cl2 基于设备状态和任务状态分步生成设备任务消息

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
       ],
       [
@@ -454,6 +454,13 @@
       ],
       "center": [],
       "linkStore": [
+          {
+              "item": "rack3",
+              "bay": 1,
+              "level": 0,
+              "cell": 0,
+              "direction": "up"
+          },
         {
           "item": "rack3",
           "bay": 1,
@@ -480,7 +487,7 @@
     "tf": [
       [
         -1.39,
-        0.01,
+        0,
         0
       ],
       [
@@ -505,6 +512,13 @@
       ],
       "center": [],
       "linkStore": [
+          {
+              "item": "rack3",
+              "bay": 0,
+              "level": 0,
+              "cell": 0,
+              "direction": "up"
+          },
         {
           "item": "rack3",
           "bay": 0,
@@ -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
       ],
       [
@@ -861,4 +875,4 @@
       "strokeWidth": 0.1
     }
   }
-]
+]

tw_test/scripts/CLX_DEMO.ts

@@ -23,7 +23,7 @@ while (true) {
                 break;
             }
         }
-        
+
 
     } else {
         // 地上没有托盘位, 找个位置拖过去
@@ -45,7 +45,7 @@ while (true) {
             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)
@@ -58,4 +58,4 @@ while (true) {
             LCC.log('货架没有空托盘，无法执行')
         }
     }
-}
+}

tw_test/scripts/Yvan.ts

@@ -14,4 +14,4 @@ await LCC.queryInv({ rack, bay: parseInt(bay), level: parseInt(level) })
 
 // LCC.log('2')
 // await RCS.waitTaskFinish('3')
-// LCC.log('3')
+// LCC.log('3')

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')