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85 lines
2.6 KiB
85 lines
2.6 KiB
const gstore = '500_500'
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const agvId = '2'
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const demoLocList = ['rack1/0/2/0', 'rack1/1/2/0', 'rack1/2/2/0', 'rack1/3/2/0']
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while (true) {
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const [carInv] = (await LCC.queryInv({ rack: agvId, bay: 0, level: 0, cell: 0 })).data
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const [dd] = (await LCC.queryInv({ rack: gstore })).data
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// demoLocList.reverse()
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if (dd) {
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// 地堆上有托盘, 找一个空货位放过去
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LCC.log('地堆上有托盘')
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const freeLoc = await findFreeLoc()
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if (carInv) {
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// 托盘在车上
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LCC.log('托盘在车上')
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LCC.log(`RCS.agvUnload('${agvId}', '${freeLoc}')`)
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await RCS.agvUnload(agvId, freeLoc)
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await RCS.waitTaskFinish(agvId)
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await LCC.sleep(1000)
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continue
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}
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LCC.log(`RCS.agvCarry('${agvId}', '${gstore}', '${freeLoc}')`)
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await RCS.agvCarry(agvId, gstore, freeLoc)
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await RCS.waitTaskFinish(agvId)
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} else {
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// 地上没有托盘位, 找个位置拖过去
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if (carInv) {
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// 托盘在车上
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LCC.log('托盘在车上')
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LCC.log(`RCS.agvUnload('${agvId}', '${gstore}')`)
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await RCS.agvUnload(agvId, gstore)
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await RCS.waitTaskFinish(agvId)
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await LCC.sleep(1000)
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continue
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}
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const invLoc = await findRackInvLoc()
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if (!invLoc) {
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LCC.log('货架没有托盘，无法执行')
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} else {
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LCC.log(`RCS.agvCarry('${agvId}', '${invLoc}', '${gstore}')`)
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await RCS.agvCarry(agvId, invLoc, gstore)
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await RCS.waitTaskFinish(agvId)
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}
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}
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await LCC.sleep(1000)
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}
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async function findFreeLoc() {
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for (const loc of shuffleArray(demoLocList)) {
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const [rack, bay, level] = loc.split('/')
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if (!rack) {
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continue
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}
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const [emptyLoc] = (await LCC.queryInv({ rack, bay: parseInt(bay), level: parseInt(level) })).data
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if (!emptyLoc) {
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// 这是一个好位置
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return loc
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}
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}
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}
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async function findRackInvLoc() {
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for (const loc of shuffleArray(demoLocList)) {
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const [rack, bay, level, cell] = loc.split('/')
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const [palletLoc] = (await LCC.queryInv({ rack, bay: parseInt(bay), level: parseInt(level) })).data
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if (palletLoc) {
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return loc
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}
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}
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}
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// 打乱数组顺序的函数
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function shuffleArray(array) {
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for (let i = array.length - 1; i > 0; i--) {
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const j = Math.floor(Math.random() * (i + 1)); // 随机选择一个位置 j
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[array[i], array[j]] = [array[j], array[i]] // 交换元素
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}
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return array
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}
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