全球FlexSim系统仿真中文论坛

搜索
查看: 6246|回复: 2
打印 上一主题 下一主题

2018.2.0版中AGV如何乘升降机?

[复制链接]
1#
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
; L; {9 r" w3 t9 g: M
! j9 d2 Y% K* R2 }2 O具体代码如下:
9 X9 c9 x! B9 Z' Z
  1. treenode agv = param(1);+ }! k7 i4 J5 W! U! x. H% w
  2. treenode currentCP = param(2);
    ( L# }" j- o' h6 w3 J9 U' S. \

  3. 0 Z% R. i: C, `( N+ p$ G- F$ c
  4. { //************* PickOption Start *************\\
    + ?  b$ y7 B+ R# b) Q4 k+ m
  5. /***popup:AGV_DivertToElevator*/3 L" i1 y- _9 c9 a
  6. /***tag:Description*//**Divert to Elevator*/
    9 j1 S) W. W( G! k, R' r! S
  7. . w" k# }0 C: }; Y
  8. int operation = param(3);
    ' p* A" R5 X' {8 V) E, G

  9. * ~. T. Y& O* R
  10. #define AGV_LABEL_NAME "fs_AGV_Elev_State"8 l& l/ P% T) E# Y' q: N& Z5 v
  11. if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME))
    ) o& W: D. K- f  l$ Q
  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
    0 L  Q; a# _5 L" `' [: J
  13.         // initial trigger execution" n: M9 o( A  T; `
  14.         #define ON_ELEVATOR_START 1
    * w% g, x- S5 s( n) V* j  t# _
  15.         #define ON_ELEVATOR_PICKUP_ARRIVAL 2
    9 V# l8 h, X- @8 j! ?
  16.         #define ON_ELEVATOR_DROPOFF_ARRIVAL 3
    4 X& w5 l8 T7 N+ @" Q2 E
  17.         #define ON_AGV_AT_CP 40 O( F- J& x: q: Z! V
  18.         #define ON_BOTH_AT_PICKUP 5
    7 @* @9 t1 Z+ j- A' e
  19.         #define ON_OPEN_DOOR 62 e* g2 B4 k" J: G! O& C
  20.         #define ON_CLOSE_DOOR 71 @  |# X$ [, i; p
  21.         #define ON_PICKUP_DOOR_OPENED 86 @3 [  m0 n' }5 n4 o
  22.         #define ON_PICKUP_DOOR_CLOSED 9
    6 d& R  K5 a9 c- R$ j0 D# p
  23.         #define ON_DROPOFF_DOOR_OPENED 10
    1 ~9 @8 H. P5 S" P; z7 _
  24.         #define ON_DROPOFF_DOOR_CLOSED 11
    2 p1 \* Z& K/ F; Y5 r& U5 A
  25.           Z3 r0 J8 d9 P' v2 H
  26.         #define AGV_STATE_START 0
    . Y' ^! N2 k: \: N$ w$ S
  27.         #define AGV_STATE_AT_ENTRY_CP 1
    ! Q* R& j( \5 L
  28.         #define AGV_STATE_AT_ELEV_CP 2
    8 s* W1 ~5 h; ]  J9 M
  29.         #define AGV_STATE_AT_EXIT_CP 3
    3 X: s6 D; r: N( z# t
  30.        
    # [9 N9 A% ]" j% |* U, A* R
  31.         #define ELEV_STATE_NONE 03 A& o/ b" i) L& J# z
  32.         #define ELEV_STATE_AT_PICKUP_FLOOR 1
      U6 j. j0 d( B5 g. v) Y
  33.         #define ELEV_STATE_OPENING_DOOR 26 Y# I" o- k0 q5 V3 ]- }
  34.         #define ELEV_STATE_DOOR_OPENED 3
    ) ~1 U) x9 G8 y' Z' D

  35. # z$ q6 `# Z' |
  36. ; \6 ^0 j$ `/ i
  37.         treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;
    & \$ g) ]  G- M3 b
  38.         #define elevator outobject(elevDisp, $iter(1))
    6 @% N  f' D; E5 l) H7 [

  39. 4 X/ ~+ `  f; Q) F
  40.         if (!objectexists(elevDisp))' y+ o8 g5 I- r! l0 Y
  41.                 return 0;
    4 n, }2 O& V& z$ b1 k- T- K9 t6 o

  42. ; i: [- _7 I* L3 E
  43.         if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {
    ( C: [* c+ K- U
  44.                 query(
    5 N5 W: ~" b. J7 y$ Q% g7 g) f: h
  45.                         /** \nFull Query: */
    % m2 a* X/ w* \0 O
  46.                         /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,
    ( B% Y1 Y5 c8 ?2 V
  47.                         nrop(elevDisp),
    " J. `/ h- j2 S/ B
  48.                         elevator4 r; n& s6 n4 x( q# n
  49.                         /** \nWhere*/9 b9 Q$ D" Z8 O6 Q5 E0 y; c
  50.                         /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/; e' ]( V6 x' F" V6 P* Q
  51.                         /***/
    8 m& a1 K0 A: H9 Y
  52.                         /** \nOrderBy*/
    6 I4 W8 r9 x9 P' H' ]. V$ J* |
  53.                         /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*/) B9 b5 y9 [+ \, h
  54.                         /***/);
    2 }$ d! w- U8 w' B# ~' z; i  l" Z
  55. 6 ~$ k; s! b$ C1 I( I3 o
  56.                 if (getquerymatchcount() > 0)
    4 W( D# \* C0 ^; f
  57.                         elevDisp = getqueryvalue(1, 1);+ P( J9 `* b& Z7 P/ I
  58.         }8 u: _  M2 a3 g% U5 h. I4 o
  59.         if (!objectexists(elevDisp))) B8 }% F9 s  A
  60.                 return 0;
    + [% U5 d% v9 h# T" U" E( E% z8 W1 F
  61.         treenode destCP = agvinfo(agv, AGV_DEST_CP);
    9 h5 C- i7 i1 {

  62. + ], v$ f; t3 M, I5 M
  63.         agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);) ~0 N, ^7 ]' f0 O. ]
  64. * ^! B. s& `0 _: s8 m$ ~! }+ `
  65.         // Create the task sequence for the elevator
    ( E  U' E9 S( W: S% D
  66.         double destZ = zloc(destCP);2 m6 k% S, w* [) `5 d1 b& G
  67.         treenode ts = createemptytasksequence(elevDisp, 0, 0);
    ! S+ ?( j  [2 R( S
  68.         inserttask(ts, TASKTYPE_TAG, agv, destCP);- T3 L/ t& [; X+ t5 J) X5 A
  69.         // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START3 X) w+ Q9 H/ ~  L
  70.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);
    2 V- {" G% e8 b9 G, P- C' e
  71.         // travel to the z location of the current control point
    6 R$ [# J2 A8 l; u
  72.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));
    9 n. ^& f/ ~/ ?7 ?/ Q4 a# o0 M7 `
  73.         // then call ON_ELEVATOR_PICKUP_ARRIVAL) N$ u9 q' k+ g* a$ T7 N- J
  74.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);9 r  u  w: J% h5 G8 Q4 p
  75.         // then wait for the agv to get on' \  Z% u: C  c: _& l. j, V' o
  76.         inserttask(ts, TASKTYPE_UTILIZE, agv);3 B2 Z" K  g) M. a. T/ l1 F4 f
  77.         // then travel to the destination z location. Y! z8 C8 _  `4 W5 k! ^
  78.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);# J  e7 s' B5 r# P
  79.         // then call ON_ELEVATOR_DROPOFF_ARRIVAL
    ! j) }0 O5 y( a, t# O; P
  80.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);5 i+ p5 r. B8 C$ X) h3 n9 G/ p
  81.         inserttask(ts, TASKTYPE_UTILIZE, agv);
    . u* e% i6 |3 x2 s- o2 c9 m! F. o
  82.         dispatchtasksequence(ts);/ q# |, z+ f+ x2 E
  83. } else switch (operation) {
    3 i# r) {$ U( |& @1 M6 P! g
  84.         case ON_ELEVATOR_START: {
    3 W" Z3 \6 Y" E+ w: s! g2 w
  85.                 // this is fired when I get a valid elevator" B; C, `7 w( o- o
  86.                 treenode elev = param(1);
    + O# r$ |! {5 ]( |6 S, o
  87.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    7 H  X! ~% T! @
  88. , L% ~. d" e4 ?. ^! K4 m$ F
  89.                 // find the closest floor control point
      H. X$ `2 x% r, R% K: _4 ~- I, ]
  90.                 int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);, ?7 Y+ A4 D4 n& i# ^; e" P* F
  91.                 treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon),
    * g' w* I" H0 u5 b6 R' B$ i) O! \1 }1 U
  92.                                                         fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),, r" i. b% _2 t! ~
  93.                                                         cpconnection(elev, floorCPCon, count));$ K$ B+ }( k  {
  94.                 // return if there is none
    2 k/ n8 }( a. b6 O) V- X* \
  95.                 if (!objectexists(curFloorCP))
    6 p  g0 {$ v& p
  96.                         return 0;
    6 {" ~, B% ?- x$ K, |
  97. " x/ K/ `3 N' r' ?9 E7 y1 }
  98.                 // get the entry control point( H: U/ A0 B3 R+ K; ^# l7 z
  99.                 treenode floorCP = curFloorCP;4 q  N% T) \: g
  100.                 treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;
    3 G# d# N  o4 i# [: O
  101.                 if (!objectexists(curFloorEntryCP))
    8 O2 C! s0 C# u5 a
  102.                         return 0;
    1 s; j; O* T( J4 f' e4 o' w
  103.                 treenode floorEntryCP = curFloorEntryCP;
    8 t! b" [2 w* Y9 I8 B) |
  104.                 treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;5 z  K  J$ |& m( l$ b' V* h6 [
  105.                 if (!objectexists(curFloorElevCP))
    6 Y2 W/ E5 _5 y: y
  106.                         return 0;
    2 c4 ^4 X6 i! E7 ^' D

  107. % q# p: [( @' r4 r% D! D# Y
  108.                 double destZ = param(4);4 {) E9 L4 H4 t( h( Y6 k( C+ }
  109.                 // find the floor control point closest to the destination floor
    9 ]' ~) a/ w1 p! s* h
  110.                 treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon),
    % v6 p5 o$ k. Q. Q7 b4 J
  111.                                                         fabs(destZ - zloc(cpconnection(elev, floorCPCon, count))),
    % C( B8 M% s; C. j: X/ R4 l  y
  112.                                                         cpconnection(elev, floorCPCon, count));
    % n" A' d8 w9 k! C+ _
  113.                                                         ( G9 U, U8 Y- _4 _' o! V$ w$ r
  114.                 floorCP = destFloorCP;
    7 Y! K0 C) B' F" K
  115.                 treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;
    - j! j3 t/ w& h7 V, Y
  116.                 if (!objectexists(destFloorElevCP))9 ?" F: s( H+ a7 f" M. y
  117.                         return 0;& _+ o# y( _( m, m
  118.                 // get the destination exit control point
    & G% n4 t" H/ \6 z
  119.                 treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;4 U3 S4 s7 f# s7 J1 F2 s# G% W
  120.                 if (!objectexists(destExitCP))+ w! ?* o% Q/ ~4 V* e+ g) Z  U
  121.                         return 0;
    # w% v8 J$ {1 P) T6 G% k5 k
  122. . Q; R. x2 L. y: h: c# X; u2 _

  123. ; l7 L1 u) q& U- G& c4 T
  124.                 // 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
  125.                 // 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
  126.                 // 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
  127.                 agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,
    . m* s% q6 h& R0 f
  128.                         agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);
    : l+ J' n0 X5 K7 S
  129.                 / |( r* y" I' _, S; p' d7 e
  130.                 // set the data on the state label
    3 P8 h- x5 b' U& S- `6 G8 }
  131.                 treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);
    ' m" x1 m$ ]" ?0 P
  132.                 switch_destroyonreset(stateLabel, 1);
    $ h7 z/ t& e! j. ~
  133.                 set(stateLabel, AGV_STATE_START);
    2 B% W6 J* U/ M9 h/ R. \2 v$ C; O
  134.                 set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);
    + I$ [. s+ y& ]% ?0 g
  135.                 nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);3 S8 e+ M  q+ J9 W
  136.                 nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);
    ( [4 Q! {! o' M% F: {* V
  137.                 nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);) u7 N  @" B* O% t
  138.                 agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);' t4 N. x1 {1 I% s% B6 r
  139.                 return 0;
    " L* o  t2 P* B8 g
  140.         }. r* ^. S9 p9 z( d* C$ s$ B$ l" q; N
  141.         case ON_AGV_AT_CP: {- g8 k" p8 [  V% l1 ^8 T. w0 P
  142.                 // this is fired by the agv listener every time the agv arrives at a node.6 ^! Z7 P; m4 t5 P0 s) F0 T
  143.                 treenode agv = param(1);
    ' c! Q$ h9 x" S/ D
  144.                 treenode elev = param(2);; e% V  I+ [" d$ x: D% v1 L+ S( V
  145.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);: i! i4 w  n' a1 Z% w* f
  146.                 // I increment the state label, and then switch on it
    , a; C5 H: B8 D* U0 O8 Q
  147.                 inc(stateLabel, 1);$ m3 m- Z! S- x$ Z6 R; }
  148.                 switch (get(stateLabel)) {2 d3 e- D, y7 ]: Q( {
  149.                         case AGV_STATE_AT_ENTRY_CP: {/ V2 L! i8 N, ?: M' }: ~
  150.                                 // the agv just arrived at the entry cp
    * z; ~* z" y7 S& j! E3 v& J
  151.                                 // so, figure out where the elevator is.1 O2 e7 w; x. m" X9 g+ ^
  152.                                 int elevState = get(node("ElevState", stateLabel));$ u/ ]+ j2 c+ J$ `' Z4 G" c
  153.                                 // if he's at the pickup floor with his door closed then open the door.
    8 b2 q, Z4 b. D8 o" ?
  154.                                 if (elevState == ELEV_STATE_AT_PICKUP_FLOOR)& E1 V* W- r) B, p9 ?
  155.                                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
    * Q+ P$ l+ [  T$ p$ w+ U; F4 p' `
  156.                                 else if (elevState == ELEV_STATE_DOOR_OPENED) {
    7 F9 F- x& S2 i0 c* M
  157.                                         // 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
  158.                                         // the elevator cp9 c/ \7 k6 R9 B, K& x$ b
  159.                                         treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
    ; u$ c/ a' M0 @8 I
  160.                                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);8 w7 N7 i4 `2 Q. t, ~
  161.                                 }
    * @. ]# n9 e& a" B8 c
  162.                                 break;8 U; o! ~6 J- K% Y! ]$ F
  163.                         }0 x3 S) t  R. X, i5 L2 m
  164.                         case AGV_STATE_AT_ELEV_CP: {# d$ h! ?; @) B
  165.                                 // once the agv is at the elevator cp, close the door5 `( M$ L8 ]4 _% ^1 ?) |. M
  166.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);! X0 H- _. G" r4 Z; `( u+ Y2 Z6 u/ h
  167.                                 break;
    " T: Y, T3 @  J1 T4 V- ?- S
  168.                         }
    : Q* X9 H1 k6 M+ d
  169.                         case AGV_STATE_AT_EXIT_CP: {
    1 Z1 ]" V% ?: C) f/ {4 ]8 J+ a
  170.                                 // the agv is at the exit cp
    / G1 s- e3 j2 X, Z) @
  171.                                 // destroy the listener node because I'm finished listening' j" A, }6 |, ?1 r" _) \; |7 j0 W
  172.                                 treenode listenerNode = param(4);
    1 [/ \* z4 b( S4 V( x
  173.                                 destroyobject(listenerNode);
    & N9 B0 A1 E+ Y/ ?8 R9 x
  174.                                 int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;
    $ ?, c! c( F( B8 S5 W/ ]2 H
  175.                                 if (!agvWait) {. e$ |6 g0 k9 _5 R3 e
  176.                                         // if the agv is supposed to continue on, then tell him to go to his final destination
    ) u: [9 }1 c2 Y' K
  177.                                         treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);
    . X# b6 l! Y0 [  _3 M
  178.                                         agvredirect(agv, destCP, REDIRECT_AS_FINAL);! L, t) P& s7 ^$ n  @& \
  179.                                 }9 }, I7 P) x' _2 ?- u
  180.                                 // close the door6 D- j# a# L5 A" Z# ]$ E) s3 k+ t
  181.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);, e. Y4 N0 k- L0 b6 C& R0 G
  182.                                 // and I'm finished with the state label so I can destroy it." o/ B2 @8 `  l- i- B/ ~
  183.                                 destroyobject(stateLabel);
      b( y# ^' B& o3 ^: t
  184.                                 break;
    7 }3 {* A  e6 y
  185.                         }
    % ^7 ~7 m( L& Q% M) }: j
  186.                 }3 q& W% `5 L8 M
  187.                 return 0;* ?2 ?' B3 d8 d/ l
  188.         }8 i* u( n+ i2 J- N4 e, B
  189.         case ON_ELEVATOR_PICKUP_ARRIVAL: {
    2 A& `, O0 t9 z5 j. w+ Z  \
  190.                 // the elevator has arrived at the pick floor
    & [' p: g3 e7 F1 J2 h6 z9 B. W0 c% w( W
  191.                 treenode elev = param(1);# Z* b4 j9 {2 \/ [/ I, O
  192.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);9 ^: f( Z/ Q. ^. x& f4 h: [1 l
  193.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
    # L: f/ g5 B0 V+ ?1 W3 I2 B4 R/ C2 J  |
  194.                 treenode elevState = node("ElevState", stateLabel);2 W4 ^7 C4 a$ m8 v
  195.                 // set the elevator state to at-pickup-floor
    6 [3 X2 }0 }1 t3 Y: p
  196.                 set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);! y9 c/ ]4 j; C8 P2 W" }
  197.         + a  c! z0 x" M% D8 F8 E' ~7 B/ Q2 d) c$ E
  198.                 int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;4 L9 [# t0 ?1 u! p# U
  199.                
    : {& j8 O' {. c+ d
  200.                 // if the agv is at the entry control point or I open the door immediately, then open it/ b7 D. g, j1 K" l
  201.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {& B) z4 W0 S+ j, c
  202.                         set(elevState, ELEV_STATE_OPENING_DOOR);
    0 a0 F9 E. p* q' y5 ]
  203.                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
    7 f4 A! }. y" e
  204.                 }
    + O$ c: |" u, }2 Z9 x
  205.                 return 0;7 s1 U& i3 ^/ K% ?6 o
  206.         }
    % @+ g4 t" ]* x" e2 ?0 F5 n
  207.         case ON_OPEN_DOOR: {! [. s+ Y0 F2 m8 f2 r
  208.                 treenode agv = param(1);
    : Z" d2 B7 S6 U7 S3 o
  209.                 treenode elev = param(2);
    & B3 Q$ {6 c5 O
  210.                 int nextStep = param(4);, n, i" B) e. |
  211.                 // open the door based on the time to open the door3 [' d& {9 L; q. j7 V4 z& R6 D' v- v
  212.                 double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;& E& U* ^# k  D2 o" i
  213.                 delayednodefunction(c, openDoorTime, elev, agv, nextStep);
    ; d5 Q) w+ h+ K$ v6 H
  214.                 return 0;
    * @$ V8 }* b+ g- ~4 c
  215.         }
    6 F5 u5 v( ]; M. N' K
  216.         case ON_CLOSE_DOOR: {
    , `/ M1 ^' v& I' ]
  217.                 treenode agv = param(1);7 B0 Z2 S! C* K' l
  218.                 treenode elev = param(2);/ }' A% Z0 B; T  t
  219.                 int nextStep = param(4);
    $ ?8 _# p% o9 S* C5 f
  220.                 // close the door base on the time to close the door
    6 H" v8 q) b! _) \
  221.                 double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;
    - k; e; Q1 h* g! E$ G
  222.                 delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));* B: R; p+ w/ L
  223.                 return 0;$ n0 p3 B" t9 c  L
  224.         }
    0 p, v2 ]! d7 v' @
  225.         case ON_PICKUP_DOOR_OPENED: {
    ! D: E8 Z+ A( b5 ^* C2 w" ~2 _; E
  226.                 // the elevator door has been opened on the pickup floor$ s' n* u; \! r0 t, C. q) c6 H
  227.                 treenode elev = param(1);
    - a( ?; i8 j8 p9 b
  228.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);( D& e# `" ]4 ~+ b: {: i
  229.                 treenode entryCP = cp(agv);
    & l0 C+ _5 |# F- j/ u
  230.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);' R' [& v3 |0 D) R3 l
  231.                 treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
    * o/ e, S0 W  p- w; ?
  232.                 treenode elevState = node("ElevState", stateLabel);2 S- g1 k* Z) S) c& H8 e" M
  233.                 // set the elevator state
    : w, s1 c4 n- W# R$ ?; W
  234.                 set(elevState, ELEV_STATE_DOOR_OPENED);. f( U8 m/ ^! }  {) J. n
  235.                 // 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
  236.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP)7 S9 j9 A4 W6 ]/ ]: a
  237.                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);; J9 r0 R# k% E' J6 f. C, f0 e
  238.                 return 0;
    * v$ p: D3 I' E6 W
  239.         }$ H- K  J+ G% w+ X
  240.         case ON_PICKUP_DOOR_CLOSED: {
    1 ?; T5 y8 k$ X  y  v, H
  241.                 treenode elev = param(1);
    5 V& Z  T( ~0 a" p! S
  242.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);* F2 p$ v4 k2 ?* }7 \4 G
  243.                 // assign the agv to "no control point"$ k' ~- ~, {# _$ R- ^9 _
  244.                 agvreassigncp(agv, 0);. H: P' I3 R' O& K
  245.                 // move the agv into the elevator
    - \- n8 p9 ^4 W
  246.                 moveobject(agv, elev);7 K8 ~) L& r/ w; _% |
  247.                 setrot(agv, 0, 0, 0);
    / {$ E0 {. u2 k( y
  248.                 // release the elevator to continue to the destination floor
    * A( l# M$ x6 d' |$ v! i8 `
  249.                 freeoperators(elev, agv);
    ( m! N* E: E. u3 ?2 H8 v) Q
  250.                 return 0;, X; ?* g! e) ~3 \0 \' `% j: C
  251.         }  q$ X8 }5 N& |" a7 \
  252.         case ON_ELEVATOR_DROPOFF_ARRIVAL: {
    1 B( X$ H, |5 q6 k. [' t6 c
  253.                 treenode elev = param(1);8 b5 x5 w; w  }- @; O
  254.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    & {$ ~) |- O" G5 z2 E  t
  255.                 // when the elevator arrives at the destination floor
    7 B5 p4 [4 s% w8 `9 ~7 h
  256.                 // move the agv back into the model; s' \9 ~; e9 `1 s
  257.                 moveobject(agv, model());
    # D; {7 y- G- S. y7 {: ^2 O
  258.                 // reassign it to the destination floor control point' H3 o0 u! z# Z: S7 F1 E: a2 X8 X- U
  259.                 agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));9 |7 r' K2 E/ H9 d/ q' t9 z
  260.                 // open the elevator door6 O; W* V0 Z! U! K: T6 q5 I& M
  261.                 nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);2 Y! n6 c2 ]7 Q6 _) M' m% x  {
  262.                 return 0;
    1 d+ y7 L' T; j! z2 b3 R, u
  263.         }
    ) v  |+ D9 u" V6 O, v" r, Q
  264.         case ON_DROPOFF_DOOR_OPENED: {
    7 G6 V% b3 W# `, a- ]
  265.                 treenode elev = param(1);' c$ m% e- S1 F7 v" @# X
  266.                 treenode agv = param(2);
    ( K# v3 j$ |* O* h- D% N$ h
  267.                 treenode agvLabel = label(agv, AGV_LABEL_NAME);
    * o" f8 o0 d3 D9 E, r, T
  268.                 // once the elevator door is opened on the destination floor,
    1 i3 w3 T% c1 D* a% j4 |( E* F
  269.                 // redirect the agv to the exit control point9 }$ Y1 u2 W6 r
  270.                 agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);
    ! f0 D: q8 C6 v- x: s) S1 p0 r( p
  271.                 return 0;0 W5 u; v  v/ e, B, y1 j$ W7 U
  272.         }
    , J) c) _4 h- m' Z2 ?) N
  273.         case ON_DROPOFF_DOOR_CLOSED: {3 O- t4 ?8 V& a
  274.                 treenode elev = param(1);, e; y$ K9 R- u( b
  275.                 treenode agv = param(2);
    * u4 e3 U! u: M: v& W; N- y
  276.                 int isAGVWaiting = param(4);
    : ~. X6 X0 {( C( N6 ?
  277.                 // once the door is closed at the destination floor,* Z7 V9 C: m3 i6 N9 e
  278.                 // if the agv is waiting, then send him to the final destination
    ' L' F# D2 A' o) B$ V3 T$ f+ O* [
  279.                 if (isAGVWaiting)5 i4 a$ Z- F& [0 `. }. R3 G# S# o
  280.                         agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);
    * Z1 A- v. {/ Y! J+ k" ?
  281.                 // release the elevator to finish his task sequence4 C  l3 ]5 ]: Y' E: m: L# x
  282.                 freeoperators(elev, agv);( y: [7 W, K9 Y2 P; N
  283.                 return 0;% w8 J( h+ |" I
  284.         }
    1 {0 H& S+ q2 `# \; p+ V1 D& o) R
  285. }
    ) @/ ?* C1 i' ~5 v
  286. } //******* PickOption End *******\\
    & Z1 e- c0 x: ?! @" c2 e
  287. 3 Q5 Q# z9 d9 u) J4 ^# o' Y
复制代码

5 Z" q* {5 \8 N3 [9 \7 t$ `4 j7 D* z& e. G! P

! `1 f' E7 C% n  ?1 q办法2:使用工艺流程模块完成
您需要登录后才可以回帖 登录 | 立即注册

本版积分规则

QQ|小黑屋|手机版|Archiver|全球FlexSim系统仿真中文论坛 ( 京ICP备14043114号-2 )

GMT+8, 2025-7-8 15:06 , Processed in 0.071069 second(s), 13 queries .

Powered by Discuz! X3.3© 2001-2013 Comsenz Inc.

快速回复 返回顶部 返回列表