From 8bf03fb22f95cbf976a11bf8c641a1dbf19dbcd3 Mon Sep 17 00:00:00 2001
From: luoyifan <luoyifan@qq.com>
Date: Thu, 10 Jul 2025 18:10:23 +0800
Subject: [PATCH] =?UTF-8?q?=E5=8F=B0=E6=B9=BE=E5=B1=95=E4=BC=9A=E8=84=9A?=
 =?UTF-8?q?=E6=9C=AC?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 tw_test/scripts/CL2_DEMO.ts | 61 --------------------------------
 tw_test/scripts/ZH_CL2.ts   | 85 +++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 85 insertions(+), 61 deletions(-)
 delete mode 100644 tw_test/scripts/CL2_DEMO.ts
 create mode 100644 tw_test/scripts/ZH_CL2.ts

diff --git a/tw_test/scripts/CL2_DEMO.ts b/tw_test/scripts/CL2_DEMO.ts
deleted file mode 100644
index 2f35439..0000000
--- a/tw_test/scripts/CL2_DEMO.ts
+++ /dev/null
@@ -1,61 +0,0 @@
-const gstore = '105_105'
-const agvId = '3'
-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) {
-
-    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}', '${loc}')`)
-                await RCS.agvCarry(agvId, gstore, loc)
-                await RCS.waitTaskFinish(agvId)
-                await LCC.sleep(1000)
-                break;
-            }
-        }
-        
-
-    } else {
-        // 地上没有托盘位, 找个位置拖过去
-        const [carInv] = (await LCC.queryInv({ rack: agvId, bay: 0, level: 0, cell: 0 })).data
-        if (carInv) {
-            LCC.log('托盘在车上')
-            LCC.log(`RCS.agvUnload('${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')
-        }
-    }
-}
\ No newline at end of file
diff --git a/tw_test/scripts/ZH_CL2.ts b/tw_test/scripts/ZH_CL2.ts
new file mode 100644
index 0000000..1e03f0f
--- /dev/null
+++ b/tw_test/scripts/ZH_CL2.ts
@@ -0,0 +1,85 @@
+const gstore = '504_501'
+const agvId = '1'
+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 [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}', '${loc}')`)
+                await RCS.agvCarry(agvId, gstore, loc)
+                await RCS.waitTaskFinish(agvId)
+                await LCC.sleep(1000)
+                break;
+            }
+        }
+
+
+    } else {
+        // 地上没有托盘位, 找个位置拖过去
+        const [carInv] = (await LCC.queryInv({ rack: agvId, bay: 0, level: 0, cell: 0 })).data
+        if (carInv) {
+            LCC.log('托盘在车上')
+            LCC.log(`RCS.agvUnload('${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')
+        }
+    }
+}
+
+async function freeLoc(){
+    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 invLoc(){
+    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) {
+            return loc
+        }
+    }
+}