| | |
|---|
| | | |
|---|
| | | // query current segment |
|---|
| | | Segment currSeg = segmentService.getCurrRunningSeg(agv.getId(), agv_06_up.getQrCode()); |
|---|
| | | if (null == currSeg) { |
|---|
| | | log.error("failed to find curr segment [{}]", agv.getUuid()); |
|---|
| | | } else { |
|---|
| | | |
|---|
| | | boolean responseAck = true; |
|---|
| | | TaskPosDto.PosType posType = TaskPosDto.PosType.of(currSeg.getPosType()); |
|---|
| | | assert null != posType; |
|---|
| | | switch (posType) { |
|---|
| | | case ORI_LOC: |
|---|
| | | case DEST_LOC: |
|---|
| | | break; |
|---|
| | | case ORI_STA: |
|---|
| | | case DEST_STA: |
|---|
| | | // todo |
|---|
| | | break; |
|---|
| | | default: |
|---|
| | | responseAck = false; |
|---|
| | | log.error("agv[{}] has wrong posType [{}], segment [{}]", protocol.getAgvNo(), posType.toString(), currSeg.getId()); |
|---|
| | | break; |
|---|
| | | } |
|---|
| | | |
|---|
| | | // todo:vincent 校验是否可以取放货 |
|---|
| | | if (responseAck) { |
|---|
| | | |
|---|
| | | AGV_06_DOWN agv_06_down = new AGV_06_DOWN(); |
|---|
| | | agv_06_down.setSerialNo(agv_06_up.getSerialNo()); |
|---|
| | | agv_06_down.setActionCode(agv_06_up.getActionCode()); |
|---|
| | | agv_06_down.setResult(1); |
|---|
| | | // todo:vincent 校验是否可以取放货 |
|---|
| | | |
|---|
| | | redis.push(RedisConstant.AGV_PATH_DOWN_FLAG, AgvProtocol.build(protocol.getAgvNo()).setMessageBody(agv_06_down)); |
|---|
| | | AGV_06_DOWN agv_06_down = new AGV_06_DOWN(); |
|---|
| | | agv_06_down.setSerialNo(agv_06_up.getSerialNo()); |
|---|
| | | agv_06_down.setActionCode(agv_06_up.getActionCode()); |
|---|
| | | agv_06_down.setResult(1); |
|---|
| | | |
|---|
| | | redis.push(RedisConstant.AGV_PATH_DOWN_FLAG, AgvProtocol.build(protocol.getAgvNo()).setMessageBody(agv_06_down)); |
|---|
| | | } |
|---|
| | | |
|---|
| | | } |
|---|
| | | } |
|---|
| | | |
|---|
| | | // 料仓信息包 |
|---|
