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？

慧娴亚伦 发表于 2018-11-4 19:12
. I- W4 a* ~+ p" ^: X4 U- e) J2 m办法1：从2016版本里面复制相应的代码

' f- r" C+ i  Y# R: o( w, b具体代码如下：

好的，非常感谢陈老师的解答~

办法1：从2016版本里面复制相应的代码

. \' O& m% @4 A" w具体代码如下：

1. treenode agv = param(1);
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2. treenode currentCP = param(2);
   
3. 
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4. { //************* PickOption Start *************\\
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5. /***popup:AGV_DivertToElevator*/
   
6. /***tag:Description*//**Divert to Elevator*/
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7. 
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8. int operation = param(3);
   
9. 
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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
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13.         // initial trigger execution
    
14.         #define ON_ELEVATOR_START 1
    
15.         #define ON_ELEVATOR_PICKUP_ARRIVAL 2
    5 |! d- x3 j* \  `
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
    
20.         #define ON_CLOSE_DOOR 7
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21.         #define ON_PICKUP_DOOR_OPENED 8
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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
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25.        
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26.         #define AGV_STATE_START 0
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27.         #define AGV_STATE_AT_ENTRY_CP 1
    
28.         #define AGV_STATE_AT_ELEV_CP 2
    
29.         #define AGV_STATE_AT_EXIT_CP 3
    
30.        
    1 o1 v% K" _" L9 [* E8 i
31.         #define ELEV_STATE_NONE 0
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32.         #define ELEV_STATE_AT_PICKUP_FLOOR 1
    
33.         #define ELEV_STATE_OPENING_DOOR 2
    
34.         #define ELEV_STATE_DOOR_OPENED 3
    
35. 
    ' p0 X: V$ d( x, \
36. 
    
37.         treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;
    
38.         #define elevator outobject(elevDisp, $iter(1))
    
39. 
    ' B1 w, f. W% I# a: @
40.         if (!objectexists(elevDisp))
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41.                 return 0;
    
42. 
    
43.         if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {
    
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
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49.                         /** \nWhere*/
    
50.                         /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/
    
51.                         /***/
    * o. n1 |) l" Z  c" }0 ?: c% z
52.                         /** \nOrderBy*/
    
53.                         /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*/
    
54.                         /***/);
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55. 
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56.                 if (getquerymatchcount() > 0)
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57.                         elevDisp = getqueryvalue(1, 1);
    
58.         }
    
59.         if (!objectexists(elevDisp))
    
60.                 return 0;
    
61.         treenode destCP = agvinfo(agv, AGV_DEST_CP);
    
62. 
    
63.         agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);
    
64. 
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65.         // Create the task sequence for the elevator
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66.         double destZ = zloc(destCP);
    
67.         treenode ts = createemptytasksequence(elevDisp, 0, 0);
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68.         inserttask(ts, TASKTYPE_TAG, agv, destCP);
    
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);
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71.         // travel to the z location of the current control point
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72.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));
    
73.         // then call ON_ELEVATOR_PICKUP_ARRIVAL
    
74.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);
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75.         // then wait for the agv to get on
    
76.         inserttask(ts, TASKTYPE_UTILIZE, agv);
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77.         // then travel to the destination z location
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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);
    
83. } else switch (operation) {
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84.         case ON_ELEVATOR_START: {
    
85.                 // this is fired when I get a valid elevator
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86.                 treenode elev = param(1);
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87.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
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88. 
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89.                 // find the closest floor control point
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90.                 int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);
    
91.                 treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon),
    
92.                                                         fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),
    
93.                                                         cpconnection(elev, floorCPCon, count));
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94.                 // return if there is none
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95.                 if (!objectexists(curFloorCP))
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96.                         return 0;
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97. 
    
98.                 // get the entry control point
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99.                 treenode floorCP = curFloorCP;
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100.                 treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;
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101.                 if (!objectexists(curFloorEntryCP))
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102.                         return 0;
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103.                 treenode floorEntryCP = curFloorEntryCP;
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104.                 treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;
     
105.                 if (!objectexists(curFloorElevCP))
     
106.                         return 0;
     
107. 
     
108.                 double destZ = param(4);
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109.                 // find the floor control point closest to the destination floor
     
110.                 treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon),
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111.                                                         fabs(destZ - zloc(cpconnection(elev, floorCPCon, count))),
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112.                                                         cpconnection(elev, floorCPCon, count));
     
113.                                                        
     
114.                 floorCP = destFloorCP;
     
115.                 treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;
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116.                 if (!objectexists(destFloorElevCP))
     
117.                         return 0;
     
118.                 // get the destination exit control point
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119.                 treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;
     
120.                 if (!objectexists(destExitCP))
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121.                         return 0;
     
122. 
     
123. 
     
124.                 // add a listener for the agv. This will call this nodefunction in the ON_AGV_AT_CP section whenever the
     
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,
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128.                         agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);
     
129.                
     
130.                 // set the data on the state label
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131.                 treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);
     
132.                 switch_destroyonreset(stateLabel, 1);
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133.                 set(stateLabel, AGV_STATE_START);
     
134.                 set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);
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135.                 nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);
     
136.                 nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);
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137.                 nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);
     
138.                 agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);
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139.                 return 0;
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140.         }
     
141.         case ON_AGV_AT_CP: {
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142.                 // this is fired by the agv listener every time the agv arrives at a node.
     
143.                 treenode agv = param(1);
     
144.                 treenode elev = param(2);
     % \) E4 Q5 A& c  |: v" _
145.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
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146.                 // I increment the state label, and then switch on it
     , ]. J0 h; X; |7 p6 t
147.                 inc(stateLabel, 1);
     
148.                 switch (get(stateLabel)) {
     
149.                         case AGV_STATE_AT_ENTRY_CP: {
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150.                                 // the agv just arrived at the entry cp
     
151.                                 // so, figure out where the elevator is.
     
152.                                 int elevState = get(node("ElevState", stateLabel));
     & {% }0 k1 A+ ]: U! ]0 U. K8 e/ c1 g* b
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)
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155.                                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
     
156.                                 else if (elevState == ELEV_STATE_DOOR_OPENED) {
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157.                                         // if his door is alread opened, then move the agv onto the elevator, i.e. to
     
158.                                         // the elevator cp
     
159.                                         treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
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160.                                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
     
161.                                 }
     
162.                                 break;
     
163.                         }
     
164.                         case AGV_STATE_AT_ELEV_CP: {
     
165.                                 // once the agv is at the elevator cp, close the door
     
166.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);
     
167.                                 break;
     3 {$ v. A; _2 T- E; w
168.                         }
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169.                         case AGV_STATE_AT_EXIT_CP: {
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170.                                 // the agv is at the exit cp
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171.                                 // destroy the listener node because I'm finished listening
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172.                                 treenode listenerNode = param(4);
     , X- c- C( R5 S& }; C9 c
173.                                 destroyobject(listenerNode);
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174.                                 int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;
     
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
     # d4 O( n7 T' p5 ~
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);
     8 s/ c4 B- i: u2 j& ]1 _/ r: V
182.                                 // and I'm finished with the state label so I can destroy it.
     
183.                                 destroyobject(stateLabel);
     
184.                                 break;
     
185.                         }
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186.                 }
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187.                 return 0;
     
188.         }
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189.         case ON_ELEVATOR_PICKUP_ARRIVAL: {
     
190.                 // the elevator has arrived at the pick floor
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191.                 treenode elev = param(1);
     ' \* f* j' F& P
192.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
     ) S% H# M  T7 X1 n
193.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
     
194.                 treenode elevState = node("ElevState", stateLabel);
     
195.                 // set the elevator state to at-pickup-floor
     , z$ z+ {, }2 s9 r
196.                 set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);
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197.        
     
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
     
201.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {
     
202.                         set(elevState, ELEV_STATE_OPENING_DOOR);
     & O. R$ Y& e( m3 L/ d2 \. u
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: {
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208.                 treenode agv = param(1);
     " B# E$ @  ]/ Q8 x, T+ K
209.                 treenode elev = param(2);
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210.                 int nextStep = param(4);
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211.                 // open the door based on the time to open the door
     
212.                 double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;
     % _, _' _) S; M
213.                 delayednodefunction(c, openDoorTime, elev, agv, nextStep);
     
214.                 return 0;
     
215.         }
     
216.         case ON_CLOSE_DOOR: {
     ! U. c% D+ E0 W: d/ r
217.                 treenode agv = param(1);
     4 }' E: g! k8 y( _* W1 N
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
     9 U+ j! Q4 }5 k0 ?6 ?" O2 m* {
221.                 double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;
     
222.                 delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));
     
223.                 return 0;
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224.         }
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225.         case ON_PICKUP_DOOR_OPENED: {
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226.                 // the elevator door has been opened on the pickup floor
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227.                 treenode elev = param(1);
     
228.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
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229.                 treenode entryCP = cp(agv);
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230.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
     
231.                 treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
     
232.                 treenode elevState = node("ElevState", stateLabel);
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233.                 // set the elevator state
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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);
     
238.                 return 0;
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239.         }
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240.         case ON_PICKUP_DOOR_CLOSED: {
     
241.                 treenode elev = param(1);
     
242.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
     
243.                 // assign the agv to "no control point"
     
244.                 agvreassigncp(agv, 0);
     
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
     
249.                 freeoperators(elev, agv);
     
250.                 return 0;
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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);
     
255.                 // when the elevator arrives at the destination floor
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256.                 // move the agv back into the model
     
257.                 moveobject(agv, model());
     
258.                 // reassign it to the destination floor control point
     
259.                 agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));
     
260.                 // open the elevator door
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261.                 nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);
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262.                 return 0;
     
263.         }
     
264.         case ON_DROPOFF_DOOR_OPENED: {
     
265.                 treenode elev = param(1);
     
266.                 treenode agv = param(2);
     
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
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270.                 agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);
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271.                 return 0;
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272.         }
     
273.         case ON_DROPOFF_DOOR_CLOSED: {
     
274.                 treenode elev = param(1);
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275.                 treenode agv = param(2);
     
276.                 int isAGVWaiting = param(4);
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277.                 // once the door is closed at the destination floor,
     
278.                 // if the agv is waiting, then send him to the final destination
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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
     
282.                 freeoperators(elev, agv);
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283.                 return 0;
     
284.         }
     
285. }
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286. } //******* PickOption End *******\\
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287. 
     

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办法2：使用工艺流程模块完成