#

vincentlu

2025-12-29 54c5131962c735b5e1d96a9be66fffe9c7eed468

#

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/TaskPosDto.java

@@ -47,6 +47,18 @@
            this.brief = brief;
        }

        public static PosType of(String posTypeStr) {
            if (Cools.isEmpty(posTypeStr)) {
                return null;
            }
            for (PosType type : PosType.values()) {
                if (type.toString().equals(posTypeStr)) {
                    return type;
                }
            }
            throw new IllegalArgumentException(posTypeStr);
        }

    }

    public static void packagePosGroup(Map<String, List<TaskPosDto>> groups, Task task, Code code, PosType posType, String sameGroupXy) {

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

@@ -1469,16 +1469,40 @@

            // 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

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/SegmentServiceImpl.java

@@ -156,6 +156,7 @@
                .eq(Segment::getAgvId, agvId)
                .eq(Segment::getState, SegmentStateType.RUNNING.toString())
                .eq(Segment::getEndNode, codeId)
                .orderByDesc(Segment::getId)
        );

        if (Cools.isEmpty(segments)) {