q: G8 y# m1 t: R6 w
- // once the agv is at the elevator cp, close the door
* h8 h2 s# ?3 U; u/ j7 @ - nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);# Z f( B4 _/ h
- break;
) @' r! p- J! T9 V0 l0 x - }
1 E& a* O9 a P! e/ n$ }/ @8 G - case AGV_STATE_AT_EXIT_CP: {2 Y& [1 b; ?6 X+ F4 h
- // the agv is at the exit cp( `$ ~& `! @4 M/ _" \6 {/ k
- // destroy the listener node because I'm finished listening, }/ Q7 p* d4 S9 p
- treenode listenerNode = param(4);
* D& R: C/ @" U - destroyobject(listenerNode);
7 x7 u* @* ~( c+ h# n0 ^+ Y - int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;
J& C) D0 w0 r% M; f } - if (!agvWait) {
& K7 y* \8 N/ U3 w0 g& q - // if the agv is supposed to continue on, then tell him to go to his final destination
' u6 M( d0 l! D) }. b - treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);0 ]3 d- ~! A3 {) z; {1 \
- agvredirect(agv, destCP, REDIRECT_AS_FINAL);+ j1 |7 p3 K! E( b, G+ l
- }$ U5 y @3 O' z
- // close the door
' g8 b9 l' W0 A3 u l8 a& Y - nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);
: n$ E5 q4 x2 R - // and I'm finished with the state label so I can destroy it.5 W* N+ r2 N, B* X0 i
- destroyobject(stateLabel);; z2 i' t" e, [. U. I, q
- break;9 b4 g! B0 g- Z! f& G
- }
$ r# Y" ^2 _- H1 p6 q1 j - }
4 k, Q( T. {, D" w' B- y3 E! T - return 0;
) C6 S* }) Z5 c+ M: K0 U' O# ~6 q - }, ]. f1 N) n0 l! j8 o' w
- case ON_ELEVATOR_PICKUP_ARRIVAL: {4 ~: h* h0 t! F! l6 y
- // the elevator has arrived at the pick floor
* t3 q$ w- V2 C0 c/ g2 B n" q - treenode elev = param(1);
/ l* H8 J; N7 q - treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);9 ~, h% T4 o3 c* E* s0 v
- treenode stateLabel = label(agv, AGV_LABEL_NAME);9 k5 k4 R, n5 O
- treenode elevState = node("ElevState", stateLabel);
% X2 D2 M0 }; G; {2 I5 V - // set the elevator state to at-pickup-floor
9 d7 Z0 A2 S8 ~: b h - set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);- I" Q0 \' l3 W V* N4 j5 `/ `
-
+ i+ M5 v9 f( J - int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;
4 r3 ^! |3 `+ a) |3 s - 3 S) `% H3 T, o0 L
- // if the agv is at the entry control point or I open the door immediately, then open it
6 q/ S$ {# V/ @2 G5 K - if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {& x9 q3 {# P3 W( K8 Z5 B
- set(elevState, ELEV_STATE_OPENING_DOOR);
2 q' |8 o; B/ V" N0 V$ y - nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
* \8 o F/ O+ t5 m8 o - }
* g2 F- v+ q# W, ^. P j$ P - return 0;
2 ]! C8 H r: J6 K* ?3 g/ \ - }) k& N p5 Z2 D( Q! q
- case ON_OPEN_DOOR: {2 i) z L0 D& K+ A2 U+ |0 C
- treenode agv = param(1);
7 ?$ P% k* ~# z% ~* E8 S - treenode elev = param(2); @7 w8 ^7 ?; n: v2 S* T2 [
- int nextStep = param(4);0 k7 `3 h9 r! G5 d6 [7 G
- // open the door based on the time to open the door6 k! G ~. g7 s+ {/ s! D8 Z
- double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;' V/ v' V' ]; b% k& w) k
- delayednodefunction(c, openDoorTime, elev, agv, nextStep);
9 p/ R( M+ [# g" } - return 0;
4 B6 m$ ]" F( {* F - }9 r9 M: E7 [5 b
- case ON_CLOSE_DOOR: {
5 v6 V7 R7 J4 H- \; E, K4 q1 C - treenode agv = param(1);
. _/ Z6 c& r$ w# W" F( t - treenode elev = param(2);
u# L( R3 z" L3 \' W - int nextStep = param(4);
6 i7 i3 h# T8 m* U+ d( Q - // close the door base on the time to close the door) y# B. L, S0 l, N; K6 k; O* B
- double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;
8 @ u: t8 R; m# b1 ]! T - delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));9 U4 v* k5 h% l, j
- return 0;
7 j2 J& E8 H" B I' }; W6 \ - }1 l: U- i# h6 ?9 R" G9 \- m' b2 p
- case ON_PICKUP_DOOR_OPENED: {
$ r9 K9 m" { I+ ]- h) b& h0 k( C - // the elevator door has been opened on the pickup floor" w$ W' h! |5 f4 x$ Y
- treenode elev = param(1);
0 [( H5 v$ h* w/ t# g( W% U# Y - treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
' H( n5 T0 W( m% p# c$ Q, W. w+ G - treenode entryCP = cp(agv);) I8 w+ o9 {; e9 c3 V
- treenode stateLabel = label(agv, AGV_LABEL_NAME);
! v. U. V6 T) J8 e - treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));( U. I8 v, _( e2 w" A6 N
- treenode elevState = node("ElevState", stateLabel);, Z7 M2 }5 m( U! O
- // set the elevator state
7 ?7 q2 X% I9 T, ?2 i - set(elevState, ELEV_STATE_DOOR_OPENED);" ?* K6 M6 X# c* Y
- // if the agv is at the entry control point, move him to the elevator control point
4 z- k& `2 x; r Q* A - if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP)
9 y6 N. H' d( l6 F - agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);3 _: n2 j5 K6 i+ D; _- |9 o
- return 0;
! F3 Z3 |4 t$ j - }( M1 J' e) l! }
- case ON_PICKUP_DOOR_CLOSED: {9 L4 n! O8 t+ n- S5 f! A( c- R3 z" V
- treenode elev = param(1);+ W) P0 s5 r5 x+ S
- treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);$ T$ [4 H( ^9 G* l1 B: `5 O
- // assign the agv to "no control point"
) r7 N- P6 k; I/ A* d% d - agvreassigncp(agv, 0);4 G: l7 U1 P+ Z' y
- // move the agv into the elevator3 D1 `8 B0 \0 I& D, N4 K
- moveobject(agv, elev);
o. x* A) l/ b/ [1 l0 T - setrot(agv, 0, 0, 0);
. p: Q7 a% Q f" ] {; n3 H - // release the elevator to continue to the destination floor
5 ~: v" \4 `2 z l+ g - freeoperators(elev, agv);( {9 F8 Y6 _* m3 a+ h: Z' w
- return 0;
7 k0 L! A% W; a$ m( g! M" c - }) [3 K% ^/ S" T V0 X, ^: A' Z
- case ON_ELEVATOR_DROPOFF_ARRIVAL: {
, R: w" J5 a, ]3 D7 F& G- @; z e - treenode elev = param(1);# \; [' E1 T/ Z& l! N
- treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);4 N* I4 i4 E0 Q$ J, |/ i; p
- // when the elevator arrives at the destination floor
7 @! O e* c8 [ - // move the agv back into the model
, I" E# _& z0 I. n! L7 {! x( M! Q. C - moveobject(agv, model());
: w- j3 m+ s% ^* E- ? - // reassign it to the destination floor control point- s* ]( W$ J3 k! i2 N
- agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));
1 ?* T4 u3 Q V& ~ - // open the elevator door
5 ~. }/ Y& K4 P& n' ?: a - nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);
; j$ m. s- E# t7 g. n - return 0;
- |0 A( r) u$ ` - }
% }" Z8 y( q* N3 _* w! W4 a2 \ - case ON_DROPOFF_DOOR_OPENED: {
! ~0 |/ z. z' ^; G0 T. e - treenode elev = param(1);
! W4 o" x7 O) {! O - treenode agv = param(2);7 t( B5 }. s3 v. j, w7 W% ~6 C
- treenode agvLabel = label(agv, AGV_LABEL_NAME);
0 D* {4 |; O, g! f- h! y( l - // once the elevator door is opened on the destination floor, 4 h; ]: u. w2 `$ Y
- // redirect the agv to the exit control point
# m/ m1 C+ d& V3 l$ I2 Z( v0 T - agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);
1 D7 L e( S1 {) }) v3 k - return 0;) Y' y1 `, b; n
- }
* S9 W7 {! x/ ~* x& v - case ON_DROPOFF_DOOR_CLOSED: {
/ D5 Y* @" R f6 T6 M* g - treenode elev = param(1);' D1 a4 c* A9 Q/ @5 V, [5 x8 c
- treenode agv = param(2);- o8 a+ t8 D* c3 |: S
- int isAGVWaiting = param(4);
* v1 V/ D; O) u% |9 `7 E; r - // once the door is closed at the destination floor,
- B( `8 V6 O d0 Z$ ~6 R% z$ ]# O - // if the agv is waiting, then send him to the final destination
5 e, ~" w3 W7 V3 x I - if (isAGVWaiting)* g' O7 d8 `# |7 h0 C- t- S
- agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);4 L) L7 ^/ T% p6 V. U
- // release the elevator to finish his task sequence3 }. o" p# c5 {* \; P
- freeoperators(elev, agv);8 |, q; G1 B6 `) I: [. ~
- return 0;9 y% R$ T9 w4 o1 p2 w; U
- }6 H" U1 m R. D3 x
- }& f6 ?6 I6 T: Y7 b1 O( E) M
- } //******* PickOption End *******\\6 W; e2 I2 s, H, A
- - w: r3 _8 M: @( ]: Y/ \
复制代码
& J* _% w r$ Q) i2 @" |( n1 z5 s7 z* d$ g( Q0 O; i9 D2 Y
, Z( M; _2 ?% R( \' V3 D
办法2:使用工艺流程模块完成 |
|