version = 2021
[proc]
pid = 1044
type = 0
name = 料仓取料(已知xy)
start = 
pause = 
step_count = 3
[step]
sid = 24402
state = 1
desc = 避位判断
script:

script_end
node_count = 1
[node]
nid = 3440201
task = 1044
type = 18
state = 0
desc = node1
cmd = 1046
[step]
sid = 24403
state = 0
desc = 到取料位上方
script:
if (t==1) downh=s1
elseif(t==2)downh=s2
elseif(t==3)downh=s3
elseif(t==4)downh=s4
else downh=s5
if (v==1)
{//1号吸嘴
    downh += v1z
    x += v1x + cameraoffsetx
    y += v1y + cameraoffsety
    b = "吸料真空1吸"
    e = "吸料真空1检测"
    f = "吸料真空1破"
}
elseif (v==2)
{//2号吸嘴
    downh += v2z
    x += v2x + cameraoffsetx
    y += v2y + cameraoffsety
    b = "吸料真空2吸"
    e = "吸料真空2检测"
    f = "吸料真空2破"
}
elseif (v==3)
{//3号吸嘴
    downh += v3z
    x += v3x + cameraoffsetx
    y += v3y + cameraoffsety
    b = "吸料真空3吸"
    e = "吸料真空3检测"
    f = "吸料真空3破"
}
elseif (v==4)
{//3号吸嘴
    downh += v4z
    x += v4x + cameraoffsetx
    y += v4y + cameraoffsety
    b = "吸料真空4吸"
    e = "吸料真空4检测"
    f = "吸料真空4破"
}
script_end
node_count = 4
[node]
nid = 3440301
task = 1044
type = 18
state = 0
desc = node1
cmd = 1046
[node]
nid = 3440304
task = 1044
type = 14
state = 0
desc = node2
cmd = b=1
[node]
nid = 3440302
task = 1044
type = 18
state = 0
desc = node2
cmd = 1053
[node]
nid = 3440303
task = 1044
type = 14
state = 0
desc = node3
cmd = b=1
[step]
sid = 24404
state = 0
desc = 取料
script:

script_end
node_count = 15
[node]
nid = 3440401
task = 1044
type = 27
state = 0
desc = node1
cmd = h = upz
[node]
nid = 3440402
task = 1044
type = 18
state = 0
desc = node2
cmd = 1054
[node]
nid = 3440403
task = 1044
type = 1
state = 0
desc = node3
cmd = 300
[node]
nid = 3440404
task = 1044
type = 18
state = 0
desc = node4
cmd = 1055
[node]
nid = 3440405
task = 1044
type = 27
state = 0
desc = node5
cmd = if(1==rio(str(e))) jump(3440413)//-->next
[node]
nid = 3440406
task = 1044
type = 27
state = 0
desc = node6
cmd = redLight = 1
[node]
nid = 3440407
task = 1044
type = 27
state = 0
desc = node7
cmd = wlog("ERROR START",-11,"Vacuum fail","")
[node]
nid = 3440408
task = 1044
type = 24
state = 0
desc = node8
cmd = 1 "Vacuum fail Are you Try again?"
[node]
nid = 3440409
task = 1044
type = 27
state = 0
desc = node9
cmd = redLight = 0
[node]
nid = 3440410
task = 1044
type = 27
state = 1
desc = node10
cmd = h += 0.1
[node]
nid = 3440411
task = 1044
type = 27
state = 0
desc = node11
cmd = if (4==t1044){ wlog("ERROR END",-11,"Vacuum Try Again","");jump(3440402);}//-->try
[node]
nid = 3440412
task = 1044
type = 27
state = 0
desc = node12
cmd = wlog("ERROR END",-11,"Vacuum To Next","");
[node]
nid = 3440413
task = 1044
type = 1
state = 0
desc = node13
cmd = 0
[node]
nid = 3440414
task = 1044
type = 22
state = 0
desc = node14
cmd = 31 "create " + str(sn) + " " + str(v)
[node]
nid = 3440415
task = 1044
type = 27
state = 0
desc = node15
cmd = totalall++