|
办法1:从2016版本里面复制相应的代码9 h" V7 s: H2 o5 z- D
4 A0 E6 x4 ]9 J6 T6 D* R具体代码如下:, _$ O+ B! A( X, p/ _1 @
- treenode agv = param(1);) ^& M+ H- X- c# l, A. e0 ^
- treenode currentCP = param(2);
6 y; X! w/ b+ @1 Z - + t5 {" `4 K1 h& `6 U
- { //************* PickOption Start *************\\
7 ?0 A7 ^2 P3 R: n$ t3 e - /***popup:AGV_DivertToElevator*/
1 G, d- H3 z5 O - /***tag:Description*//**Divert to Elevator*/
; H) y" d! N% o6 v- ?- D" y r$ V - / l, m$ G# E1 H. B. n
- int operation = param(3);
* b" F" i. j. [1 q6 W0 E
7 }: J. v0 ]' V2 Y) O5 n- #define AGV_LABEL_NAME "fs_AGV_Elev_State"0 O" M2 K7 u+ }, k$ Q
- if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME))- H) E6 ]4 V, u" p1 {# M
- && (/** \nCondition: *//***tag:Condition*//**/fabs(zloc(currentCP) - zloc(agvinfo(agv, AGV_DEST_CP))) > zsize(agv)/**/)) { // if it's a pointer, then do the initial case
# d) M! p5 D0 M( \' J" t C - // initial trigger execution
% I( \8 P3 ^8 W, Y( ~ - #define ON_ELEVATOR_START 1
/ q* m3 T! }% O7 M- } - #define ON_ELEVATOR_PICKUP_ARRIVAL 2' v0 H w6 }/ W: g/ I
- #define ON_ELEVATOR_DROPOFF_ARRIVAL 3* l0 A% J8 r, n W5 T/ k
- #define ON_AGV_AT_CP 4! I9 ?9 k- s: F0 V5 z8 z
- #define ON_BOTH_AT_PICKUP 5
) X, U3 x E+ ^: I2 B% U - #define ON_OPEN_DOOR 60 a4 u) y# K8 s* r
- #define ON_CLOSE_DOOR 79 }% ^/ H, y! k
- #define ON_PICKUP_DOOR_OPENED 8# y7 r! |7 Z* p
- #define ON_PICKUP_DOOR_CLOSED 9! U: d4 H1 F. z/ c
- #define ON_DROPOFF_DOOR_OPENED 10
5 n+ E+ f/ h2 L9 r - #define ON_DROPOFF_DOOR_CLOSED 11, S/ ?0 }; p9 _* X. u" T' ?
- , r5 y! M; g1 R( d$ {: q4 ~
- #define AGV_STATE_START 0% D2 R- t- w. [% M3 A
- #define AGV_STATE_AT_ENTRY_CP 18 V" R: _, r! Q: w1 ^$ n) h7 l1 W0 b; U
- #define AGV_STATE_AT_ELEV_CP 2
- U9 @# \( |5 Q2 t. O. l9 }. v - #define AGV_STATE_AT_EXIT_CP 3
W% P/ i; t! f2 m -
/ r8 i% H: ^! T0 w - #define ELEV_STATE_NONE 0
0 b; P6 R. `- B1 J0 I - #define ELEV_STATE_AT_PICKUP_FLOOR 1& P" l( k0 z9 G# F
- #define ELEV_STATE_OPENING_DOOR 2
5 e; H) |( b0 a9 Q - #define ELEV_STATE_DOOR_OPENED 3# }" ?3 O# Z+ X. M9 j
- ) b! r( L5 t. C
/ V3 I2 s1 x3 ^' s- treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;, N( V$ q* E' y1 d
- #define elevator outobject(elevDisp, $iter(1))
; s0 i; I2 {" f5 N Z0 L - 8 e; g4 I/ e2 R
- if (!objectexists(elevDisp))6 U( H% z* y8 U$ R" Z) f
- return 0;
9 Q0 S6 @( E( T5 J
" E: |" L6 m: M- if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {
9 X' _) F* } N; A8 J, j4 X - query(1 z; C$ R8 ]4 h, C+ e1 U. \
- /** \nFull Query: */
! ^" U, W6 c# x( V - /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,) n+ w( j% i2 w: F! i# v
- nrop(elevDisp),
# J% }- [0 J5 f! X3 v2 t - elevator' T, S) V7 N, }) r* r6 K2 r
- /** \nWhere*/
0 B+ e; F6 g, ] H3 Q) I- @0 T& Y - /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/1 s& C0 u$ }2 |5 x8 [5 ]9 J
- /***/. ^1 s" E q/ z" z8 [% C) H* ~
- /** \nOrderBy*/
* e d6 f. v% k5 B9 h! { - /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*/
, G$ }2 U W. h, l. r7 ` - /***/);4 B9 m9 ^6 Z4 K) E
' x: i% I+ J; ]9 N- if (getquerymatchcount() > 0)
4 ^0 ]+ `" A3 X' G( B - elevDisp = getqueryvalue(1, 1);
4 R0 e( l9 w5 d' o( Y: |! m } - }
, S) {- A# L4 d* U0 s% p - if (!objectexists(elevDisp))
; K% t' v- @9 W: \ - return 0;
n, `: m; E6 `! @, n+ v- Y - treenode destCP = agvinfo(agv, AGV_DEST_CP);
k7 }9 O. A9 p9 M9 }& Q' D - 2 X0 ^4 k# e Q! o+ v, E5 z2 N
- agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);
, g5 }, Y, F& G, z7 Q ^ z - " k, y( m' C% u O# _7 I' D
- // Create the task sequence for the elevator# l7 J9 I, B+ |3 ~9 m; V
- double destZ = zloc(destCP);8 [/ e( t! v* h* O F; E
- treenode ts = createemptytasksequence(elevDisp, 0, 0);
9 F' `# u: q* Q3 g9 L( s$ V" x4 \ - inserttask(ts, TASKTYPE_TAG, agv, destCP);
. P1 N; }# ~4 K3 z/ F9 v. p, @" | - // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START
3 n1 C$ W% X3 [1 ?7 `( e6 S, q0 j - inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);& n) a5 {& m: P# M
- // travel to the z location of the current control point1 c/ k" C' y: Z. v l+ X9 A; G
- inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));! I+ X( u3 c: p" [3 }
- // then call ON_ELEVATOR_PICKUP_ARRIVAL. @- y R" D$ Q0 e: r+ G
- inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);% b) ~- P/ o2 z f$ p& V" }
- // then wait for the agv to get on
1 O, S. X* {! B$ T; z/ Y- ~3 D - inserttask(ts, TASKTYPE_UTILIZE, agv);: N2 w7 F8 i& T( v
- // then travel to the destination z location
2 p$ u1 O3 V, W j8 A - inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);+ U. z& E3 W9 ?/ K3 {
- // then call ON_ELEVATOR_DROPOFF_ARRIVAL/ E, X8 d' C6 D( Y$ l! P$ N
- inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);
+ j) i$ j7 G$ U% f( U; d - inserttask(ts, TASKTYPE_UTILIZE, agv);
6 @6 ?& G1 z% I C7 S Y# V - dispatchtasksequence(ts);
8 E w$ n& _" r2 J& L - } else switch (operation) {
& [ Z4 [1 b J" }& U0 N5 R0 t! Y+ ? - case ON_ELEVATOR_START: {
+ P8 i1 B. N: T' s- E4 F - // this is fired when I get a valid elevator
/ o9 w* n: h2 ]1 o( X8 E - treenode elev = param(1);$ r& I, g6 f0 k9 E5 ]: G, N% c
- treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
9 r3 V/ J) C6 F. Q5 r/ y- i' R5 k - 5 X8 q+ C& n" @, `1 @* o
- // find the closest floor control point
2 o1 L: w, m9 J4 Y' a+ k - int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);
) C: P# {2 G X. M) o. N: P" d - treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon), # A9 O2 U" W7 I7 g
- fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),2 x7 R9 L9 D# Y% `$ n
- cpconnection(elev, floorCPCon, count));
! `$ ~% s7 [1 n' X! Z+ O s! _0 Q - // return if there is none
$ F0 W/ g. D" S4 Y3 P9 M* ?4 C - if (!objectexists(curFloorCP))& ]: x- Y' v; }' _
- return 0;
4 D7 f0 N2 C: X - , J4 ?) j& m+ i0 X+ @! e
- // get the entry control point' |3 |/ f! u1 o' i$ }' n J6 O
- treenode floorCP = curFloorCP;6 w4 p8 b: ?; M% `* R
- treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;( y9 U1 E& h' V! L7 J$ h; ~
- if (!objectexists(curFloorEntryCP))
9 A& K3 a# h1 C) C7 b9 v P" M: J - return 0;2 O O' o R W7 [
- treenode floorEntryCP = curFloorEntryCP;
: ?. F/ l7 a9 ^0 G - treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;8 S* H: h0 x3 F! S8 S, S) ]9 P
- if (!objectexists(curFloorElevCP)): L. S2 R6 G2 l) W
- return 0;
0 _" \' k4 z, i5 T! U) L - # v) Y$ Q1 v: f/ _. |
- double destZ = param(4);
) j$ T g s# j9 n* c& [ e5 k' @ - // find the floor control point closest to the destination floor
5 n( ~ s6 q0 R' `# ~, M7 ` - treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon),
( R/ s% p3 F* ]) Y$ p - fabs(destZ - zloc(cpconnection(elev, floorCPCon, count))),3 @" N, B1 |9 n# P
- cpconnection(elev, floorCPCon, count));. H0 T) w: \- F+ A
- $ e! i) f3 ?/ \* F
- floorCP = destFloorCP;" c. e2 j2 |9 g
- treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;
/ p& `3 _8 B" I0 |' T2 V - if (!objectexists(destFloorElevCP))
* I& H, g) B! R: k8 ^/ v - return 0;$ }) U( m+ h8 `3 s
- // get the destination exit control point
8 f, s7 V3 v; O' f) U - treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;4 S9 V) Z, n% T$ D) D7 _0 ]
- if (!objectexists(destExitCP))
& }7 r7 C" E7 c7 T- x) l - return 0;% v2 Z; `' }+ ]
- ! J4 G @0 ? P
. i. _9 n9 s7 @. V, y- // add a listener for the agv. This will call this nodefunction in the ON_AGV_AT_CP section whenever the - m* B; S/ l6 z& N& ~5 }5 O' u
- // agv arrives at a node. I keep a state on the agv's state label, and then increment it each time
z1 T! x5 _5 Y/ D. v" Z - // the listener is called so I know which control point he's at, i.e. entry, elev, or exit.
* m5 n# |5 x" K' N/ p' D/ ]8 H - agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,8 P* G% O8 t/ s1 A& v
- agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);8 K- u3 C0 \/ l+ Q5 E8 q
-
- X: W4 d. v# U- ~8 V - // set the data on the state label ! }0 }: i9 y% S3 E9 {
- treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);9 ~* L+ N- K( ]
- switch_destroyonreset(stateLabel, 1);3 F, D8 M9 j2 D& F+ |% m
- set(stateLabel, AGV_STATE_START);
1 b( {$ p; w& ]) `6 i" f9 m - set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);
* F; q4 b2 o$ C - nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);; L0 ]9 G+ A! Q% T3 h( R
- nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);' V2 Q( V* r) a! X3 y" r
- nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);& V$ N6 Y5 h3 i1 o- ?+ j( O
- agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);
1 \% ?( D. g9 P' | - return 0;6 y( T9 }. N- t" R; n# |
- }
1 q& U* @0 h7 v) w. T4 \# g - case ON_AGV_AT_CP: {
8 j0 P1 F: F1 `# ~# \6 u - // this is fired by the agv listener every time the agv arrives at a node. ^$ F) @) e R* C5 O5 t: x
- treenode agv = param(1);9 H$ ^+ F5 _- u9 S9 Q1 i* Z
- treenode elev = param(2);$ u8 V& X; e+ q# n- `6 {- k6 X" }3 _
- treenode stateLabel = label(agv, AGV_LABEL_NAME);
& o/ a5 k$ U- r+ S4 Y" t - // I increment the state label, and then switch on it, S! c# Z! l/ S( _# m# ?( K( p
- inc(stateLabel, 1);- j0 K C" i& G1 J q- n9 J# Z
- switch (get(stateLabel)) {1 `& l( }9 T, Q* h9 d+ e9 `
- case AGV_STATE_AT_ENTRY_CP: {
) x. l) }+ J0 ?5 V/ J# }! i5 [ - // the agv just arrived at the entry cp
( C9 G8 S( o* Y6 Y" N - // so, figure out where the elevator is.
, a) `9 ~# _& a& G" \ - int elevState = get(node("ElevState", stateLabel));
* L' H1 ^2 Y" Y! A) j5 H: C - // if he's at the pickup floor with his door closed then open the door.
6 H' x1 R9 Q0 |* |& X- o - if (elevState == ELEV_STATE_AT_PICKUP_FLOOR)
' @, _' }0 }1 |9 P& x* } - nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);. J5 E7 o4 a, O( \- h3 q& S/ n" g
- else if (elevState == ELEV_STATE_DOOR_OPENED) {. |9 b$ f3 R4 k* ~4 R N) t8 d
- // if his door is alread opened, then move the agv onto the elevator, i.e. to
* l- _) g& \$ s$ w9 ~! m" m - // the elevator cp- G* L8 _$ p/ o7 B7 e' s6 ?' @0 O( z
- treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));# l8 s: ]0 B) P. J/ u6 s( ^
- agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
8 t7 V, R7 C9 l g - }, m/ ~% M6 Q t. M0 N& V8 v; z
- break;
. T8 M7 j" L/ Y& L( N# l7 p, S4 b1 H - }8 b; [, m2 ~& V; i) ?
- case AGV_STATE_AT_ELEV_CP: {5 L" O' `8 f% h
- // once the agv is at the elevator cp, close the door
5 |3 B3 r6 I3 k& s, b) F - nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);
6 j* r8 |/ z- B6 U9 t) ~+ t - break;6 f: z- T. p3 u# K5 _* u! g8 o
- }
; ]& q! a) i5 }$ v9 H - case AGV_STATE_AT_EXIT_CP: {
+ J% `7 P4 ]- H2 s6 [9 M" W - // the agv is at the exit cp
" I' |+ u# z- p - // destroy the listener node because I'm finished listening
8 p' {/ O1 t8 ?& S" G6 D9 i - treenode listenerNode = param(4);
- r' w& V& ?0 ?. x, F0 \ - destroyobject(listenerNode);
- [2 F2 r+ k1 l/ X2 { - int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;3 O4 e; X3 a& r- N
- if (!agvWait) {
% M. E$ U6 p0 H& d) j - // if the agv is supposed to continue on, then tell him to go to his final destination
. W! g7 |5 f! d& \9 q1 B1 S/ z - treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);
3 r3 R; s- k0 x - agvredirect(agv, destCP, REDIRECT_AS_FINAL);2 ?# I( g4 I- ^- ~ k4 ^8 g
- }
; U5 n% W7 E) H5 ] - // close the door
2 _; n" q% g) v$ |: `* H - nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);
6 s; g8 f: |5 H m7 p6 a3 J) w - // and I'm finished with the state label so I can destroy it.
4 j; g: [) \/ Q6 z w - destroyobject(stateLabel);
/ O& x! U8 ~$ i. v- D5 M& f/ N - break;' y: N2 o0 f9 E7 b
- }$ [7 D7 o+ O+ ?6 Y
- }
% G7 @5 E3 _: p7 R - return 0;: _3 u0 {9 k/ g, n! ~! R: q3 }
- }
1 l% C1 ]1 w9 v8 e h5 e - case ON_ELEVATOR_PICKUP_ARRIVAL: {/ z3 m1 V8 k7 c- v' g8 h' N4 k
- // the elevator has arrived at the pick floor7 \' ], }% s9 N6 M: a% e) K
- treenode elev = param(1);
5 }% V1 }: c6 P2 K - treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
9 b: j5 e2 c7 H+ u9 [6 u - treenode stateLabel = label(agv, AGV_LABEL_NAME);
9 T6 }) x9 D) j& B A - treenode elevState = node("ElevState", stateLabel);
$ i( a7 U. q/ ^ - // set the elevator state to at-pickup-floor/ A$ J1 ~( N5 f8 U: n0 [3 I" L* x
- set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);6 L3 m$ L- t" _8 G4 a' e5 h
- 0 m: E: I+ P$ U. p4 b
- int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;6 s5 e) @, o0 i! K, B
- . a6 b: n7 ^5 I+ G5 H1 O2 B
- // if the agv is at the entry control point or I open the door immediately, then open it3 K4 T0 E% m4 }, P6 _
- if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {
" _- M: j1 C% |) s - set(elevState, ELEV_STATE_OPENING_DOOR);
9 i. Z5 i( C9 _ s3 Q' x - nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);2 @, t4 _% P2 T" b+ e
- }8 J* ~2 x& {) { R
- return 0;
% |; F1 \& R0 ]: e4 J; v% p - }7 a L0 `7 t" h4 ?0 Z: k7 H
- case ON_OPEN_DOOR: {5 p. G! r+ [2 `
- treenode agv = param(1);
; U# s, C* Y# k& v9 k4 v* Z - treenode elev = param(2);: I( @" L+ L. ?5 X2 I
- int nextStep = param(4);( {$ a' D6 Z6 }3 ]+ F1 `
- // open the door based on the time to open the door3 f0 S+ L. }5 [* V2 T
- double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;
! ~% m& e! m! O6 g - delayednodefunction(c, openDoorTime, elev, agv, nextStep);4 R. T: ]: g! Y
- return 0;. ^3 }7 u7 X# P$ p8 C1 B
- }% S: F1 z. D2 T! |( ^
- case ON_CLOSE_DOOR: {
2 e# C+ `( v/ Q- \0 h7 K V - treenode agv = param(1);- o/ A* U6 k; H) m1 O5 L8 R
- treenode elev = param(2);
- @( `5 b @# S3 e1 b2 f- m u# l - int nextStep = param(4);$ p$ p4 x V5 H+ d. k
- // close the door base on the time to close the door+ J% }6 {: ?5 B% ]6 H$ D4 ~
- double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;3 C5 m; s* V' A# Y/ f. r5 F
- delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));( Q. u7 o& p% R3 U0 I
- return 0;% F7 V( i# _3 @' h" }7 A
- }
" O# @7 p5 F& N# ~ - case ON_PICKUP_DOOR_OPENED: {3 u# ^, d. N; m+ W6 o- n, C0 L# ]
- // the elevator door has been opened on the pickup floor
1 x) c3 l" A& w( q9 u6 C - treenode elev = param(1);% f1 r! D: e& B% g9 p7 m# b
- treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);( F% R% J" {) W8 }/ O- ~
- treenode entryCP = cp(agv);
5 i& X Q8 {; X) c) e f9 p/ I - treenode stateLabel = label(agv, AGV_LABEL_NAME);
2 d* T1 u( b+ K - treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));/ R8 o; K6 ~1 F4 T% n% ]
- treenode elevState = node("ElevState", stateLabel);
" x* ?) K2 ?! L$ g - // set the elevator state! d6 T# j! E0 Z. F- V1 J( y( o# h
- set(elevState, ELEV_STATE_DOOR_OPENED);
; N# ?* M" t$ ^- L$ d3 Z" ^9 u - // if the agv is at the entry control point, move him to the elevator control point
% b. h4 H. g% r S - if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP)" i- d8 {' N+ ?5 x; _1 [- x- q
- agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
8 d! `7 a' h8 u. c' V, q - return 0;
" C+ T- p" } P3 K' O - }( K9 {8 q; T$ Z( c5 Q; @5 V
- case ON_PICKUP_DOOR_CLOSED: {7 @" I/ j H+ ]0 }8 n6 I! F2 |
- treenode elev = param(1);' Z3 e$ n" A: b7 p
- treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
8 a9 T [0 G; }3 q+ f0 `8 ~, ]5 N - // assign the agv to "no control point"
' A# ^1 C( y$ [4 ^ - agvreassigncp(agv, 0);
$ ~3 X7 z& F. V: {7 q, u0 r+ [* V4 u - // move the agv into the elevator
, z& a' G" z0 F4 V; b! c0 K - moveobject(agv, elev);. d5 M: D I$ p, q8 V- k$ R3 Y' h
- setrot(agv, 0, 0, 0); y; ^- T) T, X( I; n8 M
- // release the elevator to continue to the destination floor
! G f# x) c1 |& ^1 D& E9 j - freeoperators(elev, agv);
4 z: N5 F D1 `1 c4 z$ l8 E2 E Z* H, r3 u - return 0;
1 s/ j7 r" i# |( a4 u - }
5 F6 S9 P$ C; |& N: J - case ON_ELEVATOR_DROPOFF_ARRIVAL: {
/ P% ]3 }9 X- v$ R$ @ - treenode elev = param(1);5 K$ A. f1 B$ L$ W
- treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);- q) Z& u% @% {0 d& I' j Z* e+ K( D# R
- // when the elevator arrives at the destination floor" T; M+ l3 a/ s# Q3 q) {. ]& a
- // move the agv back into the model
/ A* l8 ]6 {' F* E - moveobject(agv, model());5 @1 e6 ^1 L, V2 @5 G8 C% q- Z
- // reassign it to the destination floor control point
i, y+ u8 ?+ Y! z* i+ w: W - agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));) M4 v2 H6 ]$ U4 a) {% R
- // open the elevator door# Q% L! c' w$ f
- nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);
/ a+ O' M" [3 y& v6 Q+ Y - return 0;9 F9 W5 t' E5 S% |4 ?
- }
* P3 {; p" k. U) e9 `# f2 Y- \: T - case ON_DROPOFF_DOOR_OPENED: {
3 ?+ k. C. d8 ? - treenode elev = param(1);2 |8 A! y7 _- O% E3 c2 W" n2 }. _
- treenode agv = param(2);5 G, R* z* `( F2 C/ Y
- treenode agvLabel = label(agv, AGV_LABEL_NAME);6 S1 F+ B2 q. z- l# Q
- // once the elevator door is opened on the destination floor,
8 c' c* @5 Z1 t& f4 S - // redirect the agv to the exit control point# K$ a; Z9 n6 @9 g! {6 w" J
- agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);
' v l3 ~4 s0 l* k$ P. m - return 0;
$ {! v: a e( Q, F- L - }5 a0 J9 F% M6 I- n' E2 j
- case ON_DROPOFF_DOOR_CLOSED: {. b+ o b% z. F( G7 {4 j( |' G
- treenode elev = param(1);
Q9 T' U+ M, m# s' a9 P4 z - treenode agv = param(2);
a" \" b; w+ G; L1 h0 x/ M% o) D - int isAGVWaiting = param(4);, H. l. e8 ~# n1 r
- // once the door is closed at the destination floor,, U9 z9 e: j! e
- // if the agv is waiting, then send him to the final destination
9 h1 Z) {$ o, r - if (isAGVWaiting)
8 W; M6 t1 V1 a | - agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);
3 R1 M: S; B2 ?8 i0 i - // release the elevator to finish his task sequence
3 E1 o) e/ q/ @( D( x( v - freeoperators(elev, agv);
3 { w! P$ S/ ]: I2 v - return 0;
- P" o1 R( ^/ g) t - }+ w9 z3 M- q0 @3 T& M* a. l
- }
. L A# a" ]1 p# J& {7 a! T6 R - } //******* PickOption End *******\\- ]& y0 M9 @ k8 ]
$ W! Q( u) |; Y0 g
复制代码 7 E" ~' j) v( @- z- i
9 F& q8 }# N$ `' a9 P( j& _, g( G& L, ^( f" r0 o
办法2:使用工艺流程模块完成 |
|