jx_test

5 months ago · c071be1dca
12 changed files with 1802 additions and 2 deletions
--- a/jx_test/envs/20.json
+++ b/jx_test/envs/20.json
@ -0,0 +1,24 @@
+{
+    "envId": 10,
+    "envName": "嘉兴物理环境",
+    "isVirtual": false,
+    "envConfig": {
+        "mqtt": {
+            "brokerUrl": "tcp://10.10.101.8:1885",
+            "username": "admin",
+            "password": "admin",
+            "websocket": "mqtt://10.10.101.8:9001"
+        },
+        "mysql": {
+            "jdbcUrl": "jdbc:p6spy:mysql://180.100.199.56:8306/rcs2_tw_zhanghui",
+            "username": "rcs2_tw_zhanghui",
+            "password": "Rcs2_tw_zhanghui"
+        },
+        "redis": {
+            "host": "180.100.199.56",
+            "port": 6379,
+            "database": 0,
+            "password": "yxt123456"
+        }
+    }
+}
--- a/jx_test/envs/23.json
+++ b/jx_test/envs/23.json
@ -0,0 +1,23 @@
+{
+    "envId": 13,
+    "envName": "嘉兴测试1",
+    "isVirtual": true,
+    "envConfig": {
+        "mqtt": {
+            "brokerUrl": "tcp://180.100.199.56:7097",
+            "username": "galaxis",
+            "password": "Admin1234_",
+            "websocket": "mqtt://180.100.199.56:9097"
+        },
+        "mysql": {
+            "jdbc-url": "jdbc:p6spy:mysql://180.100.199.56:8306/rcs2_tw_zhanghui",
+            "username": "rcs2_tw_zhanghui",
+            "password": "Rcs2_tw_zhanghui"
+        },
+        "redis": {
+            "host": "127.0.0.1",
+            "port": 6379,
+            "database": 0
+        }
+    }
+}
--- a/jx_test/floor/f1.json
+++ b/jx_test/floor/f1.json
--- a/jx_test/project.json
+++ b/jx_test/project.json
@ -0,0 +1,53 @@
+{
+  "projectUuid" : "jx_cd",
+  "projectLabel" : "嘉兴测试场地",
+  "subSystemList" : [ "RCS" ],
+  "projectFileLocation" : "",
+  "directoryData" : [ {
+    "label" : "仓库楼层",
+    "items" : [ {
+      "catalogCode" : "f1",
+      "label" : "一楼 (f1)"
+    } ]
+  } ],
+  "otherData" : {
+    "Tool" : {
+      "Group" : [ ],
+      "GlobalVariables" : [ ],
+      "UserCommand" : [ ],
+      "Dashboard" : [ ],
+      "DataTable" : [ ],
+      "Trigger" : [ {
+        "name" : "OnOpen",
+        "fn" : ""
+      }, {
+        "name" : "OnReset",
+        "fn" : ""
+      }, {
+        "name" : "OnStart",
+        "fn" : ""
+      }, {
+        "name" : "OnStop",
+        "fn" : ""
+      } ],
+      "gridHelper" : {
+        "axesEnabled" : true,
+        "axesSize" : 5,
+        "axesColor" : 11184810,
+        "axesWidth" : 2,
+        "groundColor" : 16777215,
+        "gridEnabled" : true,
+        "gridSize" : 1000,
+        "gridDivisions" : 1000,
+        "gridColor" : 14540253,
+        "gridOpacity" : 1,
+        "backgroundColor" : 16119285,
+        "snapEnabled" : true,
+        "snapDistance" : 0.25
+      }
+    },
+    "elevator" : [ ],
+    "wall" : [ ],
+    "pillar" : [ ]
+  }
+}
--- a/jx_test/scripts/CL2_DEMO.ts
+++ b/jx_test/scripts/CL2_DEMO.ts
@ -0,0 +1,61 @@
+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')
+        }
+    }
+}
--- a/jx_test/scripts/CLX_DEMO.ts
+++ b/jx_test/scripts/CLX_DEMO.ts
@ -0,0 +1,61 @@
+const gstore = '108_108'
+const agvId = '4'
+const demoLocList = ['rack3/0/1/0', 'rack3/1/1/0', 'rack3/0/2/0', 'rack3/1/2/0']
+const demoLocList2 = ['rack3/0/1/0', 'rack3/1/1/0', 'rack3/0/2/0', 'rack3/1/2/0'].reverse()
+
+while (true) {
+    await LCC.sleep(3000)
+    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
+        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('agvCarry', 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}', '${gstore}')`)
+                await RCS.agvCarry(agvId, loc, gstore)
+                await RCS.waitTaskFinish(agvId)
+                await LCC.sleep(1000)
+                break
+            }
+        }
+
+        if (!has) {
+            LCC.log('货架没有空托盘，无法执行')
+        }
+    }
+}
--- a/jx_test/scripts/ZH_CL2.ts
+++ b/jx_test/scripts/ZH_CL2.ts
@ -0,0 +1,85 @@
+const gstore = '504_501'
+const agvId = '1'
+const demoLocList = ['rack1/0/1/0', 'rack1/1/1/0', 'rack1/2/1/0', 'rack1/3/1/0']
+
+while (true) {
+    const [carInv] = (await LCC.queryInv({ rack: agvId, bay: 0, level: 0, cell: 0 })).data
+    const [dd] = (await LCC.queryInv({ rack: gstore })).data
+    // demoLocList.reverse()
+
+
+    if (dd) {
+        // 地堆上有托盘, 找一个空货位放过去
+        LCC.log('地堆上有托盘')
+        const freeLoc = await findFreeLoc()
+        if (carInv) {
+            // 托盘在车上
+            LCC.log('托盘在车上')
+            LCC.log(`RCS.agvUnload('${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}', '${gstore}')`)
+            await RCS.agvCarry(agvId, invLoc, gstore)
+            await RCS.waitTaskFinish(agvId)
+        }
+    }
+
+    await LCC.sleep(1000)
+}
+
+async function findFreeLoc() {
+    for (const loc of shuffleArray(demoLocList)) {
+        const [rack, bay, level] = loc.split('/')
+        if (!rack) {
+            continue
+        }
+        const [emptyLoc] = (await LCC.queryInv({ rack, bay: parseInt(bay), level: parseInt(level) })).data
+        if (!emptyLoc) {
+            // 这是一个好位置
+            return loc
+        }
+    }
+}
+
+async function findRackInvLoc() {
+    for (const loc of shuffleArray(demoLocList)) {
+        const [rack, bay, level, cell] = loc.split('/')
+        const [palletLoc] = (await LCC.queryInv({ rack, bay: parseInt(bay), level: parseInt(level) })).data
+        if (palletLoc) {
+            return loc
+        }
+    }
+}
+
+// 打乱数组顺序的函数
+function shuffleArray(array) {
+    for (let i = array.length - 1; i > 0; i--) {
+        const j = Math.floor(Math.random() * (i + 1)); // 随机选择一个位置 j
+        [array[i], array[j]] = [array[j], array[i]]   // 交换元素
+    }
+    return array
+}
--- a/jx_test/scripts/ZH_CLX.ts
+++ b/jx_test/scripts/ZH_CLX.ts
@ -0,0 +1,85 @@
+const gstore = '500_500'
+const agvId = '2'
+const demoLocList = ['rack1/0/2/0', 'rack1/1/2/0', 'rack1/2/2/0', 'rack1/3/2/0']
+
+while (true) {
+    const [carInv] = (await LCC.queryInv({ rack: agvId, bay: 0, level: 0, cell: 0 })).data
+    const [dd] = (await LCC.queryInv({ rack: gstore })).data
+    // demoLocList.reverse()
+
+
+    if (dd) {
+        // 地堆上有托盘, 找一个空货位放过去
+        LCC.log('地堆上有托盘')
+        const freeLoc = await findFreeLoc()
+        if (carInv) {
+            // 托盘在车上
+            LCC.log('托盘在车上')
+            LCC.log(`RCS.agvUnload('${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 shuffleArray(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 shuffleArray(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
+        }
+    }
+}
+
+// 打乱数组顺序的函数
+function shuffleArray(array) {
+    for (let i = array.length - 1; i > 0; i--) {
+        const j = Math.floor(Math.random() * (i + 1)); // 随机选择一个位置 j
+        [array[i], array[j]] = [array[j], array[i]]   // 交换元素
+    }
+    return array
+}
--- a/jx_test/scripts/all_test.ts
+++ b/jx_test/scripts/all_test.ts
@ -0,0 +1,35 @@
+// 初始 6_2 的右姿态，转到 6_2 的左姿态
+await RCS.cancelTasks('3');
+await RCS.agvMove('3', '4_2', '', { priority: 1, forceStartWayPointId: '6_2', forceStartDirection: 'RIGHT' })
+
+/* 立刻载货 */
+await RCS.cancelTasks('3');
+await RCS.agvLoad('3', '105_105', { priority: 1, forceStartWayPointId: '4_2', forceStartDirection: 'LEFT' })
+
+/* 立刻卸货 */
+await RCS.cancelTasks('3');
+await RCS.agvUnload('3', '105_105', { priority: 1, forceStartWayPointId: '4_2', forceStartDirection: 'LEFT' })
+
+/* 3_2 -> 2_2 -> 1_2 */
+await RCS.cancelTasks('3');
+await RCS.agvMove('3', '1_2', '', { priority: 1, forceStartWayPointId: '4_2', forceStartDirection: 'LEFT' })
+
+/* 5_2 -> 4_2 -> 3_2 -> 2_2 -> 1_2 -> load -> 2_2 -> unload */
+await RCS.cancelTasks('3');
+await RCS.agvCarry('3', 'rack1/0/0/0', 'rack1/1/0/0', { priority: 1, forceStartWayPointId: '6_2', forceStartDirection: 'RIGHT' })
+
+/* 5_2 -> 4_2 -> 3_2 -> 2_2 -> 1_2 -> load -> 2_2 -> 3_2 -> 4_2 -> 5_2 -> 6_2 -> Rotation180 -> 5_2 -> 4_2 -> unload */
+await RCS.cancelTasks('3');
+await RCS.agvCarry('3', 'rack1/0/0/0', '105_105', { priority: 1, forceStartWayPointId: '6_2', forceStartDirection: 'RIGHT' })
+
+/* 5_2 -> 4_2 -> 3_2 -> 2_2 -> 1_2 -> load */
+await RCS.cancelTasks('3');
+await RCS.agvLoad('3', 'rack1/0/0/0', { priority: 1, forceStartWayPointId: '6_2', forceStartDirection: 'RIGHT' })
+
+/* 4_2 -> 5_2 -> 6_2 -> Rotation180 -> 5_2 -> 4_2 -> load */
+await RCS.cancelTasks('3');
+await RCS.agvLoad('3', '105_105', { priority: 1, forceStartWayPointId: '3_2', forceStartDirection: 'RIGHT' })
+
+/* Rotation180 -> 5_2 -> 4_2 -> unload */
+await RCS.cancelTasks('3');
+await RCS.agvUnload('3', '105_105', { priority: 1, forceStartWayPointId: '6_2', forceStartDirection: 'RIGHT' })
--- a/jx_test/scripts/charger.ts
+++ b/jx_test/scripts/charger.ts
@ -0,0 +1,3 @@
+await RCS.cancelTasks('3')
+await RCS.agvToCharger('3', 'charger1')
+// await RCS.agvInfo('4');
--- a/jx_test/scripts/run1.ts
+++ b/jx_test/scripts/run1.ts
@ -0,0 +1,26 @@
+// 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 })
+// 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")
+// 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')
+
+
--- a/tw_zh/envs/13.json
+++ b/tw_zh/envs/13.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",