| | |
|---|
| | | , pac.getHeader().getUniqueNo() + "_" + agv_01_up.getSerialNo() |
|---|
| | | , agv_01_up); |
|---|
| | | |
|---|
| | | AgvPackage pathAckPac = AckMsgBuilder.ofSuccess(pac, ProtocolType.PATH_ACK_RESPONSE); |
|---|
| | | |
|---|
| | | AGV_B1_DOWN agv_b1_down = (AGV_B1_DOWN) pathAckPac.getBody().getMessageBody(); |
|---|
| | | agv_b1_down.setSerialNo(agv_01_up.getSerialNo()); |
|---|
| | | agv_b1_down.setPathLen(agv_01_up.getPathLen()); |
|---|
| | | ctx.writeAndFlush(pathAckPac); |
|---|
| | | |
|---|
| | | break label; |
|---|
| | | |
|---|
| | | case PICK_PLACE_REQUEST: // 取放货请求包 |
|---|
| | | |
|---|
| | | AGV_06_UP agv_06_up = (AGV_06_UP) pac.getBody().getMessageBody(); |
|---|
| | | redis.push(RedisConstant.AGV_COMPLETE_FLAG, AgvProtocol.build(uniqueNo).setMessageBody(agv_06_up)); |
|---|
| | | |
|---|
| | | break label; |
|---|
| | | |
|---|
| | | case COMMAND_ACK: // 命令包 ack |
|---|
