567 lines
25 KiB
JSON
567 lines
25 KiB
JSON
{
|
|
"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"
|
|
}
|
|
]
|
|
} |