2025-08-22 00:00:19.089 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:00:19.090 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:01:03.837 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 00:01:19.096 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:01:19.096 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:02:19.103 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:02:19.103 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:03:19.110 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:03:19.110 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:04:00.593 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 00:04:19.116 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:04:19.116 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:05:19.122 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:05:19.122 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:06:05.087 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 00:06:19.128 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:06:19.129 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:07:19.135 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:07:19.135 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:08:19.142 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:08:19.143 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:09:01.795 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 00:09:19.149 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:09:19.149 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:10:19.156 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:10:19.156 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:11:06.358 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 00:11:19.163 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:11:19.163 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:12:19.170 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:12:19.170 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:13:19.177 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:13:19.177 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:14:03.016 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 00:14:19.185 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:14:19.185 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:15:19.192 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:15:19.192 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:16:07.623 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 00:16:19.199 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:16:19.199 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:17:19.206 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:17:19.206 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:18:19.213 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:18:19.213 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:19:04.282 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 00:19:19.220 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:19:19.221 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:20:19.228 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:20:19.228 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:21:08.930 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 00:21:19.235 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:21:19.235 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:22:19.242 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:22:19.242 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:23:19.248 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:23:19.248 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:24:05.591 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 00:24:19.255 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:24:19.256 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:25:19.262 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:25:19.262 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:26:10.207 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 00:26:19.269 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:26:19.269 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:27:19.276 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:27:19.277 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:28:19.283 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:28:19.283 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:29:06.810 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 00:29:19.290 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:29:19.290 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:30:19.295 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:30:19.295 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:31:11.476 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 00:31:19.302 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:31:19.303 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:32:19.309 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:32:19.309 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:33:19.316 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:33:19.317 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:34:08.042 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 00:34:19.324 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:34:19.324 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:35:19.330 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:35:19.330 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:36:12.791 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 00:36:19.337 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:36:19.337 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:37:19.345 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:37:19.345 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:38:19.352 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:38:19.352 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:39:09.275 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 00:39:19.359 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:39:19.359 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:40:19.366 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:40:19.366 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:41:14.090 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 00:41:19.373 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:41:19.373 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:42:19.380 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:42:19.380 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:43:19.387 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:43:19.387 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:44:10.519 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 00:44:19.394 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:44:19.394 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:45:19.402 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:45:19.402 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:46:15.359 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 00:46:19.409 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:46:19.409 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:47:19.416 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:47:19.416 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:48:19.423 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:48:19.423 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:49:11.853 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 00:49:19.430 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:49:19.430 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:50:19.437 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:50:19.437 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:51:16.635 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 00:51:19.444 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:51:19.444 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:52:19.451 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:52:19.451 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:53:19.458 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:53:19.458 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:54:13.104 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 00:54:19.465 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:54:19.465 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:55:19.472 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:55:19.472 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:56:17.906 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 00:56:19.479 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:56:19.479 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:57:19.486 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:57:19.486 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:58:19.493 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:58:19.493 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:59:14.334 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 00:59:19.500 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 00:59:19.500 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:00:19.507 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:00:19.507 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:01:19.211 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 01:01:19.514 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:01:19.514 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:02:19.520 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:02:19.520 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:03:19.527 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:03:19.527 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:04:15.565 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 01:04:19.534 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:04:19.534 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:05:19.541 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:05:19.541 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:06:19.548 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:06:19.548 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:06:20.475 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 01:07:19.555 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:07:19.555 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:08:19.562 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:08:19.562 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:09:16.797 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 01:09:19.569 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:09:19.569 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:10:19.575 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:10:19.575 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:11:19.582 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:11:19.582 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:11:21.732 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 01:12:19.588 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:12:19.588 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:13:19.595 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:13:19.595 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:14:18.049 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 01:14:19.602 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:14:19.602 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:15:19.609 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:15:19.609 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:16:19.616 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:16:19.616 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:16:22.995 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 01:17:19.623 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:17:19.623 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:18:19.630 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:18:19.630 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:19:19.438 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 01:19:19.637 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:19:19.637 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:20:19.644 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:20:19.644 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:21:19.650 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:21:19.650 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:21:24.262 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 01:22:19.658 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:22:19.658 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:23:19.664 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:23:19.664 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:24:19.672 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:24:19.672 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:24:20.669 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 01:25:19.679 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:25:19.679 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:26:19.686 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:26:19.686 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:26:25.525 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 01:27:19.694 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:27:19.694 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:28:19.701 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:28:19.701 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:29:19.708 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:29:19.708 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:29:21.876 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 01:30:19.715 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:30:19.715 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:31:19.721 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:31:19.722 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:31:26.808 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 01:32:19.729 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:32:19.729 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:33:19.736 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:33:19.736 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:34:19.742 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:34:19.742 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:34:23.102 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 01:35:19.750 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:35:19.750 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:36:19.757 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:36:19.757 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:36:28.094 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 01:37:19.764 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:37:19.764 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:38:19.771 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:38:19.771 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:39:19.778 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:39:19.778 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:39:24.331 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 01:40:19.785 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:40:19.785 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:41:19.793 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:41:19.793 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:41:29.354 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 01:42:19.799 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:42:19.799 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:43:19.806 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:43:19.806 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:44:19.813 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:44:19.813 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:44:25.651 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 01:45:19.819 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:45:19.820 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:46:19.826 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:46:19.826 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:46:30.623 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 01:47:19.833 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:47:19.833 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:48:19.840 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:48:19.841 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:49:19.848 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:49:19.848 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:49:26.899 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 01:50:19.855 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:50:19.855 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:51:19.863 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:51:19.863 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:51:31.890 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 01:52:19.870 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:52:19.870 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:53:19.877 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:53:19.877 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:54:19.884 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:54:19.884 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:54:28.143 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 01:55:19.891 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:55:19.891 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:56:19.898 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:56:19.898 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:56:33.173 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 01:57:19.905 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:57:19.905 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:58:19.912 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:58:19.912 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:59:19.918 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:59:19.918 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 01:59:29.380 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 02:00:19.925 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:00:19.925 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:01:19.932 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:01:19.932 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:01:34.436 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 02:02:19.939 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:02:19.939 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:03:19.947 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:03:19.947 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:04:19.954 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:04:19.954 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:04:30.655 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 02:05:19.960 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:05:19.960 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:06:19.968 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:06:19.968 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:06:35.707 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 02:07:19.975 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:07:19.975 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:08:19.982 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:08:19.982 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:09:19.988 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:09:19.989 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:09:31.856 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 02:10:19.995 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:10:19.995 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:11:20.002 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:11:20.002 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:11:36.921 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 02:12:20.008 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:12:20.008 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:13:20.015 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:13:20.015 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:14:20.022 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:14:20.022 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:14:33.129 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 02:15:20.029 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:15:20.029 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:16:20.036 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:16:20.036 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:16:38.189 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 02:17:20.042 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:17:20.042 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:18:20.048 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:18:20.049 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:19:20.053 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:19:20.054 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:19:34.370 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 02:20:20.060 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:20:20.060 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:21:20.067 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:21:20.067 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:21:39.462 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 02:22:20.074 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:22:20.074 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:23:20.080 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:23:20.080 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:24:20.086 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:24:20.087 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:24:35.606 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 02:25:20.093 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:25:20.093 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:26:20.100 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:26:20.100 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:26:40.726 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 02:27:20.107 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:27:20.107 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:28:20.114 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:28:20.114 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:29:20.121 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:29:20.121 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:29:36.840 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 02:30:20.127 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:30:20.128 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:31:20.134 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:31:20.134 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:31:42.013 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 02:32:20.141 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:32:20.141 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:33:20.148 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:33:20.148 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:34:20.155 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:34:20.155 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:34:38.078 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 02:35:20.162 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:35:20.162 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:36:20.169 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:36:20.169 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:36:43.342 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 02:37:20.176 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:37:20.176 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:38:20.183 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:38:20.183 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:39:20.189 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:39:20.189 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:39:39.431 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 02:40:20.195 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:40:20.196 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:41:20.202 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:41:20.202 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:41:44.611 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 02:42:20.209 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:42:20.209 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:43:20.215 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:43:20.215 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:44:20.222 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:44:20.222 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:44:40.661 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 02:45:20.229 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:45:20.229 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:46:20.236 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:46:20.236 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:46:45.894 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 02:47:20.242 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:47:20.243 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:48:20.249 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:48:20.249 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:49:20.256 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:49:20.256 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:49:41.908 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 02:50:20.263 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:50:20.264 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:51:20.270 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:51:20.270 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:51:47.168 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 02:52:20.277 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:52:20.277 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:53:20.284 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:53:20.284 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:54:20.291 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:54:20.292 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:54:43.156 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 02:55:20.298 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:55:20.298 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:56:20.306 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:56:20.306 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:56:48.425 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 02:57:20.313 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:57:20.313 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:58:20.320 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:58:20.320 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:59:20.327 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:59:20.327 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 02:59:44.407 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 03:00:20.334 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:00:20.334 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:01:20.341 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:01:20.341 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:01:49.676 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 03:02:20.348 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:02:20.348 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:03:20.354 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:03:20.355 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:04:20.362 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:04:20.362 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:04:45.663 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 03:05:20.369 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:05:20.369 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:06:20.376 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:06:20.376 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:06:50.948 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 03:07:20.383 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:07:20.383 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:08:20.390 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:08:20.390 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:09:20.396 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:09:20.396 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:09:46.911 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 03:10:20.403 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:10:20.403 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:11:20.410 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:11:20.410 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:11:52.238 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 03:12:20.416 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:12:20.416 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:13:20.424 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:13:20.424 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:14:20.430 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:14:20.430 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:14:48.169 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 03:15:20.437 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:15:20.437 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:16:20.443 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:16:20.443 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:16:53.520 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 03:17:20.450 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:17:20.450 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:18:20.457 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:18:20.457 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:19:20.464 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:19:20.465 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:19:49.443 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 03:20:20.471 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:20:20.471 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:21:20.477 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:21:20.478 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:21:54.778 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 03:22:20.484 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:22:20.485 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:23:20.492 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:23:20.492 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:24:20.498 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:24:20.499 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:24:50.685 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 03:25:20.505 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:25:20.505 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:26:20.513 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:26:20.513 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:26:56.158 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 03:27:20.522 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:27:20.522 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:28:20.530 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:28:20.531 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:29:20.539 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:29:20.539 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:29:51.908 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 03:30:20.548 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:30:20.548 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:31:20.556 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:31:20.556 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:31:57.420 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 03:32:20.564 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:32:20.564 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:33:20.572 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:33:20.573 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:34:20.582 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:34:20.582 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:34:53.145 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 03:35:20.589 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:35:20.589 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:36:20.596 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:36:20.596 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:36:58.711 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 03:37:20.604 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:37:20.604 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:38:20.611 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:38:20.611 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:39:20.618 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:39:20.618 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:39:54.388 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 03:40:20.625 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:40:20.625 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:41:20.632 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:41:20.632 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:41:59.947 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 03:42:20.639 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:42:20.639 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:43:20.646 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:43:20.646 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:44:20.653 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:44:20.653 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:44:55.632 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 03:45:20.660 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:45:20.660 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:46:20.667 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:46:20.667 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:47:01.223 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 03:47:20.674 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:47:20.674 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:48:20.681 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:48:20.681 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:49:20.687 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:49:20.687 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:49:56.910 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 03:50:20.694 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:50:20.694 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:51:20.701 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:51:20.701 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:52:02.494 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 03:52:20.708 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:52:20.708 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:53:20.715 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:53:20.715 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:54:20.722 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:54:20.722 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:54:58.188 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 03:55:20.729 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:55:20.729 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:56:20.735 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:56:20.735 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:57:03.765 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 03:57:20.742 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:57:20.742 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:58:20.749 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:58:20.749 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:59:20.756 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:59:20.756 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 03:59:59.422 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 04:00:20.762 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:00:20.762 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:01:20.769 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:01:20.769 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:02:05.025 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 04:02:20.776 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:02:20.776 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:03:20.783 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:03:20.783 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:04:20.790 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:04:20.790 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:05:00.649 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 04:05:20.798 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:05:20.798 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:06:20.805 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:06:20.805 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:07:06.340 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 04:07:20.811 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:07:20.811 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:08:20.818 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:08:20.818 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:09:20.824 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:09:20.825 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:10:01.883 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 04:10:20.831 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:10:20.831 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:11:20.838 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:11:20.838 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:12:07.607 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 04:12:20.845 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:12:20.845 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:13:20.852 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:13:20.852 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:14:20.859 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:14:20.859 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:15:03.131 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 04:15:20.863 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:15:20.863 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:16:20.870 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:16:20.870 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:17:08.855 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 04:17:20.877 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:17:20.877 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:18:20.884 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:18:20.884 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:19:20.890 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:19:20.890 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:20:04.390 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 04:20:20.897 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:20:20.897 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:21:20.903 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:21:20.903 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:22:10.063 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 04:22:20.909 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:22:20.910 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:23:20.916 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:23:20.917 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:24:20.923 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:24:20.924 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:25:05.630 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 04:25:20.930 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:25:20.930 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:26:20.938 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:26:20.938 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:27:11.336 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 04:27:20.945 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:27:20.945 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:28:20.952 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:28:20.952 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:29:20.959 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:29:20.959 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:30:06.871 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 04:30:20.966 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:30:20.966 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:31:20.973 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:31:20.973 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:32:12.603 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 04:32:20.980 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:32:20.980 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:33:20.986 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:33:20.986 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:34:20.993 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:34:20.993 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:35:08.087 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 04:35:21.000 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:35:21.000 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:36:21.006 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:36:21.006 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:37:13.887 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 04:37:21.012 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:37:21.012 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:38:21.018 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:38:21.018 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:39:21.025 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:39:21.025 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:40:09.324 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 04:40:21.031 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:40:21.031 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:41:21.037 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:41:21.037 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:42:15.175 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 04:42:21.043 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:42:21.043 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:43:21.048 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:43:21.049 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:44:21.054 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:44:21.054 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:45:10.543 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 04:45:21.064 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:45:21.064 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:46:21.071 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:46:21.071 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:47:16.453 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 04:47:21.077 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:47:21.077 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:48:21.084 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:48:21.084 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:49:21.090 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:49:21.090 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:50:11.738 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 04:50:21.097 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:50:21.097 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:51:21.104 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:51:21.105 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:52:17.714 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 04:52:21.112 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:52:21.112 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:53:21.118 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:53:21.118 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:54:21.125 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:54:21.125 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:55:12.976 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 04:55:21.132 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:55:21.132 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:56:21.138 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:56:21.139 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:57:18.985 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 04:57:21.145 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:57:21.145 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:58:21.152 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:58:21.152 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:59:21.158 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 04:59:21.158 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:00:14.212 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 05:00:21.166 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:00:21.166 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:01:21.173 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:01:21.173 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:02:20.237 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 05:02:21.180 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:02:21.180 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:03:21.188 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:03:21.188 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:04:21.195 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:04:21.195 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:05:15.447 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 05:05:21.201 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:05:21.201 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:06:21.207 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:06:21.207 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:07:21.214 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:07:21.214 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:07:21.505 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 05:08:21.221 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:08:21.221 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:09:21.229 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:09:21.229 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:10:16.683 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 05:10:21.236 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:10:21.236 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:11:21.243 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:11:21.243 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:12:21.250 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:12:21.250 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:12:22.754 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 05:13:21.257 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:13:21.257 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:14:21.264 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:14:21.264 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:15:17.916 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 05:15:21.271 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:15:21.271 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:16:21.278 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:16:21.278 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:17:21.284 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:17:21.284 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:17:24.019 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 05:18:21.292 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:18:21.292 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:19:21.299 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:19:21.299 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:20:19.156 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 05:20:21.306 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:20:21.306 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:21:21.313 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:21:21.313 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:22:21.320 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:22:21.320 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:22:25.304 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 05:23:21.327 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:23:21.327 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:24:21.334 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:24:21.334 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:25:20.386 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 05:25:21.341 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:25:21.341 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:26:21.348 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:26:21.348 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:27:21.355 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:27:21.355 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:27:26.662 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 05:28:21.363 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:28:21.363 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:29:21.369 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:29:21.369 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:30:21.376 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:30:21.377 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:30:21.623 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 05:31:21.383 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:31:21.384 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:32:21.391 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:32:21.391 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:32:27.897 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 05:33:21.398 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:33:21.398 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:34:21.405 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:34:21.405 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:35:21.411 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:35:21.412 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:35:22.844 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 05:36:21.418 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:36:21.418 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:37:21.425 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:37:21.425 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:37:29.170 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 05:38:21.432 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:38:21.432 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:39:21.439 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:39:21.439 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:40:21.446 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:40:21.446 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:40:24.091 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 05:41:21.453 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:41:21.453 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:42:21.460 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:42:21.460 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:42:30.434 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 05:43:21.467 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:43:21.467 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:44:21.474 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:44:21.474 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:45:21.483 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:45:21.483 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:45:25.362 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 05:46:21.491 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:46:21.492 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:47:21.500 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:47:21.500 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:47:31.731 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 05:48:21.510 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:48:21.510 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:49:21.517 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:49:21.517 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:50:21.525 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:50:21.525 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:50:26.651 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 05:51:21.534 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:51:21.535 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:52:21.542 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:52:21.542 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:52:33.027 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 05:53:21.549 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:53:21.549 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:54:21.557 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:54:21.558 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:55:21.567 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:55:21.567 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:55:27.915 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 05:56:21.575 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:56:21.575 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:57:21.584 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:57:21.584 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:57:34.341 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 05:58:21.592 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:58:21.592 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:59:21.600 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 05:59:21.601 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:00:21.609 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:00:21.609 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:00:29.144 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 06:01:21.618 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:01:21.618 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:02:21.627 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:02:21.627 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:02:35.612 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 06:03:21.635 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:03:21.635 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:04:21.642 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:04:21.642 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:05:21.647 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:05:21.648 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:05:30.383 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 06:06:21.655 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:06:21.655 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:07:21.662 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:07:21.662 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:07:36.876 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 06:08:21.669 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:08:21.669 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:09:21.676 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:09:21.676 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:10:21.683 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:10:21.683 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:10:31.617 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 06:11:21.689 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:11:21.689 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:12:21.696 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:12:21.696 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:12:38.158 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 06:13:21.703 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:13:21.703 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:14:21.710 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:14:21.710 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:15:21.717 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:15:21.717 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:15:32.854 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 06:16:21.724 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:16:21.724 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:17:21.731 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:17:21.731 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:17:39.433 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 06:18:21.738 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:18:21.738 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:19:21.745 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:19:21.745 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:20:21.752 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:20:21.752 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:20:34.055 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 06:21:21.759 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:21:21.760 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:22:21.767 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:22:21.767 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:22:40.718 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 06:23:21.773 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:23:21.773 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:24:21.780 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:24:21.780 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:25:21.787 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:25:21.787 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:25:35.292 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 06:26:21.794 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:26:21.794 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:27:21.800 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:27:21.800 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:27:41.989 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 06:28:21.807 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:28:21.807 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:29:21.814 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:29:21.814 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:30:21.821 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:30:21.821 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:30:36.528 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 06:31:21.828 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:31:21.828 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:32:21.834 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:32:21.834 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:32:43.249 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 06:33:21.841 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:33:21.841 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:34:21.847 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:34:21.847 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:35:21.854 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:35:21.854 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:35:37.773 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 06:36:21.866 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:36:21.867 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:37:21.873 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:37:21.873 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:37:44.487 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 06:38:21.879 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:38:21.880 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:39:21.886 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:39:21.886 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:40:21.893 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:40:21.893 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:40:39.046 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 06:41:21.901 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:41:21.901 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:42:21.908 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:42:21.908 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:42:45.753 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 06:43:21.915 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:43:21.915 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:44:21.923 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:44:21.923 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:45:21.930 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:45:21.930 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:45:40.446 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 06:46:21.937 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:46:21.937 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:47:21.943 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:47:21.944 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:47:47.004 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 06:48:21.951 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:48:21.951 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:49:21.957 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:49:21.958 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:50:21.964 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:50:21.964 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:50:41.668 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 06:51:21.971 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:51:21.971 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:52:21.978 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:52:21.978 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:52:48.278 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 06:53:21.984 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:53:21.985 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:54:21.991 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:54:21.991 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:55:21.998 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:55:21.998 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:55:42.903 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 06:56:22.005 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:56:22.005 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:57:22.011 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:57:22.011 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:57:49.543 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 06:58:22.017 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:58:22.018 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:59:22.024 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 06:59:22.024 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:00:22.030 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:00:22.030 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:00:44.133 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 07:01:22.037 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:01:22.037 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:02:22.044 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:02:22.044 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:02:50.812 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 07:03:22.049 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:03:22.049 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:04:22.056 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:04:22.056 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:05:22.063 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:05:22.063 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:05:45.366 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 07:06:22.069 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:06:22.070 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:07:22.076 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:07:22.077 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:07:52.095 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 07:08:22.084 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:08:22.084 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:09:22.090 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:09:22.090 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:10:22.097 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:10:22.097 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:10:46.605 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 07:11:22.104 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:11:22.104 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:12:22.111 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:12:22.111 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:12:53.308 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 07:13:22.118 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:13:22.118 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:14:22.125 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:14:22.125 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:15:22.131 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:15:22.131 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:15:47.930 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 07:16:22.137 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:16:22.137 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:17:22.145 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:17:22.145 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:17:54.569 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 07:18:22.152 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:18:22.152 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:19:22.158 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:19:22.159 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:20:22.165 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:20:22.165 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:20:49.159 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 07:21:22.172 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:21:22.172 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:22:22.178 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:22:22.178 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:22:55.820 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 07:23:22.185 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:23:22.186 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:24:22.192 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:24:22.193 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:25:22.199 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:25:22.199 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:25:50.495 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 07:26:22.206 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:26:22.206 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:27:22.213 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:27:22.213 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:27:57.100 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 07:28:22.220 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:28:22.221 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:29:22.228 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:29:22.228 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:30:22.235 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:30:22.235 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:30:51.715 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 07:31:22.242 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:31:22.242 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:32:22.249 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:32:22.249 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:32:58.409 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 07:33:22.255 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:33:22.255 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:34:22.262 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:34:22.263 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:35:22.270 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:35:22.270 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:35:52.947 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 07:36:22.277 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:36:22.277 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:37:22.283 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:37:22.284 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:37:59.674 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 07:38:22.291 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:38:22.291 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:39:22.297 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:39:22.297 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:40:22.304 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:40:22.305 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:40:54.181 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 07:41:22.312 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:41:22.312 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:42:22.319 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:42:22.319 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:43:00.916 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 07:43:22.326 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:43:22.326 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:44:22.333 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:44:22.333 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:45:22.339 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:45:22.377 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:45:55.484 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 07:46:22.384 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:46:22.384 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:47:22.391 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:47:22.391 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:48:02.177 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 07:48:22.397 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:48:22.397 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:49:22.404 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:49:22.404 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:50:22.411 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:50:22.411 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:50:56.715 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 07:51:22.418 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:51:22.418 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:52:22.424 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:52:22.425 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:53:03.492 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 07:53:22.431 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:53:22.431 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:54:22.437 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:54:22.438 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:55:22.444 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:55:22.444 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:55:57.930 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 07:56:22.450 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:56:22.451 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:57:22.456 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:57:22.457 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:58:04.769 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 07:58:22.463 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:58:22.463 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:59:22.467 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 07:59:22.467 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:00:22.475 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:00:22.475 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:00:59.177 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 08:01:22.481 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:01:22.481 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:02:22.487 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:02:22.487 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:03:06.043 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 08:03:22.493 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:03:22.493 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:04:22.500 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:04:22.500 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:05:22.507 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:05:22.507 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:06:00.410 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 08:06:22.514 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:06:22.514 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:07:22.521 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:07:22.521 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:08:07.352 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 08:08:22.528 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:08:22.528 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:09:22.535 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:09:22.535 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:10:22.541 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:10:22.541 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:11:01.711 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 08:11:22.548 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:11:22.548 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:12:22.555 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:12:22.555 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:13:08.694 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 08:13:22.562 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:13:22.562 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:14:22.569 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:14:22.569 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:15:22.576 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:15:22.576 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:16:02.946 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 08:16:22.583 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:16:22.583 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:17:22.589 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:17:22.590 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:18:09.955 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 08:18:22.597 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:18:22.597 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:19:22.603 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:19:22.603 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:20:22.609 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:20:22.609 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:21:04.179 [robot-action-1] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 1 is invalid for task 2025-08-22 08:21:22.616 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:21:22.616 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:22:22.623 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:22:22.623 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:23:11.219 [robot-action-2] ERROR com.zcnest.rcs.task.TaskPatchControl - robot 2 is invalid for task 2025-08-22 08:23:22.629 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:23:22.629 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:24:22.637 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:24:22.637 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:25:22.644 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:25:22.644 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:26:05.422 [robot-action-1] INFO com.zcnest.rcs.robot.RobotTaskControl - robot 1 add task TaskMove [to=103300,42128, toDegree:180.0 ]， source for task: 0 2025-08-22 08:26:06.464 [robot-action-1] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮：到达 robotId:1,taskId:30365422 2025-08-22 08:26:06.464 [robot-action-1] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 不是呼叫按钮任务：机器人1 2025-08-22 08:26:22.650 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:26:22.650 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:27:22.657 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:27:22.657 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:28:12.501 [robot-action-2] INFO com.zcnest.rcs.robot.RobotTaskControl - robot 2 add task TaskMove [to=103300,36624, toDegree:180.0 ]， source for task: 0 2025-08-22 08:28:13.543 [robot-action-2] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮：到达 robotId:2,taskId:30492501 2025-08-22 08:28:13.543 [robot-action-2] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 不是呼叫按钮任务：机器人2 2025-08-22 08:28:22.663 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:28:22.663 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:29:22.669 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:29:22.669 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:30:22.676 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:30:22.676 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:31:22.682 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:31:22.682 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:32:22.689 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:32:22.689 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:33:22.695 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:33:22.695 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:34:22.702 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:34:22.702 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:35:22.708 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:35:22.708 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:36:22.714 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:36:22.714 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:37:22.720 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:37:22.721 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:38:22.727 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:38:22.727 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:39:22.733 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:39:22.733 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:40:22.740 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:40:22.740 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:41:22.746 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:41:22.746 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:42:22.753 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:42:22.753 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:43:14.962 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotTaskControl - robot 3 add task TaskMove [to=126222,51604, toDegree:90.0 ]， source for task: 0 2025-08-22 08:43:15.557 [robot-action-3] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 3 task 31394962 的离开任务初始化完成 2025-08-22 08:43:15.662 [robot-action-3] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 3 task 31394962 的任务路径初始化完成 2025-08-22 08:43:15.699 [robot-action-3] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 3, 规划线路 0, 时间估算: 85585.0, 路由: RobotMockPath: {qrcodes: [11988, 11989, 177, 11994, 178, 11999, 179, 110, 111, 12175], mocks: [(11988, 180.0, ahead), (11989, 180.0, ahead), (11989, 89.8957, rotationright), (177, 89.8957, ahead), (11994, 90.0208, ahead), (178, 90.0209, ahead), (11999, 90.0623, ahead), (179, 90.0616, ahead), (179, -0.1504, rotationright), (110, -0.1504, ahead), (110, 89.9072, rotationleft), (111, 89.9072, ahead), (12175, 90.0, ahead)], type: ahead} 2025-08-22 08:43:15.699 [robot-action-3] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 3, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [11988, 11989, 177, 11994, 178, 11999, 179, 110, 111, 12175], mocks: [(11988, 180.0, ahead), (11989, 180.0, ahead), (11989, 89.8957, rotationright), (177, 89.8957, ahead), (11994, 90.0208, ahead), (178, 90.0209, ahead), (11999, 90.0623, ahead), (179, 90.0616, ahead), (179, -0.1504, rotationright), (110, -0.1504, ahead), (110, 89.9072, rotationleft), (111, 89.9072, ahead), (12175, 90.0, ahead)], type: ahead} 2025-08-22 08:43:15.729 [robot-action-3] INFO com.zcnest.rcs.robot.RobotActionControl - robot 3 同区移动任务 31394962 添加动作 true 2025-08-22 08:43:15.729 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 re planned its route [11988, 12013, 11990, 12140, 11995, 12138, 12000, 819, 817, 797, 12175] from [] 2025-08-22 08:43:15.734 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [11988, 12013, 11990] from [] 2025-08-22 08:43:15.734 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [12140, 11995, 12138, 12000, 819, 817, 797, 12175] 2025-08-22 08:43:16.860 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354434 2025-08-22 08:43:16.860 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:43:16.860 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:17.861 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354434 2025-08-22 08:43:17.861 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:43:17.861 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:18.862 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354434 2025-08-22 08:43:18.862 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:43:18.862 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:19.762 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [11988, 12013, 11990, 12140] from [11988, 12013, 11990] 2025-08-22 08:43:19.762 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [11995, 12138, 12000, 819, 817, 797, 12175] 2025-08-22 08:43:19.863 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354434 2025-08-22 08:43:19.863 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:43:19.863 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:20.863 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354434 2025-08-22 08:43:20.864 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:43:20.864 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:20.905 [http-nio-18002-exec-4] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354434 setActionDone: {"robot_id":3,"height":602,"location_x":101657,"location_y":31166,"location_theta":-1799848,"energy":61,"v":237,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354434,"taskFinish":0} 2025-08-22 08:43:20.913 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":11988,"timestamp":1755823400912}-zcnest.rcs.vertex.unlockNotify 2025-08-22 08:43:21.780 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [12013, 11990, 12140, 11995] from [11988, 12013, 11990, 12140] 2025-08-22 08:43:21.780 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [12138, 12000, 819, 817, 797, 12175] 2025-08-22 08:43:21.873 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354435 2025-08-22 08:43:21.873 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:43:21.873 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:22.759 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:43:22.759 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:43:22.940 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354435 2025-08-22 08:43:22.940 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:43:22.940 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:23.874 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354435 2025-08-22 08:43:23.874 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:43:23.874 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:24.875 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354435 2025-08-22 08:43:24.875 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:43:24.875 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:25.808 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [12013, 11990, 12140, 11995, 12138] from [12013, 11990, 12140, 11995] 2025-08-22 08:43:25.808 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [12000, 819, 817, 797, 12175] 2025-08-22 08:43:25.875 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354435 2025-08-22 08:43:25.875 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:43:25.875 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:26.868 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354435 2025-08-22 08:43:26.868 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:43:26.868 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:27.861 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354435 2025-08-22 08:43:27.861 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:43:27.861 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:28.832 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [12013, 11990, 12140, 11995, 12138, 12000, 819] from [12013, 11990, 12140, 11995, 12138] 2025-08-22 08:43:28.832 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [817, 797, 12175] 2025-08-22 08:43:28.903 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354435 2025-08-22 08:43:28.903 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:43:28.903 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:29.963 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354435 2025-08-22 08:43:29.963 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:43:29.963 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:30.863 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354435 2025-08-22 08:43:30.864 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:43:30.864 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:31.856 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354435 2025-08-22 08:43:31.856 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:43:31.856 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:32.873 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354435 2025-08-22 08:43:32.873 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:43:32.873 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:33.873 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354435 2025-08-22 08:43:33.874 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:43:33.874 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:34.882 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354435 2025-08-22 08:43:34.882 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:43:34.882 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:35.883 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354435 2025-08-22 08:43:35.883 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:43:35.883 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:35.924 [http-nio-18002-exec-7] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354435 setActionDone: {"robot_id":3,"height":602,"location_x":99600,"location_y":32947,"location_theta":875724,"energy":61,"v":273,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354435,"taskFinish":0} 2025-08-22 08:43:35.932 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":11989,"timestamp":1755823415931}-zcnest.rcs.vertex.unlockNotify 2025-08-22 08:43:36.868 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [11990, 12140, 11995, 12138, 12000, 819] from [12013, 11990, 12140, 11995, 12138, 12000, 819] 2025-08-22 08:43:36.868 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [817, 797, 12175] 2025-08-22 08:43:36.875 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354436 2025-08-22 08:43:36.875 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:43:36.875 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:37.909 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354436 2025-08-22 08:43:37.910 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:43:37.910 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:38.880 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354436 2025-08-22 08:43:38.880 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:43:38.880 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:39.861 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354436 2025-08-22 08:43:39.861 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:43:39.861 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:39.861 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: RobotMock 1755659354436 (group null) [start=RotationQrcode[11990], fatherId [11989], degree[89.8957](99564,33121) , end=RotationQrcode[12140], fatherId [11994], degree[-89.9792](99565,34624), degree=90.0208, action=RobotAhead [size=1503]] 2025-08-22 08:43:39.861 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: 12140 2025-08-22 08:43:39.861 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: move 2025-08-22 08:43:39.877 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 删除成功: 1 2025-08-22 08:43:39.880 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [12140, 11995, 12138, 12000, 819] from [11990, 12140, 11995, 12138, 12000, 819] 2025-08-22 08:43:39.880 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [817, 797, 12175] 2025-08-22 08:43:40.895 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354437 2025-08-22 08:43:40.895 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:43:40.895 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:41.863 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354437 2025-08-22 08:43:41.863 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:43:41.863 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:41.900 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":177,"timestamp":1755823421899}-zcnest.rcs.vertex.unlockNotify 2025-08-22 08:43:42.864 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354437 2025-08-22 08:43:42.865 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:43:42.865 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:42.865 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: RobotMock 1755659354437 (group null) [start=RotationQrcode[12140], fatherId [11994], degree[-89.9792](99565,34624) , end=RotationQrcode[11995], fatherId [178], degree[-89.9791](99564,37367), degree=90.0209, action=RobotAhead [size=2743]] 2025-08-22 08:43:42.865 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: 11995 2025-08-22 08:43:42.865 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: move 2025-08-22 08:43:42.875 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 删除成功: 1 2025-08-22 08:43:42.906 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [11995, 12138, 12000, 819] from [12140, 11995, 12138, 12000, 819] 2025-08-22 08:43:42.906 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [817, 797, 12175] 2025-08-22 08:43:43.865 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354438 2025-08-22 08:43:43.865 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:43:43.865 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:44.874 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354438 2025-08-22 08:43:44.874 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:43:44.874 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:44.930 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":11994,"timestamp":1755823424929}-zcnest.rcs.vertex.unlockNotify 2025-08-22 08:43:45.875 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354438 2025-08-22 08:43:45.875 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:43:45.875 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:45.917 [http-nio-18002-exec-7] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354438 setActionDone: {"robot_id":3,"height":601,"location_x":99588,"location_y":39933,"location_theta":901724,"energy":61,"v":774,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354438,"taskFinish":1} 2025-08-22 08:43:45.936 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [12138, 12000, 819] from [11995, 12138, 12000, 819] 2025-08-22 08:43:45.936 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [817, 797, 12175] 2025-08-22 08:43:46.876 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354439 2025-08-22 08:43:46.876 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:43:46.876 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:47.885 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354439 2025-08-22 08:43:47.885 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:43:47.885 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:47.956 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":178,"timestamp":1755823427956}-zcnest.rcs.vertex.unlockNotify 2025-08-22 08:43:47.971 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [12138, 12000, 819, 817, 797] from [12138, 12000, 819] 2025-08-22 08:43:47.984 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [12175] 2025-08-22 08:43:48.910 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354439 2025-08-22 08:43:48.910 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:43:48.910 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:49.902 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354439 2025-08-22 08:43:49.902 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:43:49.902 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:50.879 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354439 2025-08-22 08:43:50.879 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:43:50.879 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:50.920 [http-nio-18002-exec-9] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354439 setActionDone: {"robot_id":3,"height":602,"location_x":99583,"location_y":42664,"location_theta":904127,"energy":61,"v":260,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354439,"taskFinish":0} 2025-08-22 08:43:51.034 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [12000, 819, 817, 797] from [12138, 12000, 819, 817, 797] 2025-08-22 08:43:51.034 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [12175] 2025-08-22 08:43:51.888 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354440 2025-08-22 08:43:51.888 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:43:51.888 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:52.872 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354440 2025-08-22 08:43:52.872 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:43:52.872 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:53.872 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354440 2025-08-22 08:43:53.872 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:43:53.872 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:54.865 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354440 2025-08-22 08:43:54.865 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:43:54.865 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:55.866 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354440 2025-08-22 08:43:55.866 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:43:55.866 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:56.866 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354440 2025-08-22 08:43:56.866 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:43:56.866 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:57.867 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354440 2025-08-22 08:43:57.867 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:43:57.867 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:58.909 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354440 2025-08-22 08:43:58.909 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:43:58.909 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:43:59.876 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354440 2025-08-22 08:43:59.876 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:43:59.876 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:00.877 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354440 2025-08-22 08:44:00.877 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:44:00.877 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:01.878 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354440 2025-08-22 08:44:01.878 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:44:01.878 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:02.988 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354440 2025-08-22 08:44:02.988 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:44:02.988 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:03.905 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354440 2025-08-22 08:44:03.905 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:44:03.905 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:04.856 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354440 2025-08-22 08:44:04.856 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:44:04.856 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:05.848 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354440 2025-08-22 08:44:05.848 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:44:05.848 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:06.857 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354440 2025-08-22 08:44:06.857 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 08:44:06.857 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:06.899 [http-nio-18002-exec-7] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354440 setActionDone: {"robot_id":3,"height":602,"location_x":101468,"location_y":44876,"location_theta":-25505,"energy":61,"v":232,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354440,"taskFinish":1} 2025-08-22 08:44:06.907 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":179,"timestamp":1755823446906}-zcnest.rcs.vertex.unlockNotify 2025-08-22 08:44:06.907 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":11999,"timestamp":1755823446906}-zcnest.rcs.vertex.unlockNotify 2025-08-22 08:44:07.086 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [819, 817, 797] from [12000, 819, 817, 797] 2025-08-22 08:44:07.086 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [12175] 2025-08-22 08:44:07.858 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354441 2025-08-22 08:44:07.858 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:07.858 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:07.858 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: RobotMock 1755659354441 (group null) [start=RotationQrcode[819], fatherId [179], degree[-0.1504](101557,44915) , end=RotationQrcode[819], fatherId [179], degree[-0.1504](101557,44915), degree=-0.1504, action=RobotAhead [size=0]] 2025-08-22 08:44:07.858 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: 819 2025-08-22 08:44:07.858 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: move 2025-08-22 08:44:07.869 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 删除成功: 1 2025-08-22 08:44:08.867 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354442 2025-08-22 08:44:08.867 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:08.867 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:09.868 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354442 2025-08-22 08:44:09.868 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:09.868 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:10.869 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354442 2025-08-22 08:44:10.869 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:10.869 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:11.869 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354442 2025-08-22 08:44:11.869 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:11.869 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:12.879 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354442 2025-08-22 08:44:12.879 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:12.879 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:13.150 [robot-action-3] WARN com.zcnest.rcs.robot.RobotActionControl - robot 3 释放不需要的锁定点，保留1188个，但其中：未锁定110个，补申请 2025-08-22 08:44:13.855 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354442 2025-08-22 08:44:13.855 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:13.855 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:14.856 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354442 2025-08-22 08:44:14.856 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:14.856 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:15.865 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354442 2025-08-22 08:44:15.865 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:15.865 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:16.949 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354442 2025-08-22 08:44:16.949 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:16.949 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:17.908 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354442 2025-08-22 08:44:17.908 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:17.908 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:18.901 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354442 2025-08-22 08:44:18.901 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:18.901 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:19.868 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354442 2025-08-22 08:44:19.868 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:19.868 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:20.885 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354442 2025-08-22 08:44:20.885 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:20.885 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:21.337 [robot-action-3] WARN com.zcnest.rcs.robot.RobotActionControl - robot 3 释放不需要的锁定点，保留827个，但其中：未锁定65个，补申请 2025-08-22 08:44:21.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354442 2025-08-22 08:44:21.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:21.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:22.765 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:44:22.765 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:44:22.871 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354442 2025-08-22 08:44:22.871 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:22.871 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:23.390 [robot-action-3] WARN com.zcnest.rcs.robot.RobotActionControl - robot 3 释放不需要的锁定点，保留766个，但其中：未锁定3个，补申请 2025-08-22 08:44:24.030 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354442 2025-08-22 08:44:24.030 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:24.030 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:24.864 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354442 2025-08-22 08:44:24.864 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:24.864 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:25.873 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354442 2025-08-22 08:44:25.873 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:25.873 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:26.874 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354442 2025-08-22 08:44:26.874 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:26.874 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:27.512 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [819, 817, 797, 12175] from [819, 817, 797] 2025-08-22 08:44:27.512 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [] 2025-08-22 08:44:27.892 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354442 2025-08-22 08:44:27.892 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:27.892 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:28.876 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354442 2025-08-22 08:44:28.876 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:28.876 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:29.557 [robot-action-3] WARN com.zcnest.rcs.robot.RobotActionControl - robot 3 释放不需要的锁定点，保留670个，但其中：未锁定24个，补申请 2025-08-22 08:44:29.876 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354442 2025-08-22 08:44:29.876 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:29.876 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:31.019 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354442 2025-08-22 08:44:31.019 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:31.019 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:31.887 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354442 2025-08-22 08:44:31.887 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:31.887 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:32.888 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354442 2025-08-22 08:44:32.888 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:32.888 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:33.914 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354442 2025-08-22 08:44:33.914 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:33.914 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:34.889 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354442 2025-08-22 08:44:34.889 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:34.889 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:34.939 [http-nio-18002-exec-4] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354442 setActionDone: {"robot_id":3,"height":601,"location_x":124024,"location_y":44821,"location_theta":3729,"energy":61,"v":244,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354442,"taskFinish":0} 2025-08-22 08:44:35.678 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [817, 797, 12175] from [819, 817, 797, 12175] 2025-08-22 08:44:35.874 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354443 2025-08-22 08:44:35.874 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 08:44:35.874 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:36.883 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354443 2025-08-22 08:44:36.883 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 08:44:36.883 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:37.892 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354443 2025-08-22 08:44:37.892 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 08:44:37.892 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:38.926 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354443 2025-08-22 08:44:38.926 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 08:44:38.926 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:39.885 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354443 2025-08-22 08:44:39.885 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 08:44:39.885 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:40.894 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354443 2025-08-22 08:44:40.894 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 08:44:40.894 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:41.928 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354443 2025-08-22 08:44:41.928 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 08:44:41.928 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:42.905 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354443 2025-08-22 08:44:42.905 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 08:44:42.905 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:43.889 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354443 2025-08-22 08:44:43.889 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 08:44:43.889 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:44.881 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354443 2025-08-22 08:44:44.881 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 08:44:44.881 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:45.891 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354443 2025-08-22 08:44:45.891 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 08:44:45.891 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:46.850 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354443 2025-08-22 08:44:46.850 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 08:44:46.850 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:47.884 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354443 2025-08-22 08:44:47.884 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 08:44:47.884 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:48.884 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354443 2025-08-22 08:44:48.885 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 08:44:48.885 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:49.935 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354443 2025-08-22 08:44:49.935 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 08:44:49.935 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:50.877 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354443 2025-08-22 08:44:50.878 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 08:44:50.878 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:50.919 [http-nio-18002-exec-4] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354443 setActionDone: {"robot_id":3,"height":601,"location_x":126187,"location_y":46781,"location_theta":915586,"energy":61,"v":252,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354443,"taskFinish":1} 2025-08-22 08:44:50.929 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":110,"timestamp":1755823490928}-zcnest.rcs.vertex.unlockNotify 2025-08-22 08:44:51.711 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [797, 12175] from [817, 797, 12175] 2025-08-22 08:44:51.871 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354444 2025-08-22 08:44:51.871 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:51.871 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:52.888 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354444 2025-08-22 08:44:52.888 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:52.888 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:53.889 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354444 2025-08-22 08:44:53.889 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:53.889 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:54.890 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354444 2025-08-22 08:44:54.890 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:54.890 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:55.891 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354444 2025-08-22 08:44:55.891 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:55.891 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:56.788 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":111,"timestamp":1755823496787}-zcnest.rcs.vertex.unlockNotify 2025-08-22 08:44:56.875 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354444 2025-08-22 08:44:56.875 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:56.875 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:57.805 [robot-action-3] WARN com.zcnest.rcs.robot.RobotActionControl - robot 3 释放不需要的锁定点，保留207个，但其中：未锁定15个，补申请 2025-08-22 08:44:57.917 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354444 2025-08-22 08:44:57.917 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:57.917 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:58.826 [robot-action-3] WARN com.zcnest.rcs.robot.RobotActionControl - robot 3 释放不需要的锁定点，保留193个，但其中：未锁定2个，补申请 2025-08-22 08:44:58.935 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354444 2025-08-22 08:44:58.935 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:58.935 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:44:59.853 [robot-action-3] WARN com.zcnest.rcs.robot.RobotActionControl - robot 3 释放不需要的锁定点，保留189个，但其中：未锁定4个，补申请 2025-08-22 08:44:59.894 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354444 2025-08-22 08:44:59.894 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:44:59.895 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:45:00.870 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354444 2025-08-22 08:45:00.870 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 08:45:00.870 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 08:45:00.883 [robot-action-3] WARN com.zcnest.rcs.robot.RobotActionControl - robot 3 释放不需要的锁定点，保留158个，但其中：未锁定2个，补申请 2025-08-22 08:45:00.912 [http-nio-18002-exec-1] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354444 setActionDone: {"robot_id":3,"height":601,"location_x":126274,"location_y":51446,"location_theta":912631,"energy":61,"v":159,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354444,"taskFinish":0} 2025-08-22 08:45:01.898 [robot-action-3] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮：到达 robotId:3,taskId:31394962 2025-08-22 08:45:01.898 [robot-action-3] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 不是呼叫按钮任务：机器人3 2025-08-22 08:45:01.898 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 re planned its route [] from [11988, 12013, 11990, 12140, 11995, 12138, 12000, 819, 817, 797] 2025-08-22 08:45:01.898 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [] from [797, 12175] 2025-08-22 08:45:02.461 [http-nio-18002-exec-2] ERROR com.zcnest.rcs.monitor.controller.RobotController - robot 3 report error 55040 2025-08-22 08:45:02.462 [http-nio-18002-exec-2] INFO com.zcnest.rcs.monitor.controller.RobotController - 当前异常任务ID: 31394962 2025-08-22 08:45:22.771 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:45:22.772 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:46:22.778 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:46:22.778 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:47:22.784 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:47:22.785 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:48:22.790 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:48:22.791 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:49:22.796 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:49:22.796 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:50:03.081 [robot-action-3] INFO com.zcnest.rcs.robot.RobotControl - can not add task! valid: true, waitToRun: false, isInLoading: false 2025-08-22 08:50:03.081 [robot-action-3] INFO com.zcnest.rcs.robot.RobotControl - addTask 不允许添加任务,robotId:3 2025-08-22 08:50:22.801 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:50:22.801 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:51:22.808 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:51:22.808 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:52:22.814 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:52:22.814 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:53:22.821 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:53:22.821 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:54:22.827 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:54:22.827 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:55:04.376 [robot-action-3] INFO com.zcnest.rcs.robot.RobotControl - can not add task! valid: true, waitToRun: false, isInLoading: false 2025-08-22 08:55:04.376 [robot-action-3] INFO com.zcnest.rcs.robot.RobotControl - addTask 不允许添加任务,robotId:3 2025-08-22 08:55:22.833 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:55:22.834 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:56:22.840 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:56:22.840 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:57:22.846 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:57:22.846 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:58:22.853 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:58:22.853 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:59:22.859 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 08:59:22.859 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:00:05.606 [robot-action-3] INFO com.zcnest.rcs.robot.RobotControl - can not add task! valid: true, waitToRun: false, isInLoading: false 2025-08-22 09:00:05.606 [robot-action-3] INFO com.zcnest.rcs.robot.RobotControl - addTask 不允许添加任务,robotId:3 2025-08-22 09:00:22.865 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:00:22.866 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:01:22.872 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:01:22.872 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:02:22.878 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:02:22.878 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:03:22.884 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:03:22.884 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:04:22.889 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:04:22.889 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:05:06.877 [robot-action-3] INFO com.zcnest.rcs.robot.RobotControl - can not add task! valid: true, waitToRun: false, isInLoading: false 2025-08-22 09:05:06.877 [robot-action-3] INFO com.zcnest.rcs.robot.RobotControl - addTask 不允许添加任务,robotId:3 2025-08-22 09:05:22.901 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:05:22.901 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:06:22.906 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:06:22.906 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:07:22.913 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:07:22.913 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:08:22.919 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:08:22.919 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:09:22.925 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:09:22.925 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:10:08.138 [robot-action-3] INFO com.zcnest.rcs.robot.RobotControl - can not add task! valid: true, waitToRun: false, isInLoading: false 2025-08-22 09:10:08.138 [robot-action-3] INFO com.zcnest.rcs.robot.RobotControl - addTask 不允许添加任务,robotId:3 2025-08-22 09:10:22.931 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:10:22.931 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:11:22.938 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:11:22.938 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:12:22.944 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:12:22.944 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:13:22.950 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:13:22.950 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:14:22.957 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:14:22.957 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:15:09.424 [robot-action-3] INFO com.zcnest.rcs.robot.RobotControl - can not add task! valid: true, waitToRun: false, isInLoading: false 2025-08-22 09:15:09.424 [robot-action-3] INFO com.zcnest.rcs.robot.RobotControl - addTask 不允许添加任务,robotId:3 2025-08-22 09:15:22.962 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:15:22.962 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:16:22.971 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:16:22.971 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:17:10.876 [http-nio-18002-exec-4] ERROR com.zcnest.rcs.monitor.controller.RobotController - robot 3 report error 55000-010 2025-08-22 09:17:10.878 [http-nio-18002-exec-4] INFO com.zcnest.rcs.monitor.controller.RobotController - 当前异常任务ID: 0 2025-08-22 09:17:10.884 [http-nio-18002-exec-4] WARN com.zcnest.rcs.monitor.service.ErrorService - Warn: execute Method There are 13 results. 2025-08-22 09:17:10.884 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - robot 3 move mocks be cleared. 2025-08-22 09:17:10.884 [http-nio-18002-exec-4] INFO com.zcnest.rcs.monitor.controller.RobotController - 呼叫按钮异常处理 2025-08-22 09:17:10.884 [http-nio-18002-exec-4] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 任务0 未关联呼叫按钮 2025-08-22 09:17:10.884 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - robot 3 按照错误码设置为阻塞suspend状态 2025-08-22 09:17:13.056 [robot-task-3] INFO com.zcnest.rcs.robot.RobotTaskControl - robot 3 task thread stop 2025-08-22 09:17:14.558 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":12175,"timestamp":1755825434557}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:17:14.563 [http-nio-18002-exec-3] ERROR com.zcnest.common.base.controller.BaseController - system error org.springframework.http.converter.HttpMessageNotWritableException: Could not write JSON: Null key for a Map not allowed in JSON (use a converting NullKeySerializer?); nested exception is com.fasterxml.jackson.databind.JsonMappingException: Null key for a Map not allowed in JSON (use a converting NullKeySerializer?) (through reference chain: java.util.HashMap["points"]->java.util.HashMap["null"]) at org.springframework.http.converter.json.AbstractJackson2HttpMessageConverter.writeInternal(AbstractJackson2HttpMessageConverter.java:465) at org.springframework.http.converter.AbstractGenericHttpMessageConverter.write(AbstractGenericHttpMessageConverter.java:104) at org.springframework.web.servlet.mvc.method.annotation.AbstractMessageConverterMethodProcessor.writeWithMessageConverters(AbstractMessageConverterMethodProcessor.java:290) at org.springframework.web.servlet.mvc.method.annotation.RequestResponseBodyMethodProcessor.handleReturnValue(RequestResponseBodyMethodProcessor.java:183) at org.springframework.web.method.support.HandlerMethodReturnValueHandlerComposite.handleReturnValue(HandlerMethodReturnValueHandlerComposite.java:78) at org.springframework.web.servlet.mvc.method.annotation.ServletInvocableHandlerMethod.invokeAndHandle(ServletInvocableHandlerMethod.java:135) at org.springframework.web.servlet.mvc.method.annotation.RequestMappingHandlerAdapter.invokeHandlerMethod(RequestMappingHandlerAdapter.java:895) at org.springframework.web.servlet.mvc.method.annotation.RequestMappingHandlerAdapter.handleInternal(RequestMappingHandlerAdapter.java:808) at org.springframework.web.servlet.mvc.method.AbstractHandlerMethodAdapter.handle(AbstractHandlerMethodAdapter.java:87) at org.springframework.web.servlet.DispatcherServlet.doDispatch(DispatcherServlet.java:1071) at org.springframework.web.servlet.DispatcherServlet.doService(DispatcherServlet.java:964) at org.springframework.web.servlet.FrameworkServlet.processRequest(FrameworkServlet.java:1006) at org.springframework.web.servlet.FrameworkServlet.doPost(FrameworkServlet.java:909) at javax.servlet.http.HttpServlet.service(HttpServlet.java:528) at org.springframework.web.servlet.FrameworkServlet.service(FrameworkServlet.java:883) at javax.servlet.http.HttpServlet.service(HttpServlet.java:596) at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:209) at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153) at org.apache.tomcat.websocket.server.WsFilter.doFilter(WsFilter.java:53) at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:178) at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153) at org.springframework.web.filter.RequestContextFilter.doFilterInternal(RequestContextFilter.java:100) at org.springframework.web.filter.OncePerRequestFilter.doFilter(OncePerRequestFilter.java:117) at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:178) at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153) at org.springframework.web.filter.FormContentFilter.doFilterInternal(FormContentFilter.java:93) at org.springframework.web.filter.OncePerRequestFilter.doFilter(OncePerRequestFilter.java:117) at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:178) at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153) at org.springframework.boot.actuate.metrics.web.servlet.WebMvcMetricsFilter.doFilterInternal(WebMvcMetricsFilter.java:96) at org.springframework.web.filter.OncePerRequestFilter.doFilter(OncePerRequestFilter.java:117) at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:178) at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153) at org.springframework.web.filter.CharacterEncodingFilter.doFilterInternal(CharacterEncodingFilter.java:201) at org.springframework.web.filter.OncePerRequestFilter.doFilter(OncePerRequestFilter.java:117) at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:178) at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153) at org.apache.catalina.core.StandardWrapperValve.invoke(StandardWrapperValve.java:167) at org.apache.catalina.core.StandardContextValve.invoke(StandardContextValve.java:90) at org.apache.catalina.authenticator.AuthenticatorBase.invoke(AuthenticatorBase.java:492) at org.apache.catalina.core.StandardHostValve.invoke(StandardHostValve.java:130) at org.apache.catalina.valves.ErrorReportValve.invoke(ErrorReportValve.java:93) at org.apache.catalina.core.StandardEngineValve.invoke(StandardEngineValve.java:74) at org.apache.catalina.connector.CoyoteAdapter.service(CoyoteAdapter.java:343) at org.apache.coyote.http11.Http11Processor.service(Http11Processor.java:389) at org.apache.coyote.AbstractProcessorLight.process(AbstractProcessorLight.java:63) at org.apache.coyote.AbstractProtocol$ConnectionHandler.process(AbstractProtocol.java:926) at org.apache.tomcat.util.net.NioEndpoint$SocketProcessor.doRun(NioEndpoint.java:1791) at org.apache.tomcat.util.net.SocketProcessorBase.run(SocketProcessorBase.java:49) at org.apache.tomcat.util.threads.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1191) at org.apache.tomcat.util.threads.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:659) at org.apache.tomcat.util.threads.TaskThread$WrappingRunnable.run(TaskThread.java:61) at java.lang.Thread.run(Thread.java:750) Caused by: com.fasterxml.jackson.databind.JsonMappingException: Null key for a Map not allowed in JSON (use a converting NullKeySerializer?) (through reference chain: java.util.HashMap["points"]->java.util.HashMap["null"]) at com.fasterxml.jackson.databind.JsonMappingException.from(JsonMappingException.java:283) at com.fasterxml.jackson.databind.SerializerProvider.mappingException(SerializerProvider.java:1364) at com.fasterxml.jackson.databind.SerializerProvider.reportMappingProblem(SerializerProvider.java:1260) at com.fasterxml.jackson.databind.ser.impl.FailingSerializer.serialize(FailingSerializer.java:32) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serializeFields(MapSerializer.java:791) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serializeWithoutTypeInfo(MapSerializer.java:764) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serialize(MapSerializer.java:720) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serialize(MapSerializer.java:35) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serializeFields(MapSerializer.java:808) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serializeWithoutTypeInfo(MapSerializer.java:764) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serialize(MapSerializer.java:720) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serialize(MapSerializer.java:35) at com.fasterxml.jackson.databind.ser.DefaultSerializerProvider._serialize(DefaultSerializerProvider.java:480) at com.fasterxml.jackson.databind.ser.DefaultSerializerProvider.serializeValue(DefaultSerializerProvider.java:319) at com.fasterxml.jackson.databind.ObjectWriter$Prefetch.serialize(ObjectWriter.java:1572) at com.fasterxml.jackson.databind.ObjectWriter.writeValue(ObjectWriter.java:1061) at org.springframework.http.converter.json.AbstractJackson2HttpMessageConverter.writeInternal(AbstractJackson2HttpMessageConverter.java:456) ... 52 common frames omitted 2025-08-22 09:17:14.564 [robot-action-3] ERROR com.zcnest.rcs.robot.apply.MapLockControl - robot 3 锁定点为 0，数量异常！ java.lang.Throwable: 锁定点异常 at com.zcnest.rcs.robot.apply.MapLockControl.checkRobotLockPoints(MapLockControl.java:491) at com.zcnest.rcs.robot.apply.MapLockControl.releaseByRobot(MapLockControl.java:474) at com.zcnest.rcs.robot.apply.MapLockControl.releaseByRobot(MapLockControl.java:507) at com.zcnest.rcs.robot.apply.MapLockControl.releaseAllPointsAndPathsByRobot(MapLockControl.java:543) at com.zcnest.rcs.robot.RobotActionControl.releaseNoNeedPoints(RobotActionControl.java:4537) at com.zcnest.rcs.robot.RobotActionControl.run(RobotActionControl.java:272) at java.lang.Thread.run(Thread.java:750) 2025-08-22 09:17:14.564 [robot-action-3] INFO com.zcnest.rcs.robot.RobotActionControl - robot 3 stop now 2025-08-22 09:17:21.875 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - robot 3 动作覆盖点重构完成 2025-08-22 09:17:21.875 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotControl - robot 3 init success 2025-08-22 09:17:21.875 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotControlCenter - add robot 3 2025-08-22 09:17:21.875 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotControlCenter - able robot 3 success 2025-08-22 09:17:22.977 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:17:22.978 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:17:39.654 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotTaskControl - robot 3 add task TaskMove [to=103300,31121, toDegree:180.0 ]， source for task: 0 2025-08-22 09:17:39.878 [robot-action-3] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 3 task 33459654 的离开任务初始化完成 2025-08-22 09:17:39.880 [robot-action-3] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree 90.0 to degree -90.0 in qrcode CrossQrcode[12175], go to next qrcode with backward 2025-08-22 09:17:40.051 [robot-action-3] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 3 task 33459654 的任务路径初始化完成 2025-08-22 09:17:40.107 [robot-action-3] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 3, 规划线路 0, 时间估算: 142406.0, 路由: RobotMockPath: {qrcodes: [12175, 111, 110, 109, 106, 105, 100, 170, 175, 176, 11989, 11988], mocks: [(12175, 90.0, ahead), (111, 90.0, ahead), (110, 89.9072, ahead), (110, -0.1504, rotationleft), (109, 0.0, ahead), (109, -90.2168, rotationright), (106, -90.2168, ahead), (105, -90.2179, ahead), (100, -89.9895, ahead), (170, -90.0, ahead), (170, 179.7913, rotationright), (175, 179.7913, ahead), (175, 90.0, rotationright), (176, 90.0, ahead), (11989, 89.9169, ahead), (11989, 89.8957, ahead), (11989, 180.0, rotationright), (11988, 180.0, ahead)], type: ahead} 2025-08-22 09:17:40.109 [robot-action-3] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 3, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [12175, 111, 110, 109, 106, 105, 100, 170, 175, 176, 11989, 11988], mocks: [(12175, 90.0, ahead), (111, 90.0, ahead), (110, 89.9072, ahead), (110, -0.1504, rotationleft), (109, 0.0, ahead), (109, -90.2168, rotationright), (106, -90.2168, ahead), (105, -90.2179, ahead), (100, -89.9895, ahead), (170, -90.0, ahead), (170, 179.7913, rotationright), (175, 179.7913, ahead), (175, 90.0, rotationright), (176, 90.0, ahead), (11989, 89.9169, ahead), (11989, 89.8957, ahead), (11989, 180.0, rotationright), (11988, 180.0, ahead)], type: ahead} 2025-08-22 09:17:40.168 [robot-action-3] INFO com.zcnest.rcs.robot.RobotActionControl - robot 3 同区移动任务 33459654 添加动作 true 2025-08-22 09:17:40.168 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 re planned its route [12175, 12177, 797, 817, 795, 787, 785, 773, 765, 6929, 6853, 10854, 6851, 1069, 1071, 11993, 11990, 12013, 11988] from [] 2025-08-22 09:17:40.178 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [12175, 12177, 797, 817] from [] 2025-08-22 09:17:40.178 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [795, 787, 785, 773, 765, 6929, 6853, 10854, 6851, 1069, 1071, 11993, 11990, 12013, 11988] 2025-08-22 09:17:40.919 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354495 2025-08-22 09:17:40.919 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:17:40.919 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:17:41.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354495 2025-08-22 09:17:41.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:17:41.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:17:42.946 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354495 2025-08-22 09:17:42.946 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:17:42.946 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:17:43.947 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354495 2025-08-22 09:17:43.947 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:17:43.947 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:17:44.931 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354495 2025-08-22 09:17:44.931 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:17:44.931 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:17:45.874 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354495 2025-08-22 09:17:45.874 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:17:45.874 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:17:46.233 [robot-action-3] WARN com.zcnest.rcs.robot.RobotActionControl - robot 3 释放不需要的锁定点，保留494个，但其中：未锁定15个，补申请 2025-08-22 09:17:46.875 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354495 2025-08-22 09:17:46.875 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:17:46.875 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:17:47.876 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354495 2025-08-22 09:17:47.876 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:17:47.876 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:17:48.868 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354495 2025-08-22 09:17:48.868 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:17:48.868 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:17:48.910 [http-nio-18002-exec-6] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354495 setActionDone: {"robot_id":3,"height":593,"location_x":126216,"location_y":49522,"location_theta":881966,"energy":100,"v":304,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354495,"taskFinish":0} 2025-08-22 09:17:48.920 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":12175,"timestamp":1755825468919}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:17:49.303 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [12177, 797, 817] from [12175, 12177, 797, 817] 2025-08-22 09:17:49.303 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [795, 787, 785, 773, 765, 6929, 6853, 10854, 6851, 1069, 1071, 11993, 11990, 12013, 11988] 2025-08-22 09:17:49.877 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354496 2025-08-22 09:17:49.878 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:17:49.878 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:17:50.928 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354496 2025-08-22 09:17:50.929 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:17:50.929 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:17:51.921 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354496 2025-08-22 09:17:51.921 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:17:51.921 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:17:52.989 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354496 2025-08-22 09:17:52.989 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:17:52.989 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:17:53.890 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354496 2025-08-22 09:17:53.890 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:17:53.890 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:17:54.363 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [12177, 797, 817, 795, 787] from [12177, 797, 817] 2025-08-22 09:17:54.363 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [785, 773, 765, 6929, 6853, 10854, 6851, 1069, 1071, 11993, 11990, 12013, 11988] 2025-08-22 09:17:54.866 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354496 2025-08-22 09:17:54.866 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:17:54.866 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:17:55.875 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354496 2025-08-22 09:17:55.875 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:17:55.875 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:17:56.876 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354496 2025-08-22 09:17:56.876 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:17:56.876 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:17:56.918 [http-nio-18002-exec-2] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354496 setActionDone: {"robot_id":3,"height":593,"location_x":126209,"location_y":47104,"location_theta":908002,"energy":100,"v":297,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354496,"taskFinish":0} 2025-08-22 09:17:57.418 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [797, 817, 795, 787] from [12177, 797, 817, 795, 787] 2025-08-22 09:17:57.418 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [785, 773, 765, 6929, 6853, 10854, 6851, 1069, 1071, 11993, 11990, 12013, 11988] 2025-08-22 09:17:57.877 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354497 2025-08-22 09:17:57.877 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:17:57.877 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:17:58.911 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354497 2025-08-22 09:17:58.912 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:17:58.912 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:17:59.862 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354497 2025-08-22 09:17:59.862 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:17:59.862 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:00.922 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354497 2025-08-22 09:18:00.922 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:18:00.922 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:01.906 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354497 2025-08-22 09:18:01.906 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:18:01.906 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:02.915 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354497 2025-08-22 09:18:02.915 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:18:02.915 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:03.925 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354497 2025-08-22 09:18:03.925 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:18:03.925 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:04.867 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354497 2025-08-22 09:18:04.867 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:18:04.867 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:05.876 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354497 2025-08-22 09:18:05.876 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:18:05.876 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:06.860 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354497 2025-08-22 09:18:06.860 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:18:06.860 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:07.911 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354497 2025-08-22 09:18:07.911 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:18:07.911 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:08.879 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354497 2025-08-22 09:18:08.879 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:18:08.879 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:09.896 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354497 2025-08-22 09:18:09.896 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:18:09.897 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:10.864 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354497 2025-08-22 09:18:10.864 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:18:10.864 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:11.890 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354497 2025-08-22 09:18:11.890 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:18:11.890 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:12.891 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354497 2025-08-22 09:18:12.891 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:18:12.891 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:12.933 [http-nio-18002-exec-8] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354497 setActionDone: {"robot_id":3,"height":593,"location_x":124325,"location_y":44905,"location_theta":-3177,"energy":100,"v":121,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354497,"taskFinish":0} 2025-08-22 09:18:12.940 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":111,"timestamp":1755825492940}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:18:13.528 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [817, 795, 787] from [797, 817, 795, 787] 2025-08-22 09:18:13.528 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [785, 773, 765, 6929, 6853, 10854, 6851, 1069, 1071, 11993, 11990, 12013, 11988] 2025-08-22 09:18:14.893 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354498 2025-08-22 09:18:14.893 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:18:14.893 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:15.927 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354498 2025-08-22 09:18:15.927 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:18:15.927 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:16.557 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [817, 795, 787, 785] from [817, 795, 787] 2025-08-22 09:18:16.557 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [773, 765, 6929, 6853, 10854, 6851, 1069, 1071, 11993, 11990, 12013, 11988] 2025-08-22 09:18:16.870 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354498 2025-08-22 09:18:16.870 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:18:16.870 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:17.887 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354498 2025-08-22 09:18:17.887 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:18:17.887 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:18.574 [robot-action-3] WARN com.zcnest.rcs.robot.RobotActionControl - robot 3 释放不需要的锁定点，保留500个，但其中：未锁定21个，补申请 2025-08-22 09:18:18.913 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354498 2025-08-22 09:18:18.914 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:18:18.914 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:19.880 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354498 2025-08-22 09:18:19.881 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:18:19.881 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:20.882 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354498 2025-08-22 09:18:20.882 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:18:20.882 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:21.891 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354498 2025-08-22 09:18:21.891 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:18:21.891 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:21.933 [http-nio-18002-exec-3] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354498 setActionDone: {"robot_id":3,"height":593,"location_x":127161,"location_y":44807,"location_theta":-1405,"energy":100,"v":229,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354498,"taskFinish":0} 2025-08-22 09:18:21.944 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":110,"timestamp":1755825501942}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:18:22.665 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [795, 787, 785, 773] from [817, 795, 787, 785] 2025-08-22 09:18:22.665 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [765, 6929, 6853, 10854, 6851, 1069, 1071, 11993, 11990, 12013, 11988] 2025-08-22 09:18:22.917 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354499 2025-08-22 09:18:22.917 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:18:22.917 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:22.984 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:18:22.984 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:18:23.918 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354499 2025-08-22 09:18:23.918 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:18:23.918 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:24.903 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354499 2025-08-22 09:18:24.903 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:18:24.903 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:25.878 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354499 2025-08-22 09:18:25.878 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:18:25.878 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:26.862 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354499 2025-08-22 09:18:26.862 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:18:26.862 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:27.871 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354499 2025-08-22 09:18:27.872 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:18:27.872 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:28.881 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354499 2025-08-22 09:18:28.881 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:18:28.881 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:29.716 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [795, 787, 785, 773, 765] from [795, 787, 785, 773] 2025-08-22 09:18:29.716 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [6929, 6853, 10854, 6851, 1069, 1071, 11993, 11990, 12013, 11988] 2025-08-22 09:18:29.873 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354499 2025-08-22 09:18:29.873 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:18:29.873 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:31.083 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354499 2025-08-22 09:18:31.083 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:18:31.083 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:31.875 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354499 2025-08-22 09:18:31.875 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:18:31.875 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:32.951 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354499 2025-08-22 09:18:32.951 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:18:32.951 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:33.885 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354499 2025-08-22 09:18:33.885 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:18:33.885 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:34.886 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354499 2025-08-22 09:18:34.886 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:18:34.886 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:35.870 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354499 2025-08-22 09:18:35.870 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:18:35.870 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:36.905 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354499 2025-08-22 09:18:36.905 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:18:36.905 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:36.946 [http-nio-18002-exec-1] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354499 setActionDone: {"robot_id":3,"height":593,"location_x":129220,"location_y":42968,"location_theta":-918815,"energy":100,"v":280,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354499,"taskFinish":0} 2025-08-22 09:18:36.954 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":109,"timestamp":1755825516953}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:18:37.770 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [787, 785, 773, 765] from [795, 787, 785, 773, 765] 2025-08-22 09:18:37.770 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [6929, 6853, 10854, 6851, 1069, 1071, 11993, 11990, 12013, 11988] 2025-08-22 09:18:37.864 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354500 2025-08-22 09:18:37.864 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:18:37.864 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:38.788 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [787, 785, 773, 765, 6929, 6853] from [787, 785, 773, 765] 2025-08-22 09:18:38.788 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [10854, 6851, 1069, 1071, 11993, 11990, 12013, 11988] 2025-08-22 09:18:38.881 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354500 2025-08-22 09:18:38.881 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:18:38.881 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:39.875 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354500 2025-08-22 09:18:39.875 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:18:39.875 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:40.934 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354500 2025-08-22 09:18:40.934 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:18:40.934 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:40.934 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: RobotMock 1755659354500 (group null) [start=RotationQrcode[787], fatherId [109], degree[-90.2168](129243,42850) , end=RotationQrcode[785], fatherId [106], degree[89.7832](129238,41300), degree=-90.2168, action=RobotAhead [size=1550]] 2025-08-22 09:18:40.934 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: 785 2025-08-22 09:18:40.934 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: move 2025-08-22 09:18:40.950 [http-nio-18002-exec-2] ERROR com.zcnest.common.base.controller.BaseController - system error org.springframework.http.converter.HttpMessageNotWritableException: Could not write JSON: Null key for a Map not allowed in JSON (use a converting NullKeySerializer?); nested exception is com.fasterxml.jackson.databind.JsonMappingException: Null key for a Map not allowed in JSON (use a converting NullKeySerializer?) (through reference chain: java.util.HashMap["points"]->java.util.HashMap["null"]) at org.springframework.http.converter.json.AbstractJackson2HttpMessageConverter.writeInternal(AbstractJackson2HttpMessageConverter.java:465) at org.springframework.http.converter.AbstractGenericHttpMessageConverter.write(AbstractGenericHttpMessageConverter.java:104) at org.springframework.web.servlet.mvc.method.annotation.AbstractMessageConverterMethodProcessor.writeWithMessageConverters(AbstractMessageConverterMethodProcessor.java:290) at org.springframework.web.servlet.mvc.method.annotation.RequestResponseBodyMethodProcessor.handleReturnValue(RequestResponseBodyMethodProcessor.java:183) at org.springframework.web.method.support.HandlerMethodReturnValueHandlerComposite.handleReturnValue(HandlerMethodReturnValueHandlerComposite.java:78) at org.springframework.web.servlet.mvc.method.annotation.ServletInvocableHandlerMethod.invokeAndHandle(ServletInvocableHandlerMethod.java:135) at org.springframework.web.servlet.mvc.method.annotation.RequestMappingHandlerAdapter.invokeHandlerMethod(RequestMappingHandlerAdapter.java:895) at org.springframework.web.servlet.mvc.method.annotation.RequestMappingHandlerAdapter.handleInternal(RequestMappingHandlerAdapter.java:808) at org.springframework.web.servlet.mvc.method.AbstractHandlerMethodAdapter.handle(AbstractHandlerMethodAdapter.java:87) at org.springframework.web.servlet.DispatcherServlet.doDispatch(DispatcherServlet.java:1071) at org.springframework.web.servlet.DispatcherServlet.doService(DispatcherServlet.java:964) at org.springframework.web.servlet.FrameworkServlet.processRequest(FrameworkServlet.java:1006) at org.springframework.web.servlet.FrameworkServlet.doPost(FrameworkServlet.java:909) at javax.servlet.http.HttpServlet.service(HttpServlet.java:528) at org.springframework.web.servlet.FrameworkServlet.service(FrameworkServlet.java:883) at javax.servlet.http.HttpServlet.service(HttpServlet.java:596) at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:209) at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153) at org.apache.tomcat.websocket.server.WsFilter.doFilter(WsFilter.java:53) at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:178) at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153) at org.springframework.web.filter.RequestContextFilter.doFilterInternal(RequestContextFilter.java:100) at org.springframework.web.filter.OncePerRequestFilter.doFilter(OncePerRequestFilter.java:117) at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:178) at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153) at org.springframework.web.filter.FormContentFilter.doFilterInternal(FormContentFilter.java:93) at org.springframework.web.filter.OncePerRequestFilter.doFilter(OncePerRequestFilter.java:117) at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:178) at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153) at org.springframework.boot.actuate.metrics.web.servlet.WebMvcMetricsFilter.doFilterInternal(WebMvcMetricsFilter.java:96) at org.springframework.web.filter.OncePerRequestFilter.doFilter(OncePerRequestFilter.java:117) at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:178) at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153) at org.springframework.web.filter.CharacterEncodingFilter.doFilterInternal(CharacterEncodingFilter.java:201) at org.springframework.web.filter.OncePerRequestFilter.doFilter(OncePerRequestFilter.java:117) at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:178) at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153) at org.apache.catalina.core.StandardWrapperValve.invoke(StandardWrapperValve.java:167) at org.apache.catalina.core.StandardContextValve.invoke(StandardContextValve.java:90) at org.apache.catalina.authenticator.AuthenticatorBase.invoke(AuthenticatorBase.java:492) at org.apache.catalina.core.StandardHostValve.invoke(StandardHostValve.java:130) at org.apache.catalina.valves.ErrorReportValve.invoke(ErrorReportValve.java:93) at org.apache.catalina.core.StandardEngineValve.invoke(StandardEngineValve.java:74) at org.apache.catalina.connector.CoyoteAdapter.service(CoyoteAdapter.java:343) at org.apache.coyote.http11.Http11Processor.service(Http11Processor.java:389) at org.apache.coyote.AbstractProcessorLight.process(AbstractProcessorLight.java:63) at org.apache.coyote.AbstractProtocol$ConnectionHandler.process(AbstractProtocol.java:926) at org.apache.tomcat.util.net.NioEndpoint$SocketProcessor.doRun(NioEndpoint.java:1791) at org.apache.tomcat.util.net.SocketProcessorBase.run(SocketProcessorBase.java:49) at org.apache.tomcat.util.threads.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1191) at org.apache.tomcat.util.threads.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:659) at org.apache.tomcat.util.threads.TaskThread$WrappingRunnable.run(TaskThread.java:61) at java.lang.Thread.run(Thread.java:750) Caused by: com.fasterxml.jackson.databind.JsonMappingException: Null key for a Map not allowed in JSON (use a converting NullKeySerializer?) (through reference chain: java.util.HashMap["points"]->java.util.HashMap["null"]) at com.fasterxml.jackson.databind.JsonMappingException.from(JsonMappingException.java:283) at com.fasterxml.jackson.databind.SerializerProvider.mappingException(SerializerProvider.java:1364) at com.fasterxml.jackson.databind.SerializerProvider.reportMappingProblem(SerializerProvider.java:1260) at com.fasterxml.jackson.databind.ser.impl.FailingSerializer.serialize(FailingSerializer.java:32) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serializeFields(MapSerializer.java:791) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serializeWithoutTypeInfo(MapSerializer.java:764) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serialize(MapSerializer.java:720) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serialize(MapSerializer.java:35) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serializeFields(MapSerializer.java:808) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serializeWithoutTypeInfo(MapSerializer.java:764) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serialize(MapSerializer.java:720) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serialize(MapSerializer.java:35) at com.fasterxml.jackson.databind.ser.DefaultSerializerProvider._serialize(DefaultSerializerProvider.java:480) at com.fasterxml.jackson.databind.ser.DefaultSerializerProvider.serializeValue(DefaultSerializerProvider.java:319) at com.fasterxml.jackson.databind.ObjectWriter$Prefetch.serialize(ObjectWriter.java:1572) at com.fasterxml.jackson.databind.ObjectWriter.writeValue(ObjectWriter.java:1061) at org.springframework.http.converter.json.AbstractJackson2HttpMessageConverter.writeInternal(AbstractJackson2HttpMessageConverter.java:456) ... 52 common frames omitted 2025-08-22 09:18:40.952 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 删除成功: 1 2025-08-22 09:18:41.804 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [785, 773, 765, 6929, 6853] from [787, 785, 773, 765, 6929, 6853] 2025-08-22 09:18:41.805 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [10854, 6851, 1069, 1071, 11993, 11990, 12013, 11988] 2025-08-22 09:18:41.928 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354501 2025-08-22 09:18:41.928 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:18:41.928 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:42.895 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354501 2025-08-22 09:18:42.895 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:18:42.895 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:43.838 [robot-action-3] WARN com.zcnest.rcs.robot.RobotActionControl - robot 3 释放不需要的锁定点，保留876个，但其中：未锁定6个，补申请 2025-08-22 09:18:43.912 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354501 2025-08-22 09:18:43.912 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:18:43.912 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:44.865 [robot-action-3] WARN com.zcnest.rcs.robot.RobotActionControl - robot 3 释放不需要的锁定点，保留833个，但其中：未锁定5个，补申请 2025-08-22 09:18:44.888 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354501 2025-08-22 09:18:44.888 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:18:44.888 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:45.872 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354501 2025-08-22 09:18:45.873 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:18:45.873 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:45.873 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: RobotMock 1755659354501 (group null) [start=RotationQrcode[785], fatherId [106], degree[89.7832](129238,41300) , end=RotationQrcode[773], fatherId [105], degree[89.7821](129217,35778), degree=-90.2179, action=RobotAhead [size=5522]] 2025-08-22 09:18:45.873 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: 773 2025-08-22 09:18:45.873 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: move 2025-08-22 09:18:45.884 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":106,"timestamp":1755825525882}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:18:45.891 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 删除成功: 1 2025-08-22 09:18:45.891 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [773, 765, 6929, 6853] from [785, 773, 765, 6929, 6853] 2025-08-22 09:18:45.891 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [10854, 6851, 1069, 1071, 11993, 11990, 12013, 11988] 2025-08-22 09:18:46.881 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354502 2025-08-22 09:18:46.881 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:18:46.881 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:47.865 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354502 2025-08-22 09:18:47.865 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:18:47.865 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:48.858 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354502 2025-08-22 09:18:48.858 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:18:48.858 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:48.955 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":105,"timestamp":1755825528954}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:18:49.952 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354502 2025-08-22 09:18:49.952 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:18:49.952 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:49.952 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: RobotMock 1755659354502 (group null) [start=RotationQrcode[773], fatherId [105], degree[89.7821](129217,35778) , end=RotationQrcode[765], fatherId [100], degree[90.0105](129210,30304), degree=-89.9895, action=RobotAhead [size=5474]] 2025-08-22 09:18:49.952 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: 765 2025-08-22 09:18:49.952 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: move 2025-08-22 09:18:49.962 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 删除成功: 1 2025-08-22 09:18:49.963 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [765, 6929, 6853] from [773, 765, 6929, 6853] 2025-08-22 09:18:49.963 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [10854, 6851, 1069, 1071, 11993, 11990, 12013, 11988] 2025-08-22 09:18:50.886 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354503 2025-08-22 09:18:50.886 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:18:50.886 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:51.896 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354503 2025-08-22 09:18:51.896 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:18:51.896 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:52.888 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354503 2025-08-22 09:18:52.888 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:18:52.888 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:53.021 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [765, 6929, 6853, 10854] from [765, 6929, 6853] 2025-08-22 09:18:53.021 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [6851, 1069, 1071, 11993, 11990, 12013, 11988] 2025-08-22 09:18:53.872 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354503 2025-08-22 09:18:53.872 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:18:53.872 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:55.006 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354503 2025-08-22 09:18:55.007 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:18:55.007 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:55.055 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":100,"timestamp":1755825535054}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:18:55.874 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354503 2025-08-22 09:18:55.874 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:18:55.874 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:56.875 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354503 2025-08-22 09:18:56.875 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:18:56.875 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:57.934 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354503 2025-08-22 09:18:57.935 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:18:57.935 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:58.885 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354503 2025-08-22 09:18:58.885 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:18:58.885 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:18:58.969 [http-nio-18002-exec-3] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354503 setActionDone: {"robot_id":3,"height":592,"location_x":129217,"location_y":23734,"location_theta":-896622,"energy":100,"v":270,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354503,"taskFinish":0} 2025-08-22 09:18:59.125 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [6929, 6853, 10854] from [765, 6929, 6853, 10854] 2025-08-22 09:18:59.125 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [6851, 1069, 1071, 11993, 11990, 12013, 11988] 2025-08-22 09:18:59.920 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354504 2025-08-22 09:18:59.920 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:18:59.920 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:00.879 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354504 2025-08-22 09:19:00.880 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:19:00.880 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:01.888 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354504 2025-08-22 09:19:01.888 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:19:01.888 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:02.872 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354504 2025-08-22 09:19:02.873 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:19:02.873 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:03.899 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354504 2025-08-22 09:19:03.899 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:19:03.899 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:04.874 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354504 2025-08-22 09:19:04.874 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:19:04.874 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:05.867 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354504 2025-08-22 09:19:05.867 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:19:05.867 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:06.876 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354504 2025-08-22 09:19:06.876 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:19:06.876 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:07.902 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354504 2025-08-22 09:19:07.902 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:19:07.902 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:08.895 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354504 2025-08-22 09:19:08.895 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:19:08.895 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:09.912 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354504 2025-08-22 09:19:09.912 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:19:09.912 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:10.880 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354504 2025-08-22 09:19:10.880 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:19:10.880 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:11.898 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354504 2025-08-22 09:19:11.898 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:19:11.898 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:11.948 [http-nio-18002-exec-9] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354504 setActionDone: {"robot_id":3,"height":592,"location_x":127994,"location_y":22030,"location_theta":1781010,"energy":100,"v":293,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354504,"taskFinish":0} 2025-08-22 09:19:11.958 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":170,"timestamp":1755825551957}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:19:12.181 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [6853, 10854, 6851, 1069] from [6929, 6853, 10854] 2025-08-22 09:19:12.181 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [1071, 11993, 11990, 12013, 11988] 2025-08-22 09:19:12.874 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354505 2025-08-22 09:19:12.874 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:12.874 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:13.875 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354505 2025-08-22 09:19:13.875 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:13.875 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:14.885 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354505 2025-08-22 09:19:14.885 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:14.885 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:15.877 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354505 2025-08-22 09:19:15.877 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:15.877 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:16.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354505 2025-08-22 09:19:16.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:16.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:17.212 [robot-action-3] WARN com.zcnest.rcs.robot.RobotActionControl - robot 3 释放不需要的锁定点，保留1309个，但其中：未锁定23个，补申请 2025-08-22 09:19:17.888 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354505 2025-08-22 09:19:17.888 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:17.888 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:18.923 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354505 2025-08-22 09:19:18.923 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:18.923 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:19.890 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354505 2025-08-22 09:19:19.890 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:19.890 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:20.874 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354505 2025-08-22 09:19:20.874 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:20.874 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:21.985 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354505 2025-08-22 09:19:21.985 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:21.985 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:22.347 [robot-action-3] WARN com.zcnest.rcs.robot.RobotActionControl - robot 3 释放不需要的锁定点，保留1082个，但其中：未锁定2个，补申请 2025-08-22 09:19:22.919 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354505 2025-08-22 09:19:22.919 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:22.919 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:22.989 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:19:22.990 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:19:23.375 [robot-action-3] WARN com.zcnest.rcs.robot.RobotActionControl - robot 3 释放不需要的锁定点，保留1096个，但其中：未锁定72个，补申请 2025-08-22 09:19:23.878 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354505 2025-08-22 09:19:23.878 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:23.878 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:24.887 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354505 2025-08-22 09:19:24.887 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:24.887 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:25.913 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354505 2025-08-22 09:19:25.913 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:25.913 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:27.115 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354505 2025-08-22 09:19:27.115 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:27.115 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:27.890 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354505 2025-08-22 09:19:27.890 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:27.890 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:28.513 [robot-action-3] WARN com.zcnest.rcs.robot.RobotActionControl - robot 3 释放不需要的锁定点，保留759个，但其中：未锁定18个，补申请 2025-08-22 09:19:28.891 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354505 2025-08-22 09:19:28.892 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:28.892 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:29.545 [robot-action-3] WARN com.zcnest.rcs.robot.RobotActionControl - robot 3 释放不需要的锁定点，保留724个，但其中：未锁定16个，补申请 2025-08-22 09:19:29.876 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354505 2025-08-22 09:19:29.876 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:29.876 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:30.919 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354505 2025-08-22 09:19:30.919 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:30.919 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:31.878 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354505 2025-08-22 09:19:31.879 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:31.879 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:32.888 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354505 2025-08-22 09:19:32.888 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:32.888 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:33.914 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354505 2025-08-22 09:19:33.914 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:33.914 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:34.890 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354505 2025-08-22 09:19:34.890 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:34.890 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:34.890 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: RobotMock 1755659354505 (group null) [start=RotationQrcode[6853], fatherId [170], degree[179.7913](127710,21977) , end=com.zcnest.rcs.modeling.model.shelf.ShelfCrossQrcode@2a85(104279,22062), degree=179.7913, action=RobotAhead [size=23431]] 2025-08-22 09:19:34.890 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: 10854 2025-08-22 09:19:34.890 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: move 2025-08-22 09:19:34.908 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 删除成功: 1 2025-08-22 09:19:35.702 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [10854, 6851, 1069] from [6853, 10854, 6851, 1069] 2025-08-22 09:19:35.702 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [1071, 11993, 11990, 12013, 11988] 2025-08-22 09:19:35.891 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354506 2025-08-22 09:19:35.891 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:35.891 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:36.876 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354506 2025-08-22 09:19:36.876 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:36.876 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:37.944 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354506 2025-08-22 09:19:37.944 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:37.944 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:38.920 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354506 2025-08-22 09:19:38.920 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:38.920 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:39.809 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [10854, 6851, 1069, 1071] from [10854, 6851, 1069] 2025-08-22 09:19:39.809 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [11993, 11990, 12013, 11988] 2025-08-22 09:19:39.912 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354506 2025-08-22 09:19:39.912 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:39.912 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:39.954 [http-nio-18002-exec-6] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354506 setActionDone: {"robot_id":3,"height":592,"location_x":101678,"location_y":22086,"location_theta":-1789882,"energy":100,"v":207,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354506,"taskFinish":0} 2025-08-22 09:19:40.811 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [6851, 1069, 1071] from [10854, 6851, 1069, 1071] 2025-08-22 09:19:40.811 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [11993, 11990, 12013, 11988] 2025-08-22 09:19:40.880 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354507 2025-08-22 09:19:40.880 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:19:40.880 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:41.824 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [6851, 1069, 1071, 11993, 11990, 12013, 11988] from [6851, 1069, 1071] 2025-08-22 09:19:41.824 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 remaining route updated [] 2025-08-22 09:19:41.923 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354507 2025-08-22 09:19:41.923 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:19:41.923 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:42.924 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354507 2025-08-22 09:19:42.924 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:19:42.924 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:43.892 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354507 2025-08-22 09:19:43.892 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:19:43.892 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:44.876 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354507 2025-08-22 09:19:44.877 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:19:44.877 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:45.877 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354507 2025-08-22 09:19:45.877 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:19:45.877 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:46.945 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354507 2025-08-22 09:19:46.945 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:19:46.945 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:47.879 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354507 2025-08-22 09:19:47.879 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:19:47.879 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:48.881 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354507 2025-08-22 09:19:48.881 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:19:48.881 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:49.032 [http-nio-18002-exec-9] INFO com.zcnest.rcs.order.controller.WmsController - Wms LinkWmsRcs{id=4113, wmsId=0, priority=0, status=0, fromShelfBoxId=515001, toShelfBoxId=712003, robotId=null} 添加任务通知 com.zcnest.rcs.order.service.ExternalIntegrationSettingService@7ab3f194 2025-08-22 09:19:49.515 [task-dispatch-thread1] INFO com.zcnest.rcs.kernel.security.RcsResourceManager - robot 1 任务 2855 申请，货架列：515-1，列表：[2855] 2025-08-22 09:19:49.520 [task-dispatch-thread1] INFO com.zcnest.rcs.kernel.security.RcsResourceManager - robot 1 任务 2856 申请，货架列：712-1，列表：[2856] 2025-08-22 09:19:49.520 [task-dispatch-thread1] INFO com.zcnest.rcs.task.TaskPatchControl - task schedule taskIds :[2855, 2856],robotId：1 2025-08-22 09:19:49.520 [task-dispatch-thread1] INFO com.zcnest.rcs.robot.RobotTaskControl - robot 1 add task TaskPick [action:30, boxId=1, fromQrcodes =[com.zcnest.rcs.modeling.model.shelf.ShelfCrossQrcode@2c65]] 2025-08-22 09:19:49.520 [task-dispatch-thread1] INFO com.zcnest.rcs.robot.RobotTaskControl - robot 1 add task TaskUnpick [action:null->30, boxId=1, fromQrcodes=[com.zcnest.rcs.modeling.model.shelf.ShelfCrossQrcode@2ea5]] 2025-08-22 09:19:49.732 [task-dispatch-thread1] INFO com.zcnest.rcs.schedule.TaskSchedule - Wms LinkWmsRcs{id=4113, wmsId=0, priority=0, status=1, fromShelfBoxId=515001, toShelfBoxId=712003, robotId=1} 任务派发通知 com.zcnest.rcs.order.service.ExternalIntegrationSettingService@7ab3f194 2025-08-22 09:19:49.891 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354507 2025-08-22 09:19:49.891 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:19:49.891 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:50.013 [robot-action-1] INFO com.zcnest.rcs.robot.RobotActionControl - success init pick task RobotPick [action:30->0, boxId=1, fromShelfId=515 , fromShelfBoxId=515001, PickQrcodeGroup=[PickQrcodeGroup [rotationShelfQrcode=11334, degree=89.8909]]], taskId 2855 2025-08-22 09:19:50.013 [robot-action-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的离开任务初始化完成 2025-08-22 09:19:50.499 [robot-action-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的任务路径初始化完成 2025-08-22 09:19:50.846 [robot-action-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 0, 时间估算: 124285.0, 路由: RobotMockPath: {qrcodes: [11986, 11999, 179, 214, 164, 161, 158, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(11986, 180.0, ahead), (11999, 180.0, ahead), (11999, 90.0616, rotationright), (179, 90.0616, ahead), (214, 90.0936, ahead), (214, 179.7819, rotationleft), (164, 179.7819, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:19:50.846 [robot-action-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 1, 时间估算: 158757.0, 路由: RobotMockPath: {qrcodes: [11986, 11999, 179, 214, 164, 161, 158, 155, 3878, 3888, 188, 187, 186, 185, 192, 191, 11334], mocks: [(11986, 180.0, ahead), (11999, 180.0, ahead), (11999, 90.0616, rotationright), (179, 90.0616, ahead), (214, 90.0936, ahead), (214, 179.7819, rotationleft), (164, 179.7819, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, -0.1761, rotationright), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:19:50.847 [robot-action-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 2, 时间估算: 179503.0, 路由: RobotMockPath: {qrcodes: [11986, 11999, 179, 214, 164, 161, 158, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(11986, 180.0, ahead), (11999, 180.0, ahead), (11999, 90.0616, rotationright), (179, 90.0616, ahead), (214, 90.0936, ahead), (214, 179.7819, rotationleft), (164, 179.7819, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (191, 89.8228, rotationleft), (191, 179.8239, rotationright), (11334, 179.8239, ahead)], type: ahead} 2025-08-22 09:19:50.847 [robot-action-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 3, 时间估算: 196548.0, 路由: RobotMockPath: {qrcodes: [11986, 11999, 179, 214, 164, 161, 158, 155, 3878, 3888, 188, 187, 186, 185, 192, 191, 11334], mocks: [(11986, 180.0, ahead), (11999, 180.0, ahead), (11999, 90.0616, rotationright), (179, 90.0616, ahead), (214, 90.0936, ahead), (214, 179.7819, rotationleft), (164, 179.7819, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, 179.811, rotationleft), (11334, 179.811, ahead)], type: ahead} 2025-08-22 09:19:50.847 [robot-action-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [11986, 11999, 179, 214, 164, 161, 158, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(11986, 180.0, ahead), (11999, 180.0, ahead), (11999, 90.0616, rotationright), (179, 90.0616, ahead), (214, 90.0936, ahead), (214, 179.7819, rotationleft), (164, 179.7819, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:19:50.858 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354507 2025-08-22 09:19:50.858 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:19:50.858 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:50.909 [robot-action-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 取卸货任务 2855 使用动态规划添加动作 2025-08-22 09:19:50.909 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 re planned its route [11986, 12005, 12002, 1087, 955, 953, 12112, 11963, 11959, 11951, 3889, 3894, 1089, 1057, 651, 11334] from [] 2025-08-22 09:19:50.914 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [11986, 12005, 12002] from [] 2025-08-22 09:19:50.914 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 remaining route updated [1087, 955, 953, 12112, 11963, 11959, 11951, 3889, 3894, 1089, 1057, 651, 11334] 2025-08-22 09:19:51.115 [task-dispatch-thread1] INFO com.zcnest.rcs.schedule.TaskSchedule - Wms LinkWmsRcs{id=4113, wmsId=0, priority=0, status=2, fromShelfBoxId=515001, toShelfBoxId=712003, robotId=1} 任务中通知 com.zcnest.rcs.order.service.ExternalIntegrationSettingService@7ab3f194 2025-08-22 09:19:51.368 [task-dispatch-thread1] INFO com.zcnest.rcs.schedule.TaskSchedule - WmsRcs 4113 和Task任务 2855 更新为执行状态 2025-08-22 09:19:51.926 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354507 2025-08-22 09:19:51.927 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:19:51.927 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:52.877 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354507 2025-08-22 09:19:52.877 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:19:52.877 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:53.878 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354507 2025-08-22 09:19:53.878 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:19:53.878 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:54.020 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354516 2025-08-22 09:19:54.020 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:54.020 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:54.187 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354516 2025-08-22 09:19:54.187 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:54.187 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:54.296 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354516 2025-08-22 09:19:54.296 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:54.296 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:54.421 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354516 2025-08-22 09:19:54.421 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:54.421 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:54.922 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354507 2025-08-22 09:19:54.922 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:19:54.922 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:54.955 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [11986, 12005, 12002, 1087, 955] from [11986, 12005, 12002] 2025-08-22 09:19:54.955 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 remaining route updated [953, 12112, 11963, 11959, 11951, 3889, 3894, 1089, 1057, 651, 11334] 2025-08-22 09:19:54.963 [http-nio-18002-exec-1] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354507 setActionDone: {"robot_id":3,"height":592,"location_x":99578,"location_y":23902,"location_theta":882702,"energy":100,"v":275,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354507,"taskFinish":0} 2025-08-22 09:19:54.970 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":175,"timestamp":1755825594969}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:19:55.280 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354516 2025-08-22 09:19:55.280 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:55.281 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:55.871 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [1069, 1071, 11993, 11990, 12013, 11988] from [6851, 1069, 1071, 11993, 11990, 12013, 11988] 2025-08-22 09:19:55.914 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354508 2025-08-22 09:19:55.914 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:55.914 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:55.980 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 开始动态规划路径, 最后的已申请 mock: RobotMock 1755659354519 (group 42997) [start=RotationQrcode[1087], fatherId [214], degree[-89.9064](99556,45369) , end=RotationQrcode[955], fatherId [214], degree[179.7819](97553,47377), degree=179.7819, action=RobotRotation {fromDegree:90.0936, toDegree: 179.7819, rotationleft 89.6883}] 2025-08-22 09:19:55.980 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的离开任务初始化完成 2025-08-22 09:19:56.166 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的任务路径初始化完成 2025-08-22 09:19:56.272 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354516 2025-08-22 09:19:56.272 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:56.272 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:56.314 [http-nio-18002-exec-4] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354516 setActionDone: {"robot_id":1,"height":602,"location_x":101708,"location_y":42148,"location_theta":1792733,"energy":94,"v":308,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354516,"taskFinish":0} 2025-08-22 09:19:56.319 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":11986,"timestamp":1755825596319}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:19:56.371 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 0, 时间估算: 91997.0, 路由: RobotMockPath: {qrcodes: [955, 214, 164, 161, 158, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(214, 179.7819, ahead), (214, 179.7819, ahead), (164, 179.7819, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:19:56.371 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 1, 时间估算: 126469.0, 路由: RobotMockPath: {qrcodes: [955, 214, 164, 161, 158, 155, 3878, 3888, 188, 187, 186, 185, 192, 191, 11334], mocks: [(214, 179.7819, ahead), (214, 179.7819, ahead), (164, 179.7819, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, -0.1761, rotationright), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:19:56.371 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 2, 时间估算: 147215.0, 路由: RobotMockPath: {qrcodes: [955, 214, 164, 161, 158, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(214, 179.7819, ahead), (214, 179.7819, ahead), (164, 179.7819, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (191, 89.8228, rotationleft), (191, 179.8239, rotationright), (11334, 179.8239, ahead)], type: ahead} 2025-08-22 09:19:56.371 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 3, 时间估算: 164260.0, 路由: RobotMockPath: {qrcodes: [955, 214, 164, 161, 158, 155, 3878, 3888, 188, 187, 186, 185, 192, 191, 11334], mocks: [(214, 179.7819, ahead), (214, 179.7819, ahead), (164, 179.7819, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, 179.811, rotationleft), (11334, 179.811, ahead)], type: ahead} 2025-08-22 09:19:56.371 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [955, 214, 164, 161, 158, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(214, 179.7819, ahead), (214, 179.7819, ahead), (164, 179.7819, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:19:56.372 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 动态规划路径结束 2025-08-22 09:19:56.865 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354508 2025-08-22 09:19:56.865 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:56.865 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:56.970 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [12005, 12002, 1087, 955] from [11986, 12005, 12002, 1087, 955] 2025-08-22 09:19:56.971 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 remaining route updated [953, 12112, 11963, 11959, 11951, 3889, 3894, 1089, 1057, 651, 11334] 2025-08-22 09:19:56.972 [robot-action-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 不变更路由，当前耗时 91997， 动态路由耗时 93827 2025-08-22 09:19:57.341 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354517 2025-08-22 09:19:57.341 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:19:57.341 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:57.891 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354508 2025-08-22 09:19:57.891 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:57.892 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:58.292 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354517 2025-08-22 09:19:58.292 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:19:58.292 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:58.893 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354508 2025-08-22 09:19:58.893 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:58.893 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:59.286 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354517 2025-08-22 09:19:59.286 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:19:59.286 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:19:59.906 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354508 2025-08-22 09:19:59.906 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:19:59.906 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:00.304 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354517 2025-08-22 09:20:00.304 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:20:00.304 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:00.862 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354508 2025-08-22 09:20:00.862 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:00.862 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:00.946 [http-nio-18002-exec-7] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354508 setActionDone: {"robot_id":3,"height":592,"location_x":99560,"location_y":26177,"location_theta":917556,"energy":100,"v":144,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354508,"taskFinish":0} 2025-08-22 09:20:01.077 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 开始动态规划路径, 最后的已申请 mock: RobotMock 1755659354519 (group 42997) [start=RotationQrcode[1087], fatherId [214], degree[-89.9064](99556,45369) , end=RotationQrcode[955], fatherId [214], degree[179.7819](97553,47377), degree=179.7819, action=RobotRotation {fromDegree:90.0936, toDegree: 179.7819, rotationleft 89.6883}] 2025-08-22 09:20:01.079 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的离开任务初始化完成 2025-08-22 09:20:01.246 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的任务路径初始化完成 2025-08-22 09:20:01.279 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354517 2025-08-22 09:20:01.279 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:20:01.279 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:01.468 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 0, 时间估算: 91997.0, 路由: RobotMockPath: {qrcodes: [955, 214, 164, 161, 158, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(214, 179.7819, ahead), (214, 179.7819, ahead), (164, 179.7819, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:01.469 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 1, 时间估算: 126469.0, 路由: RobotMockPath: {qrcodes: [955, 214, 164, 161, 158, 155, 3878, 3888, 188, 187, 186, 185, 192, 191, 11334], mocks: [(214, 179.7819, ahead), (214, 179.7819, ahead), (164, 179.7819, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, -0.1761, rotationright), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:01.469 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 2, 时间估算: 147215.0, 路由: RobotMockPath: {qrcodes: [955, 214, 164, 161, 158, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(214, 179.7819, ahead), (214, 179.7819, ahead), (164, 179.7819, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (191, 89.8228, rotationleft), (191, 179.8239, rotationright), (11334, 179.8239, ahead)], type: ahead} 2025-08-22 09:20:01.469 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 3, 时间估算: 164260.0, 路由: RobotMockPath: {qrcodes: [955, 214, 164, 161, 158, 155, 3878, 3888, 188, 187, 186, 185, 192, 191, 11334], mocks: [(214, 179.7819, ahead), (214, 179.7819, ahead), (164, 179.7819, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, 179.811, rotationleft), (11334, 179.811, ahead)], type: ahead} 2025-08-22 09:20:01.469 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [955, 214, 164, 161, 158, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(214, 179.7819, ahead), (214, 179.7819, ahead), (164, 179.7819, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:01.470 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 动态规划路径结束 2025-08-22 09:20:01.925 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [1071, 11993, 11990, 12013, 11988] from [1069, 1071, 11993, 11990, 12013, 11988] 2025-08-22 09:20:02.016 [robot-action-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 不变更路由，当前耗时 91997， 动态路由耗时 93827 2025-08-22 09:20:02.272 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354517 2025-08-22 09:20:02.272 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:20:02.272 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:02.881 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354509 2025-08-22 09:20:02.881 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:02.881 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:02.881 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: RobotMock 1755659354509 (group null) [start=RotationQrcode[1071], fatherId [176], degree[-90.0](99556,26364) , end=RotationQrcode[1071], fatherId [176], degree[-90.0](99556,26364), degree=89.9169, action=RobotAhead [size=0]] 2025-08-22 09:20:02.881 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: 1071 2025-08-22 09:20:02.881 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: move 2025-08-22 09:20:02.898 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 删除成功: 1 2025-08-22 09:20:03.299 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354517 2025-08-22 09:20:03.299 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:20:03.299 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:03.949 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354510 2025-08-22 09:20:03.949 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:03.949 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:04.275 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354517 2025-08-22 09:20:04.275 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:20:04.275 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:04.884 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354510 2025-08-22 09:20:04.884 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:04.884 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:05.284 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354517 2025-08-22 09:20:05.284 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:20:05.284 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:05.927 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354510 2025-08-22 09:20:05.927 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:05.927 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:06.074 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 开始动态规划路径, 最后的已申请 mock: RobotMock 1755659354519 (group 42997) [start=RotationQrcode[1087], fatherId [214], degree[-89.9064](99556,45369) , end=RotationQrcode[955], fatherId [214], degree[179.7819](97553,47377), degree=179.7819, action=RobotRotation {fromDegree:90.0936, toDegree: 179.7819, rotationleft 89.6883}] 2025-08-22 09:20:06.074 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的离开任务初始化完成 2025-08-22 09:20:06.242 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的任务路径初始化完成 2025-08-22 09:20:06.277 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354517 2025-08-22 09:20:06.278 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:20:06.278 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:06.454 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 0, 时间估算: 91997.0, 路由: RobotMockPath: {qrcodes: [955, 214, 164, 161, 158, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(214, 179.7819, ahead), (214, 179.7819, ahead), (164, 179.7819, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:06.454 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 1, 时间估算: 126469.0, 路由: RobotMockPath: {qrcodes: [955, 214, 164, 161, 158, 155, 3878, 3888, 188, 187, 186, 185, 192, 191, 11334], mocks: [(214, 179.7819, ahead), (214, 179.7819, ahead), (164, 179.7819, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, -0.1761, rotationright), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:06.455 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 2, 时间估算: 147215.0, 路由: RobotMockPath: {qrcodes: [955, 214, 164, 161, 158, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(214, 179.7819, ahead), (214, 179.7819, ahead), (164, 179.7819, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (191, 89.8228, rotationleft), (191, 179.8239, rotationright), (11334, 179.8239, ahead)], type: ahead} 2025-08-22 09:20:06.455 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 3, 时间估算: 164260.0, 路由: RobotMockPath: {qrcodes: [955, 214, 164, 161, 158, 155, 3878, 3888, 188, 187, 186, 185, 192, 191, 11334], mocks: [(214, 179.7819, ahead), (214, 179.7819, ahead), (164, 179.7819, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, 179.811, rotationleft), (11334, 179.811, ahead)], type: ahead} 2025-08-22 09:20:06.455 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [955, 214, 164, 161, 158, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(214, 179.7819, ahead), (214, 179.7819, ahead), (164, 179.7819, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:06.455 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 动态规划路径结束 2025-08-22 09:20:06.887 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354510 2025-08-22 09:20:06.887 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:06.887 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:06.947 [robot-action-3] WARN com.zcnest.rcs.robot.RobotActionControl - robot 3 释放不需要的锁定点，保留582个，但其中：未锁定15个，补申请 2025-08-22 09:20:07.055 [robot-action-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 不变更路由，当前耗时 91997， 动态路由耗时 93827 2025-08-22 09:20:07.304 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354517 2025-08-22 09:20:07.304 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:20:07.304 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:07.863 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354510 2025-08-22 09:20:07.863 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:07.863 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:07.970 [robot-action-3] WARN com.zcnest.rcs.robot.RobotActionControl - robot 3 释放不需要的锁定点，保留557个，但其中：未锁定8个，补申请 2025-08-22 09:20:08.271 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354517 2025-08-22 09:20:08.271 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:20:08.271 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:08.863 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354510 2025-08-22 09:20:08.864 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:08.864 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:08.864 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: RobotMock 1755659354510 (group 42995) [start=RotationQrcode[1071], fatherId [176], degree[-90.0](99556,26364) , end=RotationQrcode[11993], fatherId [11989], degree[-90.0831](99557,29121), degree=89.9169, action=RobotAhead [size=2757]] 2025-08-22 09:20:08.864 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: 11993 2025-08-22 09:20:08.864 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: move 2025-08-22 09:20:08.874 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 删除成功: 1 2025-08-22 09:20:08.988 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [11993, 11990, 12013, 11988] from [1071, 11993, 11990, 12013, 11988] 2025-08-22 09:20:09.440 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354517 2025-08-22 09:20:09.440 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:20:09.440 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:09.882 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354511 2025-08-22 09:20:09.882 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:09.882 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:10.282 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354517 2025-08-22 09:20:10.282 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:20:10.282 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:10.899 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354511 2025-08-22 09:20:10.899 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:10.900 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:11.008 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":176,"timestamp":1755825611007}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:20:11.160 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 开始动态规划路径, 最后的已申请 mock: RobotMock 1755659354519 (group 42997) [start=RotationQrcode[1087], fatherId [214], degree[-89.9064](99556,45369) , end=RotationQrcode[955], fatherId [214], degree[179.7819](97553,47377), degree=179.7819, action=RobotRotation {fromDegree:90.0936, toDegree: 179.7819, rotationleft 89.6883}] 2025-08-22 09:20:11.160 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的离开任务初始化完成 2025-08-22 09:20:11.274 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354517 2025-08-22 09:20:11.274 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:20:11.274 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:11.316 [http-nio-18002-exec-3] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354517 setActionDone: {"robot_id":1,"height":602,"location_x":99595,"location_y":43824,"location_theta":869006,"energy":94,"v":295,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354517,"taskFinish":0} 2025-08-22 09:20:11.321 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":11999,"timestamp":1755825611321}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:20:11.328 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的任务路径初始化完成 2025-08-22 09:20:11.539 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 0, 时间估算: 91997.0, 路由: RobotMockPath: {qrcodes: [955, 214, 164, 161, 158, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(214, 179.7819, ahead), (214, 179.7819, ahead), (164, 179.7819, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:11.540 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 1, 时间估算: 126469.0, 路由: RobotMockPath: {qrcodes: [955, 214, 164, 161, 158, 155, 3878, 3888, 188, 187, 186, 185, 192, 191, 11334], mocks: [(214, 179.7819, ahead), (214, 179.7819, ahead), (164, 179.7819, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, -0.1761, rotationright), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:11.540 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 2, 时间估算: 147215.0, 路由: RobotMockPath: {qrcodes: [955, 214, 164, 161, 158, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(214, 179.7819, ahead), (214, 179.7819, ahead), (164, 179.7819, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (191, 89.8228, rotationleft), (191, 179.8239, rotationright), (11334, 179.8239, ahead)], type: ahead} 2025-08-22 09:20:11.540 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 3, 时间估算: 164260.0, 路由: RobotMockPath: {qrcodes: [955, 214, 164, 161, 158, 155, 3878, 3888, 188, 187, 186, 185, 192, 191, 11334], mocks: [(214, 179.7819, ahead), (214, 179.7819, ahead), (164, 179.7819, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, 179.811, rotationleft), (11334, 179.811, ahead)], type: ahead} 2025-08-22 09:20:11.540 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [955, 214, 164, 161, 158, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(214, 179.7819, ahead), (214, 179.7819, ahead), (164, 179.7819, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:11.541 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 动态规划路径结束 2025-08-22 09:20:11.925 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354511 2025-08-22 09:20:11.926 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:11.926 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:12.102 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [12002, 1087, 955, 953] from [12005, 12002, 1087, 955] 2025-08-22 09:20:12.102 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 remaining route updated [12112, 11963, 11959, 11951, 3889, 3894, 1089, 1057, 651, 11334] 2025-08-22 09:20:12.277 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354518 2025-08-22 09:20:12.277 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:12.277 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:12.919 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354511 2025-08-22 09:20:12.919 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:12.919 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:13.278 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354518 2025-08-22 09:20:13.278 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:13.278 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:13.946 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354511 2025-08-22 09:20:13.946 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:13.946 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:14.288 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354518 2025-08-22 09:20:14.288 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:14.288 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:14.872 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354511 2025-08-22 09:20:14.872 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:14.872 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:15.264 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354518 2025-08-22 09:20:15.265 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:15.265 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:15.882 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354511 2025-08-22 09:20:15.882 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:15.882 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:15.924 [http-nio-18002-exec-7] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354511 setActionDone: {"robot_id":3,"height":592,"location_x":99576,"location_y":32962,"location_theta":908984,"energy":99,"v":161,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354511,"taskFinish":0} 2025-08-22 09:20:16.107 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [11990, 12013, 11988] from [11993, 11990, 12013, 11988] 2025-08-22 09:20:16.147 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 开始动态规划路径, 最后的已申请 mock: RobotMock 1755659354520 (group null) [start=RotationQrcode[955], fatherId [214], degree[179.7819](97553,47377) , end=RotationQrcode[953], fatherId [164], degree[-0.2182](93162,47393), degree=179.7819, action=RobotAhead [size=4391]] 2025-08-22 09:20:16.148 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的离开任务初始化完成 2025-08-22 09:20:16.282 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354518 2025-08-22 09:20:16.282 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:16.282 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:16.323 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的任务路径初始化完成 2025-08-22 09:20:16.366 [http-nio-18002-exec-1] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354518 setActionDone: {"robot_id":1,"height":602,"location_x":99607,"location_y":45268,"location_theta":915862,"energy":94,"v":235,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354518,"taskFinish":0} 2025-08-22 09:20:16.535 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 0, 时间估算: 90941.0, 路由: RobotMockPath: {qrcodes: [953, 164, 161, 158, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(164, 179.7819, ahead), (164, 179.7819, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:16.535 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 1, 时间估算: 125413.0, 路由: RobotMockPath: {qrcodes: [953, 164, 161, 158, 155, 3878, 3888, 188, 187, 186, 185, 192, 191, 11334], mocks: [(164, 179.7819, ahead), (164, 179.7819, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, -0.1761, rotationright), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:16.536 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 2, 时间估算: 146159.0, 路由: RobotMockPath: {qrcodes: [953, 164, 161, 158, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(164, 179.7819, ahead), (164, 179.7819, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (191, 89.8228, rotationleft), (191, 179.8239, rotationright), (11334, 179.8239, ahead)], type: ahead} 2025-08-22 09:20:16.536 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 3, 时间估算: 163204.0, 路由: RobotMockPath: {qrcodes: [953, 164, 161, 158, 155, 3878, 3888, 188, 187, 186, 185, 192, 191, 11334], mocks: [(164, 179.7819, ahead), (164, 179.7819, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, 179.811, rotationleft), (11334, 179.811, ahead)], type: ahead} 2025-08-22 09:20:16.536 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [953, 164, 161, 158, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(164, 179.7819, ahead), (164, 179.7819, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:16.536 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 动态规划路径结束 2025-08-22 09:20:17.123 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [1087, 955, 953] from [12002, 1087, 955, 953] 2025-08-22 09:20:17.123 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 remaining route updated [12112, 11963, 11959, 11951, 3889, 3894, 1089, 1057, 651, 11334] 2025-08-22 09:20:17.124 [robot-action-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 不变更路由，当前耗时 86064， 动态路由耗时 90941 2025-08-22 09:20:17.350 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354519 2025-08-22 09:20:17.351 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:20:17.351 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:17.876 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354512 2025-08-22 09:20:17.876 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:20:17.876 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:18.327 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354519 2025-08-22 09:20:18.327 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:20:18.327 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:18.869 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354512 2025-08-22 09:20:18.869 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:20:18.869 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:19.278 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354519 2025-08-22 09:20:19.278 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:20:19.278 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:20.071 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354512 2025-08-22 09:20:20.071 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:20:20.071 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:20.288 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354519 2025-08-22 09:20:20.288 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:20:20.288 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:20.880 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354512 2025-08-22 09:20:20.880 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:20:20.880 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:21.157 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [1087, 955, 953, 12112] from [1087, 955, 953] 2025-08-22 09:20:21.157 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 remaining route updated [11963, 11959, 11951, 3889, 3894, 1089, 1057, 651, 11334] 2025-08-22 09:20:21.241 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 开始动态规划路径, 最后的已申请 mock: RobotMock 1755659354521 (group null) [start=RotationQrcode[953], fatherId [164], degree[-0.2182](93162,47393) , end=RotationQrcode[12112], fatherId [161], degree[0.0943](89516,47391), degree=-179.9057, action=RobotAhead [size=3646]] 2025-08-22 09:20:21.241 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的离开任务初始化完成 2025-08-22 09:20:21.289 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354519 2025-08-22 09:20:21.289 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:20:21.289 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:21.417 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的任务路径初始化完成 2025-08-22 09:20:21.619 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 0, 时间估算: 88499.0, 路由: RobotMockPath: {qrcodes: [12112, 161, 158, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(161, -179.9057, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:21.619 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 1, 时间估算: 122971.0, 路由: RobotMockPath: {qrcodes: [12112, 161, 158, 155, 3878, 3888, 188, 187, 186, 185, 192, 191, 11334], mocks: [(161, -179.9057, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, -0.1761, rotationright), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:21.619 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 2, 时间估算: 143717.0, 路由: RobotMockPath: {qrcodes: [12112, 161, 158, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(161, -179.9057, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (191, 89.8228, rotationleft), (191, 179.8239, rotationright), (11334, 179.8239, ahead)], type: ahead} 2025-08-22 09:20:21.620 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 3, 时间估算: 160762.0, 路由: RobotMockPath: {qrcodes: [12112, 161, 158, 155, 3878, 3888, 188, 187, 186, 185, 192, 191, 11334], mocks: [(161, -179.9057, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, 179.811, rotationleft), (11334, 179.811, ahead)], type: ahead} 2025-08-22 09:20:21.620 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [12112, 161, 158, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(161, -179.9057, ahead), (161, -179.9057, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:21.620 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 动态规划路径结束 2025-08-22 09:20:21.914 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354512 2025-08-22 09:20:21.914 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:20:21.914 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:22.161 [robot-action-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 不变更路由，当前耗时 83408， 动态路由耗时 88499 2025-08-22 09:20:22.290 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354519 2025-08-22 09:20:22.290 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:20:22.290 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:22.890 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354512 2025-08-22 09:20:22.890 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:20:22.890 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:22.997 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:20:22.997 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:20:23.274 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354519 2025-08-22 09:20:23.274 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:20:23.274 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:23.875 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354512 2025-08-22 09:20:23.875 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:20:23.875 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:24.267 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354519 2025-08-22 09:20:24.267 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:20:24.267 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:24.959 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354512 2025-08-22 09:20:24.959 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:20:24.959 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:25.195 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [1087, 955, 953, 12112, 11963] from [1087, 955, 953, 12112] 2025-08-22 09:20:25.229 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 remaining route updated [11959, 11951, 3889, 3894, 1089, 1057, 651, 11334] 2025-08-22 09:20:25.443 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354519 2025-08-22 09:20:25.443 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:20:25.443 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:25.877 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354512 2025-08-22 09:20:25.877 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:20:25.877 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:26.260 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354519 2025-08-22 09:20:26.260 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:20:26.261 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:26.324 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 开始动态规划路径, 最后的已申请 mock: RobotMock 1755659354522 (group null) [start=RotationQrcode[12112], fatherId [161], degree[0.0943](89516,47391) , end=RotationQrcode[11963], fatherId [158], degree[-0.088](77150,47408), degree=179.912, action=RobotAhead [size=12366]] 2025-08-22 09:20:26.325 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的离开任务初始化完成 2025-08-22 09:20:26.490 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的任务路径初始化完成 2025-08-22 09:20:26.681 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 0, 时间估算: 79735.0, 路由: RobotMockPath: {qrcodes: [11963, 158, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(158, 179.912, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:26.681 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 1, 时间估算: 114207.0, 路由: RobotMockPath: {qrcodes: [11963, 158, 155, 3878, 3888, 188, 187, 186, 185, 192, 191, 11334], mocks: [(158, 179.912, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, -0.1761, rotationright), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:26.681 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 2, 时间估算: 134953.0, 路由: RobotMockPath: {qrcodes: [11963, 158, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(158, 179.912, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (191, 89.8228, rotationleft), (191, 179.8239, rotationright), (11334, 179.8239, ahead)], type: ahead} 2025-08-22 09:20:26.682 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 3, 时间估算: 151998.0, 路由: RobotMockPath: {qrcodes: [11963, 158, 155, 3878, 3888, 188, 187, 186, 185, 192, 191, 11334], mocks: [(158, 179.912, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, 179.811, rotationleft), (11334, 179.811, ahead)], type: ahead} 2025-08-22 09:20:26.682 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [11963, 158, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(158, 179.912, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:26.682 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 动态规划路径结束 2025-08-22 09:20:26.869 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354512 2025-08-22 09:20:26.869 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:20:26.869 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:27.246 [robot-action-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 不变更路由，当前耗时 75164， 动态路由耗时 79735 2025-08-22 09:20:27.270 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354519 2025-08-22 09:20:27.270 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:20:27.270 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:27.870 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354512 2025-08-22 09:20:27.870 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:20:27.870 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:28.346 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354519 2025-08-22 09:20:28.346 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:20:28.346 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:28.863 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354512 2025-08-22 09:20:28.863 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:20:28.863 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:29.280 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354519 2025-08-22 09:20:29.280 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:20:29.280 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:29.889 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354512 2025-08-22 09:20:29.889 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:20:29.889 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:30.315 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354519 2025-08-22 09:20:30.315 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:20:30.315 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:30.941 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354512 2025-08-22 09:20:30.941 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:20:30.941 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:31.286 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 开始动态规划路径, 最后的已申请 mock: RobotMock 1755659354522 (group null) [start=RotationQrcode[12112], fatherId [161], degree[0.0943](89516,47391) , end=RotationQrcode[11963], fatherId [158], degree[-0.088](77150,47408), degree=179.912, action=RobotAhead [size=12366]] 2025-08-22 09:20:31.286 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的离开任务初始化完成 2025-08-22 09:20:31.291 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354519 2025-08-22 09:20:31.291 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:20:31.291 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:31.341 [http-nio-18002-exec-3] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354519 setActionDone: {"robot_id":1,"height":602,"location_x":97782,"location_y":47336,"location_theta":-1780138,"energy":94,"v":282,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354519,"taskFinish":0} 2025-08-22 09:20:31.346 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":179,"timestamp":1755825631345}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:20:31.346 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":214,"timestamp":1755825631346}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:20:31.458 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的任务路径初始化完成 2025-08-22 09:20:31.644 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 0, 时间估算: 79735.0, 路由: RobotMockPath: {qrcodes: [11963, 158, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(158, 179.912, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:31.645 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 1, 时间估算: 114207.0, 路由: RobotMockPath: {qrcodes: [11963, 158, 155, 3878, 3888, 188, 187, 186, 185, 192, 191, 11334], mocks: [(158, 179.912, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, -0.1761, rotationright), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:31.645 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 2, 时间估算: 134953.0, 路由: RobotMockPath: {qrcodes: [11963, 158, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(158, 179.912, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (191, 89.8228, rotationleft), (191, 179.8239, rotationright), (11334, 179.8239, ahead)], type: ahead} 2025-08-22 09:20:31.645 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 3, 时间估算: 151998.0, 路由: RobotMockPath: {qrcodes: [11963, 158, 155, 3878, 3888, 188, 187, 186, 185, 192, 191, 11334], mocks: [(158, 179.912, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, 179.811, rotationleft), (11334, 179.811, ahead)], type: ahead} 2025-08-22 09:20:31.645 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [11963, 158, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(158, 179.912, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:31.645 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 动态规划路径结束 2025-08-22 09:20:31.892 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354512 2025-08-22 09:20:31.892 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:20:31.892 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:32.285 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [955, 953, 12112, 11963] from [1087, 955, 953, 12112, 11963] 2025-08-22 09:20:32.285 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 remaining route updated [11959, 11951, 3889, 3894, 1089, 1057, 651, 11334] 2025-08-22 09:20:32.286 [robot-action-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 不变更路由，当前耗时 75164， 动态路由耗时 79735 2025-08-22 09:20:32.309 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354520 2025-08-22 09:20:32.309 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:32.309 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:32.876 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354512 2025-08-22 09:20:32.876 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:20:32.876 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:33.299 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354520 2025-08-22 09:20:33.299 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:33.299 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:33.869 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354512 2025-08-22 09:20:33.869 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:20:33.869 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:33.911 [http-nio-18002-exec-9] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354512 setActionDone: {"robot_id":3,"height":592,"location_x":101446,"location_y":31165,"location_theta":-1783171,"energy":99,"v":259,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354512,"taskFinish":0} 2025-08-22 09:20:33.921 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":177,"timestamp":1755825633920}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:20:34.121 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [12013, 11988] from [11990, 12013, 11988] 2025-08-22 09:20:34.279 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354520 2025-08-22 09:20:34.279 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:34.279 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:34.912 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354513 2025-08-22 09:20:34.912 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:34.912 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:35.296 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354520 2025-08-22 09:20:35.297 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:35.297 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:35.922 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354513 2025-08-22 09:20:35.923 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:35.923 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:36.348 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354520 2025-08-22 09:20:36.348 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:36.348 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:36.350 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 开始动态规划路径, 最后的已申请 mock: RobotMock 1755659354522 (group null) [start=RotationQrcode[12112], fatherId [161], degree[0.0943](89516,47391) , end=RotationQrcode[11963], fatherId [158], degree[-0.088](77150,47408), degree=179.912, action=RobotAhead [size=12366]] 2025-08-22 09:20:36.350 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的离开任务初始化完成 2025-08-22 09:20:36.511 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的任务路径初始化完成 2025-08-22 09:20:36.703 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 0, 时间估算: 79735.0, 路由: RobotMockPath: {qrcodes: [11963, 158, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(158, 179.912, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:36.703 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 1, 时间估算: 114207.0, 路由: RobotMockPath: {qrcodes: [11963, 158, 155, 3878, 3888, 188, 187, 186, 185, 192, 191, 11334], mocks: [(158, 179.912, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, -0.1761, rotationright), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:36.704 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 2, 时间估算: 134953.0, 路由: RobotMockPath: {qrcodes: [11963, 158, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(158, 179.912, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (191, 89.8228, rotationleft), (191, 179.8239, rotationright), (11334, 179.8239, ahead)], type: ahead} 2025-08-22 09:20:36.704 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 3, 时间估算: 151998.0, 路由: RobotMockPath: {qrcodes: [11963, 158, 155, 3878, 3888, 188, 187, 186, 185, 192, 191, 11334], mocks: [(158, 179.912, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, 179.811, rotationleft), (11334, 179.811, ahead)], type: ahead} 2025-08-22 09:20:36.704 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [11963, 158, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(158, 179.912, ahead), (158, 179.912, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:36.704 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 动态规划路径结束 2025-08-22 09:20:36.891 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354513 2025-08-22 09:20:36.891 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:36.891 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:37.326 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354520 2025-08-22 09:20:37.326 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:37.326 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:37.350 [robot-action-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 不变更路由，当前耗时 75164， 动态路由耗时 79735 2025-08-22 09:20:37.942 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354513 2025-08-22 09:20:37.942 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:37.942 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:38.317 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354520 2025-08-22 09:20:38.317 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:38.317 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:38.893 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354513 2025-08-22 09:20:38.893 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:38.893 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:39.293 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354520 2025-08-22 09:20:39.293 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:39.293 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:39.877 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354513 2025-08-22 09:20:39.877 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:39.877 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:39.919 [http-nio-18002-exec-8] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354513 setActionDone: {"robot_id":3,"height":592,"location_x":103142,"location_y":31130,"location_theta":1779537,"energy":99,"v":170,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354513,"taskFinish":0} 2025-08-22 09:20:39.929 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":11989,"timestamp":1755825639927}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:20:40.125 [robot-action-3] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮：到达 robotId:3,taskId:33459654 2025-08-22 09:20:40.125 [robot-action-3] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 不是呼叫按钮任务：机器人3 2025-08-22 09:20:40.125 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 re planned its route [] from [12175, 12177, 797, 817, 795, 787, 785, 773, 765, 6929, 6853, 10854, 6851, 1069, 1071] 2025-08-22 09:20:40.125 [robot-action-3] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 3 update its occupied waypoints [] from [12013, 11988] 2025-08-22 09:20:40.269 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354520 2025-08-22 09:20:40.269 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:40.269 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:40.269 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: RobotMock 1755659354520 (group null) [start=RotationQrcode[955], fatherId [214], degree[179.7819](97553,47377) , end=RotationQrcode[953], fatherId [164], degree[-0.2182](93162,47393), degree=179.7819, action=RobotAhead [size=4391]] 2025-08-22 09:20:40.269 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: 953 2025-08-22 09:20:40.269 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: pick 2025-08-22 09:20:40.286 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 删除成功: 1 2025-08-22 09:20:40.400 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [953, 12112, 11963] from [955, 953, 12112, 11963] 2025-08-22 09:20:40.400 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 remaining route updated [11959, 11951, 3889, 3894, 1089, 1057, 651, 11334] 2025-08-22 09:20:41.415 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [953, 12112, 11963, 11959] from [953, 12112, 11963] 2025-08-22 09:20:41.415 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 remaining route updated [11951, 3889, 3894, 1089, 1057, 651, 11334] 2025-08-22 09:20:41.509 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 开始动态规划路径, 最后的已申请 mock: RobotMock 1755659354523 (group null) [start=RotationQrcode[11963], fatherId [158], degree[-0.088](77150,47408) , end=RotationQrcode[11959], fatherId [155], degree[-0.1602](73573,47417), degree=179.8398, action=RobotAhead [size=3577]] 2025-08-22 09:20:41.509 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的离开任务初始化完成 2025-08-22 09:20:41.512 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354521 2025-08-22 09:20:41.512 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:41.512 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:41.683 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的任务路径初始化完成 2025-08-22 09:20:41.861 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 0, 时间估算: 76277.0, 路由: RobotMockPath: {qrcodes: [11959, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(155, 179.8398, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:41.861 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 1, 时间估算: 110749.0, 路由: RobotMockPath: {qrcodes: [11959, 155, 3878, 3888, 188, 187, 186, 185, 192, 191, 11334], mocks: [(155, 179.8398, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, -0.1761, rotationright), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:41.861 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 2, 时间估算: 131495.0, 路由: RobotMockPath: {qrcodes: [11959, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(155, 179.8398, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (191, 89.8228, rotationleft), (191, 179.8239, rotationright), (11334, 179.8239, ahead)], type: ahead} 2025-08-22 09:20:41.861 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 3, 时间估算: 148540.0, 路由: RobotMockPath: {qrcodes: [11959, 155, 3878, 3888, 188, 187, 186, 185, 192, 191, 11334], mocks: [(155, 179.8398, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, 179.811, rotationleft), (11334, 179.811, ahead)], type: ahead} 2025-08-22 09:20:41.861 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [11959, 155, 3878, 3888, 188, 187, 186, 191, 11334], mocks: [(155, 179.8398, ahead), (155, 179.8398, ahead), (3878, 179.9801, ahead), (3888, 179.9855, ahead), (3888, -90.4911, rotationleft), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:41.862 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 动态规划路径结束 2025-08-22 09:20:42.272 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354521 2025-08-22 09:20:42.272 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:42.272 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:42.437 [robot-action-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 不变更路由，当前耗时 72653， 动态路由耗时 76277 2025-08-22 09:20:43.390 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354521 2025-08-22 09:20:43.390 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:43.390 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:43.459 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":164,"timestamp":1755825643458}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:20:44.282 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354521 2025-08-22 09:20:44.282 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:44.282 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:44.282 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: RobotMock 1755659354521 (group null) [start=RotationQrcode[953], fatherId [164], degree[-0.2182](93162,47393) , end=RotationQrcode[12112], fatherId [161], degree[0.0943](89516,47391), degree=-179.9057, action=RobotAhead [size=3646]] 2025-08-22 09:20:44.282 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: 12112 2025-08-22 09:20:44.282 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: pick 2025-08-22 09:20:44.293 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 删除成功: 1 2025-08-22 09:20:44.467 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [12112, 11963, 11959] from [953, 12112, 11963, 11959] 2025-08-22 09:20:44.468 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 remaining route updated [11951, 3889, 3894, 1089, 1057, 651, 11334] 2025-08-22 09:20:45.300 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354522 2025-08-22 09:20:45.300 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:45.300 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:45.504 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [12112, 11963, 11959, 11951] from [12112, 11963, 11959] 2025-08-22 09:20:45.504 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 remaining route updated [3889, 3894, 1089, 1057, 651, 11334] 2025-08-22 09:20:46.284 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354522 2025-08-22 09:20:46.284 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:46.284 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:46.527 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":161,"timestamp":1755825646526}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:20:46.537 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [12112, 11963, 11959, 11951, 3889, 3894] from [12112, 11963, 11959, 11951] 2025-08-22 09:20:46.551 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 remaining route updated [1089, 1057, 651, 11334] 2025-08-22 09:20:46.567 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 开始动态规划路径, 最后的已申请 mock: RobotMock 1755659354526 (group 42998) [start=RotationQrcode[3889], fatherId [3888], degree[-0.0145](68055,47420) , end=RotationQrcode[3894], fatherId [3888], degree[-90.4911](66038,45421), degree=-90.4911, action=RobotRotation {fromDegree:179.9855, toDegree: -90.4911, rotationleft 89.5234}] 2025-08-22 09:20:46.567 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的离开任务初始化完成 2025-08-22 09:20:46.690 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的任务路径初始化完成 2025-08-22 09:20:46.832 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 0, 时间估算: 52979.0, 路由: RobotMockPath: {qrcodes: [3894, 3888, 188, 187, 186, 191, 11334], mocks: [(3888, -90.4911, ahead), (3888, -90.4911, ahead), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:46.832 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 1, 时间估算: 87818.0, 路由: RobotMockPath: {qrcodes: [3894, 3888, 188, 187, 186, 185, 192, 191, 11334], mocks: [(3888, -90.4911, ahead), (3888, -90.4911, ahead), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, -0.1761, rotationright), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:46.833 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 2, 时间估算: 108197.0, 路由: RobotMockPath: {qrcodes: [3894, 3888, 188, 187, 186, 191, 11334], mocks: [(3888, -90.4911, ahead), (3888, -90.4911, ahead), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (191, 89.8228, rotationleft), (191, 179.8239, rotationright), (11334, 179.8239, ahead)], type: ahead} 2025-08-22 09:20:46.833 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 3, 时间估算: 125609.0, 路由: RobotMockPath: {qrcodes: [3894, 3888, 188, 187, 186, 185, 192, 191, 11334], mocks: [(3888, -90.4911, ahead), (3888, -90.4911, ahead), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, 179.811, rotationleft), (11334, 179.811, ahead)], type: ahead} 2025-08-22 09:20:46.833 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [3894, 3888, 188, 187, 186, 191, 11334], mocks: [(3888, -90.4911, ahead), (3888, -90.4911, ahead), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:46.833 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 动态规划路径结束 2025-08-22 09:20:47.285 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354522 2025-08-22 09:20:47.285 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:47.285 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:48.270 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354522 2025-08-22 09:20:48.270 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:48.270 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:49.254 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354522 2025-08-22 09:20:49.254 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:49.254 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:50.313 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354522 2025-08-22 09:20:50.314 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:50.314 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:51.281 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354522 2025-08-22 09:20:51.281 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:51.281 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:51.738 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 开始动态规划路径, 最后的已申请 mock: RobotMock 1755659354526 (group 42998) [start=RotationQrcode[3889], fatherId [3888], degree[-0.0145](68055,47420) , end=RotationQrcode[3894], fatherId [3888], degree[-90.4911](66038,45421), degree=-90.4911, action=RobotRotation {fromDegree:179.9855, toDegree: -90.4911, rotationleft 89.5234}] 2025-08-22 09:20:51.738 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的离开任务初始化完成 2025-08-22 09:20:51.856 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的任务路径初始化完成 2025-08-22 09:20:51.999 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 0, 时间估算: 52979.0, 路由: RobotMockPath: {qrcodes: [3894, 3888, 188, 187, 186, 191, 11334], mocks: [(3888, -90.4911, ahead), (3888, -90.4911, ahead), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:51.999 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 1, 时间估算: 87818.0, 路由: RobotMockPath: {qrcodes: [3894, 3888, 188, 187, 186, 185, 192, 191, 11334], mocks: [(3888, -90.4911, ahead), (3888, -90.4911, ahead), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, -0.1761, rotationright), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:52.000 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 2, 时间估算: 108197.0, 路由: RobotMockPath: {qrcodes: [3894, 3888, 188, 187, 186, 191, 11334], mocks: [(3888, -90.4911, ahead), (3888, -90.4911, ahead), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (191, 89.8228, rotationleft), (191, 179.8239, rotationright), (11334, 179.8239, ahead)], type: ahead} 2025-08-22 09:20:52.000 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 3, 时间估算: 125609.0, 路由: RobotMockPath: {qrcodes: [3894, 3888, 188, 187, 186, 185, 192, 191, 11334], mocks: [(3888, -90.4911, ahead), (3888, -90.4911, ahead), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, 179.811, rotationleft), (11334, 179.811, ahead)], type: ahead} 2025-08-22 09:20:52.000 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [3894, 3888, 188, 187, 186, 191, 11334], mocks: [(3888, -90.4911, ahead), (3888, -90.4911, ahead), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:52.000 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 动态规划路径结束 2025-08-22 09:20:52.298 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354522 2025-08-22 09:20:52.299 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:52.299 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:53.366 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354522 2025-08-22 09:20:53.366 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:53.366 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:54.284 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354522 2025-08-22 09:20:54.284 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:54.284 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:54.284 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: RobotMock 1755659354522 (group null) [start=RotationQrcode[12112], fatherId [161], degree[0.0943](89516,47391) , end=RotationQrcode[11963], fatherId [158], degree[-0.088](77150,47408), degree=179.912, action=RobotAhead [size=12366]] 2025-08-22 09:20:54.284 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: 11963 2025-08-22 09:20:54.284 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: pick 2025-08-22 09:20:54.295 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 删除成功: 1 2025-08-22 09:20:54.717 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [11963, 11959, 11951, 3889, 3894] from [12112, 11963, 11959, 11951, 3889, 3894] 2025-08-22 09:20:54.717 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 remaining route updated [1089, 1057, 651, 11334] 2025-08-22 09:20:55.309 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354523 2025-08-22 09:20:55.310 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:55.310 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:56.277 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354523 2025-08-22 09:20:56.277 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:56.277 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:56.772 [http-nio-18002-exec-6] ERROR com.zcnest.common.base.controller.BaseController - system error org.springframework.http.converter.HttpMessageNotWritableException: Could not write JSON: Null key for a Map not allowed in JSON (use a converting NullKeySerializer?); nested exception is com.fasterxml.jackson.databind.JsonMappingException: Null key for a Map not allowed in JSON (use a converting NullKeySerializer?) (through reference chain: java.util.HashMap["points"]->java.util.HashMap["null"]) at org.springframework.http.converter.json.AbstractJackson2HttpMessageConverter.writeInternal(AbstractJackson2HttpMessageConverter.java:465) at org.springframework.http.converter.AbstractGenericHttpMessageConverter.write(AbstractGenericHttpMessageConverter.java:104) at org.springframework.web.servlet.mvc.method.annotation.AbstractMessageConverterMethodProcessor.writeWithMessageConverters(AbstractMessageConverterMethodProcessor.java:290) at org.springframework.web.servlet.mvc.method.annotation.RequestResponseBodyMethodProcessor.handleReturnValue(RequestResponseBodyMethodProcessor.java:183) at org.springframework.web.method.support.HandlerMethodReturnValueHandlerComposite.handleReturnValue(HandlerMethodReturnValueHandlerComposite.java:78) at org.springframework.web.servlet.mvc.method.annotation.ServletInvocableHandlerMethod.invokeAndHandle(ServletInvocableHandlerMethod.java:135) at org.springframework.web.servlet.mvc.method.annotation.RequestMappingHandlerAdapter.invokeHandlerMethod(RequestMappingHandlerAdapter.java:895) at org.springframework.web.servlet.mvc.method.annotation.RequestMappingHandlerAdapter.handleInternal(RequestMappingHandlerAdapter.java:808) at org.springframework.web.servlet.mvc.method.AbstractHandlerMethodAdapter.handle(AbstractHandlerMethodAdapter.java:87) at org.springframework.web.servlet.DispatcherServlet.doDispatch(DispatcherServlet.java:1071) at org.springframework.web.servlet.DispatcherServlet.doService(DispatcherServlet.java:964) at org.springframework.web.servlet.FrameworkServlet.processRequest(FrameworkServlet.java:1006) at org.springframework.web.servlet.FrameworkServlet.doPost(FrameworkServlet.java:909) at javax.servlet.http.HttpServlet.service(HttpServlet.java:528) at org.springframework.web.servlet.FrameworkServlet.service(FrameworkServlet.java:883) at javax.servlet.http.HttpServlet.service(HttpServlet.java:596) at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:209) at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153) at org.apache.tomcat.websocket.server.WsFilter.doFilter(WsFilter.java:53) at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:178) at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153) at org.springframework.web.filter.RequestContextFilter.doFilterInternal(RequestContextFilter.java:100) at org.springframework.web.filter.OncePerRequestFilter.doFilter(OncePerRequestFilter.java:117) at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:178) at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153) at org.springframework.web.filter.FormContentFilter.doFilterInternal(FormContentFilter.java:93) at org.springframework.web.filter.OncePerRequestFilter.doFilter(OncePerRequestFilter.java:117) at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:178) at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153) at org.springframework.boot.actuate.metrics.web.servlet.WebMvcMetricsFilter.doFilterInternal(WebMvcMetricsFilter.java:96) at org.springframework.web.filter.OncePerRequestFilter.doFilter(OncePerRequestFilter.java:117) at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:178) at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153) at org.springframework.web.filter.CharacterEncodingFilter.doFilterInternal(CharacterEncodingFilter.java:201) at org.springframework.web.filter.OncePerRequestFilter.doFilter(OncePerRequestFilter.java:117) at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:178) at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153) at org.apache.catalina.core.StandardWrapperValve.invoke(StandardWrapperValve.java:167) at org.apache.catalina.core.StandardContextValve.invoke(StandardContextValve.java:90) at org.apache.catalina.authenticator.AuthenticatorBase.invoke(AuthenticatorBase.java:492) at org.apache.catalina.core.StandardHostValve.invoke(StandardHostValve.java:130) at org.apache.catalina.valves.ErrorReportValve.invoke(ErrorReportValve.java:93) at org.apache.catalina.core.StandardEngineValve.invoke(StandardEngineValve.java:74) at org.apache.catalina.connector.CoyoteAdapter.service(CoyoteAdapter.java:343) at org.apache.coyote.http11.Http11Processor.service(Http11Processor.java:389) at org.apache.coyote.AbstractProcessorLight.process(AbstractProcessorLight.java:63) at org.apache.coyote.AbstractProtocol$ConnectionHandler.process(AbstractProtocol.java:926) at org.apache.tomcat.util.net.NioEndpoint$SocketProcessor.doRun(NioEndpoint.java:1791) at org.apache.tomcat.util.net.SocketProcessorBase.run(SocketProcessorBase.java:49) at org.apache.tomcat.util.threads.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1191) at org.apache.tomcat.util.threads.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:659) at org.apache.tomcat.util.threads.TaskThread$WrappingRunnable.run(TaskThread.java:61) at java.lang.Thread.run(Thread.java:750) Caused by: com.fasterxml.jackson.databind.JsonMappingException: Null key for a Map not allowed in JSON (use a converting NullKeySerializer?) (through reference chain: java.util.HashMap["points"]->java.util.HashMap["null"]) at com.fasterxml.jackson.databind.JsonMappingException.from(JsonMappingException.java:283) at com.fasterxml.jackson.databind.SerializerProvider.mappingException(SerializerProvider.java:1364) at com.fasterxml.jackson.databind.SerializerProvider.reportMappingProblem(SerializerProvider.java:1260) at com.fasterxml.jackson.databind.ser.impl.FailingSerializer.serialize(FailingSerializer.java:32) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serializeFields(MapSerializer.java:791) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serializeWithoutTypeInfo(MapSerializer.java:764) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serialize(MapSerializer.java:720) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serialize(MapSerializer.java:35) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serializeFields(MapSerializer.java:808) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serializeWithoutTypeInfo(MapSerializer.java:764) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serialize(MapSerializer.java:720) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serialize(MapSerializer.java:35) at com.fasterxml.jackson.databind.ser.DefaultSerializerProvider._serialize(DefaultSerializerProvider.java:480) at com.fasterxml.jackson.databind.ser.DefaultSerializerProvider.serializeValue(DefaultSerializerProvider.java:319) at com.fasterxml.jackson.databind.ObjectWriter$Prefetch.serialize(ObjectWriter.java:1572) at com.fasterxml.jackson.databind.ObjectWriter.writeValue(ObjectWriter.java:1061) at org.springframework.http.converter.json.AbstractJackson2HttpMessageConverter.writeInternal(AbstractJackson2HttpMessageConverter.java:456) ... 52 common frames omitted 2025-08-22 09:20:56.805 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 开始动态规划路径, 最后的已申请 mock: RobotMock 1755659354526 (group 42998) [start=RotationQrcode[3889], fatherId [3888], degree[-0.0145](68055,47420) , end=RotationQrcode[3894], fatherId [3888], degree[-90.4911](66038,45421), degree=-90.4911, action=RobotRotation {fromDegree:179.9855, toDegree: -90.4911, rotationleft 89.5234}] 2025-08-22 09:20:56.805 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的离开任务初始化完成 2025-08-22 09:20:56.931 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的任务路径初始化完成 2025-08-22 09:20:57.120 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 0, 时间估算: 52979.0, 路由: RobotMockPath: {qrcodes: [3894, 3888, 188, 187, 186, 191, 11334], mocks: [(3888, -90.4911, ahead), (3888, -90.4911, ahead), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:57.121 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 1, 时间估算: 87818.0, 路由: RobotMockPath: {qrcodes: [3894, 3888, 188, 187, 186, 185, 192, 191, 11334], mocks: [(3888, -90.4911, ahead), (3888, -90.4911, ahead), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, -0.1761, rotationright), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:57.121 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 2, 时间估算: 108197.0, 路由: RobotMockPath: {qrcodes: [3894, 3888, 188, 187, 186, 191, 11334], mocks: [(3888, -90.4911, ahead), (3888, -90.4911, ahead), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (191, 89.8228, rotationleft), (191, 179.8239, rotationright), (11334, 179.8239, ahead)], type: ahead} 2025-08-22 09:20:57.121 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 3, 时间估算: 125609.0, 路由: RobotMockPath: {qrcodes: [3894, 3888, 188, 187, 186, 185, 192, 191, 11334], mocks: [(3888, -90.4911, ahead), (3888, -90.4911, ahead), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, 179.811, rotationleft), (11334, 179.811, ahead)], type: ahead} 2025-08-22 09:20:57.121 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [3894, 3888, 188, 187, 186, 191, 11334], mocks: [(3888, -90.4911, ahead), (3888, -90.4911, ahead), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:20:57.121 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 动态规划路径结束 2025-08-22 09:20:57.270 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354523 2025-08-22 09:20:57.270 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:57.270 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:57.794 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":158,"timestamp":1755825657792}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:20:58.272 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354523 2025-08-22 09:20:58.272 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:58.272 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:20:58.272 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: RobotMock 1755659354523 (group null) [start=RotationQrcode[11963], fatherId [158], degree[-0.088](77150,47408) , end=RotationQrcode[11959], fatherId [155], degree[-0.1602](73573,47417), degree=179.8398, action=RobotAhead [size=3577]] 2025-08-22 09:20:58.272 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: 11959 2025-08-22 09:20:58.272 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: pick 2025-08-22 09:20:58.283 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 删除成功: 1 2025-08-22 09:20:58.802 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [11959, 11951, 3889, 3894] from [11963, 11959, 11951, 3889, 3894] 2025-08-22 09:20:58.802 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 remaining route updated [1089, 1057, 651, 11334] 2025-08-22 09:20:59.281 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354524 2025-08-22 09:20:59.281 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:20:59.281 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:00.274 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354524 2025-08-22 09:21:00.274 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:21:00.274 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:01.308 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354524 2025-08-22 09:21:01.308 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:21:01.308 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:01.308 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: RobotMock 1755659354524 (group null) [start=RotationQrcode[11959], fatherId [155], degree[-0.1602](73573,47417) , end=RotationQrcode[11951], fatherId [3878], degree[-0.0199](72000,47419), degree=179.9801, action=RobotAhead [size=1573]] 2025-08-22 09:21:01.308 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: 11951 2025-08-22 09:21:01.308 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: pick 2025-08-22 09:21:01.318 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":155,"timestamp":1755825661317}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:21:01.322 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 删除成功: 1 2025-08-22 09:21:01.822 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [11951, 3889, 3894] from [11959, 11951, 3889, 3894] 2025-08-22 09:21:01.823 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 remaining route updated [1089, 1057, 651, 11334] 2025-08-22 09:21:01.826 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 开始动态规划路径, 最后的已申请 mock: RobotMock 1755659354526 (group 42998) [start=RotationQrcode[3889], fatherId [3888], degree[-0.0145](68055,47420) , end=RotationQrcode[3894], fatherId [3888], degree[-90.4911](66038,45421), degree=-90.4911, action=RobotRotation {fromDegree:179.9855, toDegree: -90.4911, rotationleft 89.5234}] 2025-08-22 09:21:01.826 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的离开任务初始化完成 2025-08-22 09:21:01.950 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的任务路径初始化完成 2025-08-22 09:21:02.092 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 0, 时间估算: 52979.0, 路由: RobotMockPath: {qrcodes: [3894, 3888, 188, 187, 186, 191, 11334], mocks: [(3888, -90.4911, ahead), (3888, -90.4911, ahead), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:21:02.092 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 1, 时间估算: 87818.0, 路由: RobotMockPath: {qrcodes: [3894, 3888, 188, 187, 186, 185, 192, 191, 11334], mocks: [(3888, -90.4911, ahead), (3888, -90.4911, ahead), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, -0.1761, rotationright), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:21:02.092 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 2, 时间估算: 108197.0, 路由: RobotMockPath: {qrcodes: [3894, 3888, 188, 187, 186, 191, 11334], mocks: [(3888, -90.4911, ahead), (3888, -90.4911, ahead), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (191, 89.8228, rotationleft), (191, 179.8239, rotationright), (11334, 179.8239, ahead)], type: ahead} 2025-08-22 09:21:02.092 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 3, 时间估算: 125609.0, 路由: RobotMockPath: {qrcodes: [3894, 3888, 188, 187, 186, 185, 192, 191, 11334], mocks: [(3888, -90.4911, ahead), (3888, -90.4911, ahead), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, 179.811, rotationleft), (11334, 179.811, ahead)], type: ahead} 2025-08-22 09:21:02.092 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [3894, 3888, 188, 187, 186, 191, 11334], mocks: [(3888, -90.4911, ahead), (3888, -90.4911, ahead), (188, -90.4911, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:21:02.092 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 动态规划路径结束 2025-08-22 09:21:02.292 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354525 2025-08-22 09:21:02.292 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:21:02.292 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:03.293 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354525 2025-08-22 09:21:03.294 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:21:03.294 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:04.286 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354525 2025-08-22 09:21:04.286 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:21:04.286 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:04.903 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [11951, 3889, 3894, 1089] from [11951, 3889, 3894] 2025-08-22 09:21:04.904 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 remaining route updated [1057, 651, 11334] 2025-08-22 09:21:05.254 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354525 2025-08-22 09:21:05.254 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:21:05.254 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:06.272 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354525 2025-08-22 09:21:06.272 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:21:06.272 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:06.998 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 开始动态规划路径, 最后的已申请 mock: RobotMock 1755659354527 (group null) [start=RotationQrcode[3894], fatherId [3888], degree[-90.4911](66038,45421) , end=RotationQrcode[1089], fatherId [187], degree[90.0415](66036,41954), degree=-89.9585, action=RobotAhead [size=3467]] 2025-08-22 09:21:06.998 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的离开任务初始化完成 2025-08-22 09:21:07.123 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的任务路径初始化完成 2025-08-22 09:21:07.265 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 0, 时间估算: 51962.0, 路由: RobotMockPath: {qrcodes: [1089, 187, 186, 191, 11334], mocks: [(187, -89.9585, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:21:07.265 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 1, 时间估算: 87352.0, 路由: RobotMockPath: {qrcodes: [1089, 187, 186, 185, 192, 191, 11334], mocks: [(187, -89.9585, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, -0.1761, rotationright), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:21:07.265 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 2, 时间估算: 107180.0, 路由: RobotMockPath: {qrcodes: [1089, 187, 186, 191, 11334], mocks: [(187, -89.9585, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (191, 89.8228, rotationleft), (191, 179.8239, rotationright), (11334, 179.8239, ahead)], type: ahead} 2025-08-22 09:21:07.266 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 3, 时间估算: 125143.0, 路由: RobotMockPath: {qrcodes: [1089, 187, 186, 185, 192, 191, 11334], mocks: [(187, -89.9585, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, 179.811, rotationleft), (11334, 179.811, ahead)], type: ahead} 2025-08-22 09:21:07.266 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [1089, 187, 186, 191, 11334], mocks: [(187, -89.9585, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:21:07.266 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 动态规划路径结束 2025-08-22 09:21:07.281 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354525 2025-08-22 09:21:07.281 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:21:07.281 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:07.323 [http-nio-18002-exec-1] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354525 setActionDone: {"robot_id":1,"height":602,"location_x":68271,"location_y":47425,"location_theta":-1795520,"energy":94,"v":267,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354525,"taskFinish":0} 2025-08-22 09:21:07.334 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":3878,"timestamp":1755825667332}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:21:07.954 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [3889, 3894, 1089] from [11951, 3889, 3894, 1089] 2025-08-22 09:21:07.954 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 remaining route updated [1057, 651, 11334] 2025-08-22 09:21:07.954 [robot-action-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 不变更路由，当前耗时 48450， 动态路由耗时 51962 2025-08-22 09:21:08.274 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354526 2025-08-22 09:21:08.274 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:08.274 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:09.317 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354526 2025-08-22 09:21:09.317 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:09.317 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:10.284 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354526 2025-08-22 09:21:10.285 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:10.285 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:11.285 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354526 2025-08-22 09:21:11.285 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:11.285 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:12.071 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 开始动态规划路径, 最后的已申请 mock: RobotMock 1755659354527 (group null) [start=RotationQrcode[3894], fatherId [3888], degree[-90.4911](66038,45421) , end=RotationQrcode[1089], fatherId [187], degree[90.0415](66036,41954), degree=-89.9585, action=RobotAhead [size=3467]] 2025-08-22 09:21:12.071 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的离开任务初始化完成 2025-08-22 09:21:12.193 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的任务路径初始化完成 2025-08-22 09:21:12.278 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354526 2025-08-22 09:21:12.278 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:12.278 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:12.336 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 0, 时间估算: 51962.0, 路由: RobotMockPath: {qrcodes: [1089, 187, 186, 191, 11334], mocks: [(187, -89.9585, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:21:12.336 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 1, 时间估算: 87352.0, 路由: RobotMockPath: {qrcodes: [1089, 187, 186, 185, 192, 191, 11334], mocks: [(187, -89.9585, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, -0.1761, rotationright), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:21:12.337 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 2, 时间估算: 107180.0, 路由: RobotMockPath: {qrcodes: [1089, 187, 186, 191, 11334], mocks: [(187, -89.9585, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (191, 89.8228, rotationleft), (191, 179.8239, rotationright), (11334, 179.8239, ahead)], type: ahead} 2025-08-22 09:21:12.337 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 3, 时间估算: 125143.0, 路由: RobotMockPath: {qrcodes: [1089, 187, 186, 185, 192, 191, 11334], mocks: [(187, -89.9585, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, 179.811, rotationleft), (11334, 179.811, ahead)], type: ahead} 2025-08-22 09:21:12.337 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [1089, 187, 186, 191, 11334], mocks: [(187, -89.9585, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:21:12.337 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 动态规划路径结束 2025-08-22 09:21:12.985 [robot-action-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 不变更路由，当前耗时 48450， 动态路由耗时 51962 2025-08-22 09:21:13.397 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354526 2025-08-22 09:21:13.397 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:13.397 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:14.314 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354526 2025-08-22 09:21:14.314 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:14.314 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:15.274 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354526 2025-08-22 09:21:15.274 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:15.274 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:16.308 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354526 2025-08-22 09:21:16.308 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:16.308 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:17.041 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 开始动态规划路径, 最后的已申请 mock: RobotMock 1755659354527 (group null) [start=RotationQrcode[3894], fatherId [3888], degree[-90.4911](66038,45421) , end=RotationQrcode[1089], fatherId [187], degree[90.0415](66036,41954), degree=-89.9585, action=RobotAhead [size=3467]] 2025-08-22 09:21:17.041 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的离开任务初始化完成 2025-08-22 09:21:17.161 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的任务路径初始化完成 2025-08-22 09:21:17.267 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354526 2025-08-22 09:21:17.267 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:17.267 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:17.303 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 0, 时间估算: 51962.0, 路由: RobotMockPath: {qrcodes: [1089, 187, 186, 191, 11334], mocks: [(187, -89.9585, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:21:17.303 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 1, 时间估算: 87352.0, 路由: RobotMockPath: {qrcodes: [1089, 187, 186, 185, 192, 191, 11334], mocks: [(187, -89.9585, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, -0.1761, rotationright), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:21:17.303 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 2, 时间估算: 107180.0, 路由: RobotMockPath: {qrcodes: [1089, 187, 186, 191, 11334], mocks: [(187, -89.9585, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (191, 89.8228, rotationleft), (191, 179.8239, rotationright), (11334, 179.8239, ahead)], type: ahead} 2025-08-22 09:21:17.303 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 3, 时间估算: 125143.0, 路由: RobotMockPath: {qrcodes: [1089, 187, 186, 185, 192, 191, 11334], mocks: [(187, -89.9585, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, 179.811, rotationleft), (11334, 179.811, ahead)], type: ahead} 2025-08-22 09:21:17.303 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [1089, 187, 186, 191, 11334], mocks: [(187, -89.9585, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:21:17.304 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 动态规划路径结束 2025-08-22 09:21:18.015 [robot-action-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 不变更路由，当前耗时 48450， 动态路由耗时 51962 2025-08-22 09:21:18.293 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354526 2025-08-22 09:21:18.293 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:18.293 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:19.286 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354526 2025-08-22 09:21:19.286 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:19.286 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:20.295 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354526 2025-08-22 09:21:20.295 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:20.295 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:21.288 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354526 2025-08-22 09:21:21.288 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:21.288 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:22.109 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 开始动态规划路径, 最后的已申请 mock: RobotMock 1755659354527 (group null) [start=RotationQrcode[3894], fatherId [3888], degree[-90.4911](66038,45421) , end=RotationQrcode[1089], fatherId [187], degree[90.0415](66036,41954), degree=-89.9585, action=RobotAhead [size=3467]] 2025-08-22 09:21:22.109 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的离开任务初始化完成 2025-08-22 09:21:22.238 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的任务路径初始化完成 2025-08-22 09:21:22.255 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354526 2025-08-22 09:21:22.256 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:22.256 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:22.374 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 0, 时间估算: 51962.0, 路由: RobotMockPath: {qrcodes: [1089, 187, 186, 191, 11334], mocks: [(187, -89.9585, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:21:22.374 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 1, 时间估算: 87352.0, 路由: RobotMockPath: {qrcodes: [1089, 187, 186, 185, 192, 191, 11334], mocks: [(187, -89.9585, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, -0.1761, rotationright), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:21:22.375 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 2, 时间估算: 107180.0, 路由: RobotMockPath: {qrcodes: [1089, 187, 186, 191, 11334], mocks: [(187, -89.9585, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (191, 89.8228, rotationleft), (191, 179.8239, rotationright), (11334, 179.8239, ahead)], type: ahead} 2025-08-22 09:21:22.375 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 3, 时间估算: 125143.0, 路由: RobotMockPath: {qrcodes: [1089, 187, 186, 185, 192, 191, 11334], mocks: [(187, -89.9585, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, 179.811, rotationleft), (11334, 179.811, ahead)], type: ahead} 2025-08-22 09:21:22.375 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [1089, 187, 186, 191, 11334], mocks: [(187, -89.9585, ahead), (187, -89.9585, ahead), (186, -90.1777, ahead), (186, -0.189, rotationleft), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:21:22.375 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 动态规划路径结束 2025-08-22 09:21:23.003 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:21:23.003 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:21:23.045 [robot-action-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 不变更路由，当前耗时 48450， 动态路由耗时 51962 2025-08-22 09:21:23.307 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354526 2025-08-22 09:21:23.307 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:23.307 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:23.390 [http-nio-18002-exec-8] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354526 setActionDone: {"robot_id":1,"height":602,"location_x":66102,"location_y":45573,"location_theta":-881199,"energy":94,"v":238,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354526,"taskFinish":0} 2025-08-22 09:21:23.398 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":3888,"timestamp":1755825683397}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:21:24.062 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [3894, 1089, 1057, 651] from [3889, 3894, 1089] 2025-08-22 09:21:24.062 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 remaining route updated [11334] 2025-08-22 09:21:24.283 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354527 2025-08-22 09:21:24.283 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:21:24.283 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:25.292 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354527 2025-08-22 09:21:25.292 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:21:25.292 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:26.318 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354527 2025-08-22 09:21:26.318 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:21:26.318 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:27.080 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 开始动态规划路径, 最后的已申请 mock: RobotMock 1755659354529 (group 42999) [start=RotationQrcode[1057], fatherId [186], degree[89.8223](66029,36472) , end=RotationQrcode[651], fatherId [186], degree[-0.189](68521,33964), degree=-0.189, action=RobotRotation {fromDegree:-90.1777, toDegree: -0.189, rotationleft 89.9887}] 2025-08-22 09:21:27.080 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的离开任务初始化完成 2025-08-22 09:21:27.234 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的任务路径初始化完成 2025-08-22 09:21:27.269 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354527 2025-08-22 09:21:27.269 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:21:27.269 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:27.394 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 0, 时间估算: 26749.0, 路由: RobotMockPath: {qrcodes: [651, 186, 191, 11334], mocks: [(186, -0.189, ahead), (186, -0.189, ahead), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:21:27.394 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 1, 时间估算: 26749.0, 路由: RobotMockPath: {qrcodes: [651, 186, 191, 11334], mocks: [(186, -0.189, ahead), (186, -0.189, ahead), (191, -0.189, ahead), (11334, -0.189, ahead)], type: ahead} 2025-08-22 09:21:27.394 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 2, 时间估算: 93686.0, 路由: RobotMockPath: {qrcodes: [651, 186, 185, 192, 191, 11334], mocks: [(186, -0.189, ahead), (186, -0.189, ahead), (186, -0.189, ahead), (186, -90.1777, rotationleft), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, -0.1761, rotationright), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:21:27.395 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 3, 时间估算: 81967.0, 路由: RobotMockPath: {qrcodes: [651, 186, 191, 11334], mocks: [(186, -0.189, ahead), (186, -0.189, ahead), (191, -0.189, ahead), (191, 89.8228, rotationleft), (191, 179.8239, rotationright), (11334, 179.8239, ahead)], type: ahead} 2025-08-22 09:21:27.395 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 4, 时间估算: 131477.0, 路由: RobotMockPath: {qrcodes: [651, 186, 185, 192, 191, 11334], mocks: [(186, -0.189, ahead), (186, -0.189, ahead), (186, -0.189, ahead), (186, -90.1777, rotationleft), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, 179.811, rotationleft), (11334, 179.811, ahead)], type: ahead} 2025-08-22 09:21:27.395 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [651, 186, 191, 11334], mocks: [(186, -0.189, ahead), (186, -0.189, ahead), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:21:27.395 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 动态规划路径结束 2025-08-22 09:21:28.287 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354527 2025-08-22 09:21:28.287 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:21:28.287 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:29.096 [robot-action-1] WARN com.zcnest.rcs.robot.RobotActionControl - robot 1 释放不需要的锁定点，保留668个，但其中：未锁定24个，补申请 2025-08-22 09:21:29.429 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354527 2025-08-22 09:21:29.429 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:21:29.429 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:30.314 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354527 2025-08-22 09:21:30.314 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:21:30.314 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:31.142 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":188,"timestamp":1755825691142}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:21:31.307 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354527 2025-08-22 09:21:31.307 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:21:31.307 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:31.307 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: RobotMock 1755659354527 (group null) [start=RotationQrcode[3894], fatherId [3888], degree[-90.4911](66038,45421) , end=RotationQrcode[1089], fatherId [187], degree[90.0415](66036,41954), degree=-89.9585, action=RobotAhead [size=3467]] 2025-08-22 09:21:31.307 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: 1089 2025-08-22 09:21:31.307 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: pick 2025-08-22 09:21:31.325 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 删除成功: 1 2025-08-22 09:21:32.148 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [1089, 1057, 651] from [3894, 1089, 1057, 651] 2025-08-22 09:21:32.148 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 remaining route updated [11334] 2025-08-22 09:21:32.200 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 开始动态规划路径, 最后的已申请 mock: RobotMock 1755659354529 (group 42999) [start=RotationQrcode[1057], fatherId [186], degree[89.8223](66029,36472) , end=RotationQrcode[651], fatherId [186], degree[-0.189](68521,33964), degree=-0.189, action=RobotRotation {fromDegree:-90.1777, toDegree: -0.189, rotationleft 89.9887}] 2025-08-22 09:21:32.200 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的离开任务初始化完成 2025-08-22 09:21:32.274 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354528 2025-08-22 09:21:32.274 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:21:32.274 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:32.328 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的任务路径初始化完成 2025-08-22 09:21:32.474 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 0, 时间估算: 26749.0, 路由: RobotMockPath: {qrcodes: [651, 186, 191, 11334], mocks: [(186, -0.189, ahead), (186, -0.189, ahead), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:21:32.474 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 1, 时间估算: 26749.0, 路由: RobotMockPath: {qrcodes: [651, 186, 191, 11334], mocks: [(186, -0.189, ahead), (186, -0.189, ahead), (191, -0.189, ahead), (11334, -0.189, ahead)], type: ahead} 2025-08-22 09:21:32.475 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 2, 时间估算: 93686.0, 路由: RobotMockPath: {qrcodes: [651, 186, 185, 192, 191, 11334], mocks: [(186, -0.189, ahead), (186, -0.189, ahead), (186, -0.189, ahead), (186, -90.1777, rotationleft), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, -0.1761, rotationright), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:21:32.475 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 3, 时间估算: 81967.0, 路由: RobotMockPath: {qrcodes: [651, 186, 191, 11334], mocks: [(186, -0.189, ahead), (186, -0.189, ahead), (191, -0.189, ahead), (191, 89.8228, rotationleft), (191, 179.8239, rotationright), (11334, 179.8239, ahead)], type: ahead} 2025-08-22 09:21:32.475 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 4, 时间估算: 131477.0, 路由: RobotMockPath: {qrcodes: [651, 186, 185, 192, 191, 11334], mocks: [(186, -0.189, ahead), (186, -0.189, ahead), (186, -0.189, ahead), (186, -90.1777, rotationleft), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, 179.811, rotationleft), (11334, 179.811, ahead)], type: ahead} 2025-08-22 09:21:32.475 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [651, 186, 191, 11334], mocks: [(186, -0.189, ahead), (186, -0.189, ahead), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:21:32.475 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 动态规划路径结束 2025-08-22 09:21:33.309 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354528 2025-08-22 09:21:33.309 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:21:33.309 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:34.268 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354528 2025-08-22 09:21:34.268 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:21:34.268 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:35.278 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354528 2025-08-22 09:21:35.278 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:21:35.278 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:36.271 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354528 2025-08-22 09:21:36.271 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:21:36.271 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:37.280 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 开始动态规划路径, 最后的已申请 mock: RobotMock 1755659354529 (group 42999) [start=RotationQrcode[1057], fatherId [186], degree[89.8223](66029,36472) , end=RotationQrcode[651], fatherId [186], degree[-0.189](68521,33964), degree=-0.189, action=RobotRotation {fromDegree:-90.1777, toDegree: -0.189, rotationleft 89.9887}] 2025-08-22 09:21:37.280 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的离开任务初始化完成 2025-08-22 09:21:37.288 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354528 2025-08-22 09:21:37.288 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:21:37.288 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:37.407 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的任务路径初始化完成 2025-08-22 09:21:37.553 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 0, 时间估算: 26749.0, 路由: RobotMockPath: {qrcodes: [651, 186, 191, 11334], mocks: [(186, -0.189, ahead), (186, -0.189, ahead), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:21:37.553 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 1, 时间估算: 26749.0, 路由: RobotMockPath: {qrcodes: [651, 186, 191, 11334], mocks: [(186, -0.189, ahead), (186, -0.189, ahead), (191, -0.189, ahead), (11334, -0.189, ahead)], type: ahead} 2025-08-22 09:21:37.554 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 2, 时间估算: 93686.0, 路由: RobotMockPath: {qrcodes: [651, 186, 185, 192, 191, 11334], mocks: [(186, -0.189, ahead), (186, -0.189, ahead), (186, -0.189, ahead), (186, -90.1777, rotationleft), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, -0.1761, rotationright), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:21:37.554 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 3, 时间估算: 81967.0, 路由: RobotMockPath: {qrcodes: [651, 186, 191, 11334], mocks: [(186, -0.189, ahead), (186, -0.189, ahead), (191, -0.189, ahead), (191, 89.8228, rotationleft), (191, 179.8239, rotationright), (11334, 179.8239, ahead)], type: ahead} 2025-08-22 09:21:37.554 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 4, 时间估算: 131477.0, 路由: RobotMockPath: {qrcodes: [651, 186, 185, 192, 191, 11334], mocks: [(186, -0.189, ahead), (186, -0.189, ahead), (186, -0.189, ahead), (186, -90.1777, rotationleft), (185, -90.2915, ahead), (185, 0.0145, rotationleft), (192, 0.0145, ahead), (192, 89.7286, rotationleft), (191, 89.7286, ahead), (191, 179.811, rotationleft), (11334, 179.811, ahead)], type: ahead} 2025-08-22 09:21:37.554 [robot-dynamic-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [651, 186, 191, 11334], mocks: [(186, -0.189, ahead), (186, -0.189, ahead), (191, -0.189, ahead), (11334, -0.1761, ahead)], type: ahead} 2025-08-22 09:21:37.554 [robot-dynamic-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 动态规划路径结束 2025-08-22 09:21:38.262 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":187,"timestamp":1755825698262}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:21:38.297 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354528 2025-08-22 09:21:38.297 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:21:38.297 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:39.324 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354528 2025-08-22 09:21:39.324 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:21:39.324 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:39.366 [http-nio-18002-exec-6] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354528 setActionDone: {"robot_id":1,"height":602,"location_x":66042,"location_y":36631,"location_theta":-908618,"energy":94,"v":251,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354528,"taskFinish":0} 2025-08-22 09:21:40.289 [robot-action-1] INFO com.zcnest.rcs.kernel.security.RcsResourceManager - robot 1 任务 2855 可分配 true，货架列：515-1，列表：[2855],X坐标：81693,Y坐标：36023 2025-08-22 09:21:40.296 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [1057, 651, 11334] from [1089, 1057, 651] 2025-08-22 09:21:40.308 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 remaining route updated [] 2025-08-22 09:21:40.317 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354529 2025-08-22 09:21:40.317 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:40.317 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:41.301 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354529 2025-08-22 09:21:41.301 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:41.301 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:42.269 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354529 2025-08-22 09:21:42.269 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:42.269 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:43.312 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354529 2025-08-22 09:21:43.312 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:43.312 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:44.271 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354529 2025-08-22 09:21:44.271 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:44.271 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:45.273 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354529 2025-08-22 09:21:45.273 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:45.273 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:46.273 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354529 2025-08-22 09:21:46.273 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:46.273 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:47.290 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354529 2025-08-22 09:21:47.290 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:47.290 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:48.266 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354529 2025-08-22 09:21:48.267 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:48.267 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:49.301 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354529 2025-08-22 09:21:49.301 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:49.301 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:50.301 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354529 2025-08-22 09:21:50.302 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:50.302 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:51.311 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354529 2025-08-22 09:21:51.311 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:51.311 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:52.278 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354529 2025-08-22 09:21:52.278 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:52.278 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:53.296 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354529 2025-08-22 09:21:53.296 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:53.296 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:54.280 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354529 2025-08-22 09:21:54.280 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:54.280 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:55.273 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354529 2025-08-22 09:21:55.273 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:55.273 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:56.283 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354529 2025-08-22 09:21:56.283 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:56.283 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:57.267 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354529 2025-08-22 09:21:57.267 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:21:57.267 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:57.334 [http-nio-18002-exec-2] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354529 setActionDone: {"robot_id":1,"height":602,"location_x":68300,"location_y":34011,"location_theta":9971,"energy":94,"v":286,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354529,"taskFinish":0} 2025-08-22 09:21:57.346 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":186,"timestamp":1755825717344}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:21:57.351 [http-nio-18002-exec-7] ERROR com.zcnest.common.base.controller.BaseController - system error org.springframework.http.converter.HttpMessageNotWritableException: Could not write JSON: Null key for a Map not allowed in JSON (use a converting NullKeySerializer?); nested exception is com.fasterxml.jackson.databind.JsonMappingException: Null key for a Map not allowed in JSON (use a converting NullKeySerializer?) (through reference chain: java.util.HashMap["points"]->java.util.HashMap["null"]) at org.springframework.http.converter.json.AbstractJackson2HttpMessageConverter.writeInternal(AbstractJackson2HttpMessageConverter.java:465) at org.springframework.http.converter.AbstractGenericHttpMessageConverter.write(AbstractGenericHttpMessageConverter.java:104) at org.springframework.web.servlet.mvc.method.annotation.AbstractMessageConverterMethodProcessor.writeWithMessageConverters(AbstractMessageConverterMethodProcessor.java:290) at org.springframework.web.servlet.mvc.method.annotation.RequestResponseBodyMethodProcessor.handleReturnValue(RequestResponseBodyMethodProcessor.java:183) at org.springframework.web.method.support.HandlerMethodReturnValueHandlerComposite.handleReturnValue(HandlerMethodReturnValueHandlerComposite.java:78) at org.springframework.web.servlet.mvc.method.annotation.ServletInvocableHandlerMethod.invokeAndHandle(ServletInvocableHandlerMethod.java:135) at org.springframework.web.servlet.mvc.method.annotation.RequestMappingHandlerAdapter.invokeHandlerMethod(RequestMappingHandlerAdapter.java:895) at org.springframework.web.servlet.mvc.method.annotation.RequestMappingHandlerAdapter.handleInternal(RequestMappingHandlerAdapter.java:808) at org.springframework.web.servlet.mvc.method.AbstractHandlerMethodAdapter.handle(AbstractHandlerMethodAdapter.java:87) at org.springframework.web.servlet.DispatcherServlet.doDispatch(DispatcherServlet.java:1071) at org.springframework.web.servlet.DispatcherServlet.doService(DispatcherServlet.java:964) at org.springframework.web.servlet.FrameworkServlet.processRequest(FrameworkServlet.java:1006) at org.springframework.web.servlet.FrameworkServlet.doPost(FrameworkServlet.java:909) at javax.servlet.http.HttpServlet.service(HttpServlet.java:528) at org.springframework.web.servlet.FrameworkServlet.service(FrameworkServlet.java:883) at javax.servlet.http.HttpServlet.service(HttpServlet.java:596) at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:209) at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153) at org.apache.tomcat.websocket.server.WsFilter.doFilter(WsFilter.java:53) at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:178) at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153) at org.springframework.web.filter.RequestContextFilter.doFilterInternal(RequestContextFilter.java:100) at org.springframework.web.filter.OncePerRequestFilter.doFilter(OncePerRequestFilter.java:117) at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:178) at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153) at org.springframework.web.filter.FormContentFilter.doFilterInternal(FormContentFilter.java:93) at org.springframework.web.filter.OncePerRequestFilter.doFilter(OncePerRequestFilter.java:117) at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:178) at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153) at org.springframework.boot.actuate.metrics.web.servlet.WebMvcMetricsFilter.doFilterInternal(WebMvcMetricsFilter.java:96) at org.springframework.web.filter.OncePerRequestFilter.doFilter(OncePerRequestFilter.java:117) at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:178) at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153) at org.springframework.web.filter.CharacterEncodingFilter.doFilterInternal(CharacterEncodingFilter.java:201) at org.springframework.web.filter.OncePerRequestFilter.doFilter(OncePerRequestFilter.java:117) at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:178) at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153) at org.apache.catalina.core.StandardWrapperValve.invoke(StandardWrapperValve.java:167) at org.apache.catalina.core.StandardContextValve.invoke(StandardContextValve.java:90) at org.apache.catalina.authenticator.AuthenticatorBase.invoke(AuthenticatorBase.java:492) at org.apache.catalina.core.StandardHostValve.invoke(StandardHostValve.java:130) at org.apache.catalina.valves.ErrorReportValve.invoke(ErrorReportValve.java:93) at org.apache.catalina.core.StandardEngineValve.invoke(StandardEngineValve.java:74) at org.apache.catalina.connector.CoyoteAdapter.service(CoyoteAdapter.java:343) at org.apache.coyote.http11.Http11Processor.service(Http11Processor.java:389) at org.apache.coyote.AbstractProcessorLight.process(AbstractProcessorLight.java:63) at org.apache.coyote.AbstractProtocol$ConnectionHandler.process(AbstractProtocol.java:926) at org.apache.tomcat.util.net.NioEndpoint$SocketProcessor.doRun(NioEndpoint.java:1791) at org.apache.tomcat.util.net.SocketProcessorBase.run(SocketProcessorBase.java:49) at org.apache.tomcat.util.threads.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1191) at org.apache.tomcat.util.threads.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:659) at org.apache.tomcat.util.threads.TaskThread$WrappingRunnable.run(TaskThread.java:61) at java.lang.Thread.run(Thread.java:750) Caused by: com.fasterxml.jackson.databind.JsonMappingException: Null key for a Map not allowed in JSON (use a converting NullKeySerializer?) (through reference chain: java.util.HashMap["points"]->java.util.HashMap["null"]) at com.fasterxml.jackson.databind.JsonMappingException.from(JsonMappingException.java:283) at com.fasterxml.jackson.databind.SerializerProvider.mappingException(SerializerProvider.java:1364) at com.fasterxml.jackson.databind.SerializerProvider.reportMappingProblem(SerializerProvider.java:1260) at com.fasterxml.jackson.databind.ser.impl.FailingSerializer.serialize(FailingSerializer.java:32) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serializeFields(MapSerializer.java:791) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serializeWithoutTypeInfo(MapSerializer.java:764) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serialize(MapSerializer.java:720) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serialize(MapSerializer.java:35) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serializeFields(MapSerializer.java:808) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serializeWithoutTypeInfo(MapSerializer.java:764) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serialize(MapSerializer.java:720) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serialize(MapSerializer.java:35) at com.fasterxml.jackson.databind.ser.DefaultSerializerProvider._serialize(DefaultSerializerProvider.java:480) at com.fasterxml.jackson.databind.ser.DefaultSerializerProvider.serializeValue(DefaultSerializerProvider.java:319) at com.fasterxml.jackson.databind.ObjectWriter$Prefetch.serialize(ObjectWriter.java:1572) at com.fasterxml.jackson.databind.ObjectWriter.writeValue(ObjectWriter.java:1061) at org.springframework.http.converter.json.AbstractJackson2HttpMessageConverter.writeInternal(AbstractJackson2HttpMessageConverter.java:456) ... 52 common frames omitted 2025-08-22 09:21:57.411 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [651, 11334] from [1057, 651, 11334] 2025-08-22 09:21:58.343 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354530 2025-08-22 09:21:58.343 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:21:58.343 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:21:59.286 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354530 2025-08-22 09:21:59.286 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:21:59.286 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:00.278 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354530 2025-08-22 09:22:00.278 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:22:00.278 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:01.279 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354530 2025-08-22 09:22:01.280 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:22:01.280 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:02.314 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354530 2025-08-22 09:22:02.314 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:22:02.314 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:03.274 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354530 2025-08-22 09:22:03.274 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:22:03.274 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:03.468 [robot-action-1] WARN com.zcnest.rcs.robot.RobotActionControl - robot 1 释放不需要的锁定点，保留745个，但其中：未锁定9个，补申请 2025-08-22 09:22:04.275 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354530 2025-08-22 09:22:04.275 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:22:04.275 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:04.498 [robot-action-1] WARN com.zcnest.rcs.robot.RobotActionControl - robot 1 释放不需要的锁定点，保留750个，但其中：未锁定33个，补申请 2025-08-22 09:22:05.326 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354530 2025-08-22 09:22:05.326 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:22:05.326 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:05.535 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":191,"timestamp":1755825725534}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:22:06.269 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354530 2025-08-22 09:22:06.269 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:22:06.269 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:07.311 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354530 2025-08-22 09:22:07.311 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:22:07.311 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:08.270 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354530 2025-08-22 09:22:08.270 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:22:08.270 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:09.279 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354530 2025-08-22 09:22:09.279 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:22:09.279 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:10.313 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354530 2025-08-22 09:22:10.314 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:22:10.314 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:10.652 [robot-action-1] WARN com.zcnest.rcs.robot.RobotActionControl - robot 1 释放不需要的锁定点，保留476个，但其中：未锁定10个，补申请 2025-08-22 09:22:11.282 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354530 2025-08-22 09:22:11.282 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:22:11.282 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:12.274 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354530 2025-08-22 09:22:12.275 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:22:12.275 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:13.317 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354530 2025-08-22 09:22:13.317 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:22:13.317 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:14.301 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354530 2025-08-22 09:22:14.301 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:22:14.301 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:15.278 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354530 2025-08-22 09:22:15.278 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:22:15.278 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:16.287 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354530 2025-08-22 09:22:16.287 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:22:16.287 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:17.262 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354530 2025-08-22 09:22:17.262 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:22:17.262 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:17.304 [http-nio-18002-exec-9] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354530 setActionDone: {"robot_id":1,"height":602,"location_x":81497,"location_y":33918,"location_theta":9543,"energy":94,"v":166,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354530,"taskFinish":0} 2025-08-22 09:22:17.830 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [11334] from [651, 11334] 2025-08-22 09:22:19.331 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354531 2025-08-22 09:22:19.331 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:22:19.331 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:20.282 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354531 2025-08-22 09:22:20.282 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:22:20.282 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:21.283 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354531 2025-08-22 09:22:21.283 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:22:21.283 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:22.284 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354531 2025-08-22 09:22:22.284 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:22:22.284 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:22.334 [http-nio-18002-exec-4] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354531 setActionDone: {"robot_id":1,"height":602,"location_x":82037,"location_y":33927,"location_theta":5766,"energy":94,"v":246,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354531,"taskFinish":0} 2025-08-22 09:22:22.850 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [] from [11334] 2025-08-22 09:22:23.008 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:22:23.008 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:22:26.272 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354532 2025-08-22 09:22:26.272 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:22:26.272 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:26.272 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: RobotMock 1755659354532 (group 43017) [start=PickQrcode [shelf=11334,type=52, degree=-0.1761, pickQrcode=11335](82289,33920) , end=PickQrcode [shelf=11334,type=53, degree=-0.1761, pickQrcode=11335](82289,33920), degree=-0.1761, action=RobotAhead [size=0]] 2025-08-22 09:22:26.272 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: 2232726 2025-08-22 09:22:26.272 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: pick 2025-08-22 09:22:26.283 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 删除成功: 1 2025-08-22 09:22:27.273 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354533 2025-08-22 09:22:27.273 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:22:27.273 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:28.324 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354533 2025-08-22 09:22:28.324 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:22:28.324 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:29.283 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354533 2025-08-22 09:22:29.283 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:22:29.283 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:30.293 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354533 2025-08-22 09:22:30.293 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:22:30.293 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:31.285 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354533 2025-08-22 09:22:31.285 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:22:31.285 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:32.269 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354533 2025-08-22 09:22:32.269 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:22:32.269 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:33.271 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354533 2025-08-22 09:22:33.271 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:22:33.271 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:34.272 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354533 2025-08-22 09:22:34.272 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:22:34.272 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:35.314 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354533 2025-08-22 09:22:35.314 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:22:35.314 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:35.398 [http-nio-18002-exec-9] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354533 setActionDone: {"robot_id":1,"height":237,"location_x":81789,"location_y":34203,"location_theta":-574013,"energy":94,"v":80,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354533,"taskFinish":0} 2025-08-22 09:22:41.279 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354534 2025-08-22 09:22:41.279 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:22:41.279 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:22:41.321 [http-nio-18002-exec-3] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354534 setActionDone: {"robot_id":1,"height":237,"location_x":81691,"location_y":34516,"location_theta":-890377,"energy":94,"v":9,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354534,"taskFinish":0} 2025-08-22 09:23:00.324 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354535 2025-08-22 09:23:00.324 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:23:00.324 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:23:00.407 [http-nio-18002-exec-5] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354535 setActionDone: {"robot_id":1,"height":37,"location_x":81691,"location_y":34519,"location_theta":-894608,"energy":94,"v":0,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354535,"taskFinish":0} 2025-08-22 09:23:00.945 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 re planned its route [] from [11986, 12005, 12002, 1087, 955, 953, 12112, 11963, 11959, 11951, 3889, 3894, 1089, 1057, 651] 2025-08-22 09:23:05.987 [http-nio-18002-exec-7] ERROR com.zcnest.rcs.monitor.controller.RobotController - robot 1 report error 265 2025-08-22 09:23:05.988 [http-nio-18002-exec-7] INFO com.zcnest.rcs.monitor.controller.RobotController - 当前异常任务ID: 2855 2025-08-22 09:23:23.015 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:23:23.015 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:24:17.425 [http-nio-18002-exec-6] INFO com.zcnest.rcs.kernel.security.RcsResourceManager - robot 1 任务 2855 可分配 true，货架列：515-1，列表：[2855],X坐标：81693,Y坐标：36023 2025-08-22 09:24:18.051 [robot-action-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的离开任务初始化完成 2025-08-22 09:24:18.055 [robot-action-1] ERROR com.zcnest.rcs.robot.RobotActionControl - ---------------robot exception info----------- ---------------now mock:RobotMock 0 (group null) [start=PathQrcode [fromCrossId=null, toCrossId=null](81600,35400) , end=PathQrcode [fromCrossId=null, toCrossId=null](81600,35400), degree=-89.0, action=RobotWait] ---------------task mock:RobotMock 1755659354536 (group null) [start=PickQrcode [shelf=11334,type=6, degree=-90.1091, pickQrcode=11335](81691,35223) , end=PickQrcode [shelf=11334,type=6, degree=-90.1091, pickQrcode=11335](81691,35223), degree=-90.1091, action=RobotPick [action:30->0, boxId=1, fromShelfId=515 , fromShelfBoxId=515001, PickQrcodeGroup=[PickQrcodeGroup [rotationShelfQrcode=11334, degree=89.8909]]]] ---------------exception:null ---------------exception:java.lang.NullPointerException at com.zcnest.rcs.kernel.map.MapControl.getPath(MapControl.java:976) at com.zcnest.rcs.kernel.routing.PathQrcodeTimeUtils.getLockTime(PathQrcodeTimeUtils.java:71) at com.zcnest.rcs.kernel.routing.PathQrcodeTimeUtils.getTimeWithDegree(PathQrcodeTimeUtils.java:114) at com.zcnest.rcs.kernel.routing.SamePathQrcodeBuilder.buildStartPath(SamePathQrcodeBuilder.java:265) at com.zcnest.rcs.kernel.routing.RobotPathBuilder.getPathActions(RobotPathBuilder.java:70) at com.zcnest.rcs.kernel.routing.PathQrcodeControl.getMulRouteQrcodes(PathQrcodeControl.java:88) at com.zcnest.rcs.robot.mock.RobotMockPathBuilder.getMulMocks(RobotMockPathBuilder.java:44) at com.zcnest.rcs.robot.pick.PickFromControl.buildPath(PickFromControl.java:187) at com.zcnest.rcs.robot.pick.PickFromControl.getPickMockPaths(PickFromControl.java:74) at com.zcnest.rcs.robot.mock.RobotMockBuilder.getMoveTaskMocks(RobotMockBuilder.java:172) at com.zcnest.rcs.kernel.planning.RobotPickActionControl.addPickOrUnpickPath(RobotPickActionControl.java:132) at com.zcnest.rcs.robot.RobotActionControl.taskPathMockBuild(RobotActionControl.java:1887) at com.zcnest.rcs.robot.RobotActionControl.updateMocks(RobotActionControl.java:1660) at com.zcnest.rcs.robot.RobotActionControl.run(RobotActionControl.java:322) at java.lang.Thread.run(Thread.java:750) java.lang.NullPointerException: null at com.zcnest.rcs.kernel.map.MapControl.getPath(MapControl.java:976) at com.zcnest.rcs.kernel.routing.PathQrcodeTimeUtils.getLockTime(PathQrcodeTimeUtils.java:71) at com.zcnest.rcs.kernel.routing.PathQrcodeTimeUtils.getTimeWithDegree(PathQrcodeTimeUtils.java:114) at com.zcnest.rcs.kernel.routing.SamePathQrcodeBuilder.buildStartPath(SamePathQrcodeBuilder.java:265) at com.zcnest.rcs.kernel.routing.RobotPathBuilder.getPathActions(RobotPathBuilder.java:70) at com.zcnest.rcs.kernel.routing.PathQrcodeControl.getMulRouteQrcodes(PathQrcodeControl.java:88) at com.zcnest.rcs.robot.mock.RobotMockPathBuilder.getMulMocks(RobotMockPathBuilder.java:44) at com.zcnest.rcs.robot.pick.PickFromControl.buildPath(PickFromControl.java:187) at com.zcnest.rcs.robot.pick.PickFromControl.getPickMockPaths(PickFromControl.java:74) at com.zcnest.rcs.robot.mock.RobotMockBuilder.getMoveTaskMocks(RobotMockBuilder.java:172) at com.zcnest.rcs.kernel.planning.RobotPickActionControl.addPickOrUnpickPath(RobotPickActionControl.java:132) at com.zcnest.rcs.robot.RobotActionControl.taskPathMockBuild(RobotActionControl.java:1887) at com.zcnest.rcs.robot.RobotActionControl.updateMocks(RobotActionControl.java:1660) at com.zcnest.rcs.robot.RobotActionControl.run(RobotActionControl.java:322) at java.lang.Thread.run(Thread.java:750) 2025-08-22 09:24:18.287 [http-nio-18002-exec-4] INFO com.zcnest.rcs.kernel.security.RcsResourceManager - robot 1 任务 2855 可分配 true，货架列：515-1，列表：[2855],X坐标：81693,Y坐标：36023 2025-08-22 09:24:19.331 [http-nio-18002-exec-10] INFO com.zcnest.rcs.kernel.security.RcsResourceManager - robot 1 任务 2855 可分配 true，货架列：515-1，列表：[2855],X坐标：81693,Y坐标：36023 2025-08-22 09:24:20.288 [http-nio-18002-exec-6] INFO com.zcnest.rcs.kernel.security.RcsResourceManager - robot 1 任务 2855 可分配 true，货架列：515-1，列表：[2855],X坐标：81693,Y坐标：36023 2025-08-22 09:24:21.289 [http-nio-18002-exec-4] INFO com.zcnest.rcs.kernel.security.RcsResourceManager - robot 1 任务 2855 可分配 true，货架列：515-1，列表：[2855],X坐标：81693,Y坐标：36023 2025-08-22 09:24:22.298 [http-nio-18002-exec-1] INFO com.zcnest.rcs.kernel.security.RcsResourceManager - robot 1 任务 2855 可分配 true，货架列：515-1，列表：[2855],X坐标：81693,Y坐标：36023 2025-08-22 09:24:23.021 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:24:23.021 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:24:23.287 [http-nio-18002-exec-6] INFO com.zcnest.rcs.kernel.security.RcsResourceManager - robot 1 任务 2855 可分配 true，货架列：515-1，列表：[2855],X坐标：81693,Y坐标：36023 2025-08-22 09:24:24.282 [http-nio-18002-exec-2] INFO com.zcnest.rcs.kernel.security.RcsResourceManager - robot 1 任务 2855 可分配 true，货架列：515-1，列表：[2855],X坐标：81693,Y坐标：36023 2025-08-22 09:24:25.288 [http-nio-18002-exec-7] INFO com.zcnest.rcs.kernel.security.RcsResourceManager - robot 1 任务 2855 可分配 true，货架列：515-1，列表：[2855],X坐标：81693,Y坐标：36023 2025-08-22 09:24:26.280 [http-nio-18002-exec-6] INFO com.zcnest.rcs.kernel.security.RcsResourceManager - robot 1 任务 2855 可分配 true，货架列：515-1，列表：[2855],X坐标：81693,Y坐标：36023 2025-08-22 09:24:27.343 [http-nio-18002-exec-2] INFO com.zcnest.rcs.kernel.security.RcsResourceManager - robot 1 任务 2855 可分配 true，货架列：515-1，列表：[2855],X坐标：81693,Y坐标：36023 2025-08-22 09:24:28.290 [http-nio-18002-exec-5] INFO com.zcnest.rcs.kernel.security.RcsResourceManager - robot 1 任务 2855 可分配 true，货架列：515-1，列表：[2855],X坐标：81693,Y坐标：36023 2025-08-22 09:24:29.055 [robot-action-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的离开任务初始化完成 2025-08-22 09:24:29.056 [robot-action-1] ERROR com.zcnest.rcs.robot.RobotActionControl - ---------------robot exception info----------- ---------------now mock:RobotMock 0 (group null) [start=PathQrcode [fromCrossId=null, toCrossId=null](81600,35400) , end=PathQrcode [fromCrossId=null, toCrossId=null](81600,35400), degree=-89.0, action=RobotWait] ---------------task mock:RobotMock 1755659354536 (group null) [start=PickQrcode [shelf=11334,type=6, degree=-90.1091, pickQrcode=11335](81691,35223) , end=PickQrcode [shelf=11334,type=6, degree=-90.1091, pickQrcode=11335](81691,35223), degree=-90.1091, action=RobotPick [action:30->0, boxId=1, fromShelfId=515 , fromShelfBoxId=515001, PickQrcodeGroup=[PickQrcodeGroup [rotationShelfQrcode=11334, degree=89.8909]]]] ---------------exception:null ---------------exception:java.lang.NullPointerException at com.zcnest.rcs.kernel.map.MapControl.getPath(MapControl.java:976) at com.zcnest.rcs.kernel.routing.PathQrcodeTimeUtils.getLockTime(PathQrcodeTimeUtils.java:71) at com.zcnest.rcs.kernel.routing.PathQrcodeTimeUtils.getTimeWithDegree(PathQrcodeTimeUtils.java:114) at com.zcnest.rcs.kernel.routing.SamePathQrcodeBuilder.buildStartPath(SamePathQrcodeBuilder.java:265) at com.zcnest.rcs.kernel.routing.RobotPathBuilder.getPathActions(RobotPathBuilder.java:70) at com.zcnest.rcs.kernel.routing.PathQrcodeControl.getMulRouteQrcodes(PathQrcodeControl.java:88) at com.zcnest.rcs.robot.mock.RobotMockPathBuilder.getMulMocks(RobotMockPathBuilder.java:44) at com.zcnest.rcs.robot.pick.PickFromControl.buildPath(PickFromControl.java:187) at com.zcnest.rcs.robot.pick.PickFromControl.getPickMockPaths(PickFromControl.java:74) at com.zcnest.rcs.robot.mock.RobotMockBuilder.getMoveTaskMocks(RobotMockBuilder.java:172) at com.zcnest.rcs.kernel.planning.RobotPickActionControl.addPickOrUnpickPath(RobotPickActionControl.java:132) at com.zcnest.rcs.robot.RobotActionControl.taskPathMockBuild(RobotActionControl.java:1887) at com.zcnest.rcs.robot.RobotActionControl.updateMocks(RobotActionControl.java:1660) at com.zcnest.rcs.robot.RobotActionControl.run(RobotActionControl.java:322) at java.lang.Thread.run(Thread.java:750) java.lang.NullPointerException: null at com.zcnest.rcs.kernel.map.MapControl.getPath(MapControl.java:976) at com.zcnest.rcs.kernel.routing.PathQrcodeTimeUtils.getLockTime(PathQrcodeTimeUtils.java:71) at com.zcnest.rcs.kernel.routing.PathQrcodeTimeUtils.getTimeWithDegree(PathQrcodeTimeUtils.java:114) at com.zcnest.rcs.kernel.routing.SamePathQrcodeBuilder.buildStartPath(SamePathQrcodeBuilder.java:265) at com.zcnest.rcs.kernel.routing.RobotPathBuilder.getPathActions(RobotPathBuilder.java:70) at com.zcnest.rcs.kernel.routing.PathQrcodeControl.getMulRouteQrcodes(PathQrcodeControl.java:88) at com.zcnest.rcs.robot.mock.RobotMockPathBuilder.getMulMocks(RobotMockPathBuilder.java:44) at com.zcnest.rcs.robot.pick.PickFromControl.buildPath(PickFromControl.java:187) at com.zcnest.rcs.robot.pick.PickFromControl.getPickMockPaths(PickFromControl.java:74) at com.zcnest.rcs.robot.mock.RobotMockBuilder.getMoveTaskMocks(RobotMockBuilder.java:172) at com.zcnest.rcs.kernel.planning.RobotPickActionControl.addPickOrUnpickPath(RobotPickActionControl.java:132) at com.zcnest.rcs.robot.RobotActionControl.taskPathMockBuild(RobotActionControl.java:1887) at com.zcnest.rcs.robot.RobotActionControl.updateMocks(RobotActionControl.java:1660) at com.zcnest.rcs.robot.RobotActionControl.run(RobotActionControl.java:322) at java.lang.Thread.run(Thread.java:750) 2025-08-22 09:24:29.328 [http-nio-18002-exec-4] INFO com.zcnest.rcs.kernel.security.RcsResourceManager - robot 1 任务 2855 可分配 true，货架列：515-1，列表：[2855],X坐标：81693,Y坐标：36023 2025-08-22 09:24:30.241 [http-nio-18002-exec-3] INFO com.zcnest.rcs.kernel.security.RcsResourceManager - robot 1 任务 2855 可分配 true，货架列：515-1，列表：[2855],X坐标：81693,Y坐标：36023 2025-08-22 09:24:31.280 [http-nio-18002-exec-5] INFO com.zcnest.rcs.kernel.security.RcsResourceManager - robot 1 任务 2855 可分配 true，货架列：515-1，列表：[2855],X坐标：81693,Y坐标：36023 2025-08-22 09:24:32.278 [http-nio-18002-exec-8] INFO com.zcnest.rcs.kernel.security.RcsResourceManager - robot 1 任务 2855 可分配 true，货架列：515-1，列表：[2855],X坐标：81693,Y坐标：36023 2025-08-22 09:24:33.283 [http-nio-18002-exec-6] INFO com.zcnest.rcs.kernel.security.RcsResourceManager - robot 1 任务 2855 可分配 true，货架列：515-1，列表：[2855],X坐标：81693,Y坐标：36023 2025-08-22 09:24:34.291 [http-nio-18002-exec-8] INFO com.zcnest.rcs.kernel.security.RcsResourceManager - robot 1 任务 2855 可分配 true，货架列：515-1，列表：[2855],X坐标：81693,Y坐标：36023 2025-08-22 09:24:35.304 [http-nio-18002-exec-9] INFO com.zcnest.rcs.kernel.security.RcsResourceManager - robot 1 任务 2855 可分配 true，货架列：515-1，列表：[2855],X坐标：81693,Y坐标：36023 2025-08-22 09:24:36.296 [http-nio-18002-exec-3] INFO com.zcnest.rcs.kernel.security.RcsResourceManager - robot 1 任务 2855 可分配 true，货架列：515-1，列表：[2855],X坐标：81693,Y坐标：36023 2025-08-22 09:24:40.056 [robot-action-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的离开任务初始化完成 2025-08-22 09:24:40.065 [robot-action-1] ERROR com.zcnest.rcs.robot.mock.PathMockBuilder - can not move forklift from degree -91.0 to degree 179.8239 in qrcode RotationQrcode[11335], fatherId [11334], degree[null] 2025-08-22 09:24:40.066 [robot-action-1] ERROR com.zcnest.rcs.robot.mock.PathMockBuilder - can not move forklift from degree -91.0 to degree 179.8239 in qrcode RotationQrcode[11335], fatherId [11334], degree[null] 2025-08-22 09:24:40.068 [robot-action-1] ERROR com.zcnest.rcs.robot.mock.PathMockBuilder - can not move forklift from degree -91.0 to degree 179.8239 in qrcode RotationQrcode[11335], fatherId [11334], degree[null] 2025-08-22 09:24:40.069 [robot-action-1] ERROR com.zcnest.rcs.robot.mock.PathMockBuilder - can not move forklift from degree -91.0 to degree 179.8239 in qrcode RotationQrcode[11335], fatherId [11334], degree[null] 2025-08-22 09:24:40.069 [robot-action-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 2855 的任务路径初始化完成 2025-08-22 09:24:40.069 [robot-action-1] ERROR com.zcnest.rcs.robot.RobotActionControl - robot 1 无法找到路径, 任务 2855 被移除。任务动作 RobotMock 1755659354536 (group null) [start=PickQrcode [shelf=11334,type=6, degree=-90.1091, pickQrcode=11335](81691,35223) , end=PickQrcode [shelf=11334,type=6, degree=-90.1091, pickQrcode=11335](81691,35223), degree=-90.1091, action=RobotPick [action:30->0, boxId=1, fromShelfId=515 , fromShelfBoxId=515001, PickQrcodeGroup=[PickQrcodeGroup [rotationShelfQrcode=11334, degree=89.8909]]]], 上个动作 action RobotMock 0 (group null) [start=RotationQrcode[11335], fatherId [11334], degree[null](81691,35023) , end=RotationQrcode[11335], fatherId [11334], degree[null](81691,35023), degree=-91.0, action=RobotWait] 2025-08-22 09:24:40.112 [robot-action-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 move mocks be cleared. 2025-08-22 09:24:40.112 [robot-action-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 按照错误码设置为阻塞suspend状态 2025-08-22 09:24:41.474 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#1-1] INFO c.zcnest.rcs.loraButton.LoraButtonZcnestMqReceiver - 订单状态变化：{"orderId":4113,"orderStatus":20} 2025-08-22 09:24:41.482 [task-dispatch-thread1] INFO com.zcnest.rcs.schedule.TaskSchedule - Wms LinkWmsRcs{id=4113, wmsId=0, priority=0, status=20, fromShelfBoxId=515001, toShelfBoxId=712003, robotId=1} 任务完成通知 com.zcnest.rcs.order.service.ExternalIntegrationSettingService@7ab3f194 2025-08-22 09:25:21.867 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#0-1] INFO c.zcnest.rcs.loraButton.LoraButtonZcnestMqReceiver - 仓位状态变化：{"shelfBoxId":712003,"status":1} 2025-08-22 09:25:23.027 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:25:23.027 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:25:31.657 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#0-1] INFO c.zcnest.rcs.loraButton.LoraButtonZcnestMqReceiver - 仓位状态变化：{"shelfBoxId":712003,"status":1} 2025-08-22 09:25:35.691 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#0-1] INFO c.zcnest.rcs.loraButton.LoraButtonZcnestMqReceiver - 仓位状态变化：{"shelfBoxId":515001,"status":1} 2025-08-22 09:25:37.642 [http-nio-18002-exec-10] ERROR com.zcnest.rcs.monitor.controller.RobotController - robot 1 report error 55000-010 2025-08-22 09:25:37.643 [http-nio-18002-exec-10] INFO com.zcnest.rcs.monitor.controller.RobotController - 当前异常任务ID: 0 2025-08-22 09:25:37.650 [http-nio-18002-exec-10] WARN com.zcnest.rcs.monitor.service.ErrorService - Warn: execute Method There are 17 results. 2025-08-22 09:25:37.650 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 move mocks be cleared. 2025-08-22 09:25:37.650 [http-nio-18002-exec-10] INFO com.zcnest.rcs.monitor.controller.RobotController - 呼叫按钮异常处理 2025-08-22 09:25:37.650 [http-nio-18002-exec-10] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 任务0 未关联呼叫按钮 2025-08-22 09:25:37.650 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 按照错误码设置为阻塞suspend状态 2025-08-22 09:25:41.301 [robot-action-3] INFO com.zcnest.rcs.robot.RobotTaskControl - robot 3 add task TaskMove [to=103300,31121, toDegree:180.0 ]， source for task: 0 2025-08-22 09:25:41.457 [robot-task-1] INFO com.zcnest.rcs.robot.RobotTaskControl - robot 1 task thread stop 2025-08-22 09:25:42.162 [robot-action-1] ERROR com.zcnest.rcs.robot.apply.MapLockControl - robot 1 锁定点为 0，数量异常！ java.lang.Throwable: 锁定点异常 at com.zcnest.rcs.robot.apply.MapLockControl.checkRobotLockPoints(MapLockControl.java:491) at com.zcnest.rcs.robot.apply.MapLockControl.releaseByRobot(MapLockControl.java:474) at com.zcnest.rcs.robot.apply.MapLockControl.releaseByRobot(MapLockControl.java:507) at com.zcnest.rcs.robot.apply.MapLockControl.releaseAllPointsAndPathsByRobot(MapLockControl.java:543) at com.zcnest.rcs.robot.RobotActionControl.releaseNoNeedPoints(RobotActionControl.java:4537) at com.zcnest.rcs.robot.RobotActionControl.run(RobotActionControl.java:272) at java.lang.Thread.run(Thread.java:750) 2025-08-22 09:25:42.162 [robot-action-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 stop now 2025-08-22 09:25:42.344 [robot-action-3] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮：到达 robotId:3,taskId:33941301 2025-08-22 09:25:42.344 [robot-action-3] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 不是呼叫按钮任务：机器人3 2025-08-22 09:26:18.892 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 动作覆盖点重构完成 2025-08-22 09:26:18.892 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotControl - robot 1 init success 2025-08-22 09:26:18.892 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotControlCenter - add robot 1 2025-08-22 09:26:18.892 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotControlCenter - able robot 1 success 2025-08-22 09:26:23.033 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:26:23.033 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:26:30.630 [http-nio-18002-exec-10] INFO com.zcnest.rcs.kernel.security.RcsResourceManager - robot 1 任务 2855 释放，货架列：515-1，列表：[] 2025-08-22 09:26:30.632 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#0-1] INFO c.zcnest.rcs.loraButton.LoraButtonZcnestMqReceiver - 仓位状态变化：{"shelfBoxId":515001} 2025-08-22 09:26:30.713 [http-nio-18002-exec-10] INFO com.zcnest.rcs.kernel.security.RcsResourceManager - robot 1 任务 2856 释放，货架列：712-1，列表：[] 2025-08-22 09:26:30.714 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#0-1] INFO c.zcnest.rcs.loraButton.LoraButtonZcnestMqReceiver - 仓位状态变化：{"shelfBoxId":712003,"status":1} 2025-08-22 09:26:30.756 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#1-1] INFO c.zcnest.rcs.loraButton.LoraButtonZcnestMqReceiver - 订单状态变化：{"orderId":4113,"orderStatus":3} 2025-08-22 09:26:52.591 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#0-1] INFO c.zcnest.rcs.loraButton.LoraButtonZcnestMqReceiver - 仓位状态变化：{"shelfBoxId":712003} 2025-08-22 09:26:56.118 [http-nio-18002-exec-2] ERROR com.zcnest.rcs.monitor.controller.RobotController - robot 1 report error 55000-010 2025-08-22 09:26:56.118 [http-nio-18002-exec-2] INFO com.zcnest.rcs.monitor.controller.RobotController - 当前异常任务ID: 0 2025-08-22 09:26:56.120 [http-nio-18002-exec-2] WARN com.zcnest.rcs.monitor.service.ErrorService - Warn: execute Method There are 17 results. 2025-08-22 09:26:56.120 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 move mocks be cleared. 2025-08-22 09:26:56.120 [http-nio-18002-exec-2] INFO com.zcnest.rcs.monitor.controller.RobotController - 呼叫按钮异常处理 2025-08-22 09:26:56.120 [http-nio-18002-exec-2] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 任务0 未关联呼叫按钮 2025-08-22 09:26:56.120 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 按照错误码设置为阻塞suspend状态 2025-08-22 09:27:01.125 [robot-task-1] INFO com.zcnest.rcs.robot.RobotTaskControl - robot 1 task thread stop 2025-08-22 09:27:02.903 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":191,"timestamp":1755826022903}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:27:02.912 [robot-action-1] ERROR com.zcnest.rcs.robot.apply.MapLockControl - robot 1 锁定点为 0，数量异常！ java.lang.Throwable: 锁定点异常 at com.zcnest.rcs.robot.apply.MapLockControl.checkRobotLockPoints(MapLockControl.java:491) at com.zcnest.rcs.robot.apply.MapLockControl.releaseByRobot(MapLockControl.java:474) at com.zcnest.rcs.robot.apply.MapLockControl.releaseByRobot(MapLockControl.java:507) at com.zcnest.rcs.robot.apply.MapLockControl.releaseAllPointsAndPathsByRobot(MapLockControl.java:543) at com.zcnest.rcs.robot.RobotActionControl.releaseNoNeedPoints(RobotActionControl.java:4537) at com.zcnest.rcs.robot.RobotActionControl.run(RobotActionControl.java:272) at java.lang.Thread.run(Thread.java:750) 2025-08-22 09:27:02.912 [robot-action-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 stop now 2025-08-22 09:27:15.190 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 动作覆盖点重构完成 2025-08-22 09:27:15.190 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotControl - robot 1 init success 2025-08-22 09:27:15.190 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotControlCenter - add robot 1 2025-08-22 09:27:15.190 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotControlCenter - able robot 1 success 2025-08-22 09:27:20.561 [http-nio-18002-exec-5] ERROR com.zcnest.rcs.monitor.controller.RobotController - robot 1 report error 55000-010 2025-08-22 09:27:20.562 [http-nio-18002-exec-5] INFO com.zcnest.rcs.monitor.controller.RobotController - 当前异常任务ID: 0 2025-08-22 09:27:20.565 [http-nio-18002-exec-5] WARN com.zcnest.rcs.monitor.service.ErrorService - Warn: execute Method There are 17 results. 2025-08-22 09:27:20.565 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 move mocks be cleared. 2025-08-22 09:27:20.565 [http-nio-18002-exec-5] INFO com.zcnest.rcs.monitor.controller.RobotController - 呼叫按钮异常处理 2025-08-22 09:27:20.565 [http-nio-18002-exec-5] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 任务0 未关联呼叫按钮 2025-08-22 09:27:20.565 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 按照错误码设置为阻塞suspend状态 2025-08-22 09:27:23.039 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:27:23.039 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:27:29.855 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 begin to resume with x: 70451, y: 34007, degree: 0 in area 2 2025-08-22 09:27:29.885 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - resume robot 1 with x, y, degree ok 2025-08-22 09:27:29.885 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 move mocks be cleared. 2025-08-22 09:27:29.887 [http-nio-18002-exec-3] ERROR com.zcnest.rcs.robot.RobotActionControl - fail to get the line point for RobotMock 1755659354591 (group 43450) [start=PathQrcode [fromCrossId=191, toCrossId=177](70451,33957) , end=com.zcnest.rcs.modeling.model.shelf.ShelfCrossQrcode@2bc7(72079,33952), degree=-0.1761, action=RobotAhead [size=1628]] to away 2025-08-22 09:27:29.933 [http-nio-18002-exec-3] INFO com.zcnest.rcs.service.impl.ChargeServiceImpl - robot 1, 当前充电状态:robotRunning, 动作:resume 2025-08-22 09:27:31.219 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [11176] from [] 2025-08-22 09:27:34.155 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354593 2025-08-22 09:27:34.155 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: wait 2025-08-22 09:27:34.155 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:27:34.155 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 已经过去的动作 2025-08-22 09:27:34.155 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 没找到mockId: 1755659354593 2025-08-22 09:27:34.155 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 找到mockId: 1755659354591 2025-08-22 09:27:34.155 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 没找到mockId: 1755659354591 2025-08-22 09:27:34.155 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: RobotMock 1755659354593 (group null) [start=com.zcnest.rcs.modeling.model.shelf.ShelfCrossQrcode@2bc7(72079,33952) , end=com.zcnest.rcs.modeling.model.shelf.ShelfCrossQrcode@2bc7(72079,33952), degree=-0.1761, action=RobotWait] 2025-08-22 09:27:34.155 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: 11176 2025-08-22 09:27:34.155 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: null 2025-08-22 09:27:34.171 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 删除成功: 1 2025-08-22 09:27:34.321 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354591 2025-08-22 09:27:34.322 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:27:34.322 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:27:34.572 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354591 2025-08-22 09:27:34.572 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:27:34.572 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:27:35.331 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354591 2025-08-22 09:27:35.331 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:27:35.331 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:27:36.324 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354591 2025-08-22 09:27:36.324 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:27:36.324 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:27:37.291 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354591 2025-08-22 09:27:37.292 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:27:37.292 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:27:37.342 [http-nio-18002-exec-1] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354591 setActionDone: {"robot_id":1,"height":606,"location_x":71916,"location_y":33980,"location_theta":-21254,"energy":94,"v":169,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354591,"taskFinish":0} 2025-08-22 09:27:37.361 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":191,"timestamp":1755826057360}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:27:57.897 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotTaskControl - robot 1 add task TaskMove [to=103300,42128, toDegree:180.0 ]， source for task: 0 2025-08-22 09:27:58.234 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [] from [11176] 2025-08-22 09:27:59.234 [robot-action-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 34077897 的离开任务初始化完成 2025-08-22 09:27:59.317 [robot-action-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1 task 34077897 的任务路径初始化完成 2025-08-22 09:27:59.351 [robot-action-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 规划线路 0, 时间估算: 67889.0, 路由: RobotMockPath: {qrcodes: [177, 11994, 178, 11999, 11986], mocks: [(177, -0.1761, ahead), (177, 90.0208, rotationleft), (11994, 90.0208, ahead), (178, 90.0209, ahead), (11999, 90.0623, ahead), (11999, 90.0616, ahead), (11999, 180.0, rotationright), (11986, 180.0, ahead)], type: ahead} 2025-08-22 09:27:59.362 [robot-action-1] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 1, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [177, 11994, 178, 11999, 11986], mocks: [(177, -0.1761, ahead), (177, 90.0208, rotationleft), (11994, 90.0208, ahead), (178, 90.0209, ahead), (11999, 90.0623, ahead), (11999, 90.0616, ahead), (11999, 180.0, rotationright), (11986, 180.0, ahead)], type: ahead} 2025-08-22 09:27:59.388 [robot-action-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 1 同区移动任务 34077897 添加动作 true 2025-08-22 09:27:59.388 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 re planned its route [11176, 11138, 6957, 12142, 11995, 12138, 12002, 12005, 11986] from [] 2025-08-22 09:27:59.394 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [11176, 11138] from [] 2025-08-22 09:27:59.394 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 remaining route updated [6957, 12142, 11995, 12138, 12002, 12005, 11986] 2025-08-22 09:28:00.421 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [11176, 11138, 6957, 12142] from [11176, 11138] 2025-08-22 09:28:00.422 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 remaining route updated [11995, 12138, 12002, 12005, 11986] 2025-08-22 09:28:02.690 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354597 2025-08-22 09:28:02.690 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:02.690 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:02.807 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354597 2025-08-22 09:28:02.807 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:02.807 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:02.940 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354597 2025-08-22 09:28:02.940 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:02.940 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:03.291 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354597 2025-08-22 09:28:03.291 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:03.291 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:03.448 [robot-action-1] WARN com.zcnest.rcs.robot.RobotActionControl - robot 1 释放不需要的锁定点，保留1355个，但其中：未锁定16个，补申请 2025-08-22 09:28:04.542 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354597 2025-08-22 09:28:04.542 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:04.542 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:05.284 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354597 2025-08-22 09:28:05.284 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:05.284 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:06.269 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354597 2025-08-22 09:28:06.269 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:06.269 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:07.269 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354597 2025-08-22 09:28:07.269 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:07.269 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:07.552 [robot-action-1] WARN com.zcnest.rcs.robot.RobotActionControl - robot 1 释放不需要的锁定点，保留1112个，但其中：未锁定5个，补申请 2025-08-22 09:28:08.271 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354597 2025-08-22 09:28:08.271 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:08.271 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:09.322 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354597 2025-08-22 09:28:09.322 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:09.322 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:10.273 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354597 2025-08-22 09:28:10.273 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:10.273 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:11.290 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354597 2025-08-22 09:28:11.290 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:11.290 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:12.309 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354597 2025-08-22 09:28:12.309 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:12.309 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:12.720 [http-nio-18002-exec-4] ERROR com.zcnest.common.base.controller.BaseController - system error org.springframework.http.converter.HttpMessageNotWritableException: Could not write JSON: Null key for a Map not allowed in JSON (use a converting NullKeySerializer?); nested exception is com.fasterxml.jackson.databind.JsonMappingException: Null key for a Map not allowed in JSON (use a converting NullKeySerializer?) (through reference chain: java.util.HashMap["points"]->java.util.HashMap["null"]) at org.springframework.http.converter.json.AbstractJackson2HttpMessageConverter.writeInternal(AbstractJackson2HttpMessageConverter.java:465) at org.springframework.http.converter.AbstractGenericHttpMessageConverter.write(AbstractGenericHttpMessageConverter.java:104) at org.springframework.web.servlet.mvc.method.annotation.AbstractMessageConverterMethodProcessor.writeWithMessageConverters(AbstractMessageConverterMethodProcessor.java:290) at org.springframework.web.servlet.mvc.method.annotation.RequestResponseBodyMethodProcessor.handleReturnValue(RequestResponseBodyMethodProcessor.java:183) at org.springframework.web.method.support.HandlerMethodReturnValueHandlerComposite.handleReturnValue(HandlerMethodReturnValueHandlerComposite.java:78) at org.springframework.web.servlet.mvc.method.annotation.ServletInvocableHandlerMethod.invokeAndHandle(ServletInvocableHandlerMethod.java:135) at org.springframework.web.servlet.mvc.method.annotation.RequestMappingHandlerAdapter.invokeHandlerMethod(RequestMappingHandlerAdapter.java:895) at org.springframework.web.servlet.mvc.method.annotation.RequestMappingHandlerAdapter.handleInternal(RequestMappingHandlerAdapter.java:808) at org.springframework.web.servlet.mvc.method.AbstractHandlerMethodAdapter.handle(AbstractHandlerMethodAdapter.java:87) at org.springframework.web.servlet.DispatcherServlet.doDispatch(DispatcherServlet.java:1071) at org.springframework.web.servlet.DispatcherServlet.doService(DispatcherServlet.java:964) at org.springframework.web.servlet.FrameworkServlet.processRequest(FrameworkServlet.java:1006) at org.springframework.web.servlet.FrameworkServlet.doPost(FrameworkServlet.java:909) at javax.servlet.http.HttpServlet.service(HttpServlet.java:528) at org.springframework.web.servlet.FrameworkServlet.service(FrameworkServlet.java:883) at javax.servlet.http.HttpServlet.service(HttpServlet.java:596) at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:209) at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153) at org.apache.tomcat.websocket.server.WsFilter.doFilter(WsFilter.java:53) at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:178) at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153) at org.springframework.web.filter.RequestContextFilter.doFilterInternal(RequestContextFilter.java:100) at org.springframework.web.filter.OncePerRequestFilter.doFilter(OncePerRequestFilter.java:117) at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:178) at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153) at org.springframework.web.filter.FormContentFilter.doFilterInternal(FormContentFilter.java:93) at org.springframework.web.filter.OncePerRequestFilter.doFilter(OncePerRequestFilter.java:117) at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:178) at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153) at org.springframework.boot.actuate.metrics.web.servlet.WebMvcMetricsFilter.doFilterInternal(WebMvcMetricsFilter.java:96) at org.springframework.web.filter.OncePerRequestFilter.doFilter(OncePerRequestFilter.java:117) at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:178) at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153) at org.springframework.web.filter.CharacterEncodingFilter.doFilterInternal(CharacterEncodingFilter.java:201) at org.springframework.web.filter.OncePerRequestFilter.doFilter(OncePerRequestFilter.java:117) at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:178) at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:153) at org.apache.catalina.core.StandardWrapperValve.invoke(StandardWrapperValve.java:167) at org.apache.catalina.core.StandardContextValve.invoke(StandardContextValve.java:90) at org.apache.catalina.authenticator.AuthenticatorBase.invoke(AuthenticatorBase.java:492) at org.apache.catalina.core.StandardHostValve.invoke(StandardHostValve.java:130) at org.apache.catalina.valves.ErrorReportValve.invoke(ErrorReportValve.java:93) at org.apache.catalina.core.StandardEngineValve.invoke(StandardEngineValve.java:74) at org.apache.catalina.connector.CoyoteAdapter.service(CoyoteAdapter.java:343) at org.apache.coyote.http11.Http11Processor.service(Http11Processor.java:389) at org.apache.coyote.AbstractProcessorLight.process(AbstractProcessorLight.java:63) at org.apache.coyote.AbstractProtocol$ConnectionHandler.process(AbstractProtocol.java:926) at org.apache.tomcat.util.net.NioEndpoint$SocketProcessor.doRun(NioEndpoint.java:1791) at org.apache.tomcat.util.net.SocketProcessorBase.run(SocketProcessorBase.java:49) at org.apache.tomcat.util.threads.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1191) at org.apache.tomcat.util.threads.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:659) at org.apache.tomcat.util.threads.TaskThread$WrappingRunnable.run(TaskThread.java:61) at java.lang.Thread.run(Thread.java:750) Caused by: com.fasterxml.jackson.databind.JsonMappingException: Null key for a Map not allowed in JSON (use a converting NullKeySerializer?) (through reference chain: java.util.HashMap["points"]->java.util.HashMap["null"]) at com.fasterxml.jackson.databind.JsonMappingException.from(JsonMappingException.java:283) at com.fasterxml.jackson.databind.SerializerProvider.mappingException(SerializerProvider.java:1364) at com.fasterxml.jackson.databind.SerializerProvider.reportMappingProblem(SerializerProvider.java:1260) at com.fasterxml.jackson.databind.ser.impl.FailingSerializer.serialize(FailingSerializer.java:32) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serializeFields(MapSerializer.java:791) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serializeWithoutTypeInfo(MapSerializer.java:764) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serialize(MapSerializer.java:720) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serialize(MapSerializer.java:35) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serializeFields(MapSerializer.java:808) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serializeWithoutTypeInfo(MapSerializer.java:764) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serialize(MapSerializer.java:720) at com.fasterxml.jackson.databind.ser.std.MapSerializer.serialize(MapSerializer.java:35) at com.fasterxml.jackson.databind.ser.DefaultSerializerProvider._serialize(DefaultSerializerProvider.java:480) at com.fasterxml.jackson.databind.ser.DefaultSerializerProvider.serializeValue(DefaultSerializerProvider.java:319) at com.fasterxml.jackson.databind.ObjectWriter$Prefetch.serialize(ObjectWriter.java:1572) at com.fasterxml.jackson.databind.ObjectWriter.writeValue(ObjectWriter.java:1061) at org.springframework.http.converter.json.AbstractJackson2HttpMessageConverter.writeInternal(AbstractJackson2HttpMessageConverter.java:456) ... 52 common frames omitted 2025-08-22 09:28:13.268 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354597 2025-08-22 09:28:13.268 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:13.268 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:14.269 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354597 2025-08-22 09:28:14.269 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:14.269 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:15.320 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354597 2025-08-22 09:28:15.320 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:15.320 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:16.279 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354597 2025-08-22 09:28:16.280 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:16.280 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:17.272 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354597 2025-08-22 09:28:17.272 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:17.272 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:18.315 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354597 2025-08-22 09:28:18.315 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:18.315 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:19.307 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354597 2025-08-22 09:28:19.307 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:19.307 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:19.391 [http-nio-18002-exec-9] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354597 setActionDone: {"robot_id":1,"height":606,"location_x":94684,"location_y":33869,"location_theta":-6902,"energy":94,"v":756,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354597,"taskFinish":1} 2025-08-22 09:28:19.869 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [11138, 6957, 12142] from [11176, 11138, 6957, 12142] 2025-08-22 09:28:19.869 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 remaining route updated [11995, 12138, 12002, 12005, 11986] 2025-08-22 09:28:20.300 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354598 2025-08-22 09:28:20.300 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:20.300 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:21.318 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354598 2025-08-22 09:28:21.318 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:21.318 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:22.277 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354598 2025-08-22 09:28:22.277 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:22.277 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:23.045 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:28:23.045 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:28:23.311 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354598 2025-08-22 09:28:23.312 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:23.312 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:23.956 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [11138, 6957, 12142, 11995] from [11138, 6957, 12142] 2025-08-22 09:28:23.956 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 remaining route updated [12138, 12002, 12005, 11986] 2025-08-22 09:28:24.313 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354598 2025-08-22 09:28:24.313 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:24.313 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:24.355 [http-nio-18002-exec-3] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354598 setActionDone: {"robot_id":1,"height":606,"location_x":97365,"location_y":33867,"location_theta":2646,"energy":94,"v":249,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354598,"taskFinish":0} 2025-08-22 09:28:24.970 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [6957, 12142, 11995, 12138, 12002, 12005, 11986] from [11138, 6957, 12142, 11995] 2025-08-22 09:28:24.970 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 remaining route updated [] 2025-08-22 09:28:25.481 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354599 2025-08-22 09:28:25.481 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:28:25.481 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:26.323 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354599 2025-08-22 09:28:26.324 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:28:26.324 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:27.308 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354599 2025-08-22 09:28:27.308 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:28:27.308 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:28.325 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354599 2025-08-22 09:28:28.325 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:28:28.325 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:29.318 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354599 2025-08-22 09:28:29.318 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:28:29.318 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:30.286 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354599 2025-08-22 09:28:30.286 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:28:30.286 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:31.270 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354599 2025-08-22 09:28:31.270 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:28:31.270 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:32.288 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354599 2025-08-22 09:28:32.288 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:28:32.288 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:33.289 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354599 2025-08-22 09:28:33.289 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:28:33.289 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:34.314 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354599 2025-08-22 09:28:34.314 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:28:34.314 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:35.358 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354599 2025-08-22 09:28:35.358 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:28:35.358 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:36.309 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354599 2025-08-22 09:28:36.309 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:28:36.309 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:37.284 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354599 2025-08-22 09:28:37.285 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:28:37.285 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:38.328 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354599 2025-08-22 09:28:38.328 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:28:38.328 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:39.278 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354599 2025-08-22 09:28:39.278 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:28:39.278 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:40.280 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354599 2025-08-22 09:28:40.280 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationleft 2025-08-22 09:28:40.280 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:40.321 [http-nio-18002-exec-4] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354599 setActionDone: {"robot_id":1,"height":606,"location_x":99514,"location_y":35761,"location_theta":925933,"energy":94,"v":221,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354599,"taskFinish":0} 2025-08-22 09:28:40.332 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":177,"timestamp":1755826120330}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:28:41.027 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [12142, 11995, 12138, 12002, 12005, 11986] from [6957, 12142, 11995, 12138, 12002, 12005, 11986] 2025-08-22 09:28:41.306 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354600 2025-08-22 09:28:41.306 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:41.306 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:42.316 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354600 2025-08-22 09:28:42.316 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:42.316 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:43.275 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354600 2025-08-22 09:28:43.275 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:43.275 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:44.318 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354600 2025-08-22 09:28:44.318 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:44.318 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:45.344 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354600 2025-08-22 09:28:45.344 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:45.344 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:45.385 [http-nio-18002-exec-2] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354600 setActionDone: {"robot_id":1,"height":606,"location_x":99523,"location_y":37150,"location_theta":878476,"energy":94,"v":185,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354600,"taskFinish":0} 2025-08-22 09:28:46.040 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [11995, 12138, 12002, 12005, 11986] from [12142, 11995, 12138, 12002, 12005, 11986] 2025-08-22 09:28:48.297 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354601 2025-08-22 09:28:48.298 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:48.298 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:48.298 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: RobotMock 1755659354601 (group null) [start=RotationQrcode[11995], fatherId [178], degree[-89.9791](99564,37367) , end=RotationQrcode[11995], fatherId [178], degree[-89.9791](99564,37367), degree=90.0623, action=RobotAhead [size=0]] 2025-08-22 09:28:48.298 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: 11995 2025-08-22 09:28:48.298 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: move 2025-08-22 09:28:48.314 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 删除成功: 1 2025-08-22 09:28:49.306 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354602 2025-08-22 09:28:49.306 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:49.306 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:50.316 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354602 2025-08-22 09:28:50.316 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:50.316 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:51.275 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354602 2025-08-22 09:28:51.276 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:51.276 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:52.343 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354602 2025-08-22 09:28:52.343 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:52.343 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:53.090 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":11994,"timestamp":1755826133089}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:28:53.319 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354602 2025-08-22 09:28:53.319 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:53.319 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:54.295 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354602 2025-08-22 09:28:54.295 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:54.295 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:54.295 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: RobotMock 1755659354602 (group 43453) [start=RotationQrcode[11995], fatherId [178], degree[-89.9791](99564,37367) , end=RotationQrcode[12138], fatherId [11999], degree[-89.9377](99562,40128), degree=90.0623, action=RobotAhead [size=2761]] 2025-08-22 09:28:54.295 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: 12138 2025-08-22 09:28:54.295 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: move 2025-08-22 09:28:54.304 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 删除成功: 1 2025-08-22 09:28:55.119 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [12138, 12002, 12005, 11986] from [11995, 12138, 12002, 12005, 11986] 2025-08-22 09:28:55.354 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354603 2025-08-22 09:28:55.354 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:55.354 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:56.140 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":178,"timestamp":1755826136139}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:28:56.314 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354603 2025-08-22 09:28:56.314 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:56.314 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:57.273 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354603 2025-08-22 09:28:57.273 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:57.273 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:58.274 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354603 2025-08-22 09:28:58.274 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:58.274 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:28:59.275 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354603 2025-08-22 09:28:59.275 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:28:59.275 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:29:00.343 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354603 2025-08-22 09:29:00.343 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:29:00.343 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:29:00.426 [http-nio-18002-exec-3] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354603 setActionDone: {"robot_id":1,"height":606,"location_x":99557,"location_y":43839,"location_theta":898257,"energy":94,"v":222,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354603,"taskFinish":0} 2025-08-22 09:29:01.224 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [12002, 12005, 11986] from [12138, 12002, 12005, 11986] 2025-08-22 09:29:04.347 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354604 2025-08-22 09:29:04.347 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:29:04.347 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:29:05.273 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354604 2025-08-22 09:29:05.273 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:29:05.273 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:29:06.291 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354604 2025-08-22 09:29:06.291 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:29:06.291 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:29:07.401 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354604 2025-08-22 09:29:07.401 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:29:07.401 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:29:08.311 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354604 2025-08-22 09:29:08.311 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:29:08.311 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:29:09.261 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354604 2025-08-22 09:29:09.262 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:29:09.262 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:29:10.287 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354604 2025-08-22 09:29:10.287 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:29:10.287 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:29:11.363 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354604 2025-08-22 09:29:11.363 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:29:11.363 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:29:12.382 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354604 2025-08-22 09:29:12.382 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:29:12.382 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:29:13.316 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354604 2025-08-22 09:29:13.316 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:29:13.316 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:29:14.359 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354604 2025-08-22 09:29:14.359 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:29:14.359 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:29:15.326 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354604 2025-08-22 09:29:15.327 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:29:15.327 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:29:16.278 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354604 2025-08-22 09:29:16.278 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:29:16.278 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:29:17.312 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354604 2025-08-22 09:29:17.312 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:29:17.312 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:29:18.288 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354604 2025-08-22 09:29:18.288 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:29:18.288 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:29:19.273 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354604 2025-08-22 09:29:19.273 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationright 2025-08-22 09:29:19.273 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:29:19.323 [http-nio-18002-exec-10] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354604 setActionDone: {"robot_id":1,"height":606,"location_x":101277,"location_y":42174,"location_theta":1795567,"energy":94,"v":282,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354604,"taskFinish":0} 2025-08-22 09:29:19.334 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":179,"timestamp":1755826159332}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:29:20.262 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [12005, 11986] from [12002, 12005, 11986] 2025-08-22 09:29:20.299 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354605 2025-08-22 09:29:20.299 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:29:20.299 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:29:21.325 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354605 2025-08-22 09:29:21.325 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:29:21.325 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:29:22.268 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354605 2025-08-22 09:29:22.268 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:29:22.268 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:29:23.059 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:29:23.059 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:29:23.311 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354605 2025-08-22 09:29:23.311 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:29:23.311 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:29:24.279 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354605 2025-08-22 09:29:24.279 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:29:24.279 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:29:25.329 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1755659354605 2025-08-22 09:29:25.329 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-08-22 09:29:25.329 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-08-22 09:29:25.413 [http-nio-18002-exec-5] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1755659354605 setActionDone: {"robot_id":1,"height":606,"location_x":102977,"location_y":42113,"location_theta":1787208,"energy":94,"v":249,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1755659354605,"taskFinish":0} 2025-08-22 09:29:25.418 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":11999,"timestamp":1755826165417}-zcnest.rcs.vertex.unlockNotify 2025-08-22 09:29:26.270 [robot-action-1] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮：到达 robotId:1,taskId:34077897 2025-08-22 09:29:26.270 [robot-action-1] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 不是呼叫按钮任务：机器人1 2025-08-22 09:29:26.270 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 re planned its route [] from [11176, 11138, 6957, 12142, 11995] 2025-08-22 09:29:26.270 [robot-action-1] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 1 update its occupied waypoints [] from [12005, 11986] 2025-08-22 09:30:23.065 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-08-22 09:30:23.065 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态**************************************