def makeStation(self, index, envy):
name = 'STAT_' + str(index)
cin = Store(envy)
cout = Store(envy)
v = Vision('VIS_' + str(index), self.accuracyParameter)
s = Station(name, cin, cout)
s.setVision(v)
Blackboard().get('[Shared]packages')[name] = None
Blackboard().get('[Shared]packages.dirtybit')[name] = True
return name, s
def __init__(self, nname, mmtbf=0, mmttr=0):
super().__init__(nname)
self.owner = None
self.mtbf = mmtbf
self.mttr = mmttr
board = Blackboard()
self.finalTime = board.get('stoptime')
self.debugLevel = board.get('debugLevel')
self.working = True
self.process = self.env.process(self.run())
def __init__(self, orderchannel):
super().__init__('AGV', 0, 0)
b = Blackboard()
transportationTime = b.get('[agv]time')
num = b.get('[agv]number')
self.env = b.get('enviro')
self.vehicles = list()
for i in range(0, num):
vchannel = Store(self.env)
v = Vehicle('Vehicle_' + str(i), transportationTime, vchannel)
self.vehicles.append((v, vchannel))
self.orderChannel = orderchannel
def do(self):
if (self.onrun == True):
query = yield self.inqueue.get()
#self.log('got packet;'+str(query)+';',0)
yield self.env.process(self.movement())
Blackboard().get('[Shared]packages')[self.name[:-3]] = query
Blackboard().get('[Shared]packages.dirtybit')[
self.name[:-3]] = False
query = yield self.inqueue.get()
#self.log('got remove;;',0)
yield self.env.process(self.movement())
self.outqueue.put(
Blackboard().get('[Shared]packages')[self.name[:-3]])
Blackboard().get('[Shared]packages')[self.name[:-3]] = None
Blackboard().get('[Shared]packages.dirtybit')[
self.name[:-3]] = True
def run(self):
while True:
time = self.env.now
received = yield self.order.get()
Recorder().addMC('agv', 'vehicle1', self.env.now - time)
movorder, putchannel, getchannel = received
b = Blackboard()
black_cap = b.get('[pallet]capacity')
black_flag = b.get('[pallet]homogeneous')
pallet = None
if (movorder == MovementOrder.DRPI) or (movorder
== MovementOrder.INBD):
black_size = b.get('[requirements]ordersize')
pallet = PalletFactory.generate(black_cap, black_size,
black_flag, None)
else:
requirements = CustomerRequirementFactory.generate(
b.get('[requirements]ordersize'))
pallet = PalletFactory.generate(black_cap, 0, black_flag,
requirements)
if (movorder == MovementOrder.DRPI) or (movorder
== MovementOrder.DRPO):
putchannel.put('REMOVE')
yield self.env.timeout(self.transportationTime)
package = yield getchannel.get()
self.log('loading station;;', 2)
yield self.env.timeout(self.transportationTime)
putchannel.put(pallet)
def __init__(self, name, commchannel):
b = Blackboard()
self.controller = RobotProgram(name + '_sw', commchannel,
b.get('[robot]time'),
b.get('[robot]precision'))
self.structure = Performing(name + '_hw', self.controller,
b.get('[robot]mtbf'), b.get('[robot]mttr'))
def __init__(self, nname, fin, fout):
self.name = nname
self.channelIN = fin
self.channelOUT = fout
b = Blackboard()
self.controller = StationLogic(nname + '_sw', b.get('[gate]opentime'),
b.get('[gate]belttime'), fin, fout)
self.structure = Performing(nname + '_hw', self.controller,
b.get('[gate]mtbf'), b.get('[gate]mttr'))
def do(self):
if (self.onrun == True):
self.log('is waiting to get work;;', 1)
time = self.env.now
(iname, inpacket, kind, oname, outpacket,
accuracy) = yield self.channel.get()
Recorder().add('robot_idle', self.env.now - time)
self.log(
'getting the product from;' + iname + ' ' + str(inpacket) +
';', 1)
#self.log('putting the product to;' + oname + ' ' + str(outpacket)+ ';',1)
inpacket = Blackboard().get('[Shared]packages')[iname]
outpacket = Blackboard().get('[Shared]packages')[oname]
#self.log('getting the product from;' + iname + ' ' + str(inpacket)+ ';',1)
#self.log('putting the product to;' + oname + ' ' + str(outpacket)+ ';',1)
p = inpacket.pop()
yield self.env.timeout(self.movementTime)
newi = self.gripManagement(p.integrity, accuracy)
p.integrity = newi
outpacket.add(p)
#self.log('got the product from;' + iname + ' ' + str(inpacket)+ ';',1)
self.log(
'put the product to;' + oname + ' ' + str(outpacket) + ';', 1)
self.channel.put('DONE')
def dirt(self):
Blackboard().get('[Shared]packages.dirtybit')[self.name] = True
def operative(self):
return Blackboard().get('[Shared]packages.dirtybit')[
self.name] == False
def getPallet(self):
return Blackboard().get('[Shared]packages')[self.name]
def getMissingProducts(self):
return Blackboard().get('[Shared]packages')[
self.name].getMissingProducts()
def __init__(self, nname, agvcommchannel):
super().__init__(nname)
b = Blackboard()
self.rbs = RuleBasedSystem(b.get('[RBS]maxattempts'))
envy = b.get('enviro')
self.accuracyParameter = b.get('[vision]accuracy')
self.toagv = agvcommchannel
#robot
self.robotcomm = Store(envy)
self.robot = Robot('robot', self.robotcomm)
# stations
ninputs = b.get('[stations]inumber')
noutputs = b.get('[stations]onumber')
nspas = b.get('[stations]spa')
self.stations = dict()
b.put('[Shared]packages', dict())
b.put('[Shared]packages.dirtybit', dict())
for sindex in range(0, ninputs):
sname, stat = self.makeStation(sindex, envy)
self.stations[sname] = (stat, StationDir.INPUT)
for sindex in range(0, noutputs):
sname, stat = self.makeStation(sindex + ninputs, envy)
self.stations[sname] = (stat, StationDir.OUTPUT)
def __init__(self, name, agvchannel):
b = Blackboard()
self.controller = MainController(name + '_sw', agvchannel)
self.structure = Performing(name + '_hw', self.controller,
b.get('[controller]mtbf'),
b.get('[controller]mttr'))