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办法1:从2016版本里面复制相应的代码3 a; \$ }! B4 S4 D+ D
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具体代码如下:
" |+ ]" A$ B9 c4 C+ i9 B- treenode agv = param(1);
- a7 D. e& M1 q3 C! R1 j - treenode currentCP = param(2);
3 W& |0 q. C8 P' ]# r! F) c - , P$ Q% z( h1 b+ G, I+ ~6 q3 O3 n4 u2 v' B
- { //************* PickOption Start *************\\
$ g1 k9 N) }9 `' k. P/ h - /***popup:AGV_DivertToElevator*/& j0 S" ]/ x) n0 H# {7 N* ]
- /***tag:Description*//**Divert to Elevator*/9 c- J( m6 Y6 q/ g
- 4 s3 ]* s7 L2 O
- int operation = param(3);& G* a- E% G0 ~/ y* n
1 l, \1 j J) _- #define AGV_LABEL_NAME "fs_AGV_Elev_State"+ ?4 M/ k! n1 _$ `0 g. A& ~' ?
- if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME))5 k S3 J& X4 Q$ H4 G
- && (/** \nCondition: *//***tag:Condition*//**/fabs(zloc(currentCP) - zloc(agvinfo(agv, AGV_DEST_CP))) > zsize(agv)/**/)) { // if it's a pointer, then do the initial case
' H+ E% Q6 J" u$ }2 D. `' y7 X9 s - // initial trigger execution# N! y0 |) ^1 j1 e' U* V
- #define ON_ELEVATOR_START 1$ `% @7 U! r8 L3 i
- #define ON_ELEVATOR_PICKUP_ARRIVAL 2
' \5 _* y6 [# o - #define ON_ELEVATOR_DROPOFF_ARRIVAL 3
( s: t% M: |/ `% _( S: T - #define ON_AGV_AT_CP 4
3 b/ t8 c9 Z7 u9 a; p7 \ - #define ON_BOTH_AT_PICKUP 5
% J* A1 Z5 x- O" j3 v3 s. X - #define ON_OPEN_DOOR 6) _" H1 P+ M( ?
- #define ON_CLOSE_DOOR 71 l+ ]1 ]; l# [- Q1 n5 g& D. o
- #define ON_PICKUP_DOOR_OPENED 8# p1 i& z- r8 I% m
- #define ON_PICKUP_DOOR_CLOSED 91 A( J M; B6 h
- #define ON_DROPOFF_DOOR_OPENED 104 L+ }4 N# [: @5 f8 x. J
- #define ON_DROPOFF_DOOR_CLOSED 11- y7 l9 U; H. p8 T' i. f
-
7 Q9 S/ c$ ~: u6 @) R - #define AGV_STATE_START 0
8 E/ i1 E# x8 {7 @1 v. Z - #define AGV_STATE_AT_ENTRY_CP 1
0 E0 M( w9 {( x) f - #define AGV_STATE_AT_ELEV_CP 2' o1 Z2 @/ d& J( q, X" n1 F! b! W
- #define AGV_STATE_AT_EXIT_CP 3( I; O0 K: G* u
- ) f* _& B% T- P; W G
- #define ELEV_STATE_NONE 0( e, K) P/ V* `5 ?
- #define ELEV_STATE_AT_PICKUP_FLOOR 1
& A! w0 u2 I0 P' a) n8 a2 e - #define ELEV_STATE_OPENING_DOOR 2$ x3 }" s) N; A n! z* }
- #define ELEV_STATE_DOOR_OPENED 3
2 Q* C; i) ]. j4 a5 y0 T - 9 j6 S) f3 J3 W& E% g
- / E- _5 F/ r5 I6 Y& e
- treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;4 s% P5 q$ d. y# n
- #define elevator outobject(elevDisp, $iter(1))" H! |. ]* y, C$ Q. M- s2 S
- # y I7 d6 P4 m/ j8 |2 g% l0 F4 l% q: f
- if (!objectexists(elevDisp))
% }( k8 o# B/ ^1 ~, S - return 0;
4 m4 O4 ~2 [; c# r% X
; V2 w( w5 J. E; R8 u" I: T- if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {
) o" z- a: }9 O0 ]7 v5 A - query(. a0 P) q! I9 C! y
- /** \nFull Query: */
2 d: Y+ F9 R& w - /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,1 i! G8 M8 g( I" Z1 }
- nrop(elevDisp),
6 q" R, A, o+ X6 ]$ T+ P0 F4 ` - elevator
1 }" A, I4 I8 a @ m0 h; ~ O6 P2 w3 a - /** \nWhere*/
- t' Y- ]& c) {+ v; `. z- D7 f - /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/
* Y2 m8 z! \% ~" s1 K - /***/
; j$ Y0 W- K; z$ H) b O7 Q& G, p- i' a - /** \nOrderBy*/3 f4 S4 v& G8 g6 }' _
- /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*/$ _: b7 V8 ^7 ]& `% v- }
- /***/);
9 v+ \0 i' R2 F5 f
) z1 ^! M; v/ S. Z/ g( ~- if (getquerymatchcount() > 0)' f; ]5 Z' m8 Q3 W: \
- elevDisp = getqueryvalue(1, 1);
$ W: j8 g& L) ^' Z" [ - }
7 C$ i$ a* Y3 d4 n p( T$ t - if (!objectexists(elevDisp))8 \/ N7 G! i! { i! C( j
- return 0;
& B# u" g; m3 x4 ?5 D - treenode destCP = agvinfo(agv, AGV_DEST_CP);& ?; G) K9 e- }( k1 u' b
& `- C3 Q9 M2 S: y* V' S/ N& c) `- agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);
/ i3 ]0 B9 M( {
4 k' U7 l( d3 M0 R- // Create the task sequence for the elevator
, v$ v( q$ D) v - double destZ = zloc(destCP);' `! i( p2 H6 S# B: x: N
- treenode ts = createemptytasksequence(elevDisp, 0, 0);
" b- B" u! u, s; a2 N+ R - inserttask(ts, TASKTYPE_TAG, agv, destCP);
/ Y5 h1 @' P$ l2 W4 ?! M# Q# @8 m - // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START* {" Z4 r9 o, U0 m& l
- inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);/ V3 c" b( \6 k: ?1 C
- // travel to the z location of the current control point4 A* s; [5 h6 Y2 F' r0 H
- inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));* N1 J" d$ h, M2 O1 p
- // then call ON_ELEVATOR_PICKUP_ARRIVAL- L! }( Y3 C/ N D1 X- ^: p8 g5 Q
- inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);- w9 O& v, _: v1 g
- // then wait for the agv to get on4 R5 n7 [, `. p0 A
- inserttask(ts, TASKTYPE_UTILIZE, agv);, i! ^8 q- E; \' f2 K5 T2 V- y
- // then travel to the destination z location, I: x+ G, C( S( h6 Z
- inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);8 v5 q `/ J' p" m, v) \
- // then call ON_ELEVATOR_DROPOFF_ARRIVAL' K& S; }' f9 n# C0 C: z, X' i. n
- inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);
" ^; S* Z" H* m3 z - inserttask(ts, TASKTYPE_UTILIZE, agv);
6 E$ J9 ^6 A4 H' Y; E# n( f - dispatchtasksequence(ts);
$ \8 S m1 a3 ]+ Q - } else switch (operation) {
0 c4 u# J9 Y4 o& v( u: ? - case ON_ELEVATOR_START: {! `8 L, q: ~* y# t9 I* r: @
- // this is fired when I get a valid elevator
9 ]* q& a0 B9 Y+ k( N: } - treenode elev = param(1);' M" E G( n1 ]
- treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);+ m \1 e) f" }. K; J, c9 X
9 r+ n0 @3 b2 n7 P# p- // find the closest floor control point
6 x8 b3 B7 J/ E9 s4 b2 z. ? - int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);
( f! w3 E8 P0 C+ J7 r! M/ ` - treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon),
2 }3 d- d/ t) }4 |4 T& B1 V( l - fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),0 h' W* ?8 m$ k6 y
- cpconnection(elev, floorCPCon, count));4 M4 [1 o- A! y* ] S* R) i x0 c
- // return if there is none
7 @! d; q3 y: J( M7 J& ?( i3 J6 ] - if (!objectexists(curFloorCP))
1 V( X$ V8 i. J' G' s - return 0;
) q$ \$ U# `: u* d. P. } - 9 Z8 B3 w7 i$ W- n3 ?4 W, z
- // get the entry control point
6 O- f: }( e/ |2 L: O& J- N' [ - treenode floorCP = curFloorCP;) f; a6 d ]8 `5 g- ?
- treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;
3 f) \# m( b6 u) K0 V6 p - if (!objectexists(curFloorEntryCP))
0 {3 m. e% T! C( ~; N - return 0;( B- i+ ~3 H3 ^1 T+ u: ?: {7 b
- treenode floorEntryCP = curFloorEntryCP;, D" E$ ]0 {9 n
- treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;! q4 Q! P3 H% k! D2 s
- if (!objectexists(curFloorElevCP)). e& F" ?2 e6 C4 h* S' W. z
- return 0;
9 [+ f" z; Z+ U3 v* D: d2 i: M. O3 d - 9 k# X$ `, s; d8 i3 D
- double destZ = param(4);
/ ^ U! q/ c8 p; e7 M - // find the floor control point closest to the destination floor2 k% t2 g! ~( n3 p0 P
- treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon), + i/ Z/ o+ g( \- \" b
- fabs(destZ - zloc(cpconnection(elev, floorCPCon, count))),
5 a1 s! m; x& F1 c* Z/ a - cpconnection(elev, floorCPCon, count));% j" u1 e; T5 A: ?" _/ k- W. _
- " }' P C0 o! \
- floorCP = destFloorCP;9 @4 Q8 B% |+ j j; R
- treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;
0 @$ r) ~ ] I/ P4 [& P- @4 j/ V% u - if (!objectexists(destFloorElevCP))4 j3 e R; {4 A( F, k4 z& Y1 V4 E
- return 0;
, V1 N6 D0 \1 [: ^3 Q - // get the destination exit control point
7 x" q& o q4 C- M - treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;3 _. p* ]4 B, W! j1 `8 E2 a
- if (!objectexists(destExitCP)), \$ w( h3 l+ C, ]1 g4 I
- return 0;
+ z6 S1 g% l' ^% L0 E- F - % Y$ ? `. Y3 h6 m$ S+ f
- 1 f3 d/ N! ]8 s7 }
- // add a listener for the agv. This will call this nodefunction in the ON_AGV_AT_CP section whenever the & w; u, w, u( x" M& t3 E
- // agv arrives at a node. I keep a state on the agv's state label, and then increment it each time |/ h E0 f" S, B" {
- // the listener is called so I know which control point he's at, i.e. entry, elev, or exit.
" H1 u3 _: t8 ~3 m# n d+ b$ J - agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,
4 v1 q. B+ H' e- c - agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);
9 g4 r! S$ @% L/ n -
2 o, y: e& p2 z - // set the data on the state label
* f% C0 i- I) Q - treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);
7 t* W$ z: r3 q6 | - switch_destroyonreset(stateLabel, 1);
8 `) ~+ p$ c; F: c! _2 e2 K - set(stateLabel, AGV_STATE_START);
! b( z0 V0 ], s0 ` - set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);
& d1 s# P9 m* f - nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);" m, s+ Y4 Z: ^4 U
- nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);
7 P6 _) g4 i; A, S' b, L - nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);/ q$ K4 ^: ^1 R: g. D. ^
- agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);% q2 ~- B' S. I: h+ v g& l. V9 m
- return 0;
: G0 _) K( ~$ F; ?3 X5 L; v- A - }0 p3 |" o6 ^) \' w
- case ON_AGV_AT_CP: {+ `! U l2 `7 m2 l1 X/ V( I9 I% \
- // this is fired by the agv listener every time the agv arrives at a node.
1 z/ _, i0 e3 s: N+ U. j - treenode agv = param(1);
s" w' H) H& z, n/ R4 g - treenode elev = param(2);$ n. p) w& @, ~ A6 A1 T
- treenode stateLabel = label(agv, AGV_LABEL_NAME);
. x! S7 n, u0 k4 c/ @8 m - // I increment the state label, and then switch on it7 l# ?5 |: x0 o- d& F+ q `
- inc(stateLabel, 1);
# K V' @" `) H/ A' r - switch (get(stateLabel)) {
* M8 `! a+ m, [ t - case AGV_STATE_AT_ENTRY_CP: {3 Y) ^0 _* h7 G" E
- // the agv just arrived at the entry cp0 ^ _5 z4 F: j2 U) x
- // so, figure out where the elevator is.* N: m! d) G! R4 A( n
- int elevState = get(node("ElevState", stateLabel));5 b$ a: ?% o" X+ Z5 x
- // if he's at the pickup floor with his door closed then open the door.. H# e1 F- [; n2 h5 Y/ P
- if (elevState == ELEV_STATE_AT_PICKUP_FLOOR)
' Q6 k. N% d B3 g - nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
$ R* j' f r4 i4 _, x- j - else if (elevState == ELEV_STATE_DOOR_OPENED) {4 N% p0 L& f' W+ G0 @9 L
- // if his door is alread opened, then move the agv onto the elevator, i.e. to- l* r3 h/ j) p+ w+ A& y
- // the elevator cp0 g2 _" t5 _! z. p+ c' e
- treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));2 f0 O3 x; e1 W4 M9 ~1 W0 H. i* Z
- agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
8 W1 }/ {, \8 ~ - }8 N# O c O$ s
- break;3 o/ d4 F v; J3 {
- }
E) o2 E5 m3 Z# `" Z; G3 W. A - case AGV_STATE_AT_ELEV_CP: {# R1 }: w0 ]# S* d3 }4 R4 s( v9 y
- // once the agv is at the elevator cp, close the door, y& p4 I- @4 c1 a
- nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);
, D; T! U. W( u$ u' S - break;$ W- y5 F2 b9 G) L) M2 t1 P* s
- }5 @) z, f; n6 g) Y
- case AGV_STATE_AT_EXIT_CP: {
: F3 f/ [4 x+ Q& D1 }' C$ R - // the agv is at the exit cp
; F Y3 t, A) K: Y - // destroy the listener node because I'm finished listening8 e, s1 Y. Z% a- |% D8 R
- treenode listenerNode = param(4);; q. A: |6 h! @9 f) z0 D
- destroyobject(listenerNode);
( Q9 q- @5 Q' P; d - int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;3 w7 t' q& p; x9 G8 \ }
- if (!agvWait) {
. L% i0 [. A* e. A5 _" r- R+ I - // if the agv is supposed to continue on, then tell him to go to his final destination
6 T7 @- L. c+ \ - treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);
5 c% V" z9 i0 I( G5 W, M& W! P - agvredirect(agv, destCP, REDIRECT_AS_FINAL);
! c& Y6 g( i0 M' z; @* g; F5 u - }
! W& p' s x1 N0 M% Q, k - // close the door
$ }/ k' V6 i# `# | r( c; u - nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);
7 p1 e( b4 q# b6 c+ `0 W9 i4 D1 o - // and I'm finished with the state label so I can destroy it.
- [% ]* S% d6 \( o) i - destroyobject(stateLabel);
4 J8 \ j% @& a$ {' B6 b$ @( K - break;1 U) e2 h- R: H. n U! v
- }
6 K/ _# Q) P( G; [! k9 U6 n- D - }
I! y- g2 u8 _ - return 0;
P, Z2 ~& n6 a2 v' F - }& Y/ k# e. m* x
- case ON_ELEVATOR_PICKUP_ARRIVAL: {& b2 a& j/ i: P e" }
- // the elevator has arrived at the pick floor, u0 W+ e% `5 ?6 C8 z8 d
- treenode elev = param(1);
6 W* Y& h8 U1 d: y( ]7 [5 D# K - treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);% H- N9 u: q$ i: W
- treenode stateLabel = label(agv, AGV_LABEL_NAME);1 [$ c: u' `6 W2 i4 e
- treenode elevState = node("ElevState", stateLabel);/ C' Z4 s: Q+ F m% @2 B
- // set the elevator state to at-pickup-floor1 |: J3 W1 i7 Y0 J% E z4 B
- set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);
5 u* }( }' f) U8 H* \. [! [4 \ - ! W5 x1 o( {7 | V0 l
- int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;
; q1 V) a, l& }# h; K; \ - " ? Q' _1 N* k8 z& o
- // if the agv is at the entry control point or I open the door immediately, then open it, w: y5 ~* j8 r; z# O
- if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {
) t+ E) N# X; a. r) } - set(elevState, ELEV_STATE_OPENING_DOOR);
8 x% R& N. Q7 }9 M. S: F7 N - nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
+ a. Z3 B# Z% K6 C - }- |1 o$ X, ~4 z, l" o
- return 0;/ n1 u; q2 k; F7 W, Y3 X) D1 F
- }: @- \& ~( h" v3 N, n' \
- case ON_OPEN_DOOR: {) r. F* ?& l4 `! f
- treenode agv = param(1);( W( H3 ^. Y. q$ O2 T& s T
- treenode elev = param(2);
, k1 o! w; M; ~' n - int nextStep = param(4);
. K" i/ P8 }. |: R7 R! F8 o - // open the door based on the time to open the door
5 B e' ]2 T$ _& J: M2 V# C - double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;' y4 w' Z, O2 {
- delayednodefunction(c, openDoorTime, elev, agv, nextStep);. H! n8 r. p7 s
- return 0;
- T; D8 b6 j* A- N9 W' Q- v - }! u8 l; T) g+ z# m5 ~( ]. g- B" |, O
- case ON_CLOSE_DOOR: {: [$ l: g. M. s
- treenode agv = param(1);$ _+ K9 W8 J- ?" {$ l" x g
- treenode elev = param(2);
; v% [5 o+ Q4 o' f: { - int nextStep = param(4);% \! o8 N$ |$ j1 o* |4 D- i! r
- // close the door base on the time to close the door: {% j9 Y9 }/ u" k! w3 R* x
- double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;
( J8 c& n4 v& r5 T0 o - delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));9 ~' _/ Q2 g( b( w7 G+ v% H# i
- return 0;
1 I. E! F! y+ P2 {: X3 S2 H( e/ O - }# ^4 v- Z% H' z4 b
- case ON_PICKUP_DOOR_OPENED: {3 t$ G7 d) c, x$ q7 @4 x
- // the elevator door has been opened on the pickup floor
k2 l% a1 T, Y7 ~2 n6 { - treenode elev = param(1);0 |! @$ q( W' x
- treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);8 d( [% X' s; a x2 g
- treenode entryCP = cp(agv);) M/ k3 Z' j6 `8 Z5 L7 O
- treenode stateLabel = label(agv, AGV_LABEL_NAME);$ F3 \" i6 p1 P+ n) g
- treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
3 s8 y2 i3 p' Y: Q& e& ? - treenode elevState = node("ElevState", stateLabel);
8 f4 N/ F2 n6 ~+ Z8 r+ ^6 y' b/ o - // set the elevator state; w" R3 M6 \6 S$ @' [: ~% q1 A
- set(elevState, ELEV_STATE_DOOR_OPENED);6 [# z( i+ m/ p/ d& r! D
- // if the agv is at the entry control point, move him to the elevator control point' v9 k9 o& _( f
- if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP) k# o7 ? A& e/ p' S
- agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
' N* O, E0 D% k- ^8 ` - return 0;& D& A! {1 J# O3 R7 W$ p
- }: ]' s; d# y- I1 G
- case ON_PICKUP_DOOR_CLOSED: {, W% A1 ]( l1 u/ w w" d
- treenode elev = param(1);
" r& q9 H1 j$ J5 Z& s" Q - treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
1 e3 X& b; m! k0 f* G: i! X - // assign the agv to "no control point"' w) I; F* e$ ]
- agvreassigncp(agv, 0);
' k8 ^. Y$ f4 B) X1 }' f - // move the agv into the elevator2 p$ ]. m# w2 ~6 u/ G
- moveobject(agv, elev);- Q3 X3 t k6 y; n1 a
- setrot(agv, 0, 0, 0);
: p# G2 Z7 Z" w8 N+ x5 e - // release the elevator to continue to the destination floor
, @1 O/ b" ^* R9 r - freeoperators(elev, agv);) C# t$ s& G; u
- return 0;3 L5 P+ C ~& \7 e% V
- }
6 N6 a& D1 e3 ~) y8 `" C - case ON_ELEVATOR_DROPOFF_ARRIVAL: {
! s4 H+ w' L0 N: e: S& N* { - treenode elev = param(1);* `" }; R4 h1 {& a7 b- k
- treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
9 ^1 M; P! A: J! a" O7 i' y - // when the elevator arrives at the destination floor
4 L0 [- S1 e0 `- S - // move the agv back into the model
1 k8 ~/ z3 M- n' Q2 I, b+ f - moveobject(agv, model());
- @- V1 _# F5 q% {, J7 B. ~2 W - // reassign it to the destination floor control point
2 x* C" d* i; c) m3 d- R& Y9 O - agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));8 l& I" ]8 r. a' ]7 F
- // open the elevator door
3 ]. D2 q. [# F2 C, f$ h5 C$ A: ] - nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);
: f+ K5 I- w* |- Q - return 0;5 d. u. Y w: }! O
- }
' S/ h2 i# Q# J9 ^ - case ON_DROPOFF_DOOR_OPENED: {3 y# w" m( J8 F5 l$ \
- treenode elev = param(1);; R0 {$ ~ {& z5 W$ a
- treenode agv = param(2);6 F* d+ D6 u$ o. X
- treenode agvLabel = label(agv, AGV_LABEL_NAME);0 `% f5 x0 v, k7 ]1 Q% f
- // once the elevator door is opened on the destination floor,
/ g- c# t. J7 ~ Y4 R - // redirect the agv to the exit control point4 `! U& D6 d5 q# S2 Q
- agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);) e' X# K4 H& c# m5 k
- return 0;; \- @! v$ f9 j7 M
- }
2 z/ b! O1 G' O5 R- _$ @$ _ - case ON_DROPOFF_DOOR_CLOSED: {
, |% s; k+ V f- Q, w - treenode elev = param(1);8 b4 Z5 y M; ^; _) ?$ M' v
- treenode agv = param(2);
& T' |7 l3 s# U I; B - int isAGVWaiting = param(4);
; I5 O' W% F: ]5 Z3 u/ N - // once the door is closed at the destination floor,& B1 b6 [) V u. w/ Z
- // if the agv is waiting, then send him to the final destination6 i9 u# s! m- b" v
- if (isAGVWaiting)1 w$ g. V8 B+ J, T( f: T: H
- agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);8 |/ |( t F5 K
- // release the elevator to finish his task sequence; a. f/ A$ p4 O
- freeoperators(elev, agv);
P1 q+ d$ z+ S' ?$ w1 @3 w - return 0;
9 T p: F3 K2 X$ r7 w - }: u$ D# }, m6 p" z) a9 O) d' x
- }" V: N' Q" s/ d) S
- } //******* PickOption End *******\\
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, L: |- J# w; i3 G& I办法2:使用工艺流程模块完成 |
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