Merge remote-tracking branch 'origin/master'

tw_test/floor/f1.json

@@ -148,7 +148,7 @@
     "tf": [
       [
         1,
-        0.01,
+        0,
         0
       ],
       [
@@ -197,7 +197,7 @@
     "tf": [
       [
         2.1,
-        0.01,
+        0,
         0
       ],
       [
@@ -248,7 +248,7 @@
     "tf": [
       [
         3.39,
-        0.01,
+        0,
         0
       ],
       [
@@ -299,7 +299,7 @@
     "tf": [
       [
         4.44,
-        0.01,
+        0,
         0
       ],
       [
@@ -357,7 +357,7 @@
     "tf": [
       [
         5.44,
-        0.01,
+        0,
         0
       ],
       [
@@ -392,7 +392,7 @@
     "tf": [
       [
         6.44,
-        0.01,
+        0,
         0
       ],
       [
@@ -431,7 +431,7 @@
     "tf": [
       [
         -0.29,
-        0.01,
+        0,
         0
       ],
       [
@@ -457,6 +457,13 @@
           {
               "item": "rack3",
               "bay": 1,
+              "level": 0,
+              "cell": 0,
+              "direction": "up"
+          },
+        {
+          "item": "rack3",
+          "bay": 1,
           "level": 1,
           "cell": 0,
           "direction": "up"
@@ -480,7 +487,7 @@
     "tf": [
       [
         -1.39,
-        0.01,
+        0,
         0
       ],
       [
@@ -508,6 +515,13 @@
           {
               "item": "rack3",
               "bay": 0,
+              "level": 0,
+              "cell": 0,
+              "direction": "up"
+          },
+        {
+          "item": "rack3",
+          "bay": 0,
           "level": 1,
           "cell": 0,
           "direction": "up"
@@ -531,7 +545,7 @@
     "tf": [
       [
         -2.34,
-        0.01,
+        0,
         0
       ],
       [
@@ -566,7 +580,7 @@
     "tf": [
       [
         -3.34,
-        0.01,
+        0,
         0
       ],
       [
@@ -601,7 +615,7 @@
     "tf": [
       [
         -4.34,
-        0.01,
+        0,
         0
       ],
       [
@@ -640,7 +654,7 @@
     "tf": [
       [
         -4.34,
-        0.01,
+        0,
         -1
       ],
       [
@@ -684,7 +698,7 @@
     "tf": [
       [
         -4.34,
-        0.01,
+        0,
         -2
       ],
       [

tw_test/scripts/run1.ts

@@ -1,12 +1,24 @@
-const v = await RCS.agvCarry('3', 'rack2/0/0/0', 'rack1/1/1/0', { priority: 1 })
+// const v = await RCS.agvCarry('3', 'rack1/1/1/0', 'rack2/1/1/0', { 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 })
-// const v = await RCS.agvCarry('3','105_105', 'rack1/1/1/0', { priority: 1 })
-// const v = await RCS.agvMove('3', '6_4')
-// await RCS.cancelTasks('3')
-
+// await RCS.agvCarry('3', 'rack2/0/1/0', '105_105', { priority: 1 })
+// await RCS.agvCarry('3', '105_105', 'rack1/1/1/0', { priority: 1 })
+// await RCS.agvCarry('3','rack1/1/1/0','105_105',  { priority: 1 })
+// 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')
 // await RCS.agvInfo('4')
 // await RCS.cancelTasks("4")
-// const v = await RCS.agvCarry('4', '108_108/0/0/0', 'rack3/0/2/0', { priority: 1 })
-// const v = await RCS.agvCarry('4', 'rack3/0/2/0', 'rack3/1/1/0',  { priority: 1 })
+// await RCS.agvMove('4', '1_4', 'RIGHT')
+// const v = await RCS.agvCarry('4', '108_108/0/0/0', 'rack3/0/1/0', { priority: 1 })
+const v = await RCS.agvUnload('4', '108_108/0/0/0', { priority: 1 })
+
+// const v = await RCS.agvCarry('4', 'rack3/0/1/0', 'rack3/1/2/0',  { priority: 1 })
+
+// await LCC.moveInv('TP001', 'AGV_3')