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Jouky D avatar image
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Jouky D asked Jouky D commented

AGV: Delete task to idle state.

How can I cancel a travel task in AGV? I destroy the subnode of activetasksequence, however, sometimes, when I want the AGV travel again, it does not work. Sometimes it returns there is no possible route (however, if I Show Rout Accessibiility between the 2 CPs, it shows a route). The unique difference when I destroy the activetasksequence subnode between one AGV that works and another that does not are these:

AGV Travel Works:

originCP: NULL

curAmps: 1

traversals.kinematicIndex: 1

accumTraversals: size = 1

leadAccumTraversal: AGVNetwork>variables/agvs/AGV/accumTraversals/1


AGV Travel don't work:

originCP: ControlPoint74

curAmps: 10

traversals.kinematicIndex: 3

accumTraversals: size = 2

leadAccumTraversal: AGVNetwork>variables/agvs/AGV/accumTraversals/2

The cpdistance and distancetotravel calculation is Ok in both cases. Some ideas why is not working? Is there a way to put an AGV to a full idle state forgetting all the tasks?

Thank you!


FlexSim 23.1.2
agvagvnetworkactivetasksequence
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1 Answer

Jason Lightfoot avatar image
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Jason Lightfoot answered Jouky D commented

Deploy a preempting task sequence with the preempt option PREEMPT_AND_ABORT_ACTIVE

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Felix Möhlmann avatar image Felix Möhlmann commented ·

Here's an example that demonstrates this both through code and via the Process Flow activities.

abort_task_fm.fsm

Yes, this will also lead to the deletion of the current task sequence node but also allows the program to properly end the task execution.

If the task executer does not work afterwards something else must be wrong, which is hard to diagnore without seeing the model.

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abort-task-fm.fsm (34.3 KiB)
Jouky D avatar image Jouky D Felix Möhlmann commented ·

Thank you!

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Jouky D avatar image Jouky D commented ·
it didn't work. It worked as my option (destroying the activetasksequence subnode)
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