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2018.2.0版中AGV如何乘升降机?

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Pureua 发表于 2018-11-4 16:20:35 | 显示全部楼层 |阅读模式
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,如何实现这个操作?% S9 u' h7 c  k. Q

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慧娴亚伦 发表于 2018-11-4 19:12:47 | 显示全部楼层
办法1:从2016版本里面复制相应的代码0 n" l0 B$ I- R: m4 J

( a: R, A: z$ {# H4 I! w# |! _$ g/ z具体代码如下:
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  1. treenode agv = param(1);
    % f( V/ S3 z3 W6 }( J4 V9 m
  2. treenode currentCP = param(2);- Z' o# Z1 J; j: m8 X! m7 E

  3. $ q/ s2 N% V! v* |; V' B8 d
  4. { //************* PickOption Start *************\\4 s/ `( Y4 E- k1 Z* A
  5. /***popup:AGV_DivertToElevator*/
    : `3 i2 [) n$ F' R( J1 s$ _
  6. /***tag:Description*//**Divert to Elevator*/
    ! u  O6 K' H: \' H( z1 n: r7 ~. {
  7. / }! d# m; n; R0 L, n5 u: K1 x
  8. int operation = param(3);
    ; t; ~9 g3 r$ C2 C7 M
  9. 4 w0 `& }* e% R) Q5 e
  10. #define AGV_LABEL_NAME "fs_AGV_Elev_State"% D3 t! \* T0 v8 E/ s, ]/ z$ [2 x0 Z
  11. if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME)). E  p9 r7 i! {1 H- H4 h' V2 }
  12.                 && (/** \nCondition: *//***tag:Condition*//**/fabs(zloc(currentCP) - zloc(agvinfo(agv, AGV_DEST_CP))) > zsize(agv)/**/)) { // if it's a pointer, then do the initial case9 W4 b+ u4 @0 {( F% q' J2 E
  13.         // initial trigger execution; A$ F. Q+ _! I* g; O) G
  14.         #define ON_ELEVATOR_START 1
    : x0 c$ {- S  a1 g
  15.         #define ON_ELEVATOR_PICKUP_ARRIVAL 25 M& K7 c: N$ d# m! @
  16.         #define ON_ELEVATOR_DROPOFF_ARRIVAL 3' x3 N7 q. i9 E
  17.         #define ON_AGV_AT_CP 4% x# _* E8 h: \) O$ E+ Y
  18.         #define ON_BOTH_AT_PICKUP 5
    " A# t  z! x: ]9 ?9 x
  19.         #define ON_OPEN_DOOR 6
    ' I- A+ B0 d5 `1 z/ [4 F6 ~* p
  20.         #define ON_CLOSE_DOOR 7
    5 C* }! O1 a4 q7 z$ O) k
  21.         #define ON_PICKUP_DOOR_OPENED 8
    & b! j" f/ s' P# e8 _6 `: z
  22.         #define ON_PICKUP_DOOR_CLOSED 9$ _) `0 X% \' ?& \/ H1 W; A
  23.         #define ON_DROPOFF_DOOR_OPENED 10
    / |4 b% d! Z/ b) h
  24.         #define ON_DROPOFF_DOOR_CLOSED 112 w, C, e: F: N% g* {; p
  25.         ( s6 I. i# y, D
  26.         #define AGV_STATE_START 0' d8 F3 ?  {, y- ~, {# X, A
  27.         #define AGV_STATE_AT_ENTRY_CP 14 O: ^2 R' `6 K; T  k! R, N
  28.         #define AGV_STATE_AT_ELEV_CP 2% x, h- C7 Q3 i; w- }( e$ t, x
  29.         #define AGV_STATE_AT_EXIT_CP 3
    ) N0 l- l* M/ B% h/ \  _5 g
  30.         8 a# e  c, Q! U6 T0 F4 t
  31.         #define ELEV_STATE_NONE 0
    . D3 f& G* j) p" U# H- v+ o* d
  32.         #define ELEV_STATE_AT_PICKUP_FLOOR 1
    3 H: p$ B/ O# `1 {* c- B8 F  e
  33.         #define ELEV_STATE_OPENING_DOOR 2
    + c7 K3 v$ K( v) @  t* N' S, G- t
  34.         #define ELEV_STATE_DOOR_OPENED 3
    8 J/ _: Z: i; y' M+ F4 Y

  35. 7 M/ ?% M* U3 \2 {' p
  36. , `; W- x1 ^# b5 O9 u2 g3 ^) L
  37.         treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;
    3 H2 n/ G1 }5 X' S: J
  38.         #define elevator outobject(elevDisp, $iter(1))
    + P' C% r7 U+ b
  39. * c" T# ]. S* S3 m/ K7 k( X
  40.         if (!objectexists(elevDisp))
    8 W5 ?% O7 V6 |; m% O" }
  41.                 return 0;7 v+ T. f/ X6 f. t- \
  42. : g# p# ~- i1 k0 q
  43.         if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {
    ( h2 @4 N1 [2 i' t6 ~& G) y
  44.                 query(
    % J& ~6 j- K7 x4 @1 L0 P7 ?/ m
  45.                         /** \nFull Query: */
    * Y1 z( J' W( H! W7 ~
  46.                         /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,
    + M9 V4 U3 Z6 i0 N
  47.                         nrop(elevDisp),
    6 [$ K0 M$ c' \0 ]( Z$ G
  48.                         elevator& }8 j0 ^2 l+ b9 R$ q; e% \- ?1 n- p
  49.                         /** \nWhere*/
    ' Z# E/ c. o. m9 G
  50.                         /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/
    2 g' l( y5 d5 m5 g9 B/ n! O* j
  51.                         /***/
    # N; D. Z  f8 ~& M9 J, b; K* {9 }
  52.                         /** \nOrderBy*/
    # G$ Q; W) A8 A8 P8 X4 Q* @6 J
  53.                         /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*/9 w7 ]: r, e1 _9 t' z( ^) S
  54.                         /***/);
    2 U% G# D% A8 z
  55. 5 Z* J, e0 g( ]1 v) b- b
  56.                 if (getquerymatchcount() > 0)  G6 J9 n" ~9 I: H2 F( m" f
  57.                         elevDisp = getqueryvalue(1, 1);6 O% i/ S, r4 D0 ]
  58.         }
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  59.         if (!objectexists(elevDisp))
    ' C+ Q0 n- J4 C* m0 J
  60.                 return 0;" K" m7 \( ?+ r
  61.         treenode destCP = agvinfo(agv, AGV_DEST_CP);
    1 @5 P8 b2 b  j% D6 U2 e5 j/ h
  62. ; P$ D9 E. L/ i% J9 U% i
  63.         agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);0 p9 z, C9 h( [. P

  64. 1 w- i* w" E3 O) F- E. j
  65.         // Create the task sequence for the elevator
    8 U1 p6 L6 n* u4 y, v- {1 C' k/ }
  66.         double destZ = zloc(destCP);
    " g, u. V& o4 k: g/ ~+ |6 d
  67.         treenode ts = createemptytasksequence(elevDisp, 0, 0);4 \9 B3 s* p* a( U- W
  68.         inserttask(ts, TASKTYPE_TAG, agv, destCP);. u8 K' h7 j# \6 r8 e
  69.         // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START& B7 ^$ p7 q  Q' V  Q3 d$ Q
  70.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);
    / j6 f$ ?* ]5 O  J  q2 A1 u
  71.         // travel to the z location of the current control point' v$ N- `3 x4 |* p
  72.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));. b1 A0 l7 f1 L/ B7 Y; e
  73.         // then call ON_ELEVATOR_PICKUP_ARRIVAL
    1 H& h7 Z+ n5 o; T& D8 C* e0 ~+ T
  74.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);
    ) z0 f9 e! e' o" g; `
  75.         // then wait for the agv to get on+ c2 Q' u9 M, r4 z5 w' M, Q
  76.         inserttask(ts, TASKTYPE_UTILIZE, agv);
    : x1 H- U3 c& A1 G5 G3 W. K7 s
  77.         // then travel to the destination z location5 L4 f8 `3 H. B. S5 L3 p
  78.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);
    1 a( k. m" S: K, B/ T: n
  79.         // then call ON_ELEVATOR_DROPOFF_ARRIVAL
    0 R3 U9 a- O: a0 B: a
  80.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);+ L. s- K) Y7 k/ j4 \
  81.         inserttask(ts, TASKTYPE_UTILIZE, agv);
    $ M$ s0 K0 c: b* R1 }
  82.         dispatchtasksequence(ts);4 ?( g0 D6 z, v3 V
  83. } else switch (operation) {. \1 w& f( w. v$ ~' T$ d) F9 ~: |
  84.         case ON_ELEVATOR_START: {
    ! b, Z8 _, j  J1 b/ c8 x
  85.                 // this is fired when I get a valid elevator
    8 f% q, a0 E5 z6 ]
  86.                 treenode elev = param(1);
    ! _; M. R8 N% y+ J9 L* t
  87.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    + k' N: N( X* F) F, `
  88. ' F) Y8 O" C) D; P( L+ E3 t& o
  89.                 // find the closest floor control point
    + d- Q) U2 u- [3 h( g
  90.                 int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);0 E$ a0 q; ~# q4 ]
  91.                 treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon),
    . R. y! z. r* g, _4 W' K# `
  92.                                                         fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),5 |( l8 E. L$ L) R
  93.                                                         cpconnection(elev, floorCPCon, count));9 G; t( r& C+ Q
  94.                 // return if there is none+ q, ~/ J: C" k2 k" g
  95.                 if (!objectexists(curFloorCP))& z$ ^: g  C0 H% m6 z; b
  96.                         return 0;. B! {4 }, F1 U* G- Y1 R: C

  97. 5 R0 u4 i4 C" a: g/ u; a5 A% w! _/ U5 G
  98.                 // get the entry control point8 q: W# \1 g, @. P
  99.                 treenode floorCP = curFloorCP;
    - m" `; Q7 Q2 \" v
  100.                 treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;, _: S$ A  J. k7 P. W& x/ ~" H
  101.                 if (!objectexists(curFloorEntryCP))
      _! F3 s$ k0 }+ l; T
  102.                         return 0;
    * P- r3 v" i( v: \9 @
  103.                 treenode floorEntryCP = curFloorEntryCP;
    & _4 t- m0 q% E/ H5 d
  104.                 treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;
    $ A$ W- C5 ?" P% q3 U
  105.                 if (!objectexists(curFloorElevCP))3 ]/ w4 h7 f* j# ~- b6 O
  106.                         return 0;
    ( @! r9 r3 X# ?  f3 E7 f6 L% O( l

  107. & u/ Z. M3 A  h/ ~2 G  V  w
  108.                 double destZ = param(4);/ @: H+ _3 S6 p8 k6 E8 n, `* Z2 m
  109.                 // find the floor control point closest to the destination floor) |& j" L8 _6 s8 H! G( r) Y  L6 z
  110.                 treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon),
    , h/ p% g6 b$ ]- ?# t
  111.                                                         fabs(destZ - zloc(cpconnection(elev, floorCPCon, count))),/ x5 P5 n3 r" r3 p# z0 \
  112.                                                         cpconnection(elev, floorCPCon, count));
    " ^8 Q0 j& _% u: h. l# w4 z
  113.                                                         # |- ?- X0 a) j! b: `
  114.                 floorCP = destFloorCP;, P5 d. _3 q# K6 Z* d0 Q
  115.                 treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;: T1 L) k( N% c9 T8 B% ~! F* y
  116.                 if (!objectexists(destFloorElevCP))' |. _6 t; G2 V4 j4 h
  117.                         return 0;
    2 H- M! a- U7 b5 t1 Z: p: F
  118.                 // get the destination exit control point+ l' e6 `: w( ~
  119.                 treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;6 O% ^& X0 L1 J6 `4 r
  120.                 if (!objectexists(destExitCP))
    7 n- j6 q( o3 s$ R
  121.                         return 0;  i' V9 n0 J, K% s5 [7 Z

  122. - [3 u& q2 ?! O) ^' r

  123. 7 o' I4 X& T4 M8 D' a" x# D
  124.                 // add a listener for the agv. This will call this nodefunction in the ON_AGV_AT_CP section whenever the 1 s7 L4 F3 l) q5 s, H+ J$ [* J6 o
  125.                 // agv arrives at a node. I keep a state on the agv's state label, and then increment it each time! [+ C/ z$ Q4 W: t/ U
  126.                 // the listener is called so I know which control point he's at, i.e. entry, elev, or exit.
    9 d( u9 P6 n( ^7 `( Z' N5 D6 a' P
  127.                 agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,9 }. T/ g# ^8 z4 K. o! P
  128.                         agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);: n2 E( V) t  w- p# C
  129.                 , c0 |* K! I+ o
  130.                 // set the data on the state label
    & i" T& d) ^" a9 k$ G' }  K, ^
  131.                 treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);* W, L* ]6 o9 R
  132.                 switch_destroyonreset(stateLabel, 1);' m( c& D! @. G( o5 N7 ?" n0 \
  133.                 set(stateLabel, AGV_STATE_START);
    0 v. u% v8 G! S1 r
  134.                 set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);: \. u2 Q; W# D5 |
  135.                 nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);
    5 H5 D( b* v# Z" @
  136.                 nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);9 g0 E: n. ~9 t
  137.                 nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);8 f- H+ c# R! q3 I; R7 y  p
  138.                 agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);+ n' A) D3 {% [* E9 L9 m+ Y
  139.                 return 0;
    ( |1 K7 i8 m( ?0 h1 q, R) _7 l5 }
  140.         }
    % M/ W7 N$ R+ L7 V) N
  141.         case ON_AGV_AT_CP: {  h% }! Z" Y, }/ s/ z' P+ t
  142.                 // this is fired by the agv listener every time the agv arrives at a node.# d1 N8 N6 e1 ?( e+ `9 _" Z
  143.                 treenode agv = param(1);
      A! N& E# W" a3 [, w" I
  144.                 treenode elev = param(2);
    $ {9 z% J3 ?$ ~, b, k2 u
  145.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
    / h! b. B# J1 `7 ?  w4 T
  146.                 // I increment the state label, and then switch on it
    0 x9 H) N& r* B: B  [4 }: @
  147.                 inc(stateLabel, 1);
    $ V1 Y- c& C/ e" \5 v3 j9 _
  148.                 switch (get(stateLabel)) {
    ( Z6 y- d+ D% k4 g. D9 P& g
  149.                         case AGV_STATE_AT_ENTRY_CP: {* e: m+ |$ K, O) j: s) e
  150.                                 // the agv just arrived at the entry cp
    % Z% L- ]0 o# W5 P' `2 S7 ~; U2 y
  151.                                 // so, figure out where the elevator is.
    " L2 X3 U: y7 _+ y1 o
  152.                                 int elevState = get(node("ElevState", stateLabel));) z+ G8 G! N  n& u2 _6 v; u5 V  W
  153.                                 // if he's at the pickup floor with his door closed then open the door.
    0 y0 U  K  D* i+ {7 I  V& ^! G& H
  154.                                 if (elevState == ELEV_STATE_AT_PICKUP_FLOOR)
    7 o2 l% p& d4 Q' |" {
  155.                                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);4 l3 T/ G3 o/ t% v) G7 V5 l/ ]# P
  156.                                 else if (elevState == ELEV_STATE_DOOR_OPENED) {
    6 P1 V: n0 ]  N: e6 z8 _( p" E
  157.                                         // if his door is alread opened, then move the agv onto the elevator, i.e. to2 E1 R  _6 G* P, `
  158.                                         // the elevator cp
    ' v: U1 G; e  r% y& x0 V. O: U
  159.                                         treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));4 G! V+ R& |' x' ~, u
  160.                                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
    % h, H/ U  m- F. R8 @
  161.                                 }+ f) u* t  H$ x( F. q
  162.                                 break;
      k9 M2 N* h6 o9 Z) ]
  163.                         }/ q, I, i  s. ?; Z/ Y4 V; K
  164.                         case AGV_STATE_AT_ELEV_CP: {
    ( T/ t. x, [* e+ U! b# s
  165.                                 // once the agv is at the elevator cp, close the door/ [0 H" |1 c4 ^6 {2 C
  166.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);
    / Z# t8 B6 j) j$ R) j) ?
  167.                                 break;
    ' j. ~; [5 T8 C/ o6 G' G
  168.                         }( I" b, S  [& F9 t7 ~9 }9 U9 R
  169.                         case AGV_STATE_AT_EXIT_CP: {
    # J9 \9 R2 p2 H* h# i! B/ P
  170.                                 // the agv is at the exit cp8 {. q& t# B+ N( ~6 w2 u& D- s
  171.                                 // destroy the listener node because I'm finished listening' o7 w; F4 X5 U! }3 o3 ~
  172.                                 treenode listenerNode = param(4);4 c7 V: a, u) I4 r! [  I( j
  173.                                 destroyobject(listenerNode);
    9 |9 w' q5 Z- T
  174.                                 int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;
    9 J+ G9 c& @- j+ j! _
  175.                                 if (!agvWait) {
    7 @* f4 s3 H' }7 P& `
  176.                                         // if the agv is supposed to continue on, then tell him to go to his final destination
    3 Y5 k( a" s! _: t" b! ~
  177.                                         treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);1 G# q* n1 @8 l% p
  178.                                         agvredirect(agv, destCP, REDIRECT_AS_FINAL);
    ( G% o8 ?! m$ Y" h# r" A1 A
  179.                                 }
    1 D. }& y) I8 X! h; e1 e8 \
  180.                                 // close the door1 X: z2 N- S  c, ~' K4 X2 U7 l
  181.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);
    ! u8 F: F" S7 F4 t7 z
  182.                                 // and I'm finished with the state label so I can destroy it.
    9 ^- b3 B- W) k4 m8 w
  183.                                 destroyobject(stateLabel);
    6 I1 N8 o1 y) K5 d- j7 E# x$ h* K
  184.                                 break;
    $ J4 h; {9 I/ E
  185.                         }
    3 }* t! |& f+ _4 P# R* I  m
  186.                 }
    : E4 i$ }: J$ v9 ~  b
  187.                 return 0;
    - u' a* W; q* B! N2 J: G" r
  188.         }
    7 x: j  q+ u1 \' j/ E
  189.         case ON_ELEVATOR_PICKUP_ARRIVAL: {
      y5 M  {  _4 T& W7 t
  190.                 // the elevator has arrived at the pick floor0 h1 ^. w6 J8 C7 L! e
  191.                 treenode elev = param(1);
    : Y( n! {9 z* u" T' g* \
  192.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);0 Y) C% ]; G) k, J
  193.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);' X0 n: F7 V7 l
  194.                 treenode elevState = node("ElevState", stateLabel);1 W% }+ z8 L. X2 H
  195.                 // set the elevator state to at-pickup-floor7 V/ r" U3 D& E
  196.                 set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);
    ' g% n2 \1 K. b  l- Q
  197.         4 ]& ]' t/ K' L  }
  198.                 int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;
    6 d% a; m- S8 D% J3 L8 X
  199.                
    5 o9 d( \2 V9 B
  200.                 // if the agv is at the entry control point or I open the door immediately, then open it
    " m3 l4 h7 [$ ?! l2 ~+ r- @
  201.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {
    2 h* }, Y; O/ T
  202.                         set(elevState, ELEV_STATE_OPENING_DOOR);
    ! M$ o# I. m  {
  203.                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);! C9 p. {2 F2 x3 ^8 i! g0 [; P1 o
  204.                 }
      L6 [+ v4 |8 J+ {
  205.                 return 0;
    5 c" z1 {4 m& t! S: }
  206.         }% O! j5 ~6 V9 i( U. V
  207.         case ON_OPEN_DOOR: {
    3 t/ d2 Q5 g: v* G# r& @
  208.                 treenode agv = param(1);
    ; S$ x- N) q' V6 C  V
  209.                 treenode elev = param(2);4 }  j% Q8 [: m& \) {
  210.                 int nextStep = param(4);+ ^0 T1 ^% R$ x! w! ~& O5 G  [
  211.                 // open the door based on the time to open the door% j* W- A- i- V4 d& r
  212.                 double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;6 C1 b7 O; }9 o3 T- e) M
  213.                 delayednodefunction(c, openDoorTime, elev, agv, nextStep);
    0 d3 K# d! O$ F! f4 r) j- O
  214.                 return 0;/ P5 {; U! Z5 _  p( ?, r: _- o5 H) K$ b
  215.         }& {6 z$ [- ^* g5 M
  216.         case ON_CLOSE_DOOR: {
    ' S) v5 j/ \2 [# _2 F, C0 ?7 |
  217.                 treenode agv = param(1);+ A/ ~& b* i2 q. z
  218.                 treenode elev = param(2);* q8 Z4 a" c4 ^( u
  219.                 int nextStep = param(4);3 e9 \' ]$ ^+ a+ x
  220.                 // close the door base on the time to close the door, c9 e; G7 ~& `* G( X' R/ m" r
  221.                 double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;
    ! R6 v, E" ~! |) `% ^
  222.                 delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));/ s5 `8 V5 p% ^( R( b. \+ E9 o
  223.                 return 0;
    ( f4 E+ c; B" ~, v
  224.         }
    0 D% P' W- G+ L8 p' [7 i$ W
  225.         case ON_PICKUP_DOOR_OPENED: {3 ~! L; U1 S% q! F2 v
  226.                 // the elevator door has been opened on the pickup floor
    + c- l1 t+ a5 @7 l
  227.                 treenode elev = param(1);
    , p- K) M; |7 L7 k. ?& W6 r
  228.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    ! x- U4 G+ n) x' v" e( o# D
  229.                 treenode entryCP = cp(agv);
    / O* ^6 b' s8 {7 Z, ^
  230.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);0 g2 {( d7 N. A! o
  231.                 treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
    8 j4 u( g* s+ c
  232.                 treenode elevState = node("ElevState", stateLabel);
    : I7 Y3 L* ]# O& k! E2 X
  233.                 // set the elevator state
    & ~4 b9 Z  o$ O  x* X: C
  234.                 set(elevState, ELEV_STATE_DOOR_OPENED);+ {" }0 z1 a0 |' i; B* D- I/ A& _
  235.                 // if the agv is at the entry control point, move him to the elevator control point* i* D, T/ h# A3 N
  236.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP); \# b, g3 [6 S+ x
  237.                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
    ) F/ P8 H. ?: X& T. r
  238.                 return 0;
    - J6 w: i/ K( }' V& u5 u
  239.         }3 F) L0 `# }5 A' A- w. D/ Q" B
  240.         case ON_PICKUP_DOOR_CLOSED: {
    9 _* D, M1 Z% [% n
  241.                 treenode elev = param(1);8 m' `* a+ d" }2 v# r% g
  242.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    1 z4 _- w6 U. P0 i
  243.                 // assign the agv to "no control point"$ G6 a: ~* J5 @# L
  244.                 agvreassigncp(agv, 0);
    % r4 A2 K/ ~& i
  245.                 // move the agv into the elevator; n: `0 U& R6 d$ F
  246.                 moveobject(agv, elev);/ ]5 S$ f7 h5 A+ w1 Q
  247.                 setrot(agv, 0, 0, 0);' S' v" ?* a* ~( r- ]* w  @
  248.                 // release the elevator to continue to the destination floor: y4 j- B2 O" D) H# ~
  249.                 freeoperators(elev, agv);
    - \1 e2 `7 B; u  {1 C' O3 i
  250.                 return 0;3 Y8 P5 U# ]" t( K6 x9 K3 S
  251.         }
    # T* G: R6 S5 {8 M
  252.         case ON_ELEVATOR_DROPOFF_ARRIVAL: {
    0 O+ p: n3 h7 P# m2 s8 }
  253.                 treenode elev = param(1);1 X+ H' E) ]5 I9 R) N4 ?+ \
  254.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);: H4 c' n$ D( z7 A  M! P9 ?0 ~
  255.                 // when the elevator arrives at the destination floor7 R) h, _' y1 I5 j  K
  256.                 // move the agv back into the model2 a) W. |4 G. A0 j( ~! e
  257.                 moveobject(agv, model());
    5 _, f' m* w, P2 o) |- F3 T% l. m
  258.                 // reassign it to the destination floor control point  k  R; r0 y6 N1 h1 m
  259.                 agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));
      I+ t% H1 @" I3 w
  260.                 // open the elevator door
    4 A; `! F2 O/ x% N$ W- ^! v9 |1 r. r
  261.                 nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);( l& b5 f' q9 {2 e" A4 V4 z
  262.                 return 0;
    & f" p& U* B( N! ~, @+ H# m2 i
  263.         }
    7 r% O' z4 L( \4 \5 Z/ d- M
  264.         case ON_DROPOFF_DOOR_OPENED: {6 B5 q7 }7 v) S0 h! N; y1 y( ]/ {
  265.                 treenode elev = param(1);
    1 ^& M' R* z! f: E
  266.                 treenode agv = param(2);2 H: g( H7 ^. N3 n$ u. y3 u  b# |
  267.                 treenode agvLabel = label(agv, AGV_LABEL_NAME);1 |" I/ J( M; X# a4 u
  268.                 // once the elevator door is opened on the destination floor,
    1 U$ \6 n; h0 U: U- y- `8 ~
  269.                 // redirect the agv to the exit control point
    $ g, h9 p. Y  E2 t# |8 Q
  270.                 agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);
    + W3 J: s9 y( R4 E8 O
  271.                 return 0;5 l, `0 i$ P4 Q  x' v& Z
  272.         }! E4 q/ w$ x& z  U6 ?# N
  273.         case ON_DROPOFF_DOOR_CLOSED: {
    6 L0 g. h9 `4 w! j3 q2 X- h2 n* Q# B
  274.                 treenode elev = param(1);0 ^7 Y3 t, u9 s- d! C
  275.                 treenode agv = param(2);& J  R. D( E8 l/ D" E
  276.                 int isAGVWaiting = param(4);" a: B( g0 I4 J& Z, ^+ x, w) T
  277.                 // once the door is closed at the destination floor,
    ; c) M: A) @. C# a  ]. H
  278.                 // if the agv is waiting, then send him to the final destination* M& Q) G/ r  a/ S7 C6 D) m
  279.                 if (isAGVWaiting)5 Y+ ~2 N* M2 a7 n, }' G* v% n
  280.                         agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);5 Z: ?7 A& E+ Y3 V
  281.                 // release the elevator to finish his task sequence
    $ t" Z! N& L- i1 f3 E
  282.                 freeoperators(elev, agv);% ?, c! ~' @1 t, a) D2 U& O
  283.                 return 0;) B0 E) @9 V* m- {  b" j% e
  284.         }$ T. g  X6 O% d; _. A: M1 o+ n
  285. }
    ! J9 i, h3 e: P
  286. } //******* PickOption End *******\\1 H0 _( y. l6 V. b$ v- v- f
  287. 9 J( C0 `- V1 G0 D5 n
复制代码

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- S& S+ D$ U: Z2 a2 p* q8 X办法2:使用工艺流程模块完成
 楼主| Pureua 发表于 2018-11-5 09:25:46 | 显示全部楼层
慧娴亚伦 发表于 2018-11-4 19:12$ {2 M- z$ ?! @4 V8 P. a
办法1:从2016版本里面复制相应的代码- q" Q' c; E# o
/ A+ ]' v7 w/ X* a& D  F
具体代码如下:

7 O: X, J2 F) F" Y2 B7 \8 ~) l好的,非常感谢陈老师的解答~
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