From 45a59a504189a44f0b7229c702a153f0c0687f44 Mon Sep 17 00:00:00 2001
From: luoyifan <luoyifan@qq.com>
Date: Tue, 8 Jul 2025 14:20:45 +0800
Subject: [PATCH] CL2 demo

---
 tw_test/scripts/CL2_DEMO.ts | 44 ++++++++++++++++++++++++++++++++++++++++++++
 tw_test/scripts/Yvan.ts     | 14 +++++++++++++-
 2 files changed, 57 insertions(+), 1 deletion(-)
 create mode 100644 tw_test/scripts/CL2_DEMO.ts

diff --git a/tw_test/scripts/CL2_DEMO.ts b/tw_test/scripts/CL2_DEMO.ts
new file mode 100644
index 0000000..450b22d
--- /dev/null
+++ b/tw_test/scripts/CL2_DEMO.ts
@@ -0,0 +1,44 @@
+const gstore = '105_105'
+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
+    if (dd) {
+        // 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) {
+                continue;
+            }
+            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)
+                await RCS.agvCarry('3', gstore, loc)
+                await RCS.waitTaskFinish('3')
+                continue;
+            }
+        }
+        
+
+    } else {
+        // 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('/')
+            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('3', rack + '/' + bay + '/' + level + '/' + cell, gstore)
+                await RCS.waitTaskFinish('3')
+            }
+        }
+
+        if (!has) {
+            LCC.log('货架没有空托盘，无法执行')
+        }
+    }
+}
\ No newline at end of file
diff --git a/tw_test/scripts/Yvan.ts b/tw_test/scripts/Yvan.ts
index ba6b639..aa0ae2d 100644
--- a/tw_test/scripts/Yvan.ts
+++ b/tw_test/scripts/Yvan.ts
@@ -1 +1,13 @@
-await RCS.agvMove('3', '10_4')
\ No newline at end of file
+// 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.log('1')
+// await RCS.agvCarry('3', '105_105', 'rack2/0/1/0')
+
+// LCC.log('2')
+// await RCS.waitTaskFinish('3')
+// LCC.log('3')
\ No newline at end of file