CLX demo

tw_test/floor/f1.json

@@ -845,7 +845,7 @@
       ],
       [
         0,
-        -90,
+        0,
         0
       ],
       [

tw_test/scripts/CLX_DEMO.ts

@@ -0,0 +1,45 @@
+const gstore = '108_108'
+const agvId = '4'
+const demoLocList = ['rack3/0/2/0', 'rack3/1/2/0']
+const demoLocList2 = ['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)
+                continue;
+            }
+        }
+        
+
+    } else {
+        // 地上没有托盘位, 找个位置拖过去
+        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('agvCarry', rack + '/' + bay + '/' + level + '/' + cell, gstore)
+                await RCS.agvCarry(agvId, rack + '/' + bay + '/' + level + '/' + cell, gstore)
+                await RCS.waitTaskFinish(agvId)
+            }
+        }
+
+        if (!has) {
+            LCC.log('货架没有空托盘，无法执行')
+        }
+    }
+}