- MATLAB - Optimalization Toolbox, Parallel Toolbox ... etc.
- Fanuc - Focus (32 bits /or if lucky 64bits/) + CNC Guide 2
- Python 3.10 (32 bits /or if lucky 64bits/)
- Python Packages: Numpy
- ! It's needed to have Python 32-bit /or if lucky 64bits/ in PATH !
- (Docker :P)
The communication between the created modules is as follows. First, a required queue of available boards from the warehouse database must be created by the scheduling module or manually by the warehouse operator. The queue is then processed by the A-Star algorithm, which requires the warehouse simulator. Therefore, the current state of the warehouse must be loaded into the simulator from the database. After obtaining the sequence of actions from A-Star, the actions are performed in the real warehouse and simultaneously applied to the simulator. Finally, the database is updated according to the simulator, and the whole process can repeat.
- warehouse.py: A simulator for formal representation of the warehouse
- astar.py: An algorithm for optimal material movement in the warehouse
- ilpScheduleSolver.py: A program for production scheduling on identical machines
- ilpScheduleTypeOfMachinesSolver.py: A program for scheduling on dedicated machines
- schedule-plus-astar.py: A demonstration of combining astar.py with production scheduling
- ilp-model.py: An ILP model for scheduling with deadlines
- cp-model.py: A CP model for scheduling with deadlines
Searching path: [[1, 2, 6, 3], [8, 7, 5], [4, 9]]
Input: (12, 14, 15) Output: [] Orders: (2, 3, 7, 8) Done: False -> for order (2, 3, 7, 8)
Found a path (length=10):
[(1, -2), (1, -2), (0, 1), (-3, 1), (-3, 1), (-3, 1), (0, 1), (0, 2), (0, -2), (1, -2)]
How it goes:
[[1, 2, 6, 3], [8, 7, 5], [4, 9]]
Input: (12, 14, 15) Output: [] Orders: (2, 3, 7, 8) Done: False
|1|
|12| |8| |2|
|14| |4| |7| |6|
|15| |9| |5| |3|
''####''^^^^''^^^^''^^^^''****''
[input] #2 #1 #0 [output]
------------ Action: (1, -2) ----------
|1|
|12| |2|
|14| |4| |7| |6|
|15| |9| |5| |3| |8|
''####''^^^^''^^^^''^^^^''****''
[input] #2 #1 #0 [output]
------------ Action: (1, -2) ----------
|1|
|12| |2|
|14| |4| |6| |7|
|15| |9| |5| |3| |8|
''####''^^^^''^^^^''^^^^''****''
[input] #2 #1 #0 [output]
------------ Action: (0, 1) ----------
|12| |2|
|14| |4| |1| |6| |7|
|15| |9| |5| |3| |8|
''####''^^^^''^^^^''^^^^''****''
[input] #2 #1 #0 [output]
------------ Action: (-3, 1) ----------
|12| |2|
|14| |4| |1| |6| |7|
|15| |9| |5| |3| |8|
''####''^^^^''^^^^''^^^^''****''
[input] #2 #1 #0 [output]
------------ Action: (-3, 1) ----------
|14|
|12| |2|
|4| |1| |6| |7|
|15| |9| |5| |3| |8|
''####''^^^^''^^^^''^^^^''****''
[input] #2 #1 #0 [output]
------------ Action: (-3, 1) ----------
|15|
|14|
|12| |2|
|4| |1| |6| |7|
|9| |5| |3| |8|
''####''^^^^''^^^^''^^^^''****''
[input] #2 #1 #0 [output]
------------ Action: (0, 1) ----------
|2|
|15|
|14|
|12|
|4| |1| |6| |7|
|9| |5| |3| |8|
''####''^^^^''^^^^''^^^^''****''
[input] #2 #1 #0 [output]
------------ Action: (0, 2) ----------
|2|
|15|
|14|
|6| |12|
|4| |1| |7|
|9| |5| |3| |8|
''####''^^^^''^^^^''^^^^''****''
[input] #2 #1 #0 [output]
------------ Action: (0, -2) ----------
|2|
|15|
|14|
|6| |12| |3|
|4| |1| |7|
|9| |5| |8|
''####''^^^^''^^^^''^^^^''****''
[input] #2 #1 #0 [output]
------------ Action: (1, -2) ----------
|15|
|14| |2|
|6| |12| |3|
|4| |1| |7|
|9| |5| |8|
''####''^^^^''^^^^''^^^^''****''
[input] #2 #1 #0 [output]
[[], [15, 14, 12, 1, 5], [6, 4, 9]]
Input: [] Output: [2 3 7 8] Orders: (2, 3, 7, 8) Done: True
Total expanded nodes: 10 Time: 0.01
-
ZBYTKY !!!!!
-
ERROR pri prenosu desky, objevuje se pri PLACE preraci, NEJSPI SPATNE ULOZENO var "pozice_time"
FANUC: Move done.
Brace indexing is not supported for variables of this type.
Error in spousteci (line 240)
pozice_time{konec}=[pozice_time{konec};matice_desek(ID_deska_poc,9)];
Error in ManualniPreskladneni/preskladnenidesek (line 224)
spousteci(param);
Error in ManualniPreskladneni>@(~,~)preskladnenidesek() (line 93)
buttonManPreskladneni.ButtonPushedFcn = @(~,~) preskladnenidesek();
Error using appdesservices.internal.interfaces.model.AbstractModel/executeUserCallback (line 282)
Error while evaluating Button PrivateButtonPushedFcn."
- ERROR generovani a mazani skladu
Brace indexing is not supported for variables of this type.
Error in GenerovaniDesek (line 197)
pozice_time{pozicedesek(i)}=[pozice_time{pozicedesek(i)}; (matice_desek(find(matice_desek(:,1))==cisla_zamichej(i),9))];
Error in GenerovaniSkladu/nahodneSklad (line 38)
GenerovaniDesek()
Error in GenerovaniSkladu>@(~,~)nahodneSklad() (line 19)
nahodneSkladButton.ButtonPushedFcn = @(~,~) nahodneSklad();
Error using appdesservices.internal.interfaces.model.AbstractModel/executeUserCallback (line 282)
Error while evaluating Button PrivateButtonPushedFcn.
"Error using vymazanidesek (line 42)
Invalid Simulink object name: 'RobotickyManipulator_Simscape/R13'.
Error in HlavniOkno>HlavniMenu/VymazatSklad (line 238)
vymazanidesek();
Error in HlavniOkno>@(~,~)VymazatSklad() (line 72)
vymazatSkladButton.ButtonPushedFcn = @(~,~) VymazatSklad(); - Show complete stack trace
Caused by:
Error using vymazanidesek (line 42)
Unable to find block 'R13'. - Show complete stack trace
Error using appdesservices.internal.interfaces.model.AbstractModel/executeUserCallback (line 282)
Error while evaluating Button PrivateButtonPushedFcn.
- UI Aktualni stav -- NOT WORKING
- UI Naskladneni -- NOT WORKING
