version = 2021
[proc]
pid = 1047
type = 0
name = 料仓单次拍照(3点矩阵)
start = 
pause = 
step_count = 4
[step]
sid = 24701
bDisable = 0
desc = 设置当前节点
script:
//a标识当前节点
work_set(t,a)

script_end
node_count = 2
[node]
nid = 3470101
task = 1047
type = 10
state = 0
desc = node1
cmd = t x1 y1
[node]
nid = 3470102
task = 1047
type = 18
state = 0
desc = 避让
cmd = 1046
[step]
sid = 24702
bDisable = 0
desc = 到拍照位
script:

script_end
node_count = 16
[node]
nid = 3470251
task = 1
type = 27
state = 0
desc = node1
cmd = tmp = rpos(51002)
[node]
nid = 3470252
task = 1
type = 27
state = 0
desc = node2
cmd = if (tmp>0) jump(3470257)
[node]
nid = 3470253
task = 1
type = 6
state = 0
desc = node3
cmd = p2 = p0 :z(safez)
[node]
nid = 3470254
task = 1
type = 7
state = 0
desc = node4
cmd = p2
[node]
nid = 3470263
task = 1
type = 27
state = 0
desc = node5
cmd = tmp = rpos(51001)
[node]
nid = 3470264
task = 1
type = 27
state = 0
desc = node6
cmd = if (tmp<872) jump(3470257)
[node]
nid = 3470265
task = 1
type = 6
state = 0
desc = node7
cmd = p2 = p0 :x(872) :z(safez)
[node]
nid = 3470266
task = 1
type = 7
state = 0
desc = node8
cmd = p2
[node]
nid = 3470255
task = 1
type = 6
state = 0
desc = node5
cmd = p2 = p14 :x(x1) :y(y1) :z(safez)
[node]
nid = 3470256
task = 1
type = 7
state = 0
desc = node6
cmd = p2
[node]
nid = 3470257
task = 1
type = 27
state = 0
desc = node7
cmd = tmp = rpos(51004)
[node]
nid = 3470258
task = 1
type = 6
state = 0
desc = node8
cmd = p2 = p14 :x(x1) :y(y1) :z(tmp)
[node]
nid = 3470259
task = 1
type = 7
state = 0
desc = node9
cmd = p2
[node]
nid = 3470260
task = 1
type = 6
state = 0
desc = node10
cmd = p2 = p14 :x(x1) :y(y1)
[node]
nid = 3470261
task = 1
type = 7
state = 0
desc = node11
cmd = p2
[node]
nid = 3470262
task = 1
type = 1
state = 0
desc = node12
cmd = 100
[step]
sid = 24703
bDisable = 0
desc = 拍照
script:
//b标识发送给视觉 "M3"
//c标识接收视觉 "WaitM3"
if (t==2)
{//ok
    b = "M3"
    c = "WaitM3"
}
else
{//ng
    b = "M4"
    c = "WaitM4"
}

script_end
node_count = 12
[node]
nid = 3470301
task = 1047
type = 22
state = 0
desc = node1
cmd = 31 "M6"
[node]
nid = 3470302
task = 1047
type = 23
state = 0
desc = node2
cmd = 31 "WaitM6" 5000 ret offsetx offsety
[node]
nid = 3470303
task = 1047
type = 27
state = 0
desc = node3
cmd = if(ret == 0) jump(3470310)
[node]
nid = 3470304
task = 1047
type = 27
state = 0
desc = node4
cmd = redLight = 1
[node]
nid = 3470305
task = 1047
type = 24
state = 0
desc = node5
cmd = 0 "料仓拍照失败，物料定位失败！"
[node]
nid = 3470306
task = 1047
type = 27
state = 0
desc = node6
cmd = redLight = 0
[node]
nid = 3470307
task = 1047
type = 24
state = 0
desc = node7
cmd = 1 "camera fail are you tay again?"
[node]
nid = 3470308
task = 1047
type = 27
state = 0
desc = node8
cmd = if(4==t1047) jump(3470301)
[node]
nid = 3470309
task = 1047
type = 27
state = 0
desc = node9
cmd = wlog("ERROR START", -1, "Get marital camera fail", "");jump(3470312)
[node]
nid = 3470310
task = 1047
type = 27
state = 0
desc = node10
cmd = x=x1+offsetx;y=y1+offsety
[node]
nid = 3470311
task = 1047
type = 22
state = 0
desc = node11
cmd = 31 "posset " +str(t) + " 1 sn12 " +str(x)+" "+str(y)
[node]
nid = 3470312
task = 1047
type = 1
state = 0
desc = node12
cmd = 0
[step]
sid = 24704
bDisable = 0
desc = log记录
script:

script_end
node_count = 1
[node]
nid = 3470401
task = 1047
type = 1
state = 0
desc = node1
cmd = 0