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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2 M7 f9 |  v' ^) D' ^# E' O  n
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具体代码如下：
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  1. treenode agv = param(1);! Y7 `# O- J1 r( G" t
  2. treenode currentCP = param(2);0 w: F7 l6 `' g" d2 M! A

  3. / q% ~3 k, J2 M" a1 D
  4. { //************* PickOption Start *************\\
    - `: r- f' i# g
  5. /***popup:AGV_DivertToElevator*/
    ' g+ |- K* j6 \" m% a; j1 E$ q/ K
  6. /***tag:Description*//**Divert to Elevator*/" @: n  r5 h! b+ q

  7. ( _, T% e2 d% A* |
  8. int operation = param(3);- v7 r; C& I. |2 u5 D, I
  9. 3 u' w9 b  y/ ~7 _: y
  10. #define AGV_LABEL_NAME "fs_AGV_Elev_State": ~1 a( a6 P. A# o. y' `& E  j) H
  11. if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME))1 K0 c( n  U+ i& m1 P  r7 ]: X
  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" \9 J8 d6 W  }/ C/ i
  13.         // initial trigger execution8 W- _: n; d, R8 l5 z$ n& ]$ v
  14.         #define ON_ELEVATOR_START 1
    + R& A: }  b/ e# N  ]1 ?4 H
  15.         #define ON_ELEVATOR_PICKUP_ARRIVAL 2
    # K9 }3 X* T9 }) \3 z8 ^
  16.         #define ON_ELEVATOR_DROPOFF_ARRIVAL 3* \6 a# Y, Y7 j3 Z$ ^! q6 q7 g
  17.         #define ON_AGV_AT_CP 4
    ' T+ H7 S7 `! H# P
  18.         #define ON_BOTH_AT_PICKUP 5
    - g- M) k. s6 F$ x" v9 E* s! D
  19.         #define ON_OPEN_DOOR 62 ], c1 |3 T5 E  A" j: G* O0 S
  20.         #define ON_CLOSE_DOOR 79 z5 z" b& H- Q( P
  21.         #define ON_PICKUP_DOOR_OPENED 8
    # y# R1 j8 W( w) S
  22.         #define ON_PICKUP_DOOR_CLOSED 9
    $ k. X: K  y/ T8 n( l  G7 Q- l6 b6 Z
  23.         #define ON_DROPOFF_DOOR_OPENED 10, ]: O7 a4 I+ x% F8 O8 z' j
  24.         #define ON_DROPOFF_DOOR_CLOSED 11: k3 d% E' g: B
  25.         $ _; D" H  Q$ k/ {
  26.         #define AGV_STATE_START 03 v; X! b% k- [" L
  27.         #define AGV_STATE_AT_ENTRY_CP 13 e0 U0 u4 e; U- h& b2 U
  28.         #define AGV_STATE_AT_ELEV_CP 20 |! U2 E* [5 M; A- w) p3 g8 |+ D
  29.         #define AGV_STATE_AT_EXIT_CP 3
    8 T/ R5 V# i5 A) [" v+ @% K
  30.         : ?. @/ P5 c( M: l$ [$ o' K
  31.         #define ELEV_STATE_NONE 0
    % s9 t1 _8 V/ e
  32.         #define ELEV_STATE_AT_PICKUP_FLOOR 1
    " S8 o% d5 F, A$ U
  33.         #define ELEV_STATE_OPENING_DOOR 2  t$ [" y& t. _  K7 M
  34.         #define ELEV_STATE_DOOR_OPENED 3  d# |+ n, G% R* u0 C7 A

  35. % N# P  e* o, y0 m) V4 K
  36. # n* Q. P  s* A# Y" Y
  37.         treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;
    8 ~- s  @- q; s' A- t
  38.         #define elevator outobject(elevDisp, $iter(1))
    * a  t( R- u9 V1 n  G3 O

  39. & G" X: X* ?9 K& k  s# t6 q# ]" c
  40.         if (!objectexists(elevDisp))+ Q' U* P% X9 b; V3 V! I
  41.                 return 0;
    8 M$ p) \  N+ E( _+ ]3 L& y

  42.   u8 h6 K2 G" m: u8 M# n5 X
  43.         if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {. J, n' K" o. J5 M* d1 S6 j2 q
  44.                 query(
    $ x5 L3 \, l2 r( `+ ?
  45.                         /** \nFull Query: */
    % b0 M: s9 l( p
  46.                         /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,& s* U/ Y/ X$ h9 c6 K* o
  47.                         nrop(elevDisp),
    & [4 n/ {/ N* x
  48.                         elevator
    ; o' @1 K* I3 a1 p2 T
  49.                         /** \nWhere*/
    ( M$ j* |0 g$ \  t+ @" V+ B
  50.                         /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/
    $ G; T; F9 x% ~4 G# y9 o: k" k. N
  51.                         /***/
    2 q8 A5 y" {! C1 ~; L6 K; B% r
  52.                         /** \nOrderBy*/0 {* [/ ]3 J0 a
  53.                         /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*/* {* ]  c6 p2 A8 i4 D; t, I
  54.                         /***/);* V. d$ j( ]% [8 m$ m

  55. ' C$ h& |6 l$ D* Q' P6 P
  56.                 if (getquerymatchcount() > 0)7 ~8 \& Q3 X9 A; w' C
  57.                         elevDisp = getqueryvalue(1, 1);5 q4 }# X/ b" O- t
  58.         }
    $ _3 H; s! N% a4 i, @( l2 a
  59.         if (!objectexists(elevDisp))
    6 x% V5 p( |9 C9 B! @  I& b
  60.                 return 0;$ i  n0 v! ^" s- @7 U8 u! o. F
  61.         treenode destCP = agvinfo(agv, AGV_DEST_CP);" N. V0 j! H' Z% l1 g3 i2 x

  62. , h: w' j+ Z$ N, H, H, g
  63.         agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);9 b* M! s) X# d. v$ n4 D6 k- e

  64. 2 h- n8 s; Z4 w" G) r/ b
  65.         // Create the task sequence for the elevator
    ; p4 ^' l1 F- c5 d& c  \
  66.         double destZ = zloc(destCP);
    6 `. |( ]: ~+ G" u* U+ X
  67.         treenode ts = createemptytasksequence(elevDisp, 0, 0);
    + k+ Q1 ~8 X' J: C, V- I
  68.         inserttask(ts, TASKTYPE_TAG, agv, destCP);* x3 D+ B$ J" P" ^# C5 W* b
  69.         // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START* R! c( w, \2 q/ N4 d2 U2 g- K3 y
  70.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);
    0 t8 n1 j  e4 H$ F7 j% `
  71.         // travel to the z location of the current control point- b+ m$ e6 Z" J6 ~: |6 y
  72.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));
    - U4 t' }0 e9 C1 U0 Q
  73.         // then call ON_ELEVATOR_PICKUP_ARRIVAL
    + x3 Q5 d2 L" W/ \! ?( w
  74.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);, o: J9 |3 k- R5 ]! T$ q( _
  75.         // then wait for the agv to get on
    2 C+ M2 l  c$ B  A/ k
  76.         inserttask(ts, TASKTYPE_UTILIZE, agv);! o- ~$ `! Y" t" @
  77.         // then travel to the destination z location
    " p9 b" O- {( v  h
  78.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);' v& Q, [% Y2 u( q* c9 B) ?
  79.         // then call ON_ELEVATOR_DROPOFF_ARRIVAL
    ' l1 l" s$ K4 I5 ?
  80.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);! j0 A, ?( S' `! ~
  81.         inserttask(ts, TASKTYPE_UTILIZE, agv);
    . h3 L3 Q& V7 c1 }& [. W5 P2 _
  82.         dispatchtasksequence(ts);1 c/ T1 P+ _0 E6 c4 d* s
  83. } else switch (operation) {
    ( R) Y4 t3 w, W
  84.         case ON_ELEVATOR_START: {5 F) p3 \$ z& y; n8 G
  85.                 // this is fired when I get a valid elevator5 o* H; c- b6 x, K5 \
  86.                 treenode elev = param(1);
    / C5 c2 w0 F) ]. F. g0 G
  87.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);3 ~% Z* U0 Z0 W5 g

  88. 0 O# Y4 @- V9 h+ v# Y2 M
  89.                 // find the closest floor control point
    ) V; P$ M# a7 o
  90.                 int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);
    $ I6 X5 t, r# X6 F* M7 O
  91.                 treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon), 2 }+ R1 C0 v) t6 T3 r$ R) w4 ]' M+ i
  92.                                                         fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),
    0 d% _3 v) I2 j
  93.                                                         cpconnection(elev, floorCPCon, count));: V6 w  e4 u: `1 I* ~; [1 W) V
  94.                 // return if there is none2 }9 w0 o/ L" N; L9 A# _* c
  95.                 if (!objectexists(curFloorCP)): X: s: L" T$ [# w
  96.                         return 0;
    2 P9 s# I. {" Z( m
  97. 1 n7 [5 E; c; D1 H8 u+ _, P2 q0 _+ C
  98.                 // get the entry control point
    2 j  S5 P) p5 m, [
  99.                 treenode floorCP = curFloorCP;
    2 i. l9 c9 X# E0 H7 q( n7 K
  100.                 treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;+ m+ V" G5 l) Q+ X* C. u& k  e
  101.                 if (!objectexists(curFloorEntryCP))/ D1 E7 X# z9 P7 r
  102.                         return 0;
      A; Z3 U( ?1 J! w& G4 }4 g( c
  103.                 treenode floorEntryCP = curFloorEntryCP;/ H" I3 b" ^. x! u9 Z3 @
  104.                 treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;
    9 P, W/ z: Z5 ^( o, I
  105.                 if (!objectexists(curFloorElevCP))/ B1 C7 l- |, g7 z3 s
  106.                         return 0;
    7 {2 C' f; o- F1 E8 k. N7 i

  107. 8 Y/ [/ w7 n# ^; t0 {
  108.                 double destZ = param(4);  F6 r/ {3 C- |- ~& T4 g* q
  109.                 // find the floor control point closest to the destination floor/ u" Y" G" C0 w4 k* ?
  110.                 treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon), . L' b; ~3 D9 \) E6 w6 b
  111.                                                         fabs(destZ - zloc(cpconnection(elev, floorCPCon, count))),- a: l4 K/ S8 v3 @- X  B! \( _
  112.                                                         cpconnection(elev, floorCPCon, count));
    $ e) J- r: f& w* y* \& ]$ o
  113.                                                        
    2 Q" x% V( X4 |+ Y- ?
  114.                 floorCP = destFloorCP;, [8 [1 X3 o2 g( I. T
  115.                 treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;
    # U3 g  `$ \8 i8 s! D
  116.                 if (!objectexists(destFloorElevCP))" h; e6 Z( {. r8 z8 |
  117.                         return 0;7 }% P9 }* j1 b3 S
  118.                 // get the destination exit control point
    ) u. ]# t0 B; ]: f
  119.                 treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;
    ) ?" Z9 r6 [6 K
  120.                 if (!objectexists(destExitCP))
    & [  C& ~6 P; r3 f. k  _4 E
  121.                         return 0;
    0 |) Z) ^3 r6 b, F2 P
  122.   t& I1 A& R/ |# J
  123. ( ~  }) b; k' Q% h- J  P
  124.                 // add a listener for the agv. This will call this nodefunction in the ON_AGV_AT_CP section whenever the + {/ D" x$ c' i( k" O
  125.                 // agv arrives at a node. I keep a state on the agv's state label, and then increment it each time
    0 v1 O5 H# i& h* L
  126.                 // the listener is called so I know which control point he's at, i.e. entry, elev, or exit.. E2 T# }% Z% @3 z. f9 B5 ~
  127.                 agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,3 V8 q; c# K. ]' v) n' z, n
  128.                         agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);
    + |9 E/ k* Q/ x0 K, ^: O: `& u
  129.                
    9 e( Q' t( J6 d" |' [  D
  130.                 // set the data on the state label
    + o( B5 N' e  H7 A7 D: c+ _) B: U: N
  131.                 treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);
    . Q. C1 O* r  e/ Y
  132.                 switch_destroyonreset(stateLabel, 1);
    ) o! ]* s6 {3 C9 d& j
  133.                 set(stateLabel, AGV_STATE_START);
    2 N. @" R8 c& x5 t. W
  134.                 set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);4 t+ \, Q: g" Z1 E! l1 z/ R1 H
  135.                 nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);
    4 x) u" p; L. x2 k2 x) p
  136.                 nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);
    1 a6 {. W" m$ T' a& J6 W9 @
  137.                 nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);
    ' p# w) f' u& L- h2 L
  138.                 agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);
    7 p' s$ X- r9 g  g- V1 v
  139.                 return 0;. `$ d7 R2 G6 @8 l! S+ R
  140.         }8 m& u* g8 G, q& }7 c5 `# F7 |
  141.         case ON_AGV_AT_CP: {
    5 O, h, K# ]8 Z! y* V+ K
  142.                 // this is fired by the agv listener every time the agv arrives at a node.
    7 F) h* m* n4 {* J
  143.                 treenode agv = param(1);' _( `- u0 Q& m) j+ o! ~# Y" |: Q4 l
  144.                 treenode elev = param(2);
    ! |4 h0 ?/ E% v4 Y  o  b
  145.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);8 p1 `# ]2 z* d2 N) x7 f9 D$ k
  146.                 // I increment the state label, and then switch on it8 W, o" B, y/ m
  147.                 inc(stateLabel, 1);( F5 M! d& E0 t3 v' q6 X  Q
  148.                 switch (get(stateLabel)) {
    3 B4 O) }" o) c  {
  149.                         case AGV_STATE_AT_ENTRY_CP: {
    ' I0 k4 k# ^# |) M
  150.                                 // the agv just arrived at the entry cp" O  v7 x8 n! @  [2 c* Z  V2 f
  151.                                 // so, figure out where the elevator is.. |# n5 Y- k7 O9 o- i
  152.                                 int elevState = get(node("ElevState", stateLabel));" [) L, L" B& F" K8 p- N* J& Z
  153.                                 // if he's at the pickup floor with his door closed then open the door.7 T. M2 T- o; T& B# i% V
  154.                                 if (elevState == ELEV_STATE_AT_PICKUP_FLOOR)7 C/ Y3 B. w& T0 _
  155.                                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
    % o/ S3 [% N9 V; G5 x
  156.                                 else if (elevState == ELEV_STATE_DOOR_OPENED) {: o4 f( V% U* X1 [' f$ a
  157.                                         // if his door is alread opened, then move the agv onto the elevator, i.e. to  A5 Y* k0 m' a# i  U) [
  158.                                         // the elevator cp1 Z* p4 D. u% @- J5 E
  159.                                         treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));5 `; x9 O5 `+ q$ ~5 E8 t% s
  160.                                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);4 C1 I( t' x5 H( \1 q& A
  161.                                 }
    7 y/ G7 w& }: }' M
  162.                                 break;: b  v5 T) B2 B# @  d+ d& m
  163.                         }$ G1 }5 ~4 r9 Q' J* Z5 R
  164.                         case AGV_STATE_AT_ELEV_CP: {+ m7 M. u: Y: Z" e4 y" h4 ?
  165.                                 // once the agv is at the elevator cp, close the door1 z7 L5 J, |6 R, P& K
  166.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);$ v/ e" n9 |7 a) r7 ]
  167.                                 break;3 P( D4 y6 s8 I* D4 s/ t
  168.                         }' Q9 j8 x# q$ D( u; _
  169.                         case AGV_STATE_AT_EXIT_CP: {
    ( c" P" W# h9 F6 ^% a/ Y
  170.                                 // the agv is at the exit cp, F: w0 a! Q' E) k+ K
  171.                                 // destroy the listener node because I'm finished listening3 ?  c, Y! P  H7 L& N5 R2 I  P0 w4 V
  172.                                 treenode listenerNode = param(4);1 F( r# ^' X7 |; V: d9 V
  173.                                 destroyobject(listenerNode);
    $ [1 G# g1 I) @& g
  174.                                 int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;
    & C) V- d  l' Y6 j8 Z
  175.                                 if (!agvWait) {
    ' Y" a$ B/ @# K/ U4 ?
  176.                                         // if the agv is supposed to continue on, then tell him to go to his final destination
    8 k8 d8 Z6 w( q6 P% P; J5 a
  177.                                         treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);0 ]& \& u( I' f- q, Q5 W
  178.                                         agvredirect(agv, destCP, REDIRECT_AS_FINAL);
    2 u9 s1 K8 n6 w. Z! Y
  179.                                 }' e3 @  i$ r% R3 f" u+ e5 c- {
  180.                                 // close the door/ x: t1 ^/ p( @. P/ U
  181.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);
    # c5 U/ Z; R5 T0 p8 p: G/ i# G
  182.                                 // and I'm finished with the state label so I can destroy it.
      L" W+ B' e6 r1 d7 Z3 L. R4 ~
  183.                                 destroyobject(stateLabel);
    ' y; c5 l  k" u; C
  184.                                 break;6 B; Y5 L' j2 N
  185.                         }7 R' L  f' _3 x
  186.                 }/ C. _9 H) ?# o' z- y( d, e
  187.                 return 0;- N8 z! G/ M( f5 G4 u  z% h
  188.         }2 U$ _7 w( W/ P3 C6 H- H
  189.         case ON_ELEVATOR_PICKUP_ARRIVAL: {
    7 z# a. b" a: R$ `
  190.                 // the elevator has arrived at the pick floor/ G4 l* X9 i6 K% N
  191.                 treenode elev = param(1);. k/ ^) q. }! f3 x* I1 }
  192.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);6 a  B; g6 t. [# E3 l4 O" p1 }
  193.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);6 a8 f0 G- s: u' A1 H6 G8 ?
  194.                 treenode elevState = node("ElevState", stateLabel);
    9 C% v8 q! U( A+ @# i2 i! F
  195.                 // set the elevator state to at-pickup-floor$ `: H- V" P5 `$ q4 d4 ~6 p
  196.                 set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);
    ! ?8 _  Z8 @+ E, y
  197.        
    9 M# x5 d0 B5 [# E
  198.                 int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;0 \" Z+ `& `1 M6 S4 z* Y5 Z
  199.                
    & s4 n# h7 T. e$ n/ f3 v
  200.                 // if the agv is at the entry control point or I open the door immediately, then open it$ j6 \0 l8 F6 x1 ]* |4 o( F. s
  201.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {
    & D( v  p+ V8 l) c% }  F) u
  202.                         set(elevState, ELEV_STATE_OPENING_DOOR);& o9 B" C4 K3 N+ I9 K2 z
  203.                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);* E+ e7 C6 f$ Z9 x1 x. x
  204.                 }* H; j0 U+ u% o
  205.                 return 0;
    ' t9 R8 K. R2 x. B4 v
  206.         }
    3 R' j" K5 V# s0 ]6 V
  207.         case ON_OPEN_DOOR: {2 v' \& V! _& C( J: f" s( K9 S, f  B
  208.                 treenode agv = param(1);9 G1 f' }9 f+ U3 x+ ]
  209.                 treenode elev = param(2);
    # _" A% b, ]) n! F8 q
  210.                 int nextStep = param(4);
    # R* Y7 E4 |( N. {
  211.                 // open the door based on the time to open the door
    ( J" q( X; ]* e2 G& x! n) I
  212.                 double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;" k4 D& L& N% D  u) E, I4 J
  213.                 delayednodefunction(c, openDoorTime, elev, agv, nextStep);5 f" Y% ]# ]0 M  v
  214.                 return 0;3 p( D7 M5 R9 ~6 f; S. a
  215.         }
    $ |8 p, ]# Y, _  R3 j
  216.         case ON_CLOSE_DOOR: {
    2 `4 N- D  |7 d% O, o# {- o; _
  217.                 treenode agv = param(1);) B  j) f1 l; b
  218.                 treenode elev = param(2);
    - L. |+ Z# y8 u: _" i. c' b
  219.                 int nextStep = param(4);
    & u9 I% @) N0 W" H
  220.                 // close the door base on the time to close the door
    $ Y- Q, X5 W- r9 \% O! D
  221.                 double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;5 R1 r, f. e! F' w: k( s1 I& T
  222.                 delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));3 J& g  j( X9 k! h; M
  223.                 return 0;, ^( m5 y; j+ }  u  @; U
  224.         }8 o* n" ]2 S8 v
  225.         case ON_PICKUP_DOOR_OPENED: {
    # |4 i' m- p% b  [
  226.                 // the elevator door has been opened on the pickup floor! p1 W8 e: R6 m( s# w
  227.                 treenode elev = param(1);
    7 u% c9 X- c+ U1 p1 {3 d0 [
  228.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);1 ]& _4 x( s7 o
  229.                 treenode entryCP = cp(agv);+ C! x  N) ^% @& Y( O
  230.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);. E8 n- R* F( q
  231.                 treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
    + C$ n  q: n  M9 M  l* I
  232.                 treenode elevState = node("ElevState", stateLabel);8 V6 E, ^+ b2 e) g: N8 G% A
  233.                 // set the elevator state
    ) h2 g0 v+ ~( b
  234.                 set(elevState, ELEV_STATE_DOOR_OPENED);
    " I4 O" g5 j" g& p( K
  235.                 // if the agv is at the entry control point, move him to the elevator control point+ j8 K' k9 H2 t/ e6 |( w$ r
  236.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP)( L# K  ]! K! o0 h" I$ E! I
  237.                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
    , Q; t" a+ V2 z6 B9 F
  238.                 return 0;
    / I, A6 c; P9 U  X3 P
  239.         }
    * ^9 p: M- i- {$ s4 d
  240.         case ON_PICKUP_DOOR_CLOSED: {8 v. q4 h4 d1 [$ d
  241.                 treenode elev = param(1);+ K) g. E' |! j5 a% g
  242.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    , `" M$ R. h1 v9 S
  243.                 // assign the agv to "no control point"
    ! b! u1 T8 ]2 a/ g" U) m/ H
  244.                 agvreassigncp(agv, 0);+ h9 ^+ i  p# B  X3 X+ x7 @% j9 ?
  245.                 // move the agv into the elevator
      K- ~4 j% l3 d  E4 ?  ~
  246.                 moveobject(agv, elev);
    * j/ K% B9 h' e
  247.                 setrot(agv, 0, 0, 0);2 S! a% L" v: b7 W/ N+ }
  248.                 // release the elevator to continue to the destination floor+ e& b. p# [9 f+ o4 O# G0 z6 _# H$ H
  249.                 freeoperators(elev, agv);
    0 j1 ^1 }7 ^& ?$ u( ?" m
  250.                 return 0;
    , V8 u# m. ?% |3 c2 E# Z. f* m  ?
  251.         }
    & h8 Y  E) A. m6 u; N6 c) ?9 P$ B5 i
  252.         case ON_ELEVATOR_DROPOFF_ARRIVAL: {1 l* s3 f- B) l+ H. S+ j- g  _
  253.                 treenode elev = param(1);
    4 I* M7 @$ i: q& \2 F
  254.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    " L: I7 E: ]- A' l7 x1 v# j+ M
  255.                 // when the elevator arrives at the destination floor
    9 T% w' [3 [2 v& H" a( P1 a( S9 w
  256.                 // move the agv back into the model# N; B1 G! l5 L
  257.                 moveobject(agv, model());$ [6 I2 Q( r0 O
  258.                 // reassign it to the destination floor control point- q( ~$ n5 _0 l8 A6 O
  259.                 agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));
    $ I/ s( E3 N& a3 Q/ y; r' v
  260.                 // open the elevator door2 ~$ g& s7 n% S; {" v
  261.                 nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);, g+ T, p! f3 u7 u  [$ k  U
  262.                 return 0;6 d! u; i) `" I& Q" J8 m
  263.         }8 }( ?) w/ Z/ D0 x9 H
  264.         case ON_DROPOFF_DOOR_OPENED: {
    1 s+ M) r& R5 F; B' [( T7 |3 O) K
  265.                 treenode elev = param(1);
    , f. l: m4 h2 o6 }2 x4 P
  266.                 treenode agv = param(2);' h: R' a$ d2 ?( W
  267.                 treenode agvLabel = label(agv, AGV_LABEL_NAME);
    + `3 J3 Y/ t+ a% O  R( a8 q, k
  268.                 // once the elevator door is opened on the destination floor,
    # M. X: g' U+ M) I4 t4 K2 `
  269.                 // redirect the agv to the exit control point
    - s: T( I; Z2 q# u" K8 a0 \
  270.                 agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);
    1 ~8 |( y0 u  {( W+ i9 x& ]
  271.                 return 0;
    ( G# J* V) s7 W
  272.         }
    ' e, F* [8 Z$ ?6 i+ N& {
  273.         case ON_DROPOFF_DOOR_CLOSED: {
    ; H+ |8 F9 @5 w+ ^
  274.                 treenode elev = param(1);
    + S" X8 w; V6 K/ A
  275.                 treenode agv = param(2);
    , Z& C4 `# \5 k9 r: _1 E( s
  276.                 int isAGVWaiting = param(4);
    6 W. `3 t3 q6 A# u# _1 F
  277.                 // once the door is closed at the destination floor,6 b; ?" e. s) Z( ~2 V0 Z
  278.                 // if the agv is waiting, then send him to the final destination2 B9 F/ Z6 s( F+ Y* j- ^) z
  279.                 if (isAGVWaiting), r* n1 V! v& B, r
  280.                         agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);
    , d2 w3 _; O4 U: w% S3 n+ A* Y
  281.                 // release the elevator to finish his task sequence
    5 l& B0 d" C' f/ X1 Q( U- I4 R" y& K
  282.                 freeoperators(elev, agv);' U0 z; n* S( M/ b1 p8 g8 _
  283.                 return 0;
    9 f: z' Q( g% C/ ~0 d
  284.         }
    & v' T0 M7 P( G
  285. }& _( [& t# U9 F, D
  286. } //******* PickOption End *******\\( i) r; c3 G* }# Y3 H, @
  287. $ E  C1 I5 X  @
复制代码
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( B9 i' e$ |* b; e$ p: }! ?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
3 r% s  o7 u. h( }" j办法1：从2016版本里面复制相应的代码
: M- ?& T2 G( q" I& R
9 M7 K8 d1 S2 ~具体代码如下：
2 x9 g4 ~; s3 m9 q& O+ i7 {
好的，非常感谢陈老师的解答~



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