#

luxiaotao1123

2025-06-28 1da741e8519e13d8f92824bf8ef15b92800b70fc

 zy-acs-gateway/src/main/java/com/zy/acs/gateway/handler/AgvPackageServerHandler.java

@@ -48,6 +48,13 @@
                        , 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 COMMAND_ACK:   // 命令包 ack