全球FlexSim系统仿真中文论坛

搜索
查看: 6139|回复: 2
打印 上一主题 下一主题

2018.2.0版中AGV如何乘升降机?

[复制链接]
跳转到指定楼层
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?
7 Y3 w2 J  e: \( N
$ g' p; F6 b( p' {8 M% s$ o

本帖子中包含更多资源

您需要 登录 才可以下载或查看,没有帐号?立即注册

x
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3 a; \$ }! B4 S4 D+ D
1 [' n# P( C- k
具体代码如下:
" |+ ]" A$ B9 c4 C+ i9 B
  1. treenode agv = param(1);
    - a7 D. e& M1 q3 C! R1 j
  2. treenode currentCP = param(2);
    3 W& |0 q. C8 P' ]# r! F) c
  3. , P$ Q% z( h1 b+ G, I+ ~6 q3 O3 n4 u2 v' B
  4. { //************* PickOption Start *************\\
    $ g1 k9 N) }9 `' k. P/ h
  5. /***popup:AGV_DivertToElevator*/& j0 S" ]/ x) n0 H# {7 N* ]
  6. /***tag:Description*//**Divert to Elevator*/9 c- J( m6 Y6 q/ g
  7. 4 s3 ]* s7 L2 O
  8. int operation = param(3);& G* a- E% G0 ~/ y* n

  9. 1 l, \1 j  J) _
  10. #define AGV_LABEL_NAME "fs_AGV_Elev_State"+ ?4 M/ k! n1 _$ `0 g. A& ~' ?
  11. if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME))5 k  S3 J& X4 Q$ H4 G
  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
    ' H+ E% Q6 J" u$ }2 D. `' y7 X9 s
  13.         // initial trigger execution# N! y0 |) ^1 j1 e' U* V
  14.         #define ON_ELEVATOR_START 1$ `% @7 U! r8 L3 i
  15.         #define ON_ELEVATOR_PICKUP_ARRIVAL 2
    ' \5 _* y6 [# o
  16.         #define ON_ELEVATOR_DROPOFF_ARRIVAL 3
    ( s: t% M: |/ `% _( S: T
  17.         #define ON_AGV_AT_CP 4
    3 b/ t8 c9 Z7 u9 a; p7 \
  18.         #define ON_BOTH_AT_PICKUP 5
    % J* A1 Z5 x- O" j3 v3 s. X
  19.         #define ON_OPEN_DOOR 6) _" H1 P+ M( ?
  20.         #define ON_CLOSE_DOOR 71 l+ ]1 ]; l# [- Q1 n5 g& D. o
  21.         #define ON_PICKUP_DOOR_OPENED 8# p1 i& z- r8 I% m
  22.         #define ON_PICKUP_DOOR_CLOSED 91 A( J  M; B6 h
  23.         #define ON_DROPOFF_DOOR_OPENED 104 L+ }4 N# [: @5 f8 x. J
  24.         #define ON_DROPOFF_DOOR_CLOSED 11- y7 l9 U; H. p8 T' i. f
  25.        
    7 Q9 S/ c$ ~: u6 @) R
  26.         #define AGV_STATE_START 0
    8 E/ i1 E# x8 {7 @1 v. Z
  27.         #define AGV_STATE_AT_ENTRY_CP 1
    0 E0 M( w9 {( x) f
  28.         #define AGV_STATE_AT_ELEV_CP 2' o1 Z2 @/ d& J( q, X" n1 F! b! W
  29.         #define AGV_STATE_AT_EXIT_CP 3( I; O0 K: G* u
  30.         ) f* _& B% T- P; W  G
  31.         #define ELEV_STATE_NONE 0( e, K) P/ V* `5 ?
  32.         #define ELEV_STATE_AT_PICKUP_FLOOR 1
    & A! w0 u2 I0 P' a) n8 a2 e
  33.         #define ELEV_STATE_OPENING_DOOR 2$ x3 }" s) N; A  n! z* }
  34.         #define ELEV_STATE_DOOR_OPENED 3
    2 Q* C; i) ]. j4 a5 y0 T
  35. 9 j6 S) f3 J3 W& E% g
  36. / E- _5 F/ r5 I6 Y& e
  37.         treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;4 s% P5 q$ d. y# n
  38.         #define elevator outobject(elevDisp, $iter(1))" H! |. ]* y, C$ Q. M- s2 S
  39. # y  I7 d6 P4 m/ j8 |2 g% l0 F4 l% q: f
  40.         if (!objectexists(elevDisp))
    % }( k8 o# B/ ^1 ~, S
  41.                 return 0;
    4 m4 O4 ~2 [; c# r% X

  42. ; V2 w( w5 J. E; R8 u" I: T
  43.         if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {
    ) o" z- a: }9 O0 ]7 v5 A
  44.                 query(. a0 P) q! I9 C! y
  45.                         /** \nFull Query: */
    2 d: Y+ F9 R& w
  46.                         /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,1 i! G8 M8 g( I" Z1 }
  47.                         nrop(elevDisp),
    6 q" R, A, o+ X6 ]$ T+ P0 F4 `
  48.                         elevator
    1 }" A, I4 I8 a  @  m0 h; ~  O6 P2 w3 a
  49.                         /** \nWhere*/
    - t' Y- ]& c) {+ v; `. z- D7 f
  50.                         /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/
    * Y2 m8 z! \% ~" s1 K
  51.                         /***/
    ; j$ Y0 W- K; z$ H) b  O7 Q& G, p- i' a
  52.                         /** \nOrderBy*/3 f4 S4 v& G8 g6 }' _
  53.                         /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*/$ _: b7 V8 ^7 ]& `% v- }
  54.                         /***/);
    9 v+ \0 i' R2 F5 f

  55. ) z1 ^! M; v/ S. Z/ g( ~
  56.                 if (getquerymatchcount() > 0)' f; ]5 Z' m8 Q3 W: \
  57.                         elevDisp = getqueryvalue(1, 1);
    $ W: j8 g& L) ^' Z" [
  58.         }
    7 C$ i$ a* Y3 d4 n  p( T$ t
  59.         if (!objectexists(elevDisp))8 \/ N7 G! i! {  i! C( j
  60.                 return 0;
    & B# u" g; m3 x4 ?5 D
  61.         treenode destCP = agvinfo(agv, AGV_DEST_CP);& ?; G) K9 e- }( k1 u' b

  62. & `- C3 Q9 M2 S: y* V' S/ N& c) `
  63.         agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);
    / i3 ]0 B9 M( {

  64. 4 k' U7 l( d3 M0 R
  65.         // Create the task sequence for the elevator
    , v$ v( q$ D) v
  66.         double destZ = zloc(destCP);' `! i( p2 H6 S# B: x: N
  67.         treenode ts = createemptytasksequence(elevDisp, 0, 0);
    " b- B" u! u, s; a2 N+ R
  68.         inserttask(ts, TASKTYPE_TAG, agv, destCP);
    / Y5 h1 @' P$ l2 W4 ?! M# Q# @8 m
  69.         // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START* {" Z4 r9 o, U0 m& l
  70.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);/ V3 c" b( \6 k: ?1 C
  71.         // travel to the z location of the current control point4 A* s; [5 h6 Y2 F' r0 H
  72.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));* N1 J" d$ h, M2 O1 p
  73.         // then call ON_ELEVATOR_PICKUP_ARRIVAL- L! }( Y3 C/ N  D1 X- ^: p8 g5 Q
  74.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);- w9 O& v, _: v1 g
  75.         // then wait for the agv to get on4 R5 n7 [, `. p0 A
  76.         inserttask(ts, TASKTYPE_UTILIZE, agv);, i! ^8 q- E; \' f2 K5 T2 V- y
  77.         // then travel to the destination z location, I: x+ G, C( S( h6 Z
  78.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);8 v5 q  `/ J' p" m, v) \
  79.         // then call ON_ELEVATOR_DROPOFF_ARRIVAL' K& S; }' f9 n# C0 C: z, X' i. n
  80.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);
    " ^; S* Z" H* m3 z
  81.         inserttask(ts, TASKTYPE_UTILIZE, agv);
    6 E$ J9 ^6 A4 H' Y; E# n( f
  82.         dispatchtasksequence(ts);
    $ \8 S  m1 a3 ]+ Q
  83. } else switch (operation) {
    0 c4 u# J9 Y4 o& v( u: ?
  84.         case ON_ELEVATOR_START: {! `8 L, q: ~* y# t9 I* r: @
  85.                 // this is fired when I get a valid elevator
    9 ]* q& a0 B9 Y+ k( N: }
  86.                 treenode elev = param(1);' M" E  G( n1 ]
  87.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);+ m  \1 e) f" }. K; J, c9 X

  88. 9 r+ n0 @3 b2 n7 P# p
  89.                 // find the closest floor control point
    6 x8 b3 B7 J/ E9 s4 b2 z. ?
  90.                 int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);
    ( f! w3 E8 P0 C+ J7 r! M/ `
  91.                 treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon),
    2 }3 d- d/ t) }4 |4 T& B1 V( l
  92.                                                         fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),0 h' W* ?8 m$ k6 y
  93.                                                         cpconnection(elev, floorCPCon, count));4 M4 [1 o- A! y* ]  S* R) i  x0 c
  94.                 // return if there is none
    7 @! d; q3 y: J( M7 J& ?( i3 J6 ]
  95.                 if (!objectexists(curFloorCP))
    1 V( X$ V8 i. J' G' s
  96.                         return 0;
    ) q$ \$ U# `: u* d. P. }
  97. 9 Z8 B3 w7 i$ W- n3 ?4 W, z
  98.                 // get the entry control point
    6 O- f: }( e/ |2 L: O& J- N' [
  99.                 treenode floorCP = curFloorCP;) f; a6 d  ]8 `5 g- ?
  100.                 treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;
    3 f) \# m( b6 u) K0 V6 p
  101.                 if (!objectexists(curFloorEntryCP))
    0 {3 m. e% T! C( ~; N
  102.                         return 0;( B- i+ ~3 H3 ^1 T+ u: ?: {7 b
  103.                 treenode floorEntryCP = curFloorEntryCP;, D" E$ ]0 {9 n
  104.                 treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;! q4 Q! P3 H% k! D2 s
  105.                 if (!objectexists(curFloorElevCP)). e& F" ?2 e6 C4 h* S' W. z
  106.                         return 0;
    9 [+ f" z; Z+ U3 v* D: d2 i: M. O3 d
  107. 9 k# X$ `, s; d8 i3 D
  108.                 double destZ = param(4);
    / ^  U! q/ c8 p; e7 M
  109.                 // find the floor control point closest to the destination floor2 k% t2 g! ~( n3 p0 P
  110.                 treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon), + i/ Z/ o+ g( \- \" b
  111.                                                         fabs(destZ - zloc(cpconnection(elev, floorCPCon, count))),
    5 a1 s! m; x& F1 c* Z/ a
  112.                                                         cpconnection(elev, floorCPCon, count));% j" u1 e; T5 A: ?" _/ k- W. _
  113.                                                         " }' P  C0 o! \
  114.                 floorCP = destFloorCP;9 @4 Q8 B% |+ j  j; R
  115.                 treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;
    0 @$ r) ~  ]  I/ P4 [& P- @4 j/ V% u
  116.                 if (!objectexists(destFloorElevCP))4 j3 e  R; {4 A( F, k4 z& Y1 V4 E
  117.                         return 0;
    , V1 N6 D0 \1 [: ^3 Q
  118.                 // get the destination exit control point
    7 x" q& o  q4 C- M
  119.                 treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;3 _. p* ]4 B, W! j1 `8 E2 a
  120.                 if (!objectexists(destExitCP)), \$ w( h3 l+ C, ]1 g4 I
  121.                         return 0;
    + z6 S1 g% l' ^% L0 E- F
  122. % Y$ ?  `. Y3 h6 m$ S+ f
  123. 1 f3 d/ N! ]8 s7 }
  124.                 // 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
  125.                 // 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" {
  126.                 // 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
  127.                 agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,
    4 v1 q. B+ H' e- c
  128.                         agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);
    9 g4 r! S$ @% L/ n
  129.                
    2 o, y: e& p2 z
  130.                 // set the data on the state label
    * f% C0 i- I) Q
  131.                 treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);
    7 t* W$ z: r3 q6 |
  132.                 switch_destroyonreset(stateLabel, 1);
    8 `) ~+ p$ c; F: c! _2 e2 K
  133.                 set(stateLabel, AGV_STATE_START);
    ! b( z0 V0 ], s0 `
  134.                 set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);
    & d1 s# P9 m* f
  135.                 nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);" m, s+ Y4 Z: ^4 U
  136.                 nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);
    7 P6 _) g4 i; A, S' b, L
  137.                 nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);/ q$ K4 ^: ^1 R: g. D. ^
  138.                 agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);% q2 ~- B' S. I: h+ v  g& l. V9 m
  139.                 return 0;
    : G0 _) K( ~$ F; ?3 X5 L; v- A
  140.         }0 p3 |" o6 ^) \' w
  141.         case ON_AGV_AT_CP: {+ `! U  l2 `7 m2 l1 X/ V( I9 I% \
  142.                 // this is fired by the agv listener every time the agv arrives at a node.
    1 z/ _, i0 e3 s: N+ U. j
  143.                 treenode agv = param(1);
      s" w' H) H& z, n/ R4 g
  144.                 treenode elev = param(2);$ n. p) w& @, ~  A6 A1 T
  145.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
    . x! S7 n, u0 k4 c/ @8 m
  146.                 // I increment the state label, and then switch on it7 l# ?5 |: x0 o- d& F+ q  `
  147.                 inc(stateLabel, 1);
    # K  V' @" `) H/ A' r
  148.                 switch (get(stateLabel)) {
    * M8 `! a+ m, [  t
  149.                         case AGV_STATE_AT_ENTRY_CP: {3 Y) ^0 _* h7 G" E
  150.                                 // the agv just arrived at the entry cp0 ^  _5 z4 F: j2 U) x
  151.                                 // so, figure out where the elevator is.* N: m! d) G! R4 A( n
  152.                                 int elevState = get(node("ElevState", stateLabel));5 b$ a: ?% o" X+ Z5 x
  153.                                 // if he's at the pickup floor with his door closed then open the door.. H# e1 F- [; n2 h5 Y/ P
  154.                                 if (elevState == ELEV_STATE_AT_PICKUP_FLOOR)
    ' Q6 k. N% d  B3 g
  155.                                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
    $ R* j' f  r4 i4 _, x- j
  156.                                 else if (elevState == ELEV_STATE_DOOR_OPENED) {4 N% p0 L& f' W+ G0 @9 L
  157.                                         // if his door is alread opened, then move the agv onto the elevator, i.e. to- l* r3 h/ j) p+ w+ A& y
  158.                                         // the elevator cp0 g2 _" t5 _! z. p+ c' e
  159.                                         treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));2 f0 O3 x; e1 W4 M9 ~1 W0 H. i* Z
  160.                                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
    8 W1 }/ {, \8 ~
  161.                                 }8 N# O  c  O$ s
  162.                                 break;3 o/ d4 F  v; J3 {
  163.                         }
      E) o2 E5 m3 Z# `" Z; G3 W. A
  164.                         case AGV_STATE_AT_ELEV_CP: {# R1 }: w0 ]# S* d3 }4 R4 s( v9 y
  165.                                 // once the agv is at the elevator cp, close the door, y& p4 I- @4 c1 a
  166.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);
    , D; T! U. W( u$ u' S
  167.                                 break;$ W- y5 F2 b9 G) L) M2 t1 P* s
  168.                         }5 @) z, f; n6 g) Y
  169.                         case AGV_STATE_AT_EXIT_CP: {
    : F3 f/ [4 x+ Q& D1 }' C$ R
  170.                                 // the agv is at the exit cp
    ; F  Y3 t, A) K: Y
  171.                                 // destroy the listener node because I'm finished listening8 e, s1 Y. Z% a- |% D8 R
  172.                                 treenode listenerNode = param(4);; q. A: |6 h! @9 f) z0 D
  173.                                 destroyobject(listenerNode);
    ( Q9 q- @5 Q' P; d
  174.                                 int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;3 w7 t' q& p; x9 G8 \  }
  175.                                 if (!agvWait) {
    . L% i0 [. A* e. A5 _" r- R+ I
  176.                                         // if the agv is supposed to continue on, then tell him to go to his final destination
    6 T7 @- L. c+ \
  177.                                         treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);
    5 c% V" z9 i0 I( G5 W, M& W! P
  178.                                         agvredirect(agv, destCP, REDIRECT_AS_FINAL);
    ! c& Y6 g( i0 M' z; @* g; F5 u
  179.                                 }
    ! W& p' s  x1 N0 M% Q, k
  180.                                 // close the door
    $ }/ k' V6 i# `# |  r( c; u
  181.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);
    7 p1 e( b4 q# b6 c+ `0 W9 i4 D1 o
  182.                                 // and I'm finished with the state label so I can destroy it.
    - [% ]* S% d6 \( o) i
  183.                                 destroyobject(stateLabel);
    4 J8 \  j% @& a$ {' B6 b$ @( K
  184.                                 break;1 U) e2 h- R: H. n  U! v
  185.                         }
    6 K/ _# Q) P( G; [! k9 U6 n- D
  186.                 }
      I! y- g2 u8 _
  187.                 return 0;
      P, Z2 ~& n6 a2 v' F
  188.         }& Y/ k# e. m* x
  189.         case ON_ELEVATOR_PICKUP_ARRIVAL: {& b2 a& j/ i: P  e" }
  190.                 // the elevator has arrived at the pick floor, u0 W+ e% `5 ?6 C8 z8 d
  191.                 treenode elev = param(1);
    6 W* Y& h8 U1 d: y( ]7 [5 D# K
  192.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);% H- N9 u: q$ i: W
  193.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);1 [$ c: u' `6 W2 i4 e
  194.                 treenode elevState = node("ElevState", stateLabel);/ C' Z4 s: Q+ F  m% @2 B
  195.                 // set the elevator state to at-pickup-floor1 |: J3 W1 i7 Y0 J% E  z4 B
  196.                 set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);
    5 u* }( }' f) U8 H* \. [! [4 \
  197.         ! W5 x1 o( {7 |  V0 l
  198.                 int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;
    ; q1 V) a, l& }# h; K; \
  199.                 " ?  Q' _1 N* k8 z& o
  200.                 // if the agv is at the entry control point or I open the door immediately, then open it, w: y5 ~* j8 r; z# O
  201.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {
    ) t+ E) N# X; a. r) }
  202.                         set(elevState, ELEV_STATE_OPENING_DOOR);
    8 x% R& N. Q7 }9 M. S: F7 N
  203.                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
    + a. Z3 B# Z% K6 C
  204.                 }- |1 o$ X, ~4 z, l" o
  205.                 return 0;/ n1 u; q2 k; F7 W, Y3 X) D1 F
  206.         }: @- \& ~( h" v3 N, n' \
  207.         case ON_OPEN_DOOR: {) r. F* ?& l4 `! f
  208.                 treenode agv = param(1);( W( H3 ^. Y. q$ O2 T& s  T
  209.                 treenode elev = param(2);
    , k1 o! w; M; ~' n
  210.                 int nextStep = param(4);
    . K" i/ P8 }. |: R7 R! F8 o
  211.                 // open the door based on the time to open the door
    5 B  e' ]2 T$ _& J: M2 V# C
  212.                 double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;' y4 w' Z, O2 {
  213.                 delayednodefunction(c, openDoorTime, elev, agv, nextStep);. H! n8 r. p7 s
  214.                 return 0;
    - T; D8 b6 j* A- N9 W' Q- v
  215.         }! u8 l; T) g+ z# m5 ~( ]. g- B" |, O
  216.         case ON_CLOSE_DOOR: {: [$ l: g. M. s
  217.                 treenode agv = param(1);$ _+ K9 W8 J- ?" {$ l" x  g
  218.                 treenode elev = param(2);
    ; v% [5 o+ Q4 o' f: {
  219.                 int nextStep = param(4);% \! o8 N$ |$ j1 o* |4 D- i! r
  220.                 // close the door base on the time to close the door: {% j9 Y9 }/ u" k! w3 R* x
  221.                 double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;
    ( J8 c& n4 v& r5 T0 o
  222.                 delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));9 ~' _/ Q2 g( b( w7 G+ v% H# i
  223.                 return 0;
    1 I. E! F! y+ P2 {: X3 S2 H( e/ O
  224.         }# ^4 v- Z% H' z4 b
  225.         case ON_PICKUP_DOOR_OPENED: {3 t$ G7 d) c, x$ q7 @4 x
  226.                 // the elevator door has been opened on the pickup floor
      k2 l% a1 T, Y7 ~2 n6 {
  227.                 treenode elev = param(1);0 |! @$ q( W' x
  228.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);8 d( [% X' s; a  x2 g
  229.                 treenode entryCP = cp(agv);) M/ k3 Z' j6 `8 Z5 L7 O
  230.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);$ F3 \" i6 p1 P+ n) g
  231.                 treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
    3 s8 y2 i3 p' Y: Q& e& ?
  232.                 treenode elevState = node("ElevState", stateLabel);
    8 f4 N/ F2 n6 ~+ Z8 r+ ^6 y' b/ o
  233.                 // set the elevator state; w" R3 M6 \6 S$ @' [: ~% q1 A
  234.                 set(elevState, ELEV_STATE_DOOR_OPENED);6 [# z( i+ m/ p/ d& r! D
  235.                 // if the agv is at the entry control point, move him to the elevator control point' v9 k9 o& _( f
  236.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP)  k# o7 ?  A& e/ p' S
  237.                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
    ' N* O, E0 D% k- ^8 `
  238.                 return 0;& D& A! {1 J# O3 R7 W$ p
  239.         }: ]' s; d# y- I1 G
  240.         case ON_PICKUP_DOOR_CLOSED: {, W% A1 ]( l1 u/ w  w" d
  241.                 treenode elev = param(1);
    " r& q9 H1 j$ J5 Z& s" Q
  242.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    1 e3 X& b; m! k0 f* G: i! X
  243.                 // assign the agv to "no control point"' w) I; F* e$ ]
  244.                 agvreassigncp(agv, 0);
    ' k8 ^. Y$ f4 B) X1 }' f
  245.                 // move the agv into the elevator2 p$ ]. m# w2 ~6 u/ G
  246.                 moveobject(agv, elev);- Q3 X3 t  k6 y; n1 a
  247.                 setrot(agv, 0, 0, 0);
    : p# G2 Z7 Z" w8 N+ x5 e
  248.                 // release the elevator to continue to the destination floor
    , @1 O/ b" ^* R9 r
  249.                 freeoperators(elev, agv);) C# t$ s& G; u
  250.                 return 0;3 L5 P+ C  ~& \7 e% V
  251.         }
    6 N6 a& D1 e3 ~) y8 `" C
  252.         case ON_ELEVATOR_DROPOFF_ARRIVAL: {
    ! s4 H+ w' L0 N: e: S& N* {
  253.                 treenode elev = param(1);* `" }; R4 h1 {& a7 b- k
  254.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    9 ^1 M; P! A: J! a" O7 i' y
  255.                 // when the elevator arrives at the destination floor
    4 L0 [- S1 e0 `- S
  256.                 // move the agv back into the model
    1 k8 ~/ z3 M- n' Q2 I, b+ f
  257.                 moveobject(agv, model());
    - @- V1 _# F5 q% {, J7 B. ~2 W
  258.                 // reassign it to the destination floor control point
    2 x* C" d* i; c) m3 d- R& Y9 O
  259.                 agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));8 l& I" ]8 r. a' ]7 F
  260.                 // open the elevator door
    3 ]. D2 q. [# F2 C, f$ h5 C$ A: ]
  261.                 nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);
    : f+ K5 I- w* |- Q
  262.                 return 0;5 d. u. Y  w: }! O
  263.         }
    ' S/ h2 i# Q# J9 ^
  264.         case ON_DROPOFF_DOOR_OPENED: {3 y# w" m( J8 F5 l$ \
  265.                 treenode elev = param(1);; R0 {$ ~  {& z5 W$ a
  266.                 treenode agv = param(2);6 F* d+ D6 u$ o. X
  267.                 treenode agvLabel = label(agv, AGV_LABEL_NAME);0 `% f5 x0 v, k7 ]1 Q% f
  268.                 // once the elevator door is opened on the destination floor,
    / g- c# t. J7 ~  Y4 R
  269.                 // redirect the agv to the exit control point4 `! U& D6 d5 q# S2 Q
  270.                 agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);) e' X# K4 H& c# m5 k
  271.                 return 0;; \- @! v$ f9 j7 M
  272.         }
    2 z/ b! O1 G' O5 R- _$ @$ _
  273.         case ON_DROPOFF_DOOR_CLOSED: {
    , |% s; k+ V  f- Q, w
  274.                 treenode elev = param(1);8 b4 Z5 y  M; ^; _) ?$ M' v
  275.                 treenode agv = param(2);
    & T' |7 l3 s# U  I; B
  276.                 int isAGVWaiting = param(4);
    ; I5 O' W% F: ]5 Z3 u/ N
  277.                 // once the door is closed at the destination floor,& B1 b6 [) V  u. w/ Z
  278.                 // if the agv is waiting, then send him to the final destination6 i9 u# s! m- b" v
  279.                 if (isAGVWaiting)1 w$ g. V8 B+ J, T( f: T: H
  280.                         agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);8 |/ |( t  F5 K
  281.                 // release the elevator to finish his task sequence; a. f/ A$ p4 O
  282.                 freeoperators(elev, agv);
      P1 q+ d$ z+ S' ?$ w1 @3 w
  283.                 return 0;
    9 T  p: F3 K2 X$ r7 w
  284.         }: u$ D# }, m6 p" z) a9 O) d' x
  285. }" V: N' Q" s/ d) S
  286. } //******* PickOption End *******\\
    ! Y8 V$ n& {9 n% B( r
  287. 3 v7 D2 J0 @9 O3 Z) d
复制代码
0 d* M: x( O* C
! q: J! K4 n$ N3 d/ U! K( L) g

, L: |- J# w; i3 G& I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 19:125 [) r* E& F2 R1 V. g. B
办法1:从2016版本里面复制相应的代码
4 V6 s( Z, n- N) J- L; ?( u
' p9 \7 t* I9 S: o. k) D具体代码如下:

+ ?$ x2 l4 o% m3 h8 Q好的,非常感谢陈老师的解答~
您需要登录后才可以回帖 登录 | 立即注册

本版积分规则

QQ|小黑屋|手机版|Archiver|全球FlexSim系统仿真中文论坛 ( 京ICP备14043114号-2 )

GMT+8, 2025-7-3 12:49 , Processed in 0.077812 second(s), 14 queries .

Powered by Discuz! X3.3© 2001-2013 Comsenz Inc.

快速回复 返回顶部 返回列表