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办法1:从2016版本里面复制相应的代码) L9 }' r/ l$ l V: w% Z L% @
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具体代码如下:
" \8 y+ O+ o, ]4 G5 K o# g. p" |- treenode agv = param(1);! P' b( Y W( s1 @
- treenode currentCP = param(2);
, r& a; M9 w: @- o' N9 B3 i
8 [$ J+ {) r1 o& \- { //************* PickOption Start *************\\ G0 b0 ]: M+ T% {7 j" }0 e3 ?5 a
- /***popup:AGV_DivertToElevator*/; p- H* f! y: o1 h& x1 K" `
- /***tag:Description*//**Divert to Elevator*/
3 ^+ n( G G) D& I: n4 Z! q# I$ } - & n( h- f: n0 q5 C- x
- int operation = param(3);
4 N0 J8 l& p) {. q3 r - 1 \, Z# A+ u8 u0 C- {" ?( G! f4 T
- #define AGV_LABEL_NAME "fs_AGV_Elev_State"
6 i7 U+ Q, x! \( q% L0 I0 `. A - if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME))9 t* Q, n9 e6 x1 M3 k
- && (/** \nCondition: *//***tag:Condition*//**/fabs(zloc(currentCP) - zloc(agvinfo(agv, AGV_DEST_CP))) > zsize(agv)/**/)) { // if it's a pointer, then do the initial case! o H0 m. c$ D! R9 S
- // initial trigger execution0 i8 l$ q) A& |
- #define ON_ELEVATOR_START 1& O/ A# k# r, M1 r7 X
- #define ON_ELEVATOR_PICKUP_ARRIVAL 28 p4 U# w2 f7 r; o1 l# y O
- #define ON_ELEVATOR_DROPOFF_ARRIVAL 3& Z% L/ P! g' t1 S1 y
- #define ON_AGV_AT_CP 4
' @" W, U2 d) w - #define ON_BOTH_AT_PICKUP 51 n8 T# D7 w1 x" D- w* H9 _
- #define ON_OPEN_DOOR 62 P. V. @9 |: h6 q
- #define ON_CLOSE_DOOR 7
; X6 y' N3 p9 T! I - #define ON_PICKUP_DOOR_OPENED 8
/ C; P9 P* h' X7 P - #define ON_PICKUP_DOOR_CLOSED 9( [, m# C# u) ?# i; E# T( a9 w
- #define ON_DROPOFF_DOOR_OPENED 10
: D- @0 w: Q2 h0 J - #define ON_DROPOFF_DOOR_CLOSED 11
& P1 S$ o0 H3 J% E8 _ -
$ `3 h6 K. V4 o- K0 K' n4 H8 F - #define AGV_STATE_START 0
' w; b0 ^" W0 {. G. V& M - #define AGV_STATE_AT_ENTRY_CP 1
0 U0 B4 D. A: `/ {/ s# ] - #define AGV_STATE_AT_ELEV_CP 2
' v" S0 X, z) k. L+ |& W - #define AGV_STATE_AT_EXIT_CP 31 @) ^, Q/ ^8 P# \) E- q0 T
-
" C" M# s- V1 {- J: C7 ?+ N( g2 N - #define ELEV_STATE_NONE 0
. d9 i9 j7 b; v {0 ^ - #define ELEV_STATE_AT_PICKUP_FLOOR 1. r& ]5 d/ v5 u1 [
- #define ELEV_STATE_OPENING_DOOR 2& p. T4 S1 S+ k3 g7 S4 F
- #define ELEV_STATE_DOOR_OPENED 3 g' i7 t# A9 p6 ]4 b+ X7 D' {$ b$ c; `& Z
- x; ~2 {5 ~/ r8 f6 R& b, w
- % P9 R- h2 z0 H2 W
- treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;0 i# O- K5 A3 y
- #define elevator outobject(elevDisp, $iter(1))
) {) a) @- ~6 ?2 U" _ - * D9 J5 z) C. O. X1 k' P4 _
- if (!objectexists(elevDisp))& h5 i4 Z) ~% j6 Y5 @' V1 n3 M
- return 0;/ C2 k6 I" p+ D* R _ b; }1 ?; a
- A% W) e' G8 E# a+ d, U; }
- if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {
7 C3 |& ?( b" I/ k - query( v! I% m5 s' ?; U
- /** \nFull Query: */: l& @5 J% Z9 A! Z
- /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,
: j- Y- g8 t4 [ E - nrop(elevDisp),
# @/ G) O1 m1 s, j. Z- m! n" P - elevator
u$ \8 b6 E. N/ a1 v; ` - /** \nWhere*/3 p5 ?# Z& i* o$ O: C/ l' F
- /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/
7 h3 X1 @0 d( ^! C8 s- ^7 M/ c& b - /***/' l' T* V3 t, D4 P* D) D
- /** \nOrderBy*/
/ h. ^+ S3 |, q1 W$ H0 e0 X - /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*/
5 c, K T% c7 R. n - /***/);
8 v1 e: L4 i S5 C
8 n0 _* x0 T) {4 d/ n- if (getquerymatchcount() > 0)
' Q4 Y. g6 }7 o9 G% n) A) H% e - elevDisp = getqueryvalue(1, 1);! Z Y/ z8 K* R8 [* k- j0 Z
- }
) d" v$ T1 m4 K$ C - if (!objectexists(elevDisp))
2 K. K" J5 @. ?7 F8 s `9 `6 I - return 0;! v. z% @5 O" ]. {% A* P
- treenode destCP = agvinfo(agv, AGV_DEST_CP);, T L9 t) G! h% H# K
- ; f" S3 w. Q( ^. h: A
- agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);( |* k- J& |: D5 x9 O
) @$ J# q5 P, O6 c0 p' b- // Create the task sequence for the elevator' G" F. U* ^0 |, ]6 }
- double destZ = zloc(destCP);) J7 `0 c4 b* G9 {* m
- treenode ts = createemptytasksequence(elevDisp, 0, 0);
/ s6 t% @& l, t( ], r4 m - inserttask(ts, TASKTYPE_TAG, agv, destCP);
; V0 z2 i5 b/ w2 B* o) b - // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START
* v0 q8 Q, @9 A9 d1 I$ {6 Z - inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);
% x% @" D) S5 z& T9 n. E7 h - // travel to the z location of the current control point
( G6 _, H% o# `: K. { - inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));
8 R# T C* Q+ ]$ q, Q3 \9 n - // then call ON_ELEVATOR_PICKUP_ARRIVAL
( @; j2 K3 \. e - inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);
0 G0 r7 @- g! p, M - // then wait for the agv to get on
0 A9 V7 Q' B. p3 ~5 H, a% c - inserttask(ts, TASKTYPE_UTILIZE, agv);+ I2 [2 ~4 V9 X& D4 r6 t$ H
- // then travel to the destination z location. j' c( W5 T& r- w; l8 l/ G
- inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);
) v: t/ o0 l# \7 ~: E) ? - // then call ON_ELEVATOR_DROPOFF_ARRIVAL7 P- z& o3 d+ H, Z( C, G
- inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);5 @* Y: s" e/ H1 t! }" v' C
- inserttask(ts, TASKTYPE_UTILIZE, agv);9 p' L+ H3 a: P2 @
- dispatchtasksequence(ts);
" [2 W9 O% y7 G: l - } else switch (operation) {) |: ]/ }- x2 d$ r0 P0 u
- case ON_ELEVATOR_START: {
, j' t( r) A6 S& m: ~; Z+ O8 n - // this is fired when I get a valid elevator. Q5 s$ Y) F8 A& E7 O2 U& V) G
- treenode elev = param(1);
: W+ I+ O ]: c- ` [ - treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1); {8 f" H0 m+ X2 T& B7 |1 b" _, s
: b5 H. I0 e* \, A! @- a- // find the closest floor control point5 S; D' P+ ^- y
- int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0); d, m7 f* x7 m, ? M& v
- treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon),
2 \8 G A8 u+ a' S: S% P- m - fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),
' W2 V) |% k8 `6 l4 Q) h o - cpconnection(elev, floorCPCon, count));2 ?+ J6 q0 W2 r. o/ S
- // return if there is none2 {2 J8 m8 h+ z) a4 D/ s
- if (!objectexists(curFloorCP))
; u/ H4 q% D" H2 ] - return 0;; _2 m5 W$ K6 @9 n
9 _. n% v4 I* p: j5 T9 ^1 }- // get the entry control point
4 ?# Z5 F$ m9 [1 H1 }5 X" w - treenode floorCP = curFloorCP;
; u5 B4 A* _4 o+ B( H9 P& k* G - treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;0 k3 j( C7 E' p; l$ G" j% a
- if (!objectexists(curFloorEntryCP))) s+ K5 y" C" V) P4 k7 I E) S9 u
- return 0;
" y: Q: E" k* d& q3 y2 T# Z& s( u - treenode floorEntryCP = curFloorEntryCP; m. B& S, @; I# U' |
- treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;( e7 D7 K8 S& ?/ z, |7 M( }
- if (!objectexists(curFloorElevCP))
. I- @ z4 d6 ^' \ - return 0;
* q& Z0 @+ }( v7 G/ R0 L
& b- n& C- ^! n8 ?* u, A) s0 ?6 V- double destZ = param(4);
) P' ?# V/ {( ?, ], ~+ ]$ X) g' U/ O - // find the floor control point closest to the destination floor- P, N- m# a" F2 b# k* p" ?
- treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon), + y: R) @" d: _$ [# g9 Y
- fabs(destZ - zloc(cpconnection(elev, floorCPCon, count))),
# s1 @% \6 C" M9 P+ n* ^ - cpconnection(elev, floorCPCon, count));, |5 x9 i' W- a/ |7 R
-
3 e; l4 i# e" s7 F) P7 R - floorCP = destFloorCP;( h# e8 D0 \# d0 v' c) d" j* b) U
- treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/; _ w% X; R8 V9 e8 i: K3 H
- if (!objectexists(destFloorElevCP))
e% K3 V' N" |% k# Z8 u& x - return 0;: D# I- e; v7 u; ^' @. `0 p
- // get the destination exit control point" S" L. @, i: M5 `9 i3 X# [' p% C
- treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;
, j0 r+ \9 j5 K" a6 D. p - if (!objectexists(destExitCP))
+ i- m# z/ f1 J( j - return 0;
- @7 N: `# ]1 W# u$ x
$ C9 E" S$ J1 U" ~( {" Q; |$ x
5 H m/ `" ]8 s; f- // add a listener for the agv. This will call this nodefunction in the ON_AGV_AT_CP section whenever the 8 C* ~4 D8 n5 t4 B
- // agv arrives at a node. I keep a state on the agv's state label, and then increment it each time8 T$ C1 h! `6 p G3 c
- // the listener is called so I know which control point he's at, i.e. entry, elev, or exit./ Y z+ Q. q9 v
- agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,* S% w! L3 J0 }# w* z( \& b- W
- agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);9 K2 I; _' } {) l2 }# W9 l& o
-
2 N% `8 ^# L; S/ j! N+ Z, C - // set the data on the state label 7 d8 B$ Q# T0 P, O& \
- treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);3 o' O8 Z1 h4 H, w- g; P6 t
- switch_destroyonreset(stateLabel, 1);& K* p9 R+ N( Y& [, Y( W
- set(stateLabel, AGV_STATE_START);
; ` L0 B* h7 Z" u9 \ - set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);. W9 I2 i- l' h3 n. X' H% ~6 ^
- nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP); O1 b9 g! l( ~* W+ X! o+ s
- nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);
7 {6 _! e- W* H: W- Z) \* l( F% c - nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);6 D, E1 {* F+ e( T& Y4 ?* _ N
- agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);) l! T/ J+ k& s# j1 K# {7 R
- return 0;' y x* a. B" M+ Y: r0 n
- }: w2 j4 \6 k- V8 L; h
- case ON_AGV_AT_CP: {4 x, c1 Y% ^# K6 N% C: P
- // this is fired by the agv listener every time the agv arrives at a node.
! D6 r. a% K" u/ K8 Q/ X6 s. A7 [9 x" ` - treenode agv = param(1);, i2 r3 l3 v# m% b
- treenode elev = param(2);
, U' Z/ O" a( S" p& i - treenode stateLabel = label(agv, AGV_LABEL_NAME);
5 N% g" F5 t% Q% L; h7 B- ` - // I increment the state label, and then switch on it. c$ N2 {& q5 B5 r9 ^7 }8 h/ b
- inc(stateLabel, 1);6 R! g5 I7 H% H8 I+ V" l
- switch (get(stateLabel)) {2 _& I. B, q8 A2 d
- case AGV_STATE_AT_ENTRY_CP: {
1 e6 m& b7 g1 m - // the agv just arrived at the entry cp" } @; k; ]! h; g! r
- // so, figure out where the elevator is.
6 \+ p4 b7 M; o3 } - int elevState = get(node("ElevState", stateLabel));
2 r* w+ t- O7 F3 ^1 ~/ [7 D - // if he's at the pickup floor with his door closed then open the door.
' k& `! a7 z& {5 W& O - if (elevState == ELEV_STATE_AT_PICKUP_FLOOR)
P# A+ F, d8 d$ D. Y5 i5 I - nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
% \8 ~5 u; E7 k' Z# k) e3 H: p - else if (elevState == ELEV_STATE_DOOR_OPENED) {
1 R4 B( w3 u- S9 @9 z - // if his door is alread opened, then move the agv onto the elevator, i.e. to
& d" f4 e8 c+ ~ - // the elevator cp
' L* |' [2 L% }6 G8 A' x1 | - treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));8 Z* Z! z' r* c0 R& U/ b
- agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);- t# ]! B% R" C, u3 j+ m% x
- }
; |9 I( @ N' o$ G9 {- T# N - break;" M3 e$ J2 {8 V9 A; e- v2 o+ c* G
- }6 c' ]( [4 }5 |% N9 o+ c! }
- case AGV_STATE_AT_ELEV_CP: {* F0 a0 S; J7 \, [4 e" e
- // once the agv is at the elevator cp, close the door
& g0 c# o' I) |; v# E, K4 S# ]; M - nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);5 N) A4 O' P1 _9 U* A" h
- break;' a; Q6 U: i$ m) A" p
- }
" z( n7 z/ B" l. W; F) E- B3 a5 \/ c - case AGV_STATE_AT_EXIT_CP: {
& {# U: o* z: D7 V% q" F% r. w - // the agv is at the exit cp0 Z& E5 O5 y. u& I u
- // destroy the listener node because I'm finished listening
# V' c( b- E/ I7 a+ R5 r - treenode listenerNode = param(4);
+ ]' d& P# Q( O- ]2 W N/ B% Q - destroyobject(listenerNode);2 o8 _* S7 c! h: q/ `
- int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;
6 a! v0 Q* M% T, E3 W! w - if (!agvWait) {) g, y7 ^) H K3 v7 V
- // if the agv is supposed to continue on, then tell him to go to his final destination: ]1 g. t4 p9 ~1 n% t+ S7 n
- treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);
+ M' l/ n) h/ L! Q - agvredirect(agv, destCP, REDIRECT_AS_FINAL);# ~. x; Y) A" z+ j3 p
- }
5 X, M0 G) j2 G5 p4 S- ~4 h& x1 n. P - // close the door
. ~( L; L% x5 N8 a6 t% w - nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);) d2 T# D6 B9 Y u6 J1 x: |
- // and I'm finished with the state label so I can destroy it.% Q( I, g2 m% V/ f6 \
- destroyobject(stateLabel);/ f! V F9 n _ }) e7 C1 j0 S V, X
- break;
/ w1 F+ b& Y8 L. _$ F+ K - }1 S, P' [6 D0 @4 n# P
- }
) W! t# y! _3 S1 F; y t - return 0;3 U" p8 b9 W3 s, U9 P
- }& G9 w$ J9 D' h+ X. \) j
- case ON_ELEVATOR_PICKUP_ARRIVAL: {& g2 l- E& c/ A" P
- // the elevator has arrived at the pick floor/ d4 o g) K- U: S7 J% W Y7 f4 U) t" i
- treenode elev = param(1);
+ F( h! d0 \5 f: w3 K - treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
# y% h% |; F+ J8 e3 G# Z0 [0 F - treenode stateLabel = label(agv, AGV_LABEL_NAME);
- n+ ^4 D6 y* Z - treenode elevState = node("ElevState", stateLabel);
8 G) ]# D5 f& {- ^1 b# d - // set the elevator state to at-pickup-floor
% D' E$ i* Y% b6 z4 | - set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);
7 F6 N" _) S( p6 q - 7 X9 x0 e/ K$ I B+ ?9 x
- int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;8 f7 j: T, S# {. r0 S+ R
- . a7 _& h# P+ O! |+ r0 E; Z0 r
- // if the agv is at the entry control point or I open the door immediately, then open it
! n6 l; p$ J6 [6 x" v( b' Q - if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {4 @! E" w4 w9 r6 r
- set(elevState, ELEV_STATE_OPENING_DOOR);$ a9 T- }. k5 a1 j0 E; B
- nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
) g3 G/ f$ ^9 W$ R. o7 n5 s U - }
8 k) `0 \" h% x( s O( P( H - return 0;0 P5 C# i; e) M
- }
* ]) r( e% Y/ K - case ON_OPEN_DOOR: {" _9 V) U4 n7 F c# j
- treenode agv = param(1);
& j5 @7 c1 ~) y: } - treenode elev = param(2);
% b/ h" G" r2 Q - int nextStep = param(4);6 G+ U4 l0 i- e% b5 U6 d. A
- // open the door based on the time to open the door" |3 ^9 j, q$ b' q6 y7 C
- double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;
0 A( H! t. _& o8 l - delayednodefunction(c, openDoorTime, elev, agv, nextStep);
- A* }; \8 |* b8 s7 X8 G1 n0 v2 U - return 0;
7 g0 B+ K- s: E" P - }' h9 |7 c6 l# `
- case ON_CLOSE_DOOR: {
3 X0 c6 Q* g7 v5 B - treenode agv = param(1);
0 H9 N! e* ?5 [( N - treenode elev = param(2);% { v/ n* {: s. @# _& r
- int nextStep = param(4);9 c* L( |5 n* A
- // close the door base on the time to close the door
, E' g# S" q, e - double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;
# r4 H3 H9 e7 I+ B8 ], x6 E - delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));
# c A4 Q. [: l2 [! E6 T) b - return 0;* T( v# S) x7 I/ B( y+ h0 l
- }
0 B" Z5 U0 r3 K3 b- I( g - case ON_PICKUP_DOOR_OPENED: {
2 w4 W* W& I# l6 j; J - // the elevator door has been opened on the pickup floor
" U% Y" d/ ]4 U - treenode elev = param(1);3 a: I5 w( f4 Z+ ?: H9 y
- treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);; ^: z; ?6 C6 ^: N5 T. x
- treenode entryCP = cp(agv);
0 E l; a) ^4 k - treenode stateLabel = label(agv, AGV_LABEL_NAME);# r2 s! n3 C: V2 W5 ^
- treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));$ f8 ]+ y# `9 _. X9 R
- treenode elevState = node("ElevState", stateLabel);
. d7 O' _# A# z% n1 s: y - // set the elevator state
; S( ^; n6 I1 B4 q+ a! V6 c9 h* W4 g - set(elevState, ELEV_STATE_DOOR_OPENED);
# }7 a; `$ J$ }/ A' A5 m& G - // if the agv is at the entry control point, move him to the elevator control point
& A3 f8 b0 z: o# ]% l* u. u - if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP)' m- Y2 j" n% ~: }
- agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
! H# p8 u" `$ l2 C2 }: }5 e+ P2 V- W - return 0;
; N4 d* F) z9 m! p& n% B! e - }' A; h: z+ x+ |% s7 X9 j/ I' R
- case ON_PICKUP_DOOR_CLOSED: {
6 B& ]. \/ \; ]& g4 E0 x% ~0 t - treenode elev = param(1);
( \/ o6 Q& E, { - treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
7 o. X( n0 g; H+ z0 A - // assign the agv to "no control point"2 J5 V. l; M- Y2 b6 N
- agvreassigncp(agv, 0);
2 G3 B/ U( A8 v& t9 j; k - // move the agv into the elevator
& V1 E6 f7 @9 }1 h6 H; _ - moveobject(agv, elev);
# \# }, F) z7 z - setrot(agv, 0, 0, 0);( d! x+ j6 r/ a1 t/ S& A
- // release the elevator to continue to the destination floor
0 \9 f: {1 ^, K( s - freeoperators(elev, agv);$ O+ w `/ l9 C$ p) l3 b
- return 0;8 I5 o. Z8 q" X. ]
- }
6 w* L9 o+ k7 N) w! K* l - case ON_ELEVATOR_DROPOFF_ARRIVAL: {0 w: }) W; H+ V6 b/ B* y
- treenode elev = param(1);# {( T' G; r' f8 B/ a) `# r
- treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1); r2 t1 C- P+ o9 p* P
- // when the elevator arrives at the destination floor0 H6 N5 Z0 N1 a
- // move the agv back into the model
( E" r* m! l1 x9 C1 q# Q - moveobject(agv, model()); h( _+ H( H# [1 J3 }. U& f- ~
- // reassign it to the destination floor control point. A* b+ ^5 a5 ~& E! \8 }; ^
- agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));- h/ x8 l$ C5 ^7 @' _! w' X9 X3 E
- // open the elevator door# A3 [2 d* ~, p0 M4 Y. a
- nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);
- }( O8 x) k) a- S$ [: K2 c2 U - return 0;% U# I7 {( ?0 j: o/ U* T/ T
- }; C9 w+ A- |, |) c% T) B, x
- case ON_DROPOFF_DOOR_OPENED: {" e6 ]3 W T- l, y( a6 Q) v
- treenode elev = param(1);
+ P5 X7 X3 W) s; O1 A! L1 A' c - treenode agv = param(2);, r4 t. b8 s2 i J; }
- treenode agvLabel = label(agv, AGV_LABEL_NAME);* G3 ~# Y% n( j( ?/ [
- // once the elevator door is opened on the destination floor, $ J! }, `" J. d) v( y7 A3 |
- // redirect the agv to the exit control point
7 H* K T7 C$ S- M - agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);
& M/ u' G K2 G0 ]$ z9 m - return 0;
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- v, M4 S" w! M j4 p7 C9 S - case ON_DROPOFF_DOOR_CLOSED: {) U0 v1 l4 T5 k& g, I" @) \1 K: `6 }
- treenode elev = param(1);$ ~" `4 G X$ ^
- treenode agv = param(2);
- F1 Q/ X# O0 Y a2 T+ o g - int isAGVWaiting = param(4);' j- T$ W1 l4 J% e/ A; R
- // once the door is closed at the destination floor,- Z( j. t5 s G& ?
- // if the agv is waiting, then send him to the final destination+ Q* e8 t4 x6 _7 [* l
- if (isAGVWaiting)
: S- D6 _: x4 c6 p% _+ _8 q - agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);8 z( a8 i6 F3 i& Q! v
- // release the elevator to finish his task sequence
% E! ~% u# I0 ], B$ |6 W - freeoperators(elev, agv);
8 G- w. l! g! |2 ~! w - return 0;
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- }
4 ^: D7 |& J+ { - } //******* PickOption End *******\\
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0 s) c9 a; R7 m G: ^$ M1 O* n9 X: s办法2:使用工艺流程模块完成 |
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