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213 lines
2.9 KiB
Plaintext
213 lines
2.9 KiB
Plaintext
version = 2021
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[proc]
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pid = 1044
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type = 0
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name = 料仓取料(已知xy)
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start =
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pause =
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step_count = 3
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[step]
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sid = 24402
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state = 1
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desc = 避位判断
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script:
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script_end
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node_count = 1
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[node]
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nid = 3440201
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task = 1044
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type = 18
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state = 0
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desc = node1
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cmd = 1046
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[step]
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sid = 24403
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state = 0
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desc = 到取料位上方
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script:
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if (t==1) downh=s1
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elseif(t==2)downh=s2
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elseif(t==3)downh=s3
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elseif(t==4)downh=s4
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else downh=s5
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if (v==1)
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{//1号吸嘴
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downh += v1z
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x += v1x + cameraoffsetx
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y += v1y + cameraoffsety
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b = "吸料真空1吸"
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e = "吸料真空1检测"
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f = "吸料真空1破"
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}
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elseif (v==2)
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{//2号吸嘴
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downh += v2z
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x += v2x + cameraoffsetx
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y += v2y + cameraoffsety
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b = "吸料真空2吸"
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e = "吸料真空2检测"
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f = "吸料真空2破"
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}
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elseif (v==3)
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{//3号吸嘴
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downh += v3z
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x += v3x + cameraoffsetx
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y += v3y + cameraoffsety
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b = "吸料真空3吸"
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e = "吸料真空3检测"
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f = "吸料真空3破"
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}
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elseif (v==4)
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{//3号吸嘴
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downh += v4z
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x += v4x + cameraoffsetx
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y += v4y + cameraoffsety
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b = "吸料真空4吸"
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e = "吸料真空4检测"
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f = "吸料真空4破"
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}
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script_end
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node_count = 4
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[node]
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nid = 3440301
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task = 1044
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type = 18
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state = 0
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desc = node1
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cmd = 1046
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[node]
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nid = 3440304
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task = 1044
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type = 14
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state = 0
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desc = node2
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cmd = b=1
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[node]
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nid = 3440302
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task = 1044
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type = 18
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state = 0
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desc = node2
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cmd = 1053
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[node]
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nid = 3440303
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task = 1044
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type = 14
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state = 0
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desc = node3
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cmd = b=1
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[step]
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sid = 24404
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state = 0
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desc = 取料
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script:
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script_end
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node_count = 15
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[node]
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nid = 3440401
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task = 1044
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type = 27
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state = 0
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desc = node1
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cmd = h = upz
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[node]
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nid = 3440402
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task = 1044
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type = 18
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state = 0
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desc = node2
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cmd = 1054
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[node]
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nid = 3440403
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task = 1044
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type = 1
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state = 0
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desc = node3
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cmd = 300
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[node]
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nid = 3440404
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task = 1044
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type = 18
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state = 0
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desc = node4
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cmd = 1055
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[node]
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nid = 3440405
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task = 1044
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type = 27
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state = 0
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desc = node5
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cmd = if(1==rio(str(e))) jump(3440413)//-->next
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[node]
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nid = 3440406
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task = 1044
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type = 27
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state = 0
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desc = node6
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cmd = redLight = 1
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[node]
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nid = 3440407
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task = 1044
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type = 27
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state = 0
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desc = node7
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cmd = wlog("ERROR START",-11,"Vacuum fail","")
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[node]
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nid = 3440408
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task = 1044
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type = 24
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state = 0
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desc = node8
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cmd = 1 "Vacuum fail Are you Try again?"
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[node]
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nid = 3440409
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task = 1044
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type = 27
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state = 0
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desc = node9
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cmd = redLight = 0
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[node]
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nid = 3440410
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task = 1044
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type = 27
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state = 1
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desc = node10
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cmd = h += 0.1
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[node]
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nid = 3440411
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task = 1044
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type = 27
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state = 0
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desc = node11
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cmd = if (4==t1044){ wlog("ERROR END",-11,"Vacuum Try Again","");jump(3440402);}//-->try
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[node]
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nid = 3440412
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task = 1044
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type = 27
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state = 0
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desc = node12
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cmd = wlog("ERROR END",-11,"Vacuum To Next","");
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[node]
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nid = 3440413
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task = 1044
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type = 1
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state = 0
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desc = node13
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cmd = 0
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[node]
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nid = 3440414
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task = 1044
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type = 22
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state = 0
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desc = node14
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cmd = 31 "create " + str(sn) + " " + str(v)
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[node]
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nid = 3440415
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task = 1044
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type = 27
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state = 0
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desc = node15
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cmd = totalall++
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