全球FlexSim系统仿真中文论坛

搜索
查看: 311|回复: 2

2018.2.0版中AGV如何乘升降机?

[复制链接]
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?" V4 i  G4 M/ g, h9 X. s1 Q

. D4 Z; ]. y% T; _

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
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9 Q7 T- g5 Q8 X$ p7 H2 X  I
3 a/ q1 {& ~3 i) S0 t
具体代码如下:1 E, @" D' ~1 A$ w2 K
  1. treenode agv = param(1);
    ) B; ^5 K+ K$ r
  2. treenode currentCP = param(2);
    ! ]* x& ?# Q, F" m4 J
  3. 8 f7 {4 F7 Y, P' C  _5 a5 H) b
  4. { //************* PickOption Start *************\\) b. ^; j, b( o% G2 R1 A
  5. /***popup:AGV_DivertToElevator*/
    5 ^) i  B$ D! K# g& L
  6. /***tag:Description*//**Divert to Elevator*/3 y4 {- c3 X; S6 Z1 G# \

  7. 6 f+ s/ a- |9 ?6 g3 i6 E
  8. int operation = param(3);
    & y5 L" ~6 ]$ F6 y, ?/ ?3 U

  9. ( M. j- M3 u! I
  10. #define AGV_LABEL_NAME "fs_AGV_Elev_State"
    * k9 R7 C$ C2 ]3 K% A
  11. if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME))0 r8 j& b7 _% f! h8 {# D4 n
  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
    * ^; ?/ {/ ~% d% N5 \+ p, W
  13.         // initial trigger execution+ Q4 U) y% t+ o, W9 z0 a: b
  14.         #define ON_ELEVATOR_START 19 G* \3 T' V0 a2 `& ]* ]$ e
  15.         #define ON_ELEVATOR_PICKUP_ARRIVAL 2
    1 [7 e" L$ Y- r
  16.         #define ON_ELEVATOR_DROPOFF_ARRIVAL 3. l2 l. f9 ?: o- d+ M
  17.         #define ON_AGV_AT_CP 4
    : M( \, b+ O* x
  18.         #define ON_BOTH_AT_PICKUP 5
    ! m4 c) s9 ]7 n  ^
  19.         #define ON_OPEN_DOOR 6  z0 Q7 C# d! r7 R
  20.         #define ON_CLOSE_DOOR 7
    / `5 }1 D1 k0 R# n. u  \5 F
  21.         #define ON_PICKUP_DOOR_OPENED 8# }) {7 M( o. ^
  22.         #define ON_PICKUP_DOOR_CLOSED 90 G1 L7 S% p. n) z  B1 m
  23.         #define ON_DROPOFF_DOOR_OPENED 10
    ' N8 R; U/ b4 J+ H2 M# P% {' f
  24.         #define ON_DROPOFF_DOOR_CLOSED 11# H9 S$ D! P5 z, |8 c, X
  25.        
    ; `% x) l: e8 g6 a* A* `1 C6 @% R
  26.         #define AGV_STATE_START 0
    . s6 d; Y: D) X& X! O# D
  27.         #define AGV_STATE_AT_ENTRY_CP 1" ]5 U  R- ]8 I! u8 K
  28.         #define AGV_STATE_AT_ELEV_CP 20 H0 C* D0 {' X8 O" o9 v+ d
  29.         #define AGV_STATE_AT_EXIT_CP 3
    % w4 Y* \' n4 M9 J8 ]+ B! R
  30.         " A* K; w% \  Z+ L' `+ T
  31.         #define ELEV_STATE_NONE 0
    4 R, \. \; a! c3 `5 D
  32.         #define ELEV_STATE_AT_PICKUP_FLOOR 1& P! b3 {$ G/ U! w! P0 V
  33.         #define ELEV_STATE_OPENING_DOOR 2
    - u0 r  X! ~2 n
  34.         #define ELEV_STATE_DOOR_OPENED 3) ^/ J' ]# B/ s4 |" K: i3 h

  35. ; F+ }) g0 d% E2 ~6 ~7 C2 d
  36. : E6 I7 {9 s% K. L, F
  37.         treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;! M3 {+ M  B9 u* G3 K
  38.         #define elevator outobject(elevDisp, $iter(1))0 Q, W1 C4 p4 W& v( @, o8 s* V

  39. . E' K& B" R- Y% d& }! f
  40.         if (!objectexists(elevDisp))
    1 J) F: u! C: A
  41.                 return 0;
    # k3 ^4 }7 Q: t$ A1 l$ G
  42. ' k0 K* d# [( D* j. L
  43.         if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {- F5 _- a4 Y  G+ y# |
  44.                 query(
    # n5 V# R, D! A) J7 P" M6 h
  45.                         /** \nFull Query: */( x- m) V3 \( Z7 c' Z$ T5 @
  46.                         /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,
    ! V/ U4 o7 ]) X$ ^* q  z/ W
  47.                         nrop(elevDisp),  S# Q8 ~4 S+ n; }1 b
  48.                         elevator
    ( Q0 _) m7 e2 E
  49.                         /** \nWhere*/
    8 r- E* u  q6 u5 Z  @2 T* z8 s7 ~9 P
  50.                         /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/
      [" t! J! G+ }5 S; k% H- F' [
  51.                         /***/
    4 Y3 E3 [7 Z, N( j
  52.                         /** \nOrderBy*/
    : u4 `: o7 c$ G5 W- m
  53.                         /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*/
    & Y& R' U$ {" C  r2 v% N
  54.                         /***/);% k+ W8 C. b7 d/ J* Q

  55. 3 [! e( k* w$ V5 F, T. _; ?2 \* T
  56.                 if (getquerymatchcount() > 0)
    # f! Q4 d3 R9 Q, O' C/ M/ T; m
  57.                         elevDisp = getqueryvalue(1, 1);# D. B: ], P# ?2 L
  58.         }
    2 Z7 o8 |6 n( V
  59.         if (!objectexists(elevDisp))" n# @# S* A6 J5 m; h" O$ q$ v
  60.                 return 0;
    / c2 d. a: T  I, t
  61.         treenode destCP = agvinfo(agv, AGV_DEST_CP);
    % Q0 f( ]; t* S2 N

  62. 4 ^7 Y& l7 I# y9 K/ Q7 m* S
  63.         agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);' i/ Z, ?: t( d% D

  64. 8 @! ~' A$ l, J& u5 P
  65.         // Create the task sequence for the elevator7 D3 G9 e- ^' `* t
  66.         double destZ = zloc(destCP);
    ' m% y1 a" @" K: v/ J
  67.         treenode ts = createemptytasksequence(elevDisp, 0, 0);+ j. r; I% F, M) r; ~2 t4 t
  68.         inserttask(ts, TASKTYPE_TAG, agv, destCP);0 d, D+ V7 L3 d
  69.         // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START
    ( ?  p! @& r$ y9 `- j7 j- o
  70.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);
    # n5 D$ G! C; K3 L1 s/ y9 {
  71.         // travel to the z location of the current control point& @: T4 q; K% @+ X5 M2 g; v; B
  72.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));
    + {  P" x* _/ Q0 E' o. \
  73.         // then call ON_ELEVATOR_PICKUP_ARRIVAL+ O; l, q  U$ S9 t" _& [
  74.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);  p% l1 U0 ~! l2 H
  75.         // then wait for the agv to get on
    6 Q" ]3 c3 K3 x8 r1 T
  76.         inserttask(ts, TASKTYPE_UTILIZE, agv);, l3 B; J1 t6 D; Y1 a
  77.         // then travel to the destination z location0 v2 M& Q5 ]' H/ W* U+ z% @8 Z6 v6 v
  78.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);
    9 D4 c; o  l+ @; V6 q+ u. ]5 H% m
  79.         // then call ON_ELEVATOR_DROPOFF_ARRIVAL
    ' F. v8 T4 ~  v! ^5 x- k
  80.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);
    4 V7 v; \  J1 n' u  r2 `' n7 e! m
  81.         inserttask(ts, TASKTYPE_UTILIZE, agv);
    : u, i- F$ Z7 P3 k6 e, i0 A; L, @
  82.         dispatchtasksequence(ts);
    3 C7 O  V. B7 ?# v  q3 R+ I
  83. } else switch (operation) {
    8 b1 d5 s% ~6 `" h4 _% @% P6 X7 Q
  84.         case ON_ELEVATOR_START: {' N( `: q$ P$ x6 t
  85.                 // this is fired when I get a valid elevator* p& w; _+ X; i- s5 N- T1 @
  86.                 treenode elev = param(1);
    7 j3 G' ^- b* V7 E+ [
  87.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);- t1 g5 M3 ^8 v3 T  N/ u

  88. 6 \% S0 {4 [2 z
  89.                 // find the closest floor control point  @( h9 w0 C1 L
  90.                 int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);
    & b- p6 h# c) o: k4 ]9 ~7 E0 k
  91.                 treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon), 9 B# H# p2 w; i' `4 O- [3 a
  92.                                                         fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),
    4 u0 N1 e, ]( M. b0 r4 y! E1 V
  93.                                                         cpconnection(elev, floorCPCon, count));
    8 ]) c. F. }! L# B: n7 J
  94.                 // return if there is none- m. Z7 d- y- x* S& D
  95.                 if (!objectexists(curFloorCP))
    9 G) E2 Z( v$ s$ }2 q
  96.                         return 0;6 E( ]; S: J; G' v) k
  97. 2 s. R* X) ^& O& I" u& X6 @
  98.                 // get the entry control point
    9 h% |6 I7 l4 ?0 U9 r
  99.                 treenode floorCP = curFloorCP;
    ; O8 s8 V" R3 v
  100.                 treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;* G5 Z; T4 D3 }+ R* U5 \  Q- J
  101.                 if (!objectexists(curFloorEntryCP))* L  v* h+ f) X% U$ h
  102.                         return 0;# Y9 z) F8 y9 M' ~. v
  103.                 treenode floorEntryCP = curFloorEntryCP;
    0 F! R( ?# y: o$ J0 e5 C
  104.                 treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;5 n  P% D1 d. L- H# H4 c
  105.                 if (!objectexists(curFloorElevCP))
    & G' w6 I! Y4 W! H+ g8 o) }3 e4 q
  106.                         return 0;- }0 `) z& c0 x2 q) S4 x
  107. 9 X( J4 o& l0 T! D- F  I
  108.                 double destZ = param(4);9 z: k: }/ C9 N. Y, a, k: x
  109.                 // find the floor control point closest to the destination floor) Q4 w" t4 s4 F' b% b
  110.                 treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon),
    " x8 J5 H2 |2 B& q4 L( o
  111.                                                         fabs(destZ - zloc(cpconnection(elev, floorCPCon, count))),
    $ R& N- W! I3 A
  112.                                                         cpconnection(elev, floorCPCon, count));
    6 v& n  ~" p% h# M
  113.                                                         % N- K1 w' e+ C8 s2 a5 D
  114.                 floorCP = destFloorCP;
    ) x5 a/ u% Y; x; ?8 C# Z# T
  115.                 treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;- f& `9 o7 g0 y9 N
  116.                 if (!objectexists(destFloorElevCP))
    5 ^, w9 ?9 s3 W
  117.                         return 0;
    6 h8 U  C. c  }9 H7 L; R1 M" c
  118.                 // get the destination exit control point
    8 j( P. J5 H. R# c9 I
  119.                 treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;0 }- ^& W' [4 h' P, B
  120.                 if (!objectexists(destExitCP))
    7 a* x$ P& [$ j: A) m
  121.                         return 0;: t7 _  y7 Y, Q* X6 o  t
  122. : C3 j+ a5 |% w& o: W: V) W

  123. % H) M3 n/ u0 m
  124.                 // add a listener for the agv. This will call this nodefunction in the ON_AGV_AT_CP section whenever the ! Q  `: Y" \) D3 ~1 C2 D
  125.                 // agv arrives at a node. I keep a state on the agv's state label, and then increment it each time- l0 k' [/ |& i. v/ K0 Q+ ~
  126.                 // the listener is called so I know which control point he's at, i.e. entry, elev, or exit.
    ; m7 X9 h; ^+ {) _. M$ d6 Q
  127.                 agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,
    - Q& `: k, G! X7 r: E; ^! C; O# i9 `2 t
  128.                         agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);
    2 R, N0 I% p7 d4 N, a3 }
  129.                
    . A! [0 v. ?% o
  130.                 // set the data on the state label
    - N4 a6 C  r1 m
  131.                 treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);8 k; h2 h2 j+ D  I9 y
  132.                 switch_destroyonreset(stateLabel, 1);
    . f! G1 L6 S) V+ S+ d. ^$ n5 u
  133.                 set(stateLabel, AGV_STATE_START);% ]* {) }! k% j! T
  134.                 set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);
    5 [; Y: W( D; G- _
  135.                 nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);2 z/ H2 z8 h' v5 O' H+ C1 D
  136.                 nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);
    5 k+ Q' Y! ]: P+ V7 V$ t4 H) q" I
  137.                 nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);
    ) V2 K5 l* A( ^
  138.                 agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);* _3 H/ B8 `" D4 Q" p' P, Q3 ]
  139.                 return 0;
    ! k+ f. e, C& l* P) y" h' U, u7 Z
  140.         }8 g' S* Y5 ]; w# C- ?$ d* S
  141.         case ON_AGV_AT_CP: {
    9 m9 R# `; Y+ B* k3 M% W( d+ H
  142.                 // this is fired by the agv listener every time the agv arrives at a node.
    / S' D* T% m" Y; `
  143.                 treenode agv = param(1);
    5 S# z0 b) K3 ^1 x1 h/ s; h
  144.                 treenode elev = param(2);( d! o* s2 Y: |" Z9 G( B2 @5 b0 |
  145.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
    , F6 S0 I7 _! C4 G5 ]& a
  146.                 // I increment the state label, and then switch on it0 {% \( U  X, ^, {- w! G
  147.                 inc(stateLabel, 1);2 _' l) H  `; H
  148.                 switch (get(stateLabel)) {
    7 G2 i0 @* \' x% ?9 ^
  149.                         case AGV_STATE_AT_ENTRY_CP: {
    9 [7 j) X+ Z+ U6 w
  150.                                 // the agv just arrived at the entry cp
      w8 I! ~" Y# l( F, x( h4 u# l
  151.                                 // so, figure out where the elevator is.
    5 F, h% m9 `: b4 o* \! ~
  152.                                 int elevState = get(node("ElevState", stateLabel));; [) E+ P% F# {" K5 F' ^- U
  153.                                 // if he's at the pickup floor with his door closed then open the door.. y9 F4 |8 Q4 i
  154.                                 if (elevState == ELEV_STATE_AT_PICKUP_FLOOR)- }  Q$ }$ Q4 @! C8 L
  155.                                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);/ ]8 _7 d- R% ?2 |6 t, a
  156.                                 else if (elevState == ELEV_STATE_DOOR_OPENED) {. d0 h$ C0 a) z7 W0 N
  157.                                         // if his door is alread opened, then move the agv onto the elevator, i.e. to
    " e4 b7 G/ e$ b
  158.                                         // the elevator cp( Z8 w$ i" |% Z4 Q
  159.                                         treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
    , u5 k/ L  C1 _+ J" M0 a- {9 U8 G
  160.                                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);1 m; z; k( S9 E/ `, M) t$ r& @# F3 L4 U
  161.                                 }4 h0 K4 ~5 u4 G. d$ k3 L
  162.                                 break;
    $ p  F% Y6 U3 u
  163.                         }
    ; r5 E# o. b% x
  164.                         case AGV_STATE_AT_ELEV_CP: {# E/ h) D( i  Z0 m& T
  165.                                 // once the agv is at the elevator cp, close the door0 v4 t- d+ T+ n  p: a2 E& g) ?0 r
  166.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);6 C( B3 ^0 o( w6 s1 K- `  q$ f* L: S
  167.                                 break;
    % Q1 {9 _7 @7 ?  D0 H( G0 ?
  168.                         }0 N3 U& z! \# Q$ i
  169.                         case AGV_STATE_AT_EXIT_CP: {
    % x! V, i9 ]# H& M* A3 |) x
  170.                                 // the agv is at the exit cp. ^3 w- |* `' y. T4 W. n3 I3 M
  171.                                 // destroy the listener node because I'm finished listening7 L1 I% o, c' R2 e
  172.                                 treenode listenerNode = param(4);$ O( H7 H1 _- c% d' Z% ?
  173.                                 destroyobject(listenerNode);" V1 r: R: D! w
  174.                                 int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;0 l$ `7 v4 s# l  H2 o
  175.                                 if (!agvWait) {" b- m' L/ {' Z5 [9 w& w3 A, F
  176.                                         // if the agv is supposed to continue on, then tell him to go to his final destination
    & f( c1 v) H, V, T' A
  177.                                         treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);
    9 z& r5 y* X4 Z" g- x1 V
  178.                                         agvredirect(agv, destCP, REDIRECT_AS_FINAL);* I  i0 I, r! ]. _7 ~
  179.                                 }4 z9 R6 N: X$ X# @& x
  180.                                 // close the door! @! I# u1 e% ~4 ?% S5 p
  181.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);
    1 W. p1 l. q9 f1 a5 s: ~/ _
  182.                                 // and I'm finished with the state label so I can destroy it.$ K  s4 m+ d4 ?
  183.                                 destroyobject(stateLabel);
    . v% l; q' |& a4 ]* Y
  184.                                 break;
    ; m* S0 d$ Z; {% I
  185.                         }
    - _! p  |( a" i- W$ q6 t
  186.                 }
    ! d- h4 y; b7 v- P9 x
  187.                 return 0;% y, J+ u4 o8 A+ H: ]0 d9 [
  188.         }/ W" V6 ~4 I7 Q! p( Z0 e
  189.         case ON_ELEVATOR_PICKUP_ARRIVAL: {( o: \2 o& \; N5 a) h# N
  190.                 // the elevator has arrived at the pick floor- V7 P8 W) n' [% ]5 t
  191.                 treenode elev = param(1);
    5 E, M6 T6 v1 g/ i
  192.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    + e" _. P3 S5 R: u7 p6 S
  193.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);/ Y+ @( x( |8 q
  194.                 treenode elevState = node("ElevState", stateLabel);+ ?: _  l: ?& `. d7 S
  195.                 // set the elevator state to at-pickup-floor, m7 R0 B' C1 E9 t' t' F
  196.                 set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);
    5 v- h( K/ r: ^) X) L. `5 t# i
  197.           q; \+ v& D1 S6 B! W! d* Q
  198.                 int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;, W! L/ ~4 I5 l9 U3 e' u
  199.                 * p! k8 G: L. ?
  200.                 // if the agv is at the entry control point or I open the door immediately, then open it. d9 ~8 l, D% }" K3 r- [
  201.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {
    / V3 A4 j" M: y$ w6 m: A2 u, A
  202.                         set(elevState, ELEV_STATE_OPENING_DOOR);
    $ W# l! P+ L" b1 Z  f  y0 }
  203.                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);) M) K$ Q. B& D. b
  204.                 }/ X3 z0 p+ l- G/ D7 r; d: g" \
  205.                 return 0;
    ; ]/ d, [! I& }" U7 V2 V
  206.         }2 u  F. g1 U* [$ }
  207.         case ON_OPEN_DOOR: {
    . n: X  I8 |4 b
  208.                 treenode agv = param(1);; B. f7 N, D8 D7 l2 s
  209.                 treenode elev = param(2);
    ( F0 t. q% y4 a/ T1 C3 r$ a7 S! e
  210.                 int nextStep = param(4);3 m3 @3 w  n% X9 _
  211.                 // open the door based on the time to open the door1 W7 j& k& N) J
  212.                 double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;
    6 z2 v% J0 \9 U1 V1 w! e
  213.                 delayednodefunction(c, openDoorTime, elev, agv, nextStep);# @0 e7 R& Z* z8 p) G  p
  214.                 return 0;: u, P5 V8 y% u* _0 o
  215.         }7 T; j; O: x1 f3 G& ?
  216.         case ON_CLOSE_DOOR: {2 z3 I5 g) _  u! s+ i) R0 d
  217.                 treenode agv = param(1);% [' m* v# ?& k3 Q2 A1 F* x
  218.                 treenode elev = param(2);( C' t1 k6 T: ~& r
  219.                 int nextStep = param(4);
    ' l* Q% N# U) G2 ]6 S
  220.                 // close the door base on the time to close the door
    + I' d* J/ `( E6 }/ }
  221.                 double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;
    ; N/ ~  d6 \; G; L' v9 ]. p. N
  222.                 delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));
    5 R4 |! G6 G2 S$ W) _
  223.                 return 0;3 [3 h1 s7 M. a
  224.         }
      k, N: j0 R( u. I. F
  225.         case ON_PICKUP_DOOR_OPENED: {5 L+ ^: v- a6 v" q" c; S" {" ~6 o3 H
  226.                 // the elevator door has been opened on the pickup floor
    , \9 C3 X- n; I+ g* C
  227.                 treenode elev = param(1);' o! H% g: G6 ]7 _. }
  228.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
      D8 t  e. E5 v1 V) b& Y' Y
  229.                 treenode entryCP = cp(agv);9 t7 `  b2 c; L
  230.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
    0 O8 l  `: W/ T& y
  231.                 treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
    # H! z! x2 L4 o" S$ P
  232.                 treenode elevState = node("ElevState", stateLabel);* i( z& N! b/ I+ r
  233.                 // set the elevator state
    ' y+ U% t* ]( z: z- L- w( W7 [
  234.                 set(elevState, ELEV_STATE_DOOR_OPENED);# V2 H" c0 M7 ?9 {4 E
  235.                 // if the agv is at the entry control point, move him to the elevator control point" v' _4 U5 W$ P( @
  236.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP)
      n  C" G  S& r' D
  237.                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
    : E! \& s  o% v. ]6 ?
  238.                 return 0;0 a6 d" b  |2 m! l
  239.         }
    ) u6 C6 g- B! g3 M+ |7 P! \5 k
  240.         case ON_PICKUP_DOOR_CLOSED: {  d6 r0 H" {% Z) u
  241.                 treenode elev = param(1);
    : V  K$ g; T0 J! J7 |
  242.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);# G! G4 R! V. n0 B- |
  243.                 // assign the agv to "no control point", i# }* a. F0 d, E* [: C. F
  244.                 agvreassigncp(agv, 0);
    ' W; Z3 f6 l. j1 D
  245.                 // move the agv into the elevator
    8 q1 J4 z1 M7 s! A
  246.                 moveobject(agv, elev);
    + K9 S/ ~7 d0 Y0 w
  247.                 setrot(agv, 0, 0, 0);9 R1 O6 g, }0 m* ^+ A" z
  248.                 // release the elevator to continue to the destination floor
    . h; [' c7 _" N. R. v
  249.                 freeoperators(elev, agv);
    4 J5 O& K* x7 Y+ N$ C8 t
  250.                 return 0;
    / ^7 @! u- i( v& `8 X- g
  251.         }" F# }% \9 W6 ~  K3 Z4 j
  252.         case ON_ELEVATOR_DROPOFF_ARRIVAL: {
    ! t4 |) M* j# {3 \
  253.                 treenode elev = param(1);
    ! @, s& s! O! j7 \8 n3 q
  254.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    7 V4 Z. k, J) x) U0 |
  255.                 // when the elevator arrives at the destination floor7 E) A; X0 L  X2 P( y; K/ O- l6 f' q
  256.                 // move the agv back into the model# i$ T! e! d8 ?
  257.                 moveobject(agv, model());) C% [3 B+ J) Y( \. x4 f
  258.                 // reassign it to the destination floor control point
    + [8 N" L. U7 W; Q* T4 N. j4 `- q
  259.                 agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));
    ( G2 q) C8 M" v
  260.                 // open the elevator door
    , A% Y7 ^/ z9 H" g! L
  261.                 nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);
    ; o/ l# Z" G. {
  262.                 return 0;
    / c0 A1 V8 s, R2 X+ J
  263.         }  c6 p5 P! t0 N7 a6 W3 E4 H8 ?
  264.         case ON_DROPOFF_DOOR_OPENED: {
    % Z3 Y2 p( G" \' h2 v
  265.                 treenode elev = param(1);( T9 p0 r( g- U0 ^) Q: e3 \/ ]
  266.                 treenode agv = param(2);
    ( s% b9 c: a" `: a8 G$ e$ R: L
  267.                 treenode agvLabel = label(agv, AGV_LABEL_NAME);3 p9 k; z! y$ r' A  S2 S, |
  268.                 // once the elevator door is opened on the destination floor,
    9 p& [4 X$ \& y7 p) ~
  269.                 // redirect the agv to the exit control point
    + b3 [! V2 q) p
  270.                 agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);+ u, v/ @9 J1 e' ]# s
  271.                 return 0;
    4 K4 K3 D; T. e# R: h
  272.         }
    1 F- o# s1 c  K6 @8 E/ n/ r; ~
  273.         case ON_DROPOFF_DOOR_CLOSED: {7 J/ H8 C+ O5 Q/ {; |
  274.                 treenode elev = param(1);) E+ M# i( Q8 i- a
  275.                 treenode agv = param(2);2 ^  i+ o0 ]6 T! Y: U
  276.                 int isAGVWaiting = param(4);% M3 T0 L5 c- |3 F8 I, T3 b
  277.                 // once the door is closed at the destination floor,
    + B6 T* G) P: {+ n# W$ H
  278.                 // if the agv is waiting, then send him to the final destination& c6 J6 c7 u- @' g" x' R
  279.                 if (isAGVWaiting)
    $ K; u: G0 _1 m1 f
  280.                         agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);% q7 A5 u  W0 p; g+ H
  281.                 // release the elevator to finish his task sequence
    , X0 K9 [: e6 ]* O; ?
  282.                 freeoperators(elev, agv);
    4 ]* }+ ^% S  ?* H- D
  283.                 return 0;
    . h3 o0 ~6 q1 F/ |& [3 F' o
  284.         }) b" h& P6 o7 D; q: U0 o3 Y. t
  285. }: y! y6 D! a7 R$ _4 ]/ L: U8 c
  286. } //******* PickOption End *******\\2 L' A: _6 ~! X) I
  287. 4 z' g7 y, q# [" B( I  |1 r1 Z
复制代码
" e' j7 N. o- k
. j  N% s, B/ C1 K/ j
4 E8 `: g9 A, m# p6 H4 p
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* _5 P4 H0 x8 ], u
办法1:从2016版本里面复制相应的代码
' H6 ~+ I/ E5 E# T! }" F( `
7 n. f8 p' ^  `2 S$ p; G2 U具体代码如下:
) @: Y: M! W! \: Y/ m
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, 2019-3-19 07:47 , Processed in 0.112598 second(s), 15 queries .

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

快速回复 返回顶部 返回列表