update

opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/V1RequestHandler.java

@@ -296,6 +296,19 @@ public class V1RequestHandler
 //    return jsonBinder.toJson("");
   }
 
+//  private Object handlePostAgvTaskWithdrawal(Request request, Response response)
+//      throws KernelRuntimeException {
+//
+//    response.type(HttpConstants.CONTENT_TYPE_TEXT_PLAIN_UTF8);
+//
+//    //可能会有动作阻塞，所以需要初始化动作状态
+//    vehicleHandler.initActionStatus(request.params(":NAME"));
+//    //重新路由，需要清理车辆映射订单ID
+//    ExecuteMove.resetOrder(request.params(":NAME"));
+//
+//    return jsonBinder.toJson("");
+//  }
+
   private Object handlePostDispatcherTrigger(Request request, Response response)
       throws KernelRuntimeException {
     response.type(HttpConstants.CONTENT_TYPE_TEXT_PLAIN_UTF8);
@@ -452,8 +465,7 @@ public class V1RequestHandler
 
   private Object handlePostWithdrawalByVehicle(Request request, Response response)
       throws ObjectUnknownException {
-
-    //初始化动作状态
+    //初始化动作执行状态
     vehicleHandler.initActionStatus(request.params(":NAME"));
 
     //根据车辆撤销任务
@@ -463,7 +475,7 @@ public class V1RequestHandler
         disableVehicle(request)
     );
     response.type(HttpConstants.CONTENT_TYPE_TEXT_PLAIN_UTF8);
-    return "";
+    return jsonBinder.toJson("");
   }
 
   private Object handlePostPeripheralJobWithdrawal(Request request, Response response)
@@ -475,19 +487,13 @@ public class V1RequestHandler
 
   private Object handlePostVehicleRerouteRequest(Request request, Response response)
       throws ObjectUnknownException {
-    //清理车辆映射订单ID
-    ExecuteMove.resetOrder(request.params(":NAME"));
-
-    //可能会有动作阻塞，所以需要初始化动作状态
+    //初始化动作执行状态
     vehicleHandler.initActionStatus(request.params(":NAME"));
 
-    //撤销订单 todo 订单撤销后可能会有延时继续运动，所以应该考虑是否需要等待订单撤销成功
-//    ExecuteOperation.cancelOrder(request.params(":NAME"));
-
     //立即重新路由
     orderDispatcherHandler.reroute(request.params(":NAME"), forced(request));
     response.type(HttpConstants.CONTENT_TYPE_TEXT_PLAIN_UTF8);
-    return "";
+    return jsonBinder.toJson("");
   }
 
   private Object handleGetTransportOrders(Request request, Response response) {

opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/VehicleHandler.java

@@ -15,6 +15,7 @@ import java.util.Map;
 import java.util.Optional;
 import java.util.Set;
 import java.util.stream.Collectors;
+import org.opentcs.communication.http.service.ExecuteOperation;
 import org.opentcs.components.kernel.services.RouterService;
 import org.opentcs.components.kernel.services.VehicleService;
 import org.opentcs.data.ObjectUnknownException;
@@ -109,14 +110,37 @@ public class VehicleHandler {
       AgvInfo agvInfo = AdapterManage.setAdapterVehicleModel(name, jsonStr);
       vehicleService.sendCommAdapterMessage(vehicle.getReference(), agvInfo);
     } else if (type == 5) {   //上报动作完成
-      //动作完成上报
+      //动作完成，初始化动作状态
       initActionStatus(name);
-//      AgvActionStatus agvActionStatus = new AgvActionStatus();
-//      agvActionStatus.setStatus(true);
-//      vehicleService.sendCommAdapterMessage(vehicle.getReference(), agvActionStatus);
+    } else if (type == 6) {   //撤销任务
+      //可能会卡动作，先初始化动作
+      initActionStatus(name);
+      //撤销agv控制器中的运动订单
+      ExecuteOperation.cancelOrder(name);
     }
   }
 
+//  /**
+//   * 撤销已下发的AGV任务
+//   */
+//  public void postAgvTaskWithdrawal(Object data) {
+//    String jsonStr;
+//    try {
+//      jsonStr = data.toString().split("=", 2)[1];
+//    } catch (Exception e) {
+//      jsonStr = data.toString();
+//    }
+//    JSONObject jsonObject = JSON.parseObject(jsonStr);
+//    String name = jsonObject.getString("vehicle_name");
+//    Integer type = jsonObject.getInteger("type");
+//
+//    //可能会卡动作，先初始化动作
+//    initActionStatus(name);
+//
+//    //撤销agv控制器中的运动订单
+//    ExecuteOperation.cancelOrder(name);
+//  }
+
   /**
    * 初始化动作完成状态
    * @param name 车辆名称