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2018.2.0版中AGV如何乘升降机?

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慧娴亚伦 发表于 2018-11-4 19:12:47 | 显示全部楼层
办法1:从2016版本里面复制相应的代码+ D2 n+ B3 ~9 g2 }- V1 L7 f. B

. U4 T2 t( b# }8 j9 m具体代码如下:' ]/ N' t+ y) q$ \! P- B! f
  1. treenode agv = param(1);* u' h2 c+ g' ~8 L- c* f
  2. treenode currentCP = param(2);! R7 A* b) n  k1 z7 P

  3. / O# M" @. Q' \  c" f, v3 ~
  4. { //************* PickOption Start *************\\" B* Z7 r8 ?4 S8 ~& V
  5. /***popup:AGV_DivertToElevator*/
    + r- o( @0 P  O
  6. /***tag:Description*//**Divert to Elevator*/; O9 `: m3 e: Q
  7. ' L0 ^8 {+ T; P4 \5 w0 ]
  8. int operation = param(3);
    ; m3 c( m2 L# A; ?5 @
  9. ( ~8 ?# w7 L! Y& C9 C3 S
  10. #define AGV_LABEL_NAME "fs_AGV_Elev_State"
    2 S% w. y* `4 k7 q
  11. if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME))
    % P2 F5 h2 t: B3 W) L
  12.                 && (/** \nCondition: *//***tag:Condition*//**/fabs(zloc(currentCP) - zloc(agvinfo(agv, AGV_DEST_CP))) > zsize(agv)/**/)) { // if it's a pointer, then do the initial case) V( t4 D" p; ^2 m2 v
  13.         // initial trigger execution
    ) n1 i5 k6 |2 T5 p" `: F) _! r
  14.         #define ON_ELEVATOR_START 1
    ! E+ r8 h, s  n" q! q. L, D
  15.         #define ON_ELEVATOR_PICKUP_ARRIVAL 2( A* ?' v6 S# M: t
  16.         #define ON_ELEVATOR_DROPOFF_ARRIVAL 3
      y1 k$ S' v9 F8 X
  17.         #define ON_AGV_AT_CP 46 @8 K* {( N3 Y+ l
  18.         #define ON_BOTH_AT_PICKUP 5/ f4 f9 g, |9 I3 i4 |4 w5 |' V
  19.         #define ON_OPEN_DOOR 6
    2 m1 Q9 Q5 \2 Y9 A( ?! }
  20.         #define ON_CLOSE_DOOR 7- e. H4 P4 g) ?1 k; z7 C) G1 J
  21.         #define ON_PICKUP_DOOR_OPENED 8/ M& X- _) [- a+ _; g. A
  22.         #define ON_PICKUP_DOOR_CLOSED 9
    . x& A1 f( ^$ l/ Q$ n2 W% r
  23.         #define ON_DROPOFF_DOOR_OPENED 10
    ) `  S9 ]& k' t6 x; Z! Y# Z, s% ^! Q
  24.         #define ON_DROPOFF_DOOR_CLOSED 11  G- P: f' n4 c; l( [
  25.         2 ]( n1 H' O  I! q# |8 t
  26.         #define AGV_STATE_START 0$ J! `+ F( `" `9 `( Y* H6 M+ C$ @
  27.         #define AGV_STATE_AT_ENTRY_CP 1
    6 I' _( _, \( t; r& s" D# _
  28.         #define AGV_STATE_AT_ELEV_CP 2# z* P. J, r6 z! }+ s
  29.         #define AGV_STATE_AT_EXIT_CP 3: w2 o4 k, ^+ {9 i$ L# `% g/ K
  30.         6 A0 x( b. J) B( m* M2 z& W
  31.         #define ELEV_STATE_NONE 0
    , l% B' H5 q+ T8 j3 l2 d, g# q
  32.         #define ELEV_STATE_AT_PICKUP_FLOOR 1- J5 G* ~  U. M8 `" ~% v
  33.         #define ELEV_STATE_OPENING_DOOR 2
    / Q; J/ W9 ]: i" D! N, e# L
  34.         #define ELEV_STATE_DOOR_OPENED 3
    , |/ K$ T0 k! I1 O( F" ]! S& c( O
  35. % T+ p, R) y# D3 r) P# _: N
  36. ! Q, b& W. a. {& V: W! A1 O
  37.         treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;
    ) k1 }2 D2 d9 g/ k' @6 \
  38.         #define elevator outobject(elevDisp, $iter(1))' `% \7 ~8 G- h; T) ^' L( Q6 p/ }2 w
  39. % W( ~$ K9 b7 k1 y6 n4 K
  40.         if (!objectexists(elevDisp))! @' O( H/ E: o- r$ s0 r0 w; N
  41.                 return 0;
    # v/ T$ i+ b% i

  42. , L1 b" z: U- p
  43.         if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {# L1 G& {) D# R' e5 x/ K& O, M( {
  44.                 query(
    2 Q* S8 Z. p% H7 x& Q! B0 U
  45.                         /** \nFull Query: */7 o" Y6 d- W: o' D$ S) J
  46.                         /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,
    ) k# ]& U3 M0 g6 g
  47.                         nrop(elevDisp),
    ' N! C7 [$ P* a) B/ A
  48.                         elevator0 S9 Q9 L3 [7 l) T
  49.                         /** \nWhere*/4 I$ L, ]" H* L. A) |
  50.                         /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/
    " z# W. x0 V+ p8 n
  51.                         /***/( L$ n5 [5 Z  V! u
  52.                         /** \nOrderBy*/
    . }) R3 ?" |9 d* E1 [- X1 G! U
  53.                         /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*/
    ' g9 Q6 N& A! e) x( y( U
  54.                         /***/);
    : Z; B  S* v1 Z2 i9 Q3 f% f: v. Z

  55. $ N* F7 ^& S; ?1 e/ _) M# q* T
  56.                 if (getquerymatchcount() > 0)1 l( p$ b3 `" m
  57.                         elevDisp = getqueryvalue(1, 1);
    2 J- w  B: w* Q! g, S+ r
  58.         }) L3 |9 E" q' W9 t( Q! p2 y8 Q2 O
  59.         if (!objectexists(elevDisp))
    2 R; k+ g3 k) k* `6 l- ?" @1 ?
  60.                 return 0;
    : F" x+ A2 ~* F+ D* b& T! G
  61.         treenode destCP = agvinfo(agv, AGV_DEST_CP);7 O3 V& H+ T1 c% _& p& N" w$ T

  62. 8 u% k! c7 N8 u5 V3 h% N
  63.         agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);8 U' O7 J" }: F2 m6 f5 C) x5 \9 D6 S

  64. # y! _/ A0 q7 a/ E! t  O
  65.         // Create the task sequence for the elevator$ q. C- P; E9 j/ K! |6 D
  66.         double destZ = zloc(destCP);  s  d" _' c. W1 L1 ^' q+ C0 L3 n
  67.         treenode ts = createemptytasksequence(elevDisp, 0, 0);
    8 B6 {1 v# E' P3 i( ]& n
  68.         inserttask(ts, TASKTYPE_TAG, agv, destCP);
    9 O8 p; y# T' e7 v0 w& i$ k
  69.         // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START
    7 `2 r9 j4 o7 ^
  70.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);' K! r$ Z& u8 W, n
  71.         // travel to the z location of the current control point
    ( @, q" O1 {+ ~' C. L! E, v
  72.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));
    ) r2 W0 \) [2 h9 n6 @
  73.         // then call ON_ELEVATOR_PICKUP_ARRIVAL
    ; D1 U' j" ?/ o' h$ Y; B
  74.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);
    / o. @# i9 A2 {8 j! k. M% u
  75.         // then wait for the agv to get on  q+ ^+ q7 ~( s2 W, z; _- [
  76.         inserttask(ts, TASKTYPE_UTILIZE, agv);
    6 `8 V, k6 L: ~, h/ Y# d/ k' ]
  77.         // then travel to the destination z location
    , n+ v! H2 E, L0 [7 t1 I; c
  78.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);
    1 W. |; M$ E- p- \0 M" v
  79.         // then call ON_ELEVATOR_DROPOFF_ARRIVAL! p; W" \4 @) t$ f
  80.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);
    : `; Q! t" S5 E+ n! ]! p2 }" y
  81.         inserttask(ts, TASKTYPE_UTILIZE, agv);
    / v8 q! p7 F  s* z
  82.         dispatchtasksequence(ts);
    9 @/ @( ]3 `0 C- E% P% N- q; V+ w
  83. } else switch (operation) {
      A- K& D* j6 K9 t& d/ _6 \) I
  84.         case ON_ELEVATOR_START: {' y2 ]$ _  a( b0 c; T  Z4 K7 H  F
  85.                 // this is fired when I get a valid elevator
    1 p6 i5 U+ p- t+ |7 h4 j) B8 _
  86.                 treenode elev = param(1);
      l$ U  e0 F3 y% G0 R# j* }9 {& m
  87.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
      B, C6 m. a1 [
  88. ) Z+ P' S: D/ P+ h; L3 q6 }1 _4 Z
  89.                 // find the closest floor control point; S* K' Q  B9 Q# o
  90.                 int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);
    ) j* S5 q. |6 m
  91.                 treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon), ) I+ g2 i5 ]; W6 ]( H! Y5 {
  92.                                                         fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),% q  Y- e3 g! F  d* Q
  93.                                                         cpconnection(elev, floorCPCon, count));5 E! ~# J* W* V" l. T5 P
  94.                 // return if there is none" m3 q+ n% C. r" u% E# b# [0 C
  95.                 if (!objectexists(curFloorCP))6 c2 a$ P$ Q4 q: t6 _6 N
  96.                         return 0;
    $ l1 E4 {3 r. A2 H5 j
  97. ' D! p6 p1 ]" l' d9 r
  98.                 // get the entry control point
    5 O- t* `& M% d9 F: W
  99.                 treenode floorCP = curFloorCP;0 p4 |; M1 M3 B  b
  100.                 treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;
    1 D5 u) a3 Q. I0 c0 D
  101.                 if (!objectexists(curFloorEntryCP))7 ?1 F  B& F+ h, u0 q
  102.                         return 0;
    8 V/ o# |1 _( n& `: p. {6 g; j0 E
  103.                 treenode floorEntryCP = curFloorEntryCP;
    4 }( U- {0 l; d2 }' ^+ K
  104.                 treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;
    - p1 T% D/ x) O0 n3 [! b! }  O
  105.                 if (!objectexists(curFloorElevCP))
    + M6 _/ X! |# o- K
  106.                         return 0;
    1 U$ A2 d1 }7 U9 ~0 }5 Z3 G

  107. 2 Q( M  c* }9 K% t9 L: A9 G" Z
  108.                 double destZ = param(4);7 `# V4 h  a. n, m" W
  109.                 // find the floor control point closest to the destination floor7 ~8 i; e, J" ~) h+ Z4 C/ e. a
  110.                 treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon), & Q; z% H( M2 m+ v5 u8 a
  111.                                                         fabs(destZ - zloc(cpconnection(elev, floorCPCon, count))),6 D& B8 q8 D% ?9 U
  112.                                                         cpconnection(elev, floorCPCon, count));4 @4 E' i( |; V4 G& b, c, m
  113.                                                        
    - o; u. T, f+ L# O2 n" s1 M
  114.                 floorCP = destFloorCP;
    . z% L, W7 R* E- A: g
  115.                 treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;9 p5 }2 `5 q5 b* ~
  116.                 if (!objectexists(destFloorElevCP))
    $ I, a  q! w& x! M! k) D( c) x( `
  117.                         return 0;- j  r8 U8 ~& e
  118.                 // get the destination exit control point
    . T" H& b" W' K  P
  119.                 treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;
    $ E  K* [% Y0 z2 S$ h4 ^
  120.                 if (!objectexists(destExitCP))& a) s8 h$ u* F4 e2 M8 `
  121.                         return 0;4 Z) c) B" W! _9 `, |$ h
  122. # T3 U; }1 a8 C! j1 o9 h

  123. ; }, ?+ ^, }) O' o( o/ Y
  124.                 // add a listener for the agv. This will call this nodefunction in the ON_AGV_AT_CP section whenever the 5 X& x) V* s0 n
  125.                 // agv arrives at a node. I keep a state on the agv's state label, and then increment it each time
    1 {1 _2 M. L: Y
  126.                 // the listener is called so I know which control point he's at, i.e. entry, elev, or exit.
    ( @' B# ~, ~3 |6 B
  127.                 agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST," c3 J" |  B. I/ m& L; \2 b+ W
  128.                         agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);
    3 p8 M2 i7 {% M5 e6 Z
  129.                
    ! S( X" P; j( ~& s$ X' d) p
  130.                 // set the data on the state label
    9 Y% @8 ^! r+ ^2 I* X& l
  131.                 treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);
    - F- ?- z( [2 u" H$ ~  U* n
  132.                 switch_destroyonreset(stateLabel, 1);
    + [  |3 c4 x& M2 S; {( d& J
  133.                 set(stateLabel, AGV_STATE_START);
    8 ?9 I+ F$ k+ n  N! s0 i
  134.                 set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);- Z: r4 I# C: b
  135.                 nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);
    & {5 J8 {7 B6 b0 X3 K: U* C8 c' `
  136.                 nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);5 V' q8 h2 V+ x# u- w  a
  137.                 nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);% v: e# J# s- q
  138.                 agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);9 a1 r* H8 P! i+ V( o# N7 e/ f( i' x
  139.                 return 0;8 s6 G6 z% f" s0 r# f
  140.         }/ G' @+ ], {9 k( b' _: `. k6 ~: @
  141.         case ON_AGV_AT_CP: {2 A2 i% C- g- u. Q
  142.                 // this is fired by the agv listener every time the agv arrives at a node.. R. G9 X0 j' V$ a( j1 ~) Q. j8 r- L  ^
  143.                 treenode agv = param(1);5 k/ P7 j( G- o9 y
  144.                 treenode elev = param(2);
    % M8 H6 z, ~6 R6 J6 p, g
  145.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
    : C2 B+ ^6 t3 H- f6 z( J
  146.                 // I increment the state label, and then switch on it! V4 w% U5 n; Y" I0 s3 D
  147.                 inc(stateLabel, 1);
    + i2 b7 r. d1 O8 D, v
  148.                 switch (get(stateLabel)) {) j5 g: W+ j4 E; z7 k& b! J
  149.                         case AGV_STATE_AT_ENTRY_CP: {; z; \, F# P$ n( C4 [. q
  150.                                 // the agv just arrived at the entry cp
    ! w. n  d( B; I4 W0 e
  151.                                 // so, figure out where the elevator is.
    $ j0 i  L3 {+ b. O" b5 u
  152.                                 int elevState = get(node("ElevState", stateLabel));
    9 A$ t  p/ Q1 W& f  q. P
  153.                                 // if he's at the pickup floor with his door closed then open the door.2 W7 Q( g# C5 n' U1 U6 g# Q6 P! A
  154.                                 if (elevState == ELEV_STATE_AT_PICKUP_FLOOR)1 T7 r  B/ R7 P# W0 g1 J& q+ ~5 A
  155.                                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);; z' o6 }$ h; M8 b' t/ W+ `& A
  156.                                 else if (elevState == ELEV_STATE_DOOR_OPENED) {
    ) Y0 v* m# q! R7 d& T0 K
  157.                                         // if his door is alread opened, then move the agv onto the elevator, i.e. to
    " A6 {5 h7 D# `! |7 T8 ^( s# [
  158.                                         // the elevator cp
    : W  {. \! f1 S: f8 J
  159.                                         treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));0 T' K% w% f9 ], b- W
  160.                                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);/ z9 y/ ^6 f9 P9 j
  161.                                 }9 R5 V3 n9 Y& w# K$ j/ |
  162.                                 break;: r' s2 ]2 G! u" C  s5 `9 H
  163.                         }, v7 F+ C& f9 K. w/ n: t
  164.                         case AGV_STATE_AT_ELEV_CP: {: c1 `# }8 J9 j4 P! o5 l: w' a9 i7 u
  165.                                 // once the agv is at the elevator cp, close the door7 ~  o/ i& F: k: ?9 t' Y
  166.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);6 E( E: J& A. G
  167.                                 break;- G1 M7 R0 D% W8 ?0 h
  168.                         }+ w# x/ v( ~( C- _' p6 N( s) C" F9 e
  169.                         case AGV_STATE_AT_EXIT_CP: {
    + B' x$ i% l3 Z0 C2 m, \" Z: a/ \( E
  170.                                 // the agv is at the exit cp! v! g" a8 X$ T$ C
  171.                                 // destroy the listener node because I'm finished listening
    " ?, N+ ]+ e/ d3 Q! n2 G7 ]: j0 [
  172.                                 treenode listenerNode = param(4);  ]$ p% x  D, g9 `4 |8 S
  173.                                 destroyobject(listenerNode);$ v* m; Z0 Q5 x! H" P# D7 }% p
  174.                                 int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;
    + X) q2 ?0 p9 {) w5 f% ^
  175.                                 if (!agvWait) {. N8 m( m% C+ s4 O
  176.                                         // if the agv is supposed to continue on, then tell him to go to his final destination$ q' C! r2 E$ J) f
  177.                                         treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);  f7 G: D' `/ V; ?, M
  178.                                         agvredirect(agv, destCP, REDIRECT_AS_FINAL);+ z3 \7 L' W9 t* v
  179.                                 }/ j; ?! z! M: @. i6 {( P
  180.                                 // close the door
    + Q$ Q$ e# I' X2 @" z6 i) r
  181.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);' l" `: K) a. A- N- N4 M
  182.                                 // and I'm finished with the state label so I can destroy it.! s8 D. h0 g/ b7 k# D
  183.                                 destroyobject(stateLabel);
    . U$ L0 ?- @* O2 K& C9 u3 A
  184.                                 break;+ f9 B/ y/ n' k# S, `4 L
  185.                         }
    & G# h/ ^' [. y3 U
  186.                 }( r: _9 N8 a/ b
  187.                 return 0;# X) Y; E" w& Z7 V) ~! m
  188.         }
    , z, B8 B4 w( _; R* x) F6 a
  189.         case ON_ELEVATOR_PICKUP_ARRIVAL: {
    , g" r8 x7 V! i" F& `
  190.                 // the elevator has arrived at the pick floor3 x2 q) ~+ I7 L& Z' _0 Z
  191.                 treenode elev = param(1);  M" t& L5 W' W$ z# \" ]' |
  192.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);/ q+ O+ m: I" p. z% _/ w- a
  193.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
    , r/ y9 h2 H! y0 @" Z6 d; w
  194.                 treenode elevState = node("ElevState", stateLabel);
    % A+ z8 e7 S9 w: w+ D$ |
  195.                 // set the elevator state to at-pickup-floor
    ) d# R3 p5 w+ |7 Y5 J& f4 y  f" Z2 Q
  196.                 set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);) G9 D; n" L3 p& |' U/ G" L3 L
  197.         + T# L% a! K" L. s
  198.                 int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;* I$ |* n+ Z( c2 H# t: z! F0 X
  199.                
    ! c; j, V  C$ w) ~$ v8 x: n
  200.                 // if the agv is at the entry control point or I open the door immediately, then open it. H, \1 C; E) t! a3 r1 Y
  201.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {
    2 K$ ]$ Q& \5 D/ z
  202.                         set(elevState, ELEV_STATE_OPENING_DOOR);
    " H3 n% [  X. N
  203.                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
    3 J  _2 \( W1 ^0 W
  204.                 }
    5 Z7 v3 y9 A  `+ x% l6 P
  205.                 return 0;
    " e: G: ?( _7 ~% A. _! e( x3 s
  206.         }7 x3 f; \( ]$ R: }: O7 q  E+ F4 }
  207.         case ON_OPEN_DOOR: {" k1 q  F1 d: ]( O
  208.                 treenode agv = param(1);3 r% ?& u" x" L0 _* v& F0 @. K' X
  209.                 treenode elev = param(2);
    % s7 d# X  @, W% z( y; ^$ B3 N
  210.                 int nextStep = param(4);
    4 Z# ?9 G" v& k% G( A% P
  211.                 // open the door based on the time to open the door8 U1 j) `# @+ f+ o# c0 V' J
  212.                 double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;, k9 T& V8 l' Y$ W$ d# J; j9 u
  213.                 delayednodefunction(c, openDoorTime, elev, agv, nextStep);
    6 T6 y2 _5 a* q% `% R. I8 M, O3 X9 Q
  214.                 return 0;
    : ]& k3 r/ [6 [. r
  215.         }* E- \% t1 V" \0 t( g
  216.         case ON_CLOSE_DOOR: {
    # n! k; C( F/ \, k& b" B) r: O
  217.                 treenode agv = param(1);, v! i" p. W4 U. x
  218.                 treenode elev = param(2);
    ( D% p0 b3 S: ~( Z! e
  219.                 int nextStep = param(4);
    & X3 p4 O- f. G- q
  220.                 // close the door base on the time to close the door
    ' K$ Z3 J( Q" y5 [
  221.                 double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;1 t4 W4 I3 M. z# r
  222.                 delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));) G) _# }( O4 A. m3 S( T
  223.                 return 0;
    9 I2 d5 j# Z& I' v' n( D
  224.         }5 z% Z8 k# E% X+ m" A" y
  225.         case ON_PICKUP_DOOR_OPENED: {
    : e% }8 T0 P7 G. h* h' V5 q
  226.                 // the elevator door has been opened on the pickup floor, p& z  X8 V" z2 A' l  S* Q0 ]
  227.                 treenode elev = param(1);
    + t" L! q9 }1 s/ v! F1 k
  228.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);+ y/ h# u  [' T
  229.                 treenode entryCP = cp(agv);
    6 X1 g$ \$ }* G+ }
  230.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
    " s4 L$ J  X1 O$ I( w; a3 w
  231.                 treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
    8 k% \( T" o6 ^  e
  232.                 treenode elevState = node("ElevState", stateLabel);
    7 b5 @8 [; e2 S/ a5 i: j
  233.                 // set the elevator state
    / n- b9 I3 o4 t, `
  234.                 set(elevState, ELEV_STATE_DOOR_OPENED);9 n3 J) D- _* O
  235.                 // if the agv is at the entry control point, move him to the elevator control point
    4 T+ }1 t3 y  I+ f& u2 q) n/ _- @
  236.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP)1 H/ m0 z5 H* X6 A$ u+ y1 C+ b9 Y
  237.                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
    . ~6 X# _! z0 p
  238.                 return 0;( a) Q3 E3 g: w& }) Q7 L6 H8 H
  239.         }
    2 Z! b8 p1 A# X& J9 I: N
  240.         case ON_PICKUP_DOOR_CLOSED: {6 q/ j8 ]  |* h; B2 y+ W
  241.                 treenode elev = param(1);$ X- S0 n7 o+ G
  242.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);* N! J! }; `( j" x. F9 I
  243.                 // assign the agv to "no control point"
    + R; t% t+ Z8 s0 |
  244.                 agvreassigncp(agv, 0);! h+ j* B4 i/ |6 m
  245.                 // move the agv into the elevator
    5 l3 ~( l* g4 T( h7 ]0 L8 C4 E' ^
  246.                 moveobject(agv, elev);( i" l5 v: b. a
  247.                 setrot(agv, 0, 0, 0);
    * Z4 T1 Q  N5 G8 E% T. R/ j% D# }+ ~( `; [
  248.                 // release the elevator to continue to the destination floor4 U& m: W& g! ~
  249.                 freeoperators(elev, agv);* y) ~% k% V; }( g5 U
  250.                 return 0;
    / _3 ^1 l9 S0 F7 ~) r2 p1 v( b
  251.         }4 ^+ h7 I0 D' \0 i1 B4 j( v; Z
  252.         case ON_ELEVATOR_DROPOFF_ARRIVAL: {
    9 P3 f- l; r7 {# x9 N7 I
  253.                 treenode elev = param(1);$ L0 a& O  M. A' G: F0 H9 P
  254.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);: G- l. V! X9 C1 @- q& x5 w
  255.                 // when the elevator arrives at the destination floor' i0 S, U) l0 o) A
  256.                 // move the agv back into the model
    2 p8 h7 H( o9 r' ]7 W) C* n1 ?
  257.                 moveobject(agv, model());1 t( ~, G/ ~' m9 z
  258.                 // reassign it to the destination floor control point/ j$ t' z9 I- O$ B9 L
  259.                 agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));
    5 [# g* }5 a$ T% Z: X5 t3 I$ A9 A
  260.                 // open the elevator door
    ! d% ?: A; x% V1 J% J4 x+ i8 Z5 b
  261.                 nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);) c& k6 f1 {4 U' r) L* A  c% N
  262.                 return 0;
    - |& f# o! W. t1 c
  263.         }- b* f- P5 s: g0 j, L
  264.         case ON_DROPOFF_DOOR_OPENED: {) K" l) t: I  y! D, V. L& W2 n  _
  265.                 treenode elev = param(1);
    " K3 O, E. \' X# y
  266.                 treenode agv = param(2);
    * e: [3 t  l1 P0 W6 O. x
  267.                 treenode agvLabel = label(agv, AGV_LABEL_NAME);
    - H/ p$ Z+ @' v
  268.                 // once the elevator door is opened on the destination floor, " G, w, i4 H: V1 C
  269.                 // redirect the agv to the exit control point2 J4 B) B' G: ?% U6 V& ?/ A
  270.                 agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);7 V8 A/ C( n" N2 L
  271.                 return 0;
    8 J( ?' ~, a& A0 z7 }  y
  272.         }& V6 f) E4 j; u$ g, L" h
  273.         case ON_DROPOFF_DOOR_CLOSED: {
    # k3 W! I' o" Y2 ^" w/ b
  274.                 treenode elev = param(1);" l6 V' r* j2 u$ H
  275.                 treenode agv = param(2);! H) I" Q# v1 c/ w! k1 [3 c
  276.                 int isAGVWaiting = param(4);6 N3 ^# L  ]  ~+ E
  277.                 // once the door is closed at the destination floor,
    7 G; J/ B# S; W8 q  G6 V# k
  278.                 // if the agv is waiting, then send him to the final destination) A1 ?" Q" x! z; W( Z+ k! r
  279.                 if (isAGVWaiting)6 v- E( B- v1 g/ h. c- a
  280.                         agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);
    1 u" K) ?) v" s0 H9 g; K8 K
  281.                 // release the elevator to finish his task sequence2 [+ R* G$ {8 S% o6 L: K2 K2 s' o
  282.                 freeoperators(elev, agv);3 b% l3 g: A/ ~: Y0 L- s8 I% F
  283.                 return 0;
    * e; _( F* a$ J. t
  284.         }
    : h# Y' U) t! i: \1 a; w
  285. }
    9 m1 h. v' I7 G  s% K# l) ^' ^8 e
  286. } //******* PickOption End *******\\) D# W1 ?8 l; j, K! g* s3 }1 W

  287. 8 v; R) x9 M. F3 W1 K
复制代码
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+ q0 \! d6 k- I  C  y9 w! m. P办法2:使用工艺流程模块完成
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