2018.2.0版中AGV如何乘升降机？

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，该如何实现这个操作？

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办法1：从2016版本里面复制相应的代码

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1. treenode agv = param(1);
   
2. treenode currentCP = param(2);
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3. 
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4. { //************* PickOption Start *************\\
   
5. /***popup:AGV_DivertToElevator*/
   
6. /***tag:Description*//**Divert to Elevator*/
   
7. 
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8. int operation = param(3);
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9. 
   
10. #define AGV_LABEL_NAME "fs_AGV_Elev_State"
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11. if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME))
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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
    
13.         // initial trigger execution
    
14.         #define ON_ELEVATOR_START 1
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15.         #define ON_ELEVATOR_PICKUP_ARRIVAL 2
    
16.         #define ON_ELEVATOR_DROPOFF_ARRIVAL 3
    
17.         #define ON_AGV_AT_CP 4
    
18.         #define ON_BOTH_AT_PICKUP 5
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19.         #define ON_OPEN_DOOR 6
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20.         #define ON_CLOSE_DOOR 7
    
21.         #define ON_PICKUP_DOOR_OPENED 8
    
22.         #define ON_PICKUP_DOOR_CLOSED 9
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23.         #define ON_DROPOFF_DOOR_OPENED 10
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24.         #define ON_DROPOFF_DOOR_CLOSED 11
    
25.        
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26.         #define AGV_STATE_START 0
    
27.         #define AGV_STATE_AT_ENTRY_CP 1
    
28.         #define AGV_STATE_AT_ELEV_CP 2
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29.         #define AGV_STATE_AT_EXIT_CP 3
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30.        
    
31.         #define ELEV_STATE_NONE 0
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32.         #define ELEV_STATE_AT_PICKUP_FLOOR 1
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33.         #define ELEV_STATE_OPENING_DOOR 2
    
34.         #define ELEV_STATE_DOOR_OPENED 3
    
35. 
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36. 
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37.         treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;
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38.         #define elevator outobject(elevDisp, $iter(1))
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39. 
    
40.         if (!objectexists(elevDisp))
    
41.                 return 0;
    
42. 
    
43.         if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {
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44.                 query(
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45.                         /** \nFull Query: */
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46.                         /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,
    
47.                         nrop(elevDisp),
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48.                         elevator
    
49.                         /** \nWhere*/
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50.                         /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/
    
51.                         /***/
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52.                         /** \nOrderBy*/
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53.                         /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*/
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54.                         /***/);
    
55. 
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56.                 if (getquerymatchcount() > 0)
    
57.                         elevDisp = getqueryvalue(1, 1);
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58.         }
    
59.         if (!objectexists(elevDisp))
    
60.                 return 0;
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61.         treenode destCP = agvinfo(agv, AGV_DEST_CP);
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62. 
    
63.         agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);
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64. 
    
65.         // Create the task sequence for the elevator
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66.         double destZ = zloc(destCP);
    
67.         treenode ts = createemptytasksequence(elevDisp, 0, 0);
    
68.         inserttask(ts, TASKTYPE_TAG, agv, destCP);
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69.         // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START
    
70.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);
    
71.         // travel to the z location of the current control point
    
72.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));
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73.         // then call ON_ELEVATOR_PICKUP_ARRIVAL
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74.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);
    
75.         // then wait for the agv to get on
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76.         inserttask(ts, TASKTYPE_UTILIZE, agv);
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77.         // then travel to the destination z location
    
78.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);
    
79.         // then call ON_ELEVATOR_DROPOFF_ARRIVAL
    
80.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);
    
81.         inserttask(ts, TASKTYPE_UTILIZE, agv);
    
82.         dispatchtasksequence(ts);
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83. } else switch (operation) {
    
84.         case ON_ELEVATOR_START: {
    
85.                 // this is fired when I get a valid elevator
    
86.                 treenode elev = param(1);
    
87.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    
88. 
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89.                 // find the closest floor control point
    
90.                 int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);
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91.                 treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon),
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92.                                                         fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),
    
93.                                                         cpconnection(elev, floorCPCon, count));
    
94.                 // return if there is none
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95.                 if (!objectexists(curFloorCP))
    
96.                         return 0;
    
97. 
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98.                 // get the entry control point
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99.                 treenode floorCP = curFloorCP;
    
100.                 treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;
     
101.                 if (!objectexists(curFloorEntryCP))
     
102.                         return 0;
     
103.                 treenode floorEntryCP = curFloorEntryCP;
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104.                 treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;
     
105.                 if (!objectexists(curFloorElevCP))
     
106.                         return 0;
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107. 
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108.                 double destZ = param(4);
     
109.                 // find the floor control point closest to the destination floor
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110.                 treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon),
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111.                                                         fabs(destZ - zloc(cpconnection(elev, floorCPCon, count))),
     
112.                                                         cpconnection(elev, floorCPCon, count));
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113.                                                        
     
114.                 floorCP = destFloorCP;
     
115.                 treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;
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116.                 if (!objectexists(destFloorElevCP))
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117.                         return 0;
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118.                 // get the destination exit control point
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119.                 treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;
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120.                 if (!objectexists(destExitCP))
     
121.                         return 0;
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122. 
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123. 
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124.                 // add a listener for the agv. This will call this nodefunction in the ON_AGV_AT_CP section whenever the
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125.                 // agv arrives at a node. I keep a state on the agv's state label, and then increment it each time
     
126.                 // the listener is called so I know which control point he's at, i.e. entry, elev, or exit.
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127.                 agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,
     
128.                         agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);
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129.                
     
130.                 // set the data on the state label
     
131.                 treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);
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132.                 switch_destroyonreset(stateLabel, 1);
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133.                 set(stateLabel, AGV_STATE_START);
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134.                 set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);
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135.                 nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);
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136.                 nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);
     
137.                 nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);
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138.                 agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);
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139.                 return 0;
     
140.         }
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141.         case ON_AGV_AT_CP: {
     
142.                 // this is fired by the agv listener every time the agv arrives at a node.
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143.                 treenode agv = param(1);
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144.                 treenode elev = param(2);
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145.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
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146.                 // I increment the state label, and then switch on it
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147.                 inc(stateLabel, 1);
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148.                 switch (get(stateLabel)) {
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149.                         case AGV_STATE_AT_ENTRY_CP: {
     
150.                                 // the agv just arrived at the entry cp
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151.                                 // so, figure out where the elevator is.
     
152.                                 int elevState = get(node("ElevState", stateLabel));
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153.                                 // if he's at the pickup floor with his door closed then open the door.
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154.                                 if (elevState == ELEV_STATE_AT_PICKUP_FLOOR)
     
155.                                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
     
156.                                 else if (elevState == ELEV_STATE_DOOR_OPENED) {
     
157.                                         // if his door is alread opened, then move the agv onto the elevator, i.e. to
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158.                                         // the elevator cp
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159.                                         treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
     
160.                                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
     
161.                                 }
     
162.                                 break;
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163.                         }
     
164.                         case AGV_STATE_AT_ELEV_CP: {
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165.                                 // once the agv is at the elevator cp, close the door
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166.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);
     
167.                                 break;
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168.                         }
     
169.                         case AGV_STATE_AT_EXIT_CP: {
     
170.                                 // the agv is at the exit cp
     
171.                                 // destroy the listener node because I'm finished listening
     
172.                                 treenode listenerNode = param(4);
     
173.                                 destroyobject(listenerNode);
     
174.                                 int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;
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175.                                 if (!agvWait) {
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176.                                         // if the agv is supposed to continue on, then tell him to go to his final destination
     
177.                                         treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);
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178.                                         agvredirect(agv, destCP, REDIRECT_AS_FINAL);
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179.                                 }
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180.                                 // close the door
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181.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);
     
182.                                 // and I'm finished with the state label so I can destroy it.
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183.                                 destroyobject(stateLabel);
     
184.                                 break;
     
185.                         }
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186.                 }
     
187.                 return 0;
     
188.         }
     
189.         case ON_ELEVATOR_PICKUP_ARRIVAL: {
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190.                 // the elevator has arrived at the pick floor
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191.                 treenode elev = param(1);
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192.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
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193.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
     
194.                 treenode elevState = node("ElevState", stateLabel);
     
195.                 // set the elevator state to at-pickup-floor
     
196.                 set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);
     
197.        
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198.                 int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;
     
199.                
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200.                 // if the agv is at the entry control point or I open the door immediately, then open it
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201.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {
     
202.                         set(elevState, ELEV_STATE_OPENING_DOOR);
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203.                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
     
204.                 }
     
205.                 return 0;
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206.         }
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207.         case ON_OPEN_DOOR: {
     
208.                 treenode agv = param(1);
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209.                 treenode elev = param(2);
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210.                 int nextStep = param(4);
     
211.                 // open the door based on the time to open the door
     
212.                 double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;
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213.                 delayednodefunction(c, openDoorTime, elev, agv, nextStep);
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214.                 return 0;
     
215.         }
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216.         case ON_CLOSE_DOOR: {
     
217.                 treenode agv = param(1);
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218.                 treenode elev = param(2);
     
219.                 int nextStep = param(4);
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220.                 // close the door base on the time to close the door
     
221.                 double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;
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222.                 delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));
     
223.                 return 0;
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224.         }
     
225.         case ON_PICKUP_DOOR_OPENED: {
     
226.                 // the elevator door has been opened on the pickup floor
     
227.                 treenode elev = param(1);
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228.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
     
229.                 treenode entryCP = cp(agv);
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230.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
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231.                 treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
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232.                 treenode elevState = node("ElevState", stateLabel);
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233.                 // set the elevator state
     
234.                 set(elevState, ELEV_STATE_DOOR_OPENED);
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235.                 // if the agv is at the entry control point, move him to the elevator control point
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236.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP)
     
237.                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
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238.                 return 0;
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239.         }
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240.         case ON_PICKUP_DOOR_CLOSED: {
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241.                 treenode elev = param(1);
     
242.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
     
243.                 // assign the agv to "no control point"
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244.                 agvreassigncp(agv, 0);
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245.                 // move the agv into the elevator
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246.                 moveobject(agv, elev);
     
247.                 setrot(agv, 0, 0, 0);
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248.                 // release the elevator to continue to the destination floor
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249.                 freeoperators(elev, agv);
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250.                 return 0;
     
251.         }
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252.         case ON_ELEVATOR_DROPOFF_ARRIVAL: {
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253.                 treenode elev = param(1);
     
254.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
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255.                 // when the elevator arrives at the destination floor
     
256.                 // move the agv back into the model
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257.                 moveobject(agv, model());
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258.                 // reassign it to the destination floor control point
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259.                 agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));
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260.                 // open the elevator door
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261.                 nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);
     
262.                 return 0;
     8 p% j/ p8 X+ L0 ?9 ?
263.         }
     
264.         case ON_DROPOFF_DOOR_OPENED: {
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265.                 treenode elev = param(1);
     
266.                 treenode agv = param(2);
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267.                 treenode agvLabel = label(agv, AGV_LABEL_NAME);
     
268.                 // once the elevator door is opened on the destination floor,
     
269.                 // redirect the agv to the exit control point
     
270.                 agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);
     
271.                 return 0;
     9 T( ]  E% M. U" Z% {
272.         }
     
273.         case ON_DROPOFF_DOOR_CLOSED: {
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274.                 treenode elev = param(1);
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275.                 treenode agv = param(2);
     
276.                 int isAGVWaiting = param(4);
     
277.                 // once the door is closed at the destination floor,
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278.                 // if the agv is waiting, then send him to the final destination
     
279.                 if (isAGVWaiting)
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280.                         agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);
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281.                 // release the elevator to finish his task sequence
     # F2 ]. {  T# m
282.                 freeoperators(elev, agv);
     # y# n! n) v) X2 u
283.                 return 0;
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284.         }
     
285. }
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286. } //******* PickOption End *******\\
     
287. 
     

复制代码

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办法2：使用工艺流程模块完成

慧娴亚伦 发表于 2018-11-4 19:12
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：

3 Q0 N3 e. @& V6 @4 e! `好的，非常感谢陈老师的解答~