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2025-06-21 288e45a990a5abf4ab50f820ed4e870e8314468e

 src/main/java/com/zy/asrs/controller/MobileController.java

@@ -464,51 +464,41 @@
     */
    @RequestMapping("/AGVMove")
    public R AGVMove(@RequestParam(required = false) String sourceStaNo
            ,@RequestParam(required = false) String staNo){
        RCSParam rcsParam = new RCSParam();
        LocalDateTime now = LocalDateTime.now();
        DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy年MM月dd日 HH:mm:ss");
        String formattedDate = now.format(formatter); // 格式化日期时间
        //网络流水号
        rcsParam.setReqId(now.toString());
        //应用标识
        rcsParam.setClientId("WMS");
        //通知时间
        rcsParam.setReqTime(formattedDate);
        RCSParam.DataBody dataBody=new RCSParam.DataBody();
        //任务号
        dataBody.setId(formattedDate);
            ,@RequestParam(required = false) String staNo
            ,Integer priority){
        String noww="aa" + new Date().getTime();

        List<RCSParam.TaskBody> taskBodyList=new ArrayList<>();
        RCSParam.TaskBody taskBody=new RCSParam.TaskBody();
        //取货类型
        taskBody.setType("load");
        taskBody.setStation(sourceStaNo);
        taskBodyList.add(taskBody);
        LinkedHashMap<String,Object> rcsParam=new LinkedHashMap<>();
        rcsParam.put("task_id",noww);
        rcsParam.put("start_location",sourceStaNo);
        rcsParam.put("start_command",1);
        rcsParam.put("target_location",staNo);
        rcsParam.put("target_command",2);
        rcsParam.put("priority",1);//优先级越小先执行
        rcsParam.put("robot_type",1);//车 辆 类 型 0:XC 1:XCD 2:XP_T 3:XP_L
        rcsParam.put("MoverID","XCD");

        RCSParam.TaskBody taskBody1=new RCSParam.TaskBody();
        //放货类型
        taskBody1.setType("unload");
        taskBody1.setStation(staNo);
        taskBodyList.add(taskBody1);

        dataBody.setTasks(taskBodyList);
        rcsParam.setData(dataBody);
        LinkedHashMap<String,Object> map=new LinkedHashMap<>();
        map.put("data",rcsParam);
        String response ="";
        Boolean bool =false;

        String msg = "";
        try {
            log.info("wms派发搬运任务给AGV搬运={}", rcsParam);
            response = new HttpHandler.Builder()
                    // .setHeaders(headParam)
                    .setUri(url)
                    .setPath(attrcs)
                    .setJson(JSON.toJSONString(rcsParam))
                    .setJson(JSON.toJSONString(map))
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            if(jsonObject.getBoolean("IsSuccess")){
            JSONObject data = jsonObject.getJSONObject("data");
            JSONObject errInfo = jsonObject.getJSONObject("err_info");
            if(data.getInteger("result")==0){
                bool = true;
            }else{
                msg=errInfo.getString("err_msg");
            }
        } catch (Exception e) {
            log.error("wms派发搬运任务给AGV搬运失败返回值={}", response);
@@ -517,13 +507,14 @@
                    , url + attrcs
                    , null
                    , "127.0.0.1"
                    , JSON.toJSONString(rcsParam)
                    , JSON.toJSONString(map)
                    , response
                    , bool
            );
        }

        if(bool){
            return R.ok();
            return R.ok(noww);
        }else {
            return R.error("下发任务失败");
        }