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45 lines
1.6 KiB
45 lines
1.6 KiB
const gstore = '108_108'
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const agvId = '4'
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const demoLocList = ['rack3/0/2/0', 'rack3/1/2/0']
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const demoLocList2 = ['rack3/0/2/0', 'rack3/1/2/0'].reverse()
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while (true) {
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await LCC.sleep(3000)
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const [dd] = (await LCC.queryInv({ rack: gstore })).data
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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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for (const loc of 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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LCC.log('agvCarry', gstore, loc)
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await RCS.agvCarry(agvId, gstore, loc)
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await RCS.waitTaskFinish(agvId)
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continue;
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}
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}
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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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let has = false
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for (const loc of demoLocList2) {
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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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has = true
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LCC.log('agvCarry', rack + '/' + bay + '/' + level + '/' + cell, gstore)
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await RCS.agvCarry(agvId, rack + '/' + bay + '/' + level + '/' + cell, gstore)
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await RCS.waitTaskFinish(agvId)
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}
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}
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if (!has) {
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LCC.log('货架没有空托盘，无法执行')
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}
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}
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}
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