AGV

Description

Provides access to data and methods related to AGV travel.

The AGV class is associated with a task executer that has been connected to the AGV network. The AGV is NOT the same as the task executer object. In other words, you can't just set an AGV to the task executer itself.

TaskExecuter te = current;
AGV agv = te; // RUN-TIME ERROR

Instead, the AGV is associated with, not the same as the task executer. To access the AGV of a given task executer, use the AGV() constructor.

That said, an AGV class is actually stored on a treenode, so you can cast to/from a treenode, pass it around as a Variant, etc. by using the as() casting method.

return AGV(current).as(treenode);

Also, if you are troubleshooting and want to see this structure as the model is running, you can view it in the tree at MODEL:/AGVNetwork>variables/agvs/<AGVNAME>, where <AGVNAME> is the name of the AGV you want to see.

Properties

accumAheadAGV Gets the next AGV on an accumulating path.
allocationPoints An array of AGV.AllocationPoints that is the AGV's current set of not-yet-allocated allocation points.
ampHours Gets the number of amp hours remaining in the AGV's battery.
batteryLevel Gets or sets the ratio of (amp hours remaining)/(total amp hours) as a percentage.
currentCP Gets or sets the current control point for this AGV.
currentTravelDist Gets the AGV's current travel distance.
currentTravelPathSection Gets the travel path section that the AGV is currently traveling on.
destination Gets the current destination of the AGV.
destinationCP Gets the current desination control point of the AGV.
finalDestinationCP Gets the final destination control point of the AGV.
isOrientedPathForward Gets or sets whether or not an AGV is oriented "forward" on a path.
object Provides access to Object methods and properties for this AGV.
originCP Gets the origin control point of the AGV.
overflowCP Gets/sets the control point to "overflow" to when the AGV is pushing trailers.
proximityState Gets the current proximity state of the AGV.
recentCP Gets the control point that was most recently the agv's currentCP.
resetCP Gets or sets the control point that the agv connects to when the model is reset.
speed Gets the current speed of the AGV.
te Provides access to TaskExecuter methods and properties for this AGV.
trailers An array of AGV.Trailers comprising the set of trailers attached to this AGV.
travelPath An array of AGV.TravelPathSections that is the AGV's travel path for its current travel operation.
traversalPoints An array of AGV.TraversalPoints that is the AGV's current set of planned 'traversals'.

Methods

addAllocationPoint Adds a new allocation point to the AGVs allocationPoints list.
attachTrailer Attaches the given object as a trailer on the AGV.
coupleTrain Attaches a train of trailers to this AGV, automatically calculating gaps, etc. based on network geometry.
detachTrailer Detaches the given trailer from the AGV.
getTrailer Gets a specific trailer based on an ahead/behind parameter, and a rank for the AGV driver.
redirect Redirects the AGV to a new destination, based on the given mode.
setDestination Sets the destination control point.
startRecharge Begins recharging the AGV's battery.
stopRecharge Stops recharging the AGV's battery.
uncoupleTrain Detaches a train of trailers from this AGV, creating a separate AGV train.

Constructor

AGV Constructs an AGV object based on the given TaskExecuter.

Details

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AGV.accumAheadAGV

readonly AGV accumAheadAGV

Description

Gets the next AGV on an accumulating path.

If there is no AGV ahead of the current one, or if the path type is not accumulating, this property returns a null value. 
AGV agv2; 
if (agv1.accumAheadAGV) 
	agv2 = agv1.accumAheadAGV;
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AGV.allocationPoints

readonly allocationPoints

Description

An array of AGV.AllocationPoints that is the AGV's current set of not-yet-allocated allocation points.

If you are troubleshooting and want to see this structure as the model is running, you can view it in the tree at MODEL:/AGVNetwork>variables/agvs/<AGVNAME>/allocationPoints, where <AGVNAME> is the name of the AGV you want to see.

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AGV.ampHours

readonly double ampHours

Description

Gets the number of amp hours remaining in the AGV's battery.

double ampHoursLeft = agv.ampHours;
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AGV.batteryLevel

double batteryLevel

Description

Gets or sets the ratio of (amp hours remaining)/(total amp hours) as a percentage.

double batteryLevel = agv.batterLevel;
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AGV.currentCP

Object currentCP

Description

Gets or sets the current control point for this AGV.

If the agv is not currently on a control point, this will be null. 

Object cp = agv.currentCP;
agv.currentCP = Model.find("MyCP");
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AGV.currentTravelDist

readonly double currentTravelDist

Description

Gets the AGV's current travel distance.

The current travel distance of the AGV within its current travel operation. The AGV tracks its cumulative travel distance across each of the sections in its travel path. Each travel operation starts at a travel distance of 0, and travel distance increases as it travels along the path.

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AGV.currentTravelPathSection

readonly AGV.TravelPathSection currentTravelPathSection

Description

Gets the travel path section that the AGV is currently traveling on.

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AGV.destination

readonly Object destination

Description

Gets the current destination of the AGV.

If the destination is a FixedResource connected to a ControlPoint, this property will return the FixedResource. Object destination = agv.destination;
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AGV.destinationCP

readonly Object destinationCP

Description

Gets the current desination control point of the AGV.

Object destinationCP = agv.destinationCP;
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AGV.finalDestinationCP

readonly Object finalDestinationCP

Description

Gets the final destination control point of the AGV.

The final destination control point can be changed when redirect() is called with REDIRECT_AS_FINAL. Object finalDest = agv.finalDestinationCP;
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AGV.isOrientedPathForward

int isOrientedPathForward

Description

Gets or sets whether or not an AGV is oriented "forward" on a path.

You can get this property while an AGV is on a path to see if they are facing a forward direction. It will return 1 if the AGV is oriented forward and 0 if they are oriented backwards. You cannot set this property while an AGV is moving.


			AGV agv = AGV(Model.find("TaskExecuter1"));
			return agv.isOrientedPathForward;
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AGV.object

readonly Object object

Description

Provides access to Object methods and properties for this AGV.

Object object = agv.object;
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AGV.originCP

readonly Object originCP

Description

Gets the origin control point of the AGV.

Object originCP = agv.originCP;
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AGV.overflowCP

treenode overflowCP

Description

Gets/sets the control point to "overflow" to when the AGV is pushing trailers.

This is generally only needed if the AGV is pushing trailers. When pushing trailers, overflowCP defines a point on the AGV path network to which the AGV's trailers should "overflow", since those trailers will be pushed past the AGV's target destination.

overflowCP is controlled solely by the user. It is only automatically reset when the model is reset. Thus, if you set this property, you should reset it to 0 after finishing the operation where the it is applicable. If you do not reset it after its applicable travel operation, weird AGV path travel behavior may occur.

agv.overflowCP = Model.find("ControlPoint5");
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AGV.proximityState

readonly int proximityState

Description

Gets the current proximity state of the AGV.

A 0 indicates unrestricted. A 1 indicates that the AGV is stopped because of the AGV ahead of it. 
if (agv.proximityState) {
// handle a stopped agv
...
}
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AGV.recentCP

Object recentCP

Description

Gets the control point that was most recently the agv's currentCP.

This is useful if the agv has moved past its last currentCP (and therefore currentCP is null) but you still want to be able to access that most recent control point.

Object cp = agv.recentCP;
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AGV.resetCP

Object resetCP

Description

Gets or sets the control point that the agv connects to when the model is reset.

Object cp = agv.resetCP;
agv.resetCP = Model.find("MyCP");
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AGV.speed

readonly double speed

Description

Gets the current speed of the AGV.

double agvSpeed = agv.speed;
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AGV.te

readonly TaskExecuter te

Description

Provides access to TaskExecuter methods and properties for this AGV.

TaskExecuter te = agv.te;
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AGV.trailers

readonly trailers

Description

An array of AGV.Trailers comprising the set of trailers attached to this AGV.

The trailers are ordered from front to back. In other words the ahead-most trailer will be 

agv.trailers[1]
, and the behind-most trailer will be 
agv.trailers[agv.trailers.length]
.

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AGV.travelPath

readonly travelPath

Description

An array of AGV.TravelPathSections that is the AGV's travel path for its current travel operation.

If you are troubleshooting and want to see this structure as the model is running, you can view it in the tree at MODEL:/AGVNetwork>variables/agvs/<AGVNAME>/travelPath, where <AGVNAME> is the name of the AGV you want to see.

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AGV.traversalPoints

readonly traversalPoints

Description

An array of AGV.TraversalPoints that is the AGV's current set of planned 'traversals'.

For the purposes of the FlexScript API, the traversalPoints are the set of allocation points that have been allocated but not yet deallocated, i.e. the AGV's current allocations. See AGV.TraversalPoint for more information.

If you are troubleshooting and want to see this structure as the model is running, you can view it in the tree at MODEL:/AGVNetwork>variables/agvs/<AGVNAME>/traversalPoints, where <AGVNAME> is the name of the AGV you want to see.

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AGV.addAllocationPoint()

AGV.AllocationPoint addAllocationPoint( AGV.AllocatableObject object , double stopDist , double deallocDist , double arrivalDist )

Parameters

object The object to be allocated.
stopDist The allocation point's stopDist.
stopDist The allocation point's traversalDist, i.e. the point at which to deallocate the object.
arrivalDist The allocation point's arrivalDist.

Description

Adds a new allocation point to the AGVs allocationPoints list.

Generally the AGV default behavior properly adds allocation points as part of the AGV's travel path, so you will usually not need to use this method. However, manually adding allocations may be useful in in some special cases. For example, certain spatial configurations of AGVs may require you to allocate points that are not technically on its travel path. If a part of an AGV 'hangs out' away from its body and encroaches on other paths, you may resolve this by adding allocation points on those other paths so that the AGV will avoid collisions with other AGVs.

You should call this method only at defined times in the AGV's travel operation. Specifically, you should only call it after the OnBuildTravelPath event is fired (or as part of that trigger) but before the OnPreAllocate. Calling it at any other time is not guaranteed to work.

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AGV.attachTrailer()

attachTrailer( treenode trailer , double gap , int behind , int detachRule )

Parameters

trailer The object that will trail the AGV
gap The trailer's distance from the next trailer or AGV
behind Sets the position of the trailer. Can be 0 or 1: 0 is ahead, 1 is behind
detachRule Sets the detach mode of the AGV. Can be 0 or 1: 0 is manual, 1 is automatic

Description

Attaches the given object as a trailer on the AGV.

If you attach the trailer using the manual detach mode, you must call detachTrailer() to detach the trailer.

agv.attachTrailer(trailerObj, 0.1, 1, 0);
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AGV.coupleTrain()

coupleTrain( treenode trailer )

Parameters

trailer The object that will be coupled to the AGV. If the trailer is itself an AGV, or is a trailer of an AGV, then the entire AGV train will be attached.

Description

Attaches a train of trailers to this AGV, automatically calculating gaps, etc. based on network geometry.

coupleTrain() is similar to attachTrailer(), with the following primary differences:

  • Whereas attachTrailer() attaches a single trailer to the AGV, coupleTrain() will attach all trailers that are part of another AGV train, if such a train exists.
  • While attachTrailer() requires you to define parameters like whether the trailer should be attached ahead or behind, gap distance, etc., coupleTrain(), on the other hand, automatically resolves these parameters based on the location of the trailer/train on the AGV path network.

There are two possible scenarios when coupling the trailer onto the AGV's train. Each scenario effects a different logic for coupling the train, as follows:

  1. The trailer is an independent object - When the trailer is not associated with another AGV train, the AGV will determine where to couple the trailer by analyzing simple spatial proximity. It retrieves the location of the trailer, and determines whether that location is ahead of the AGV or behind. Then, based on that determination, it resolves the gap between the trailer and the AGV's associated ahead/behind-most trailer by again analyzing spatial proximity. Further, since there is no AGV train associated with the trailer, it will couple only that trailer to the AGV, and no other objects.
  2. The trailer is itself another AGV, or is a trailer of another AGV - When the trailer is part of another AGV, the AGV will determine couple parameters by analyzing its own location on the AGV path network relative to the location of that other AGV on the path network. Ahead/behind attributes, gap, etc. are determined by doing a path network distance analysis between each end of each AGV, and coupling the train via the shortest resulting path between the train ends. This algorithm assumes that the AGV ends can reach each other via one or more paths that do not require a train direction switch. In other words, the trains' proximity to each on the network should be "close and intuitive", like how you would want to couple trains in a real life situation. Coupling across weird path geometries will result in undetermined behavior.

Use this method in conjunction with uncoupleTrain() to simulate coupling and uncoupling of cars in a train yard.

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AGV.detachTrailer()

detachTrailer( treenode trailer )

Parameters

trailer The trailer to detach from the AGV

Description

Detaches the given trailer from the AGV.

agv.detachTrailer(trailerObj);
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AGV.getTrailer()

AGV.Trailer getTrailer( int isBehind , int rankFromDriver )

Parameters

isBehind 1 if you want to access a trailer behind the AGV, and 0 if you want to access a trailer ahead of the AGV.
rankFromDriver The 1-based rank of the trailer from the AGV driver.

Description

Gets a specific trailer based on an ahead/behind parameter, and a rank for the AGV driver.

Object trailer = agv.getTrailer(1, 2).object;
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AGV.redirect()

redirect( Object newDest , int mode )

Parameters

newDest The new desination for the AGV to travel to
mode Determines what happens on redirect. Can have one of 4 values:

REDIRECT_AND_WAIT - if not redirected before arrival, the agv will wait at the destination until redirected
REDIRECT_AS_FINAL - the destination becomes the new final destination for the agv
REDIRECT_AND_CONTINUE_ON_ARRIVAL - the agv will continue to the final destination after arriving at the intermediate destination
REDIRECT_AND_CONTINUE_ON_PRE_ARRIVAL - the agv will continue to the final destination after pre-arriving at the intermediate destination (it will not decelerate to a stop)

Description

Redirects the AGV to a new destination, based on the given mode.

agv.redirect(newDest, REDIRECT_AS_FINAL);
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AGV.setDestination()

void setDestination( Object controlPoint , double pathOffset = 0 , Object relativeToTrailer = 0 , Variant agvBodyOffset = 0 )

Parameters

controlPoint Control point to be set as the destination.
pathOffset How much to offset the destination along the path from the control point.
relativeToTrailer Make the destination relative to a trailer.
agvBodyOffset Specifies amount to offset from the body or one of the AGV.BodyOffset enum values. It may also be an array with 2 elements, the first with one of the AGV.BodyOffset enum values and the second with an additional offset amount.

Description

Sets the destination control point.

agv.setDestination(Model.find("ControlPoint5"), 0, 0, AGV.BodyOffset.TrailerHeadEdge);
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AGV.startRecharge()

double startRecharge( )

Returns

double The amount of time a full recharge will take

Description

Begins recharging the AGV's battery.

The battery recharges at the rate defined by the AGV type. Once the battery is fully recharged, recharging stops.

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AGV.stopRecharge()

void stopRecharge( )

Description

Stops recharging the AGV's battery.

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AGV.uncoupleTrain()

uncoupleTrain( treenode trailer , treenode newDriver = 0 )

Parameters

trailer The trailer at which to uncouple from the train.
newDriver The object who will become the new "driver" AGV. If this object does not already have an AGV instance associated with it, then an AGV will be created. If newDriver is not passed as a parameter, or is 0, then the first trailer parameter will become the new driver.

If the new driver is not a TaskExecuter, then it will only contain AGV data for storing where the AGV train is on the path network. You will not be able to give the object travel tasks like you would a TaskExecuter.

Description

Detaches a train of trailers from this AGV, creating a separate AGV train.

AGV(current).uncoupleTrain(AGV(current).trailers[1].object);

Use this method in conjunction with coupleTrain() to simulate coupling and uncoupling of cars in a train yard.

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AGV Constructor

AGV( treenode te , int assert = 0 )

Parameters

te A TaskExecuter that is connected to the AGV network as an AGV Traveler.
assert If 1, then if the TaskExecuter is not yet connected to the AGV network, it will be connected, and the associated AGV object will be created.

Returns

AGV An AGV object

Description

Constructs an AGV object based on the given TaskExecuter.

An AGV object can only be accessed by calling this method. Casting directly from a task executer is not correct. 
AGV agv = AGV(te); // correct
AGV agv = te; // incorrect