From 49bd2172d26fe32bd425c6c5d3316032fce578d2 Mon Sep 17 00:00:00 2001
From: yvan <luoyifan@qq.com>
Date: Thu, 10 Jul 2025 18:45:29 +0800
Subject: [PATCH] =?UTF-8?q?=E5=8F=B0=E6=B9=BE=E8=84=9A=E6=9C=AC?=
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---
 tw_test/envs/3.json       |  4 +--
 tw_test/scripts/ZH_CL2.ts | 62 ++++++++++++++++++++---------------------------
 2 files changed, 28 insertions(+), 38 deletions(-)

diff --git a/tw_test/envs/3.json b/tw_test/envs/3.json
index 6803895..06e3e86 100644
--- a/tw_test/envs/3.json
+++ b/tw_test/envs/3.json
@@ -4,10 +4,10 @@
     "isVirtual": true,
     "envConfig": {
         "mqtt": {
-            "brokerUrl": "tcp://127.0.0.1:1883",
+            "brokerUrl": "tcp://10.10.101.8:1883",
             "username": "user",
             "password": "user",
-            "websocket": "mqtt://127.0.0.1:7883"
+            "websocket": "mqtt://10.10.101.8:7883"
         },
         "mysql": {
             "jdbc-url": "jdbc:p6spy:mysql://180.100.199.56:8306/rcs2_tw_zhanghui",
diff --git a/tw_test/scripts/ZH_CL2.ts b/tw_test/scripts/ZH_CL2.ts
index 1e03f0f..88678cc 100644
--- a/tw_test/scripts/ZH_CL2.ts
+++ b/tw_test/scripts/ZH_CL2.ts
@@ -4,63 +4,53 @@ const demoLocList = ['rack1/0/1/0', 'rack1/1/1/0', 'rack1/2/1/0', 'rack1/3/1/0']
 const demoLocList2 = [ ...demoLocList ].reverse()
 
 while (true) {
-
+    const [carInv] = (await LCC.queryInv({ rack: agvId, bay: 0, level: 0, cell: 0 })).data
     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
         LCC.log('地堆上有托盘')
-        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(`RCS.agvCarry('${agvId}', '${gstore}', '${loc}')`)
-                await RCS.agvCarry(agvId, gstore, loc)
-                await RCS.waitTaskFinish(agvId)
-                await LCC.sleep(1000)
-                break;
-            }
+        const freeLoc = await findFreeLoc()
+        if (carInv) {
+            // 托盘在车上
+            LCC.log('托盘在车上')
+            LCC.log(`RCS.agvUnload('${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
-        const [carInv] = (await LCC.queryInv({ rack: agvId, bay: 0, level: 0, cell: 0 })).data
         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;
-        } 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(`RCS.agvCarry('${agvId}', '${loc}', '${gstore}')`)
-                await RCS.agvCarry(agvId, loc, gstore)
-                await RCS.waitTaskFinish(agvId)
-                await LCC.sleep(1000)
-                break
-            }
         }
 
-        if (!has) {
-            LCC.log('货架没有空托盘，无法执行')
+        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 freeLoc(){
+async function findFreeLoc(){
     for (const loc of demoLocList) {
         const [rack, bay, level] = loc.split('/')
         if (!rack) {
@@ -74,7 +64,7 @@ async function freeLoc(){
     }
 }
 
-async function invLoc(){
+async function findRackInvLoc(){
     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