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2018.2.0版中AGV如何乘升降机?

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1#
Pureua 发表于 2018-11-4 16:20:35 | 只看该作者 回帖奖励 |倒序浏览 |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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2#
慧娴亚伦 发表于 2018-11-4 19:12:47 | 只看该作者
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:& L8 ^3 j4 x5 U6 f. q
  1. treenode agv = param(1);# j% n2 T1 @, g. \; O9 q
  2. treenode currentCP = param(2);
    - F# |7 J( S! o, ?: G$ a8 X0 n
  3. " u' k- w& {% ]  A& G6 t4 X  t
  4. { //************* PickOption Start *************\\# L& v# }0 f  w
  5. /***popup:AGV_DivertToElevator*/
    ) A  |0 @9 x: i2 B7 q, ?
  6. /***tag:Description*//**Divert to Elevator*/
    % S: Q( D' l, v, |1 c
  7. 4 L2 Z6 b+ }1 h5 Y* ^$ a" d
  8. int operation = param(3);$ c$ F4 ?  x' z1 r, Q* S0 P

  9. ( Z% \( T' [! V& W: U
  10. #define AGV_LABEL_NAME "fs_AGV_Elev_State"+ b1 o1 z. }% {, o4 C: d! M1 H
  11. if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME))3 F2 P; J6 y- ]0 s) u: A
  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+ r7 |4 E" P5 x/ o* P
  13.         // initial trigger execution) z7 Q; s$ s4 V7 T
  14.         #define ON_ELEVATOR_START 13 O( u1 E- Z* U8 |5 A* F1 p! P0 @
  15.         #define ON_ELEVATOR_PICKUP_ARRIVAL 24 _2 c5 K, H- H: ?5 \3 G6 f' D
  16.         #define ON_ELEVATOR_DROPOFF_ARRIVAL 3: `4 A/ _1 S  x) H+ _! c; ^" g; d
  17.         #define ON_AGV_AT_CP 4( d2 o8 L: a. j
  18.         #define ON_BOTH_AT_PICKUP 5' f. B/ o* b% E, p
  19.         #define ON_OPEN_DOOR 6; P+ W5 f1 b7 o$ H, w8 g
  20.         #define ON_CLOSE_DOOR 7/ z5 p- w9 i3 k
  21.         #define ON_PICKUP_DOOR_OPENED 8
    7 u+ `) s" Y  T1 Z+ U; s: z. d
  22.         #define ON_PICKUP_DOOR_CLOSED 9
    - g; O2 i9 J$ X  {% r
  23.         #define ON_DROPOFF_DOOR_OPENED 104 ]6 I% v6 {# [9 ^5 M% R: I7 _
  24.         #define ON_DROPOFF_DOOR_CLOSED 11( n# V/ N3 U! F  H7 o
  25.         # j1 F+ D+ b2 u: [. Q. m
  26.         #define AGV_STATE_START 0; S$ E. p- s4 J3 m9 m
  27.         #define AGV_STATE_AT_ENTRY_CP 1
    " j) Y7 z4 Y) e  H0 p
  28.         #define AGV_STATE_AT_ELEV_CP 2
    2 q' g8 r9 D; J( _* V
  29.         #define AGV_STATE_AT_EXIT_CP 3
    5 F5 J$ F6 o& O
  30.        
    " J8 |; u* {  b3 j+ t
  31.         #define ELEV_STATE_NONE 0
    ' O& d" ]% ~  l( i
  32.         #define ELEV_STATE_AT_PICKUP_FLOOR 1
    ( o& k7 x$ K( Q& f! V1 S
  33.         #define ELEV_STATE_OPENING_DOOR 2+ l$ O  Y* k. r: V8 |8 P* L, B
  34.         #define ELEV_STATE_DOOR_OPENED 3; Q! V; h2 b  ~: t0 q
  35. $ y" Q5 {7 X: V# W* D; }
  36. . u, j" f; q5 |
  37.         treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;
    - Z& O( |! m1 X9 @
  38.         #define elevator outobject(elevDisp, $iter(1)), `9 R4 ]. i) D* L7 T* q

  39. 4 T7 d+ ~$ u, `, o' G
  40.         if (!objectexists(elevDisp))/ U* R0 k' b4 u- \/ U1 P' E
  41.                 return 0;' v9 b8 ~  t+ \7 Q+ C

  42. 1 h5 ^2 A7 V: Q9 a1 ~6 l0 f
  43.         if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {
    & d# h- g( _7 u% `4 C' r% |: K
  44.                 query(
    2 k) u; K' z( j9 n
  45.                         /** \nFull Query: */
    7 G! }3 k, i. ~1 t' T0 @
  46.                         /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,
    + |8 ?6 Q* l6 Y) J% |
  47.                         nrop(elevDisp),; v6 X! w' O6 j% |( B* o
  48.                         elevator/ I8 x  C, S3 S1 y2 Q
  49.                         /** \nWhere*/) M+ k- t' d. J& D6 t, |  J
  50.                         /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/
      v* c% Y; G8 I+ ]8 {. K
  51.                         /***/
    ( K1 o+ q3 ?! Y' D# z% X
  52.                         /** \nOrderBy*/) H  I: m- C% _4 V/ j
  53.                         /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*/
    7 P. u* C+ s9 Y: r, t1 Q" E- o
  54.                         /***/);+ ^: d' @. c5 a( `/ j; }7 Q

  55. ! Y- X3 o, M9 I" D+ X5 E" g8 b5 M' X
  56.                 if (getquerymatchcount() > 0)) V9 w, K2 W" ]/ t
  57.                         elevDisp = getqueryvalue(1, 1);" T3 q" E4 b, Z
  58.         }/ G% A8 E( b" P; B# y, L' L3 D
  59.         if (!objectexists(elevDisp))
    % b% o5 z7 l1 ]: M7 T2 @+ f
  60.                 return 0;/ i! {& ?1 `% p
  61.         treenode destCP = agvinfo(agv, AGV_DEST_CP);' S* W3 Y! e& p+ P- }
  62. / L7 y  i% Z/ d$ t0 B, D/ c
  63.         agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);
    ) j3 j$ w$ s5 G
  64. 5 `6 W0 L* u$ F2 @  l3 J6 z
  65.         // Create the task sequence for the elevator
    2 O0 A% y6 D9 Z
  66.         double destZ = zloc(destCP);% D, P. X5 A- p3 E8 H5 P
  67.         treenode ts = createemptytasksequence(elevDisp, 0, 0);
    6 ?6 O( }% j7 {- ^& u1 u' w" G# M
  68.         inserttask(ts, TASKTYPE_TAG, agv, destCP);: Y1 D9 m% F7 H
  69.         // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START
    6 ?4 s# b; w; J' F) M2 |
  70.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);* u3 @, z. O" H6 b0 ^2 ^
  71.         // travel to the z location of the current control point: ~' y3 g0 E: n( E% h9 c; q! f1 }* C
  72.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));
    ; t' d; `, t& v" ~6 _( c2 w: f
  73.         // then call ON_ELEVATOR_PICKUP_ARRIVAL
    * [; d! K( n1 Q) l3 _/ B
  74.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);8 u3 z$ j6 q1 m
  75.         // then wait for the agv to get on
    $ o* X( S" y7 [5 k! n% h
  76.         inserttask(ts, TASKTYPE_UTILIZE, agv);
    % s; r# l" ?/ x
  77.         // then travel to the destination z location
    9 `" o  r* L. r/ t/ Q
  78.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);
    - ?. F3 I) u1 T' N2 Y2 |$ a! A
  79.         // then call ON_ELEVATOR_DROPOFF_ARRIVAL! U# @3 ^3 ^/ q: U) }0 z
  80.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);
    / [5 k# R$ ]0 s- F+ k! E7 p
  81.         inserttask(ts, TASKTYPE_UTILIZE, agv);3 j. w: b6 A- G
  82.         dispatchtasksequence(ts);
    4 o" n+ W. P9 G! f  Y4 f
  83. } else switch (operation) {
    8 }, Y) v5 ], [' {: g
  84.         case ON_ELEVATOR_START: {
    9 y7 f$ j% P" l) J& C$ z
  85.                 // this is fired when I get a valid elevator6 e( G7 v: X3 N2 Q4 u  h2 \6 Q( g
  86.                 treenode elev = param(1);2 T  ^6 {7 m2 I' I  _+ ^* T4 v, k# g
  87.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    - K* L5 m# X1 x8 s

  88. * @4 q, a* h1 ]$ T6 J: o
  89.                 // find the closest floor control point
    * d4 P4 H% u, r; b- g$ i
  90.                 int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);
    1 ^+ h% F% g" R4 F7 T, m9 k/ H
  91.                 treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon),
    ( i3 k+ j/ t' }' J  s
  92.                                                         fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),
    ( |' U- q; N2 x. [9 E, `9 `
  93.                                                         cpconnection(elev, floorCPCon, count));
    ; C- i- L. z4 p  `+ U$ b5 O: @% @
  94.                 // return if there is none( r: K+ S/ p8 K; l' g
  95.                 if (!objectexists(curFloorCP))
      h  k2 Q/ I& X/ _- S+ r) E5 O
  96.                         return 0;  G8 [7 i9 |* g
  97. & C  _3 \' P' I. w0 c# @4 w( K5 b
  98.                 // get the entry control point+ T8 x! V9 @! V/ O% g
  99.                 treenode floorCP = curFloorCP;+ ?1 m; v1 _# p+ }1 U2 L
  100.                 treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;' d. B$ D/ J; U+ f4 C1 a2 `
  101.                 if (!objectexists(curFloorEntryCP))  S1 y1 n, Q3 L# m
  102.                         return 0;
    + U) N3 {# k: w+ D
  103.                 treenode floorEntryCP = curFloorEntryCP;
    , w2 q$ Z+ S$ c4 l8 [4 ~& H. j
  104.                 treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;2 ~, |- `/ u8 H# T* X0 Y; V% j5 Q
  105.                 if (!objectexists(curFloorElevCP))! l' \8 @7 l) L5 h
  106.                         return 0;
      M+ k& \' ~9 d1 G' @/ a0 s( o. \

  107. + r) n3 K4 t, D5 J$ Z
  108.                 double destZ = param(4);; X4 D9 M% c5 I
  109.                 // find the floor control point closest to the destination floor7 d, N5 L: U/ A! X# [
  110.                 treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon),
    4 I0 N& u' t$ p$ n. D* h
  111.                                                         fabs(destZ - zloc(cpconnection(elev, floorCPCon, count)))," a1 t  z8 E" _1 b& R% J$ ^
  112.                                                         cpconnection(elev, floorCPCon, count));" K* A7 ?2 Z2 v0 y
  113.                                                         ( b/ @0 g. v5 o& h: E( n
  114.                 floorCP = destFloorCP;, h( b: V9 m9 m& g: ?- F
  115.                 treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;* l$ W4 s9 A5 M: [: q5 G
  116.                 if (!objectexists(destFloorElevCP)). m7 @$ A9 t; n2 P
  117.                         return 0;
    0 x; g% c' l/ d- {. t  P
  118.                 // get the destination exit control point5 ], w, z: c6 f! ~/ A! n
  119.                 treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;6 W* u+ c, ~, L
  120.                 if (!objectexists(destExitCP))
    7 k  W, o7 x3 v! n7 ]' Y: X7 R& a
  121.                         return 0;
    ! Z! c0 i' m! L, C% I/ j
  122. ( f9 n( S% o, m
  123. 8 Y- m. D, D4 M# Z/ V% j8 ^
  124.                 // add a listener for the agv. This will call this nodefunction in the ON_AGV_AT_CP section whenever the
    - D0 N0 Y- i9 }: O
  125.                 // agv arrives at a node. I keep a state on the agv's state label, and then increment it each time
    2 A! c+ Y" H. z; b
  126.                 // the listener is called so I know which control point he's at, i.e. entry, elev, or exit.
    3 U% ~% R6 H: h+ o* E6 h
  127.                 agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,
    , J7 [) j, q" {& Y. `0 e
  128.                         agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);
    6 Z9 P; ~+ B/ y0 r7 |, G/ q4 T
  129.                 / t4 g/ ^# y7 V
  130.                 // set the data on the state label 1 I9 Y/ D3 t' i: T0 g
  131.                 treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);" \5 r, p; x3 U6 f0 W) ?
  132.                 switch_destroyonreset(stateLabel, 1);
    . I  ]0 C% {- J  {
  133.                 set(stateLabel, AGV_STATE_START);/ i7 l% D7 P) E, M9 T& C
  134.                 set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);9 a8 `( I5 q; Q
  135.                 nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);& c" ]# |+ m7 @. s% z3 `' d
  136.                 nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);
    4 ]+ p9 G, w5 }. \
  137.                 nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);( u4 P& j6 Q$ c' u: }  W# ~% K" R
  138.                 agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);( u6 l! S: E0 R' ^5 r$ @
  139.                 return 0;
    0 {- ~& o) K  ~
  140.         }# \% n" h" t  E8 x% z2 K
  141.         case ON_AGV_AT_CP: {
    8 `2 \5 P- T  T6 _
  142.                 // this is fired by the agv listener every time the agv arrives at a node.+ V) n) j) A5 T' k2 j5 b+ `
  143.                 treenode agv = param(1);
    ) f5 r' d/ X2 m4 C. O4 W6 k, z
  144.                 treenode elev = param(2);$ }+ h* `: R1 @5 x
  145.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
    6 A1 j( ~" Z% @) |* N
  146.                 // I increment the state label, and then switch on it$ b1 h) q: W4 q. C) h  i
  147.                 inc(stateLabel, 1);& S$ f) D2 X. e
  148.                 switch (get(stateLabel)) {
      j+ h1 G; P- N1 u3 o7 ~9 ^+ N" ?
  149.                         case AGV_STATE_AT_ENTRY_CP: {) R9 b. c8 O1 ^9 L
  150.                                 // the agv just arrived at the entry cp3 h+ U" d2 g- h" J* U0 m/ A
  151.                                 // so, figure out where the elevator is.# A5 I# F6 j' b  g) U$ }; ]
  152.                                 int elevState = get(node("ElevState", stateLabel));
    , m1 D$ Z# q6 U* C; {
  153.                                 // if he's at the pickup floor with his door closed then open the door.% `# @$ D( h) ]8 L$ e
  154.                                 if (elevState == ELEV_STATE_AT_PICKUP_FLOOR)
    2 k. w! v9 b0 @1 Q
  155.                                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);2 m* Q% I' a* [
  156.                                 else if (elevState == ELEV_STATE_DOOR_OPENED) {+ W$ h! c! C8 C8 r' s: O8 I
  157.                                         // if his door is alread opened, then move the agv onto the elevator, i.e. to+ j% L! I9 \9 t% ^9 A
  158.                                         // the elevator cp; p$ n  @7 I7 e
  159.                                         treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
    % D" u0 y2 m) T( V
  160.                                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);6 [5 h6 |6 ~- \  A3 W
  161.                                 }* B" o! L; C2 Z
  162.                                 break;
    0 T, @9 Y2 y; |
  163.                         }* e! i$ A1 J/ a  Q
  164.                         case AGV_STATE_AT_ELEV_CP: {* y7 G; j1 \* G4 B) O9 z
  165.                                 // once the agv is at the elevator cp, close the door! o& n7 J9 a: b# s
  166.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);. \9 O8 {$ y& ~4 H
  167.                                 break;
    ' B$ J# k) z8 y+ x8 r
  168.                         }
      ~+ q" f6 Z4 g
  169.                         case AGV_STATE_AT_EXIT_CP: {/ y# z7 s# ]* y' Q9 e7 L1 \
  170.                                 // the agv is at the exit cp5 H6 H, g, U) x5 ~! k
  171.                                 // destroy the listener node because I'm finished listening$ r$ u7 ^* ~1 h# ^  i( P
  172.                                 treenode listenerNode = param(4);
    3 [+ x) [0 k7 q
  173.                                 destroyobject(listenerNode);
    ( ?1 Q! Y+ t/ p0 x1 b; v4 [4 Z
  174.                                 int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;
    3 j6 g/ k# V$ s2 [
  175.                                 if (!agvWait) {
    0 \3 ?4 h8 c9 D' s$ t( R# I# \: f
  176.                                         // if the agv is supposed to continue on, then tell him to go to his final destination
    ; X3 W# z2 D' e$ ?9 ?
  177.                                         treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);
    8 F9 N& @5 ?$ q/ N. e- e, e% n
  178.                                         agvredirect(agv, destCP, REDIRECT_AS_FINAL);
    3 U/ Y* {- I4 K! F; q4 q
  179.                                 }# r4 G8 _5 r( O7 `
  180.                                 // close the door
    ! r: {! `" `/ a2 A7 ?( m
  181.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);
    ) V7 z+ x! c4 {& d/ }
  182.                                 // and I'm finished with the state label so I can destroy it.& q5 v/ R; H& b* L- R7 ~
  183.                                 destroyobject(stateLabel);! [/ F6 d) {* p; T# Q
  184.                                 break;; v- d- t1 W  q3 b; M9 h% }% w4 ~
  185.                         }- b7 m9 m3 m/ {9 Y& e
  186.                 }) [7 P+ V" z6 G1 k. j% T
  187.                 return 0;& ~9 U6 ?, C: B  M1 x' H7 y
  188.         }  {1 [- S* P# x4 A7 j
  189.         case ON_ELEVATOR_PICKUP_ARRIVAL: {
    # f. Y% y8 H: w
  190.                 // the elevator has arrived at the pick floor
    * G5 X, v- O0 T/ l+ o+ V/ n, M
  191.                 treenode elev = param(1);
    * N4 {4 t! Y# A
  192.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);. x, I9 v; C6 _) G( S% d5 P. }
  193.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);3 Y! Q$ U' Y+ d
  194.                 treenode elevState = node("ElevState", stateLabel);
    ( }: X* r0 T" Z0 H$ u- X4 p( H# T
  195.                 // set the elevator state to at-pickup-floor/ x1 K4 E# \9 q- H
  196.                 set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);" w: N4 g2 W( f& i
  197.         4 y$ Z9 T0 ^# \* X
  198.                 int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;, ]5 x2 T1 M0 \0 P
  199.                 ' |" \! p5 I- `% L+ N
  200.                 // if the agv is at the entry control point or I open the door immediately, then open it
    8 v! e* P+ _. R  ?
  201.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {7 Y- y" c* x  j) X% t/ k1 e# v7 x$ t
  202.                         set(elevState, ELEV_STATE_OPENING_DOOR);9 t0 \2 P1 x; t3 _: \7 B7 z# B, e
  203.                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
    $ F2 S4 X) `. y" E
  204.                 }
    7 Q" D5 Z! c/ ]# g8 ]
  205.                 return 0;, y2 _0 I7 I6 A& m1 S9 x0 v
  206.         }+ ~* V: }8 K- k; D8 T% t" C' d7 l
  207.         case ON_OPEN_DOOR: {! Z4 H- J' {* M7 V# z1 P
  208.                 treenode agv = param(1);4 Y/ R* n- |+ x
  209.                 treenode elev = param(2);
    ) t6 z! p4 T6 o/ @9 G
  210.                 int nextStep = param(4);$ t6 X/ L/ q7 l+ O6 u8 J, }
  211.                 // open the door based on the time to open the door- s0 C/ T8 v' }6 o8 u/ ^; l& o
  212.                 double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;2 @5 Q. f/ B$ O1 {
  213.                 delayednodefunction(c, openDoorTime, elev, agv, nextStep);
    . `' h& }( m+ r7 s9 |/ m! i& g
  214.                 return 0;' x( Y: H. v+ Q% T; `  [
  215.         }$ e  s# N! U( T/ n7 D
  216.         case ON_CLOSE_DOOR: {
    * d3 Y4 r  B: |9 f8 ~$ Z. u
  217.                 treenode agv = param(1);' `: F/ {$ K, v( h, w# g8 j; o  [4 w
  218.                 treenode elev = param(2);: v) C$ F6 k0 W4 \+ D' w. o0 |
  219.                 int nextStep = param(4);
    ! ^5 M( f2 N" Y  s- G2 {  Y
  220.                 // close the door base on the time to close the door
    , }4 L; w; ?. W1 W( S& ^; L
  221.                 double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;
    / Y/ Z& M( y2 q! C
  222.                 delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));- l0 [5 V; r4 G# ]7 G. w/ J
  223.                 return 0;
    # b! k0 d: C! C
  224.         }( T+ _+ F" _3 _9 @, r. x
  225.         case ON_PICKUP_DOOR_OPENED: {
    # B& A9 j* ?7 W  D4 F5 I
  226.                 // the elevator door has been opened on the pickup floor
    / p9 d0 z- b/ E6 E  |1 m7 M/ r
  227.                 treenode elev = param(1);
    8 j5 v8 @, ^+ P+ x% m) t
  228.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    & a5 }  S' U- U1 ]: Y
  229.                 treenode entryCP = cp(agv);
    9 f: N/ c2 \. R( M, p. C
  230.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
    ; J, i  V+ c7 Y+ L! ?$ U/ F
  231.                 treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));4 z+ n3 u3 |2 z
  232.                 treenode elevState = node("ElevState", stateLabel);
    ; o. q; n) ^0 Q& M: ]2 c# t4 I9 p+ [! {
  233.                 // set the elevator state6 H+ q+ N* U3 M9 I& [3 b" K( ^- y
  234.                 set(elevState, ELEV_STATE_DOOR_OPENED);
    4 u8 V5 u8 K' o4 l0 e0 Y$ `* @. z
  235.                 // if the agv is at the entry control point, move him to the elevator control point- G# A' n" i. L5 h/ L
  236.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP)6 B& r% D  D& S9 k1 T; m
  237.                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);0 j2 Q4 a$ u5 E  E5 Z5 X, A
  238.                 return 0;
    ! U4 t% T" h- S: t! ?/ j3 s3 I
  239.         }
    5 S  |6 I% Q# \& q3 G) |
  240.         case ON_PICKUP_DOOR_CLOSED: {
    5 X; B# M. U2 n0 X6 j5 g
  241.                 treenode elev = param(1);
    7 C3 H& C& P9 Q" K" Q. K, b9 Y
  242.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);3 N1 s7 O" y& t( I, @
  243.                 // assign the agv to "no control point"7 {) t3 z6 y: N8 z9 W- W# q
  244.                 agvreassigncp(agv, 0);* k% y( A2 V- N0 a7 |
  245.                 // move the agv into the elevator- j6 y# {2 U1 c- x0 R: j" f
  246.                 moveobject(agv, elev);/ e6 M" ]1 Y4 j/ C
  247.                 setrot(agv, 0, 0, 0);
    - c  i) g( ]1 d5 H
  248.                 // release the elevator to continue to the destination floor
    4 V& D0 h0 {6 m$ a1 a" v1 q
  249.                 freeoperators(elev, agv);
    ; F+ z+ Y& Y! }, }4 p
  250.                 return 0;5 M3 f3 S& ]1 |+ ^' p  M, y
  251.         }
    # E% u- ]4 H" `7 l' L0 S% O
  252.         case ON_ELEVATOR_DROPOFF_ARRIVAL: {, r/ G# G% `$ X0 E$ S7 t- m4 r
  253.                 treenode elev = param(1);
    3 m: d6 y, r' a& B. o+ T
  254.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    6 b! u# t3 c# Q* p( I' E& g
  255.                 // when the elevator arrives at the destination floor4 b) b; j1 \. P' h3 ^' w
  256.                 // move the agv back into the model
    / }1 u+ f: e/ u+ c+ H2 m( s
  257.                 moveobject(agv, model());
    / }+ j6 [7 g! C2 k: c1 c0 ?
  258.                 // reassign it to the destination floor control point. x0 L' a: f0 ]" ?/ \% a) H
  259.                 agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));
      B8 ~" G; K  _) [& V' B/ Q
  260.                 // open the elevator door
    " n1 w( ?; L6 p: c) \$ O
  261.                 nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);
    6 i0 c5 X3 {) j; b/ a: M* Q+ {) \
  262.                 return 0;
    5 I7 e1 M  C* w  O
  263.         }
    # e- {3 G  l. [( W0 _
  264.         case ON_DROPOFF_DOOR_OPENED: {6 q0 T. ^( Y* h# r4 Y: t
  265.                 treenode elev = param(1);
    ' G, Z# m3 x/ x+ ]: ~
  266.                 treenode agv = param(2);" @& n0 M3 F5 c/ I1 G6 v
  267.                 treenode agvLabel = label(agv, AGV_LABEL_NAME);" U, y4 z9 t$ B" a4 j
  268.                 // once the elevator door is opened on the destination floor, - U" Y1 Y* m/ p/ b1 Y9 O# O
  269.                 // redirect the agv to the exit control point
    ) s' W3 U  d# p" s+ `
  270.                 agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);; B6 ]' B4 @# |, `5 q1 D+ ]% @( \9 v
  271.                 return 0;, Q: l+ F( a. M: j, y" }- e, D
  272.         }
    : ~' ]5 ?7 J" o% Q2 y
  273.         case ON_DROPOFF_DOOR_CLOSED: {& W# K4 n3 K; V  A& g) Q
  274.                 treenode elev = param(1);3 B% i5 b, [% M$ o8 U7 F) n% P: @
  275.                 treenode agv = param(2);$ {  v( M- p+ A, T3 z" g
  276.                 int isAGVWaiting = param(4);
    ; |6 A# U( \- w* i2 r* W; B) }9 E  t
  277.                 // once the door is closed at the destination floor,
    7 W$ W! j  R/ s( A0 V1 Z
  278.                 // if the agv is waiting, then send him to the final destination. v, R$ u/ h2 {" e# g
  279.                 if (isAGVWaiting)' l/ B2 m& r9 U
  280.                         agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);( I3 n8 B  t4 T8 o3 }2 o- N6 L
  281.                 // release the elevator to finish his task sequence( ~7 d; H: \; Z- _4 k* `
  282.                 freeoperators(elev, agv);
    ) J. }+ b+ [5 ~- f! \: `
  283.                 return 0;
    & J: F2 J- m4 Z2 G: C
  284.         }( C2 S9 b/ ]- s) G  k; B2 u- n2 ]; U" t. P
  285. }* ^# C- ]; {0 T& C9 [  }9 u
  286. } //******* PickOption End *******\\; `5 b7 R9 g1 s( s! i/ t

  287. # m0 ~8 P+ K' w
复制代码
: L$ q# U5 ]* t+ ^3 S1 Y1 T1 l
$ b0 c4 z; N  {; L- i. O6 h* I1 T
8 _: _, K! R# A
办法2:使用工艺流程模块完成
3#
 楼主| Pureua 发表于 2018-11-5 09:25:46 | 只看该作者
慧娴亚伦 发表于 2018-11-4 19:12
/ D5 l+ A7 `7 H4 k) m: f办法1:从2016版本里面复制相应的代码
: H, P  T9 |- T2 o
$ u' R; F3 I1 s! k0 Y: o6 Z具体代码如下:

, ^: h' P, l+ E* u& h好的,非常感谢陈老师的解答~
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