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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' X% G. A5 Z- w( j& p* g3 S4 V' Z/ t

2 |9 |5 W" ~( [. s" D6 V具体代码如下：( |) C* L: f. ^" Z3 m9 K" l
  1. treenode agv = param(1);+ b' J6 M( p& x& c( z: r* i
  2. treenode currentCP = param(2);# `! i7 F& e5 P& u. I! S8 T. E4 F
  3. ( ^! A* Z3 [1 j9 h5 g- L. z
  4. { //************* PickOption Start *************\\+ w* J- i6 F9 u# P$ k6 X0 o! H3 k6 B" B
  5. /***popup:AGV_DivertToElevator*/
    8 h/ A. F9 m  f1 Y; H" Z* n* s
  6. /***tag:Description*//**Divert to Elevator*/- h/ Z/ W) y, }4 i0 g* x( n

  7. / h7 p. Z6 U! w& U0 w
  8. int operation = param(3);" s" E* S. p' R* W
  9. + W; a' y" H4 |$ ?# ~
  10. #define AGV_LABEL_NAME "fs_AGV_Elev_State"
    7 e3 \2 F( m+ `. D/ r% Q
  11. if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME))- m' U5 G% t4 R" L. l
  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  k7 M, m* t7 ~" _1 `: c
  13.         // initial trigger execution5 j& ~) `) X8 b$ S4 _3 E
  14.         #define ON_ELEVATOR_START 1
    0 F+ s( W" r/ Q; ?$ W' _9 L
  15.         #define ON_ELEVATOR_PICKUP_ARRIVAL 2
    7 {& m" z7 R& I8 T3 C& \5 z: z
  16.         #define ON_ELEVATOR_DROPOFF_ARRIVAL 3
    % q3 G4 B0 l- b* ^7 y5 Q
  17.         #define ON_AGV_AT_CP 4
    ' _) c) T, u2 P
  18.         #define ON_BOTH_AT_PICKUP 5
    & p% @6 ~4 X  e
  19.         #define ON_OPEN_DOOR 6* D6 ]% C- e! a* M
  20.         #define ON_CLOSE_DOOR 7* D' d% |1 e8 ~6 N& ?
  21.         #define ON_PICKUP_DOOR_OPENED 8& ~2 m9 C- }$ d- ?  y' L
  22.         #define ON_PICKUP_DOOR_CLOSED 9, N/ U0 O! W/ x5 M$ s  R" A
  23.         #define ON_DROPOFF_DOOR_OPENED 10. ?; x( s& G& W) p
  24.         #define ON_DROPOFF_DOOR_CLOSED 11- [6 b9 @) z* P- F
  25.        
    , z$ a& e" v- A+ e$ y7 l( M
  26.         #define AGV_STATE_START 0
    ; W- d8 Y9 `8 L
  27.         #define AGV_STATE_AT_ENTRY_CP 15 ?) f1 a' Y/ \5 b2 N8 |
  28.         #define AGV_STATE_AT_ELEV_CP 2
    + r; [) ~/ }  O. S( A% e4 j4 c- w
  29.         #define AGV_STATE_AT_EXIT_CP 3, }$ H* {6 A5 U1 v# s# x( W9 I8 @
  30.        
    " l: H( O" w9 ~) {  K( V
  31.         #define ELEV_STATE_NONE 0* ?( j. E  u- g; c* w8 z
  32.         #define ELEV_STATE_AT_PICKUP_FLOOR 11 D! p2 U! A8 j2 C' G9 s- T6 }  f
  33.         #define ELEV_STATE_OPENING_DOOR 2, H2 Y* [: |* N% r4 A
  34.         #define ELEV_STATE_DOOR_OPENED 3
    3 M. I9 }6 m% R4 j( i$ R

  35.   n1 h8 |1 A' c# R) }( `% a
  36. 8 e, _6 t, j; [
  37.         treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;
    * R  s8 Q2 C* I
  38.         #define elevator outobject(elevDisp, $iter(1))  v6 z1 G& \. C0 ^) V; e

  39. 3 c* R% I- ?; k9 [. Z6 [6 R
  40.         if (!objectexists(elevDisp))/ Y  [+ `! w$ Y: g* |
  41.                 return 0;
    2 p  b$ ?4 F  z8 j

  42. , x: |! P5 S4 o" L' L
  43.         if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {1 @7 y  N" C1 ~% V2 d
  44.                 query(  t9 L6 o" u; G' _+ p
  45.                         /** \nFull Query: */( s' s- s) Q# _* Y
  46.                         /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,
    5 x) d: \' l. B% G" m3 T. D0 T6 C: @  r
  47.                         nrop(elevDisp),
    % p' D3 [, ?4 q4 t5 Q3 u
  48.                         elevator
    . I6 N) f7 _# [1 e1 D; C% ]# V
  49.                         /** \nWhere*/" e- _  l' _( K* [
  50.                         /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/, B/ I" q6 E1 \5 o% p! Y
  51.                         /***/
    0 y9 \# Z2 E0 |) g8 \
  52.                         /** \nOrderBy*/
    ) p2 B2 E  Q4 s2 B, [: N2 t
  53.                         /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*/* W+ ~$ {; G' W" k2 B) ~3 k
  54.                         /***/);4 \- B9 i( R6 t7 B2 i6 i0 I
  55. / z5 ]' v4 J3 A% x, T
  56.                 if (getquerymatchcount() > 0)
    6 [. J% `, w- G. I# g
  57.                         elevDisp = getqueryvalue(1, 1);
    # k( e2 ?2 ?; b0 C; _2 f& z
  58.         }9 E: Z7 ]. N9 ?7 W
  59.         if (!objectexists(elevDisp))
    & A& X5 q; P1 O9 `
  60.                 return 0;
    . s3 N# H0 \0 b
  61.         treenode destCP = agvinfo(agv, AGV_DEST_CP);4 u* }) ]- A  i: _  O, w0 _

  62. , Y9 `" T9 ?! L3 }" b% D; M
  63.         agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);2 S, n- x- [' j5 w9 W

  64. 2 O( e" x5 x+ v$ `. }5 L- B7 O
  65.         // Create the task sequence for the elevator
    ! p; \% }! s& e/ c
  66.         double destZ = zloc(destCP);8 ]3 B8 o9 G# n; D# J
  67.         treenode ts = createemptytasksequence(elevDisp, 0, 0);# @4 P6 H+ x  L0 l8 l, t
  68.         inserttask(ts, TASKTYPE_TAG, agv, destCP);6 O, k7 N  m' s7 p
  69.         // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START4 |+ d7 G# m. U6 W# Y' I0 a) A# G
  70.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);
    4 Y; N& R$ D6 U/ o
  71.         // travel to the z location of the current control point
    & }7 R6 a9 _( h" p
  72.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));
    $ M  h+ N0 X* Z
  73.         // then call ON_ELEVATOR_PICKUP_ARRIVAL
    ) m5 k9 R, f; L: e) |/ f
  74.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);
    2 V% w9 o1 i0 R$ m
  75.         // then wait for the agv to get on; _9 i9 x) S6 t2 u
  76.         inserttask(ts, TASKTYPE_UTILIZE, agv);
      }% `9 W1 m, g6 Z
  77.         // then travel to the destination z location' w8 X9 U6 X) v/ {7 ~
  78.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);; ]3 _9 w+ c: t, ~
  79.         // then call ON_ELEVATOR_DROPOFF_ARRIVAL. E8 |7 }8 q0 e6 U  C$ |, w
  80.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);
    ( z2 l! ?; T, j% I- c. l
  81.         inserttask(ts, TASKTYPE_UTILIZE, agv);! k) |3 r: F( L
  82.         dispatchtasksequence(ts);
    0 N; e# R- Z( p' A
  83. } else switch (operation) {
    ) p8 R- T; \. t
  84.         case ON_ELEVATOR_START: {
    / L7 P* C9 N1 Y0 O$ D; P" A: E
  85.                 // this is fired when I get a valid elevator: P/ |# V. O8 {/ A* _& p4 N5 t, P
  86.                 treenode elev = param(1);0 d  m( z3 f: N2 K3 l0 `
  87.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);, h9 M# D3 f1 R1 \7 _  V$ E9 C

  88.   h; s" H7 e4 h0 H' N+ Y
  89.                 // find the closest floor control point
    5 T" L9 x1 }: y4 t& z. k7 e+ k: i
  90.                 int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);
    ! @# T6 B' B6 r+ q/ y3 H- J
  91.                 treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon),
    5 n, D- K5 `2 q6 ^! p; z$ Y1 N
  92.                                                         fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),! M8 O. c' [# W0 q: ~5 i
  93.                                                         cpconnection(elev, floorCPCon, count));
    % l# ^# p* r  n
  94.                 // return if there is none, ~9 ~+ n" C( M' R# E
  95.                 if (!objectexists(curFloorCP))# k( g* R" r& ]2 J! z7 a
  96.                         return 0;  B3 L- e8 @2 ]

  97. % F" s$ d0 R+ w' }1 h1 `
  98.                 // get the entry control point
    ! k, M0 S/ H4 Y  j
  99.                 treenode floorCP = curFloorCP;
    . P7 ~! e& F! j0 |4 K1 o
  100.                 treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;
    5 n' O. h+ }" M* T. \
  101.                 if (!objectexists(curFloorEntryCP))" {9 P6 x* c+ w1 ^( j0 d1 J
  102.                         return 0;
    / ]4 x+ B1 h) Q; ~3 j8 f& X% X
  103.                 treenode floorEntryCP = curFloorEntryCP;
    + y/ E* O* I$ `7 F2 ^6 S1 ~! I
  104.                 treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;
    0 J4 f! d( I& I3 a9 P
  105.                 if (!objectexists(curFloorElevCP))
    * b- n5 N) f- K& H, ]# \6 k
  106.                         return 0;
    : w" J- s4 L4 i% H* X9 f

  107. ; K9 _9 L0 F- D& k" S
  108.                 double destZ = param(4);9 v: ^' W/ @# W& R
  109.                 // find the floor control point closest to the destination floor2 Y. u$ }8 G( a
  110.                 treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon), ) z* a9 w) p/ i  e. p, w( l9 c
  111.                                                         fabs(destZ - zloc(cpconnection(elev, floorCPCon, count))),$ Q6 X! g4 a! C8 `
  112.                                                         cpconnection(elev, floorCPCon, count));
    : M" y5 c; f0 @; [; k
  113.                                                         0 A. {2 K2 ?1 `! G% ?
  114.                 floorCP = destFloorCP;* k) a" |9 r; s* J3 p8 U
  115.                 treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;
    ' v2 x6 j7 d( f6 u7 ?$ a0 j* h
  116.                 if (!objectexists(destFloorElevCP))) f# \, [% C8 ?& c' X
  117.                         return 0;! `, i9 x) b" C8 J5 }4 [  v: n
  118.                 // get the destination exit control point" }5 y2 U) N) T0 [) i& f8 f0 u
  119.                 treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;6 [- ~/ B2 ]+ o0 Z$ H/ n4 h
  120.                 if (!objectexists(destExitCP))  {7 D6 Z3 O3 l  `- k3 a1 s8 ?
  121.                         return 0;
    $ n# n: d. p6 e* b- d2 b  `

  122. 8 t8 X* v, d# P: m
  123. 7 C0 ]# n' G6 Z: m  C$ N+ C9 X
  124.                 // add a listener for the agv. This will call this nodefunction in the ON_AGV_AT_CP section whenever the 7 p. P% n. J  g' V) ^
  125.                 // agv arrives at a node. I keep a state on the agv's state label, and then increment it each time
    5 r7 X+ B; C- `  P5 i
  126.                 // the listener is called so I know which control point he's at, i.e. entry, elev, or exit./ ~5 M! A& k- \- d: U: a
  127.                 agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,
    % N$ a# f3 n5 R
  128.                         agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);
    5 @6 K: H& B  I& q. @% J' s
  129.                
    & O$ l( D# k  K0 g
  130.                 // set the data on the state label
    5 z+ [0 u$ f" G; a/ b* ^  U1 R
  131.                 treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);2 `" P- W, d" v
  132.                 switch_destroyonreset(stateLabel, 1);, T6 e4 J7 C5 k6 x' G7 w/ u* g
  133.                 set(stateLabel, AGV_STATE_START);1 O& U- {. t3 O3 A' _1 ]  r
  134.                 set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);
    ! t+ J. e. Q" v1 x- `+ U+ l/ S4 O
  135.                 nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);
    2 u0 `3 L+ u& w2 V; C$ C
  136.                 nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);0 |- z- V! \; E  K" j, Z
  137.                 nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);6 E6 l; r5 R; `0 x3 t9 N7 T
  138.                 agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);; N5 P+ m$ E* e( T8 o- S& p6 U
  139.                 return 0;7 X  p/ h! A, Y/ L; d
  140.         }% ^) z8 X- k3 F
  141.         case ON_AGV_AT_CP: {# n! w5 h: F+ b+ ^. Q
  142.                 // this is fired by the agv listener every time the agv arrives at a node., {5 m, d" T9 G* D: X4 G  |1 v, [
  143.                 treenode agv = param(1);: P* F. u" t. B: a4 U
  144.                 treenode elev = param(2);
    5 S3 W0 O& D5 m" m
  145.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
    6 @! J9 x% t" r- Q1 @
  146.                 // I increment the state label, and then switch on it
    9 x( \8 k. H7 @. b! D
  147.                 inc(stateLabel, 1);; d# [5 h( k  S
  148.                 switch (get(stateLabel)) {4 N! {2 y& l' |
  149.                         case AGV_STATE_AT_ENTRY_CP: {9 p& f# G1 ?8 j
  150.                                 // the agv just arrived at the entry cp
    ( i2 s& S* M5 c6 B! t  `7 `2 w
  151.                                 // so, figure out where the elevator is.
    5 O2 \& T, C' L" T$ V% |. C
  152.                                 int elevState = get(node("ElevState", stateLabel));
    0 U* b2 t7 c- S* z3 ]
  153.                                 // if he's at the pickup floor with his door closed then open the door.
    2 C% o" ~* z2 N
  154.                                 if (elevState == ELEV_STATE_AT_PICKUP_FLOOR)# {" I- i) u3 Z& F2 v0 e
  155.                                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
    - p4 @4 ?5 [$ Z; n  C
  156.                                 else if (elevState == ELEV_STATE_DOOR_OPENED) {
    2 E8 Y5 F9 `: c+ D& L
  157.                                         // if his door is alread opened, then move the agv onto the elevator, i.e. to. a& t* u& F9 U& d0 X6 p# n; y& h
  158.                                         // the elevator cp+ W. J: Y7 h: Q; \
  159.                                         treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));8 T2 U" b; j$ g, \/ S
  160.                                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
    9 f! B/ H* D- J" W1 S5 X  M2 V2 ^
  161.                                 }' k  T( P7 G) k, Z& Y
  162.                                 break;# [" c5 P; v% i* m5 }/ Q
  163.                         }- Q  z+ H. o8 s/ U: V( n  n
  164.                         case AGV_STATE_AT_ELEV_CP: {3 `5 T; D3 o, @/ j; T
  165.                                 // once the agv is at the elevator cp, close the door
    : N* S4 |6 m$ ]* J4 r. |
  166.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);
    % a* Q) V  P3 Q" K
  167.                                 break;
    ' x' p7 I6 N( K& X+ B( T$ |
  168.                         }
    , Q4 Y. v! I5 s& h+ d! {8 I5 |
  169.                         case AGV_STATE_AT_EXIT_CP: {
    0 C! M; B+ n* _" l5 g* }1 M5 {
  170.                                 // the agv is at the exit cp; L  x7 C( R: T6 A+ l5 y6 g
  171.                                 // destroy the listener node because I'm finished listening# T1 v: g& \0 u8 M4 m
  172.                                 treenode listenerNode = param(4);
    $ X% `, [2 l, E
  173.                                 destroyobject(listenerNode);
    , s, W$ f" v' J) {8 w
  174.                                 int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;
    ) m' h) ^) l4 y+ c; N
  175.                                 if (!agvWait) {
    8 F' G) C8 K; f8 O! D
  176.                                         // if the agv is supposed to continue on, then tell him to go to his final destination
    5 p- L# n+ i& J3 a+ _
  177.                                         treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);
    # I$ @/ N' B! B, g( K' S
  178.                                         agvredirect(agv, destCP, REDIRECT_AS_FINAL);
    ( y5 d8 B3 \" Z2 f
  179.                                 }
      r& l  ]. ~; C8 T
  180.                                 // close the door5 `2 Q! O* A/ G; i5 w
  181.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);7 i8 M  C7 s5 W% O
  182.                                 // and I'm finished with the state label so I can destroy it.
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  183.                                 destroyobject(stateLabel);
    + ^& v4 t8 {* O  o
  184.                                 break;
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  185.                         }$ f* R- [' E6 E
  186.                 }. V8 y/ b7 P3 g7 F7 d
  187.                 return 0;
    ' \9 V! l# s$ q% m9 c
  188.         }
    ; d8 S# e  V' U, R
  189.         case ON_ELEVATOR_PICKUP_ARRIVAL: {
    " ]1 ~9 M- t/ F* f) n
  190.                 // the elevator has arrived at the pick floor2 Q" z; W2 H- F# o7 [7 D- t
  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);: p- ]! Q2 ?) u2 M
  194.                 treenode elevState = node("ElevState", stateLabel);
    / x* k" U! r! \! Z8 H4 h7 w, P
  195.                 // set the elevator state to at-pickup-floor2 F& K% F, n5 U  ?8 ^
  196.                 set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);
    # ?/ C' J0 b$ ]5 M+ x
  197.         ' s$ J, C1 z1 U
  198.                 int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;
    ! R: g( Y1 Z2 `7 n. y( ~
  199.                
    ; L+ N/ D4 x$ Q" W4 w- G2 m) q
  200.                 // if the agv is at the entry control point or I open the door immediately, then open it
    & s9 i* {3 V5 _6 Q
  201.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {
    / F8 \" a; a+ _* W. _2 r) z
  202.                         set(elevState, ELEV_STATE_OPENING_DOOR);& T- T4 ~  P: ?: m# h
  203.                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);7 m. W) n& d: a: I, o& }
  204.                 }2 y1 }' V: I; j
  205.                 return 0;
    2 j2 C3 a; P6 E$ Q/ {
  206.         }2 g4 z2 l( u, M" |% E( M
  207.         case ON_OPEN_DOOR: {
    1 y8 v0 V. `$ E5 [: K
  208.                 treenode agv = param(1);
    . E9 z" A4 O& m! [6 n
  209.                 treenode elev = param(2);
    # Q2 D3 a* G/ l9 t
  210.                 int nextStep = param(4);
      i- [+ I5 R  `. R
  211.                 // open the door based on the time to open the door* o. i, a% Z5 k' t! u* f
  212.                 double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;3 o( M+ R+ }% Y! i2 [
  213.                 delayednodefunction(c, openDoorTime, elev, agv, nextStep);
    7 _$ _: R$ U( w+ l4 l
  214.                 return 0;; T! C7 @$ z' q# j  K: Q7 P
  215.         }1 {3 u+ N0 |4 U$ `
  216.         case ON_CLOSE_DOOR: {' w0 t% C. }8 u( X. n. V/ Z
  217.                 treenode agv = param(1);# N9 p! D9 J7 r
  218.                 treenode elev = param(2);% q1 a8 f7 E8 R4 \# w5 A  p+ w
  219.                 int nextStep = param(4);
    : w; H0 B$ D  f
  220.                 // close the door base on the time to close the door
    + L. p2 }% s! h7 O5 m+ l
  221.                 double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;
    % z+ f- @5 I, l" ^9 h) g
  222.                 delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));6 N: Q. {* x9 W- U
  223.                 return 0;
    ) G# Y( j$ h% X9 v5 D9 f: c
  224.         }
    3 ~5 k6 {+ h* Y/ l4 g/ [& a
  225.         case ON_PICKUP_DOOR_OPENED: {
    ( [% A( \) U9 G
  226.                 // the elevator door has been opened on the pickup floor4 m3 d8 o( W, h5 Q, P
  227.                 treenode elev = param(1);
    2 x2 P, M% y$ p  c2 n
  228.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    % R+ h, p! A) B* o
  229.                 treenode entryCP = cp(agv);/ I4 P% Y3 \  \5 P* O* A8 v5 g/ ^& c
  230.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
    5 j. ^3 i) R6 Z9 d5 H
  231.                 treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
    6 h5 |; A$ J  l3 E' S/ [
  232.                 treenode elevState = node("ElevState", stateLabel);4 m- h8 V- N& d* `
  233.                 // set the elevator state
    / A4 N. v/ Y' e+ \& F
  234.                 set(elevState, ELEV_STATE_DOOR_OPENED);" d7 P# u! }, V& a
  235.                 // if the agv is at the entry control point, move him to the elevator control point- t+ d5 e4 D) _, O$ V+ }7 C- c
  236.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP)
    % v' ~3 @5 s% X
  237.                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
    8 a. k/ U$ X; O" B7 f4 L6 L, X( B+ {
  238.                 return 0;
    % w. {/ K" N% M3 z
  239.         }. D) Z3 _6 ?/ T/ @
  240.         case ON_PICKUP_DOOR_CLOSED: {6 A( P5 b4 W8 B1 A
  241.                 treenode elev = param(1);
    " r; _) o$ {( R
  242.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    % x0 K& X3 z9 p) y, X) S
  243.                 // assign the agv to "no control point"
    4 B# k. [3 _8 F" {" T* {, ]
  244.                 agvreassigncp(agv, 0);- p9 @& |2 t/ S# j4 o
  245.                 // move the agv into the elevator
    8 O& S4 [. O( _* ?$ I
  246.                 moveobject(agv, elev);; K2 R. Y  n  O8 E3 @
  247.                 setrot(agv, 0, 0, 0);! H" I) P- O- l2 \* `
  248.                 // release the elevator to continue to the destination floor) ^4 z# G  _# R" j; v9 h0 |3 M# Z% N
  249.                 freeoperators(elev, agv);
    1 N" Y( n; @* W4 z  x
  250.                 return 0;
    7 \: r. Y4 W) N5 {3 [2 t
  251.         }
    ; m+ x/ e: t& N9 H
  252.         case ON_ELEVATOR_DROPOFF_ARRIVAL: {: [- c- @$ V# u7 G5 i! {* B: b
  253.                 treenode elev = param(1);8 }$ U5 V# i( g' s
  254.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    " D- ~% d9 H3 a  h* Y/ k
  255.                 // when the elevator arrives at the destination floor
    , E, T# Q' x$ P! H8 S/ u5 O2 z0 R
  256.                 // move the agv back into the model
    1 j- ^% r3 Q! U  j. X7 c
  257.                 moveobject(agv, model());
    ) @3 s; M  ~! P2 Z; |
  258.                 // reassign it to the destination floor control point+ H" @( l6 h; a$ J  a7 `( [
  259.                 agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));
    2 Z  S3 t  C  s! m$ [, _/ R  z  R4 s
  260.                 // open the elevator door
    + j4 r; t9 k$ w0 g/ z- G$ X0 m' T
  261.                 nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);! f4 q% |5 c7 x
  262.                 return 0;; _4 ~+ M* w% G* H' @" [1 }
  263.         }
    ( l* C7 v8 U/ i# U* ?
  264.         case ON_DROPOFF_DOOR_OPENED: {0 [+ [7 O& r2 a, p6 T! O% y5 ^- q) F
  265.                 treenode elev = param(1);' T. h: N/ A: ~. X. Y
  266.                 treenode agv = param(2);
    4 |" S6 e% _$ N+ p6 R
  267.                 treenode agvLabel = label(agv, AGV_LABEL_NAME);
    1 ~. C; u' _3 S# H" p! m0 ]; K6 h
  268.                 // once the elevator door is opened on the destination floor,
    % d# z9 o6 m  L: a, ]
  269.                 // redirect the agv to the exit control point* ]: S; ^) L9 P$ Q: X( e
  270.                 agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);7 ~0 N- Z5 h& @# q; ^: n# ?( r2 Q
  271.                 return 0;
    / r1 I, h2 Y0 E$ |6 w2 A0 \# Y
  272.         }) x6 k5 w7 H! i$ a' M( B5 D
  273.         case ON_DROPOFF_DOOR_CLOSED: {
    & w+ M4 @4 _' {0 o1 Y; ?8 Y
  274.                 treenode elev = param(1);
    " }% b, Y0 i/ N2 F# F. V9 R; d
  275.                 treenode agv = param(2);
    ) u! C4 J) b1 _" F5 M3 w! S
  276.                 int isAGVWaiting = param(4);
    2 v0 \& b* \. R5 L: G0 i
  277.                 // once the door is closed at the destination floor,/ Y# W/ J6 V% ?0 _$ G
  278.                 // if the agv is waiting, then send him to the final destination' g5 h% f7 ?' h8 Y, i3 t
  279.                 if (isAGVWaiting)
    9 M# ?5 Y8 p6 g" h0 S& ?: R
  280.                         agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);  j" V* R; f' J6 o! C9 X* t5 n
  281.                 // release the elevator to finish his task sequence8 o5 L$ d8 S  [
  282.                 freeoperators(elev, agv);
    6 }! z: v' r+ ]) y& C3 S6 m
  283.                 return 0;0 _& D- L- R$ J8 q
  284.         }8 p! i) D1 O  i8 \0 d% X+ v
  285. }% j' k1 M3 O8 C) Q4 r, h0 C
  286. } //******* PickOption End *******\\
    - L( m; |' s, y% u- _

  287. - a; ^4 G1 ]0 X5 x5 x* l
复制代码
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0 w% X# i! e6 B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
6 G3 J: b5 N- Y+ }办法1：从2016版本里面复制相应的代码
8 T1 v* e) G2 a! w& @4 C- K: H# l
具体代码如下：
4 \/ f& P! I& ^; Y5 z# S
好的，非常感谢陈老师的解答~



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