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办法1:从2016版本里面复制相应的代码7 y- ]2 {, B4 U: ^: o
# {8 P, }# n. G2 u) A; s' k
具体代码如下:9 }8 n& ^( o. z) {1 A* ^
- treenode agv = param(1);
' o u6 F2 p+ ?! A! ~+ B0 d d& x - treenode currentCP = param(2);
; \ V/ L8 M) C: F5 ^
$ Q; B ^, { X- { //************* PickOption Start *************\\
) ?( l+ w8 e4 f( a4 `, ? - /***popup:AGV_DivertToElevator*/
4 o6 E2 Z3 ?) ^) c0 M" X } - /***tag:Description*//**Divert to Elevator*/
$ z: h$ [( n$ v0 @7 c/ @( N
% {0 X: G- e$ D- int operation = param(3);9 h* \6 |0 S4 k1 B- q# l
. ^5 h( a* r; V- #define AGV_LABEL_NAME "fs_AGV_Elev_State"
# ~& f% r* b8 y. s" U$ h - if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME))5 @4 M1 o/ e! J/ t3 v/ n; Z- _, `
- && (/** \nCondition: *//***tag:Condition*//**/fabs(zloc(currentCP) - zloc(agvinfo(agv, AGV_DEST_CP))) > zsize(agv)/**/)) { // if it's a pointer, then do the initial case
; Z" E% D0 @ ?; y# ]" }- D - // initial trigger execution8 Z1 K2 n; @ Y3 N3 ?
- #define ON_ELEVATOR_START 1
( t% G, n. n& X e+ ] - #define ON_ELEVATOR_PICKUP_ARRIVAL 2' v# |& M+ o$ @9 _
- #define ON_ELEVATOR_DROPOFF_ARRIVAL 35 l% d: Q8 g) s7 n% [
- #define ON_AGV_AT_CP 4
; b* }/ H$ ?' [' Z - #define ON_BOTH_AT_PICKUP 5
9 ^' \6 v& y0 [) F, }; L3 v - #define ON_OPEN_DOOR 6
0 i6 C) g9 n8 e - #define ON_CLOSE_DOOR 71 e( l- a Q, Q& |' f b4 V5 r# u1 n: X! S
- #define ON_PICKUP_DOOR_OPENED 8
. k7 w" A) R3 e! w - #define ON_PICKUP_DOOR_CLOSED 9
9 u9 o5 A ~( n - #define ON_DROPOFF_DOOR_OPENED 10& u$ B! [% n" l$ @
- #define ON_DROPOFF_DOOR_CLOSED 11
6 _5 H8 D: i( E, p/ ^; H" e -
3 d8 b3 V/ _# r% \ - #define AGV_STATE_START 0
6 v9 V0 J4 w& ]8 e$ T - #define AGV_STATE_AT_ENTRY_CP 1- ?/ b4 O+ n7 A5 B- R
- #define AGV_STATE_AT_ELEV_CP 2. m- Y. R/ ]; R5 j: S
- #define AGV_STATE_AT_EXIT_CP 3/ X! c" U- Q" m6 Z
-
) Y( I3 \6 S; D7 S3 _4 x - #define ELEV_STATE_NONE 0
9 B" l( X* a, h" k- R' l - #define ELEV_STATE_AT_PICKUP_FLOOR 14 m& V, `: r$ m/ O! P# v/ p- K
- #define ELEV_STATE_OPENING_DOOR 25 j* `5 P- v5 d' x/ u
- #define ELEV_STATE_DOOR_OPENED 3
2 J+ B' H3 a, W0 n: q - ! z: [ Z8 I% S: T8 X4 i
& P9 ] M( v2 O' Z: c5 i- treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;1 u& |5 B7 ^6 h$ L) N" ~
- #define elevator outobject(elevDisp, $iter(1))/ Y3 `- s/ x6 d, x: c
) @( l4 a8 Y- h6 g8 X- if (!objectexists(elevDisp))$ F# B7 } O/ P8 T
- return 0;
& ]4 _2 p; v# M0 v- f6 k" |3 a - . R% K* n6 p; x5 \- ^3 B% W
- if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {
, _& S6 f6 M( Q) @/ H - query(
: k( I' Z8 R2 `2 o. g - /** \nFull Query: */
) @7 O/ z* u. z# E# | - /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,
0 @. Q/ h# q& v- } - nrop(elevDisp),
9 O- ]5 t1 l% W' m - elevator
/ y6 M4 F* j+ Q* g# g - /** \nWhere*/* c# \4 q8 Y" `; |! V8 b/ T3 @8 i
- /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/) z* }" W5 U3 \: h
- /***/5 Q$ B2 F# `, _
- /** \nOrderBy*/4 f( N5 m8 B. t3 h5 v
- /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*/
6 K6 ?; i; B5 S - /***/);
$ k+ A! l' l0 `5 E# \( P5 F v% A - # E, _# S' P- |4 I" T- k. B
- if (getquerymatchcount() > 0)
' H3 U0 e- ?- T9 o n) K. B- e9 ^ - elevDisp = getqueryvalue(1, 1);
) K0 h2 g4 z! V: g! I3 Z5 V' @ - }
; U O6 I/ L) {! a( l: q5 l - if (!objectexists(elevDisp))" L- I j+ C" A0 J# x/ V+ `
- return 0;- M' a- [ R( q3 q
- treenode destCP = agvinfo(agv, AGV_DEST_CP);8 G1 a2 g5 p# D4 Q
- " W' d9 I5 Z0 l8 s6 Z3 U
- agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);# ^7 Y- Y3 |' G8 J+ Y* S2 p3 O6 d* J
- 1 w# R0 c* t8 F, ^3 m
- // Create the task sequence for the elevator' d; A, F1 M+ \; M$ W* w
- double destZ = zloc(destCP);
. C& Z- C* q) ? {; q - treenode ts = createemptytasksequence(elevDisp, 0, 0);# F4 f5 F" ]& V
- inserttask(ts, TASKTYPE_TAG, agv, destCP);4 }& r# {* @0 s2 b
- // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START2 h9 p: w) S. e* q! E
- inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);
; `" X/ j& j' {7 A. T7 a - // travel to the z location of the current control point8 V' G, r0 S$ z, H$ v. d
- inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));" f9 q, N( g q- t
- // then call ON_ELEVATOR_PICKUP_ARRIVAL
: v2 B- L$ }5 H - inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);
+ j$ N# E O2 T; O5 s7 M - // then wait for the agv to get on
+ A2 H, Q, v; n4 Y% U - inserttask(ts, TASKTYPE_UTILIZE, agv);( {) U: e. S5 c1 S0 w, W
- // then travel to the destination z location* L' q8 Y- g9 \" y9 q
- inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);9 G2 H- g( N5 L
- // then call ON_ELEVATOR_DROPOFF_ARRIVAL9 v) }8 ^1 [ x' Z0 C
- inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);, l0 l) y/ o- w; l D5 i
- inserttask(ts, TASKTYPE_UTILIZE, agv);
5 r3 I/ M7 [( H! [7 J1 o/ v6 a - dispatchtasksequence(ts);1 m" [: |" Y0 |8 b9 D8 U
- } else switch (operation) {
! @- B- h8 I! J6 j# M - case ON_ELEVATOR_START: {
+ d4 X, S, q5 L; s - // this is fired when I get a valid elevator
* _/ v. K& u+ l7 R7 Q. A3 d1 ? - treenode elev = param(1);
+ ?$ z# R7 p0 P9 _! W6 B* @. q' ? - treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);7 ~1 p& s6 }) [. m1 h) H* x+ ?/ Z
- ( {7 ? _3 r% v- v4 K/ d
- // find the closest floor control point
4 r$ @# P$ F3 X. A: D6 r* S - int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);
! O1 l; s: S" n. u3 v: ] - treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon),
( G; K7 L- g! X' k# s$ _ - fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),; l1 a8 l' M- c
- cpconnection(elev, floorCPCon, count));
. l: j% E2 Z, y - // return if there is none% T9 d d! ~$ B/ B+ g0 Q$ f3 S
- if (!objectexists(curFloorCP))5 q6 K, G- C2 g: k- v' D- [
- return 0;; s% i8 M, o/ a4 r% a- l9 b4 L
6 B' M: N/ u: a( [3 }: g9 t- // get the entry control point8 a$ p. w& _4 C) [, b
- treenode floorCP = curFloorCP;
0 k! }3 _ e3 f - treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;' A% x: K$ U6 N2 ~1 @
- if (!objectexists(curFloorEntryCP))
# r7 A4 D+ ]. w- C3 D6 F - return 0;6 G+ n9 _& { |2 |. _$ q0 p1 D# X
- treenode floorEntryCP = curFloorEntryCP;
- L% d8 v6 |* j - treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;
( }: S3 ~! I7 N0 ? u2 V1 Y. z - if (!objectexists(curFloorElevCP))
2 y, ]8 d, I) r - return 0;
$ Z% }) U0 `! F. c - ( |' p/ i& O- a0 y8 Q: G$ h; \
- double destZ = param(4);
7 B s( J" x; ]! B; w- L4 b; J - // find the floor control point closest to the destination floor; \% _0 P7 _1 o
- treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon),
2 R$ g; `0 X$ \2 M6 w: P - fabs(destZ - zloc(cpconnection(elev, floorCPCon, count))),$ y: q P: a7 B+ v; O$ ?
- cpconnection(elev, floorCPCon, count));4 ]: U9 D+ _0 Z7 G0 E- Q
- : ^9 F+ `. o3 E2 L
- floorCP = destFloorCP;2 q1 d( R4 x; Z
- treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;
- ]- Z0 Z& J0 o7 x b* ] - if (!objectexists(destFloorElevCP))
* C0 W: Y6 F3 q; h3 L7 G - return 0;
X b: D# @& W6 W( n, N - // get the destination exit control point+ t4 g! G" ?' e- d- b0 L# H
- treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;
9 p; A7 }8 `8 q9 o2 K' q4 O+ C - if (!objectexists(destExitCP))1 n8 M" O9 S; u; N) M
- return 0;
+ [2 ]5 D/ C$ B5 \; O
5 Q! O6 n* W/ m& I8 K9 \+ [+ d2 W- 8 ?! E/ I- l* h9 `; r! t& l
- // add a listener for the agv. This will call this nodefunction in the ON_AGV_AT_CP section whenever the
! d) b" A1 @! B6 b - // agv arrives at a node. I keep a state on the agv's state label, and then increment it each time
6 z9 c F& K% r4 e5 r M& A: C - // the listener is called so I know which control point he's at, i.e. entry, elev, or exit.* Y2 G" u1 D+ a# M
- agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,( o- e) w. J" T8 h7 e- r+ j7 ^
- agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);
4 {# S0 E* X5 n& Y8 L* v# T- M -
/ K2 u2 v5 y v- M; m - // set the data on the state label 8 }1 A# i% s& v$ T' y
- treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);
0 o% Y; V# }! e3 w: d - switch_destroyonreset(stateLabel, 1);7 s* g) R; G! v8 l3 o+ e, ?
- set(stateLabel, AGV_STATE_START);
! @+ t6 L* H7 q: P1 m# d - set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);
$ b0 D5 z; i$ a" X; e - nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);& ]7 ]& P9 x) \' i
- nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);
2 p* g/ X, d& ?/ w0 i' h - nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);
# ^' P- C2 r$ u3 o7 Y1 m* N8 B$ I - agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);! G% _6 F8 t0 f3 f, K) p; {
- return 0;" `* K$ P8 l/ {
- }
9 D7 A6 P$ U% m( x8 G) _ H6 o - case ON_AGV_AT_CP: {" ~$ r. W& c K% k5 Y
- // this is fired by the agv listener every time the agv arrives at a node.- L3 ?* E+ }9 C0 e; X
- treenode agv = param(1);; x! F Q' q1 h& @& k1 }
- treenode elev = param(2);
0 i9 F u; H2 h$ w - treenode stateLabel = label(agv, AGV_LABEL_NAME);
0 z4 S) c& m `& I0 N8 T# u. l: e# j; k - // I increment the state label, and then switch on it- g' A3 I9 u) |; E. ]* M
- inc(stateLabel, 1);9 x4 k' t1 X2 j) g, V& L
- switch (get(stateLabel)) {. N- }: u5 Q, t7 K
- case AGV_STATE_AT_ENTRY_CP: {
& `; a( w! Z; T4 H% R7 T - // the agv just arrived at the entry cp
+ I6 i7 m F3 T6 m* y: w# @ - // so, figure out where the elevator is.- ]& X' J" t3 t7 H1 l- K
- int elevState = get(node("ElevState", stateLabel));
* ]3 H& d& G9 z& d - // if he's at the pickup floor with his door closed then open the door.4 w _# x _2 o5 i3 a
- if (elevState == ELEV_STATE_AT_PICKUP_FLOOR)
" i; c( t. p/ \% v- R - nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
]5 H: C' x$ p' ^7 N6 { - else if (elevState == ELEV_STATE_DOOR_OPENED) {
+ V3 ]& M1 K( G' N" G - // if his door is alread opened, then move the agv onto the elevator, i.e. to
- |( l4 P/ e( C5 l9 w4 x - // the elevator cp- e1 Y+ P- ?: m/ l
- treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));3 r& f( j1 D1 Y$ h1 n* p$ g: Y8 u
- agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
; p" m9 ?+ M3 o& N$ m - }4 e8 ~8 X4 S5 S# Z6 J a+ B5 M; U
- break;
, o( S+ \" M; G' }4 [% P# T - }
0 V \# u) h+ ~* h2 ?$ |8 }% g! D - case AGV_STATE_AT_ELEV_CP: {
; U! B' t9 N! h; @ - // once the agv is at the elevator cp, close the door. z; a' X) \) R: F: R6 e
- nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);
$ ^6 a% f, V. T. e" }; ` - break;2 \8 ]* g9 @& }) E# v1 Z
- }
3 _8 H; b, C# F3 G$ l5 q- q. z# \+ e$ Q - case AGV_STATE_AT_EXIT_CP: {
$ {6 {% _3 X6 k# M7 K7 R3 e2 m - // the agv is at the exit cp
# |- H V. E8 K4 \8 j0 d - // destroy the listener node because I'm finished listening
3 ]6 ]$ V0 q% Q5 M$ f - treenode listenerNode = param(4);$ K( N! q8 O9 `% |0 b* n
- destroyobject(listenerNode);4 s7 K1 S9 U4 [) a! }3 m
- int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;
3 D I. A e& d; |. j3 v - if (!agvWait) {, z# ?' y( H4 a2 i* O/ p
- // if the agv is supposed to continue on, then tell him to go to his final destination& J: u) o* w H& G7 F# r0 Z& _
- treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);$ z7 C& W) r) V% G
- agvredirect(agv, destCP, REDIRECT_AS_FINAL);! n3 O( N0 U# D5 ] \0 Q- V
- }
7 J/ v; h" A- O7 n5 Y - // close the door+ C6 v# n4 ^; m+ c& r6 d" w" p
- nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);7 A" O5 l* e1 I2 k9 a- \% r" L
- // and I'm finished with the state label so I can destroy it.
7 o4 G$ k4 I9 P0 w# u' ?- u - destroyobject(stateLabel);9 L& m7 c! r; U( m1 e
- break;
8 } D# d- ^2 Q - }6 r7 |5 r$ a5 N9 K) ~
- }
8 X" C& c: v" e7 [) o - return 0;
, L+ k* q; a8 {0 x - }
7 l0 D6 }( n- w& T- j - case ON_ELEVATOR_PICKUP_ARRIVAL: {2 M) t) Q" }+ I+ F6 X
- // the elevator has arrived at the pick floor4 l- n% R' y9 A' B+ k# A
- treenode elev = param(1);
7 g/ e/ I* w& X( b0 s7 F$ P - treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
: P& k5 }8 m% g& U4 H - treenode stateLabel = label(agv, AGV_LABEL_NAME);
. \' }) L2 Z* R9 a0 x - treenode elevState = node("ElevState", stateLabel);8 W0 q8 M- }8 x! R, g% Y. e8 j6 |
- // set the elevator state to at-pickup-floor5 |) C7 C9 ~$ A( ?+ V
- set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);8 ^, t, ?& X$ }. [3 u8 X- [
-
* u, J2 K2 i9 U# v$ s, n - int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;
' ]1 J- D. j; F0 \ -
9 t: G ?8 `( } - // if the agv is at the entry control point or I open the door immediately, then open it: K6 F9 U# j5 D0 ^+ K! N) V; v
- if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {( H. l/ J3 P* C# f/ l
- set(elevState, ELEV_STATE_OPENING_DOOR); k% m+ v5 J4 ~* O9 q) ~8 c
- nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
: W% G: I0 N2 P O; p% X& C, B - }
! Q5 u' _3 W. z - return 0;6 p$ \, }$ Q q0 B$ ]1 v. w: Y
- }( h5 |3 @$ u/ U; `' u( I" \. _. l
- case ON_OPEN_DOOR: {
5 i1 j, i: w0 C. P - treenode agv = param(1);: t9 @6 v1 f$ d' R/ {
- treenode elev = param(2);( u8 l( D" H1 N; r7 z! J0 R
- int nextStep = param(4);
' H8 m; K) h3 F - // open the door based on the time to open the door- Q6 j4 F6 w& n
- double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;7 }- ^& g( v3 _0 p* r. `, C
- delayednodefunction(c, openDoorTime, elev, agv, nextStep);
7 g" W' e5 d6 `9 u9 A* G - return 0;' b7 d) z# J! P/ r, S5 L
- }
- u& N( {0 P" q1 o& }: A2 W - case ON_CLOSE_DOOR: {. T4 G N" N; f6 } q# u* s
- treenode agv = param(1);
( N/ o2 ` Z; c0 b - treenode elev = param(2);
. l; H W5 ]# U4 [' b' s" j - int nextStep = param(4);+ m" C- T- h2 `: F" s B6 d$ X. i
- // close the door base on the time to close the door$ {: t% [ l2 f5 m P- ^. s
- double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;5 H, D3 f. l& t$ G+ x% z
- delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));
7 J' H, d% P9 Y# ]3 _ - return 0;/ r0 q- J- U+ \( P8 Q
- }
0 x# H1 i. u; Z# d - case ON_PICKUP_DOOR_OPENED: {7 B' w* l `" a
- // the elevator door has been opened on the pickup floor2 ?' W" }% T8 e
- treenode elev = param(1);. \0 V; S0 `7 U0 V3 g
- treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);, y$ S* Q4 o* h
- treenode entryCP = cp(agv);7 S' M: \: I1 H+ r
- treenode stateLabel = label(agv, AGV_LABEL_NAME);2 d7 Y* y3 O, D! Y# T
- treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));6 b6 d9 p3 c1 Q( I' }
- treenode elevState = node("ElevState", stateLabel);
/ h5 P5 v2 a7 F - // set the elevator state. B1 a7 n/ t; l f
- set(elevState, ELEV_STATE_DOOR_OPENED);
3 l, Z* V" V7 Q - // if the agv is at the entry control point, move him to the elevator control point
& Z* D2 O- X6 ^+ D4 s3 s" T6 ^ - if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP), C; }$ V4 ^* I% i0 c% O1 @
- agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);1 Z+ [0 a9 p3 ^2 H1 _7 [0 m
- return 0;
: y) O! P* C t: j. n - }& {' a0 A) g2 _
- case ON_PICKUP_DOOR_CLOSED: {1 U: G' S6 w$ e) x# {
- treenode elev = param(1);; S7 S3 p0 s U& G) V
- treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
# a) X3 j$ I7 h4 j% \, e4 Y' W - // assign the agv to "no control point"2 s& a& d+ V1 m% ?& ^
- agvreassigncp(agv, 0);! H9 Q" ?# L& A5 u/ [
- // move the agv into the elevator
8 C2 v; ^0 J, A - moveobject(agv, elev);
7 p) @ V- {- D) Q - setrot(agv, 0, 0, 0);
. W9 {6 A! k0 W V3 b- t) t+ K - // release the elevator to continue to the destination floor
; @/ t2 S. C& E4 a' H1 i1 _: p) S! ` - freeoperators(elev, agv);
. x) }, e. s) F9 E K% W, A- h - return 0;
- ^4 u9 `5 b+ w: k8 i% x' s1 J - } J! h6 ~9 m& K
- case ON_ELEVATOR_DROPOFF_ARRIVAL: {
# s9 K+ C2 m9 S5 {* }% r - treenode elev = param(1);
1 B* q" x4 b" S - treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);3 F8 x7 u$ u+ g( i
- // when the elevator arrives at the destination floor
4 ? G# q9 K, n5 l1 a( U - // move the agv back into the model M, w ?1 g- o" Y5 H# X
- moveobject(agv, model());
1 ]2 c) u4 W# T2 | - // reassign it to the destination floor control point, e1 Y" M, {( J! B6 ~5 W- _
- agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));
/ Y( L$ k# C, F; B - // open the elevator door2 K1 v% P8 ?6 k A
- nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);
& U% ^7 c9 j9 G' L4 j; S% V - return 0;
6 c5 J6 s2 _/ G - }
7 ? e# [) h2 F' Y7 G - case ON_DROPOFF_DOOR_OPENED: {* ?; N% X1 ^- T0 l
- treenode elev = param(1);5 e" U" h* }% f
- treenode agv = param(2);
0 B# P% x2 j i0 m8 e, i - treenode agvLabel = label(agv, AGV_LABEL_NAME);" k9 ?0 P$ ]- [6 m% a; B
- // once the elevator door is opened on the destination floor, 2 F; Q9 q! x! T9 S
- // redirect the agv to the exit control point
* n- X0 D9 m( j' Y4 E - agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);
0 A$ t# _) U7 K3 Q# W) C- @ - return 0;) H5 G# N( C0 `5 W! y
- }0 h- t4 ^! ~. N; ]& I+ K: g
- case ON_DROPOFF_DOOR_CLOSED: {
3 R6 P6 y- X* O9 Y# ]: z8 l* t" z9 V - treenode elev = param(1);/ p0 ]% A* v7 {% m+ V9 N5 }
- treenode agv = param(2);
; t3 B7 C1 d. j4 R - int isAGVWaiting = param(4);" N2 ?! a% S1 ~: n" z" w
- // once the door is closed at the destination floor,. X; b4 X4 \4 r. G* x( u
- // if the agv is waiting, then send him to the final destination; E; E3 e% b- h! @
- if (isAGVWaiting)' w3 n/ s4 I$ N9 J: U' @1 a' P
- agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);
( {8 c# n: | o; V6 d4 k; h4 u$ j' r - // release the elevator to finish his task sequence
1 N4 K# B3 M/ T2 l/ d/ a - freeoperators(elev, agv);1 `$ s( g8 Z9 z7 X j6 N
- return 0;9 Q* e- R2 M) s4 k6 x8 A
- }
/ u7 z# x( C' F - }
) h. v! H; [9 x6 |: L- S; C2 } - } //******* PickOption End *******\\ i: v0 n7 t" ^
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办法2:使用工艺流程模块完成 |
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