1.错误原因,坏件在e4被卸载,车子空了,但它的目的地还是output3,所以它去output3没东西可卸载就出错了;改进quality程序改为:
: t4 l5 e! J9 `0 C! l(sensorID : integer)
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randNo:real;$ z+ a3 Y h$ V: j
do
- m' G7 x/ w; i9 x, E. b; v; ~ R. L1 P @.stopped:=true;- _" j9 l5 w$ s7 W9 b: ^
wait 20;+ W x5 j0 c; R
randNo:=z_uniform(2,0,1);4 ] v/ m" ~4 a$ i' {( E- C' T1 A+ D
@.cont.createattr("type","string");
. h z/ W- y9 y; B. C if randNo>0.7 then9 I' Y9 J8 S( @0 ?3 I9 h1 \# d
@.cont.type:="bad";
$ R8 r4 v8 D1 h8 ~( n print"bad";3 }, m1 ~/ B1 C' U
@.cont.move(drain4);/ h& r& z" _, k
@.destination:=Load_in;-----增加语句( v& U' R, c3 s2 w
else( V; L! S' z9 j
@.cont.type:="good";
% [2 ?, Q! A* F- e' o print"good";
5 T, r$ q, p( ^+ E3 i end;
# |- b- R/ ^: e @.stopped:=false;
9 ]; k5 i4 H4 O4 H1 S @.move; " e( E' s! M1 G& g
end;, z _* Q7 x: y
同时将unload程序改为7 a1 _( V9 e. E
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do* a# m: R' o4 `
wait 30;4 s1 @- O! z/ J& G5 n# n, Q* U5 x
if @.empty=false then 9 _# k' p$ A8 ~5 P9 A3 O x
if @.cont.name="green"then% |9 Y" r% C2 H# ~
@.cont.move(drain1);' D J4 L; ]# }1 [0 |' O% ~$ ~
print"Unloading on drain1";
! A9 n) I# T6 ~; ] elseif @.cont.name="blue"then4 R0 X0 W3 a: ~5 k
@.cont.move(drain2);9 g% u Q: Y3 |0 R; ]' ]5 k
print"Unloading on drain2";$ z5 d! I) p: _) m' M
else$ Z8 r1 S. x" Q/ h
@.cont.move(drain3);
5 ]% Z8 V E( n0 c2 q print"Unloading on drain3";
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else
2 c+ Y' B3 b7 b end;
: S$ z" c7 \% {2 m @.destination:=Load_in;
3 J/ f$ `( ~, s5 ? @.move;. y) B$ A7 Z6 O) D1 u- o
end;+ u* _# s) r0 H8 C
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