clx 脚本

tw_zh/scripts/ZH_CLX.ts

@@ -0,0 +1,77 @@
+const gstore = '500_500'
+const agvId = '2'
+const demoLocList = ['rack1/0/2/0', 'rack1/1/2/0', 'rack1/2/2/0', 'rack1/3/2/0']
+
+while (true) {
+    const [carInv] = (await LCC.queryInv({ rack: agvId, bay: 0, level: 0, cell: 0 })).data
+    const [dd] = (await LCC.queryInv({ rack: gstore })).data
+    // demoLocList.reverse()
+    const pp = demoLocList.pop()
+    demoLocList.push(pp)
+
+    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')
+        const freeLoc = await findFreeLoc()
+        if (carInv) {
+            // 托盘在车上
+            LCC.log('托盘在车上')
+            LCC.log(`RCS.agvUnload('${agvId}', '${freeLoc}')`)
+            await RCS.agvUnload(agvId, freeLoc)
+            await RCS.waitTaskFinish(agvId)
+            await LCC.sleep(1000)
+            continue;
+        }
+
+        LCC.log(`RCS.agvCarry('${agvId}', '${gstore}', '${freeLoc}')`)
+        await RCS.agvCarry(agvId, gstore, freeLoc)
+        await RCS.waitTaskFinish(agvId)
+
+    } else {
+        // 地上没有托盘位, 找个位置拖过去
+        if (carInv) {
+            // 托盘在车上
+            LCC.log('托盘在车上')
+            LCC.log(`RCS.agvUnload('${agvId}', '${gstore}')`)
+            await RCS.agvUnload(agvId, gstore)
+            await RCS.waitTaskFinish(agvId)
+            await LCC.sleep(1000)
+            continue;
+        }
+
+        const invLoc = await findRackInvLoc()
+        if(!invLoc){
+            LCC.log('货架没有托盘，无法执行')
+        }else{
+            LCC.log(`RCS.agvCarry('${agvId}', '${invLoc}', '${gstore}')`)
+            await RCS.agvCarry(agvId, invLoc, gstore)
+            await RCS.waitTaskFinish(agvId)
+        }
+    }
+
+    await LCC.sleep(1000)
+}
+
+async function findFreeLoc(){
+    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
+            return loc;
+        }
+    }
+}
+
+async function findRackInvLoc(){
+    for (const loc of demoLocList) {
+        const [rack, bay, level, cell] = loc.split('/')
+        const [palletLoc] = (await LCC.queryInv({ rack, bay: parseInt(bay), level: parseInt(level) })).data
+        if (palletLoc) {
+            return loc
+        }
+    }
+}