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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?" ], |" X9 `3 E. ?3 W+ Y) H3 i4 o
+ ~; Z9 ~" @% l4 a) ?

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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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具体代码如下:, k. z+ |. ^9 J2 |8 z
  1. treenode agv = param(1);
    , w( y! y% v! P, q* F
  2. treenode currentCP = param(2);
    % e: q2 |7 Q3 }; H' B2 s; K
  3. 4 o9 T6 G' C3 Z
  4. { //************* PickOption Start *************\\
    # W( U$ V  o+ ?, O% v& \
  5. /***popup:AGV_DivertToElevator*// [8 j2 o* O& i; J/ L' R* w
  6. /***tag:Description*//**Divert to Elevator*/
    ; e) N( ?' \: u

  7. ) _1 \" N' I! a
  8. int operation = param(3);
    " {/ }. O2 g7 c; w2 M
  9. 2 z) s  j6 E7 f2 _" ^1 t: Y+ s
  10. #define AGV_LABEL_NAME "fs_AGV_Elev_State"
    / j2 g1 _  h8 @
  11. if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME)), u* Z0 S9 A# d6 L* w- 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
    & C5 @. [; @3 C$ w& f3 k+ M
  13.         // initial trigger execution
    ' @8 K, R) |- S2 W4 C+ [# p
  14.         #define ON_ELEVATOR_START 1
    6 {# |4 p* N6 D5 Q& k7 ^- e6 [
  15.         #define ON_ELEVATOR_PICKUP_ARRIVAL 2
    5 J5 }# ?0 P$ l' O
  16.         #define ON_ELEVATOR_DROPOFF_ARRIVAL 35 G$ d+ w! i. Z
  17.         #define ON_AGV_AT_CP 4
    8 M) z3 ?2 R8 f! E+ d- C
  18.         #define ON_BOTH_AT_PICKUP 5
    8 `1 l8 h$ ?. a3 r0 A7 B/ `# X
  19.         #define ON_OPEN_DOOR 6
    + K7 {- G- V& d
  20.         #define ON_CLOSE_DOOR 76 i( W. }7 @0 n! H8 b4 a+ m: _& ^
  21.         #define ON_PICKUP_DOOR_OPENED 8: w. p) P) M& `. l# N& J
  22.         #define ON_PICKUP_DOOR_CLOSED 9
    5 r& _* z1 e# C3 b. T5 S
  23.         #define ON_DROPOFF_DOOR_OPENED 10
    ( q4 w7 ?6 N- s  Z9 U( Y
  24.         #define ON_DROPOFF_DOOR_CLOSED 11$ g8 {! [2 ~; y7 q% ?$ H3 K% d& j2 h
  25.        
    * u# {7 K% ~. Z6 e
  26.         #define AGV_STATE_START 09 q% C6 z' a2 }  U2 {4 e
  27.         #define AGV_STATE_AT_ENTRY_CP 1& H1 F9 |  j3 _
  28.         #define AGV_STATE_AT_ELEV_CP 22 \* n5 y0 i6 f
  29.         #define AGV_STATE_AT_EXIT_CP 38 q; G5 R& h* N. [) E. A
  30.         9 h7 x" I3 y8 b' t2 T0 d! m  G
  31.         #define ELEV_STATE_NONE 05 d9 G+ U3 j/ s4 Q
  32.         #define ELEV_STATE_AT_PICKUP_FLOOR 1* W: ]3 {% \0 {: C
  33.         #define ELEV_STATE_OPENING_DOOR 2
      T: n+ W. _( u
  34.         #define ELEV_STATE_DOOR_OPENED 3" p* q% r! K1 ]- i
  35. / w/ E- F/ `! R8 \; h) Y) }
  36. 5 f1 }% ^) D- i: G
  37.         treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;0 `6 X& c7 X6 E2 e* A* V7 d: a) F
  38.         #define elevator outobject(elevDisp, $iter(1))
    1 @1 V, n' Y, w' J; ]" P( W' ]
  39. ' D1 o' ]* l* b2 ^1 e
  40.         if (!objectexists(elevDisp))
    5 a8 T$ e0 z/ _& i  _
  41.                 return 0;' d% Y, o( W9 {- n: Y4 ^( j
  42. . r/ q. s0 Y: s5 Y) d$ G
  43.         if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {" X  a$ t# V4 B5 V
  44.                 query() k% A. e/ E$ A5 T5 @" u
  45.                         /** \nFull Query: */* U4 P- v: X! v& u9 [* T& m
  46.                         /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,1 Q; n! U3 ?" L0 ]7 {
  47.                         nrop(elevDisp),
    0 ~" T3 \. m0 G; m: N
  48.                         elevator
    ; B( y& s" y% R# Q4 @1 H# l/ I4 d
  49.                         /** \nWhere*/' B5 D6 l0 P% b$ {$ o
  50.                         /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/
    - b; X1 e$ [; p( K( @0 C. K9 g7 P
  51.                         /***/7 [! y: L1 [# l* p, m2 N
  52.                         /** \nOrderBy*/
    0 p1 }9 T' D/ x8 X
  53.                         /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*/
    0 [" K- {. V% R  P7 g
  54.                         /***/);
    2 p. L* V4 D* ^$ F
  55. * q0 s3 _( m4 r, p% j$ i) T1 C
  56.                 if (getquerymatchcount() > 0)" ^, |8 b4 `+ c5 R0 C
  57.                         elevDisp = getqueryvalue(1, 1);4 |9 {3 \4 e) i1 O( _
  58.         }2 K8 c" r7 t* u/ G6 x* t2 F' ~
  59.         if (!objectexists(elevDisp))* v6 b' e& L$ @5 M( p5 D* c
  60.                 return 0;  u) X+ Z) \6 ]. m4 i6 y# v
  61.         treenode destCP = agvinfo(agv, AGV_DEST_CP);
    ; v+ [' {) u9 J4 w

  62.   c" \( f5 N" |& ]: N
  63.         agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);: C4 [5 {9 m" y

  64. ! `2 S" {: U) b6 _6 L# T; J8 C( t
  65.         // Create the task sequence for the elevator2 N- M. I. c5 F6 L
  66.         double destZ = zloc(destCP);
    % o& V, P8 \8 y# Z2 E0 P# h
  67.         treenode ts = createemptytasksequence(elevDisp, 0, 0);
    1 Z& H$ Z3 N' c7 p- u4 _- a" ~3 A% P8 l
  68.         inserttask(ts, TASKTYPE_TAG, agv, destCP);
    $ T8 X) i! v. L( ^
  69.         // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START0 I! ?/ A1 S. H  l
  70.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);
    . j9 t* d  x  O$ }0 L. W7 }& H
  71.         // travel to the z location of the current control point
    " z* B$ M% ~6 G" v) L
  72.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));, Z) M) M6 b* ]0 C3 A8 q
  73.         // then call ON_ELEVATOR_PICKUP_ARRIVAL
    + r8 F; |- |- y: h0 |5 ~3 n
  74.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);
    0 v$ m: s! B( ]$ D
  75.         // then wait for the agv to get on5 U( A' j8 Y. E. E
  76.         inserttask(ts, TASKTYPE_UTILIZE, agv);* T6 i8 h, m! i6 T. e. I
  77.         // then travel to the destination z location
    - @0 `. O7 I4 {" c
  78.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);% z4 g! r6 O/ H8 X$ Y' V" P1 l
  79.         // then call ON_ELEVATOR_DROPOFF_ARRIVAL# l# K: e/ s0 e
  80.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);4 j+ J3 M! o! Y0 q
  81.         inserttask(ts, TASKTYPE_UTILIZE, agv);
    7 {, k& `! R  M
  82.         dispatchtasksequence(ts);
    9 Z1 w/ s8 a$ R$ _4 ?
  83. } else switch (operation) {
    # `& ^% S  @( R" p: l
  84.         case ON_ELEVATOR_START: {3 ?2 g' l; @& P; Y- i* e; A# B0 ]
  85.                 // this is fired when I get a valid elevator
    2 s4 S  g% o) g
  86.                 treenode elev = param(1);  J  k: V5 I. X/ K, _  S
  87.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    # s! z0 g/ M8 r% J3 j4 J
  88. # q5 [9 \1 J2 i4 U1 E+ l' S- m
  89.                 // find the closest floor control point! H7 D- j/ r7 K. }
  90.                 int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);, y% I& _' m! ?& a1 B
  91.                 treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon), * b% m& Q7 M; Q& q% J' x* Q3 D1 F/ e
  92.                                                         fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),# ?# _, Q5 C# A+ K# }% q; N
  93.                                                         cpconnection(elev, floorCPCon, count));; m- z9 G5 l) {. G$ ?. [  \
  94.                 // return if there is none
    * b8 `$ a% B0 ^. s4 [, D. p! A- z0 M
  95.                 if (!objectexists(curFloorCP))
    6 y& Y+ z9 S" z, x% D. A
  96.                         return 0;' G3 P( Y, D* ?6 _# D. {9 u
  97. 5 R. b/ |% M, `2 Z
  98.                 // get the entry control point
    6 s. T  t# K  g! i6 v$ h
  99.                 treenode floorCP = curFloorCP;3 b/ G. K0 G5 u) q+ p
  100.                 treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;
    ( y1 O4 H' O: M( ]9 a
  101.                 if (!objectexists(curFloorEntryCP))
    % r  N8 o" ~; W- J1 T% L7 ]
  102.                         return 0;
      X  T, I- Q8 ]7 v: A7 y
  103.                 treenode floorEntryCP = curFloorEntryCP;
    6 a$ E1 X, X6 ~/ W5 G& _$ {$ g
  104.                 treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;4 G" z! {/ t. m  ]# y
  105.                 if (!objectexists(curFloorElevCP))
    8 x3 K5 Z4 e8 H1 N
  106.                         return 0;: I8 P& q2 \; A8 |5 k" ^5 o
  107. 8 M$ f  }+ p) n0 ^
  108.                 double destZ = param(4);& i5 d1 E8 N" [6 B# ]
  109.                 // find the floor control point closest to the destination floor2 S. P1 p# l8 m! ?7 |- B
  110.                 treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon),
    : o3 S5 {% ?5 Q# ^: F& C- e, p- Z9 n/ H
  111.                                                         fabs(destZ - zloc(cpconnection(elev, floorCPCon, count))),
    0 W# p6 r& C- A" T' U8 L9 Y" N' j% G3 q# F3 i
  112.                                                         cpconnection(elev, floorCPCon, count));
      K5 `( Y3 }) [5 U9 G
  113.                                                        
    * K$ s# l) c' I$ F7 V
  114.                 floorCP = destFloorCP;
    / [, ]& s# m. |! }
  115.                 treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;0 ]- b. A6 @# n' {+ I0 n
  116.                 if (!objectexists(destFloorElevCP))# R! D" h& |) v
  117.                         return 0;3 @5 |0 ^" J8 m# F' m  U
  118.                 // get the destination exit control point5 Q- h; ]: [: M1 O: M% p( S9 V
  119.                 treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;
    0 h! l  ]9 p' u6 ?- h4 }3 ?( |, A5 u
  120.                 if (!objectexists(destExitCP))+ d8 j' _3 e: T3 r8 L$ R
  121.                         return 0;
    / n9 |$ K% w; p

  122. 4 y- |& C+ j/ c, s2 P
  123. . p) k4 q) |) |
  124.                 // 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
  125.                 // 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  [
  126.                 // the listener is called so I know which control point he's at, i.e. entry, elev, or exit.
    : _% D& @4 o" Q) h
  127.                 agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,0 p. C, f6 v  n: o" U/ w' H) H/ ?
  128.                         agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);( e* W, i, C. _7 u7 @
  129.                
    . ^  b, W5 D; @6 c
  130.                 // set the data on the state label 4 J' g' o; y5 M, ^
  131.                 treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);
    2 x. B* E7 B% r0 ^! n* ^: B
  132.                 switch_destroyonreset(stateLabel, 1);  J+ ?  p0 ^, `0 P
  133.                 set(stateLabel, AGV_STATE_START);9 ~. G: x% R& F9 k3 O8 R
  134.                 set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);
    : E  M' {* q: w, K! Q# t
  135.                 nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);! A0 K& B1 o7 j5 p, Z* U
  136.                 nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);3 v7 T. u7 u" V) E2 w; g$ A7 [2 |9 @
  137.                 nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);, H8 k' V) k: K
  138.                 agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);
    ! [6 m. ]# q1 I. J' u( l" D
  139.                 return 0;
    ( _3 G3 t/ n' Y3 M. A
  140.         }9 A" ?4 k) u! ^4 Z: n
  141.         case ON_AGV_AT_CP: {# ^, Y: s' K" C, N; C5 }
  142.                 // this is fired by the agv listener every time the agv arrives at a node.( e" w! R$ c" e+ h' m& E, ~
  143.                 treenode agv = param(1);% n  A8 [! Y8 ^" w
  144.                 treenode elev = param(2);
    0 F6 m/ J( F. q" @; u' [
  145.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
    1 t  x1 L* U0 A8 V' h5 F. y+ N  r
  146.                 // I increment the state label, and then switch on it
    & t5 j& q( q. X# W5 G
  147.                 inc(stateLabel, 1);9 ?1 D6 T2 X8 c% _' q! d) J
  148.                 switch (get(stateLabel)) {1 `. n6 u# h  X+ @/ N
  149.                         case AGV_STATE_AT_ENTRY_CP: {) U3 I1 O4 d% A6 l
  150.                                 // the agv just arrived at the entry cp
    - r$ k8 V+ i+ v! N  b5 T, `! S
  151.                                 // so, figure out where the elevator is.8 \9 g; }& I5 M$ r/ K
  152.                                 int elevState = get(node("ElevState", stateLabel));" O2 t$ s7 Q3 B
  153.                                 // 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
  154.                                 if (elevState == ELEV_STATE_AT_PICKUP_FLOOR)
    ' |* Y4 |" g' i# Q. @
  155.                                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
      ^$ n+ o0 o5 j6 w" S7 h
  156.                                 else if (elevState == ELEV_STATE_DOOR_OPENED) {, X3 J9 i- C1 e. U0 _7 ]
  157.                                         // if his door is alread opened, then move the agv onto the elevator, i.e. to- {* w3 u: G+ ^
  158.                                         // the elevator cp
    5 y- ~) O9 b; q/ X! G& \" I
  159.                                         treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
    / q! a- E$ a. l
  160.                                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);/ i" C4 R- K$ x% W, X9 ~
  161.                                 }: z+ @, X9 u2 L+ L* Z7 j) U3 U
  162.                                 break;$ E. m5 X4 s$ C8 {$ ^& j6 N( t
  163.                         }2 U% {" l. _- n. o3 \. M1 I2 C
  164.                         case AGV_STATE_AT_ELEV_CP: {2 \+ x2 W3 Q: G8 y# m1 t: R6 w
  165.                                 // once the agv is at the elevator cp, close the door
    * h8 h2 s# ?3 U; u/ j7 @
  166.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);# Z  f( B4 _/ h
  167.                                 break;
    ) @' r! p- J! T9 V0 l0 x
  168.                         }
    1 E& a* O9 a  P! e/ n$ }/ @8 G
  169.                         case AGV_STATE_AT_EXIT_CP: {2 Y& [1 b; ?6 X+ F4 h
  170.                                 // the agv is at the exit cp( `$ ~& `! @4 M/ _" \6 {/ k
  171.                                 // destroy the listener node because I'm finished listening, }/ Q7 p* d4 S9 p
  172.                                 treenode listenerNode = param(4);
    * D& R: C/ @" U
  173.                                 destroyobject(listenerNode);
    7 x7 u* @* ~( c+ h# n0 ^+ Y
  174.                                 int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;
      J& C) D0 w0 r% M; f  }
  175.                                 if (!agvWait) {
    & K7 y* \8 N/ U3 w0 g& q
  176.                                         // if the agv is supposed to continue on, then tell him to go to his final destination
    ' u6 M( d0 l! D) }. b
  177.                                         treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);0 ]3 d- ~! A3 {) z; {1 \
  178.                                         agvredirect(agv, destCP, REDIRECT_AS_FINAL);+ j1 |7 p3 K! E( b, G+ l
  179.                                 }$ U5 y  @3 O' z
  180.                                 // close the door
    ' g8 b9 l' W0 A3 u  l8 a& Y
  181.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);
    : n$ E5 q4 x2 R
  182.                                 // and I'm finished with the state label so I can destroy it.5 W* N+ r2 N, B* X0 i
  183.                                 destroyobject(stateLabel);; z2 i' t" e, [. U. I, q
  184.                                 break;9 b4 g! B0 g- Z! f& G
  185.                         }
    $ r# Y" ^2 _- H1 p6 q1 j
  186.                 }
    4 k, Q( T. {, D" w' B- y3 E! T
  187.                 return 0;
    ) C6 S* }) Z5 c+ M: K0 U' O# ~6 q
  188.         }, ]. f1 N) n0 l! j8 o' w
  189.         case ON_ELEVATOR_PICKUP_ARRIVAL: {4 ~: h* h0 t! F! l6 y
  190.                 // the elevator has arrived at the pick floor
    * t3 q$ w- V2 C0 c/ g2 B  n" q
  191.                 treenode elev = param(1);
    / l* H8 J; N7 q
  192.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);9 ~, h% T4 o3 c* E* s0 v
  193.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);9 k5 k4 R, n5 O
  194.                 treenode elevState = node("ElevState", stateLabel);
    % X2 D2 M0 }; G; {2 I5 V
  195.                 // set the elevator state to at-pickup-floor
    9 d7 Z0 A2 S8 ~: b  h
  196.                 set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);- I" Q0 \' l3 W  V* N4 j5 `/ `
  197.        
    + i+ M5 v9 f( J
  198.                 int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;
    4 r3 ^! |3 `+ a) |3 s
  199.                 3 S) `% H3 T, o0 L
  200.                 // 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
  201.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {& x9 q3 {# P3 W( K8 Z5 B
  202.                         set(elevState, ELEV_STATE_OPENING_DOOR);
    2 q' |8 o; B/ V" N0 V$ y
  203.                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
    * \8 o  F/ O+ t5 m8 o
  204.                 }
    * g2 F- v+ q# W, ^. P  j$ P
  205.                 return 0;
    2 ]! C8 H  r: J6 K* ?3 g/ \
  206.         }) k& N  p5 Z2 D( Q! q
  207.         case ON_OPEN_DOOR: {2 i) z  L0 D& K+ A2 U+ |0 C
  208.                 treenode agv = param(1);
    7 ?$ P% k* ~# z% ~* E8 S
  209.                 treenode elev = param(2);  @7 w8 ^7 ?; n: v2 S* T2 [
  210.                 int nextStep = param(4);0 k7 `3 h9 r! G5 d6 [7 G
  211.                 // open the door based on the time to open the door6 k! G  ~. g7 s+ {/ s! D8 Z
  212.                 double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;' V/ v' V' ]; b% k& w) k
  213.                 delayednodefunction(c, openDoorTime, elev, agv, nextStep);
    9 p/ R( M+ [# g" }
  214.                 return 0;
    4 B6 m$ ]" F( {* F
  215.         }9 r9 M: E7 [5 b
  216.         case ON_CLOSE_DOOR: {
    5 v6 V7 R7 J4 H- \; E, K4 q1 C
  217.                 treenode agv = param(1);
    . _/ Z6 c& r$ w# W" F( t
  218.                 treenode elev = param(2);
      u# L( R3 z" L3 \' W
  219.                 int nextStep = param(4);
    6 i7 i3 h# T8 m* U+ d( Q
  220.                 // close the door base on the time to close the door) y# B. L, S0 l, N; K6 k; O* B
  221.                 double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;
    8 @  u: t8 R; m# b1 ]! T
  222.                 delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));9 U4 v* k5 h% l, j
  223.                 return 0;
    7 j2 J& E8 H" B  I' }; W6 \
  224.         }1 l: U- i# h6 ?9 R" G9 \- m' b2 p
  225.         case ON_PICKUP_DOOR_OPENED: {
    $ r9 K9 m" {  I+ ]- h) b& h0 k( C
  226.                 // the elevator door has been opened on the pickup floor" w$ W' h! |5 f4 x$ Y
  227.                 treenode elev = param(1);
    0 [( H5 v$ h* w/ t# g( W% U# Y
  228.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    ' H( n5 T0 W( m% p# c$ Q, W. w+ G
  229.                 treenode entryCP = cp(agv);) I8 w+ o9 {; e9 c3 V
  230.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
    ! v. U. V6 T) J8 e
  231.                 treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));( U. I8 v, _( e2 w" A6 N
  232.                 treenode elevState = node("ElevState", stateLabel);, Z7 M2 }5 m( U! O
  233.                 // set the elevator state
    7 ?7 q2 X% I9 T, ?2 i
  234.                 set(elevState, ELEV_STATE_DOOR_OPENED);" ?* K6 M6 X# c* Y
  235.                 // if the agv is at the entry control point, move him to the elevator control point
    4 z- k& `2 x; r  Q* A
  236.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP)
    9 y6 N. H' d( l6 F
  237.                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);3 _: n2 j5 K6 i+ D; _- |9 o
  238.                 return 0;
    ! F3 Z3 |4 t$ j
  239.         }( M1 J' e) l! }
  240.         case ON_PICKUP_DOOR_CLOSED: {9 L4 n! O8 t+ n- S5 f! A( c- R3 z" V
  241.                 treenode elev = param(1);+ W) P0 s5 r5 x+ S
  242.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);$ T$ [4 H( ^9 G* l1 B: `5 O
  243.                 // assign the agv to "no control point"
    ) r7 N- P6 k; I/ A* d% d
  244.                 agvreassigncp(agv, 0);4 G: l7 U1 P+ Z' y
  245.                 // move the agv into the elevator3 D1 `8 B0 \0 I& D, N4 K
  246.                 moveobject(agv, elev);
      o. x* A) l/ b/ [1 l0 T
  247.                 setrot(agv, 0, 0, 0);
    . p: Q7 a% Q  f" ]  {; n3 H
  248.                 // release the elevator to continue to the destination floor
    5 ~: v" \4 `2 z  l+ g
  249.                 freeoperators(elev, agv);( {9 F8 Y6 _* m3 a+ h: Z' w
  250.                 return 0;
    7 k0 L! A% W; a$ m( g! M" c
  251.         }) [3 K% ^/ S" T  V0 X, ^: A' Z
  252.         case ON_ELEVATOR_DROPOFF_ARRIVAL: {
    , R: w" J5 a, ]3 D7 F& G- @; z  e
  253.                 treenode elev = param(1);# \; [' E1 T/ Z& l! N
  254.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);4 N* I4 i4 E0 Q$ J, |/ i; p
  255.                 // when the elevator arrives at the destination floor
    7 @! O  e* c8 [
  256.                 // move the agv back into the model
    , I" E# _& z0 I. n! L7 {! x( M! Q. C
  257.                 moveobject(agv, model());
    : w- j3 m+ s% ^* E- ?
  258.                 // reassign it to the destination floor control point- s* ]( W$ J3 k! i2 N
  259.                 agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));
    1 ?* T4 u3 Q  V& ~
  260.                 // open the elevator door
    5 ~. }/ Y& K4 P& n' ?: a
  261.                 nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);
    ; j$ m. s- E# t7 g. n
  262.                 return 0;
    - |0 A( r) u$ `
  263.         }
    % }" Z8 y( q* N3 _* w! W4 a2 \
  264.         case ON_DROPOFF_DOOR_OPENED: {
    ! ~0 |/ z. z' ^; G0 T. e
  265.                 treenode elev = param(1);
    ! W4 o" x7 O) {! O
  266.                 treenode agv = param(2);7 t( B5 }. s3 v. j, w7 W% ~6 C
  267.                 treenode agvLabel = label(agv, AGV_LABEL_NAME);
    0 D* {4 |; O, g! f- h! y( l
  268.                 // once the elevator door is opened on the destination floor, 4 h; ]: u. w2 `$ Y
  269.                 // redirect the agv to the exit control point
    # m/ m1 C+ d& V3 l$ I2 Z( v0 T
  270.                 agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);
    1 D7 L  e( S1 {) }) v3 k
  271.                 return 0;) Y' y1 `, b; n
  272.         }
    * S9 W7 {! x/ ~* x& v
  273.         case ON_DROPOFF_DOOR_CLOSED: {
    / D5 Y* @" R  f6 T6 M* g
  274.                 treenode elev = param(1);' D1 a4 c* A9 Q/ @5 V, [5 x8 c
  275.                 treenode agv = param(2);- o8 a+ t8 D* c3 |: S
  276.                 int isAGVWaiting = param(4);
    * v1 V/ D; O) u% |9 `7 E; r
  277.                 // once the door is closed at the destination floor,
    - B( `8 V6 O  d0 Z$ ~6 R% z$ ]# O
  278.                 // if the agv is waiting, then send him to the final destination
    5 e, ~" w3 W7 V3 x  I
  279.                 if (isAGVWaiting)* g' O7 d8 `# |7 h0 C- t- S
  280.                         agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);4 L) L7 ^/ T% p6 V. U
  281.                 // release the elevator to finish his task sequence3 }. o" p# c5 {* \; P
  282.                 freeoperators(elev, agv);8 |, q; G1 B6 `) I: [. ~
  283.                 return 0;9 y% R$ T9 w4 o1 p2 w; U
  284.         }6 H" U1 m  R. D3 x
  285. }& f6 ?6 I6 T: Y7 b1 O( E) M
  286. } //******* PickOption End *******\\6 W; e2 I2 s, H, A
  287. - w: r3 _8 M: @( ]: Y/ \
复制代码

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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
& N. m5 p- _/ u% l# m. _办法1:从2016版本里面复制相应的代码
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! M* F' ]; ]4 m% c具体代码如下:
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好的,非常感谢陈老师的解答~
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