|
办法1:从2016版本里面复制相应的代码
! V/ O o! v# s: s: A3 f7 \1 N: ]5 `8 [( e+ A% C
具体代码如下:& L8 ^3 j4 x5 U6 f. q
- treenode agv = param(1);# j% n2 T1 @, g. \; O9 q
- treenode currentCP = param(2);
- F# |7 J( S! o, ?: G$ a8 X0 n - " u' k- w& {% ] A& G6 t4 X t
- { //************* PickOption Start *************\\# L& v# }0 f w
- /***popup:AGV_DivertToElevator*/
) A |0 @9 x: i2 B7 q, ? - /***tag:Description*//**Divert to Elevator*/
% S: Q( D' l, v, |1 c - 4 L2 Z6 b+ }1 h5 Y* ^$ a" d
- int operation = param(3);$ c$ F4 ? x' z1 r, Q* S0 P
( Z% \( T' [! V& W: U- #define AGV_LABEL_NAME "fs_AGV_Elev_State"+ b1 o1 z. }% {, o4 C: d! M1 H
- if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME))3 F2 P; J6 y- ]0 s) u: A
- && (/** \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
- // initial trigger execution) z7 Q; s$ s4 V7 T
- #define ON_ELEVATOR_START 13 O( u1 E- Z* U8 |5 A* F1 p! P0 @
- #define ON_ELEVATOR_PICKUP_ARRIVAL 24 _2 c5 K, H- H: ?5 \3 G6 f' D
- #define ON_ELEVATOR_DROPOFF_ARRIVAL 3: `4 A/ _1 S x) H+ _! c; ^" g; d
- #define ON_AGV_AT_CP 4( d2 o8 L: a. j
- #define ON_BOTH_AT_PICKUP 5' f. B/ o* b% E, p
- #define ON_OPEN_DOOR 6; P+ W5 f1 b7 o$ H, w8 g
- #define ON_CLOSE_DOOR 7/ z5 p- w9 i3 k
- #define ON_PICKUP_DOOR_OPENED 8
7 u+ `) s" Y T1 Z+ U; s: z. d - #define ON_PICKUP_DOOR_CLOSED 9
- g; O2 i9 J$ X {% r - #define ON_DROPOFF_DOOR_OPENED 104 ]6 I% v6 {# [9 ^5 M% R: I7 _
- #define ON_DROPOFF_DOOR_CLOSED 11( n# V/ N3 U! F H7 o
- # j1 F+ D+ b2 u: [. Q. m
- #define AGV_STATE_START 0; S$ E. p- s4 J3 m9 m
- #define AGV_STATE_AT_ENTRY_CP 1
" j) Y7 z4 Y) e H0 p - #define AGV_STATE_AT_ELEV_CP 2
2 q' g8 r9 D; J( _* V - #define AGV_STATE_AT_EXIT_CP 3
5 F5 J$ F6 o& O -
" J8 |; u* { b3 j+ t - #define ELEV_STATE_NONE 0
' O& d" ]% ~ l( i - #define ELEV_STATE_AT_PICKUP_FLOOR 1
( o& k7 x$ K( Q& f! V1 S - #define ELEV_STATE_OPENING_DOOR 2+ l$ O Y* k. r: V8 |8 P* L, B
- #define ELEV_STATE_DOOR_OPENED 3; Q! V; h2 b ~: t0 q
- $ y" Q5 {7 X: V# W* D; }
- . u, j" f; q5 |
- treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;
- Z& O( |! m1 X9 @ - #define elevator outobject(elevDisp, $iter(1)), `9 R4 ]. i) D* L7 T* q
4 T7 d+ ~$ u, `, o' G- if (!objectexists(elevDisp))/ U* R0 k' b4 u- \/ U1 P' E
- return 0;' v9 b8 ~ t+ \7 Q+ C
1 h5 ^2 A7 V: Q9 a1 ~6 l0 f- if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {
& d# h- g( _7 u% `4 C' r% |: K - query(
2 k) u; K' z( j9 n - /** \nFull Query: */
7 G! }3 k, i. ~1 t' T0 @ - /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,
+ |8 ?6 Q* l6 Y) J% | - nrop(elevDisp),; v6 X! w' O6 j% |( B* o
- elevator/ I8 x C, S3 S1 y2 Q
- /** \nWhere*/) M+ k- t' d. J& D6 t, | J
- /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/
v* c% Y; G8 I+ ]8 {. K - /***/
( K1 o+ q3 ?! Y' D# z% X - /** \nOrderBy*/) H I: m- C% _4 V/ j
- /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*/
7 P. u* C+ s9 Y: r, t1 Q" E- o - /***/);+ ^: d' @. c5 a( `/ j; }7 Q
! Y- X3 o, M9 I" D+ X5 E" g8 b5 M' X- if (getquerymatchcount() > 0)) V9 w, K2 W" ]/ t
- elevDisp = getqueryvalue(1, 1);" T3 q" E4 b, Z
- }/ G% A8 E( b" P; B# y, L' L3 D
- if (!objectexists(elevDisp))
% b% o5 z7 l1 ]: M7 T2 @+ f - return 0;/ i! {& ?1 `% p
- treenode destCP = agvinfo(agv, AGV_DEST_CP);' S* W3 Y! e& p+ P- }
- / L7 y i% Z/ d$ t0 B, D/ c
- agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);
) j3 j$ w$ s5 G - 5 `6 W0 L* u$ F2 @ l3 J6 z
- // Create the task sequence for the elevator
2 O0 A% y6 D9 Z - double destZ = zloc(destCP);% D, P. X5 A- p3 E8 H5 P
- treenode ts = createemptytasksequence(elevDisp, 0, 0);
6 ?6 O( }% j7 {- ^& u1 u' w" G# M - inserttask(ts, TASKTYPE_TAG, agv, destCP);: Y1 D9 m% F7 H
- // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START
6 ?4 s# b; w; J' F) M2 | - inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);* u3 @, z. O" H6 b0 ^2 ^
- // travel to the z location of the current control point: ~' y3 g0 E: n( E% h9 c; q! f1 }* C
- inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));
; t' d; `, t& v" ~6 _( c2 w: f - // then call ON_ELEVATOR_PICKUP_ARRIVAL
* [; d! K( n1 Q) l3 _/ B - inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);8 u3 z$ j6 q1 m
- // then wait for the agv to get on
$ o* X( S" y7 [5 k! n% h - inserttask(ts, TASKTYPE_UTILIZE, agv);
% s; r# l" ?/ x - // then travel to the destination z location
9 `" o r* L. r/ t/ Q - inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);
- ?. F3 I) u1 T' N2 Y2 |$ a! A - // then call ON_ELEVATOR_DROPOFF_ARRIVAL! U# @3 ^3 ^/ q: U) }0 z
- inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);
/ [5 k# R$ ]0 s- F+ k! E7 p - inserttask(ts, TASKTYPE_UTILIZE, agv);3 j. w: b6 A- G
- dispatchtasksequence(ts);
4 o" n+ W. P9 G! f Y4 f - } else switch (operation) {
8 }, Y) v5 ], [' {: g - case ON_ELEVATOR_START: {
9 y7 f$ j% P" l) J& C$ z - // this is fired when I get a valid elevator6 e( G7 v: X3 N2 Q4 u h2 \6 Q( g
- treenode elev = param(1);2 T ^6 {7 m2 I' I _+ ^* T4 v, k# g
- treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
- K* L5 m# X1 x8 s
* @4 q, a* h1 ]$ T6 J: o- // find the closest floor control point
* d4 P4 H% u, r; b- g$ i - int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);
1 ^+ h% F% g" R4 F7 T, m9 k/ H - treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon),
( i3 k+ j/ t' }' J s - fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),
( |' U- q; N2 x. [9 E, `9 ` - cpconnection(elev, floorCPCon, count));
; C- i- L. z4 p `+ U$ b5 O: @% @ - // return if there is none( r: K+ S/ p8 K; l' g
- if (!objectexists(curFloorCP))
h k2 Q/ I& X/ _- S+ r) E5 O - return 0; G8 [7 i9 |* g
- & C _3 \' P' I. w0 c# @4 w( K5 b
- // get the entry control point+ T8 x! V9 @! V/ O% g
- treenode floorCP = curFloorCP;+ ?1 m; v1 _# p+ }1 U2 L
- treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;' d. B$ D/ J; U+ f4 C1 a2 `
- if (!objectexists(curFloorEntryCP)) S1 y1 n, Q3 L# m
- return 0;
+ U) N3 {# k: w+ D - treenode floorEntryCP = curFloorEntryCP;
, w2 q$ Z+ S$ c4 l8 [4 ~& H. j - treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;2 ~, |- `/ u8 H# T* X0 Y; V% j5 Q
- if (!objectexists(curFloorElevCP))! l' \8 @7 l) L5 h
- return 0;
M+ k& \' ~9 d1 G' @/ a0 s( o. \
+ r) n3 K4 t, D5 J$ Z- double destZ = param(4);; X4 D9 M% c5 I
- // find the floor control point closest to the destination floor7 d, N5 L: U/ A! X# [
- treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon),
4 I0 N& u' t$ p$ n. D* h - fabs(destZ - zloc(cpconnection(elev, floorCPCon, count)))," a1 t z8 E" _1 b& R% J$ ^
- cpconnection(elev, floorCPCon, count));" K* A7 ?2 Z2 v0 y
- ( b/ @0 g. v5 o& h: E( n
- floorCP = destFloorCP;, h( b: V9 m9 m& g: ?- F
- treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;* l$ W4 s9 A5 M: [: q5 G
- if (!objectexists(destFloorElevCP)). m7 @$ A9 t; n2 P
- return 0;
0 x; g% c' l/ d- {. t P - // get the destination exit control point5 ], w, z: c6 f! ~/ A! n
- treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;6 W* u+ c, ~, L
- if (!objectexists(destExitCP))
7 k W, o7 x3 v! n7 ]' Y: X7 R& a - return 0;
! Z! c0 i' m! L, C% I/ j - ( f9 n( S% o, m
- 8 Y- m. D, D4 M# Z/ V% j8 ^
- // 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 - // 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 - // 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 - agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,
, J7 [) j, q" {& Y. `0 e - agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);
6 Z9 P; ~+ B/ y0 r7 |, G/ q4 T - / t4 g/ ^# y7 V
- // set the data on the state label 1 I9 Y/ D3 t' i: T0 g
- treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);" \5 r, p; x3 U6 f0 W) ?
- switch_destroyonreset(stateLabel, 1);
. I ]0 C% {- J { - set(stateLabel, AGV_STATE_START);/ i7 l% D7 P) E, M9 T& C
- set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);9 a8 `( I5 q; Q
- nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);& c" ]# |+ m7 @. s% z3 `' d
- nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);
4 ]+ p9 G, w5 }. \ - nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);( u4 P& j6 Q$ c' u: } W# ~% K" R
- agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);( u6 l! S: E0 R' ^5 r$ @
- return 0;
0 {- ~& o) K ~ - }# \% n" h" t E8 x% z2 K
- case ON_AGV_AT_CP: {
8 `2 \5 P- T T6 _ - // this is fired by the agv listener every time the agv arrives at a node.+ V) n) j) A5 T' k2 j5 b+ `
- treenode agv = param(1);
) f5 r' d/ X2 m4 C. O4 W6 k, z - treenode elev = param(2);$ }+ h* `: R1 @5 x
- treenode stateLabel = label(agv, AGV_LABEL_NAME);
6 A1 j( ~" Z% @) |* N - // I increment the state label, and then switch on it$ b1 h) q: W4 q. C) h i
- inc(stateLabel, 1);& S$ f) D2 X. e
- switch (get(stateLabel)) {
j+ h1 G; P- N1 u3 o7 ~9 ^+ N" ? - case AGV_STATE_AT_ENTRY_CP: {) R9 b. c8 O1 ^9 L
- // the agv just arrived at the entry cp3 h+ U" d2 g- h" J* U0 m/ A
- // so, figure out where the elevator is.# A5 I# F6 j' b g) U$ }; ]
- int elevState = get(node("ElevState", stateLabel));
, m1 D$ Z# q6 U* C; { - // if he's at the pickup floor with his door closed then open the door.% `# @$ D( h) ]8 L$ e
- if (elevState == ELEV_STATE_AT_PICKUP_FLOOR)
2 k. w! v9 b0 @1 Q - nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);2 m* Q% I' a* [
- else if (elevState == ELEV_STATE_DOOR_OPENED) {+ W$ h! c! C8 C8 r' s: O8 I
- // if his door is alread opened, then move the agv onto the elevator, i.e. to+ j% L! I9 \9 t% ^9 A
- // the elevator cp; p$ n @7 I7 e
- treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
% D" u0 y2 m) T( V - agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);6 [5 h6 |6 ~- \ A3 W
- }* B" o! L; C2 Z
- break;
0 T, @9 Y2 y; | - }* e! i$ A1 J/ a Q
- case AGV_STATE_AT_ELEV_CP: {* y7 G; j1 \* G4 B) O9 z
- // once the agv is at the elevator cp, close the door! o& n7 J9 a: b# s
- nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);. \9 O8 {$ y& ~4 H
- break;
' B$ J# k) z8 y+ x8 r - }
~+ q" f6 Z4 g - case AGV_STATE_AT_EXIT_CP: {/ y# z7 s# ]* y' Q9 e7 L1 \
- // the agv is at the exit cp5 H6 H, g, U) x5 ~! k
- // destroy the listener node because I'm finished listening$ r$ u7 ^* ~1 h# ^ i( P
- treenode listenerNode = param(4);
3 [+ x) [0 k7 q - destroyobject(listenerNode);
( ?1 Q! Y+ t/ p0 x1 b; v4 [4 Z - int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;
3 j6 g/ k# V$ s2 [ - if (!agvWait) {
0 \3 ?4 h8 c9 D' s$ t( R# I# \: f - // if the agv is supposed to continue on, then tell him to go to his final destination
; X3 W# z2 D' e$ ?9 ? - treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);
8 F9 N& @5 ?$ q/ N. e- e, e% n - agvredirect(agv, destCP, REDIRECT_AS_FINAL);
3 U/ Y* {- I4 K! F; q4 q - }# r4 G8 _5 r( O7 `
- // close the door
! r: {! `" `/ a2 A7 ?( m - nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);
) V7 z+ x! c4 {& d/ } - // and I'm finished with the state label so I can destroy it.& q5 v/ R; H& b* L- R7 ~
- destroyobject(stateLabel);! [/ F6 d) {* p; T# Q
- break;; v- d- t1 W q3 b; M9 h% }% w4 ~
- }- b7 m9 m3 m/ {9 Y& e
- }) [7 P+ V" z6 G1 k. j% T
- return 0;& ~9 U6 ?, C: B M1 x' H7 y
- } {1 [- S* P# x4 A7 j
- case ON_ELEVATOR_PICKUP_ARRIVAL: {
# f. Y% y8 H: w - // the elevator has arrived at the pick floor
* G5 X, v- O0 T/ l+ o+ V/ n, M - treenode elev = param(1);
* N4 {4 t! Y# A - treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);. x, I9 v; C6 _) G( S% d5 P. }
- treenode stateLabel = label(agv, AGV_LABEL_NAME);3 Y! Q$ U' Y+ d
- treenode elevState = node("ElevState", stateLabel);
( }: X* r0 T" Z0 H$ u- X4 p( H# T - // set the elevator state to at-pickup-floor/ x1 K4 E# \9 q- H
- set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);" w: N4 g2 W( f& i
- 4 y$ Z9 T0 ^# \* X
- int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;, ]5 x2 T1 M0 \0 P
- ' |" \! p5 I- `% L+ N
- // if the agv is at the entry control point or I open the door immediately, then open it
8 v! e* P+ _. R ? - if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {7 Y- y" c* x j) X% t/ k1 e# v7 x$ t
- set(elevState, ELEV_STATE_OPENING_DOOR);9 t0 \2 P1 x; t3 _: \7 B7 z# B, e
- nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
$ F2 S4 X) `. y" E - }
7 Q" D5 Z! c/ ]# g8 ] - return 0;, y2 _0 I7 I6 A& m1 S9 x0 v
- }+ ~* V: }8 K- k; D8 T% t" C' d7 l
- case ON_OPEN_DOOR: {! Z4 H- J' {* M7 V# z1 P
- treenode agv = param(1);4 Y/ R* n- |+ x
- treenode elev = param(2);
) t6 z! p4 T6 o/ @9 G - int nextStep = param(4);$ t6 X/ L/ q7 l+ O6 u8 J, }
- // open the door based on the time to open the door- s0 C/ T8 v' }6 o8 u/ ^; l& o
- double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;2 @5 Q. f/ B$ O1 {
- delayednodefunction(c, openDoorTime, elev, agv, nextStep);
. `' h& }( m+ r7 s9 |/ m! i& g - return 0;' x( Y: H. v+ Q% T; ` [
- }$ e s# N! U( T/ n7 D
- case ON_CLOSE_DOOR: {
* d3 Y4 r B: |9 f8 ~$ Z. u - treenode agv = param(1);' `: F/ {$ K, v( h, w# g8 j; o [4 w
- treenode elev = param(2);: v) C$ F6 k0 W4 \+ D' w. o0 |
- int nextStep = param(4);
! ^5 M( f2 N" Y s- G2 { Y - // close the door base on the time to close the door
, }4 L; w; ?. W1 W( S& ^; L - double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;
/ Y/ Z& M( y2 q! C - delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));- l0 [5 V; r4 G# ]7 G. w/ J
- return 0;
# b! k0 d: C! C - }( T+ _+ F" _3 _9 @, r. x
- case ON_PICKUP_DOOR_OPENED: {
# B& A9 j* ?7 W D4 F5 I - // the elevator door has been opened on the pickup floor
/ p9 d0 z- b/ E6 E |1 m7 M/ r - treenode elev = param(1);
8 j5 v8 @, ^+ P+ x% m) t - treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
& a5 } S' U- U1 ]: Y - treenode entryCP = cp(agv);
9 f: N/ c2 \. R( M, p. C - treenode stateLabel = label(agv, AGV_LABEL_NAME);
; J, i V+ c7 Y+ L! ?$ U/ F - treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));4 z+ n3 u3 |2 z
- treenode elevState = node("ElevState", stateLabel);
; o. q; n) ^0 Q& M: ]2 c# t4 I9 p+ [! { - // set the elevator state6 H+ q+ N* U3 M9 I& [3 b" K( ^- y
- set(elevState, ELEV_STATE_DOOR_OPENED);
4 u8 V5 u8 K' o4 l0 e0 Y$ `* @. z - // if the agv is at the entry control point, move him to the elevator control point- G# A' n" i. L5 h/ L
- if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP)6 B& r% D D& S9 k1 T; m
- agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);0 j2 Q4 a$ u5 E E5 Z5 X, A
- return 0;
! U4 t% T" h- S: t! ?/ j3 s3 I - }
5 S |6 I% Q# \& q3 G) | - case ON_PICKUP_DOOR_CLOSED: {
5 X; B# M. U2 n0 X6 j5 g - treenode elev = param(1);
7 C3 H& C& P9 Q" K" Q. K, b9 Y - treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);3 N1 s7 O" y& t( I, @
- // assign the agv to "no control point"7 {) t3 z6 y: N8 z9 W- W# q
- agvreassigncp(agv, 0);* k% y( A2 V- N0 a7 |
- // move the agv into the elevator- j6 y# {2 U1 c- x0 R: j" f
- moveobject(agv, elev);/ e6 M" ]1 Y4 j/ C
- setrot(agv, 0, 0, 0);
- c i) g( ]1 d5 H - // release the elevator to continue to the destination floor
4 V& D0 h0 {6 m$ a1 a" v1 q - freeoperators(elev, agv);
; F+ z+ Y& Y! }, }4 p - return 0;5 M3 f3 S& ]1 |+ ^' p M, y
- }
# E% u- ]4 H" `7 l' L0 S% O - case ON_ELEVATOR_DROPOFF_ARRIVAL: {, r/ G# G% `$ X0 E$ S7 t- m4 r
- treenode elev = param(1);
3 m: d6 y, r' a& B. o+ T - treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
6 b! u# t3 c# Q* p( I' E& g - // when the elevator arrives at the destination floor4 b) b; j1 \. P' h3 ^' w
- // move the agv back into the model
/ }1 u+ f: e/ u+ c+ H2 m( s - moveobject(agv, model());
/ }+ j6 [7 g! C2 k: c1 c0 ? - // reassign it to the destination floor control point. x0 L' a: f0 ]" ?/ \% a) H
- agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));
B8 ~" G; K _) [& V' B/ Q - // open the elevator door
" n1 w( ?; L6 p: c) \$ O - nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);
6 i0 c5 X3 {) j; b/ a: M* Q+ {) \ - return 0;
5 I7 e1 M C* w O - }
# e- {3 G l. [( W0 _ - case ON_DROPOFF_DOOR_OPENED: {6 q0 T. ^( Y* h# r4 Y: t
- treenode elev = param(1);
' G, Z# m3 x/ x+ ]: ~ - treenode agv = param(2);" @& n0 M3 F5 c/ I1 G6 v
- treenode agvLabel = label(agv, AGV_LABEL_NAME);" U, y4 z9 t$ B" a4 j
- // once the elevator door is opened on the destination floor, - U" Y1 Y* m/ p/ b1 Y9 O# O
- // redirect the agv to the exit control point
) s' W3 U d# p" s+ ` - agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);; B6 ]' B4 @# |, `5 q1 D+ ]% @( \9 v
- return 0;, Q: l+ F( a. M: j, y" }- e, D
- }
: ~' ]5 ?7 J" o% Q2 y - case ON_DROPOFF_DOOR_CLOSED: {& W# K4 n3 K; V A& g) Q
- treenode elev = param(1);3 B% i5 b, [% M$ o8 U7 F) n% P: @
- treenode agv = param(2);$ { v( M- p+ A, T3 z" g
- int isAGVWaiting = param(4);
; |6 A# U( \- w* i2 r* W; B) }9 E t - // once the door is closed at the destination floor,
7 W$ W! j R/ s( A0 V1 Z - // if the agv is waiting, then send him to the final destination. v, R$ u/ h2 {" e# g
- if (isAGVWaiting)' l/ B2 m& r9 U
- agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);( I3 n8 B t4 T8 o3 }2 o- N6 L
- // release the elevator to finish his task sequence( ~7 d; H: \; Z- _4 k* `
- freeoperators(elev, agv);
) J. }+ b+ [5 ~- f! \: ` - return 0;
& J: F2 J- m4 Z2 G: C - }( C2 S9 b/ ]- s) G k; B2 u- n2 ]; U" t. P
- }* ^# C- ]; {0 T& C9 [ }9 u
- } //******* PickOption End *******\\; `5 b7 R9 g1 s( s! i/ t
# 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 |
|