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lcc-map

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修宁 6 months ago
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4013920c95
10 changed files with 1244 additions and 0 deletions
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  1. 130
      test/catalog.json
  2. 0
      test/project.json
  3. 11
      tw_zhanghui/catalog.json
  4. 19
      tw_zhanghui/config.json
  5. 20
      tw_zhanghui/config2.json
  6. 868
      tw_zhanghui/floor/f1.json
  7. 48
      tw_zhanghui/project.json
  8. 39
      tw_zhanghui/scripts/01.ts
  9. 47
      tw_zhanghui/scripts/02.ts
  10. 62
      tw_zhanghui/virtual_executor.json

130
test/catalog.json
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[
{
"label": "仓库楼层",
"items": [
{
"catalogCode": "__f1",
"label": "路径压力测试 (-f1)"
},
{
"catalogCode": "__f2",
"label": "箱子压力测试 (-f2)"
},
{
"catalogCode": "__f3",
"label": "货架压力测试 (-f3)"
},
{
"catalogCode": "__f4",
"label": "标尺压力测试 (-f4)"
},
{
"catalogCode": "__f5",
"label": "地堆压力测试 (-f5)"
},
{
"catalogCode": "f1",
"label": "一楼 (f1)"
},
{
"catalogCode": "f2",
"label": "二楼 (f2)"
},
{
"catalogCode": "f3",
"label": "三楼 (f3)"
},
{
"catalogCode": "f4",
"label": "AGV测试区 (f4)"
},
{
"catalogCode": "f5",
"label": "标准容器 (f5)"
},
{
"catalogCode": "OUT",
"label": "外场 (OUT)"
},
{
"catalogCode": "fe",
"label": "楼层电梯 (fe)"
}
]
},
{
"label": "立体库",
"items": [
{
"catalogCode": "asrs1",
"label": "D1 (asrs1)"
},
{
"catalogCode": "asrs2",
"label": "D2 (asrs2)"
},
{
"catalogCode": "asrs3",
"label": "D3 (asrs3)"
},
{
"catalogCode": "asrs4",
"label": "D4 (asrs4)"
},
{
"catalogCode": "de1",
"label": "提升机 (de1)"
}
]
},
{
"label": "密集库区域",
"items": [
{
"catalogCode": "flash1",
"label": "1层 (flash1)"
},
{
"catalogCode": "flash2",
"label": "2层 (flash2)"
},
{
"catalogCode": "flash3",
"label": "3层 (flash3)"
},
{
"catalogCode": "flash4",
"label": "4层 (flash4)"
},
{
"catalogCode": "me",
"label": "提升机 (me)"
}
]
},
{
"label": "多穿库",
"items": [
{
"catalogCode": "shuttle1",
"label": "E1 (shuttle1)"
},
{
"catalogCode": "shuttle2",
"label": "E2 (shuttle2)"
},
{
"catalogCode": "shuttle3",
"label": "E3 (shuttle3)"
},
{
"catalogCode": "shuttle4",
"label": "E4 (shuttle4)"
},
{
"catalogCode": "ee1",
"label": "提升机 (ee1)"
}
]
}
]

0
test/project.json
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11
tw_zhanghui/catalog.json
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[
{
"label": "仓库楼层",
"items": [
{
"catalogCode": "f1",
"label": "一楼 (f1)"
}
]
}
]

19
tw_zhanghui/config.json
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@ -0,0 +1,19 @@
{
"mqtt": {
"brokerUrl": "tcp://10.10.101.8:1885",
"username": "admin",
"password": "admin",
"websocket": "mqtt://10.10.101.8:9001"
},
"mysql": {
"jdbc-url": "jdbc:p6spy:mysql://180.100.199.56:8306/rcs2_tw_zhanghui",
"username": "rcs2_tw_zhanghui",
"password": "Rcs2_tw_zhanghui"
},
"redis": {
"host": "180.100.199.56",
"port": 6379,
"database": 0,
"password": "yxt123456"
}
}

20
tw_zhanghui/config2.json
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{
"mqtt": {
"brokerUrl": "tcp://127.0.0.1:1883",
"clientId": "yvan-rcs-dev-1",
"username": "user",
"password": "user",
"websocket": "mqtt://127.0.0.1:7883"
},
"mysql": {
"jdbc-url": "jdbc:p6spy:mysql://180.100.199.56:8306/rcs2_tw_zhanghui",
"username": "rcs2_tw_zhanghui",
"password": "Rcs2_tw_zhanghui"
},
"redis": {
"host": "180.100.199.56",
"port": 6379,
"database": 0,
"password": "yxt123456"
}
}

868
tw_zhanghui/floor/f1.json
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[
{
"id": "rack1",
"t": "rack",
"v": true,
"tf": [
[
1.55,
0,
-1.5
],
[
0,
0,
0
],
[
2.2,
1.211,
1
]
],
"dt": {
"rackDepth": 1,
"bottomBarHeight": 0.2,
"bottomLinkHeight": 0.2,
"topLinkDistance": 0.2,
"levelCount": 2,
"bayCount": 2,
"hideFloor": 0,
"extendColumns": 1,
"columnSpacing": 1,
"bays": [
{
"bayWidth": 1.1,
"levelHeight": [
0.001,
1.21
],
"topHeight": 2
},
{
"bayWidth": 1.1,
"levelHeight": [
0.001,
1.21
],
"topHeight": 2
}
],
"center": [],
"in": [],
"out": [],
"rackWidth": 2.2,
"rackHeight": 1.211
},
"_rid": "_2"
},
{
"id": "rack2",
"t": "rack",
"v": true,
"tf": [
[
3.9,
0,
-1.5
],
[
0,
0,
0
],
[
2.2,
2.186,
1
]
],
"dt": {
"rackDepth": 1,
"bottomBarHeight": 0.2,
"bottomLinkHeight": 0.2,
"topLinkDistance": 0.2,
"levelCount": 2,
"bayCount": 2,
"hideFloor": 0,
"extendColumns": 1,
"columnSpacing": 1,
"bays": [
{
"bayWidth": 1.1,
"levelHeight": [
0.001,
2.185
],
"topHeight": 2
},
{
"bayWidth": 1.1,
"levelHeight": [
0.001,
2.185
],
"topHeight": 2
}
],
"center": [],
"in": [],
"out": [],
"rackWidth": 2.2,
"rackHeight": 2.186
},
"_rid": "_3"
},
{
"id": "105_105",
"t": "gstore",
"v": true,
"tf": [
[
4.44,
0,
1.5
],
[
0,
0,
0
],
[
1,
0.01,
1.2
]
],
"dt": {
"in": [],
"out": [],
"center": [],
"strokeWidth": 0.1
},
"_rid": "_4"
},
{
"id": "6_4",
"t": "way",
"v": true,
"logicX": 1,
"logicY": 2,
"tf": [
[
1,
0.01,
0
],
[
0,
0,
0
],
[
0.25,
0.1,
0.25
]
],
"dt": {
"in": [
"7_4"
],
"out": [
"7_4"
],
"center": [],
"linkStore": [
{
"item": "rack1",
"bay": 0,
"level": 0,
"cell": 0,
"direction": "up"
},
{
"item": "rack1",
"bay": 0,
"level": 1,
"cell": 0,
"direction": "up"
}
]
},
"_rid": "_5"
},
{
"id": "7_4",
"t": "way",
"v": true,
"logicX": 2,
"logicY": 2,
"tf": [
[
2.1,
0.01,
0
],
[
0,
0,
0
],
[
0.25,
0.1,
0.25
]
],
"dt": {
"in": [
"6_4",
"8_4"
],
"out": [
"6_4",
"8_4"
],
"center": [],
"linkStore": [
{
"item": "rack1",
"bay": 1,
"level": 0,
"cell": 0,
"direction": "up"
},
{
"item": "rack1",
"bay": 1,
"level": 1,
"cell": 0,
"direction": "up"
}
]
},
"_rid": "_6"
},
{
"id": "8_4",
"t": "way",
"v": true,
"logicX": 3,
"logicY": 2,
"tf": [
[
3.39,
0.01,
0
],
[
0,
0,
0
],
[
0.25,
0.1,
0.25
]
],
"dt": {
"in": [
"7_4",
"9_4"
],
"out": [
"7_4",
"9_4"
],
"center": [],
"linkStore": [
{
"item": "rack2",
"bay": 0,
"level": 0,
"cell": 0,
"direction": "up"
},
{
"item": "rack2",
"bay": 0,
"level": 1,
"cell": 0,
"direction": "up"
}
]
},
"_rid": "_7"
},
{
"id": "9_4",
"t": "way",
"v": true,
"logicX": 4,
"logicY": 2,
"tf": [
[
4.44,
0.01,
0
],
[
0,
0,
0
],
[
0.25,
0.1,
0.25
]
],
"dt": {
"in": [
"8_4",
"10_4"
],
"out": [
"8_4",
"10_4"
],
"center": [],
"linkStore": [
{
"item": "rack2",
"bay": 1,
"level": 0,
"cell": 0,
"direction": "up"
},
{
"item": "rack2",
"bay": 1,
"level": 1,
"cell": 0,
"direction": "up"
},
{
"item": "105_105",
"bay": 0,
"level": 0,
"cell": 0,
"direction": "down"
}
]
},
"_rid": "_8"
},
{
"id": "10_4",
"t": "way",
"v": true,
"logicX": 5,
"logicY": 2,
"tf": [
[
5.44,
0.01,
0
],
[
0,
0,
0
],
[
0.25,
0.1,
0.25
]
],
"dt": {
"in": [
"9_4",
"11_4"
],
"out": [
"9_4",
"11_4"
],
"center": []
},
"_rid": "_9"
},
{
"id": "11_4",
"t": "way",
"v": true,
"logicX": 6,
"logicY": 2,
"tf": [
[
6.44,
0.01,
0
],
[
0,
0,
0
],
[
0.25,
0.1,
0.25
]
],
"dt": {
"in": [
"10_4",
"charger1"
],
"out": [
"10_4",
"charger1"
],
"center": [],
"agvRotation": [
"cl2",
"clx"
]
},
"_rid": "_10"
},
{
"id": "5_4",
"t": "way",
"v": true,
"logicX": 5,
"logicY": 4,
"tf": [
[
-0.29,
0.01,
0
],
[
0,
0,
0
],
[
0.25,
0.1,
0.25
]
],
"dt": {
"in": [
"4_4"
],
"out": [
"4_4"
],
"center": [],
"linkStore": [
{
"item": "rack3",
"bay": 1,
"level": 1,
"cell": 0,
"direction": "up"
}
]
},
"_rid": "_11"
},
{
"id": "4_4",
"t": "way",
"v": true,
"logicX": 4,
"logicY": 4,
"tf": [
[
-1.39,
0.01,
0
],
[
0,
0,
0
],
[
0.25,
0.1,
0.25
]
],
"dt": {
"in": [
"5_4",
"3_4"
],
"out": [
"5_4",
"3_4"
],
"center": [],
"linkStore": [
{
"item": "rack3",
"bay": 0,
"level": 1,
"cell": 0,
"direction": "up"
}
]
},
"_rid": "_12"
},
{
"id": "3_4",
"t": "way",
"v": true,
"logicX": 3,
"logicY": 4,
"tf": [
[
-2.34,
0.01,
0
],
[
0,
0,
0
],
[
0.25,
0.1,
0.25
]
],
"dt": {
"in": [
"4_4",
"2_4"
],
"out": [
"4_4",
"2_4"
],
"center": []
},
"_rid": "_13"
},
{
"id": "2_4",
"t": "way",
"v": true,
"logicX": 2,
"logicY": 4,
"tf": [
[
-3.34,
0.01,
0
],
[
0,
0,
0
],
[
0.25,
0.1,
0.25
]
],
"dt": {
"in": [
"1_4",
"3_4"
],
"out": [
"1_4",
"3_4"
],
"center": []
},
"_rid": "_14"
},
{
"id": "1_4",
"t": "way",
"v": true,
"logicX": 1,
"logicY": 4,
"tf": [
[
-4.34,
0.01,
0
],
[
0,
0,
0
],
[
0.25,
0.1,
0.25
]
],
"dt": {
"in": [
"2_4",
"1_3"
],
"out": [
"2_4",
"1_3"
],
"center": [],
"agvRotation": [
"cl2",
"clx"
]
},
"_rid": "_15"
},
{
"id": "1_3",
"t": "way",
"v": true,
"logicX": 1,
"logicY": 3,
"tf": [
[
-4.34,
0.01,
-1
],
[
0,
0,
0
],
[
0.25,
0.1,
0.25
]
],
"dt": {
"in": [
"1_4",
"1_2"
],
"out": [
"1_4",
"1_2"
],
"center": [],
"linkStore": [
{
"item": "108_108",
"bay": 0,
"level": 0,
"cell": 0,
"direction": "left"
}
]
},
"_rid": "_16"
},
{
"id": "1_2",
"t": "way",
"v": true,
"logicX": 1,
"logicY": 2,
"tf": [
[
-4.34,
0.01,
-2
],
[
0,
0,
0
],
[
0.25,
0.1,
0.25
]
],
"dt": {
"in": [
"1_3",
"charger2"
],
"out": [
"1_3",
"charger2"
],
"center": []
},
"_rid": "_17"
},
{
"id": "charger2",
"t": "charger",
"v": true,
"tf": [
[
-4.34,
0.01,
-2.4
],
[
0,
180,
0
],
[
0.6,
1,
0.3
]
],
"dt": {
"in": [
"1_2"
],
"out": [
"1_2"
],
"center": [],
"isCharger": true,
"chargerPortDirection": "down"
},
"_rid": "_18"
},
{
"id": "charger1",
"t": "charger",
"v": true,
"tf": [
[
6.84,
0.01,
0
],
[
0,
90,
0
],
[
0.6,
1,
0.3
]
],
"dt": {
"in": [
"11_4"
],
"out": [
"11_4"
],
"center": [],
"chargerPortDirection": "left"
},
"_rid": "_19"
},
{
"id": "rack3",
"t": "rack",
"v": true,
"tf": [
[
-0.82,
0,
-1.5
],
[
0,
0,
0
],
[
2.2,
2.186,
1
]
],
"dt": {
"rackDepth": 1,
"bottomBarHeight": 0.2,
"bottomLinkHeight": 0.2,
"topLinkDistance": 0.2,
"levelCount": 2,
"bayCount": 2,
"hideFloor": 0,
"extendColumns": 1,
"columnSpacing": 1,
"bays": [
{
"bayWidth": 1.1,
"levelHeight": [
0.001,
2.185
],
"topHeight": 2
},
{
"bayWidth": 1.1,
"levelHeight": [
0.001,
2.185
],
"topHeight": 2
}
],
"center": [],
"in": [],
"out": [],
"rackWidth": 2.2,
"rackHeight": 2.186
},
"_rid": "_20"
},
{
"id": "108_108",
"t": "gstore",
"v": true,
"tf": [
[
-6,
0,
-1
],
[
0,
-90,
0
],
[
1,
0.01,
1.2
]
],
"dt": {
"in": [],
"out": [],
"center": [],
"strokeWidth": 0.1
},
"_rid": "_21"
}
]

48
tw_zhanghui/project.json
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{
"project_uuid": "tw_zhanghui",
"project_label": "台湾物流展会",
"project_version": 0,
"server": "demo",
"Tool": {
"Group": [],
"GlobalVariables": [],
"UserCommand": [],
"Dashboard": [],
"DataTable": [],
"Trigger": [
{
"name": "OnOpen",
"fn": ""
},
{
"name": "OnReset",
"fn": ""
},
{
"name": "OnStart",
"fn": ""
},
{
"name": "OnStop",
"fn": ""
}
],
"gridHelper": {
"axesEnabled": true,
"axesSize": 5,
"axesColor": 14540253,
"axesWidth": 2,
"gridEnabled": true,
"gridSize": 1000,
"gridDivisions": 1000,
"gridColor": 14540253,
"gridOpacity": 1,
"backgroundColor": 16119285,
"snapEnabled": true,
"snapDistance": 0.25
}
},
"elevator": [],
"wall": [],
"pillar": []
}

39
tw_zhanghui/scripts/01.ts
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// 充电
await RCS.cancelTasks('3')
await RCS.agvToCharger('3', 'charger1')
// 初始 6_2 的右姿态，转到 6_2 的左姿态
await RCS.cancelTasks('3');
await RCS.agvMove('3', '4_2', '', { priority: 1, forceStartWayPointId: '6_2', forceStartDirection: 'RIGHT' })
/* 立刻载货 */
await RCS.cancelTasks('3');
await RCS.agvLoad('3', '105_105', { priority: 1, forceStartWayPointId: '4_2', forceStartDirection: 'LEFT' })
/* 立刻卸货 */
await RCS.cancelTasks('3');
await RCS.agvUnload('3', '105_105', { priority: 1, forceStartWayPointId: '4_2', forceStartDirection: 'LEFT' })
/* 3_2 -> 2_2 -> 1_2 */
await RCS.cancelTasks('3');
await RCS.agvMove('3', '1_2', '', { priority: 1, forceStartWayPointId: '4_2', forceStartDirection: 'LEFT' })
/* 5_2 -> 4_2 -> 3_2 -> 2_2 -> 1_2 -> load -> 2_2 -> unload */
await RCS.cancelTasks('3');
await RCS.agvCarry('3', 'rack1/0/0/0', 'rack1/1/0/0', { priority: 1, forceStartWayPointId: '6_2', forceStartDirection: 'RIGHT' })
/* 5_2 -> 4_2 -> 3_2 -> 2_2 -> 1_2 -> load -> 2_2 -> 3_2 -> 4_2 -> 5_2 -> 6_2 -> Rotation180 -> 5_2 -> 4_2 -> unload */
await RCS.cancelTasks('3');
await RCS.agvCarry('3', 'rack1/0/0/0', '105_105', { priority: 1, forceStartWayPointId: '6_2', forceStartDirection: 'RIGHT' })
/* 5_2 -> 4_2 -> 3_2 -> 2_2 -> 1_2 -> load */
await RCS.cancelTasks('3');
await RCS.agvLoad('3', 'rack1/0/0/0', { priority: 1, forceStartWayPointId: '6_2', forceStartDirection: 'RIGHT' })
/* 4_2 -> 5_2 -> 6_2 -> Rotation180 -> 5_2 -> 4_2 -> load */
await RCS.cancelTasks('3');
await RCS.agvLoad('3', '105_105', { priority: 1, forceStartWayPointId: '3_2', forceStartDirection: 'RIGHT' })
/* Rotation180 -> 5_2 -> 4_2 -> unload */
await RCS.cancelTasks('3');
await RCS.agvUnload('3', '105_105', { priority: 1, forceStartWayPointId: '6_2', forceStartDirection: 'RIGHT' })

47
tw_zhanghui/scripts/02.ts
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// 动画
const cl2 = Model.getClx('199')
const palletId = 'pallet1125'
const yy = Model.getPositionByEntityId(palletId).y
cl2.addTravel('1')
cl2.addRotation(-90)
cl2.addTravel('8')
cl2.addArmRaise(yy)
cl2.addArmExtender()
cl2.addLoad(palletId)
cl2.addArmRetractor()
cl2.addArmLower()
cl2.addTravel('1')
cl2.addRotation(0)
cl2.addTravel('36')
cl2.addArmRaise(0.3)
cl2.addArmExtender()
cl2.addArmLower()
cl2.addUnload(palletId, '47')
cl2.addArmRetractor()
cl2.addTravel('38')
cl2.taskStartRun()
// 动画
const cl2 = Model.getCl2('ptr1')
const palletId = 'pallet1124'
const yy = Model.getPositionByEntityId(palletId).y
cl2.addTravel('23')
cl2.addRotation(90)
cl2.addTravel('27')
cl2.addArmRaise(yy)
cl2.addArmExtender()
cl2.addLoad(palletId)
cl2.addArmRetractor()
cl2.addArmLower()
cl2.addTravel('23')
cl2.addRotation(-90)
cl2.addTravel('20')
cl2.addArmRaise(0.2)
cl2.addArmExtender()
cl2.addArmLower()
cl2.addUnload(palletId, '20')
cl2.addArmRetractor()
cl2.addTravel('17')
cl2.taskStartRun()

62
tw_zhanghui/virtual_executor.json
View File

@ -0,0 +1,62 @@
[
{
"id": "3",
"t": "cl2",
"v": true,
"tf": [
[
6.44,
0,
0
],
[
0,
0,
0
],
[
1.5,
1.98,
1.5
]
],
"dt": {
"in": [],
"out": [],
"center": [],
"ptrWidth": 1.5,
"ptrDepth": 1.5,
"ptrHeight": 1.98
}
},
{
"id": "4",
"t": "clx",
"v": true,
"tf": [
[
6.44,
0,
0
],
[
0,
0,
0
],
[
1.65,
3.358,
1.65
]
],
"dt": {
"in": [],
"out": [],
"center": [],
"ptrWidth": 1.5,
"ptrDepth": 1.5,
"ptrHeight": 1.98
}
}
]
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