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标题: 2018.2.0版中AGV如何乘升降机？ [打印本页]
作者: Pureua    时间: 2018-11-4 16:20
标题: 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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作者: 慧娴亚伦    时间: 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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/ P4 }0 B, [. d1 g; d9 K7 b具体代码如下：
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  1. treenode agv = param(1);4 p: T! B* g) T- U$ z
  2. treenode currentCP = param(2);
    2 s2 J+ J. Z- `9 B

  3. - {1 c, `) {* a! a" H1 ~( T
  4. { //************* PickOption Start *************\\
    9 H# c) V% {- A- ~- C# m4 X. r; {% I8 l
  5. /***popup:AGV_DivertToElevator*/& ^2 Y2 C; [, q% h, C6 |
  6. /***tag:Description*//**Divert to Elevator*/; j. r: b. U9 \. t2 b: M
  7. 2 f- E9 Y! A) k5 y/ k
  8. int operation = param(3);
    ) Z+ D$ @; P+ `" v9 ~1 E

  9. & y6 l2 C; [7 J$ k! g
  10. #define AGV_LABEL_NAME "fs_AGV_Elev_State": \( W# r, N+ d4 y# U
  11. if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME))
    . R+ G3 e7 Q6 p! ?
  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
    - K. }% I* f4 \7 f' e
  13.         // initial trigger execution4 `- W5 {! d1 ^7 Q
  14.         #define ON_ELEVATOR_START 13 }1 n$ b) D# Z
  15.         #define ON_ELEVATOR_PICKUP_ARRIVAL 2
    ! Q, E  ~' ^$ a: e
  16.         #define ON_ELEVATOR_DROPOFF_ARRIVAL 3' j; Z# y/ l1 u* b" c3 f: E
  17.         #define ON_AGV_AT_CP 4: f$ M( g# C$ C! f
  18.         #define ON_BOTH_AT_PICKUP 55 b% f+ G$ W% i1 N3 J% P
  19.         #define ON_OPEN_DOOR 6
    % D) F9 |4 ]( u" I' ~) v" n. Y
  20.         #define ON_CLOSE_DOOR 7
    # _7 A3 ]! a$ W) F, F) r* U0 Z- V
  21.         #define ON_PICKUP_DOOR_OPENED 8: q  R6 {# m! \2 ]! v; H4 E
  22.         #define ON_PICKUP_DOOR_CLOSED 9
    - b. ?% ?/ Q& i9 v1 K
  23.         #define ON_DROPOFF_DOOR_OPENED 10
    ) R' @- P) ^: }
  24.         #define ON_DROPOFF_DOOR_CLOSED 11
    0 m5 ^: \2 t, q; J
  25.        
    & `& f- q# L8 H) u& X: w
  26.         #define AGV_STATE_START 0  o+ `0 I2 ~7 C* E
  27.         #define AGV_STATE_AT_ENTRY_CP 1
    & v( s8 _" H) s9 y6 L, G+ v3 r
  28.         #define AGV_STATE_AT_ELEV_CP 2
    * w2 L! Y1 K& `5 b& ^  n$ z! y/ M
  29.         #define AGV_STATE_AT_EXIT_CP 33 R; \9 |, v/ b5 K& C6 D! E3 `6 r
  30.        
    ) l0 K  b6 H0 A/ x" Y  f
  31.         #define ELEV_STATE_NONE 0
    9 D6 z3 D& _, z& Y+ H$ h5 p
  32.         #define ELEV_STATE_AT_PICKUP_FLOOR 1& g3 l1 D: A$ g: c+ g
  33.         #define ELEV_STATE_OPENING_DOOR 2; F  y% C. f" @2 m8 Q
  34.         #define ELEV_STATE_DOOR_OPENED 3
    " z# F' j3 e; x5 L8 w5 E0 y- {
  35. 6 F) l; J8 X+ G
  36. # [1 V8 j+ n$ u: C5 S  X& a
  37.         treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;! ?4 q% O+ F7 L6 W$ q4 U
  38.         #define elevator outobject(elevDisp, $iter(1))* S8 r- V' p8 l& f, [0 `1 ~+ N" C
  39. 0 {* @: e, d% @* O! X6 G6 }
  40.         if (!objectexists(elevDisp)), W: s- w3 u, H/ ?
  41.                 return 0;
    1 n* |4 V7 K# D! W
  42. ! w; I7 `" I: y/ {  {' o) E; J. C
  43.         if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {
    & c) B2 I$ S; \
  44.                 query(- u% ?2 j* H7 O4 [1 \
  45.                         /** \nFull Query: */
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  46.                         /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,+ p( F; _6 u' G- \9 [
  47.                         nrop(elevDisp),
    ( K# A5 ^! Q/ c2 h
  48.                         elevator
    4 e/ z2 p" t' U' {7 c% x
  49.                         /** \nWhere*/
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  50.                         /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/
      ?0 `+ E8 x' X" ]1 J
  51.                         /***/0 k% |9 j% e$ h& e) c+ p
  52.                         /** \nOrderBy*/
    . y( P7 E8 {) Q7 ~3 s# {! @. ^
  53.                         /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*/
    * c' ^, o1 M+ F
  54.                         /***/);
      U6 T& n! W5 l0 z' [; w: n
  55. $ ^- H) {7 h1 r3 m9 ~( }4 h
  56.                 if (getquerymatchcount() > 0)9 N/ |8 O, p& q- _% b1 b
  57.                         elevDisp = getqueryvalue(1, 1);" q1 A* D5 o6 {$ ]
  58.         }
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  59.         if (!objectexists(elevDisp))" x( s: |: U2 E' g/ q& t; m9 w
  60.                 return 0;
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  61.         treenode destCP = agvinfo(agv, AGV_DEST_CP);
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  62. # [& h0 Q5 W& u, a$ a) r- Z" G# U# w  z
  63.         agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);" ?7 K9 c; S8 {0 Q5 D5 X

  64. ! U2 h5 o# i! ^  M. o+ t/ |
  65.         // Create the task sequence for the elevator
    $ W+ p6 Q* Y. f& ^
  66.         double destZ = zloc(destCP);% ~& @' F" a6 M5 `3 l5 @& _
  67.         treenode ts = createemptytasksequence(elevDisp, 0, 0);8 m" H3 `; d4 |+ F% {( R
  68.         inserttask(ts, TASKTYPE_TAG, agv, destCP);
    5 l( m/ `* A. d" }% X
  69.         // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START: `; K1 Y, z0 i5 g; E# x# m: S8 n. \
  70.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);( ?* {7 a7 |% b: _6 S4 p
  71.         // travel to the z location of the current control point; P; A. h3 i6 I: u9 c, l( C
  72.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));5 a: F& i' _8 L  j/ Q
  73.         // then call ON_ELEVATOR_PICKUP_ARRIVAL
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  74.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);
    9 I7 @& t" v" \9 Z2 L
  75.         // then wait for the agv to get on
      D5 b) r% p5 p3 \: {
  76.         inserttask(ts, TASKTYPE_UTILIZE, agv);- S+ D4 g& R6 l% Q8 G
  77.         // then travel to the destination z location% \2 @# Y# |0 J/ ?6 k
  78.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);
    ; w2 c+ z* T* D1 d  ?
  79.         // then call ON_ELEVATOR_DROPOFF_ARRIVAL7 @+ Q$ d  B6 l& X* M  C! ]4 y
  80.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);
    " V2 v( q( [+ U* i5 }, F
  81.         inserttask(ts, TASKTYPE_UTILIZE, agv);
    3 G# l0 v" v0 u0 @% W7 i5 n
  82.         dispatchtasksequence(ts);
    , w3 u8 ^( H! X( a6 r  i
  83. } else switch (operation) {7 C  }) V% S8 @$ `6 v
  84.         case ON_ELEVATOR_START: {1 v! P4 e" z0 C$ J
  85.                 // this is fired when I get a valid elevator
    ) }! L3 ^7 P6 j' Z# g) w; s
  86.                 treenode elev = param(1);( N. {# N' B+ L# x- e
  87.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);7 H4 D1 c. y6 V) V: R/ R/ d+ _

  88. 1 c4 Z8 U) ~% U% ?# ~
  89.                 // find the closest floor control point
      @7 d: @! h, f" N6 f
  90.                 int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);0 C) Y* r4 h0 O' c$ ?3 W/ H# `8 R' z
  91.                 treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon), 5 Y5 s$ Q, h$ o9 {! C* d
  92.                                                         fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),2 ?2 L5 p- R/ l
  93.                                                         cpconnection(elev, floorCPCon, count));# A1 l7 r0 l7 {- j  B& I8 B
  94.                 // return if there is none
    ( f$ Z* e3 W0 Q4 {
  95.                 if (!objectexists(curFloorCP))3 O% e. {) D$ N8 l5 |. U- P
  96.                         return 0;3 G3 V# C$ `) y) \1 @# }
  97. $ Z8 w& \" k# G% B6 g$ R7 u
  98.                 // get the entry control point& z# B. b/ W( i% |9 [1 d0 v
  99.                 treenode floorCP = curFloorCP;
    + x4 B) A2 x& k+ D$ C* Z9 I
  100.                 treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;5 I% Z+ R% G1 y4 T) k* t0 A/ O5 @
  101.                 if (!objectexists(curFloorEntryCP))6 W# [1 @4 s5 U
  102.                         return 0;8 a9 x- Y8 ~$ W; R, h8 G9 d. ?2 v
  103.                 treenode floorEntryCP = curFloorEntryCP;% \& a' M! F# ^7 W9 w, O( ~
  104.                 treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;
    4 e+ m  q8 r4 h) f3 I1 S: @
  105.                 if (!objectexists(curFloorElevCP)). H$ ]9 L; Y; N2 @# c# K' C
  106.                         return 0;
    " |0 ^) Z8 X$ W

  107. " y0 z, t3 Q" X. U5 _( a
  108.                 double destZ = param(4);
    * h6 Y- N* V7 T: Y
  109.                 // find the floor control point closest to the destination floor% n* w/ n( @" ?. M/ W
  110.                 treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon), ) C+ V6 U( u# V8 b
  111.                                                         fabs(destZ - zloc(cpconnection(elev, floorCPCon, count))),
    & h- B$ d; o3 J. m+ Q
  112.                                                         cpconnection(elev, floorCPCon, count));
    ) o- B6 h6 b, b8 R/ L$ f* ]
  113.                                                         8 v7 }* F- l- ?
  114.                 floorCP = destFloorCP;- _) e/ I# U2 G9 d" B; v3 O% h5 X; e
  115.                 treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;
    5 ]) C, W, ]! }9 ^1 C
  116.                 if (!objectexists(destFloorElevCP))$ f2 P, s" I) ^- \% K! C
  117.                         return 0;
    + t8 |8 ?+ n" C3 n! H7 h+ S
  118.                 // get the destination exit control point
    4 w4 ~" z  f/ I: H$ N' f
  119.                 treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;
    3 ]2 t; m+ }6 |% [. y
  120.                 if (!objectexists(destExitCP))5 k+ R, u5 Y# I  p; @! N* X
  121.                         return 0;8 u0 d' U) `( a

  122. 5 ^3 U" ~1 R) t0 q" ?, x
  123. . v2 }9 `2 p, {/ L! c! N  w
  124.                 // add a listener for the agv. This will call this nodefunction in the ON_AGV_AT_CP section whenever the
      }: d" Q" [8 w5 q, q# G/ c& y
  125.                 // agv arrives at a node. I keep a state on the agv's state label, and then increment it each time
    3 _; w3 L8 K: O' r% B
  126.                 // the listener is called so I know which control point he's at, i.e. entry, elev, or exit.
    ! K2 A! v7 |  h; I4 M! C' }( U( S
  127.                 agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,& ]' u- w' ]" G2 D( y, m
  128.                         agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);. ^8 b) T6 z/ U" l0 n& ~" {' P
  129.                 1 z6 r! S, {; o/ @1 M2 S
  130.                 // set the data on the state label ) X) Y& S# n/ ~% v! E+ X8 C9 f7 u/ `( |
  131.                 treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);5 a9 f; g, P# _1 Z
  132.                 switch_destroyonreset(stateLabel, 1);
    " Y, x* v5 ]; g9 w
  133.                 set(stateLabel, AGV_STATE_START);" k4 g  l9 k6 m$ M6 Z  a5 P
  134.                 set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);
    3 n: \' _) p( b" B& M
  135.                 nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);! M% i6 w; _) X' y
  136.                 nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);
    . x9 L" @- ^' e
  137.                 nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);
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  138.                 agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);
    / S: H5 t2 L" ^, _" J8 X7 a
  139.                 return 0;
    % s2 w6 N; R6 E* u- J, i: W$ a. @
  140.         }
    : i) K! Y% v  k" F9 q
  141.         case ON_AGV_AT_CP: {" t  w# t9 @3 X/ [) O  H+ C
  142.                 // this is fired by the agv listener every time the agv arrives at a node.
    9 ^% `: M3 Q2 u4 w! _" V* w
  143.                 treenode agv = param(1);5 L% g! I( ]8 ]$ _
  144.                 treenode elev = param(2);" s; D3 H% ^0 d2 W0 M$ ~
  145.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
    ' P/ K; l* ]6 a8 Q
  146.                 // I increment the state label, and then switch on it& k) q$ m7 I% T' }3 q. C
  147.                 inc(stateLabel, 1);
    4 U6 ^- [% e( g& v( n
  148.                 switch (get(stateLabel)) {
    0 L, S) i9 ?  T( y* b
  149.                         case AGV_STATE_AT_ENTRY_CP: {
    8 P) R+ }8 G6 Q( u6 F
  150.                                 // the agv just arrived at the entry cp& w6 {) l, p5 p% m% e9 f
  151.                                 // so, figure out where the elevator is.$ l" n! m. n2 U/ W& D
  152.                                 int elevState = get(node("ElevState", stateLabel));* c0 D' X; T/ _2 h
  153.                                 // if he's at the pickup floor with his door closed then open the door.
    0 s8 M# N6 y1 p4 g3 ^, E% J7 O
  154.                                 if (elevState == ELEV_STATE_AT_PICKUP_FLOOR)7 ?  Y8 u0 R# M' D# v
  155.                                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);6 F& v4 o5 M, Y* e- R) E
  156.                                 else if (elevState == ELEV_STATE_DOOR_OPENED) {
    9 t! O* w3 g5 O
  157.                                         // if his door is alread opened, then move the agv onto the elevator, i.e. to
    & E3 G( y8 v' A4 i3 T+ @3 A
  158.                                         // the elevator cp; ?8 w6 [4 Q% p% `+ b2 r
  159.                                         treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));. I$ d7 K) N  p& E- X! E$ p
  160.                                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);& T5 `. e; p3 O" q
  161.                                 }
    6 j/ M/ G' E, r
  162.                                 break;
    8 ?; A4 c8 [0 S" C2 U+ N: z
  163.                         }
    % a  ?7 t9 w, b. n) k
  164.                         case AGV_STATE_AT_ELEV_CP: {
    6 a" ~! E( c  q0 z
  165.                                 // once the agv is at the elevator cp, close the door
    % g9 z2 X; O2 s! D4 P
  166.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);
    0 E3 n" U& o5 q9 l% q
  167.                                 break;( b+ N. H* |& p0 Z" m; S
  168.                         }6 T% l6 d9 h# G; ~1 S
  169.                         case AGV_STATE_AT_EXIT_CP: {0 q& r% ?4 Q1 a7 h& y- k  f$ f& e
  170.                                 // the agv is at the exit cp. \" z0 J4 c/ ]" Z3 A) |
  171.                                 // destroy the listener node because I'm finished listening3 m! ?7 u" n8 q) B
  172.                                 treenode listenerNode = param(4);3 P1 f- |- j7 q) o
  173.                                 destroyobject(listenerNode);& p$ o$ k3 U; v* F
  174.                                 int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;
    * d" f( \6 |  J5 N
  175.                                 if (!agvWait) {
    + y) y: [# z, [! F
  176.                                         // if the agv is supposed to continue on, then tell him to go to his final destination2 c; h4 ]2 t3 [) X0 u, \$ k
  177.                                         treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);
    0 p( h7 B! m; B, B# E2 m5 E# d
  178.                                         agvredirect(agv, destCP, REDIRECT_AS_FINAL);
    ! O2 H0 s0 ?& h* a
  179.                                 }0 ^! v2 L; T$ I$ ~8 d  k* T" N
  180.                                 // close the door
    5 a4 }/ M$ P# t8 P6 t4 }8 C0 U
  181.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);3 `/ D# D. f6 u7 _2 }4 |
  182.                                 // and I'm finished with the state label so I can destroy it.$ Y; \7 S0 S" r& {4 d) U# I! I
  183.                                 destroyobject(stateLabel);1 C  r: @$ c+ w7 S% y: Z
  184.                                 break;
    ; @7 M: k8 B: t2 I0 \1 c
  185.                         }
    : I- T2 A" H0 r- K+ n0 r; Z% @! v
  186.                 }
    5 V2 K; }& X% x' z8 K; n- k
  187.                 return 0;/ {; h* Y- j& h
  188.         }
    " Y& d- @6 q1 s4 R( r
  189.         case ON_ELEVATOR_PICKUP_ARRIVAL: {1 m1 W4 p2 E- s5 Q9 ?5 [( N: g
  190.                 // the elevator has arrived at the pick floor
    4 y! `! m* _9 w. u/ j1 M
  191.                 treenode elev = param(1);
    # i* K2 }9 ]1 J
  192.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);9 A0 j$ Z* T5 J- z
  193.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);  F% J+ c1 n( L# ~
  194.                 treenode elevState = node("ElevState", stateLabel);
    & N: {+ D! b- \" O8 i! E* \
  195.                 // set the elevator state to at-pickup-floor- ~' r7 t1 F! ?7 m
  196.                 set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);
    / \7 `' f- Q/ _& V8 N  K! x# _
  197.        
    - G2 g! r4 g/ ^' b* g) x
  198.                 int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;6 v7 @( Y# ~/ {! N9 m) f
  199.                
    : u# ?- ~& d$ |7 p" e+ w
  200.                 // if the agv is at the entry control point or I open the door immediately, then open it; z  z" y1 d1 W) }/ n* S. c& I& I) a$ G
  201.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {! K* b9 \- V; k! m8 j
  202.                         set(elevState, ELEV_STATE_OPENING_DOOR);
    2 U( U' ^, h7 ]8 D  c& \5 R/ I
  203.                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);  `+ \1 M1 v  X) u4 c
  204.                 }& g" M2 b, p/ |7 v
  205.                 return 0;" O8 C, _7 q( o+ a. ?! {( Q7 }
  206.         }' G7 `4 G6 l8 s$ A& z; U  R
  207.         case ON_OPEN_DOOR: {4 I* Q& u' ~% E# y5 p5 q1 w, d
  208.                 treenode agv = param(1);
    2 ?# W) q0 v$ M
  209.                 treenode elev = param(2);$ N& I. g0 [+ U# R5 y& x6 ?$ Q! W
  210.                 int nextStep = param(4);
    2 C( {" k# Z2 F/ S* B; C+ I. Y
  211.                 // open the door based on the time to open the door
    ) Q0 v  k& p6 o) [2 H
  212.                 double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;
      w( X( y+ c, r0 g/ F: t
  213.                 delayednodefunction(c, openDoorTime, elev, agv, nextStep);, C. m3 r$ L, T. K) y
  214.                 return 0;' c& H9 n. H5 ?1 j7 x; V/ Z8 i
  215.         }
    $ Y7 o/ n# W0 ~
  216.         case ON_CLOSE_DOOR: {+ w; S9 O8 V5 d8 e7 y% N+ H
  217.                 treenode agv = param(1);
    2 n! U" z/ ~2 l. X9 A% k8 M; J
  218.                 treenode elev = param(2);/ Q0 @. g8 `+ b
  219.                 int nextStep = param(4);
    . l7 t* R0 x1 M9 Y
  220.                 // close the door base on the time to close the door  A' y9 v9 q2 [7 n" k% t' f! O
  221.                 double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;1 n% E. P& M) Z7 k- I
  222.                 delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));% n' s2 o, X1 Y; B- P% {- A
  223.                 return 0;
    7 M- l' P( z6 D1 f, n; ?9 ?  ~' {  C
  224.         }' D3 a! S, W6 T; j1 \' \' t
  225.         case ON_PICKUP_DOOR_OPENED: {$ u" Z1 k  s' H
  226.                 // the elevator door has been opened on the pickup floor
    ' a. w" ~4 ~8 [3 M$ Q* @
  227.                 treenode elev = param(1);
    , U1 z5 S- H5 \- _( U  t0 v: M
  228.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);0 B" E; q# i/ I4 U
  229.                 treenode entryCP = cp(agv);
    ; {" j( U2 _$ A
  230.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);, h) ^* d1 Q) ]- P4 `; M: w( E
  231.                 treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
    " a& q$ ^8 w0 T( y
  232.                 treenode elevState = node("ElevState", stateLabel);& n8 f1 A/ }  U; B7 Y
  233.                 // set the elevator state8 i- L; }+ C* K: d# ^& L4 l
  234.                 set(elevState, ELEV_STATE_DOOR_OPENED);2 T6 M% ~5 o& j4 X, |9 \
  235.                 // if the agv is at the entry control point, move him to the elevator control point
    ! n. m: y; b+ N1 V+ {( q2 J
  236.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP)* v5 Y7 _' _) x( N1 l8 U) M
  237.                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);3 w( \7 b9 e$ v6 \2 X* F: T: w: N) m
  238.                 return 0;) }: P( }3 {4 O; }- g1 x+ h+ @
  239.         }# L- d+ ^2 Z) ?2 w3 G
  240.         case ON_PICKUP_DOOR_CLOSED: {% B5 {* `# ^! g+ b7 g$ a8 \4 o  X
  241.                 treenode elev = param(1);
    0 ?6 j4 M( W( t2 e/ a6 t' ^) ^
  242.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    , c6 |, h5 g7 u; l* I
  243.                 // assign the agv to "no control point"+ b6 h  {* P9 n  v4 w- j7 |
  244.                 agvreassigncp(agv, 0);
    6 h6 h6 G# I8 _. P- X3 t
  245.                 // move the agv into the elevator
    6 y) H" u. D% `' s% w. ?0 P. `
  246.                 moveobject(agv, elev);
    ! }% _; j8 Z4 v
  247.                 setrot(agv, 0, 0, 0);
    ; j* Y( @0 g- R0 v
  248.                 // release the elevator to continue to the destination floor
    / v8 ?- |4 s6 c. M
  249.                 freeoperators(elev, agv);9 Y5 v" m: l; n! c
  250.                 return 0;
      H9 u! D$ W/ O, L* K2 S/ W
  251.         }( Q# S! R6 R% p! z$ B
  252.         case ON_ELEVATOR_DROPOFF_ARRIVAL: {! p6 T6 N* g4 m; f
  253.                 treenode elev = param(1);
    $ |' C) _/ r. c$ o! n
  254.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    8 B' k' i: I0 O2 s* ?+ E
  255.                 // when the elevator arrives at the destination floor, k* n, r' o% q1 p% g7 v8 ~9 A
  256.                 // move the agv back into the model4 ~4 n7 o4 @+ g' a; i: ^9 e" h
  257.                 moveobject(agv, model());
    # I3 ]  x4 l  n* P# v1 Q
  258.                 // reassign it to the destination floor control point
    % K% r7 l- f- o4 C3 s
  259.                 agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));3 b! v* a. J: U) \
  260.                 // open the elevator door
    8 t! p9 o( @" @8 b
  261.                 nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);* w; A" ?& L. |9 v5 b1 u, I7 W
  262.                 return 0;4 `6 a, u2 X( E% K6 I& l
  263.         }  r! t; p9 R6 G9 Z2 M( I: H7 c4 f
  264.         case ON_DROPOFF_DOOR_OPENED: {
    % W3 f3 f/ D( j' n7 Z( d4 o- o9 D
  265.                 treenode elev = param(1);
    # o( g7 E) W3 g! x2 {
  266.                 treenode agv = param(2);
    . b+ d8 f& ~2 R: n3 F& a! n
  267.                 treenode agvLabel = label(agv, AGV_LABEL_NAME);
    - [& s3 j# ~, @: C
  268.                 // once the elevator door is opened on the destination floor, ( n: b, M# }+ I( \- G
  269.                 // redirect the agv to the exit control point
    * Y" _6 U* n! V3 ]5 I6 u
  270.                 agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);
    " P4 f1 {* [7 z( w$ c( ?) h
  271.                 return 0;
    ) g" B# b/ @1 O: c, j
  272.         }
      y& b8 N+ \3 L3 `  Q4 _- o
  273.         case ON_DROPOFF_DOOR_CLOSED: {% p7 p) V4 g4 w# P5 P0 q
  274.                 treenode elev = param(1);& }: L& b$ n0 G5 x
  275.                 treenode agv = param(2);- K( u$ c3 D5 H3 s/ B: p( ^: W
  276.                 int isAGVWaiting = param(4);; g: b/ f* b- j" r& l6 k
  277.                 // once the door is closed at the destination floor,
    1 C6 J9 N5 u* I2 w
  278.                 // if the agv is waiting, then send him to the final destination2 z5 m( A7 A- f3 K4 f
  279.                 if (isAGVWaiting)8 E6 A% f4 ?9 H$ _1 R+ ~+ x
  280.                         agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);5 t; a& c4 B0 |) y" Z5 ^" _
  281.                 // release the elevator to finish his task sequence
    - Z/ f& `: N& ~5 [
  282.                 freeoperators(elev, agv);
    5 S$ K- C& N$ }: M& q, B
  283.                 return 0;- S0 P7 q4 Z4 f$ F$ [
  284.         }' Y# y+ `3 P5 w- `/ R6 J2 H4 f
  285. }# j1 Z" X) R, i: {* O6 J' U2 R% e
  286. } //******* PickOption End *******\\
    9 L5 @7 d  S" U# {

  287. 5 M/ D* J6 T% m
复制代码

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办法2：使用工艺流程模块完成
作者: Pureua    时间: 2018-11-5 09:25
慧娴亚伦 发表于 2018-11-4 19:12/ F9 |3 C8 I/ x5 @2 S+ L& y  A) w1 k  Q
办法1：从2016版本里面复制相应的代码
9 N% J+ R5 {6 A2 O, I; @/ i' P! M# g. X" T
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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