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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; y' n! E' |, ?- W/ b0 t* l! _
+ Q* Q' d# Z+ s- V5 @
具体代码如下:: E; ^  L- O" s
  1. treenode agv = param(1);
    / B& k( ]. p! ~" e3 N% `8 O5 ^
  2. treenode currentCP = param(2);
    ! z$ V% `* n9 B

  3. : k- }9 x7 C5 W. r$ D2 H+ b$ f: O
  4. { //************* PickOption Start *************\\
    9 J* C0 r. [: i3 S, P* e4 @) |
  5. /***popup:AGV_DivertToElevator*/0 `( [$ B% V9 {/ t5 s
  6. /***tag:Description*//**Divert to Elevator*/
    / n( i) A0 I+ k& H% d! {
  7. ( x  X, y! I7 G- Y
  8. int operation = param(3);
    5 V8 M, b" R  u% H& b- s6 i( G- Z8 T
  9. # H% \! W: c5 D/ p. f
  10. #define AGV_LABEL_NAME "fs_AGV_Elev_State"
    2 W) ]( @: g1 d/ _
  11. if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME))
    8 y% @4 \2 L) Q& e4 V
  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
    * k! ]7 t# o' k! n" c) L
  13.         // initial trigger execution
    & w- i7 `3 H' g: Q3 c" W
  14.         #define ON_ELEVATOR_START 1
    & x) Z9 ?/ Z: Q% g: F: h
  15.         #define ON_ELEVATOR_PICKUP_ARRIVAL 2/ l; Q6 C4 d) `' }$ \/ {4 r% r# Y: k
  16.         #define ON_ELEVATOR_DROPOFF_ARRIVAL 3
    8 C0 v; ]% N4 W8 A, V  a
  17.         #define ON_AGV_AT_CP 4
    ( v& V- S: a5 [& A+ ?" W( u
  18.         #define ON_BOTH_AT_PICKUP 5
    ; S) d) r3 h4 @& D, q+ f0 v1 {
  19.         #define ON_OPEN_DOOR 6- E2 e& `% t3 x$ |5 H1 w% K
  20.         #define ON_CLOSE_DOOR 7! I' }1 V# E" e7 y& o
  21.         #define ON_PICKUP_DOOR_OPENED 8  ~+ m, `- C9 z5 U& N
  22.         #define ON_PICKUP_DOOR_CLOSED 99 k3 n" J9 M; Y9 d$ s2 ~. M5 k5 D2 c
  23.         #define ON_DROPOFF_DOOR_OPENED 10/ y. ]. ?. W: ~2 @
  24.         #define ON_DROPOFF_DOOR_CLOSED 11
    , U5 S$ [! {; C1 F6 k5 B, R  [& G
  25.         ! c( _3 ]/ A% z+ d# x2 P
  26.         #define AGV_STATE_START 0
    2 a( y1 T0 @8 I$ f
  27.         #define AGV_STATE_AT_ENTRY_CP 1
    3 T% _/ t" n; T- l1 Q$ c5 I9 e
  28.         #define AGV_STATE_AT_ELEV_CP 28 ]' @2 S2 c6 W
  29.         #define AGV_STATE_AT_EXIT_CP 3
    # V/ H6 M( e% ?+ V6 l7 N( J
  30.        
    + q) C1 N$ ]& n* {
  31.         #define ELEV_STATE_NONE 0
    / X2 e% L$ y9 }8 e
  32.         #define ELEV_STATE_AT_PICKUP_FLOOR 1
    ( k5 F8 _7 l8 r# `  L% B' P
  33.         #define ELEV_STATE_OPENING_DOOR 2
    5 j7 Q0 p+ D: u1 ^( v
  34.         #define ELEV_STATE_DOOR_OPENED 3- p. w2 h2 ?) H5 ^- t
  35. ( V( m' x. j% i

  36. 9 T" C9 V; J  |/ W  U, E
  37.         treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;* b! ^2 y) q" n
  38.         #define elevator outobject(elevDisp, $iter(1))6 u7 C' S- t6 ^+ J

  39. : q5 a- ?3 i6 d$ b4 l+ _5 h
  40.         if (!objectexists(elevDisp))
    - z* Y5 {( _6 D4 o6 ~
  41.                 return 0;; C4 i, V+ Z! @
  42. 4 q% E8 L# A. ~/ X4 X
  43.         if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {( ^8 [( V- o; b, c" y! f* h( _2 b
  44.                 query(
    & D0 L/ E! b: d+ @: h" E, S% p2 a
  45.                         /** \nFull Query: */
    3 {9 Z7 p) K' s6 B* Z! }
  46.                         /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,. r9 i, d( Z$ t  ~# ]- z, q/ I
  47.                         nrop(elevDisp),
    - M0 {2 X1 w4 Q$ ~3 J, e
  48.                         elevator
    $ p  h/ u; K/ @) L2 z3 Z
  49.                         /** \nWhere*/- [( u2 M, H6 s6 i7 X
  50.                         /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/
    0 F; B/ P5 U4 X8 L1 \9 y- f* J
  51.                         /***/. w7 v4 b. n1 x3 x4 ^
  52.                         /** \nOrderBy*/( A, ]' X! F# y* H" Y  ^" I1 l
  53.                         /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*/
    " G' G$ Y( A0 X8 q
  54.                         /***/);6 B" D; |2 {, z+ i: N

  55. 5 q; E2 X2 M4 O: [9 i& g
  56.                 if (getquerymatchcount() > 0)
    * M$ [3 H0 F% u* T& e0 [
  57.                         elevDisp = getqueryvalue(1, 1);
    4 L" H. Y( r  [. }& n" @
  58.         }
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  59.         if (!objectexists(elevDisp))7 c$ B! z4 E/ L
  60.                 return 0;/ J* ^% ?7 T! [
  61.         treenode destCP = agvinfo(agv, AGV_DEST_CP);
    & h8 i6 ?6 E5 R

  62. & Z' W7 v8 b0 D  p
  63.         agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);
    4 q: A9 S+ k% b' z3 J
  64. 9 Q" Z9 o0 h+ p" m7 w- _
  65.         // Create the task sequence for the elevator9 Z' [* `' r$ B7 ]
  66.         double destZ = zloc(destCP);% c, o  _8 D. `0 o
  67.         treenode ts = createemptytasksequence(elevDisp, 0, 0);# W9 Q5 z; n' Z6 `  C* G& x
  68.         inserttask(ts, TASKTYPE_TAG, agv, destCP);
    ' [' Z$ @5 L! \$ L! l5 ^& d
  69.         // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START1 _' J% i$ S( L2 T6 C! |' t" U
  70.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);
    # `  d! t' B& B. B4 r# ~0 i7 U9 X( n
  71.         // travel to the z location of the current control point4 W" t" j8 o' C- X+ Z; t
  72.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));
    & X: C; E- M$ K8 z
  73.         // then call ON_ELEVATOR_PICKUP_ARRIVAL
    ' n$ Y# L% M0 p7 M  }! _- M
  74.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);
    % o& m2 u  H1 J  x* G1 Z
  75.         // then wait for the agv to get on
    ; m0 d; E; v2 q+ ~6 C4 r
  76.         inserttask(ts, TASKTYPE_UTILIZE, agv);3 P0 V( b! C4 p" t: q
  77.         // then travel to the destination z location- Y/ {9 B' ^/ H4 Y
  78.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);3 `' _! t. [3 Z: M4 g
  79.         // then call ON_ELEVATOR_DROPOFF_ARRIVAL( Y" e' W& w( E' B& }2 L0 i3 t" V
  80.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);2 K3 c: t1 ~( u( ~- ~
  81.         inserttask(ts, TASKTYPE_UTILIZE, agv);; }0 Y4 \$ a* K9 R! n
  82.         dispatchtasksequence(ts);
    ! n' W$ D( D- d# e. v' u
  83. } else switch (operation) {  ?: K  |+ D# K& |$ }$ @
  84.         case ON_ELEVATOR_START: {# G3 M( f( t" u0 b
  85.                 // this is fired when I get a valid elevator! P1 Y3 m# P) {( @6 n+ u0 b
  86.                 treenode elev = param(1);: k: d) i/ y: }5 f/ q
  87.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    - w- m+ B$ a6 H0 f8 G) u

  88. ( M/ i) r) i! k+ h
  89.                 // find the closest floor control point, ^7 e, w- @  W# G; j5 ^: V: H4 i
  90.                 int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);
    - }3 z* a- ?* g. @- w! [+ Y
  91.                 treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon),
    . X, i, \* n7 k& u, o
  92.                                                         fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),
    * K6 I* v+ B; b9 i+ e: G* k# p+ L2 ^
  93.                                                         cpconnection(elev, floorCPCon, count));8 B) U! h" B* @. t  ^. V# Y
  94.                 // return if there is none8 R' l3 e/ ^+ Q  ^
  95.                 if (!objectexists(curFloorCP))% ~& f/ [+ t. H4 S
  96.                         return 0;
    0 g# h  N0 D- s8 h( Y5 G; U
  97. & L. \' U! ^, t3 j$ i/ A
  98.                 // get the entry control point; o. G) \! \0 o5 E3 I/ I
  99.                 treenode floorCP = curFloorCP;1 k6 B2 a( `/ H) e' N3 ^. {% t9 Z
  100.                 treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;8 j! b" X) {: F
  101.                 if (!objectexists(curFloorEntryCP))- S* X! h% w& H) L: ?
  102.                         return 0;
    9 Q$ C& _$ g' @  J3 b+ t& e
  103.                 treenode floorEntryCP = curFloorEntryCP;1 Q; V  j/ U' B# E5 K& }) I1 G
  104.                 treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;
    / Y1 p- g  W: m5 t% S( y
  105.                 if (!objectexists(curFloorElevCP))- g2 i7 M+ m% _* c1 d
  106.                         return 0;/ Z. i; o# l7 R* M

  107. 0 e! O3 Z" U5 i9 d4 I
  108.                 double destZ = param(4);: l+ z9 p$ o  l& B  m
  109.                 // find the floor control point closest to the destination floor2 Z9 L0 z4 O: Q0 u2 y  D" B
  110.                 treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon), # g3 y# ]$ Y6 ^! w4 ]# d
  111.                                                         fabs(destZ - zloc(cpconnection(elev, floorCPCon, count))),8 S* y( F" m2 d
  112.                                                         cpconnection(elev, floorCPCon, count));
    ! x+ P  l% N  P1 T% x. N7 v( U/ Q
  113.                                                        
    * ]5 k8 ^9 D! G* c
  114.                 floorCP = destFloorCP;0 C& w. a; d! a2 A) b
  115.                 treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;/ Q# t" m) f3 I1 @! Z6 ~3 l
  116.                 if (!objectexists(destFloorElevCP))4 U- G2 ?1 n- N% _# f0 I: d7 D4 O& u% M
  117.                         return 0;6 v0 K, J+ u) [8 P6 O
  118.                 // get the destination exit control point
    ' C* t9 ~) P3 D1 d
  119.                 treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;% W# _/ n0 v" |4 T! H: r" R
  120.                 if (!objectexists(destExitCP))
    " M: {. L$ t- W! s
  121.                         return 0;
    : [- q: u! u; Y: M4 B

  122. 9 U, k$ \2 s0 r- G" @( E0 X

  123. 1 @/ H' W, y  |  V" I% T
  124.                 // add a listener for the agv. This will call this nodefunction in the ON_AGV_AT_CP section whenever the
    + F! o" Y' X" K$ X/ E1 J
  125.                 // agv arrives at a node. I keep a state on the agv's state label, and then increment it each time
    ; ^& q* m5 {- J$ [3 X
  126.                 // the listener is called so I know which control point he's at, i.e. entry, elev, or exit.5 q* |( {/ X+ l9 @4 Z9 B! k
  127.                 agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,
    % `: ^( K% h- w. g& G
  128.                         agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);+ H% j6 G' |8 R& Q
  129.                
    2 u. g5 j: C; D+ h8 Z9 z' D
  130.                 // set the data on the state label 2 F+ f- {" u% b: K2 `
  131.                 treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);
    ! T- O: ~: N8 P; H
  132.                 switch_destroyonreset(stateLabel, 1);! R# N; X# `7 X0 y+ Z5 m3 ?( ?
  133.                 set(stateLabel, AGV_STATE_START);
    7 E  k9 q, m: Q- H$ c1 _' _$ R
  134.                 set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);. H: R" T1 X! P
  135.                 nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);
    9 p) `' p$ ~8 g/ M# r" t0 F9 t
  136.                 nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);& z2 K% j2 e9 J' t' q& \" C) P5 I
  137.                 nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);- O6 |9 x( O6 ~% G* v; o
  138.                 agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);
    ; T  }8 o+ D& K& M  s
  139.                 return 0;& M! g/ g+ E. {8 k( f; n0 D
  140.         }9 d- s' B! E, `5 [" h8 K# i
  141.         case ON_AGV_AT_CP: {
    + y4 Q# o' s' V
  142.                 // this is fired by the agv listener every time the agv arrives at a node.
    4 z- C: h) O8 q2 P/ |$ A' M* {
  143.                 treenode agv = param(1);
      a9 ~, P- T, j% y- k, F
  144.                 treenode elev = param(2);
    . g) K  D7 z- r
  145.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);* a7 U+ K0 `6 z# q3 [, v
  146.                 // I increment the state label, and then switch on it% e6 n" x8 {5 J" z
  147.                 inc(stateLabel, 1);
    : ~! }( w+ E% Q5 O% f! J) ^" c) w
  148.                 switch (get(stateLabel)) {
    . c9 E8 d8 ~8 ?& r  A$ ^
  149.                         case AGV_STATE_AT_ENTRY_CP: {
      w8 S  j: k# r! I$ i3 ~, Z! j
  150.                                 // the agv just arrived at the entry cp4 C" a$ K9 d' ~* b& @
  151.                                 // so, figure out where the elevator is., O/ @" Z0 h3 z7 K6 `! {. T8 [8 r
  152.                                 int elevState = get(node("ElevState", stateLabel));
    ! K* }) \. s5 p% i; Q% s
  153.                                 // if he's at the pickup floor with his door closed then open the door.
    " u% n; O5 ]5 i2 Z! h$ Y
  154.                                 if (elevState == ELEV_STATE_AT_PICKUP_FLOOR)
    0 g+ C! `+ @- ~) \! U# \
  155.                                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);% V- Q0 l' b! \0 i6 ?
  156.                                 else if (elevState == ELEV_STATE_DOOR_OPENED) {4 N1 g4 X: b; z
  157.                                         // if his door is alread opened, then move the agv onto the elevator, i.e. to
    9 f' ~9 H9 z4 D3 c5 q% D
  158.                                         // the elevator cp) X0 d' e: X$ D+ ^2 N
  159.                                         treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
    - U; Q* q4 h  ^) H. W; Y
  160.                                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
    ) L. A' n. `4 t1 u3 s5 h+ O
  161.                                 }
    5 w0 x+ O; A$ m/ w9 ?* S
  162.                                 break;
    3 C% l3 k* G* L  T! y
  163.                         }3 J' m9 l8 I/ A6 W* ?2 V/ `
  164.                         case AGV_STATE_AT_ELEV_CP: {
    / s  `, v1 w& s! e) ]7 m
  165.                                 // once the agv is at the elevator cp, close the door
    5 A- N! d1 @5 l) S5 A( L
  166.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);
    9 |, m( k0 k6 n, N- q- q. g
  167.                                 break;
    ! N* _( s; z" C; f
  168.                         }
    5 g# f& ~" o( u  B- O
  169.                         case AGV_STATE_AT_EXIT_CP: {
    / _6 E! Y7 c8 P: e% c" y  \7 ?; i
  170.                                 // the agv is at the exit cp
    6 v# z. k/ n9 m6 Q7 U
  171.                                 // destroy the listener node because I'm finished listening3 X9 z* @$ G! V9 t$ o* \
  172.                                 treenode listenerNode = param(4);* Z6 [7 h% Y2 ]  e; J' K" F" J
  173.                                 destroyobject(listenerNode);, B4 T$ ~1 q, \: `. `
  174.                                 int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;& T: N% q, C' m' h
  175.                                 if (!agvWait) {# a4 w9 o0 q  c  y  Q# W
  176.                                         // if the agv is supposed to continue on, then tell him to go to his final destination
    + E3 E9 v0 E/ Y+ }! ^
  177.                                         treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);
    3 V! I  l6 w- }
  178.                                         agvredirect(agv, destCP, REDIRECT_AS_FINAL);
    - `! D3 S6 X# E7 T" p1 u0 c
  179.                                 }
    : D& H, h( R) b4 P8 R1 E
  180.                                 // close the door) {) `' X, Y& Y* r! r# b2 ^
  181.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);* |- `- _9 ~, G1 _4 Q
  182.                                 // and I'm finished with the state label so I can destroy it.
    . d# F0 L1 @1 N- r# _4 g
  183.                                 destroyobject(stateLabel);
    . i8 \: D* S- t7 l  ^9 I6 j& W: a
  184.                                 break;" ~. v" d- ~- ]. u8 ]
  185.                         }
    # n5 b9 q% s5 k" m+ Y
  186.                 }
    ! ~6 n1 u3 Q2 Y5 Y
  187.                 return 0;
    # S+ m6 [0 @4 P1 g" ?6 L
  188.         }
    5 H" \9 x) f: V* y4 Y9 x
  189.         case ON_ELEVATOR_PICKUP_ARRIVAL: {4 w1 ~- k8 k" e" P1 }; N, O
  190.                 // the elevator has arrived at the pick floor
    % z) `$ t( T, F4 y3 M# c7 U
  191.                 treenode elev = param(1);
    : m: H# E9 ~, D: T9 y9 K0 n
  192.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);4 z/ T+ e" k" ]( ?0 K# Y! N
  193.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
    & D+ g" m  M" y2 E- P! a
  194.                 treenode elevState = node("ElevState", stateLabel);. x1 z0 t. f$ B$ X& [3 T/ T
  195.                 // set the elevator state to at-pickup-floor
    ! _, Z6 T8 k6 z3 G
  196.                 set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);
      ^/ ?6 J+ n5 g( k2 V
  197.        
    0 H! k+ F& A$ j' O
  198.                 int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;
    6 v. x7 X! H# P: x' _# Z9 _
  199.                 ' y* Y5 W; V( c, @8 I
  200.                 // if the agv is at the entry control point or I open the door immediately, then open it0 v7 @9 J2 j4 T$ j# a6 \$ q
  201.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {# o: [7 ~  T9 I, F- _5 J
  202.                         set(elevState, ELEV_STATE_OPENING_DOOR);
    6 F' ~; M. c0 e# F6 b
  203.                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
    . h0 P* ~# J" O* P
  204.                 }
    ( p1 s8 C6 I. o
  205.                 return 0;6 T) P# h2 |! g* O  M& k3 j* F
  206.         }
    * ^: u3 ^, J. k# A+ g
  207.         case ON_OPEN_DOOR: {
    ; A4 r' @+ ?6 M- r+ v( g2 X
  208.                 treenode agv = param(1);% U9 N% ?& c: L$ D# y  V
  209.                 treenode elev = param(2);' |' [2 j- v# Y5 Z, a
  210.                 int nextStep = param(4);
    * A( p3 z% {1 X1 o6 W
  211.                 // open the door based on the time to open the door, @4 l' g+ I( B% m/ B7 Q; I
  212.                 double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;  Z& i& r! t3 d5 q' e6 F5 M
  213.                 delayednodefunction(c, openDoorTime, elev, agv, nextStep);3 R* m/ _' B% p5 y( v
  214.                 return 0;
    . t  [, y+ H# t# O: d! \8 m( T
  215.         }) i' u+ K9 x5 G  b
  216.         case ON_CLOSE_DOOR: {
    6 W$ _5 u3 l8 m  F1 G. l
  217.                 treenode agv = param(1);; W1 b9 W; n) O9 S
  218.                 treenode elev = param(2);
    $ C( `6 o5 u" x
  219.                 int nextStep = param(4);
    + S8 w! }! Y5 D
  220.                 // close the door base on the time to close the door
    ! o/ D! l; e0 y7 X" t# L
  221.                 double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;9 a, G$ x4 }( S. S! D  J
  222.                 delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));
    ' B+ C! u; r( M& b; I$ Q' r) d
  223.                 return 0;3 L; B$ O6 _" J& h* H
  224.         }
    ) ^7 U* L1 u8 h! n2 H* Y' U* M# w4 Z
  225.         case ON_PICKUP_DOOR_OPENED: {3 P6 H* m7 g7 `+ X5 L( R/ o
  226.                 // the elevator door has been opened on the pickup floor
    # k/ ^: X1 j1 l% G1 A
  227.                 treenode elev = param(1);6 A2 W  V9 w/ Y5 T5 K, {
  228.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    6 Q# P! K5 N. j7 U
  229.                 treenode entryCP = cp(agv);
    8 W" p/ b3 _$ g) x  F
  230.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
    . u5 a. X) [+ C- B4 Q5 A
  231.                 treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
    $ A: q; q" o% `) r; c2 u
  232.                 treenode elevState = node("ElevState", stateLabel);
    : ?0 |' a, F% P
  233.                 // set the elevator state% X4 [$ L  |# ^7 I
  234.                 set(elevState, ELEV_STATE_DOOR_OPENED);( `; e) v4 Q( Q. [. _4 N" ]
  235.                 // if the agv is at the entry control point, move him to the elevator control point
    / }( F9 R* I7 f7 s
  236.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP)
    , n) a1 d  p% u2 V2 K2 W! n# w
  237.                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);/ b5 B( _6 X+ g  U2 ?
  238.                 return 0;+ k1 J" R: n: ~+ s7 @4 ?3 R& N
  239.         }
    + r7 M7 T+ h- F
  240.         case ON_PICKUP_DOOR_CLOSED: {5 p% b3 J3 u2 p9 {7 j+ k6 X
  241.                 treenode elev = param(1);
    2 F1 n. K, @( J8 y4 j& }
  242.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    " }' O* I. p8 \! e
  243.                 // assign the agv to "no control point"" L+ k; Q6 x) d, ~& B9 K
  244.                 agvreassigncp(agv, 0);- S8 L6 e$ e3 e5 W
  245.                 // move the agv into the elevator- s6 k4 I/ J& D  p* Y+ {0 D
  246.                 moveobject(agv, elev);3 d/ B" l8 Q9 l. x" N
  247.                 setrot(agv, 0, 0, 0);+ ]$ A) M% Q! U5 \: ?
  248.                 // release the elevator to continue to the destination floor
    : r$ y% k4 G6 h6 R1 ?- Y
  249.                 freeoperators(elev, agv);
    , U5 j% i8 u+ W9 A: {. f
  250.                 return 0;# _* \0 d, u$ ~8 n" j7 l
  251.         }3 d3 t9 {: I( U- L
  252.         case ON_ELEVATOR_DROPOFF_ARRIVAL: {" O6 p( J# a1 f" m
  253.                 treenode elev = param(1);" G. a+ f4 j- _& E
  254.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    : H$ |" w5 j1 c& u; p7 ?
  255.                 // when the elevator arrives at the destination floor# j9 Z* K/ X) z) D
  256.                 // move the agv back into the model
    9 F  q' l- A2 Q
  257.                 moveobject(agv, model());
    2 y+ D3 z3 a; r
  258.                 // reassign it to the destination floor control point
    4 k) |" b/ R9 r! r% F% R
  259.                 agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));0 S5 J& f; v$ Y/ V3 {& A
  260.                 // open the elevator door
    0 o0 u$ ]3 i( v; `7 }3 C
  261.                 nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);! a2 F; ~1 s: T& J0 y. k& K
  262.                 return 0;) E0 d8 L& }$ H% A/ |$ ~- e1 j
  263.         }. `1 A" u7 L9 Z6 V
  264.         case ON_DROPOFF_DOOR_OPENED: {" x  ?) q1 `/ x6 {& n
  265.                 treenode elev = param(1);4 B* D8 K8 v2 l2 `) r7 ]0 H
  266.                 treenode agv = param(2);
    ) T$ F+ g  I4 A+ P0 b# M8 q
  267.                 treenode agvLabel = label(agv, AGV_LABEL_NAME);  r! F0 i# a0 O' G/ N$ N+ U9 r; L) V
  268.                 // once the elevator door is opened on the destination floor,
    ) F- A! l2 ~6 H! M' \8 O9 }
  269.                 // redirect the agv to the exit control point- D) E" R  ]/ V. D0 {
  270.                 agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);
    1 P  }6 L) v) F" O! P
  271.                 return 0;
    2 N" e6 }9 J  F# ?2 s( u& D
  272.         }! A6 }+ m: R; O3 y! v
  273.         case ON_DROPOFF_DOOR_CLOSED: {7 d5 ^4 x/ C/ v5 t$ d' I
  274.                 treenode elev = param(1);' ~* X, h( s1 G4 _, F/ q
  275.                 treenode agv = param(2);+ r# e0 A2 w* ?" P0 \6 m
  276.                 int isAGVWaiting = param(4);
    ! j8 ~4 W: s8 W* l
  277.                 // once the door is closed at the destination floor,
    3 O2 z' W, m1 Q9 M& A
  278.                 // if the agv is waiting, then send him to the final destination
    ! x9 ^* @8 G4 i
  279.                 if (isAGVWaiting)
    % h* \4 U' k$ b& _% ?( \8 [
  280.                         agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);6 {6 R9 y3 `1 F. w
  281.                 // release the elevator to finish his task sequence) y2 ?6 a2 |+ c
  282.                 freeoperators(elev, agv);
    % p2 p' ?: H: i: T; f; c( t
  283.                 return 0;
    ; O6 U) E& l$ r: E. F$ y
  284.         }4 R" W& G% Z, E' K& j9 ?5 i
  285. }
    4 }! I4 j/ I  G
  286. } //******* PickOption End *******\\: J$ H% ?5 E: q: I; u
  287. 4 \" J, s1 ]+ X9 y6 ?* Y4 J' L# q
复制代码
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5 {  Y+ @  A) J: I0 }- y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
+ q8 T7 F$ ^5 [& g办法1:从2016版本里面复制相应的代码7 q) w0 I* n; \1 Z

# O9 |. E( v1 N+ J( m" ?: p具体代码如下:
. {  m/ z3 o2 W1 ?& N
好的,非常感谢陈老师的解答~
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