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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?
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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
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具体代码如下:
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  1. treenode agv = param(1);
    3 v# C; J! t& T1 o
  2. treenode currentCP = param(2);5 {5 Z9 M# K& N; T, _' t
  3. ) h  }- S. t( K' X. d: d+ q/ K4 ~
  4. { //************* PickOption Start *************\\. n# \1 J' ]8 @
  5. /***popup:AGV_DivertToElevator*/: w, k) G# W; O
  6. /***tag:Description*//**Divert to Elevator*/
    0 Z2 }* u0 k( I) }) V
  7. & p. Z* x& X' z4 I1 n, Q4 s  f; V5 i
  8. int operation = param(3);$ O; E/ [# z. S4 c
  9. ( ?! H1 y% s% ?1 b9 ]( d
  10. #define AGV_LABEL_NAME "fs_AGV_Elev_State"
    0 U/ f! H" C2 z9 H! m/ \. q, X
  11. if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME))
    + e) ?% A5 c' f5 x, Q
  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
    - Z/ N4 N* r4 T- ^
  13.         // initial trigger execution
    0 h; |# K: q, j) S  e
  14.         #define ON_ELEVATOR_START 10 u( ^- X& W( B9 J: ^
  15.         #define ON_ELEVATOR_PICKUP_ARRIVAL 2
    9 i. u0 l2 [4 F  I
  16.         #define ON_ELEVATOR_DROPOFF_ARRIVAL 35 @( K3 B2 E8 K( ~! Z  R$ i
  17.         #define ON_AGV_AT_CP 45 m) l! K5 @% Z( u8 U
  18.         #define ON_BOTH_AT_PICKUP 5& a# u8 G6 ]0 I; o  l4 [
  19.         #define ON_OPEN_DOOR 6% O8 u3 w2 X$ ~( n9 s: X8 r
  20.         #define ON_CLOSE_DOOR 7
    / A/ Z# |7 Y7 m8 f4 u
  21.         #define ON_PICKUP_DOOR_OPENED 8& e( j) R4 x6 l- R
  22.         #define ON_PICKUP_DOOR_CLOSED 9+ G8 A, z: N; b4 k4 z" H) P
  23.         #define ON_DROPOFF_DOOR_OPENED 10
    " ?5 q2 v3 j3 v3 ?, N/ B
  24.         #define ON_DROPOFF_DOOR_CLOSED 11
    + q2 q, t  @* I/ b
  25.         ' U' n& L$ s. A- I* e- b5 ^
  26.         #define AGV_STATE_START 03 p: U3 b4 e+ z5 p* j
  27.         #define AGV_STATE_AT_ENTRY_CP 12 O9 T  v! w) ]& a# y" v% c# A
  28.         #define AGV_STATE_AT_ELEV_CP 2, E+ t1 u0 G" s# ^' P
  29.         #define AGV_STATE_AT_EXIT_CP 35 u* H# N* u8 _  m; p1 B
  30.        
    ' A' l3 c" I. W0 s' Q* R
  31.         #define ELEV_STATE_NONE 0
    / q' r5 l: j& A  y2 G$ ]% r* j7 Y
  32.         #define ELEV_STATE_AT_PICKUP_FLOOR 13 u6 f; o6 N6 ?
  33.         #define ELEV_STATE_OPENING_DOOR 2
    ; _+ k) g: F0 `: O$ f
  34.         #define ELEV_STATE_DOOR_OPENED 3
      u7 F: u" q! R) ~

  35. 0 W  k6 v! d% @+ r/ K
  36. 6 k6 h, Y/ d0 ~! {* t! c
  37.         treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;8 K& V! h( ~4 ?. }) a9 f; z5 U
  38.         #define elevator outobject(elevDisp, $iter(1))
    * E0 k( H+ m) n

  39. . |3 M$ K+ F, g$ C" _
  40.         if (!objectexists(elevDisp))) j2 d! |7 b3 R
  41.                 return 0;/ L4 O, N7 ]/ t

  42. * C1 {% l; o4 ]$ R0 a; t
  43.         if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {
    4 M- y+ q& v5 |# H
  44.                 query(! _/ t, m: ]8 D: Q. B, p
  45.                         /** \nFull Query: */3 s5 I" Z# R; _
  46.                         /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,  Y, M! a6 L: N0 `
  47.                         nrop(elevDisp),
    & i8 u, s7 _2 t7 P- r
  48.                         elevator
      ^; t2 ?" [9 n+ w3 n# ~$ @0 K9 c
  49.                         /** \nWhere*/* {: e+ \- b/ ~# q2 ?
  50.                         /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/
    / v, o. B9 j3 t2 h; X
  51.                         /***// H# Y" c5 H- m! X: h7 H1 S9 s- ^
  52.                         /** \nOrderBy*/# C0 V: y/ M$ {' k1 f2 b: i& b* ^
  53.                         /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*/3 {" A0 Q% l: b9 {$ G
  54.                         /***/);
    . V$ C& m0 N/ I$ f, O- s
  55. & c" h1 R: E3 U2 Y5 f" r7 [
  56.                 if (getquerymatchcount() > 0)* f; e" b  t. d3 H+ I; X4 J% e6 N
  57.                         elevDisp = getqueryvalue(1, 1);
    1 Y5 `8 b( y5 R1 v
  58.         }: c7 d- A5 f" A0 z3 l$ Z
  59.         if (!objectexists(elevDisp))
    / ^1 i8 c7 v& W9 C' O$ Q- V! O
  60.                 return 0;
    , T3 G1 B2 h4 V
  61.         treenode destCP = agvinfo(agv, AGV_DEST_CP);6 J0 n% f7 ~4 w, g

  62. + D& S% Q6 g0 p5 d5 U! j
  63.         agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);
      i9 o/ ?) B, r

  64. 6 s  r. U# @4 K
  65.         // Create the task sequence for the elevator
    ; v& M# `4 T& n8 W" i' E% A
  66.         double destZ = zloc(destCP);& |& w+ D4 q' t9 U4 w: T
  67.         treenode ts = createemptytasksequence(elevDisp, 0, 0);9 r, C" R" q$ n( N6 h
  68.         inserttask(ts, TASKTYPE_TAG, agv, destCP);
    " Q" ]* e! v0 h2 |3 k  P
  69.         // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START. @& E: h5 G5 D
  70.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);" ?/ e# s! q: k4 b) F; e: o
  71.         // travel to the z location of the current control point
    # \* P7 |$ q8 p8 i
  72.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));
    / n2 Z' w+ y- F- Q
  73.         // then call ON_ELEVATOR_PICKUP_ARRIVAL
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  74.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);$ a: K% w* k* |. J+ y2 [, `
  75.         // then wait for the agv to get on2 Z1 A0 O' j8 @, f" A, }
  76.         inserttask(ts, TASKTYPE_UTILIZE, agv);
    & H' u3 Z* ^9 y' s- N4 y' b. @- ]8 F" R
  77.         // then travel to the destination z location, Y4 C% \* T4 E' F
  78.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);
    ; x% M4 }. b" e2 V- q; s0 T
  79.         // then call ON_ELEVATOR_DROPOFF_ARRIVAL- F6 R9 S( U  n
  80.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);
    5 y& v3 s" i4 o+ M% A. n+ Q
  81.         inserttask(ts, TASKTYPE_UTILIZE, agv);1 x* F, j$ q" e$ h2 h5 {( T
  82.         dispatchtasksequence(ts);
    / c5 `) w( Q, Q. z' f2 _, P
  83. } else switch (operation) {/ e( E, A, s8 A  q" \7 i4 Q/ \4 y4 X
  84.         case ON_ELEVATOR_START: {
    . w1 [& I+ _" v7 A0 T0 o$ Z
  85.                 // this is fired when I get a valid elevator
    " x# n! x0 W3 B5 p, ^
  86.                 treenode elev = param(1);
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  87.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);) L& \5 |' u( j3 S# t: q0 f
  88. 5 ^1 B1 d7 q2 V. r! y
  89.                 // find the closest floor control point3 f3 A; w) \: G! @( T
  90.                 int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);# t1 P& n- E! U. C# h% g: P
  91.                 treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon),
    , f: I4 i$ M1 W( @9 P$ \
  92.                                                         fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),$ ^2 {/ B/ |2 c4 z8 [$ G
  93.                                                         cpconnection(elev, floorCPCon, count));
    , s# ?9 m( A% H
  94.                 // return if there is none3 h7 Q( T1 E" m
  95.                 if (!objectexists(curFloorCP))
    * k1 u/ H3 i  e% X- f) D, k
  96.                         return 0;
    : K$ D0 t8 S5 z* h7 [: w
  97. . Z2 W; p6 M  s
  98.                 // get the entry control point3 V/ u$ ]- P4 ]9 i
  99.                 treenode floorCP = curFloorCP;: S. x) H7 v6 t* b+ L! ]/ u
  100.                 treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;
    , z& F. e  C2 Z: `( n2 X
  101.                 if (!objectexists(curFloorEntryCP))8 P- c6 H. P  L( M+ ~3 b% h3 _
  102.                         return 0;
    + x0 K1 _  C8 @& b8 z
  103.                 treenode floorEntryCP = curFloorEntryCP;
    7 B5 X& G4 o' o3 N
  104.                 treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;7 R% E9 M& [1 q: N
  105.                 if (!objectexists(curFloorElevCP))
    ( P. ~+ R; C6 i6 S& L$ s+ x
  106.                         return 0;% C) N& W% k3 j2 a, l- N  Z
  107. 6 r3 k1 z/ o9 G' x/ c: h
  108.                 double destZ = param(4);8 ^) u& U( T1 U! R( u. K9 t
  109.                 // find the floor control point closest to the destination floor
    & X( `  u9 H. k% w1 W
  110.                 treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon),
    % [) s" {5 B) [/ b
  111.                                                         fabs(destZ - zloc(cpconnection(elev, floorCPCon, count))),
    % G& s2 x" c5 T7 O
  112.                                                         cpconnection(elev, floorCPCon, count));
    " E: g! i$ X" T) t: g
  113.                                                        
    6 L% M* y0 ~) S3 P5 o1 a7 R
  114.                 floorCP = destFloorCP;
    9 Q* K( E, _2 p" R3 W6 \) X4 ^
  115.                 treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;+ Z% C9 Y) }% o. Q3 l3 O  Y
  116.                 if (!objectexists(destFloorElevCP))
    ' F/ b* B$ R8 h
  117.                         return 0;
    , F" G! x8 i9 C$ s0 d+ O% s% s) [) }
  118.                 // get the destination exit control point$ {& z8 F1 L1 ?; p6 V. d9 }; t
  119.                 treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;: R" z0 C$ U+ t
  120.                 if (!objectexists(destExitCP))
    7 U  k; x1 N1 u$ Y/ G
  121.                         return 0;; ?; i  s/ C; I/ d! A

  122. ' f" L4 d' ^( e( p7 ~

  123. & O8 [% P. }4 E3 @( b
  124.                 // add a listener for the agv. This will call this nodefunction in the ON_AGV_AT_CP section whenever the
    4 Y  g" G2 s/ u
  125.                 // agv arrives at a node. I keep a state on the agv's state label, and then increment it each time
    " u. O! W3 g' Q; R( I; d
  126.                 // the listener is called so I know which control point he's at, i.e. entry, elev, or exit.$ s* {3 z! j  v- t
  127.                 agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,
    ) o1 S8 f1 d8 @0 }3 }
  128.                         agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);
    & G" S2 K$ P6 z0 t
  129.                 " x+ J* l. `9 i& h
  130.                 // set the data on the state label
    : U* i7 e, I# p0 R+ C  A1 t
  131.                 treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);" s. |; F' R. U
  132.                 switch_destroyonreset(stateLabel, 1);
    ( N/ V, O! R9 _
  133.                 set(stateLabel, AGV_STATE_START);
    5 E+ A4 J# p* M
  134.                 set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);: X, |1 ^3 B- w9 D% i
  135.                 nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);
    5 l& \0 I3 i& ~7 \
  136.                 nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);
    9 m( |3 c* T) t, Z5 I
  137.                 nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);: q. n6 q( Q* Y& \
  138.                 agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);
    # W  ?+ y5 p) `5 B& D# n$ F
  139.                 return 0;
    ' y+ l8 j, A, N6 {$ t- O5 L
  140.         }% G  s( m: n& L
  141.         case ON_AGV_AT_CP: {
    1 D5 }- S( ]5 Z. P: U
  142.                 // this is fired by the agv listener every time the agv arrives at a node.
    ; X  E& \4 U4 V' |: Q5 r$ N, l  U
  143.                 treenode agv = param(1);) o1 d& V: Z- t! @" W, Q; j: f  A
  144.                 treenode elev = param(2);* h8 U$ e, ~6 C6 e# A
  145.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
    7 Y; ~6 H& c4 M  X; b/ _
  146.                 // I increment the state label, and then switch on it! y5 Q2 r7 y; J0 M5 B
  147.                 inc(stateLabel, 1);
    8 f2 S4 {& f& H) _
  148.                 switch (get(stateLabel)) {( F/ V" {0 y- _3 ~% c1 u& J
  149.                         case AGV_STATE_AT_ENTRY_CP: {  J' q2 i1 ]0 [
  150.                                 // the agv just arrived at the entry cp' Y& d  Y$ Z8 w" l+ F( d
  151.                                 // so, figure out where the elevator is.$ |! O0 K: u- V# F! d2 I4 b9 t  m* ]
  152.                                 int elevState = get(node("ElevState", stateLabel));
    3 \' [* h) s+ t1 M( {7 q
  153.                                 // if he's at the pickup floor with his door closed then open the door.
    6 i! J/ v3 d  f0 @' x" b
  154.                                 if (elevState == ELEV_STATE_AT_PICKUP_FLOOR)
    7 T8 v, `3 f, D& K6 _+ A7 ]
  155.                                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);, f- y2 A$ N3 f7 n" ]) C# f9 ?% p
  156.                                 else if (elevState == ELEV_STATE_DOOR_OPENED) {
    / O: e# p) a9 V8 P. {/ n
  157.                                         // if his door is alread opened, then move the agv onto the elevator, i.e. to
    . e6 G0 O1 R4 `# x* P
  158.                                         // the elevator cp
    ( F, Q* c8 H% L) b! G5 {
  159.                                         treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
    5 X/ t( |/ t; S+ Z0 B! z+ |
  160.                                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
    * Z; ?* h; q0 ]
  161.                                 }) v' o! E; L9 R
  162.                                 break;
    # Q8 z* V4 w) f4 g% q( a
  163.                         }, G; G  s. F( s% f# G+ u
  164.                         case AGV_STATE_AT_ELEV_CP: {
    : u" l8 e6 s) ~7 O3 |) o1 V
  165.                                 // once the agv is at the elevator cp, close the door7 F3 Y) p) E7 r7 @6 D5 O4 P
  166.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);8 K7 M( w6 n# ~. Y4 i# n
  167.                                 break;
    # Q, @! [9 g0 Z/ g9 x0 H
  168.                         }# E4 X( H8 m" I5 o
  169.                         case AGV_STATE_AT_EXIT_CP: {6 ]6 s7 u3 {5 D* x: ^
  170.                                 // the agv is at the exit cp- n) l! r1 F6 B1 H% U
  171.                                 // destroy the listener node because I'm finished listening
    ( |2 M! Y  g# [0 ]' N; c
  172.                                 treenode listenerNode = param(4);
    9 d: B+ q  q4 Y4 r& c
  173.                                 destroyobject(listenerNode);" Q8 o# ]6 B+ A& L! b4 z" Q$ t. V
  174.                                 int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;; ?3 {4 e, ]/ G
  175.                                 if (!agvWait) {" C4 F* `* ^' f+ I8 C5 v
  176.                                         // if the agv is supposed to continue on, then tell him to go to his final destination
    ! @: T9 D5 ^# |4 @5 x
  177.                                         treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);9 M9 z9 i( h; N$ C: [
  178.                                         agvredirect(agv, destCP, REDIRECT_AS_FINAL);" A$ \" W$ v) ?5 O( n: k) s
  179.                                 }
    . c, ?6 P! p/ N/ w1 x: F7 g# T* I
  180.                                 // close the door% H- `0 e& H4 h9 R9 s
  181.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);) O5 {4 g: x2 T" ~9 h
  182.                                 // and I'm finished with the state label so I can destroy it.
    4 T' D0 v  ^6 ~9 j0 d& P8 j
  183.                                 destroyobject(stateLabel);
    2 Y' _8 w8 n* u1 i7 Z
  184.                                 break;5 m4 e( X9 k6 J
  185.                         }
    $ M/ z$ U3 a' F% j
  186.                 }
    , H4 O3 S: W) P* q0 Q, ]
  187.                 return 0;
    3 I7 B  S' ?1 b, H9 K& s; g
  188.         }
    $ r/ y0 p0 _) a0 V7 P1 H
  189.         case ON_ELEVATOR_PICKUP_ARRIVAL: {
    " V% p% l8 v* U( l" ~
  190.                 // the elevator has arrived at the pick floor* ~0 o( T( j2 C
  191.                 treenode elev = param(1);
    6 \. F- X7 C- F1 e, m
  192.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);3 b' j! ^- o* y/ l* \/ e, t
  193.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);1 y) B- x$ H* s+ [: I
  194.                 treenode elevState = node("ElevState", stateLabel);( h$ a! [  S3 \. ~) f
  195.                 // set the elevator state to at-pickup-floor
    : `, k2 l) K- R! V3 ~; E2 ^' n
  196.                 set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);
    * M8 i/ h2 ]8 X0 U7 j9 A
  197.         ; W0 A5 v9 A( ]8 a* K' u! |# V
  198.                 int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;; U+ _1 D7 Z; h" B. u
  199.                
    ( z9 U/ J/ p3 G9 Z# w/ d
  200.                 // if the agv is at the entry control point or I open the door immediately, then open it
    - M9 E/ z0 V1 N4 Z8 \% D
  201.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {
    " Q7 X% R$ E# k# s9 I/ Y
  202.                         set(elevState, ELEV_STATE_OPENING_DOOR);
    . T( {, Q2 r& S9 Q2 ^3 _" U& ~2 N& M: K
  203.                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
    0 N& A1 W1 X- M0 v0 o
  204.                 }& v/ G$ Y# b9 t- Z" Y
  205.                 return 0;( k8 G5 @8 _0 m! o* n
  206.         }# O( j0 X5 \5 {' u  H. V
  207.         case ON_OPEN_DOOR: {* `+ S+ x& t7 u1 U
  208.                 treenode agv = param(1);
    - o( _# H. K3 v: V" u5 ^& k
  209.                 treenode elev = param(2);- o9 y  v/ C4 \7 H
  210.                 int nextStep = param(4);* F; P/ O9 l: s
  211.                 // open the door based on the time to open the door
    # F: r5 l3 `) V
  212.                 double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;% l8 {; D  C" s; W' I
  213.                 delayednodefunction(c, openDoorTime, elev, agv, nextStep);
    % q; W) M. y# K: B% R$ D$ B! o6 B
  214.                 return 0;% W8 j+ ?- \9 c& o6 K
  215.         }, f1 R- K- Q! [. [
  216.         case ON_CLOSE_DOOR: {$ S1 c  Q8 Q0 l+ S( ?1 Z
  217.                 treenode agv = param(1);( U( C) O/ `  c9 l, x2 `
  218.                 treenode elev = param(2);& X- W6 t1 q& O6 e3 c0 Y
  219.                 int nextStep = param(4);. y# h4 ]+ {- f' L5 a7 Z' o
  220.                 // close the door base on the time to close the door! c3 I5 }' q2 P6 M( v
  221.                 double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;- k0 w: f' A. Q1 u
  222.                 delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));
    9 X+ M" u5 {8 g& r" m
  223.                 return 0;
    ! @- c2 c1 ], K) c) ]
  224.         }0 X* P! l: ~# l# C0 E( `# \* X
  225.         case ON_PICKUP_DOOR_OPENED: {1 q& c: T! A2 L# }- S
  226.                 // the elevator door has been opened on the pickup floor
      h; |) y  g. o
  227.                 treenode elev = param(1);( c# O) {2 _3 I: a
  228.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    ! p. `- y: ^% e
  229.                 treenode entryCP = cp(agv);* S$ {* `& ]. K( y" M
  230.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
    6 T% v  y3 q: Q$ [
  231.                 treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
      T& G, y! J+ _" ~$ c4 G
  232.                 treenode elevState = node("ElevState", stateLabel);
    7 d6 J$ h# G- o7 {% U
  233.                 // set the elevator state
      e1 C0 {- T( ~/ p
  234.                 set(elevState, ELEV_STATE_DOOR_OPENED);; q# ^" @- r  F( p5 S, a, x- P
  235.                 // if the agv is at the entry control point, move him to the elevator control point# t  L- o" T% d/ U8 G( Y- h2 }! @
  236.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP)' I. u/ u) {( W
  237.                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
    $ E5 k& N9 o  T% a: S4 D
  238.                 return 0;+ Y% f) _: O) d2 v. f' }3 C; s
  239.         }
    $ H: m; E: [5 E" R& {7 S! n
  240.         case ON_PICKUP_DOOR_CLOSED: {& T+ j1 g& L5 r3 ]% A
  241.                 treenode elev = param(1);* |/ S; B# _. X, m. k3 [
  242.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);( P" Y1 |" m/ |
  243.                 // assign the agv to "no control point": W% h5 k1 W# X) B! I0 _3 i' l. ~8 ^( M
  244.                 agvreassigncp(agv, 0);/ V* \% x8 `  `, y# P
  245.                 // move the agv into the elevator
    $ ]4 I! E' e1 a2 c& [  t
  246.                 moveobject(agv, elev);; R6 o  h8 ?2 `3 `
  247.                 setrot(agv, 0, 0, 0);# |+ O3 g4 V  [6 a( q% K
  248.                 // release the elevator to continue to the destination floor
    " r% B, f- F; V6 b' p3 Q
  249.                 freeoperators(elev, agv);
    3 |' M; J# P/ m
  250.                 return 0;
    ( y) F# D5 Y: z9 N' H7 F
  251.         }
    ) @" p. q4 x* _/ e( y
  252.         case ON_ELEVATOR_DROPOFF_ARRIVAL: {, V' s# G: X: `
  253.                 treenode elev = param(1);/ s3 _& e& M) ?: g0 A
  254.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);8 N$ N0 D+ R9 i( d* V
  255.                 // when the elevator arrives at the destination floor
    ) O; w/ e" ~! p6 S
  256.                 // move the agv back into the model
    , y/ C( w, A9 c7 Y. h3 O0 R
  257.                 moveobject(agv, model());
    6 l5 y7 K# ~, B5 [. f: H
  258.                 // reassign it to the destination floor control point
    2 x4 V4 o% U' l, |' P' O: j
  259.                 agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));
    9 J4 y/ C) y3 O) H( J
  260.                 // open the elevator door% Y" J2 F, ^8 V, }5 @5 p' l
  261.                 nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);
    4 m; h4 J# l7 O8 K
  262.                 return 0;( `' m9 S8 c3 n0 |1 f% v7 S( Y
  263.         }
    * A7 P. Q& M2 d$ A5 L
  264.         case ON_DROPOFF_DOOR_OPENED: {
    ( S- y& J! [% E9 @9 W, D
  265.                 treenode elev = param(1);0 a/ x: t5 _' R
  266.                 treenode agv = param(2);
    : m1 f) U- x, R3 x/ z
  267.                 treenode agvLabel = label(agv, AGV_LABEL_NAME);/ J* m/ f9 C  H" V9 z7 a/ h
  268.                 // once the elevator door is opened on the destination floor,
    ) W1 y8 X" C- A3 o
  269.                 // redirect the agv to the exit control point
    % i; a$ S4 N8 r. O( G" i9 z
  270.                 agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);
    4 S, M" x$ E  ~3 F
  271.                 return 0;
    % X3 ]9 L3 a  B" m
  272.         }
    : o; J0 s  N! t% `$ s! v0 E2 Q
  273.         case ON_DROPOFF_DOOR_CLOSED: {. H  V; p  q! Z4 U3 q
  274.                 treenode elev = param(1);, `/ i, f* g  V' h+ |9 F# }
  275.                 treenode agv = param(2);$ j. s) d" u9 Q
  276.                 int isAGVWaiting = param(4);+ N4 y1 N5 r# ?9 b; g+ c1 Y* ?* S7 P
  277.                 // once the door is closed at the destination floor,
    1 `4 v( S3 K( g3 ]4 l/ g& b1 S$ d
  278.                 // if the agv is waiting, then send him to the final destination. N& C% Z4 t: Y1 w
  279.                 if (isAGVWaiting)
    ' B& \# L1 C$ n1 u3 S" @
  280.                         agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);
    , F) Z4 r& }) a0 B: p
  281.                 // release the elevator to finish his task sequence
    8 ~# B& I; l: S* i/ ~
  282.                 freeoperators(elev, agv);2 D/ O& \  w5 i0 c) a9 ]( y7 B0 C( i) [
  283.                 return 0;
    ; x/ f) R9 @- \# T
  284.         }# A* _& t* J9 A. n
  285. }2 h3 z# }* i" c% }# ?4 v) v
  286. } //******* PickOption End *******\\& |( k8 m$ [2 `+ Y# p4 d* j5 G
  287. 0 p3 F; `; G  h6 T; I3 {4 s
复制代码
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9 w% ^9 ^4 M5 k/ S: b- b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' N% l4 ~) Z2 e* }2 k4 M  y
办法1:从2016版本里面复制相应的代码4 u3 H# S  J$ b% R/ X

9 }: h0 E) `/ R( g5 s" Y具体代码如下:
3 [' u/ W# \' s1 ?* o
好的,非常感谢陈老师的解答~
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