fix: 库位释放库位优化，坐标系偏差值功能增加

imcs-admin-boot/imcs-business-controller/src/main/java/com/github/zuihou/business/controller/operationManagementCenter/ToolbarController.java

@@ -140,6 +140,39 @@ public class ToolbarController {
         return R.success();
     }
 
+    @ApiOperation(value = "手动运行机械臂", notes = "手动运行机械臂")
+    @PostMapping("/mechanicalMotion")
+    public R mechanicalMotion(@RequestBody Map<String, String> data) {
+        String start = data.containsKey("start")? data.get("start").toString() : null;
+        String goal = data.containsKey("goal")? data.get("goal").toString() : null;
+        if(StringUtils.isEmpty(start) || StringUtils.isEmpty(goal)) return R.fail("数据传参为空");
+
+        if(start.length()!=10 || goal.length()!=10)return R.fail("参数长度不为10");
+
+        String instructionUrl = "/api/GetCallbackList";
+
+        JSONObject jsonParam = new JSONObject();
+        jsonParam.put("taskId",  "1");
+        jsonParam.put("taskNodeId",  "1");
+        jsonParam.put("taskType",  "1");
+        jsonParam.put("code",  "1");
+
+        JSONObject sub = new JSONObject();
+        sub.put("location",  start);
+        sub.put("destLocation",  goal);
+        sub.put("taskType",  "1");
+        sub.put("carryType",  "1");
+
+        jsonParam.put("data", sub);
+
+        TaskNode taskNode = new TaskNode();
+        taskNode.setResourceId(1496354880934117376L);
+
+        String returnData = msgUtil.getCcsData(instructionUrl, jsonParam, taskNode);
+        return R.success(returnData);
+    }
+
+
     /**
      *  节点条件处理
      * @param instructionUrl