{ "label": "机器人调度", "order": 7, "blocks": [ { "type": "Normal", "name": "CAgvOperationBp", "label": "机器人通用动作", "description": "", "inputParams": [ { "name": "targetSiteLabel", "type": "String", "label": "目标站点名", "description": "", "required": true, "defaultValue": null, "options": [] }, { "name": "spin", "type": "Boolean", "label": "允许随动", "description": "", "required": false, "defaultValue": false, "options": [] }, { "name": "task", "type": "JSONArray", "label": "指令", "description": "", "required": false, "defaultValue": null, "options": [ { "name": "binTask", "type": "String", "label": "binTask", "description": "", "required": false, "defaultValue": null, "options": [ { "name": "param", "type": "String", "label": "参数", "description": "", "required": false, "defaultValue": null, "options": [] } ] }, { "name": "preBinTask", "type": "String", "label": "预置binTask", "description": "", "required": false, "defaultValue": null, "options": [ { "name": "param", "type": "String", "label": "参数", "description": "", "required": false, "defaultValue": null, "options": [] } ] }, { "name": "JackLoad", "type": "String", "label": "顶升 JackLoad", "description": "", "required": false, "defaultValue": null, "options": [ { "name": "inspired_unique", "type": "Boolean", "label": "启用识别", "description": "", "required": false, "defaultValue": null, "options": [] }, { "name": "unique_file", "type": "String", "label": "识别文件", "description": "", "required": false, "defaultValue": null, "options": [] } ] }, { "name": "JackHeight", "type": "String", "label": "设置顶升高度 JackHeight", "description": "", "required": false, "defaultValue": null, "options": [ { "name": "targetHeight", "type": "Double", "label": "目标高度", "description": "", "required": true, "defaultValue": null, "options": [] } ] }, { "name": "JackUnload", "type": "String", "label": "顶降 JackUnload", "description": "", "required": false, "defaultValue": null, "options": [ { "name": "inspired_unique", "type": "Boolean", "label": "启用识别", "description": "", "required": false, "defaultValue": null, "options": [] } ] }, { "name": "Wait", "type": "String", "label": "等待 Wait", "description": "", "required": false, "defaultValue": null, "options": [ { "name": "wait_time", "type": "Integer", "label": "等待时间(ms)", "description": "", "required": true, "defaultValue": null, "options": [] } ] }, { "name": "ForkLoad", "type": "String", "label": "叉车取货 ForkLoad", "description": "", "required": false, "defaultValue": null, "options": [ { "name": "start_height", "type": "Double", "label": "起始高度", "description": "", "required": false, "defaultValue": null, "options": [] }, { "name": "end_height", "type": "Double", "label": "结束高度", "description": "", "required": false, "defaultValue": null, "options": [] }, { "name": "inspired_unique", "type": "Boolean", "label": "启用识别", "description": "", "required": false, "defaultValue": null, "options": [] }, { "name": "unique_file", "type": "String", "label": "识别文件", "description": "", "required": false, "defaultValue": null, "options": [] }, { "name": "special_height", "type": "Double", "label": "识别后高度", "description": "", "required": false, "defaultValue": null, "options": [] } ] }, { "name": "ForkUnload", "type": "String", "label": "降低叉齿 ForkUnload", "description": "", "required": false, "defaultValue": null, "options": [ { "name": "start_height", "type": "Double", "label": "起始高度", "description": "", "required": false, "defaultValue": null, "options": [] }, { "name": "end_height", "type": "Double", "label": "结束高度", "description": "", "required": false, "defaultValue": null, "options": [] }, { "name": "inspired_unique", "type": "Boolean", "label": "启用识别", "description": "", "required": false, "defaultValue": null, "options": [] }, { "name": "unique_file", "type": "String", "label": "识别文件", "description": "", "required": false, "defaultValue": null, "options": [] }, { "name": "special_height", "type": "Double", "label": "识别后高度", "description": "", "required": false, "defaultValue": null, "options": [] } ] }, { "name": "ForkHeight", "type": "String", "label": "边走边升降叉齿 ForkHeight", "description": "", "required": false, "defaultValue": null, "options": [ { "name": "start_height", "type": "Double", "label": "起始高度", "description": "", "required": false, "defaultValue": null, "options": [] }, { "name": "fork_height", "type": "Double", "label": "货叉行走过程中举升高度", "description": "", "required": false, "defaultValue": null, "options": [] }, { "name": "end_height", "type": "Double", "label": "结束高度", "description": "", "required": false, "defaultValue": null, "options": [] } ] }, { "name": "CustomCommand", "type": "String", "label": "自定义指令", "description": "", "required": false, "defaultValue": null, "options": [ { "name": "command", "type": "String", "label": "指令方式", "description": "", "required": false, "defaultValue": null, "options": [ { "name": "operation_name", "type": "String", "label": "操作名", "description": "", "required": true, "defaultValue": null, "options": [] }, { "name": "param", "type": "JSONArray", "label": "属性", "description": "", "required": false, "defaultValue": null, "options": [] } ] } ] }, { "name": "syspy/setDO.py", "type": "String", "label": "syspy/setDO.py", "description": "", "required": false, "defaultValue": null, "options": [ { "name": "DO", "type": "JSONArray", "label": "设置DO", "description": "", "required": true, "defaultValue": null, "options": [] } ] }, { "name": "syspy/waitDO.py", "type": "String", "label": "syspy/waitDO.py", "description": "", "required": false, "defaultValue": null, "options": [ { "name": "DO", "type": "JSONArray", "label": "设置DO", "description": "", "required": true, "defaultValue": null, "options": [] }, { "name": "timeout", "type": "Integer", "label": "超时时间(秒)", "description": "", "required": false, "defaultValue": null, "options": [] } ] } ] } ], "extraInputParamsFunc": "agvOperationBpExtraInputParams", "outputParams": {}, "contextVariables": { "containerName": { "type": "String", "label": "料箱名", "description": null } }, "children": {}, "hidden": false, "scriptFunction": null, "operatingInstructions": "## 机器人通用动作 (CAgvOperationBp)\n\n### 描述\n本块用于执行机器人通用动作。\n\n### 输入参数\n\n| 参数名 | 是否必填 | 类型 | 描述 |\n\n|---------|---------|------|------|\n| targetSiteLabel | 必填 | String | 目标站点名 |\n| spin | 非必填 | Boolean | 允许随动 |\n| task | 非必填 | JSONArray | 指令 |\n\n### 输出参数\n无\n" }, { "type": "Normal", "name": "CSelectAgvBp", "label": "选择执行机器人", "description": "", "inputParams": [ { "name": "priority", "type": "Long", "label": "优先级", "description": "越大优先级越高", "required": false, "defaultValue": null, "options": [] }, { "name": "vehicle", "type": "String", "label": "指定机器人", "description": "", "required": false, "defaultValue": null, "options": [] }, { "name": "group", "type": "String", "label": "指定机器人组", "description": "", "required": false, "defaultValue": null, "options": [] }, { "name": "keyRoute", "type": "String", "label": "关键路径", "description": "", "required": true, "defaultValue": null, "options": [] } ], "extraInputParamsFunc": "", "outputParams": {}, "contextVariables": { "selectedAgvId": { "type": "String", "label": "选出的机器人", "description": null } }, "children": { "default": { "label": "默认", "childrenMinNum": 1, "childrenMaxNum": -1 } }, "hidden": false, "scriptFunction": null, "operatingInstructions": "## 选择执行机器人 (CSelectAgvBp)\n\n### 描述\n本块用于选择执行机器人。\n\n### 输入参数\n\n| 参数名 | 是否必填 | 类型 | 描述 |\n\n|---------|---------|------|------|\n| priority | 非必填 | Long | 优先级 |\n| vehicle | 非必填 | String | 指定机器人 |\n| group | 非必填 | String | 指定机器人组 |\n| keyRoute | 必填 | String | 关键路径 |\n\n### 输出参数\n无\n" }, { "type": "Normal", "name": "VehicleStationBp", "label": "获取机器人位置", "description": "", "inputParams": [ { "name": "vehicle", "type": "String", "label": "指定机器人", "description": "", "required": true, "defaultValue": null, "options": [] } ], "extraInputParamsFunc": "", "outputParams": {}, "contextVariables": { "station": { "type": "String", "label": "当前位置", "description": null }, "lastStation": { "type": "String", "label": "上次位置", "description": null } }, "children": {}, "hidden": false, "scriptFunction": null, "operatingInstructions": "## 获取机器人位置 (VehicleStationBp)\n\n### 描述\n本块用于获取机器人位置。\n\n### 输入参数\n\n| 参数名 | 是否必填 | 类型 | 描述 |\n\n|---------|---------|------|------|\n| vehicle | 必填 | String | 指定机器人 |\n\n### 输出参数\n无\n" },{ "type": "All", "name": "GetBatteryLevelBp", "label": "获取机器人电量", "description": "", "inputParams": [ { "name": "vehicle", "type": "String", "label": "机器人ID", "description": "", "required": true, "defaultValue": null, "options": [] } ], "extraInputParamsFunc": "", "outputParams": {}, "contextVariables": { "batteryLevel": { "type": "Double", "label": "电量", "description": null } }, "children": {}, "hidden": false, "scriptFunction": null, "operatingInstructions": "## 获取机器人电量 (GetBatteryLevelBp)\n\n### 描述\n本块用于获取机器人电量。\n\n### 输入参数\n\n| 参数名 | 是否必填 | 类型 | 描述 |\n\n|---------|---------|------|------|\n| vehicle | 必填 | String | 机器人ID |\n\n### 输出参数\n无\n" }, { "type": "All", "name": "GetPGVCodeBp", "label": "获取机器人 PGV 码", "description": "", "inputParams": [ { "name": "vehicle", "type": "String", "label": "机器人ID", "description": "", "required": true, "defaultValue": null, "options": [] } ], "extraInputParamsFunc": "", "outputParams": {}, "contextVariables": { "codeInfo": { "type": "Boolean", "label": "二维码信息", "description": null } }, "children": {}, "hidden": false, "scriptFunction": null, "operatingInstructions": "## 获取机器人 PGV 码 (GetPGVCodeBp)\n\n### 描述\n本块用于获取机器人 PGV 码。\n\n### 输入参数\n\n| 参数名 | 是否必填 | 类型 | 描述 |\n\n|---------|---------|------|------|\n| vehicle | 必填 | String | 机器人ID |\n\n### 输出参数\n无\n" } ] }