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办法1:从2016版本里面复制相应的代码
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; b& S- Q% ~; X+ h7 j具体代码如下:) F' s2 T; @6 M' l; T6 b
- treenode agv = param(1);
% `4 u5 Q9 T0 I/ A# L - treenode currentCP = param(2);; e7 ^) @1 `0 w0 L8 b, v
- ; R3 Z. ?6 V/ q h& A
- { //************* PickOption Start *************\\
" G* D- l' l0 j- \$ o - /***popup:AGV_DivertToElevator*/
( z7 [# M. g: v1 x - /***tag:Description*//**Divert to Elevator*/; U Y/ u9 ^3 e- r7 X' E
- 2 m/ c& L+ i% Y. D" V: F
- int operation = param(3);1 F1 \6 ~+ H3 X8 R8 ^0 Z6 I+ B. q1 H
6 \7 m0 E; }2 I' X* [4 Z6 b) F- #define AGV_LABEL_NAME "fs_AGV_Elev_State"& \- @: H2 _7 K( D) s. M
- if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME)): M& N, Z; Y: ^2 e" ~
- && (/** \nCondition: *//***tag:Condition*//**/fabs(zloc(currentCP) - zloc(agvinfo(agv, AGV_DEST_CP))) > zsize(agv)/**/)) { // if it's a pointer, then do the initial case: j6 ?0 t$ Z5 F" c, G
- // initial trigger execution% x8 v7 L; D- [! e& q
- #define ON_ELEVATOR_START 1+ w( {7 g7 k- Y' k% R
- #define ON_ELEVATOR_PICKUP_ARRIVAL 2
_8 x5 \( ?7 T* I' X - #define ON_ELEVATOR_DROPOFF_ARRIVAL 3
% z5 H$ a9 n9 x% u8 h+ n+ X7 n1 f - #define ON_AGV_AT_CP 4$ {: w; h5 Y0 p* n
- #define ON_BOTH_AT_PICKUP 5, r: y- N0 f+ X/ \) l; S0 i
- #define ON_OPEN_DOOR 6
0 ]2 v2 q& ~: Q& b2 H7 } - #define ON_CLOSE_DOOR 7. ?) m( C% D3 ^
- #define ON_PICKUP_DOOR_OPENED 8
( t3 S3 h0 f: j2 z, E! Z - #define ON_PICKUP_DOOR_CLOSED 9
# H8 e" Q n1 c - #define ON_DROPOFF_DOOR_OPENED 10, E8 E8 V+ B) K$ L; `* p% t
- #define ON_DROPOFF_DOOR_CLOSED 11
; m! Q s7 ]! h9 K$ } S - * s% `5 q% W6 e! r0 c. W' g5 y N
- #define AGV_STATE_START 0 A# F( R- s% ^( `; A5 A8 @+ v
- #define AGV_STATE_AT_ENTRY_CP 1
: C" s5 a' h8 p - #define AGV_STATE_AT_ELEV_CP 2! X0 D% c/ w( t+ x
- #define AGV_STATE_AT_EXIT_CP 3
7 l9 a- X4 P- ~& m0 ~+ ~7 A2 @0 d -
% {% g" M* I7 j1 U3 `1 [- `$ d' v - #define ELEV_STATE_NONE 0
8 s& t$ w! u2 p5 r1 I$ H' O - #define ELEV_STATE_AT_PICKUP_FLOOR 14 }+ N* D. E8 R" ~# D
- #define ELEV_STATE_OPENING_DOOR 2. H% w8 h' Z8 H% g
- #define ELEV_STATE_DOOR_OPENED 3% g. Z5 }# D1 r
1 K; }( V; y- }0 o e- Y
. @1 N- P4 B9 f1 r4 r w2 A- treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;
+ _, W& t% r8 e7 C& n- O - #define elevator outobject(elevDisp, $iter(1))# w2 A: t7 ]0 m
- - f* d3 Y% m4 X, L
- if (!objectexists(elevDisp))) p) F7 Q; }% Z$ E$ i7 [3 i4 T# Q9 a
- return 0;
, u& T2 a8 `/ a+ L3 r. j3 K - 2 g) H3 P+ N8 j ^+ y
- if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {
& p$ ]2 m# y% F" `& p3 R - query(7 q: w& E4 J& X O
- /** \nFull Query: */
% s1 P0 [6 s/ Q/ X2 T - /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,
: o4 l+ L: L+ i8 ~5 P( H - nrop(elevDisp),1 X0 W9 B1 H' Q7 k" ?7 {
- elevator
: {' v! V; U4 e, Z K$ G% S6 s - /** \nWhere*/! O4 q7 P! v, T# l
- /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/# `* k) Y" Z; ]& W
- /***/
) S; a7 |6 B3 q* ] - /** \nOrderBy*/( b8 s0 }) y2 \. }& ^
- /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*/* Y; q8 \# x! |2 S1 O
- /***/);
" G) T( u1 z! o - , Z: K y- \0 g- o, y
- if (getquerymatchcount() > 0)
4 X$ L8 o# A' O1 f, k# v - elevDisp = getqueryvalue(1, 1);
. F' _& }- |; L; I0 i7 [& h; w( R; H - }3 V6 K2 @& y4 p9 G! e; B1 g X" n$ ?: m
- if (!objectexists(elevDisp))
1 ]* \$ {6 b6 X2 O3 t7 ]1 [ - return 0;1 e7 R* `, k5 T2 u
- treenode destCP = agvinfo(agv, AGV_DEST_CP);
! _, ]$ \. x2 y( p) N/ @. h$ J - " X# _/ G) M+ D X) m
- agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);7 y& H+ p+ T2 h8 |7 @( _9 \1 ]
6 h6 o3 b4 S, i4 `- // Create the task sequence for the elevator
r3 K+ N1 Z* [4 L" | - double destZ = zloc(destCP);. |5 e: y# R3 r$ [ O: G6 K F N' r
- treenode ts = createemptytasksequence(elevDisp, 0, 0);
$ ]2 l/ Z1 f) G" _5 J8 W2 E5 @ - inserttask(ts, TASKTYPE_TAG, agv, destCP);
1 g& U3 y8 Z" s$ e& K - // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START" c9 e5 V. Y) T4 J1 t0 Z
- inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);
1 e4 [ R; U8 P - // travel to the z location of the current control point, s7 {4 T( i) ~* U5 R, v
- inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));
' G* P5 s: D( g" {7 H4 s G - // then call ON_ELEVATOR_PICKUP_ARRIVAL( k& \. v: o& |% e8 ^
- inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);8 R- v0 t5 \8 y# S" q
- // then wait for the agv to get on
2 e+ {; Y- l) Q/ ]) T# T; |( { - inserttask(ts, TASKTYPE_UTILIZE, agv);% e4 d' ]9 V V
- // then travel to the destination z location: c3 V+ n0 b% b( V/ n8 U {; j5 z
- inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);: o* Q7 J0 E" G' _2 O
- // then call ON_ELEVATOR_DROPOFF_ARRIVAL3 s( p+ J% W$ r
- inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);$ Y$ g3 c7 Z; V! L# C
- inserttask(ts, TASKTYPE_UTILIZE, agv);
, A$ q* c0 W; s- x" r - dispatchtasksequence(ts);4 [' |) ~ p9 ]; @ H
- } else switch (operation) {4 s& A3 S' `4 v6 c# k, C
- case ON_ELEVATOR_START: {6 H/ V( ]" b* l8 d; F6 [# s
- // this is fired when I get a valid elevator
% H7 Z5 j9 ` W$ J - treenode elev = param(1);3 f# F' l$ x4 }$ C2 D O1 K, {
- treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);7 }1 N6 U9 P+ W3 [6 }# j' P
- 7 s- n) T) Z: I- W) P3 ?
- // find the closest floor control point& l( c" `; C$ u$ m; y- h& p
- int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);
) s- l( a% j* _) [0 h0 D5 Q - treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon), 3 M/ @- N, ~6 ]# a7 S6 ], ~/ Z* `
- fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),& m( s P; Y9 p, I4 [
- cpconnection(elev, floorCPCon, count));9 ^. Z0 q h. c5 d
- // return if there is none
! S& z; ?( M6 l* @' k8 p - if (!objectexists(curFloorCP))/ K) X3 a) V/ v% t
- return 0;: Q6 M: L, y/ U' P0 A
- # `( W+ q" L) @" g7 ~) A4 j
- // get the entry control point; N6 i$ ~5 R |0 K0 V0 d/ F# n
- treenode floorCP = curFloorCP;
' b. V* R: ]' d1 d. m8 R& Z9 b - treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;
: \- r2 k. q, S# h4 W, Y+ ~ - if (!objectexists(curFloorEntryCP)) m0 {* {9 Q. A
- return 0;: T( c3 W# L. Z% Z7 b* F% A
- treenode floorEntryCP = curFloorEntryCP;) t5 ]5 S4 ?' Y' ?& G0 h
- treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;
6 @- c6 ]! z* R - if (!objectexists(curFloorElevCP))" K$ o7 ~- Q' }" }" o. f# |9 _
- return 0;0 h! e" M2 |, `8 Z* @4 z% C- A
- 2 c7 \) O! ^9 S% l8 b. V: D- D0 H
- double destZ = param(4);
+ d: e3 x: X( C2 Q9 b - // find the floor control point closest to the destination floor' O3 n( m+ R" s ~
- treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon), . I1 }& S9 h' l- |- r- i% }
- fabs(destZ - zloc(cpconnection(elev, floorCPCon, count))),8 N. b, x, f8 ?, w
- cpconnection(elev, floorCPCon, count));
# W/ P2 t5 F9 Q/ } - 1 V+ ]5 s7 x7 D) o
- floorCP = destFloorCP;
% A" T$ R/ B$ G - treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;: r7 N9 a1 o+ x" v
- if (!objectexists(destFloorElevCP))
: ?1 V- i: @, y: q0 d - return 0;1 V: H6 |' D: t
- // get the destination exit control point. e( b- Y9 H( z/ i4 R
- treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;1 f0 b: d' K: Q& C7 G. j# i
- if (!objectexists(destExitCP))
" l# e" [5 D/ F) b* k5 [ - return 0;
6 R9 R* P; y5 E - 0 Q8 o2 O* d: Q) X/ G6 g
- 0 d" v8 H" Z% I) q7 R" [* ^- i& h
- // add a listener for the agv. This will call this nodefunction in the ON_AGV_AT_CP section whenever the
& E8 ~4 I6 S4 x! p7 J - // agv arrives at a node. I keep a state on the agv's state label, and then increment it each time
5 V+ y) g4 Y3 W# M; H0 L+ {+ } u - // the listener is called so I know which control point he's at, i.e. entry, elev, or exit.+ ]9 h( f' t; @" \. @7 E4 I. \
- agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,
- a$ G- U; G6 D$ O- J2 X - agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);
3 m+ \5 g7 d* C) p" _ -
8 V B0 x/ X7 {4 u* {1 F* \& {9 | - // set the data on the state label 4 [$ y% X0 I7 `4 T* C
- treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);2 G% K" }" A" t. p' G q
- switch_destroyonreset(stateLabel, 1);
3 H$ `: i# t$ ^) A0 W2 G) F$ V6 S - set(stateLabel, AGV_STATE_START);5 ~3 S: \7 ?1 @# \) v, f) W
- set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);
7 b x% H9 C& E' f( J- \ - nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);/ k6 c2 }* w2 n* P
- nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);
; q" Z6 A4 j/ ]% a - nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);
8 ?9 {+ S! W0 G: z: ~; \ - agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);
8 Q% P+ a0 J0 r4 d0 M2 D/ r$ F* D - return 0;' c0 F- ^3 s2 h: ]
- }2 G+ Z2 @. j# Q) N$ A8 F! L' |
- case ON_AGV_AT_CP: {
6 G9 M; M6 E7 L G; P - // this is fired by the agv listener every time the agv arrives at a node.
" m0 t- O& G0 W1 m9 M( u! O - treenode agv = param(1);
3 \0 A2 j5 l2 W' T6 A - treenode elev = param(2);
0 f- t6 u4 i3 t" o - treenode stateLabel = label(agv, AGV_LABEL_NAME);8 }2 g4 t _5 I0 L3 ]$ c9 s
- // I increment the state label, and then switch on it$ Y- e) x [' G" A2 i8 D
- inc(stateLabel, 1);
, @+ \8 B) A: l9 } - switch (get(stateLabel)) {3 K. y' I$ @* |5 ~4 n0 C/ s
- case AGV_STATE_AT_ENTRY_CP: {
4 v" O, N( C# S5 }: f - // the agv just arrived at the entry cp4 T }& s- l5 F t) l$ X5 a: _& ~4 U
- // so, figure out where the elevator is.
" a7 d' f/ V; ^ - int elevState = get(node("ElevState", stateLabel));
$ G4 b/ Q' o% j3 s2 l1 n; y! T - // if he's at the pickup floor with his door closed then open the door.
) p8 F4 U2 G6 a8 L3 W - if (elevState == ELEV_STATE_AT_PICKUP_FLOOR)
0 r5 I z* [. `7 L; D - nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);& d* ^2 H/ u, n0 I: f* R
- else if (elevState == ELEV_STATE_DOOR_OPENED) {
5 @, K, {! N1 [ F& N2 F - // if his door is alread opened, then move the agv onto the elevator, i.e. to- ~3 \3 _! F1 S1 w
- // the elevator cp
- I7 m- a) }4 L - treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
( u. H B' ?) W& `' h - agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);. t- t/ g) z$ b; \; U
- }+ y1 ]' R3 [+ U9 i, s4 ^
- break;# ~8 i8 \/ ^' D6 X2 u1 t
- }
- Q4 _4 r, a- x+ F# ]$ `8 L8 c - case AGV_STATE_AT_ELEV_CP: {# h k1 @; T9 t! u6 d! {% b4 [: @
- // once the agv is at the elevator cp, close the door
) {& F( w8 H) K9 i7 V1 Z - nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);
, x$ O4 S Q0 l' N7 m* O" v - break;
7 |2 i% K9 z! \& V% [ - }
* W9 u2 G" v6 d2 P5 _6 {3 r- L - case AGV_STATE_AT_EXIT_CP: {
8 L* {# A0 ~. S+ X; ?+ H - // the agv is at the exit cp
1 N8 L5 {2 O; a6 y) u% z e5 U" e/ Q+ E - // destroy the listener node because I'm finished listening. j# @5 w7 u" b3 U1 |$ C
- treenode listenerNode = param(4);
2 x% ^' z* t1 ]. y- T! m+ m - destroyobject(listenerNode);
) L! P* F4 L/ f! g: ^- ?& l5 @9 g - int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;
& g& T$ {8 `6 n# }8 n - if (!agvWait) {
5 q# C M% u" A0 A" i& g# C2 t2 F - // if the agv is supposed to continue on, then tell him to go to his final destination5 l4 Q; r4 h O2 \: Q
- treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);
) L) o8 z5 e& S' k9 l - agvredirect(agv, destCP, REDIRECT_AS_FINAL);5 j u2 j. J% a9 f6 O- i
- }
4 s0 j6 v9 A A; l4 p$ j% s" V - // close the door
' S# ~6 v, V$ q6 ^( V4 l" {$ y - nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);. h' [/ h, q2 z3 n, s
- // and I'm finished with the state label so I can destroy it.
- A2 z" }2 o7 D1 K- l - destroyobject(stateLabel);
7 h2 U, Z% n+ l) ^) H - break;- ^0 ~/ z- D7 X( T% R
- }
% C3 ^& l: H! j1 m) b. C7 T/ B - }! r2 s; l2 X( V( Z" ~9 s- }) x
- return 0;* G3 E. C5 p- _5 c( _. r
- }$ n" u! V/ f0 K6 R' K) w8 Z
- case ON_ELEVATOR_PICKUP_ARRIVAL: {
7 V) F" r0 c4 G8 a/ I7 v1 x - // the elevator has arrived at the pick floor
+ C: R4 i, G( s3 p! V1 {% W* ?; { - treenode elev = param(1);& V9 [' b0 w8 C# M9 s" W
- treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);: w1 p5 ?; G$ \5 v1 n2 y: ]! k" h
- treenode stateLabel = label(agv, AGV_LABEL_NAME);
8 j4 R( d) @5 U% ?' c3 N - treenode elevState = node("ElevState", stateLabel);5 I5 ~& x+ ?8 ?5 Y
- // set the elevator state to at-pickup-floor
$ ^6 U3 k0 L9 w- s D0 E( b$ R - set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);6 _9 V Z# Z6 ~
- . n7 }. K/ L7 k! b; E
- int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;8 r* _* |9 k( f6 m+ k
-
1 |3 m3 ?& F. s. B/ L; q" k/ a# k - // if the agv is at the entry control point or I open the door immediately, then open it
5 w9 K. v7 r" m/ n0 e$ ?$ w9 G& j - if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {. _. c6 h0 h+ Y' D# t
- set(elevState, ELEV_STATE_OPENING_DOOR);
( _9 e& B2 }% d. E - nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);8 [, ?( h$ R# S* g
- }
6 T0 S0 O% B4 {: ]) C - return 0;
2 L5 a4 O: b# q9 Z) Z4 ^$ L - }7 x0 @* e1 T z) m5 x' \
- case ON_OPEN_DOOR: {$ C4 o) G' m: U% C% G4 y/ d* r
- treenode agv = param(1);+ x8 i( }1 @5 ]. Y
- treenode elev = param(2);
3 c6 `- B( b$ N% Z# _# ? - int nextStep = param(4);
! b! ~. J* s! |/ P5 s- V0 m - // open the door based on the time to open the door# `% K/ {# D3 S# Y& p {: L1 Y+ @
- double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;
' z8 q, f! |- y2 P. { - delayednodefunction(c, openDoorTime, elev, agv, nextStep);' A$ R8 ~) i+ s, |9 M+ M
- return 0; r) }4 J1 p! T( n' k5 B3 \
- }
- W6 W8 z* o% s$ s: p2 G - case ON_CLOSE_DOOR: {5 [8 |0 d9 s- M9 I+ y3 r# _0 i5 g) m
- treenode agv = param(1);
; n3 _+ A+ l7 M" \ - treenode elev = param(2);
" ]* U) _- C2 `- z5 Y - int nextStep = param(4);9 p; |- g5 P) z. W3 |2 d) f b0 W
- // close the door base on the time to close the door: m' t+ J/ `$ O( R2 D! ~
- double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;- O% \" P4 H0 _
- delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));2 f% l, R, i. D1 Y8 l1 s
- return 0;
n4 Y3 X4 s: V+ C& q" b - }
, A0 y7 F' t( O1 j - case ON_PICKUP_DOOR_OPENED: {
; d. l* x0 C% I2 C3 l7 t$ B - // the elevator door has been opened on the pickup floor
' ]; ^4 |9 a' @8 I2 O6 x2 C - treenode elev = param(1);% ~3 o) G# P% D3 m6 r, _3 T
- treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);* r+ F, n( s$ l) {9 T
- treenode entryCP = cp(agv);
( R5 G* k6 u n w3 z - treenode stateLabel = label(agv, AGV_LABEL_NAME);
' x/ @! G ~' G5 H: \ - treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
9 o0 ~8 X; q8 @: ^ - treenode elevState = node("ElevState", stateLabel);& i; z( G! e+ ?4 S5 \
- // set the elevator state
( R, ^! P5 Q: g0 |8 J - set(elevState, ELEV_STATE_DOOR_OPENED);' }& d# u' F" v, e
- // if the agv is at the entry control point, move him to the elevator control point. `5 ]' W; l6 Z2 g$ u/ p
- if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP)
5 [) |4 f5 t, O0 w, P# F - agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
( T1 `$ M) w# z - return 0;. M8 \( c- y8 U& i E
- }
: I1 c$ P$ K/ A5 }6 N - case ON_PICKUP_DOOR_CLOSED: {
) l) g) Q1 B! R. _. z' P! E - treenode elev = param(1);
3 q" E* T, e9 x: i+ L) n - treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);) O* g5 p, P( p, I8 T) `4 d
- // assign the agv to "no control point"
9 \4 q% P, p6 d4 c6 e# z - agvreassigncp(agv, 0);
h+ E# O4 s8 g4 T8 U- m5 _ - // move the agv into the elevator
5 g7 _/ A; S8 ?+ K; \( S1 e - moveobject(agv, elev);
+ B6 S G2 N" ~0 Q) C3 P% C - setrot(agv, 0, 0, 0);3 Z# D- p. j5 v+ }
- // release the elevator to continue to the destination floor
! y7 N, C& Y Q2 P5 v. N0 m( D( z - freeoperators(elev, agv);- V% t8 J9 _. J$ V& P$ ?- d
- return 0;
4 ~2 a! \9 \- I3 j* N - }
3 d- I$ r) _ t0 |* x4 A, L) F0 d- c - case ON_ELEVATOR_DROPOFF_ARRIVAL: {
7 v a" [: l0 ] e - treenode elev = param(1);* d8 Y% I0 }$ X0 T0 E
- treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
+ E! {' X# U+ t* P, |4 g" v - // when the elevator arrives at the destination floor& [4 E3 j& b3 e; _) t
- // move the agv back into the model
- x/ S2 V6 Y3 |3 L - moveobject(agv, model());
* K; g8 i- |- x3 j - // reassign it to the destination floor control point* Y8 E& }/ N$ a# e
- agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));
6 s) w! W" T! Y9 \0 c% ?, x - // open the elevator door0 R9 S& ?' u& x0 j
- nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);% j: p/ E5 k+ |7 d( R
- return 0;
3 }6 F, D0 i' a r2 ~0 D - }# c, ^/ d' q7 p4 L3 W( d' N
- case ON_DROPOFF_DOOR_OPENED: {
6 t' ~0 Q1 o( [ - treenode elev = param(1);
: m* |6 K+ ^1 a3 _& z! Y: ` - treenode agv = param(2);0 ~! U- O) k, G0 G
- treenode agvLabel = label(agv, AGV_LABEL_NAME);! T6 w2 ?3 I! A& }2 r. P& v2 T
- // once the elevator door is opened on the destination floor, x6 W' d3 c' V( n% y
- // redirect the agv to the exit control point
; l% U l! r6 N5 M$ X2 A! O - agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);
8 k; G: @( I2 [: @6 Y( @ - return 0;
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- case ON_DROPOFF_DOOR_CLOSED: {
, }- _! n& g; V - treenode elev = param(1);
. y7 V" O( W+ B$ Q/ X/ }4 J( Y' } - treenode agv = param(2);1 b0 y8 l: R0 e1 h2 J& k6 o' ~1 |
- int isAGVWaiting = param(4);2 O5 J+ Y3 u$ r( d7 q
- // once the door is closed at the destination floor,
( k- q% Y# u7 s$ v - // if the agv is waiting, then send him to the final destination
) e& b3 O0 L, o% \9 k: |5 q$ x1 @ - if (isAGVWaiting)
( e" S6 J& V6 R* {% a - agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);
4 f- \/ k+ e( k [% q' S - // release the elevator to finish his task sequence
- S( S% T2 g' r! k' h" Y9 g - freeoperators(elev, agv);! v$ _% z% J7 `% ^/ p
- return 0;3 I: d$ F' q" [' U2 I* P1 s
- }6 c A+ q2 `: h \% ~7 |
- }1 \: z( u p5 i7 U3 A
- } //******* PickOption End *******\\
- O! K6 w5 W3 y6 g1 t9 t
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办法2:使用工艺流程模块完成 |
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