库存在车上的支持

tw_test/scripts/CL2_DEMO.ts

@@ -4,11 +4,11 @@ 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) {
+
     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')
+        LCC.log('地堆上有托盘')
         for (const loc of demoLocList) {
             const [rack, bay, level] = loc.split('/')
             if (!rack) {
@@ -17,7 +17,7 @@ while (true) {
             const [emptyLoc] = (await LCC.queryInv({ rack, bay: parseInt(bay), level: parseInt(level) })).data
             if (!emptyLoc) {
                 // 这是一个好位置
-                LCC.log('agvCarry', gstore, loc)
+                LCC.log(`RCS.agvCarry('${agvId}', '${gstore}', '${loc}')`)
                 await RCS.agvCarry(agvId, gstore, loc)
                 await RCS.waitTaskFinish(agvId)
                 await LCC.sleep(1000)
@@ -28,15 +28,26 @@ while (true) {
 
     } 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')
+        const [carInv] = (await LCC.queryInv({ rack: agvId, bay: 0, level: 0, cell: 0 })).data
+        if (carInv) {
+            LCC.log('托盘在车上')
+            LCC.log(`RCS.agvUnload('${agvId}', '${gstore}')`)
+            await RCS.agvUnload(agvId, gstore)
+            await RCS.waitTaskFinish(agvId)
+            await LCC.sleep(1000)
+            continue;
+        } else {
+            LCC.log('托盘在货架')
+        }
+        
         let has = false
         for (const loc of demoLocList2) {
             const [rack, bay, level, cell] = loc.split('/')
             const [palletLoc] = (await LCC.queryInv({ rack, bay: parseInt(bay), level: parseInt(level) })).data
             if (palletLoc) {
                 has = true
-                LCC.log('agvCarry', rack + '/' + bay + '/' + level + '/' + cell, gstore)
+                LCC.log(`RCS.agvCarry('${agvId}', '${loc}', '${gstore}')`)
-                await RCS.agvCarry(agvId, rack + '/' + bay + '/' + level + '/' + cell, gstore)
+                await RCS.agvCarry(agvId, loc, gstore)
                 await RCS.waitTaskFinish(agvId)
                 await LCC.sleep(1000)
                 break

tw_test/scripts/CLX_DEMO.ts

@@ -19,6 +19,7 @@ while (true) {
                 LCC.log('agvCarry', gstore, loc)
                 await RCS.agvCarry(agvId, gstore, loc)
                 await RCS.waitTaskFinish(agvId)
+                await LCC.sleep(1000)
                 break;
             }
         }
@@ -26,15 +27,29 @@ while (true) {
 
     } else {
         // 地上没有托盘位, 找个位置拖过去
+        const [carInv] = (await LCC.queryInv({ rack: agvId, bay: 0, level: 0, cell: 0 })).data
+        if (carInv) {
+            LCC.log('托盘在车上')
+            LCC.log(`RCS.agvUnload('${agvId}', '${gstore}')`)
+            await RCS.agvUnload(agvId, gstore)
+            await RCS.waitTaskFinish(agvId)
+            await LCC.sleep(1000)
+            continue;
+        } else {
+            LCC.log('托盘在货架')
+        }
+
         let has = false
         for (const loc of demoLocList2) {
             const [rack, bay, level, cell] = loc.split('/')
             const [palletLoc] = (await LCC.queryInv({ rack, bay: parseInt(bay), level: parseInt(level) })).data
             if (palletLoc) {
                 has = true
-                LCC.log('agvCarry', rack + '/' + bay + '/' + level + '/' + cell, gstore)
+                
-                await RCS.agvCarry(agvId, rack + '/' + bay + '/' + level + '/' + cell, gstore)
+                LCC.log(`RCS.agvCarry('${agvId}', '${loc}', '${gstore}')`)
+                await RCS.agvCarry(agvId, loc, gstore)
                 await RCS.waitTaskFinish(agvId)
+                await LCC.sleep(1000)
                 break
             }
         }

tw_test/scripts/Yvan.ts

@@ -1,10 +1,13 @@
+await LCC.queryInv({ rack, bay: parseInt(bay), level: parseInt(level) })
+
 // await RCS.agvCarry('3', '105_105', 'rack2/0/0/0')
 // 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)
-LCC.createInv('TP4', '108_108')
+// LCC.createInv('TP4', '108_108')
+// const v = await RCS.agvLoad('4', 'rack3/0/2/0', { priority: 1 })
 
 // LCC.log('1')
 // await RCS.agvCarry('3', '105_105', 'rack2/0/1/0')

tw_test/scripts/run1.ts

@@ -1,19 +1,12 @@
-// const v = await RCS.agvCarry('3', 'rack1/1/1/0', 'rack2/1/1/0', { priority: 1 })
+const v = await RCS.agvCarry('3', 'rack2/0/0/0', 'rack1/1/1/0', { priority: 1 })
-// await RCS.agvCarry('3', 'rack2/0/1/0', 'rack2/1/1/0')
-// await RCS.agvCarry('3', 'rack2/1/1/0', 'rack2/0/1/0')
-// await RCS.cancelTasks('3')
-// await RCS.agvUnload('3', 'rack2/0/1/0')
 // const v = await RCS.agvCarry('3', 'rack1/0/1/0', '105_105', { priority: 1 })
 // const v = await RCS.agvCarry('3','rack2/0/0/0',  '105_105', { priority: 1 })
-// await RCS.agvCarry('3', 'rack2/0/1/0', '105_105', { priority: 1 })
+// const v = await RCS.agvCarry('3','105_105', 'rack1/1/1/0', { priority: 1 })
-// await RCS.agvCarry('3','105_105', 'rack1/1/1/0', { priority: 1 })
+// const v = await RCS.agvMove('3', '6_4')
-// const v = await RCS.agvMove('3', '6_4', 'LEFT')
-// const v = await RCS.agvMove('4', '5_4', 'LEFT')
 // await RCS.cancelTasks('3')
-await RCS.agvMove('3', '10_4', 'RIGHT')
+
-// const v = await RCS.agvMove('3', '8_4', 'LEFT')
+// const v = await RCS.agvMove('4', '5_4', 'LEFT')
 // await RCS.agvInfo('4')
 // await RCS.cancelTasks("4")
-// await RCS.agvMove('4', '1_4', 'RIGHT')
+// const v = await RCS.agvCarry('4', '108_108/0/0/0', 'rack3/0/2/0', { priority: 1 })
-// const v = await RCS.agvCarry('4', '108_108/0/0/0', 'rack3/0/1/0', { priority: 1 })
 // const v = await RCS.agvCarry('4', 'rack3/0/2/0', 'rack3/1/1/0',  { priority: 1 })