小凯AI 集成

tw_test/scripts/CL2_DEMO.ts

@@ -1,12 +1,14 @@
 const gstore = '105_105'
+const agvId = '3'
 const demoLocList = ['rack1/1/1/0', 'rack2/0/1/0', 'rack2/1/1/0']
 const demoLocList2 = [ 'rack1/1/1/0', 'rack2/0/1/0', 'rack2/1/1/0' ].reverse()
 
 while (true) {
-    await LCC.sleep(3)
     const [dd] = (await LCC.queryInv({ rack: gstore })).data
+    LCC.log('queryInv, dd=', { rack: gstore }, dd)
     if (dd) {
         // 地堆上有托盘, 找一个空货位放过去
+        LCC.log('地堆上有托盘, 找一个空货位放过去')
         for (const loc of demoLocList) {
             const [rack, bay, level] = loc.split('/')
             if (!rack) {
@@ -16,15 +18,17 @@ while (true) {
             if (!emptyLoc) {
                 // 这是一个好位置
                 LCC.log('agvCarry', gstore, loc)
-                await RCS.agvCarry('3', gstore, loc)
-                await RCS.waitTaskFinish('3')
-                continue;
+                await RCS.agvCarry(agvId, gstore, loc)
+                await RCS.waitTaskFinish(agvId)
+                await LCC.sleep(1000)
+                break;
             }
         }
         
 
     } else {
         // 地上没有托盘位, 找个位置拖过去
+        LCC.log('地上没有托盘位, 找个位置拖过去')
         let has = false
         for (const loc of demoLocList2) {
             const [rack, bay, level, cell] = loc.split('/')
@@ -32,8 +36,10 @@ while (true) {
             if (palletLoc) {
                 has = true
                 LCC.log('agvCarry', rack + '/' + bay + '/' + level + '/' + cell, gstore)
-                await RCS.agvCarry('3', rack + '/' + bay + '/' + level + '/' + cell, gstore)
-                await RCS.waitTaskFinish('3')
+                await RCS.agvCarry(agvId, rack + '/' + bay + '/' + level + '/' + cell, gstore)
+                await RCS.waitTaskFinish(agvId)
+                await LCC.sleep(1000)
+                break
             }
         }
 

tw_test/scripts/Yvan.ts

@@ -2,8 +2,9 @@
 // await RCS.agvUnload('3', 'rack2/0/1/0')
 // await RCS.agvCarry('3', 'rack2/0/1/0', 'rack2/1/1/0')
 
-const [invRack1] = (await LCC.queryInv({ rack: 'rack2', level: 1 })).data
-LCC.log("invRack1=", invRack1)
+// const [invRack1] = (await LCC.queryInv({ rack: 'rack2', level: 1 })).data
+// LCC.log("invRack1=", invRack1)
+LCC.createInv('TP4', '108_108')
 
 // LCC.log('1')
 // await RCS.agvCarry('3', '105_105', 'rack2/0/1/0')