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
}