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vincentlu

2025-12-29 54c5131962c735b5e1d96a9be66fffe9c7eed468

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java

@@ -1469,7 +1469,28 @@

            // 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;
                }

                if (responseAck) {

            // todo:vincent 校验是否可以取放货

@@ -1481,6 +1502,9 @@
            redis.push(RedisConstant.AGV_PATH_DOWN_FLAG, AgvProtocol.build(protocol.getAgvNo()).setMessageBody(agv_06_down));
        }

            }
        }

        // 料仓信息包
        if (msgBody instanceof AGV_70_UP) {
            AGV_70_UP agv_70_up = (AGV_70_UP) msgBody;