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办法1:从2016版本里面复制相应的代码
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! j9 d2 Y% K* R2 }2 O具体代码如下:
9 X9 c9 x! B9 Z' Z- treenode agv = param(1);+ }! k7 i4 J5 W! U! x. H% w
- treenode currentCP = param(2);
( L# }" j- o' h6 w3 J9 U' S. \
0 Z% R. i: C, `( N+ p$ G- F$ c- { //************* PickOption Start *************\\
+ ? b$ y7 B+ R# b) Q4 k+ m - /***popup:AGV_DivertToElevator*/3 L" i1 y- _9 c9 a
- /***tag:Description*//**Divert to Elevator*/
9 j1 S) W. W( G! k, R' r! S - . w" k# }0 C: }; Y
- int operation = param(3);
' p* A" R5 X' {8 V) E, G
* ~. T. Y& O* R- #define AGV_LABEL_NAME "fs_AGV_Elev_State"8 l& l/ P% T) E# Y' q: N& Z5 v
- if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME))
) o& W: D. K- f l$ Q - && (/** \nCondition: *//***tag:Condition*//**/fabs(zloc(currentCP) - zloc(agvinfo(agv, AGV_DEST_CP))) > zsize(agv)/**/)) { // if it's a pointer, then do the initial case
0 L Q; a# _5 L" `' [: J - // initial trigger execution" n: M9 o( A T; `
- #define ON_ELEVATOR_START 1
* w% g, x- S5 s( n) V* j t# _ - #define ON_ELEVATOR_PICKUP_ARRIVAL 2
9 V# l8 h, X- @8 j! ? - #define ON_ELEVATOR_DROPOFF_ARRIVAL 3
4 X& w5 l8 T7 N+ @" Q2 E - #define ON_AGV_AT_CP 40 O( F- J& x: q: Z! V
- #define ON_BOTH_AT_PICKUP 5
7 @* @9 t1 Z+ j- A' e - #define ON_OPEN_DOOR 62 e* g2 B4 k" J: G! O& C
- #define ON_CLOSE_DOOR 71 @ |# X$ [, i; p
- #define ON_PICKUP_DOOR_OPENED 86 @3 [ m0 n' }5 n4 o
- #define ON_PICKUP_DOOR_CLOSED 9
6 d& R K5 a9 c- R$ j0 D# p - #define ON_DROPOFF_DOOR_OPENED 10
1 ~9 @8 H. P5 S" P; z7 _ - #define ON_DROPOFF_DOOR_CLOSED 11
2 p1 \* Z& K/ F; Y5 r& U5 A - Z3 r0 J8 d9 P' v2 H
- #define AGV_STATE_START 0
. Y' ^! N2 k: \: N$ w$ S - #define AGV_STATE_AT_ENTRY_CP 1
! Q* R& j( \5 L - #define AGV_STATE_AT_ELEV_CP 2
8 s* W1 ~5 h; ] J9 M - #define AGV_STATE_AT_EXIT_CP 3
3 X: s6 D; r: N( z# t -
# [9 N9 A% ]" j% |* U, A* R - #define ELEV_STATE_NONE 03 A& o/ b" i) L& J# z
- #define ELEV_STATE_AT_PICKUP_FLOOR 1
U6 j. j0 d( B5 g. v) Y - #define ELEV_STATE_OPENING_DOOR 26 Y# I" o- k0 q5 V3 ]- }
- #define ELEV_STATE_DOOR_OPENED 3
) ~1 U) x9 G8 y' Z' D
# z$ q6 `# Z' |- ; \6 ^0 j$ `/ i
- treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;
& \$ g) ] G- M3 b - #define elevator outobject(elevDisp, $iter(1))
6 @% N f' D; E5 l) H7 [
4 X/ ~+ ` f; Q) F- if (!objectexists(elevDisp))' y+ o8 g5 I- r! l0 Y
- return 0;
4 n, }2 O& V& z$ b1 k- T- K9 t6 o
; i: [- _7 I* L3 E- if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {
( C: [* c+ K- U - query(
5 N5 W: ~" b. J7 y$ Q% g7 g) f: h - /** \nFull Query: */
% m2 a* X/ w* \0 O - /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,
( B% Y1 Y5 c8 ?2 V - nrop(elevDisp),
" J. `/ h- j2 S/ B - elevator4 r; n& s6 n4 x( q# n
- /** \nWhere*/9 b9 Q$ D" Z8 O6 Q5 E0 y; c
- /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/; e' ]( V6 x' F" V6 P* Q
- /***/
8 m& a1 K0 A: H9 Y - /** \nOrderBy*/
6 I4 W8 r9 x9 P' H' ]. V$ J* | - /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*/) B9 b5 y9 [+ \, h
- /***/);
2 }$ d! w- U8 w' B# ~' z; i l" Z - 6 ~$ k; s! b$ C1 I( I3 o
- if (getquerymatchcount() > 0)
4 W( D# \* C0 ^; f - elevDisp = getqueryvalue(1, 1);+ P( J9 `* b& Z7 P/ I
- }8 u: _ M2 a3 g% U5 h. I4 o
- if (!objectexists(elevDisp))) B8 }% F9 s A
- return 0;
+ [% U5 d% v9 h# T" U" E( E% z8 W1 F - treenode destCP = agvinfo(agv, AGV_DEST_CP);
9 h5 C- i7 i1 {
+ ], v$ f; t3 M, I5 M- agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);) ~0 N, ^7 ]' f0 O. ]
- * ^! B. s& `0 _: s8 m$ ~! }+ `
- // Create the task sequence for the elevator
( E U' E9 S( W: S% D - double destZ = zloc(destCP);2 m6 k% S, w* [) `5 d1 b& G
- treenode ts = createemptytasksequence(elevDisp, 0, 0);
! S+ ?( j [2 R( S - inserttask(ts, TASKTYPE_TAG, agv, destCP);- T3 L/ t& [; X+ t5 J) X5 A
- // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START3 X) w+ Q9 H/ ~ L
- inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);
2 V- {" G% e8 b9 G, P- C' e - // travel to the z location of the current control point
6 R$ [# J2 A8 l; u - inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));
9 n. ^& f/ ~/ ?7 ?/ Q4 a# o0 M7 ` - // then call ON_ELEVATOR_PICKUP_ARRIVAL) N$ u9 q' k+ g* a$ T7 N- J
- inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);9 r u w: J% h5 G8 Q4 p
- // then wait for the agv to get on' \ Z% u: C c: _& l. j, V' o
- inserttask(ts, TASKTYPE_UTILIZE, agv);3 B2 Z" K g) M. a. T/ l1 F4 f
- // then travel to the destination z location. Y! z8 C8 _ `4 W5 k! ^
- inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);# J e7 s' B5 r# P
- // then call ON_ELEVATOR_DROPOFF_ARRIVAL
! j) }0 O5 y( a, t# O; P - inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);5 i+ p5 r. B8 C$ X) h3 n9 G/ p
- inserttask(ts, TASKTYPE_UTILIZE, agv);
. u* e% i6 |3 x2 s- o2 c9 m! F. o - dispatchtasksequence(ts);/ q# |, z+ f+ x2 E
- } else switch (operation) {
3 i# r) {$ U( |& @1 M6 P! g - case ON_ELEVATOR_START: {
3 W" Z3 \6 Y" E+ w: s! g2 w - // this is fired when I get a valid elevator" B; C, `7 w( o- o
- treenode elev = param(1);
+ O# r$ |! {5 ]( |6 S, o - treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
7 H X! ~% T! @ - , L% ~. d" e4 ?. ^! K4 m$ F
- // find the closest floor control point
H. X$ `2 x% r, R% K: _4 ~- I, ] - int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);, ?7 Y+ A4 D4 n& i# ^; e" P* F
- treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon),
* g' w* I" H0 u5 b6 R' B$ i) O! \1 }1 U - fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),, r" i. b% _2 t! ~
- cpconnection(elev, floorCPCon, count));$ K$ B+ }( k {
- // return if there is none
2 k/ n8 }( a. b6 O) V- X* \ - if (!objectexists(curFloorCP))
6 p g0 {$ v& p - return 0;
6 {" ~, B% ?- x$ K, | - " x/ K/ `3 N' r' ?9 E7 y1 }
- // get the entry control point( H: U/ A0 B3 R+ K; ^# l7 z
- treenode floorCP = curFloorCP;4 q N% T) \: g
- treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;
3 G# d# N o4 i# [: O - if (!objectexists(curFloorEntryCP))
8 O2 C! s0 C# u5 a - return 0;
1 s; j; O* T( J4 f' e4 o' w - treenode floorEntryCP = curFloorEntryCP;
8 t! b" [2 w* Y9 I8 B) | - treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;5 z K J$ |& m( l$ b' V* h6 [
- if (!objectexists(curFloorElevCP))
6 Y2 W/ E5 _5 y: y - return 0;
2 c4 ^4 X6 i! E7 ^' D
% q# p: [( @' r4 r% D! D# Y- double destZ = param(4);4 {) E9 L4 H4 t( h( Y6 k( C+ }
- // find the floor control point closest to the destination floor
9 ]' ~) a/ w1 p! s* h - treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon),
% v6 p5 o$ k. Q. Q7 b4 J - fabs(destZ - zloc(cpconnection(elev, floorCPCon, count))),
% C( B8 M% s; C. j: X/ R4 l y - cpconnection(elev, floorCPCon, count));
% n" A' d8 w9 k! C+ _ - ( G9 U, U8 Y- _4 _' o! V$ w$ r
- floorCP = destFloorCP;
7 Y! K0 C) B' F" K - treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;
- j! j3 t/ w& h7 V, Y - if (!objectexists(destFloorElevCP))9 ?" F: s( H+ a7 f" M. y
- return 0;& _+ o# y( _( m, m
- // get the destination exit control point
& G% n4 t" H/ \6 z - treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;4 U3 S4 s7 f# s7 J1 F2 s# G% W
- if (!objectexists(destExitCP))+ w! ?* o% Q/ ~4 V* e+ g) Z U
- return 0;
# w% v8 J$ {1 P) T6 G% k5 k - . Q; R. x2 L. y: h: c# X; u2 _
; l7 L1 u) q& U- G& c4 T- // add a listener for the agv. This will call this nodefunction in the ON_AGV_AT_CP section whenever the R' h" N" l% R9 J% p
- // agv arrives at a node. I keep a state on the agv's state label, and then increment it each time
0 Z4 I8 }' y2 d' |/ [; n I; r - // the listener is called so I know which control point he's at, i.e. entry, elev, or exit.
" e# g& Z# @' Y# j! r - agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,
. m* s% q6 h& R0 f - agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);
: l+ J' n0 X5 K7 S - / |( r* y" I' _, S; p' d7 e
- // set the data on the state label
3 P8 h- x5 b' U& S- `6 G8 } - treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);
' m" x1 m$ ]" ?0 P - switch_destroyonreset(stateLabel, 1);
$ h7 z/ t& e! j. ~ - set(stateLabel, AGV_STATE_START);
2 B% W6 J* U/ M9 h/ R. \2 v$ C; O - set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);
+ I$ [. s+ y& ]% ?0 g - nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);3 S8 e+ M q+ J9 W
- nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);
( [4 Q! {! o' M% F: {* V - nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);) u7 N @" B* O% t
- agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);' t4 N. x1 {1 I% s% B6 r
- return 0;
" L* o t2 P* B8 g - }. r* ^. S9 p9 z( d* C$ s$ B$ l" q; N
- case ON_AGV_AT_CP: {- g8 k" p8 [ V% l1 ^8 T. w0 P
- // this is fired by the agv listener every time the agv arrives at a node.6 ^! Z7 P; m4 t5 P0 s) F0 T
- treenode agv = param(1);
' c! Q$ h9 x" S/ D - treenode elev = param(2);; e% V I+ [" d$ x: D% v1 L+ S( V
- treenode stateLabel = label(agv, AGV_LABEL_NAME);: i! i4 w n' a1 Z% w* f
- // I increment the state label, and then switch on it
, a; C5 H: B8 D* U0 O8 Q - inc(stateLabel, 1);$ m3 m- Z! S- x$ Z6 R; }
- switch (get(stateLabel)) {2 d3 e- D, y7 ]: Q( {
- case AGV_STATE_AT_ENTRY_CP: {/ V2 L! i8 N, ?: M' }: ~
- // the agv just arrived at the entry cp
* z; ~* z" y7 S& j! E3 v& J - // so, figure out where the elevator is.1 O2 e7 w; x. m" X9 g+ ^
- int elevState = get(node("ElevState", stateLabel));$ u/ ]+ j2 c+ J$ `' Z4 G" c
- // if he's at the pickup floor with his door closed then open the door.
8 b2 q, Z4 b. D8 o" ? - if (elevState == ELEV_STATE_AT_PICKUP_FLOOR)& E1 V* W- r) B, p9 ?
- nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
* Q+ P$ l+ [ T$ p$ w+ U; F4 p' ` - else if (elevState == ELEV_STATE_DOOR_OPENED) {
7 F9 F- x& S2 i0 c* M - // if his door is alread opened, then move the agv onto the elevator, i.e. to
8 V& y0 ^" e0 W g+ v+ n" P6 r# b - // the elevator cp9 c/ \7 k6 R9 B, K& x$ b
- treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
; u$ c/ a' M0 @8 I - agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);8 w7 N7 i4 `2 Q. t, ~
- }
* @. ]# n9 e& a" B8 c - break;8 U; o! ~6 J- K% Y! ]$ F
- }0 x3 S) t R. X, i5 L2 m
- case AGV_STATE_AT_ELEV_CP: {# d$ h! ?; @) B
- // once the agv is at the elevator cp, close the door5 `( M$ L8 ]4 _% ^1 ?) |. M
- nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);! X0 H- _. G" r4 Z; `( u+ Y2 Z6 u/ h
- break;
" T: Y, T3 @ J1 T4 V- ?- S - }
: Q* X9 H1 k6 M+ d - case AGV_STATE_AT_EXIT_CP: {
1 Z1 ]" V% ?: C) f/ {4 ]8 J+ a - // the agv is at the exit cp
/ G1 s- e3 j2 X, Z) @ - // destroy the listener node because I'm finished listening' j" A, }6 |, ?1 r" _) \; |7 j0 W
- treenode listenerNode = param(4);
1 [/ \* z4 b( S4 V( x - destroyobject(listenerNode);
& N9 B0 A1 E+ Y/ ?8 R9 x - int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;
$ ?, c! c( F( B8 S5 W/ ]2 H - if (!agvWait) {. e$ |6 g0 k9 _5 R3 e
- // if the agv is supposed to continue on, then tell him to go to his final destination
) u: [9 }1 c2 Y' K - treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);
. X# b6 l! Y0 [ _3 M - agvredirect(agv, destCP, REDIRECT_AS_FINAL);! L, t) P& s7 ^$ n @& \
- }9 }, I7 P) x' _2 ?- u
- // close the door6 D- j# a# L5 A" Z# ]$ E) s3 k+ t
- nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);, e. Y4 N0 k- L0 b6 C& R0 G
- // and I'm finished with the state label so I can destroy it." o/ B2 @8 ` l- i- B/ ~
- destroyobject(stateLabel);
b( y# ^' B& o3 ^: t - break;
7 }3 {* A e6 y - }
% ^7 ~7 m( L& Q% M) }: j - }3 q& W% `5 L8 M
- return 0;* ?2 ?' B3 d8 d/ l
- }8 i* u( n+ i2 J- N4 e, B
- case ON_ELEVATOR_PICKUP_ARRIVAL: {
2 A& `, O0 t9 z5 j. w+ Z \ - // the elevator has arrived at the pick floor
& [' p: g3 e7 F1 J2 h6 z9 B. W0 c% w( W - treenode elev = param(1);# Z* b4 j9 {2 \/ [/ I, O
- treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);9 ^: f( Z/ Q. ^. x& f4 h: [1 l
- treenode stateLabel = label(agv, AGV_LABEL_NAME);
# L: f/ g5 B0 V+ ?1 W3 I2 B4 R/ C2 J | - treenode elevState = node("ElevState", stateLabel);2 W4 ^7 C4 a$ m8 v
- // set the elevator state to at-pickup-floor
6 [3 X2 }0 }1 t3 Y: p - set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);! y9 c/ ]4 j; C8 P2 W" }
- + a c! z0 x" M% D8 F8 E' ~7 B/ Q2 d) c$ E
- int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;4 L9 [# t0 ?1 u! p# U
-
: {& j8 O' {. c+ d - // if the agv is at the entry control point or I open the door immediately, then open it/ b7 D. g, j1 K" l
- if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {& B) z4 W0 S+ j, c
- set(elevState, ELEV_STATE_OPENING_DOOR);
0 a0 F9 E. p* q' y5 ] - nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
7 f4 A! }. y" e - }
+ O$ c: |" u, }2 Z9 x - return 0;7 s1 U& i3 ^/ K% ?6 o
- }
% @+ g4 t" ]* x" e2 ?0 F5 n - case ON_OPEN_DOOR: {! [. s+ Y0 F2 m8 f2 r
- treenode agv = param(1);
: Z" d2 B7 S6 U7 S3 o - treenode elev = param(2);
& B3 Q$ {6 c5 O - int nextStep = param(4);, n, i" B) e. |
- // open the door based on the time to open the door3 [' d& {9 L; q. j7 V4 z& R6 D' v- v
- double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;& E& U* ^# k D2 o" i
- delayednodefunction(c, openDoorTime, elev, agv, nextStep);
; d5 Q) w+ h+ K$ v6 H - return 0;
* @$ V8 }* b+ g- ~4 c - }
6 F5 u5 v( ]; M. N' K - case ON_CLOSE_DOOR: {
, `/ M1 ^' v& I' ] - treenode agv = param(1);7 B0 Z2 S! C* K' l
- treenode elev = param(2);/ }' A% Z0 B; T t
- int nextStep = param(4);
$ ?8 _# p% o9 S* C5 f - // close the door base on the time to close the door
6 H" v8 q) b! _) \ - double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;
- k; e; Q1 h* g! E$ G - delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));* B: R; p+ w/ L
- return 0;$ n0 p3 B" t9 c L
- }
0 p, v2 ]! d7 v' @ - case ON_PICKUP_DOOR_OPENED: {
! D: E8 Z+ A( b5 ^* C2 w" ~2 _; E - // the elevator door has been opened on the pickup floor$ s' n* u; \! r0 t, C. q) c6 H
- treenode elev = param(1);
- a( ?; i8 j8 p9 b - treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);( D& e# `" ]4 ~+ b: {: i
- treenode entryCP = cp(agv);
& l0 C+ _5 |# F- j/ u - treenode stateLabel = label(agv, AGV_LABEL_NAME);' R' [& v3 |0 D) R3 l
- treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
* o/ e, S0 W p- w; ? - treenode elevState = node("ElevState", stateLabel);2 S- g1 k* Z) S) c& H8 e" M
- // set the elevator state
: w, s1 c4 n- W# R$ ?; W - set(elevState, ELEV_STATE_DOOR_OPENED);. f( U8 m/ ^! } {) J. n
- // if the agv is at the entry control point, move him to the elevator control point% w8 f l7 C' D- i: u9 @9 s
- if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP)7 S9 j9 A4 W6 ]/ ]: a
- agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);; J9 r0 R# k% E' J6 f. C, f0 e
- return 0;
* v$ p: D3 I' E6 W - }$ H- K J+ G% w+ X
- case ON_PICKUP_DOOR_CLOSED: {
1 ?; T5 y8 k$ X y v, H - treenode elev = param(1);
5 V& Z T( ~0 a" p! S - treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);* F2 p$ v4 k2 ?* }7 \4 G
- // assign the agv to "no control point"$ k' ~- ~, {# _$ R- ^9 _
- agvreassigncp(agv, 0);. H: P' I3 R' O& K
- // move the agv into the elevator
- \- n8 p9 ^4 W - moveobject(agv, elev);7 K8 ~) L& r/ w; _% |
- setrot(agv, 0, 0, 0);
/ {$ E0 {. u2 k( y - // release the elevator to continue to the destination floor
* A( l# M$ x6 d' |$ v! i8 ` - freeoperators(elev, agv);
( m! N* E: E. u3 ?2 H8 v) Q - return 0;, X; ?* g! e) ~3 \0 \' `% j: C
- } q$ X8 }5 N& |" a7 \
- case ON_ELEVATOR_DROPOFF_ARRIVAL: {
1 B( X$ H, |5 q6 k. [' t6 c - treenode elev = param(1);8 b5 x5 w; w }- @; O
- treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
& {$ ~) |- O" G5 z2 E t - // when the elevator arrives at the destination floor
7 B5 p4 [4 s% w8 `9 ~7 h - // move the agv back into the model; s' \9 ~; e9 `1 s
- moveobject(agv, model());
# D; {7 y- G- S. y7 {: ^2 O - // reassign it to the destination floor control point' H3 o0 u! z# Z: S7 F1 E: a2 X8 X- U
- agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));9 |7 r' K2 E/ H9 d/ q' t9 z
- // open the elevator door6 O; W* V0 Z! U! K: T6 q5 I& M
- nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);2 Y! n6 c2 ]7 Q6 _) M' m% x {
- return 0;
1 d+ y7 L' T; j! z2 b3 R, u - }
) v |+ D9 u" V6 O, v" r, Q - case ON_DROPOFF_DOOR_OPENED: {
7 G6 V% b3 W# `, a- ] - treenode elev = param(1);' c$ m% e- S1 F7 v" @# X
- treenode agv = param(2);
( K# v3 j$ |* O* h- D% N$ h - treenode agvLabel = label(agv, AGV_LABEL_NAME);
* o" f8 o0 d3 D9 E, r, T - // once the elevator door is opened on the destination floor,
1 i3 w3 T% c1 D* a% j4 |( E* F - // redirect the agv to the exit control point9 }$ Y1 u2 W6 r
- agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);
! f0 D: q8 C6 v- x: s) S1 p0 r( p - return 0;0 W5 u; v v/ e, B, y1 j$ W7 U
- }
, J) c) _4 h- m' Z2 ?) N - case ON_DROPOFF_DOOR_CLOSED: {3 O- t4 ?8 V& a
- treenode elev = param(1);, e; y$ K9 R- u( b
- treenode agv = param(2);
* u4 e3 U! u: M: v& W; N- y - int isAGVWaiting = param(4);
: ~. X6 X0 {( C( N6 ? - // once the door is closed at the destination floor,* Z7 V9 C: m3 i6 N9 e
- // if the agv is waiting, then send him to the final destination
' L' F# D2 A' o) B$ V3 T$ f+ O* [ - if (isAGVWaiting)5 i4 a$ Z- F& [0 `. }. R3 G# S# o
- agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);
* Z1 A- v. {/ Y! J+ k" ? - // release the elevator to finish his task sequence4 C l3 ]5 ]: Y' E: m: L# x
- freeoperators(elev, agv);( y: [7 W, K9 Y2 P; N
- return 0;% w8 J( h+ |" I
- }
1 {0 H& S+ q2 `# \; p+ V1 D& o) R - }
) @/ ?* C1 i' ~5 v - } //******* PickOption End *******\\
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! `1 f' E7 C% n ?1 q办法2:使用工艺流程模块完成 |
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