2025-09-11 08:31:57.409 [main] INFO com.zcnest.rcs.StartRCSApplication - Starting StartRCSApplication v1.0.0.BUILD-SNAPSHOT using Java 1.8.0_432 on zc with PID 8551 (/home/zc/zcnest/zc-server/rcs/zcnest-rcs-1.0.0.BUILD-SNAPSHOT.jar started by root in /home/zc/zcnest/zc-server/rcs) 2025-09-11 08:31:57.411 [main] INFO com.zcnest.rcs.StartRCSApplication - No active profile set, falling back to 1 default profile: "default" 2025-09-11 08:32:20.340 [main] INFO c.z.l.service.MqttLoraButtonServerDataServiceImpl - 连接成功！ 2025-09-11 08:32:20.653 [main] INFO c.z.m.zkio.service.MqttZkioServerDataServiceImpl - 连接成功！，主题：0data-rsp 2025-09-11 08:32:20.968 [main] INFO c.z.mqtt.sdc.service.MqttSdcServerDataServiceImpl - 连接成功！ 2025-09-11 08:32:21.286 [main] INFO c.z.m.c.s.MqttChargePileServerDataServiceImpl - 连接成功！主题：[Ljava.lang.String;@3304362e 2025-09-11 08:32:26.610 [main] INFO com.zcnest.rcs.StartRCSApplication - Started StartRCSApplication in 32.132 seconds (JVM running for 33.796) 2025-09-11 08:32:26.655 [main] INFO com.zcnest.rcs.StartRCSApplication - ---------------- RCS START ---------------- 2025-09-11 08:32:26.656 [main] INFO com.zcnest.rcs.StartRCSApplication - ------- Version: 2.7.36.20250905-02 -------- 2025-09-11 08:32:26.656 [main] INFO com.zcnest.rcs.service.impl.WarehouseServiceImpl - warehouse reload, start loading... 2025-09-11 08:32:27.850 [main] INFO com.zcnest.rcs.service.impl.WarehouseServiceImpl - warehouse reload, end loading... 2025-09-11 08:32:28.702 [main] INFO com.zcnest.rcs.StartRCSApplication - ----------- RCS MAP SUCCESS --------------- 2025-09-11 08:32:29.045 [main] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 动作覆盖点重构完成 2025-09-11 08:32:29.045 [main] INFO com.zcnest.rcs.robot.RobotControl - robot 2 init success 2025-09-11 08:32:29.045 [main] INFO com.zcnest.rcs.robot.RobotControlCenter - add robot 2 2025-09-11 08:32:29.045 [main] INFO com.zcnest.rcs.robot.RobotControlCenter - able robot 2 success 2025-09-11 08:32:29.045 [main] INFO com.zcnest.rcs.service.impl.RobotKernelServiceImpl - success init robot 2 2025-09-11 08:32:29.045 [main] INFO com.zcnest.rcs.StartRCSApplication - --------------------------------RCS ROBOT SUCCESS--------------------------------------- 2025-09-11 08:32:29.062 [main] INFO com.zcnest.rcs.StartRCSApplication - --------------------------------RCS TASK SUCCESS---------------------------------------- 2025-09-11 08:32:29.071 [main] INFO com.zcnest.rcs.StartRCSApplication - --------------------------------RCS MSG SUCCESS--------------------------------------- 2025-09-11 08:32:29.071 [main] INFO com.zcnest.rcs.StartRCSApplication - --------------------------------RCS START SUCCESS---------------------------------------- 2025-09-11 08:38:13.067 [http-nio-18002-exec-10] ERROR com.zcnest.rcs.monitor.controller.RobotController - robot 2 report error 55040 2025-09-11 08:38:13.078 [http-nio-18002-exec-10] INFO com.zcnest.rcs.monitor.controller.RobotController - 当前异常任务ID: 0 2025-09-11 08:38:13.366 [http-nio-18002-exec-3] ERROR com.zcnest.rcs.monitor.controller.RobotController - robot 2 report error 55040 2025-09-11 08:38:13.367 [http-nio-18002-exec-3] INFO com.zcnest.rcs.monitor.controller.RobotController - 当前异常任务ID: 0 2025-09-11 08:38:13.566 [http-nio-18002-exec-7] ERROR com.zcnest.rcs.monitor.controller.RobotController - robot 2 report error 55040 2025-09-11 08:38:13.568 [http-nio-18002-exec-7] INFO com.zcnest.rcs.monitor.controller.RobotController - 当前异常任务ID: 0 2025-09-11 08:41:31.066 [http-nio-18002-exec-1] ERROR com.zcnest.rcs.monitor.controller.RobotController - robot 2 report error 55040 2025-09-11 08:41:31.067 [http-nio-18002-exec-1] INFO com.zcnest.rcs.monitor.controller.RobotController - 当前异常任务ID: 0 2025-09-11 08:41:31.266 [http-nio-18002-exec-3] ERROR com.zcnest.rcs.monitor.controller.RobotController - robot 2 report error 55040 2025-09-11 08:41:31.267 [http-nio-18002-exec-3] INFO com.zcnest.rcs.monitor.controller.RobotController - 当前异常任务ID: 0 2025-09-11 08:41:32.566 [http-nio-18002-exec-9] ERROR com.zcnest.rcs.monitor.controller.RobotController - robot 2 report error 55040 2025-09-11 08:41:32.567 [http-nio-18002-exec-9] INFO com.zcnest.rcs.monitor.controller.RobotController - 当前异常任务ID: 0 2025-09-11 08:43:00.831 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotTaskControl - robot 2 add task TaskPick [action:6300, boxId=1, fromQrcodes =[com.zcnest.rcs.modeling.model.shelf.ShelfCrossQrcode@cb]] 2025-09-11 08:43:01.620 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - success init pick task RobotPick [action:6300->0, boxId=1, fromShelfId=20 , fromShelfBoxId=20018, PickQrcodeGroup=[PickQrcodeGroup [rotationShelfQrcode=172, degree=90.2578]]], taskId 31380805 2025-09-11 08:43:01.630 [robot-action-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2 task 31380805 的离开任务初始化完成 2025-09-11 08:43:01.650 [robot-action-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree -179.754 to degree 0.246 in qrcode CrossQrcode[147], go to next qrcode with backward 2025-09-11 08:43:01.650 [robot-action-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree 180.0 to degree 0.0 in qrcode RotationQrcode[336], fatherId [333], degree[180.0], go to next qrcode with backward 2025-09-11 08:43:01.783 [robot-action-2] ERROR com.zcnest.rcs.robot.safe.MockValidation - robot 2, mock 107772->107773 不安全，超出安全范围：[(28696.75735294118, 35454.0, NaN), (28721.0, 35496.0, NaN), (28793.722222222226, 35454.0, NaN), (28696.75735294118, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (28864.96106162757, 35484.70415453103, NaN), (28880.0, 35570.0, NaN), (28929.31500799898, 35561.291722390866, NaN), (28961.0, 35599.0, NaN), (29026.334429729122, 35544.15957353425, NaN), (29067.48954014752, 35536.89220927537, NaN), (29100.850032151207, 35564.92390388745, NaN), (29130.0, 35645.0, NaN), (29176.151949397346, 35628.197561473644, NaN), (29214.0, 35660.0, NaN), (29269.067801204288, 35594.369892036135, NaN), (29309.688472324095, 35579.58121380472, NaN), (29346.03224891051, 35600.55905543732, NaN), (29389.0, 35675.0, NaN), (29432.0, 35650.180147058825, NaN), (29475.0, 35675.0, NaN), (29517.96775108949, 35600.55905543732, NaN), (29554.311527675905, 35579.58121380472, NaN), (29594.932198795712, 35594.369892036135, NaN), (29650.0, 35660.0, NaN), (29687.848050602654, 35628.197561473644, NaN), (29734.0, 35645.0, NaN), (29763.149967848793, 35564.92390388745, NaN), (29796.510459852478, 35536.89220927537, NaN), (29837.66557027088, 35544.15957353425, NaN), (29903.0, 35599.0, NaN), (29934.68499200102, 35561.291722390866, NaN), (29984.0, 35570.0, NaN), (29999.03893837243, 35484.70415453103, NaN), (30024.83860232945, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (30143.0, 35496.0, NaN), (30167.24264705882, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (29853.408163265307, 31904.0, NaN), (29843.0, 31898.0, NaN), (29839.53475935829, 31904.0, NaN), (29853.408163265307, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29826.0, 31895.0, NaN), (29774.845588235294, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29440.0, 31861.0, NaN), (29432.0, 31882.994919559696, NaN), (29424.0, 31861.0, NaN), (29306.02973977695, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29038.0, 31895.0, NaN), (29036.4126984127, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29024.46524064171, 31904.0, NaN), (29021.0, 31898.0, NaN), (29010.60714285714, 31904.0, NaN), (29024.46524064171, 31904.0, NaN)] 2025-09-11 08:43:01.784 [robot-action-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree -179.754 to degree 0.246 in qrcode CrossQrcode[147], go to next qrcode with backward 2025-09-11 08:43:01.784 [robot-action-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree 180.0 to degree 0.0 in qrcode RotationQrcode[336], fatherId [333], degree[180.0], go to next qrcode with backward 2025-09-11 08:43:01.791 [robot-action-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2 task 31380805 的任务路径初始化完成 2025-09-11 08:43:01.891 [robot-action-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 0, 时间估算: 54876.0, 路由: RobotMockPath: {qrcodes: [147, 146, 333, 222], mocks: [(147, -179.754, ahead), (146, -179.754, ahead), (146, -179.754, rotationfork), (333, 180.0, ahead), (222, 180.0, ahead)], type: ahead} 2025-09-11 08:43:01.892 [robot-action-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 1, 时间估算: 54874.0, 路由: RobotMockPath: {qrcodes: [147, 146, 333, 222], mocks: [(147, -179.754, ahead), (146, -179.754, ahead), (146, -179.754, rotationfork), (333, -179.754, ahead), (222, -179.754, ahead)], type: ahead} 2025-09-11 08:43:01.892 [robot-action-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 最佳线路 1, 路由: RobotMockPath: {qrcodes: [147, 146, 333, 222], mocks: [(147, -179.754, ahead), (146, -179.754, ahead), (146, -179.754, rotationfork), (333, -179.754, ahead), (222, -179.754, ahead)], type: ahead} 2025-09-11 08:43:01.915 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 取卸货任务 31380805 使用动态规划添加动作 2025-09-11 08:43:01.916 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 register its route [147, 146, 333] 2025-09-11 08:43:01.924 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 register its occupied waypoints [147, 146] 2025-09-11 08:43:02.900 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749003 2025-09-11 08:43:02.901 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:43:02.901 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:43:03.888 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749003 2025-09-11 08:43:03.888 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:43:03.888 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:43:04.889 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749003 2025-09-11 08:43:04.890 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:43:04.890 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:43:05.890 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749003 2025-09-11 08:43:05.890 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:43:05.890 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:43:06.892 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749003 2025-09-11 08:43:06.892 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:43:06.892 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:43:07.095 [robot-dynamic-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 开始动态规划路径, 最后的已申请 mock: RobotMock 1757550749004 (group null) [start=CrossQrcode[146](25578,33679) , end=CrossQrcode[146](25578,33679), degree=-179.754, action=com.zcnest.rcs.bean.robot.action.ForkRotationAction@298f14eb] 2025-09-11 08:43:07.096 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2 task 31380805 的离开任务初始化完成 2025-09-11 08:43:07.096 [robot-dynamic-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree 180.0 to degree 0.0 in qrcode RotationQrcode[336], fatherId [333], degree[180.0], go to next qrcode with backward 2025-09-11 08:43:07.159 [robot-dynamic-2] ERROR com.zcnest.rcs.robot.safe.MockValidation - robot 2, mock 107790->107791 不安全，超出安全范围：[(28696.75735294118, 35454.0, NaN), (28721.0, 35496.0, NaN), (28793.722222222226, 35454.0, NaN), (28696.75735294118, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (28864.96106162757, 35484.70415453103, NaN), (28880.0, 35570.0, NaN), (28929.31500799898, 35561.291722390866, NaN), (28961.0, 35599.0, NaN), (29026.334429729122, 35544.15957353425, NaN), (29067.48954014752, 35536.89220927537, NaN), (29100.850032151207, 35564.92390388745, NaN), (29130.0, 35645.0, NaN), (29176.151949397346, 35628.197561473644, NaN), (29214.0, 35660.0, NaN), (29269.067801204288, 35594.369892036135, NaN), (29309.688472324095, 35579.58121380472, NaN), (29346.03224891051, 35600.55905543732, NaN), (29389.0, 35675.0, NaN), (29432.0, 35650.180147058825, NaN), (29475.0, 35675.0, NaN), (29517.96775108949, 35600.55905543732, NaN), (29554.311527675905, 35579.58121380472, NaN), (29594.932198795712, 35594.369892036135, NaN), (29650.0, 35660.0, NaN), (29687.848050602654, 35628.197561473644, NaN), (29734.0, 35645.0, NaN), (29763.149967848793, 35564.92390388745, NaN), (29796.510459852478, 35536.89220927537, NaN), (29837.66557027088, 35544.15957353425, NaN), (29903.0, 35599.0, NaN), (29934.68499200102, 35561.291722390866, NaN), (29984.0, 35570.0, NaN), (29999.03893837243, 35484.70415453103, NaN), (30024.83860232945, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (30143.0, 35496.0, NaN), (30167.24264705882, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (29853.408163265307, 31904.0, NaN), (29843.0, 31898.0, NaN), (29839.53475935829, 31904.0, NaN), (29853.408163265307, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29826.0, 31895.0, NaN), (29774.845588235294, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29440.0, 31861.0, NaN), (29432.0, 31882.994919559696, NaN), (29424.0, 31861.0, NaN), (29306.02973977695, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29038.0, 31895.0, NaN), (29036.4126984127, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29024.46524064171, 31904.0, NaN), (29021.0, 31898.0, NaN), (29010.60714285714, 31904.0, NaN), (29024.46524064171, 31904.0, NaN)] 2025-09-11 08:43:07.162 [robot-dynamic-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree 180.0 to degree 0.0 in qrcode RotationQrcode[336], fatherId [333], degree[180.0], go to next qrcode with backward 2025-09-11 08:43:07.167 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2 task 31380805 的任务路径初始化完成 2025-09-11 08:43:07.207 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 0, 时间估算: 25366.0, 路由: RobotMockPath: {qrcodes: [146, 333, 222], mocks: [(146, -179.754, ahead), (333, 180.0, ahead), (222, 180.0, ahead)], type: ahead} 2025-09-11 08:43:07.208 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 1, 时间估算: 25366.0, 路由: RobotMockPath: {qrcodes: [146, 333, 222], mocks: [(146, -179.754, ahead), (333, -179.754, ahead), (222, -179.754, ahead)], type: ahead} 2025-09-11 08:43:07.208 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [146, 333, 222], mocks: [(146, -179.754, ahead), (333, 180.0, ahead), (222, 180.0, ahead)], type: ahead} 2025-09-11 08:43:07.209 [robot-dynamic-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 动态规划路径结束 2025-09-11 08:43:07.888 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749003 2025-09-11 08:43:07.888 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:43:07.888 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:43:08.888 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749003 2025-09-11 08:43:08.888 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:43:08.888 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:43:09.892 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749003 2025-09-11 08:43:09.893 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:43:09.893 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:43:10.888 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749003 2025-09-11 08:43:10.888 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:43:10.888 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:43:11.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749003 2025-09-11 08:43:11.888 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:43:11.888 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:43:12.112 [robot-dynamic-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 开始动态规划路径, 最后的已申请 mock: RobotMock 1757550749004 (group null) [start=CrossQrcode[146](25578,33679) , end=CrossQrcode[146](25578,33679), degree=-179.754, action=com.zcnest.rcs.bean.robot.action.ForkRotationAction@298f14eb] 2025-09-11 08:43:12.112 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2 task 31380805 的离开任务初始化完成 2025-09-11 08:43:12.113 [robot-dynamic-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree 180.0 to degree 0.0 in qrcode RotationQrcode[336], fatherId [333], degree[180.0], go to next qrcode with backward 2025-09-11 08:43:12.138 [robot-dynamic-2] ERROR com.zcnest.rcs.robot.safe.MockValidation - robot 2, mock 107816->107817 不安全，超出安全范围：[(28696.75735294118, 35454.0, NaN), (28721.0, 35496.0, NaN), (28793.722222222226, 35454.0, NaN), (28696.75735294118, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (28864.96106162757, 35484.70415453103, NaN), (28880.0, 35570.0, NaN), (28929.31500799898, 35561.291722390866, NaN), (28961.0, 35599.0, NaN), (29026.334429729122, 35544.15957353425, NaN), (29067.48954014752, 35536.89220927537, NaN), (29100.850032151207, 35564.92390388745, NaN), (29130.0, 35645.0, NaN), (29176.151949397346, 35628.197561473644, NaN), (29214.0, 35660.0, NaN), (29269.067801204288, 35594.369892036135, NaN), (29309.688472324095, 35579.58121380472, NaN), (29346.03224891051, 35600.55905543732, NaN), (29389.0, 35675.0, NaN), (29432.0, 35650.180147058825, NaN), (29475.0, 35675.0, NaN), (29517.96775108949, 35600.55905543732, NaN), (29554.311527675905, 35579.58121380472, NaN), (29594.932198795712, 35594.369892036135, NaN), (29650.0, 35660.0, NaN), (29687.848050602654, 35628.197561473644, NaN), (29734.0, 35645.0, NaN), (29763.149967848793, 35564.92390388745, NaN), (29796.510459852478, 35536.89220927537, NaN), (29837.66557027088, 35544.15957353425, NaN), (29903.0, 35599.0, NaN), (29934.68499200102, 35561.291722390866, NaN), (29984.0, 35570.0, NaN), (29999.03893837243, 35484.70415453103, NaN), (30024.83860232945, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (30143.0, 35496.0, NaN), (30167.24264705882, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (29853.408163265307, 31904.0, NaN), (29843.0, 31898.0, NaN), (29839.53475935829, 31904.0, NaN), (29853.408163265307, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29826.0, 31895.0, NaN), (29774.845588235294, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29440.0, 31861.0, NaN), (29432.0, 31882.994919559696, NaN), (29424.0, 31861.0, NaN), (29306.02973977695, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29038.0, 31895.0, NaN), (29036.4126984127, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29024.46524064171, 31904.0, NaN), (29021.0, 31898.0, NaN), (29010.60714285714, 31904.0, NaN), (29024.46524064171, 31904.0, NaN)] 2025-09-11 08:43:12.139 [robot-dynamic-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree 180.0 to degree 0.0 in qrcode RotationQrcode[336], fatherId [333], degree[180.0], go to next qrcode with backward 2025-09-11 08:43:12.142 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2 task 31380805 的任务路径初始化完成 2025-09-11 08:43:12.153 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 0, 时间估算: 25366.0, 路由: RobotMockPath: {qrcodes: [146, 333, 222], mocks: [(146, -179.754, ahead), (333, 180.0, ahead), (222, 180.0, ahead)], type: ahead} 2025-09-11 08:43:12.153 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 1, 时间估算: 25366.0, 路由: RobotMockPath: {qrcodes: [146, 333, 222], mocks: [(146, -179.754, ahead), (333, -179.754, ahead), (222, -179.754, ahead)], type: ahead} 2025-09-11 08:43:12.153 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [146, 333, 222], mocks: [(146, -179.754, ahead), (333, 180.0, ahead), (222, 180.0, ahead)], type: ahead} 2025-09-11 08:43:12.153 [robot-dynamic-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 动态规划路径结束 2025-09-11 08:43:12.890 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749003 2025-09-11 08:43:12.891 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:43:12.891 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:43:13.892 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749003 2025-09-11 08:43:13.892 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:43:13.892 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:43:14.890 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749003 2025-09-11 08:43:14.890 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:43:14.890 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:43:15.125 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":147,"timestamp":1757551395111}-zcnest.rcs.vertex.unlockNotify 2025-09-11 08:43:15.888 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749003 2025-09-11 08:43:15.888 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:43:15.888 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:43:16.888 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749003 2025-09-11 08:43:16.888 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:43:16.888 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:43:17.158 [robot-dynamic-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 开始动态规划路径, 最后的已申请 mock: RobotMock 1757550749004 (group null) [start=CrossQrcode[146](25578,33679) , end=CrossQrcode[146](25578,33679), degree=-179.754, action=com.zcnest.rcs.bean.robot.action.ForkRotationAction@298f14eb] 2025-09-11 08:43:17.158 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2 task 31380805 的离开任务初始化完成 2025-09-11 08:43:17.159 [robot-dynamic-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree 180.0 to degree 0.0 in qrcode RotationQrcode[336], fatherId [333], degree[180.0], go to next qrcode with backward 2025-09-11 08:43:17.185 [robot-dynamic-2] ERROR com.zcnest.rcs.robot.safe.MockValidation - robot 2, mock 107842->107843 不安全，超出安全范围：[(28696.75735294118, 35454.0, NaN), (28721.0, 35496.0, NaN), (28793.722222222226, 35454.0, NaN), (28696.75735294118, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (28864.96106162757, 35484.70415453103, NaN), (28880.0, 35570.0, NaN), (28929.31500799898, 35561.291722390866, NaN), (28961.0, 35599.0, NaN), (29026.334429729122, 35544.15957353425, NaN), (29067.48954014752, 35536.89220927537, NaN), (29100.850032151207, 35564.92390388745, NaN), (29130.0, 35645.0, NaN), (29176.151949397346, 35628.197561473644, NaN), (29214.0, 35660.0, NaN), (29269.067801204288, 35594.369892036135, NaN), (29309.688472324095, 35579.58121380472, NaN), (29346.03224891051, 35600.55905543732, NaN), (29389.0, 35675.0, NaN), (29432.0, 35650.180147058825, NaN), (29475.0, 35675.0, NaN), (29517.96775108949, 35600.55905543732, NaN), (29554.311527675905, 35579.58121380472, NaN), (29594.932198795712, 35594.369892036135, NaN), (29650.0, 35660.0, NaN), (29687.848050602654, 35628.197561473644, NaN), (29734.0, 35645.0, NaN), (29763.149967848793, 35564.92390388745, NaN), (29796.510459852478, 35536.89220927537, NaN), (29837.66557027088, 35544.15957353425, NaN), (29903.0, 35599.0, NaN), (29934.68499200102, 35561.291722390866, NaN), (29984.0, 35570.0, NaN), (29999.03893837243, 35484.70415453103, NaN), (30024.83860232945, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (30143.0, 35496.0, NaN), (30167.24264705882, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (29853.408163265307, 31904.0, NaN), (29843.0, 31898.0, NaN), (29839.53475935829, 31904.0, NaN), (29853.408163265307, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29826.0, 31895.0, NaN), (29774.845588235294, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29440.0, 31861.0, NaN), (29432.0, 31882.994919559696, NaN), (29424.0, 31861.0, NaN), (29306.02973977695, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29038.0, 31895.0, NaN), (29036.4126984127, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29024.46524064171, 31904.0, NaN), (29021.0, 31898.0, NaN), (29010.60714285714, 31904.0, NaN), (29024.46524064171, 31904.0, NaN)] 2025-09-11 08:43:17.186 [robot-dynamic-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree 180.0 to degree 0.0 in qrcode RotationQrcode[336], fatherId [333], degree[180.0], go to next qrcode with backward 2025-09-11 08:43:17.188 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2 task 31380805 的任务路径初始化完成 2025-09-11 08:43:17.212 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 0, 时间估算: 25366.0, 路由: RobotMockPath: {qrcodes: [146, 333, 222], mocks: [(146, -179.754, ahead), (333, 180.0, ahead), (222, 180.0, ahead)], type: ahead} 2025-09-11 08:43:17.213 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 1, 时间估算: 25366.0, 路由: RobotMockPath: {qrcodes: [146, 333, 222], mocks: [(146, -179.754, ahead), (333, -179.754, ahead), (222, -179.754, ahead)], type: ahead} 2025-09-11 08:43:17.213 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [146, 333, 222], mocks: [(146, -179.754, ahead), (333, 180.0, ahead), (222, 180.0, ahead)], type: ahead} 2025-09-11 08:43:17.213 [robot-dynamic-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 动态规划路径结束 2025-09-11 08:43:17.888 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749003 2025-09-11 08:43:17.888 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:43:17.889 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:43:17.891 [http-nio-18002-exec-10] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1757550749003 setActionDone: {"robot_id":2,"height":458,"forkDegree":-89,"location_x":25334,"location_y":33709,"location_theta":1789914,"energy":75,"v":0,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1757550749003,"taskFinish":0} 2025-09-11 08:43:18.151 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 update its occupied waypoints [146, 333] from [147, 146] 2025-09-11 08:43:18.152 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 remaining route updated [] 2025-09-11 08:43:22.238 [robot-dynamic-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 开始动态规划路径, 最后的已申请 mock: RobotMock 1757550749005 (group null) [start=CrossQrcode[146](25578,33679) , end=CrossQrcode[333](25678,33679), degree=-179.754, action=RobotAhead [size=100]] 2025-09-11 08:43:22.238 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2 task 31380805 的离开任务初始化完成 2025-09-11 08:43:22.251 [robot-dynamic-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree -179.754 to degree 0.0 in qrcode CrossQrcode[333], go to next qrcode with backward 2025-09-11 08:43:22.284 [robot-dynamic-2] ERROR com.zcnest.rcs.robot.safe.MockValidation - robot 2, mock 107858->107859 不安全，超出安全范围：[(28696.75735294118, 35454.0, NaN), (28721.0, 35496.0, NaN), (28793.722222222226, 35454.0, NaN), (28696.75735294118, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (28864.96106162757, 35484.70415453103, NaN), (28880.0, 35570.0, NaN), (28929.31500799898, 35561.291722390866, NaN), (28961.0, 35599.0, NaN), (29026.334429729122, 35544.15957353425, NaN), (29067.48954014752, 35536.89220927537, NaN), (29100.850032151207, 35564.92390388745, NaN), (29130.0, 35645.0, NaN), (29176.151949397346, 35628.197561473644, NaN), (29214.0, 35660.0, NaN), (29269.067801204288, 35594.369892036135, NaN), (29309.688472324095, 35579.58121380472, NaN), (29346.03224891051, 35600.55905543732, NaN), (29389.0, 35675.0, NaN), (29432.0, 35650.180147058825, NaN), (29475.0, 35675.0, NaN), (29517.96775108949, 35600.55905543732, NaN), (29554.311527675905, 35579.58121380472, NaN), (29594.932198795712, 35594.369892036135, NaN), (29650.0, 35660.0, NaN), (29687.848050602654, 35628.197561473644, NaN), (29734.0, 35645.0, NaN), (29763.149967848793, 35564.92390388745, NaN), (29796.510459852478, 35536.89220927537, NaN), (29837.66557027088, 35544.15957353425, NaN), (29903.0, 35599.0, NaN), (29934.68499200102, 35561.291722390866, NaN), (29984.0, 35570.0, NaN), (29999.03893837243, 35484.70415453103, NaN), (30024.83860232945, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (30143.0, 35496.0, NaN), (30167.24264705882, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (29853.408163265307, 31904.0, NaN), (29843.0, 31898.0, NaN), (29839.53475935829, 31904.0, NaN), (29853.408163265307, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29826.0, 31895.0, NaN), (29774.845588235294, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29440.0, 31861.0, NaN), (29432.0, 31882.994919559696, NaN), (29424.0, 31861.0, NaN), (29306.02973977695, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29038.0, 31895.0, NaN), (29036.4126984127, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29024.46524064171, 31904.0, NaN), (29021.0, 31898.0, NaN), (29010.60714285714, 31904.0, NaN), (29024.46524064171, 31904.0, NaN)] 2025-09-11 08:43:22.284 [robot-dynamic-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree -179.754 to degree 0.0 in qrcode CrossQrcode[333], go to next qrcode with backward 2025-09-11 08:43:22.323 [robot-dynamic-2] ERROR com.zcnest.rcs.robot.safe.MockValidation - robot 2, mock 107864->107865 不安全，超出安全范围：[(28696.75735294118, 35454.0, NaN), (28721.0, 35496.0, NaN), (28793.722222222226, 35454.0, NaN), (28696.75735294118, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (28864.96106162757, 35484.70415453103, NaN), (28880.0, 35570.0, NaN), (28929.31500799898, 35561.291722390866, NaN), (28961.0, 35599.0, NaN), (29026.334429729122, 35544.15957353425, NaN), (29067.48954014752, 35536.89220927537, NaN), (29100.850032151207, 35564.92390388745, NaN), (29130.0, 35645.0, NaN), (29176.151949397346, 35628.197561473644, NaN), (29214.0, 35660.0, NaN), (29269.067801204288, 35594.369892036135, NaN), (29309.688472324095, 35579.58121380472, NaN), (29346.03224891051, 35600.55905543732, NaN), (29389.0, 35675.0, NaN), (29432.0, 35650.180147058825, NaN), (29475.0, 35675.0, NaN), (29517.96775108949, 35600.55905543732, NaN), (29554.311527675905, 35579.58121380472, NaN), (29594.932198795712, 35594.369892036135, NaN), (29650.0, 35660.0, NaN), (29687.848050602654, 35628.197561473644, NaN), (29734.0, 35645.0, NaN), (29763.149967848793, 35564.92390388745, NaN), (29796.510459852478, 35536.89220927537, NaN), (29837.66557027088, 35544.15957353425, NaN), (29903.0, 35599.0, NaN), (29934.68499200102, 35561.291722390866, NaN), (29984.0, 35570.0, NaN), (29999.03893837243, 35484.70415453103, NaN), (30024.83860232945, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (30143.0, 35496.0, NaN), (30167.24264705882, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (29853.408163265307, 31904.0, NaN), (29843.0, 31898.0, NaN), (29839.53475935829, 31904.0, NaN), (29853.408163265307, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29826.0, 31895.0, NaN), (29774.845588235294, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29440.0, 31861.0, NaN), (29432.0, 31882.994919559696, NaN), (29424.0, 31861.0, NaN), (29306.02973977695, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29038.0, 31895.0, NaN), (29036.4126984127, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29024.46524064171, 31904.0, NaN), (29021.0, 31898.0, NaN), (29010.60714285714, 31904.0, NaN), (29024.46524064171, 31904.0, NaN)] 2025-09-11 08:43:22.324 [robot-dynamic-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree -179.754 to degree 0.0 in qrcode CrossQrcode[333], go to next qrcode with backward 2025-09-11 08:43:22.326 [robot-dynamic-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree -179.754 to degree 0.0 in qrcode CrossQrcode[333], go to next qrcode with backward 2025-09-11 08:43:22.328 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2 task 31380805 的任务路径初始化完成 2025-09-11 08:43:22.368 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 0, 时间估算: 25006.0, 路由: RobotMockPath: {qrcodes: [222], mocks: [(222, 180.0, ahead)], type: ahead} 2025-09-11 08:43:22.369 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 1, 时间估算: 25006.0, 路由: RobotMockPath: {qrcodes: [222], mocks: [(222, -179.754, ahead)], type: ahead} 2025-09-11 08:43:22.369 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 2, 时间估算: 25006.0, 路由: RobotMockPath: {qrcodes: [152, 222], mocks: [(152, 180.0, ahead), (222, 180.0, ahead)], type: ahead} 2025-09-11 08:43:22.369 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 3, 时间估算: 25006.0, 路由: RobotMockPath: {qrcodes: [152, 222], mocks: [(152, -179.754, ahead), (222, -179.754, ahead)], type: ahead} 2025-09-11 08:43:22.370 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [222], mocks: [(222, 180.0, ahead)], type: ahead} 2025-09-11 08:43:22.370 [robot-dynamic-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 动态规划路径结束 2025-09-11 08:43:27.273 [robot-dynamic-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 开始动态规划路径, 最后的已申请 mock: RobotMock 1757550749005 (group null) [start=CrossQrcode[146](25578,33679) , end=CrossQrcode[333](25678,33679), degree=-179.754, action=RobotAhead [size=100]] 2025-09-11 08:43:27.274 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2 task 31380805 的离开任务初始化完成 2025-09-11 08:43:27.274 [robot-dynamic-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree -179.754 to degree 0.0 in qrcode CrossQrcode[333], go to next qrcode with backward 2025-09-11 08:43:27.312 [robot-dynamic-2] ERROR com.zcnest.rcs.robot.safe.MockValidation - robot 2, mock 107888->107889 不安全，超出安全范围：[(28696.75735294118, 35454.0, NaN), (28721.0, 35496.0, NaN), (28793.722222222226, 35454.0, NaN), (28696.75735294118, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (28864.96106162757, 35484.70415453103, NaN), (28880.0, 35570.0, NaN), (28929.31500799898, 35561.291722390866, NaN), (28961.0, 35599.0, NaN), (29026.334429729122, 35544.15957353425, NaN), (29067.48954014752, 35536.89220927537, NaN), (29100.850032151207, 35564.92390388745, NaN), (29130.0, 35645.0, NaN), (29176.151949397346, 35628.197561473644, NaN), (29214.0, 35660.0, NaN), (29269.067801204288, 35594.369892036135, NaN), (29309.688472324095, 35579.58121380472, NaN), (29346.03224891051, 35600.55905543732, NaN), (29389.0, 35675.0, NaN), (29432.0, 35650.180147058825, NaN), (29475.0, 35675.0, NaN), (29517.96775108949, 35600.55905543732, NaN), (29554.311527675905, 35579.58121380472, NaN), (29594.932198795712, 35594.369892036135, NaN), (29650.0, 35660.0, NaN), (29687.848050602654, 35628.197561473644, NaN), (29734.0, 35645.0, NaN), (29763.149967848793, 35564.92390388745, NaN), (29796.510459852478, 35536.89220927537, NaN), (29837.66557027088, 35544.15957353425, NaN), (29903.0, 35599.0, NaN), (29934.68499200102, 35561.291722390866, NaN), (29984.0, 35570.0, NaN), (29999.03893837243, 35484.70415453103, NaN), (30024.83860232945, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (30143.0, 35496.0, NaN), (30167.24264705882, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (29853.408163265307, 31904.0, NaN), (29843.0, 31898.0, NaN), (29839.53475935829, 31904.0, NaN), (29853.408163265307, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29826.0, 31895.0, NaN), (29774.845588235294, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29440.0, 31861.0, NaN), (29432.0, 31882.994919559696, NaN), (29424.0, 31861.0, NaN), (29306.02973977695, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29038.0, 31895.0, NaN), (29036.4126984127, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29024.46524064171, 31904.0, NaN), (29021.0, 31898.0, NaN), (29010.60714285714, 31904.0, NaN), (29024.46524064171, 31904.0, NaN)] 2025-09-11 08:43:27.313 [robot-dynamic-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree -179.754 to degree 0.0 in qrcode CrossQrcode[333], go to next qrcode with backward 2025-09-11 08:43:27.332 [robot-dynamic-2] ERROR com.zcnest.rcs.robot.safe.MockValidation - robot 2, mock 107894->107895 不安全，超出安全范围：[(28696.75735294118, 35454.0, NaN), (28721.0, 35496.0, NaN), (28793.722222222226, 35454.0, NaN), (28696.75735294118, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (28864.96106162757, 35484.70415453103, NaN), (28880.0, 35570.0, NaN), (28929.31500799898, 35561.291722390866, NaN), (28961.0, 35599.0, NaN), (29026.334429729122, 35544.15957353425, NaN), (29067.48954014752, 35536.89220927537, NaN), (29100.850032151207, 35564.92390388745, NaN), (29130.0, 35645.0, NaN), (29176.151949397346, 35628.197561473644, NaN), (29214.0, 35660.0, NaN), (29269.067801204288, 35594.369892036135, NaN), (29309.688472324095, 35579.58121380472, NaN), (29346.03224891051, 35600.55905543732, NaN), (29389.0, 35675.0, NaN), (29432.0, 35650.180147058825, NaN), (29475.0, 35675.0, NaN), (29517.96775108949, 35600.55905543732, NaN), (29554.311527675905, 35579.58121380472, NaN), (29594.932198795712, 35594.369892036135, NaN), (29650.0, 35660.0, NaN), (29687.848050602654, 35628.197561473644, NaN), (29734.0, 35645.0, NaN), (29763.149967848793, 35564.92390388745, NaN), (29796.510459852478, 35536.89220927537, NaN), (29837.66557027088, 35544.15957353425, NaN), (29903.0, 35599.0, NaN), (29934.68499200102, 35561.291722390866, NaN), (29984.0, 35570.0, NaN), (29999.03893837243, 35484.70415453103, NaN), (30024.83860232945, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (30143.0, 35496.0, NaN), (30167.24264705882, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (29853.408163265307, 31904.0, NaN), (29843.0, 31898.0, NaN), (29839.53475935829, 31904.0, NaN), (29853.408163265307, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29826.0, 31895.0, NaN), (29774.845588235294, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29440.0, 31861.0, NaN), (29432.0, 31882.994919559696, NaN), (29424.0, 31861.0, NaN), (29306.02973977695, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29038.0, 31895.0, NaN), (29036.4126984127, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29024.46524064171, 31904.0, NaN), (29021.0, 31898.0, NaN), (29010.60714285714, 31904.0, NaN), (29024.46524064171, 31904.0, NaN)] 2025-09-11 08:43:27.333 [robot-dynamic-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree -179.754 to degree 0.0 in qrcode CrossQrcode[333], go to next qrcode with backward 2025-09-11 08:43:27.334 [robot-dynamic-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree -179.754 to degree 0.0 in qrcode CrossQrcode[333], go to next qrcode with backward 2025-09-11 08:43:27.335 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2 task 31380805 的任务路径初始化完成 2025-09-11 08:43:27.356 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 0, 时间估算: 25006.0, 路由: RobotMockPath: {qrcodes: [222], mocks: [(222, 180.0, ahead)], type: ahead} 2025-09-11 08:43:27.356 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 1, 时间估算: 25006.0, 路由: RobotMockPath: {qrcodes: [222], mocks: [(222, -179.754, ahead)], type: ahead} 2025-09-11 08:43:27.357 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 2, 时间估算: 25006.0, 路由: RobotMockPath: {qrcodes: [152, 222], mocks: [(152, 180.0, ahead), (222, 180.0, ahead)], type: ahead} 2025-09-11 08:43:27.357 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 3, 时间估算: 25006.0, 路由: RobotMockPath: {qrcodes: [152, 222], mocks: [(152, -179.754, ahead), (222, -179.754, ahead)], type: ahead} 2025-09-11 08:43:27.357 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [222], mocks: [(222, 180.0, ahead)], type: ahead} 2025-09-11 08:43:27.358 [robot-dynamic-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 动态规划路径结束 2025-09-11 08:43:32.362 [robot-dynamic-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 开始动态规划路径, 最后的已申请 mock: RobotMock 1757550749005 (group null) [start=CrossQrcode[146](25578,33679) , end=CrossQrcode[333](25678,33679), degree=-179.754, action=RobotAhead [size=100]] 2025-09-11 08:43:32.362 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2 task 31380805 的离开任务初始化完成 2025-09-11 08:43:32.363 [robot-dynamic-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree -179.754 to degree 0.0 in qrcode CrossQrcode[333], go to next qrcode with backward 2025-09-11 08:43:32.377 [robot-dynamic-2] ERROR com.zcnest.rcs.robot.safe.MockValidation - robot 2, mock 107918->107919 不安全，超出安全范围：[(28696.75735294118, 35454.0, NaN), (28721.0, 35496.0, NaN), (28793.722222222226, 35454.0, NaN), (28696.75735294118, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (28864.96106162757, 35484.70415453103, NaN), (28880.0, 35570.0, NaN), (28929.31500799898, 35561.291722390866, NaN), (28961.0, 35599.0, NaN), (29026.334429729122, 35544.15957353425, NaN), (29067.48954014752, 35536.89220927537, NaN), (29100.850032151207, 35564.92390388745, NaN), (29130.0, 35645.0, NaN), (29176.151949397346, 35628.197561473644, NaN), (29214.0, 35660.0, NaN), (29269.067801204288, 35594.369892036135, NaN), (29309.688472324095, 35579.58121380472, NaN), (29346.03224891051, 35600.55905543732, NaN), (29389.0, 35675.0, NaN), (29432.0, 35650.180147058825, NaN), (29475.0, 35675.0, NaN), (29517.96775108949, 35600.55905543732, NaN), (29554.311527675905, 35579.58121380472, NaN), (29594.932198795712, 35594.369892036135, NaN), (29650.0, 35660.0, NaN), (29687.848050602654, 35628.197561473644, NaN), (29734.0, 35645.0, NaN), (29763.149967848793, 35564.92390388745, NaN), (29796.510459852478, 35536.89220927537, NaN), (29837.66557027088, 35544.15957353425, NaN), (29903.0, 35599.0, NaN), (29934.68499200102, 35561.291722390866, NaN), (29984.0, 35570.0, NaN), (29999.03893837243, 35484.70415453103, NaN), (30024.83860232945, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (30143.0, 35496.0, NaN), (30167.24264705882, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (29853.408163265307, 31904.0, NaN), (29843.0, 31898.0, NaN), (29839.53475935829, 31904.0, NaN), (29853.408163265307, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29826.0, 31895.0, NaN), (29774.845588235294, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29440.0, 31861.0, NaN), (29432.0, 31882.994919559696, NaN), (29424.0, 31861.0, NaN), (29306.02973977695, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29038.0, 31895.0, NaN), (29036.4126984127, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29024.46524064171, 31904.0, NaN), (29021.0, 31898.0, NaN), (29010.60714285714, 31904.0, NaN), (29024.46524064171, 31904.0, NaN)] 2025-09-11 08:43:32.377 [robot-dynamic-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree -179.754 to degree 0.0 in qrcode CrossQrcode[333], go to next qrcode with backward 2025-09-11 08:43:32.393 [robot-dynamic-2] ERROR com.zcnest.rcs.robot.safe.MockValidation - robot 2, mock 107924->107925 不安全，超出安全范围：[(28696.75735294118, 35454.0, NaN), (28721.0, 35496.0, NaN), (28793.722222222226, 35454.0, NaN), (28696.75735294118, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (28864.96106162757, 35484.70415453103, NaN), (28880.0, 35570.0, NaN), (28929.31500799898, 35561.291722390866, NaN), (28961.0, 35599.0, NaN), (29026.334429729122, 35544.15957353425, NaN), (29067.48954014752, 35536.89220927537, NaN), (29100.850032151207, 35564.92390388745, NaN), (29130.0, 35645.0, NaN), (29176.151949397346, 35628.197561473644, NaN), (29214.0, 35660.0, NaN), (29269.067801204288, 35594.369892036135, NaN), (29309.688472324095, 35579.58121380472, NaN), (29346.03224891051, 35600.55905543732, NaN), (29389.0, 35675.0, NaN), (29432.0, 35650.180147058825, NaN), (29475.0, 35675.0, NaN), (29517.96775108949, 35600.55905543732, NaN), (29554.311527675905, 35579.58121380472, NaN), (29594.932198795712, 35594.369892036135, NaN), (29650.0, 35660.0, NaN), (29687.848050602654, 35628.197561473644, NaN), (29734.0, 35645.0, NaN), (29763.149967848793, 35564.92390388745, NaN), (29796.510459852478, 35536.89220927537, NaN), (29837.66557027088, 35544.15957353425, NaN), (29903.0, 35599.0, NaN), (29934.68499200102, 35561.291722390866, NaN), (29984.0, 35570.0, NaN), (29999.03893837243, 35484.70415453103, NaN), (30024.83860232945, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (30143.0, 35496.0, NaN), (30167.24264705882, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (29853.408163265307, 31904.0, NaN), (29843.0, 31898.0, NaN), (29839.53475935829, 31904.0, NaN), (29853.408163265307, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29826.0, 31895.0, NaN), (29774.845588235294, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29440.0, 31861.0, NaN), (29432.0, 31882.994919559696, NaN), (29424.0, 31861.0, NaN), (29306.02973977695, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29038.0, 31895.0, NaN), (29036.4126984127, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29024.46524064171, 31904.0, NaN), (29021.0, 31898.0, NaN), (29010.60714285714, 31904.0, NaN), (29024.46524064171, 31904.0, NaN)] 2025-09-11 08:43:32.394 [robot-dynamic-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree -179.754 to degree 0.0 in qrcode CrossQrcode[333], go to next qrcode with backward 2025-09-11 08:43:32.395 [robot-dynamic-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree -179.754 to degree 0.0 in qrcode CrossQrcode[333], go to next qrcode with backward 2025-09-11 08:43:32.397 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2 task 31380805 的任务路径初始化完成 2025-09-11 08:43:32.422 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 0, 时间估算: 25006.0, 路由: RobotMockPath: {qrcodes: [222], mocks: [(222, 180.0, ahead)], type: ahead} 2025-09-11 08:43:32.422 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 1, 时间估算: 25006.0, 路由: RobotMockPath: {qrcodes: [222], mocks: [(222, -179.754, ahead)], type: ahead} 2025-09-11 08:43:32.423 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 2, 时间估算: 25006.0, 路由: RobotMockPath: {qrcodes: [152, 222], mocks: [(152, 180.0, ahead), (222, 180.0, ahead)], type: ahead} 2025-09-11 08:43:32.423 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 3, 时间估算: 25006.0, 路由: RobotMockPath: {qrcodes: [152, 222], mocks: [(152, -179.754, ahead), (222, -179.754, ahead)], type: ahead} 2025-09-11 08:43:32.423 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [222], mocks: [(222, 180.0, ahead)], type: ahead} 2025-09-11 08:43:32.424 [robot-dynamic-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 动态规划路径结束 2025-09-11 08:43:35.887 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749004 2025-09-11 08:43:35.887 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: rotationfork 2025-09-11 08:43:35.887 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:43:35.890 [http-nio-18002-exec-10] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1757550749004 setActionDone: {"robot_id":2,"height":505,"forkDegree":-89,"location_x":25568,"location_y":33710,"location_theta":1787519,"energy":75,"v":0,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1757550749004,"taskFinish":0} 2025-09-11 08:43:56.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749005 2025-09-11 08:43:56.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:43:56.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:43:56.889 [http-nio-18002-exec-2] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1757550749005 setActionDone: {"robot_id":2,"height":505,"forkDegree":90,"location_x":25594,"location_y":33708,"location_theta":1787182,"energy":75,"v":0,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1757550749005,"taskFinish":0} 2025-09-11 08:43:57.326 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 update its occupied waypoints [333] from [146, 333] 2025-09-11 08:43:57.886 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749006 2025-09-11 08:43:57.886 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:43:57.886 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:43:58.888 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749006 2025-09-11 08:43:58.888 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:43:58.888 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:43:59.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749006 2025-09-11 08:43:59.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:43:59.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:44:00.887 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749006 2025-09-11 08:44:00.888 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:44:00.888 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:44:01.887 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749006 2025-09-11 08:44:01.887 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:44:01.887 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:44:02.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749006 2025-09-11 08:44:02.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:44:02.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:44:03.364 [robot-action-2] WARN com.zcnest.rcs.robot.RobotActionControl - robot 2 释放不需要的锁定点，保留516个，但其中：未锁定4个，补申请 2025-09-11 08:44:03.886 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749006 2025-09-11 08:44:03.887 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:44:03.887 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:44:04.888 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749006 2025-09-11 08:44:04.888 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:44:04.888 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:44:05.888 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749006 2025-09-11 08:44:05.888 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:44:05.888 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:44:06.886 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749006 2025-09-11 08:44:06.887 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:44:06.887 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:44:07.888 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749006 2025-09-11 08:44:07.889 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:44:07.889 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:44:08.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749006 2025-09-11 08:44:08.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:44:08.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:44:09.408 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":146,"timestamp":1757551449406}-zcnest.rcs.vertex.unlockNotify 2025-09-11 08:44:09.408 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":333,"timestamp":1757551449406}-zcnest.rcs.vertex.unlockNotify 2025-09-11 08:44:09.886 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749006 2025-09-11 08:44:09.886 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:44:09.886 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:44:10.887 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749006 2025-09-11 08:44:10.887 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:44:10.887 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:44:11.887 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749006 2025-09-11 08:44:11.887 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:44:11.887 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:44:12.888 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749006 2025-09-11 08:44:12.888 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:44:12.888 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:44:13.887 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749006 2025-09-11 08:44:13.887 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:44:13.887 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:44:14.889 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749006 2025-09-11 08:44:14.889 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:44:14.889 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:44:15.889 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749006 2025-09-11 08:44:15.889 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:44:15.889 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:44:16.887 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749006 2025-09-11 08:44:16.888 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:44:16.888 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:44:17.892 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749006 2025-09-11 08:44:17.892 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:44:17.892 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:44:18.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749006 2025-09-11 08:44:18.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:44:18.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:44:19.887 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749006 2025-09-11 08:44:19.887 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:44:19.887 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:44:20.889 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749006 2025-09-11 08:44:20.890 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:44:20.890 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:44:20.892 [http-nio-18002-exec-10] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1757550749006 setActionDone: {"robot_id":2,"height":505,"forkDegree":90,"location_x":32244,"location_y":33701,"location_theta":-1798757,"energy":75,"v":0,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1757550749006,"taskFinish":0} 2025-09-11 08:44:21.491 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 update its occupied waypoints [] from [333] 2025-09-11 08:44:35.889 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749007 2025-09-11 08:44:35.889 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:44:35.889 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:44:35.889 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: RobotMock 1757550749007 (group 5) [start=PickQrcode [shelf=172,type=51, degree=180.0, pickQrcode=173](32580,33674) , end=PickQrcode [shelf=172,type=52, degree=180.0, pickQrcode=173](32580,33674), degree=-179.754, action=RobotAhead [size=0]] 2025-09-11 08:44:35.889 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: 107782 2025-09-11 08:44:35.889 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: pick 2025-09-11 08:44:35.890 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 删除成功: 1 2025-09-11 08:44:35.892 [http-nio-18002-exec-9] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1757550749008 setActionDone: {"robot_id":2,"height":517,"forkDegree":90,"location_x":32587,"location_y":33709,"location_theta":1795928,"energy":75,"v":0,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1757550749008,"taskFinish":0} 2025-09-11 08:45:06.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749009 2025-09-11 08:45:06.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:45:06.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:45:06.890 [http-nio-18002-exec-6] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1757550749009 setActionDone: {"robot_id":2,"height":6269,"forkDegree":90,"location_x":32585,"location_y":33705,"location_theta":1795534,"energy":75,"v":0,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1757550749009,"taskFinish":0} 2025-09-11 08:45:17.889 [http-nio-18002-exec-2] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1757550749010 setActionDone: {"robot_id":2,"height":6317,"forkDegree":90,"location_x":32591,"location_y":33712,"location_theta":1795908,"energy":75,"v":0,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1757550749010,"taskFinish":0} 2025-09-11 08:45:17.890 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 finish action pick time：28295，now [32580，33674] degree: -179.754 task: 31380805 waitTime: 0 2025-09-11 08:45:18.570 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 waitTime 680, move away for pickTask offset 2025-09-11 08:45:18.570 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot2 取货任务即将完成接受避让任务 null 2025-09-11 08:45:18.570 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 因等待 680 超过等待时限, 自行执行离开任务, 当前EndQrcode: PickQrcode [shelf=172,type=6, degree=-179.754, pickQrcode=173] 2025-09-11 08:45:18.570 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 尝试避让 robot null 开始生成动作 2025-09-11 08:45:18.575 [robot-action-2] INFO com.zcnest.rcs.robot.away.MoveAwayControl - get path for rotationShelfQrcode: 173, with fromQrcodeId: 172 toQrcodeId: 173 2025-09-11 08:45:18.580 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 避让 robot null 生成动作成功 2025-09-11 08:45:18.581 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 规划离开 107768 路由: [107985] 2025-09-11 08:45:18.582 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 move mocks be cleared. 2025-09-11 08:45:18.582 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 执行避让任务，添加 1 个避让动作 2025-09-11 08:45:29.886 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749013 2025-09-11 08:45:29.886 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:45:29.886 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:45:29.889 [http-nio-18002-exec-7] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1757550749013 setActionDone: {"robot_id":2,"height":6377,"forkDegree":90,"location_x":32593,"location_y":33704,"location_theta":1795877,"energy":75,"v":0,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1757550749013,"taskFinish":0} 2025-09-11 08:45:31.875 [task-dispatch-thread1] INFO com.zcnest.rcs.schedule.TaskSchedule - 60号点任务完成：60 2025-09-11 08:45:35.598 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 waitTime 5709, move away for pickTask 2025-09-11 08:45:35.598 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 因等待 5709 超过等待时限, 自行执行离开任务, 当前EndQrcode: PickQrcode [shelf=172,type=60, degree=-179.754, pickQrcode=173] 2025-09-11 08:45:35.598 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 尝试避让 robot null 开始生成动作 2025-09-11 08:45:35.598 [robot-action-2] INFO com.zcnest.rcs.robot.away.MoveAwayControl - get path for rotationShelfQrcode: 173, with fromQrcodeId: 172 toQrcodeId: 173 2025-09-11 08:45:35.602 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 避让 robot null 生成动作成功 2025-09-11 08:45:35.603 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 规划离开 107985 路由: [107987, 172] 2025-09-11 08:45:35.603 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 move mocks be cleared. 2025-09-11 08:45:35.604 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 执行避让任务，添加 2 个避让动作 2025-09-11 08:45:35.604 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 update its occupied waypoints [172] from [] 2025-09-11 08:50:10.266 [http-nio-18002-exec-1] ERROR com.zcnest.rcs.monitor.controller.RobotController - robot 2 report error 55040 2025-09-11 08:50:10.267 [http-nio-18002-exec-1] INFO com.zcnest.rcs.monitor.controller.RobotController - 当前异常任务ID: 31380805 2025-09-11 08:50:10.466 [http-nio-18002-exec-6] ERROR com.zcnest.rcs.monitor.controller.RobotController - robot 2 report error 55040 2025-09-11 08:50:10.469 [http-nio-18002-exec-6] INFO com.zcnest.rcs.monitor.controller.RobotController - 当前异常任务ID: 31380805 2025-09-11 08:51:03.890 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749016 2025-09-11 08:51:03.890 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:51:03.890 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:51:04.886 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749016 2025-09-11 08:51:04.886 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:51:04.886 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:51:05.886 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749016 2025-09-11 08:51:05.886 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:51:05.886 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:51:06.886 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749016 2025-09-11 08:51:06.886 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:51:06.886 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:51:07.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749016 2025-09-11 08:51:07.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:51:07.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:51:08.887 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749016 2025-09-11 08:51:08.887 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:51:08.887 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:51:09.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749016 2025-09-11 08:51:09.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:51:09.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:51:10.888 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749016 2025-09-11 08:51:10.888 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:51:10.888 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:51:10.889 [http-nio-18002-exec-4] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1757550749016 setActionDone: {"robot_id":2,"height":578,"forkDegree":90,"location_x":33119,"location_y":33714,"location_theta":1795112,"energy":75,"v":0,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1757550749016,"taskFinish":0} 2025-09-11 08:51:23.166 [http-nio-18002-exec-9] ERROR com.zcnest.rcs.monitor.controller.RobotController - robot 2 report error 55040 2025-09-11 08:51:23.167 [http-nio-18002-exec-9] INFO com.zcnest.rcs.monitor.controller.RobotController - 当前异常任务ID: 31380805 2025-09-11 08:51:26.889 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749017 2025-09-11 08:51:26.889 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:51:26.889 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:51:26.892 [http-nio-18002-exec-7] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1757550749017 setActionDone: {"robot_id":2,"height":578,"forkDegree":90,"location_x":33402,"location_y":33709,"location_theta":1791215,"energy":75,"v":0,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1757550749017,"taskFinish":1} 2025-09-11 08:51:29.020 [robot-action-2] INFO com.zcnest.rcs.robot.RobotTaskControl - robot 2 add task TaskMove [to=25578,33679, toDegree:180.0 ]， source for task: 0 2025-09-11 08:51:30.024 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 update its occupied waypoints [] from [172] 2025-09-11 08:51:31.026 [robot-action-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2 task 31889020 的离开任务初始化完成 2025-09-11 08:51:31.032 [robot-action-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2 task 31889020 的任务路径初始化完成 2025-09-11 08:51:31.033 [robot-action-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 0, 时间估算: 14681.0, 路由: RobotMockPath: {qrcodes: [333, 146], mocks: [(333, 180.0, ahead), (146, 180.0, ahead)], type: ahead} 2025-09-11 08:51:31.033 [robot-action-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [333, 146], mocks: [(333, 180.0, ahead), (146, 180.0, ahead)], type: ahead} 2025-09-11 08:51:31.034 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 同区移动任务 31889020 添加动作 true 2025-09-11 08:51:31.034 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 re planned its route [172, 335, 146] from [] 2025-09-11 08:51:31.036 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 update its occupied waypoints [172, 335] from [] 2025-09-11 08:51:31.036 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 remaining route updated [146] 2025-09-11 08:51:31.886 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749021 2025-09-11 08:51:31.886 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:51:31.886 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:51:32.038 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 update its occupied waypoints [172, 335, 146] from [172, 335] 2025-09-11 08:51:32.039 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 remaining route updated [] 2025-09-11 08:51:32.886 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749021 2025-09-11 08:51:32.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:51:32.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:51:33.887 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749021 2025-09-11 08:51:33.887 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:51:33.887 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:51:34.886 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749021 2025-09-11 08:51:34.886 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:51:34.886 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:51:35.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749021 2025-09-11 08:51:35.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:51:35.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:51:36.888 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749021 2025-09-11 08:51:36.888 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:51:36.888 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:51:37.055 [robot-action-2] WARN com.zcnest.rcs.robot.RobotActionControl - robot 2 释放不需要的锁定点，保留521个，但其中：未锁定18个，补申请 2025-09-11 08:51:37.888 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749021 2025-09-11 08:51:37.888 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:51:37.888 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:51:38.886 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749021 2025-09-11 08:51:38.887 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:51:38.887 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:51:39.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749021 2025-09-11 08:51:39.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:51:39.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:51:40.888 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749021 2025-09-11 08:51:40.889 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:51:40.889 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:51:41.079 [robot-action-2] WARN com.zcnest.rcs.robot.RobotActionControl - robot 2 释放不需要的锁定点，保留378个，但其中：未锁定1个，补申请 2025-09-11 08:51:41.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749021 2025-09-11 08:51:41.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:51:41.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:51:42.887 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749021 2025-09-11 08:51:42.887 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:51:42.887 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:51:43.887 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749021 2025-09-11 08:51:43.888 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:51:43.888 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:51:44.886 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749021 2025-09-11 08:51:44.886 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:51:44.886 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:51:45.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749021 2025-09-11 08:51:45.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:51:45.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:51:46.886 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749021 2025-09-11 08:51:46.887 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:51:46.887 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:51:47.887 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749021 2025-09-11 08:51:47.887 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:51:47.887 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:51:48.124 [robot-action-2] WARN com.zcnest.rcs.robot.RobotActionControl - robot 2 释放不需要的锁定点，保留289个，但其中：未锁定6个，补申请 2025-09-11 08:51:48.889 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749021 2025-09-11 08:51:48.890 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:51:48.890 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:51:49.889 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749021 2025-09-11 08:51:49.889 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:51:49.889 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:51:49.892 [http-nio-18002-exec-6] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1757550749021 setActionDone: {"robot_id":2,"height":578,"forkDegree":90,"location_x":26298,"location_y":33674,"location_theta":-1797463,"energy":75,"v":0,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1757550749021,"taskFinish":0} 2025-09-11 08:51:50.131 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 update its occupied waypoints [335, 146] from [172, 335, 146] 2025-09-11 08:51:51.886 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749022 2025-09-11 08:51:51.886 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:51:51.886 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:51:52.886 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749022 2025-09-11 08:51:52.886 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 08:51:52.886 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 08:51:52.888 [http-nio-18002-exec-8] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1757550749022 setActionDone: {"robot_id":2,"height":578,"forkDegree":90,"location_x":25852,"location_y":33671,"location_theta":-1798864,"energy":75,"v":0,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1757550749022,"taskFinish":0} 2025-09-11 08:51:53.137 [robot-action-2] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮：到达 robotId:2,taskId:31889020 2025-09-11 08:51:53.137 [robot-action-2] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 不是呼叫按钮任务：机器人2 2025-09-11 08:51:53.137 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 re planned its route [] from [172, 335] 2025-09-11 08:51:53.137 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 update its occupied waypoints [] from [335, 146] 2025-09-11 08:51:54.137 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 08:51:54.137 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 08:52:54.142 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 08:52:54.143 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 08:53:54.147 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 08:53:54.148 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 08:54:54.153 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 08:54:54.153 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 08:55:54.158 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 08:55:54.158 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 08:56:54.163 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 08:56:54.163 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 08:57:54.167 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 08:57:54.168 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 08:58:54.172 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 08:58:54.172 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 08:59:54.177 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 08:59:54.177 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:00:54.181 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:00:54.181 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:01:54.185 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:01:54.185 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:02:54.189 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:02:54.189 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:03:54.193 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:03:54.194 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:04:54.198 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:04:54.198 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:05:39.054 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotTaskControl - robot 2 add task TaskUnpick [action:null->6300, boxId=1, fromQrcodes=[com.zcnest.rcs.modeling.model.shelf.ShelfCrossQrcode@cb]] 2025-09-11 09:05:39.738 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - success init unpick task RobotUnpick [action: 0->6300, boxId=1, toShelfId=20 , toShelfBoxId=20018], taskId 32739054 2025-09-11 09:05:39.738 [robot-action-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2 task 32739054 的离开任务初始化完成 2025-09-11 09:05:39.739 [robot-action-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree 180.0 to degree 0.0 in qrcode RotationQrcode[336], fatherId [333], degree[180.0], go to next qrcode with backward 2025-09-11 09:05:39.782 [robot-action-2] ERROR com.zcnest.rcs.robot.safe.MockValidation - robot 2, mock 108020->108021 不安全，超出安全范围：[(28696.75735294118, 35454.0, NaN), (28721.0, 35496.0, NaN), (28793.722222222226, 35454.0, NaN), (28696.75735294118, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (28864.96106162757, 35484.70415453103, NaN), (28880.0, 35570.0, NaN), (28929.31500799898, 35561.291722390866, NaN), (28961.0, 35599.0, NaN), (29026.334429729122, 35544.15957353425, NaN), (29067.48954014752, 35536.89220927537, NaN), (29100.850032151207, 35564.92390388745, NaN), (29130.0, 35645.0, NaN), (29176.151949397346, 35628.197561473644, NaN), (29214.0, 35660.0, NaN), (29269.067801204288, 35594.369892036135, NaN), (29309.688472324095, 35579.58121380472, NaN), (29346.03224891051, 35600.55905543732, NaN), (29389.0, 35675.0, NaN), (29432.0, 35650.180147058825, NaN), (29475.0, 35675.0, NaN), (29517.96775108949, 35600.55905543732, NaN), (29554.311527675905, 35579.58121380472, NaN), (29594.932198795712, 35594.369892036135, NaN), (29650.0, 35660.0, NaN), (29687.848050602654, 35628.197561473644, NaN), (29734.0, 35645.0, NaN), (29763.149967848793, 35564.92390388745, NaN), (29796.510459852478, 35536.89220927537, NaN), (29837.66557027088, 35544.15957353425, NaN), (29903.0, 35599.0, NaN), (29934.68499200102, 35561.291722390866, NaN), (29984.0, 35570.0, NaN), (29999.03893837243, 35484.70415453103, NaN), (30024.83860232945, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (30143.0, 35496.0, NaN), (30167.24264705882, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (29853.408163265307, 31904.0, NaN), (29843.0, 31898.0, NaN), (29839.53475935829, 31904.0, NaN), (29853.408163265307, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29826.0, 31895.0, NaN), (29774.845588235294, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29440.0, 31861.0, NaN), (29432.0, 31882.994919559696, NaN), (29424.0, 31861.0, NaN), (29306.02973977695, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29038.0, 31895.0, NaN), (29036.4126984127, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29024.46524064171, 31904.0, NaN), (29021.0, 31898.0, NaN), (29010.60714285714, 31904.0, NaN), (29024.46524064171, 31904.0, NaN)] 2025-09-11 09:05:39.783 [robot-action-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree 180.0 to degree 0.0 in qrcode RotationQrcode[336], fatherId [333], degree[180.0], go to next qrcode with backward 2025-09-11 09:05:39.784 [robot-action-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2 task 32739054 的任务路径初始化完成 2025-09-11 09:05:39.801 [robot-action-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 0, 时间估算: 25366.0, 路由: RobotMockPath: {qrcodes: [146, 333, 222], mocks: [(146, 180.0, ahead), (333, 180.0, ahead), (222, 180.0, ahead)], type: ahead} 2025-09-11 09:05:39.802 [robot-action-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 1, 时间估算: 25366.0, 路由: RobotMockPath: {qrcodes: [146, 333, 222], mocks: [(146, 180.0, ahead), (333, 180.0, ahead), (222, 180.0, ahead)], type: ahead} 2025-09-11 09:05:39.802 [robot-action-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [146, 333, 222], mocks: [(146, 180.0, ahead), (333, 180.0, ahead), (222, 180.0, ahead)], type: ahead} 2025-09-11 09:05:39.806 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 取卸货任务 32739054 使用动态规划添加动作 2025-09-11 09:05:39.807 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 re planned its route [146] from [] 2025-09-11 09:05:39.809 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 update its occupied waypoints [146] from [] 2025-09-11 09:05:39.810 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 remaining route updated [] 2025-09-11 09:05:40.066 [http-nio-18002-exec-10] ERROR com.zcnest.rcs.monitor.controller.RobotController - robot 2 report error 55040 2025-09-11 09:05:40.067 [http-nio-18002-exec-10] INFO com.zcnest.rcs.monitor.controller.RobotController - 当前异常任务ID: 31889020 2025-09-11 09:05:40.466 [http-nio-18002-exec-4] ERROR com.zcnest.rcs.monitor.controller.RobotController - robot 2 report error 55040 2025-09-11 09:05:40.467 [http-nio-18002-exec-4] INFO com.zcnest.rcs.monitor.controller.RobotController - 当前异常任务ID: 31889020 2025-09-11 09:05:40.888 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749025 2025-09-11 09:05:40.888 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:05:40.888 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:05:41.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749025 2025-09-11 09:05:41.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:05:41.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:05:42.886 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749025 2025-09-11 09:05:42.886 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:05:42.886 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:05:43.886 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749025 2025-09-11 09:05:43.886 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:05:43.886 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:05:44.887 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749025 2025-09-11 09:05:44.887 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:05:44.887 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:05:45.886 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749025 2025-09-11 09:05:45.886 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:05:45.886 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:05:46.886 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749025 2025-09-11 09:05:46.886 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:05:46.886 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:05:47.886 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749025 2025-09-11 09:05:47.886 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:05:47.886 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:05:48.848 [robot-action-2] WARN com.zcnest.rcs.robot.RobotActionControl - robot 2 释放不需要的锁定点，保留498个，但其中：未锁定1个，补申请 2025-09-11 09:05:48.887 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749025 2025-09-11 09:05:48.888 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:05:48.888 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:05:49.854 [robot-action-2] WARN com.zcnest.rcs.robot.RobotActionControl - robot 2 释放不需要的锁定点，保留489个，但其中：未锁定1个，补申请 2025-09-11 09:05:49.887 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749025 2025-09-11 09:05:49.887 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:05:49.887 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:05:50.862 [robot-action-2] WARN com.zcnest.rcs.robot.RobotActionControl - robot 2 释放不需要的锁定点，保留484个，但其中：未锁定3个，补申请 2025-09-11 09:05:50.887 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749025 2025-09-11 09:05:50.887 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:05:50.887 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:05:51.888 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749025 2025-09-11 09:05:51.888 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:05:51.888 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:05:52.887 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749025 2025-09-11 09:05:52.887 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:05:52.887 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:05:53.888 [robot-action-2] WARN com.zcnest.rcs.robot.RobotActionControl - robot 2 释放不需要的锁定点，保留445个，但其中：未锁定6个，补申请 2025-09-11 09:05:53.889 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749025 2025-09-11 09:05:53.889 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:05:53.889 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:05:54.204 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:05:54.205 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:05:54.887 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749025 2025-09-11 09:05:54.887 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:05:54.887 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:05:54.897 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":146,"timestamp":1757552754895}-zcnest.rcs.vertex.unlockNotify 2025-09-11 09:05:54.897 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":333,"timestamp":1757552754896}-zcnest.rcs.vertex.unlockNotify 2025-09-11 09:05:55.888 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749025 2025-09-11 09:05:55.888 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:05:55.888 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:05:55.904 [robot-action-2] WARN com.zcnest.rcs.robot.RobotActionControl - robot 2 释放不需要的锁定点，保留408个，但其中：未锁定8个，补申请 2025-09-11 09:05:56.887 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749025 2025-09-11 09:05:56.887 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:05:56.887 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:05:57.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749025 2025-09-11 09:05:57.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:05:57.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:05:58.889 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749025 2025-09-11 09:05:58.889 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:05:58.889 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:05:59.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749025 2025-09-11 09:05:59.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:05:59.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:06:00.887 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749025 2025-09-11 09:06:00.887 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:06:00.887 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:06:01.888 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749025 2025-09-11 09:06:01.888 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:06:01.888 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:06:02.888 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749025 2025-09-11 09:06:02.888 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:06:02.888 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:06:03.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749025 2025-09-11 09:06:03.888 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:06:03.888 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:06:04.887 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749025 2025-09-11 09:06:04.887 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:06:04.887 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:06:04.891 [http-nio-18002-exec-5] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1757550749025 setActionDone: {"robot_id":2,"height":576,"forkDegree":90,"location_x":32233,"location_y":33696,"location_theta":1797943,"energy":74,"v":0,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1757550749025,"taskFinish":0} 2025-09-11 09:06:04.973 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 update its occupied waypoints [] from [146] 2025-09-11 09:06:20.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749026 2025-09-11 09:06:20.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:06:20.888 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:06:20.888 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: RobotMock 1757550749026 (group 56) [start=PickQrcode [shelf=172,type=51, degree=180.0, pickQrcode=173](32580,33674) , end=PickQrcode [shelf=172,type=52, degree=180.0, pickQrcode=173](32580,33674), degree=180.0, action=RobotAhead [size=0]] 2025-09-11 09:06:20.888 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: 108026 2025-09-11 09:06:20.888 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: unpick 2025-09-11 09:06:20.888 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 删除成功: 1 2025-09-11 09:06:20.891 [http-nio-18002-exec-2] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1757550749027 setActionDone: {"robot_id":2,"height":576,"forkDegree":90,"location_x":32588,"location_y":33701,"location_theta":1795188,"energy":74,"v":0,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1757550749027,"taskFinish":0} 2025-09-11 09:06:51.888 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749028 2025-09-11 09:06:51.888 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:06:51.889 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:06:51.891 [http-nio-18002-exec-1] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1757550749028 setActionDone: {"robot_id":2,"height":6344,"forkDegree":90,"location_x":32596,"location_y":33697,"location_theta":1795006,"energy":74,"v":0,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1757550749028,"taskFinish":0} 2025-09-11 09:06:54.209 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:06:54.209 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:07:02.889 [http-nio-18002-exec-10] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1757550749029 setActionDone: {"robot_id":2,"height":6344,"forkDegree":90,"location_x":32592,"location_y":33703,"location_theta":1795713,"energy":74,"v":0,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1757550749029,"taskFinish":0} 2025-09-11 09:07:02.889 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 finish action unpick time：55250，now [32580，33674] degree: 180.0 task: 32739054 waitTime: 0 2025-09-11 09:07:03.047 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 waitTime 158, move away for pickTask offset 2025-09-11 09:07:03.047 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot2 取货任务即将完成接受避让任务 null 2025-09-11 09:07:03.047 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 因等待 158 超过等待时限, 自行执行离开任务, 当前EndQrcode: PickQrcode [shelf=172,type=6, degree=180.0, pickQrcode=173] 2025-09-11 09:07:03.047 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 尝试避让 robot null 开始生成动作 2025-09-11 09:07:03.048 [robot-action-2] INFO com.zcnest.rcs.robot.away.MoveAwayControl - get path for rotationShelfQrcode: 173, with fromQrcodeId: 172 toQrcodeId: 173 2025-09-11 09:07:03.052 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 避让 robot null 生成动作成功 2025-09-11 09:07:03.052 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 规划离开 108016 路由: [108069] 2025-09-11 09:07:03.052 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 move mocks be cleared. 2025-09-11 09:07:03.052 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 执行避让任务，添加 1 个避让动作 2025-09-11 09:07:14.888 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749032 2025-09-11 09:07:14.888 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:07:14.888 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:07:14.891 [http-nio-18002-exec-7] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1757550749032 setActionDone: {"robot_id":2,"height":6269,"forkDegree":90,"location_x":32612,"location_y":33714,"location_theta":1795245,"energy":74,"v":0,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1757550749032,"taskFinish":0} 2025-09-11 09:07:14.891 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 finish action unpick time：55250，now [32580，33674] degree: 180.0 task: 32739054 waitTime: 0 2025-09-11 09:07:15.940 [task-dispatch-thread1] INFO com.zcnest.rcs.schedule.TaskSchedule - 60号点任务完成：60 2025-09-11 09:07:20.069 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 waitTime 5178, move away for pickTask 2025-09-11 09:07:20.069 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 因等待 5178 超过等待时限, 自行执行离开任务, 当前EndQrcode: PickQrcode [shelf=172,type=60, degree=180.0, pickQrcode=173] 2025-09-11 09:07:20.069 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 尝试避让 robot null 开始生成动作 2025-09-11 09:07:20.069 [robot-action-2] INFO com.zcnest.rcs.robot.away.MoveAwayControl - get path for rotationShelfQrcode: 173, with fromQrcodeId: 172 toQrcodeId: 173 2025-09-11 09:07:20.073 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 避让 robot null 生成动作成功 2025-09-11 09:07:20.073 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 规划离开 108069 路由: [108071, 172] 2025-09-11 09:07:20.073 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 move mocks be cleared. 2025-09-11 09:07:20.073 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 执行避让任务，添加 2 个避让动作 2025-09-11 09:07:20.074 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 update its occupied waypoints [172] from [] 2025-09-11 09:07:36.886 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749035 2025-09-11 09:07:36.886 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:07:36.886 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:07:37.889 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749035 2025-09-11 09:07:37.889 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:07:37.889 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:07:38.886 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749035 2025-09-11 09:07:38.886 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:07:38.886 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:07:38.889 [http-nio-18002-exec-7] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1757550749035 setActionDone: {"robot_id":2,"height":606,"forkDegree":90,"location_x":33103,"location_y":33704,"location_theta":1793772,"energy":74,"v":0,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1757550749035,"taskFinish":0} 2025-09-11 09:07:51.886 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749036 2025-09-11 09:07:51.886 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:07:51.886 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:07:51.889 [http-nio-18002-exec-8] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1757550749036 setActionDone: {"robot_id":2,"height":606,"forkDegree":90,"location_x":33400,"location_y":33694,"location_theta":1790616,"energy":74,"v":0,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1757550749036,"taskFinish":0} 2025-09-11 09:07:53.109 [robot-action-2] INFO com.zcnest.rcs.robot.RobotTaskControl - robot 2 add task TaskMove [to=25578,33679, toDegree:180.0 ]， source for task: 0 2025-09-11 09:07:54.110 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 update its occupied waypoints [] from [172] 2025-09-11 09:07:54.214 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:07:54.214 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:07:55.111 [robot-action-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2 task 32873109 的离开任务初始化完成 2025-09-11 09:07:55.116 [robot-action-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2 task 32873109 的任务路径初始化完成 2025-09-11 09:07:55.118 [robot-action-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 0, 时间估算: 14681.0, 路由: RobotMockPath: {qrcodes: [333, 146], mocks: [(333, 180.0, ahead), (146, 180.0, ahead)], type: ahead} 2025-09-11 09:07:55.118 [robot-action-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [333, 146], mocks: [(333, 180.0, ahead), (146, 180.0, ahead)], type: ahead} 2025-09-11 09:07:55.119 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 同区移动任务 32873109 添加动作 true 2025-09-11 09:07:55.119 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 re planned its route [172, 335, 146] from [] 2025-09-11 09:07:55.120 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 update its occupied waypoints [172, 335] from [] 2025-09-11 09:07:55.120 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 remaining route updated [146] 2025-09-11 09:07:55.886 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749040 2025-09-11 09:07:55.887 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:07:55.887 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:07:56.122 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 update its occupied waypoints [172, 335, 146] from [172, 335] 2025-09-11 09:07:56.122 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 remaining route updated [] 2025-09-11 09:07:56.886 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749040 2025-09-11 09:07:56.886 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:07:56.886 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:07:57.888 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749040 2025-09-11 09:07:57.888 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:07:57.888 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:07:58.886 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749040 2025-09-11 09:07:58.886 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:07:58.886 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:07:59.888 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749040 2025-09-11 09:07:59.888 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:07:59.888 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:08:00.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749040 2025-09-11 09:08:00.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:08:00.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:08:01.138 [robot-action-2] WARN com.zcnest.rcs.robot.RobotActionControl - robot 2 释放不需要的锁定点，保留525个，但其中：未锁定9个，补申请 2025-09-11 09:08:01.887 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749040 2025-09-11 09:08:01.887 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:08:01.887 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:08:02.148 [robot-action-2] WARN com.zcnest.rcs.robot.RobotActionControl - robot 2 释放不需要的锁定点，保留503个，但其中：未锁定2个，补申请 2025-09-11 09:08:02.886 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749040 2025-09-11 09:08:02.886 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:08:02.886 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:08:03.889 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749040 2025-09-11 09:08:03.889 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:08:03.889 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:08:04.886 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749040 2025-09-11 09:08:04.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:08:04.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:08:05.887 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749040 2025-09-11 09:08:05.887 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:08:05.887 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:08:06.888 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749040 2025-09-11 09:08:06.888 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:08:06.888 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:08:07.182 [robot-action-2] WARN com.zcnest.rcs.robot.RobotActionControl - robot 2 释放不需要的锁定点，保留369个，但其中：未锁定1个，补申请 2025-09-11 09:08:07.887 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749040 2025-09-11 09:08:07.887 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:08:07.887 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:08:08.889 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749040 2025-09-11 09:08:08.889 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:08:08.889 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:08:09.888 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749040 2025-09-11 09:08:09.888 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:08:09.888 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:08:10.889 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749040 2025-09-11 09:08:10.889 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:08:10.889 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:08:11.889 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749040 2025-09-11 09:08:11.889 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:08:11.889 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:08:12.887 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749040 2025-09-11 09:08:12.887 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:08:12.887 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:08:13.218 [robot-action-2] WARN com.zcnest.rcs.robot.RobotActionControl - robot 2 释放不需要的锁定点，保留294个，但其中：未锁定4个，补申请 2025-09-11 09:08:13.886 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749040 2025-09-11 09:08:13.886 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:08:13.886 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:08:14.223 [robot-action-2] WARN com.zcnest.rcs.robot.RobotActionControl - robot 2 释放不需要的锁定点，保留280个，但其中：未锁定2个，补申请 2025-09-11 09:08:14.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749040 2025-09-11 09:08:14.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:08:14.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:08:15.887 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749040 2025-09-11 09:08:15.888 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:08:15.888 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:08:15.890 [http-nio-18002-exec-5] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1757550749040 setActionDone: {"robot_id":2,"height":606,"forkDegree":90,"location_x":26165,"location_y":33665,"location_theta":-1794929,"energy":74,"v":0,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1757550749040,"taskFinish":0} 2025-09-11 09:08:16.229 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 update its occupied waypoints [335, 146] from [172, 335, 146] 2025-09-11 09:08:17.887 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749041 2025-09-11 09:08:17.887 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:08:17.887 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:08:17.890 [http-nio-18002-exec-4] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1757550749041 setActionDone: {"robot_id":2,"height":606,"forkDegree":90,"location_x":25888,"location_y":33663,"location_theta":-1797356,"energy":74,"v":0,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1757550749041,"taskFinish":0} 2025-09-11 09:08:18.231 [robot-action-2] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮：到达 robotId:2,taskId:32873109 2025-09-11 09:08:18.231 [robot-action-2] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 不是呼叫按钮任务：机器人2 2025-09-11 09:08:18.231 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 re planned its route [] from [172, 335] 2025-09-11 09:08:18.231 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 update its occupied waypoints [] from [335, 146] 2025-09-11 09:08:54.218 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:08:54.218 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:09:11.271 [robot-action-2] INFO com.zcnest.rcs.robot.RobotTaskControl - robot 2 add task TaskMove [to=20919,33659, toDegree:-179.754 ]， source for task: 0 2025-09-11 09:09:12.274 [robot-action-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2 task 32951271 的离开任务初始化完成 2025-09-11 09:09:12.276 [robot-action-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2 task 32951271 的任务路径初始化完成 2025-09-11 09:09:12.277 [robot-action-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 0, 时间估算: 11147.0, 路由: RobotMockPath: {qrcodes: [147], mocks: [(147, -179.754, ahead)], type: ahead} 2025-09-11 09:09:12.277 [robot-action-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 1, 时间估算: 11147.0, 路由: RobotMockPath: {qrcodes: [147], mocks: [(147, -179.754, ahead)], type: ahead} 2025-09-11 09:09:12.277 [robot-action-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [147], mocks: [(147, -179.754, ahead)], type: ahead} 2025-09-11 09:09:12.277 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 同区移动任务 32951271 添加动作 true 2025-09-11 09:09:12.277 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 re planned its route [146, 147] from [] 2025-09-11 09:09:12.278 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 update its occupied waypoints [146, 147] from [] 2025-09-11 09:09:12.278 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 remaining route updated [] 2025-09-11 09:09:12.887 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749044 2025-09-11 09:09:12.887 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:09:12.887 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:09:13.886 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749044 2025-09-11 09:09:13.886 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:09:13.886 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:09:14.887 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749044 2025-09-11 09:09:14.887 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:09:14.887 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:09:15.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749044 2025-09-11 09:09:15.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:09:15.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:09:16.887 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749044 2025-09-11 09:09:16.887 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:09:16.887 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:09:17.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749044 2025-09-11 09:09:17.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:09:17.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:09:18.886 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749044 2025-09-11 09:09:18.886 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:09:18.887 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:09:19.297 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":146,"timestamp":1757552959296}-zcnest.rcs.vertex.unlockNotify 2025-09-11 09:09:19.298 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":333,"timestamp":1757552959296}-zcnest.rcs.vertex.unlockNotify 2025-09-11 09:09:19.890 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749044 2025-09-11 09:09:19.890 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:09:19.890 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:09:20.887 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749044 2025-09-11 09:09:20.887 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:09:20.887 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:09:21.892 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749044 2025-09-11 09:09:21.892 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:09:21.892 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:09:22.886 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749044 2025-09-11 09:09:22.886 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:09:22.886 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:09:23.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749044 2025-09-11 09:09:23.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:09:23.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:09:24.887 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749044 2025-09-11 09:09:24.887 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:09:24.887 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:09:25.886 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749044 2025-09-11 09:09:25.886 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:09:25.886 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:09:25.886 [http-nio-18002-exec-5] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1757550749044 setActionDone: {"robot_id":2,"height":605,"forkDegree":90,"location_x":21184,"location_y":33666,"location_theta":1793738,"energy":74,"v":0,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1757550749044,"taskFinish":0} 2025-09-11 09:09:26.333 [robot-action-2] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮：到达 robotId:2,taskId:32951271 2025-09-11 09:09:26.333 [robot-action-2] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 不是呼叫按钮任务：机器人2 2025-09-11 09:09:26.333 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 update its occupied waypoints [] from [146, 147] 2025-09-11 09:09:54.223 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:09:54.223 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:10:54.227 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:10:54.227 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:11:36.688 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotTaskControl - robot 2 add task TaskPick [action:5705, boxId=1, fromQrcodes =[com.zcnest.rcs.modeling.model.shelf.ShelfCrossQrcode@cb]] 2025-09-11 09:11:37.430 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - success init pick task RobotPick [action:5705->0, boxId=1, fromShelfId=20 , fromShelfBoxId=20017, PickQrcodeGroup=[PickQrcodeGroup [rotationShelfQrcode=172, degree=90.2578]]], taskId 33096681 2025-09-11 09:11:37.430 [robot-action-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2 task 33096681 的离开任务初始化完成 2025-09-11 09:11:37.431 [robot-action-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree -179.754 to degree 0.246 in qrcode CrossQrcode[147], go to next qrcode with backward 2025-09-11 09:11:37.431 [robot-action-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree 180.0 to degree 0.0 in qrcode RotationQrcode[336], fatherId [333], degree[180.0], go to next qrcode with backward 2025-09-11 09:11:37.470 [robot-action-2] ERROR com.zcnest.rcs.robot.safe.MockValidation - robot 2, mock 108126->108127 不安全，超出安全范围：[(28696.75735294118, 35454.0, NaN), (28721.0, 35496.0, NaN), (28793.722222222226, 35454.0, NaN), (28696.75735294118, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (28864.96106162757, 35484.70415453103, NaN), (28880.0, 35570.0, NaN), (28929.31500799898, 35561.291722390866, NaN), (28961.0, 35599.0, NaN), (29026.334429729122, 35544.15957353425, NaN), (29067.48954014752, 35536.89220927537, NaN), (29100.850032151207, 35564.92390388745, NaN), (29130.0, 35645.0, NaN), (29176.151949397346, 35628.197561473644, NaN), (29214.0, 35660.0, NaN), (29269.067801204288, 35594.369892036135, NaN), (29309.688472324095, 35579.58121380472, NaN), (29346.03224891051, 35600.55905543732, NaN), (29389.0, 35675.0, NaN), (29432.0, 35650.180147058825, NaN), (29475.0, 35675.0, NaN), (29517.96775108949, 35600.55905543732, NaN), (29554.311527675905, 35579.58121380472, NaN), (29594.932198795712, 35594.369892036135, NaN), (29650.0, 35660.0, NaN), (29687.848050602654, 35628.197561473644, NaN), (29734.0, 35645.0, NaN), (29763.149967848793, 35564.92390388745, NaN), (29796.510459852478, 35536.89220927537, NaN), (29837.66557027088, 35544.15957353425, NaN), (29903.0, 35599.0, NaN), (29934.68499200102, 35561.291722390866, NaN), (29984.0, 35570.0, NaN), (29999.03893837243, 35484.70415453103, NaN), (30024.83860232945, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (30143.0, 35496.0, NaN), (30167.24264705882, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (29853.408163265307, 31904.0, NaN), (29843.0, 31898.0, NaN), (29839.53475935829, 31904.0, NaN), (29853.408163265307, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29826.0, 31895.0, NaN), (29774.845588235294, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29440.0, 31861.0, NaN), (29432.0, 31882.994919559696, NaN), (29424.0, 31861.0, NaN), (29306.02973977695, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29038.0, 31895.0, NaN), (29036.4126984127, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29024.46524064171, 31904.0, NaN), (29021.0, 31898.0, NaN), (29010.60714285714, 31904.0, NaN), (29024.46524064171, 31904.0, NaN)] 2025-09-11 09:11:37.471 [robot-action-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree -179.754 to degree 0.246 in qrcode CrossQrcode[147], go to next qrcode with backward 2025-09-11 09:11:37.471 [robot-action-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree 180.0 to degree 0.0 in qrcode RotationQrcode[336], fatherId [333], degree[180.0], go to next qrcode with backward 2025-09-11 09:11:37.472 [robot-action-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2 task 33096681 的任务路径初始化完成 2025-09-11 09:11:37.487 [robot-action-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 0, 时间估算: 40869.0, 路由: RobotMockPath: {qrcodes: [147, 146, 333, 222], mocks: [(147, -179.754, ahead), (146, -179.754, ahead), (333, 180.0, ahead), (222, 180.0, ahead)], type: ahead} 2025-09-11 09:11:37.488 [robot-action-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 1, 时间估算: 40868.0, 路由: RobotMockPath: {qrcodes: [147, 146, 333, 222], mocks: [(147, -179.754, ahead), (146, -179.754, ahead), (333, -179.754, ahead), (222, -179.754, ahead)], type: ahead} 2025-09-11 09:11:37.488 [robot-action-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 最佳线路 1, 路由: RobotMockPath: {qrcodes: [147, 146, 333, 222], mocks: [(147, -179.754, ahead), (146, -179.754, ahead), (333, -179.754, ahead), (222, -179.754, ahead)], type: ahead} 2025-09-11 09:11:37.493 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 取卸货任务 33096681 使用动态规划添加动作 2025-09-11 09:11:37.493 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 re planned its route [147, 146, 333] from [] 2025-09-11 09:11:37.495 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 update its occupied waypoints [147, 146] from [] 2025-09-11 09:11:37.495 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 remaining route updated [333] 2025-09-11 09:11:37.888 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749047 2025-09-11 09:11:37.888 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:11:37.888 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:11:38.498 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 update its occupied waypoints [147, 146, 333] from [147, 146] 2025-09-11 09:11:38.498 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 remaining route updated [] 2025-09-11 09:11:38.887 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749047 2025-09-11 09:11:38.887 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:11:38.887 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:11:39.886 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749047 2025-09-11 09:11:39.886 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:11:39.886 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:11:40.887 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749047 2025-09-11 09:11:40.887 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:11:40.887 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:11:41.886 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749047 2025-09-11 09:11:41.886 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:11:41.886 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:11:42.565 [robot-dynamic-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 开始动态规划路径, 最后的已申请 mock: RobotMock 1757550749048 (group null) [start=CrossQrcode[146](25578,33679) , end=CrossQrcode[333](25678,33679), degree=-179.754, action=RobotAhead [size=100]] 2025-09-11 09:11:42.565 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2 task 33096681 的离开任务初始化完成 2025-09-11 09:11:42.566 [robot-dynamic-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree -179.754 to degree 0.0 in qrcode CrossQrcode[333], go to next qrcode with backward 2025-09-11 09:11:42.579 [robot-dynamic-2] ERROR com.zcnest.rcs.robot.safe.MockValidation - robot 2, mock 108144->108145 不安全，超出安全范围：[(28696.75735294118, 35454.0, NaN), (28721.0, 35496.0, NaN), (28793.722222222226, 35454.0, NaN), (28696.75735294118, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (28864.96106162757, 35484.70415453103, NaN), (28880.0, 35570.0, NaN), (28929.31500799898, 35561.291722390866, NaN), (28961.0, 35599.0, NaN), (29026.334429729122, 35544.15957353425, NaN), (29067.48954014752, 35536.89220927537, NaN), (29100.850032151207, 35564.92390388745, NaN), (29130.0, 35645.0, NaN), (29176.151949397346, 35628.197561473644, NaN), (29214.0, 35660.0, NaN), (29269.067801204288, 35594.369892036135, NaN), (29309.688472324095, 35579.58121380472, NaN), (29346.03224891051, 35600.55905543732, NaN), (29389.0, 35675.0, NaN), (29432.0, 35650.180147058825, NaN), (29475.0, 35675.0, NaN), (29517.96775108949, 35600.55905543732, NaN), (29554.311527675905, 35579.58121380472, NaN), (29594.932198795712, 35594.369892036135, NaN), (29650.0, 35660.0, NaN), (29687.848050602654, 35628.197561473644, NaN), (29734.0, 35645.0, NaN), (29763.149967848793, 35564.92390388745, NaN), (29796.510459852478, 35536.89220927537, NaN), (29837.66557027088, 35544.15957353425, NaN), (29903.0, 35599.0, NaN), (29934.68499200102, 35561.291722390866, NaN), (29984.0, 35570.0, NaN), (29999.03893837243, 35484.70415453103, NaN), (30024.83860232945, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (30143.0, 35496.0, NaN), (30167.24264705882, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (29853.408163265307, 31904.0, NaN), (29843.0, 31898.0, NaN), (29839.53475935829, 31904.0, NaN), (29853.408163265307, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29826.0, 31895.0, NaN), (29774.845588235294, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29440.0, 31861.0, NaN), (29432.0, 31882.994919559696, NaN), (29424.0, 31861.0, NaN), (29306.02973977695, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29038.0, 31895.0, NaN), (29036.4126984127, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29024.46524064171, 31904.0, NaN), (29021.0, 31898.0, NaN), (29010.60714285714, 31904.0, NaN), (29024.46524064171, 31904.0, NaN)] 2025-09-11 09:11:42.579 [robot-dynamic-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree -179.754 to degree 0.0 in qrcode CrossQrcode[333], go to next qrcode with backward 2025-09-11 09:11:42.595 [robot-dynamic-2] ERROR com.zcnest.rcs.robot.safe.MockValidation - robot 2, mock 108150->108151 不安全，超出安全范围：[(28696.75735294118, 35454.0, NaN), (28721.0, 35496.0, NaN), (28793.722222222226, 35454.0, NaN), (28696.75735294118, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (28864.96106162757, 35484.70415453103, NaN), (28880.0, 35570.0, NaN), (28929.31500799898, 35561.291722390866, NaN), (28961.0, 35599.0, NaN), (29026.334429729122, 35544.15957353425, NaN), (29067.48954014752, 35536.89220927537, NaN), (29100.850032151207, 35564.92390388745, NaN), (29130.0, 35645.0, NaN), (29176.151949397346, 35628.197561473644, NaN), (29214.0, 35660.0, NaN), (29269.067801204288, 35594.369892036135, NaN), (29309.688472324095, 35579.58121380472, NaN), (29346.03224891051, 35600.55905543732, NaN), (29389.0, 35675.0, NaN), (29432.0, 35650.180147058825, NaN), (29475.0, 35675.0, NaN), (29517.96775108949, 35600.55905543732, NaN), (29554.311527675905, 35579.58121380472, NaN), (29594.932198795712, 35594.369892036135, NaN), (29650.0, 35660.0, NaN), (29687.848050602654, 35628.197561473644, NaN), (29734.0, 35645.0, NaN), (29763.149967848793, 35564.92390388745, NaN), (29796.510459852478, 35536.89220927537, NaN), (29837.66557027088, 35544.15957353425, NaN), (29903.0, 35599.0, NaN), (29934.68499200102, 35561.291722390866, NaN), (29984.0, 35570.0, NaN), (29999.03893837243, 35484.70415453103, NaN), (30024.83860232945, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (30143.0, 35496.0, NaN), (30167.24264705882, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (29853.408163265307, 31904.0, NaN), (29843.0, 31898.0, NaN), (29839.53475935829, 31904.0, NaN), (29853.408163265307, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29826.0, 31895.0, NaN), (29774.845588235294, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29440.0, 31861.0, NaN), (29432.0, 31882.994919559696, NaN), (29424.0, 31861.0, NaN), (29306.02973977695, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29038.0, 31895.0, NaN), (29036.4126984127, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29024.46524064171, 31904.0, NaN), (29021.0, 31898.0, NaN), (29010.60714285714, 31904.0, NaN), (29024.46524064171, 31904.0, NaN)] 2025-09-11 09:11:42.596 [robot-dynamic-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree -179.754 to degree 0.0 in qrcode CrossQrcode[333], go to next qrcode with backward 2025-09-11 09:11:42.597 [robot-dynamic-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree -179.754 to degree 0.0 in qrcode CrossQrcode[333], go to next qrcode with backward 2025-09-11 09:11:42.597 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2 task 33096681 的任务路径初始化完成 2025-09-11 09:11:42.618 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 0, 时间估算: 25006.0, 路由: RobotMockPath: {qrcodes: [222], mocks: [(222, 180.0, ahead)], type: ahead} 2025-09-11 09:11:42.618 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 1, 时间估算: 25006.0, 路由: RobotMockPath: {qrcodes: [222], mocks: [(222, -179.754, ahead)], type: ahead} 2025-09-11 09:11:42.618 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 2, 时间估算: 25006.0, 路由: RobotMockPath: {qrcodes: [152, 222], mocks: [(152, 180.0, ahead), (222, 180.0, ahead)], type: ahead} 2025-09-11 09:11:42.619 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 3, 时间估算: 25006.0, 路由: RobotMockPath: {qrcodes: [152, 222], mocks: [(152, -179.754, ahead), (222, -179.754, ahead)], type: ahead} 2025-09-11 09:11:42.619 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [222], mocks: [(222, 180.0, ahead)], type: ahead} 2025-09-11 09:11:42.619 [robot-dynamic-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 动态规划路径结束 2025-09-11 09:11:42.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749047 2025-09-11 09:11:42.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:11:42.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:11:43.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749047 2025-09-11 09:11:43.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:11:43.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:11:44.887 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749047 2025-09-11 09:11:44.887 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:11:44.887 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:11:45.887 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749047 2025-09-11 09:11:45.887 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:11:45.887 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:11:46.886 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749047 2025-09-11 09:11:46.886 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:11:46.886 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:11:47.622 [robot-dynamic-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 开始动态规划路径, 最后的已申请 mock: RobotMock 1757550749048 (group null) [start=CrossQrcode[146](25578,33679) , end=CrossQrcode[333](25678,33679), degree=-179.754, action=RobotAhead [size=100]] 2025-09-11 09:11:47.623 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2 task 33096681 的离开任务初始化完成 2025-09-11 09:11:47.623 [robot-dynamic-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree -179.754 to degree 0.0 in qrcode CrossQrcode[333], go to next qrcode with backward 2025-09-11 09:11:47.645 [robot-dynamic-2] ERROR com.zcnest.rcs.robot.safe.MockValidation - robot 2, mock 108184->108185 不安全，超出安全范围：[(28696.75735294118, 35454.0, NaN), (28721.0, 35496.0, NaN), (28793.722222222226, 35454.0, NaN), (28696.75735294118, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (28864.96106162757, 35484.70415453103, NaN), (28880.0, 35570.0, NaN), (28929.31500799898, 35561.291722390866, NaN), (28961.0, 35599.0, NaN), (29026.334429729122, 35544.15957353425, NaN), (29067.48954014752, 35536.89220927537, NaN), (29100.850032151207, 35564.92390388745, NaN), (29130.0, 35645.0, NaN), (29176.151949397346, 35628.197561473644, NaN), (29214.0, 35660.0, NaN), (29269.067801204288, 35594.369892036135, NaN), (29309.688472324095, 35579.58121380472, NaN), (29346.03224891051, 35600.55905543732, NaN), (29389.0, 35675.0, NaN), (29432.0, 35650.180147058825, NaN), (29475.0, 35675.0, NaN), (29517.96775108949, 35600.55905543732, NaN), (29554.311527675905, 35579.58121380472, NaN), (29594.932198795712, 35594.369892036135, NaN), (29650.0, 35660.0, NaN), (29687.848050602654, 35628.197561473644, NaN), (29734.0, 35645.0, NaN), (29763.149967848793, 35564.92390388745, NaN), (29796.510459852478, 35536.89220927537, NaN), (29837.66557027088, 35544.15957353425, NaN), (29903.0, 35599.0, NaN), (29934.68499200102, 35561.291722390866, NaN), (29984.0, 35570.0, NaN), (29999.03893837243, 35484.70415453103, NaN), (30024.83860232945, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (30143.0, 35496.0, NaN), (30167.24264705882, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (29853.408163265307, 31904.0, NaN), (29843.0, 31898.0, NaN), (29839.53475935829, 31904.0, NaN), (29853.408163265307, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29826.0, 31895.0, NaN), (29774.845588235294, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29440.0, 31861.0, NaN), (29432.0, 31882.994919559696, NaN), (29424.0, 31861.0, NaN), (29306.02973977695, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29038.0, 31895.0, NaN), (29036.4126984127, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29024.46524064171, 31904.0, NaN), (29021.0, 31898.0, NaN), (29010.60714285714, 31904.0, NaN), (29024.46524064171, 31904.0, NaN)] 2025-09-11 09:11:47.645 [robot-dynamic-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree -179.754 to degree 0.0 in qrcode CrossQrcode[333], go to next qrcode with backward 2025-09-11 09:11:47.656 [robot-dynamic-2] ERROR com.zcnest.rcs.robot.safe.MockValidation - robot 2, mock 108190->108191 不安全，超出安全范围：[(28696.75735294118, 35454.0, NaN), (28721.0, 35496.0, NaN), (28793.722222222226, 35454.0, NaN), (28696.75735294118, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (28864.96106162757, 35484.70415453103, NaN), (28880.0, 35570.0, NaN), (28929.31500799898, 35561.291722390866, NaN), (28961.0, 35599.0, NaN), (29026.334429729122, 35544.15957353425, NaN), (29067.48954014752, 35536.89220927537, NaN), (29100.850032151207, 35564.92390388745, NaN), (29130.0, 35645.0, NaN), (29176.151949397346, 35628.197561473644, NaN), (29214.0, 35660.0, NaN), (29269.067801204288, 35594.369892036135, NaN), (29309.688472324095, 35579.58121380472, NaN), (29346.03224891051, 35600.55905543732, NaN), (29389.0, 35675.0, NaN), (29432.0, 35650.180147058825, NaN), (29475.0, 35675.0, NaN), (29517.96775108949, 35600.55905543732, NaN), (29554.311527675905, 35579.58121380472, NaN), (29594.932198795712, 35594.369892036135, NaN), (29650.0, 35660.0, NaN), (29687.848050602654, 35628.197561473644, NaN), (29734.0, 35645.0, NaN), (29763.149967848793, 35564.92390388745, NaN), (29796.510459852478, 35536.89220927537, NaN), (29837.66557027088, 35544.15957353425, NaN), (29903.0, 35599.0, NaN), (29934.68499200102, 35561.291722390866, NaN), (29984.0, 35570.0, NaN), (29999.03893837243, 35484.70415453103, NaN), (30024.83860232945, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (30143.0, 35496.0, NaN), (30167.24264705882, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (29853.408163265307, 31904.0, NaN), (29843.0, 31898.0, NaN), (29839.53475935829, 31904.0, NaN), (29853.408163265307, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29826.0, 31895.0, NaN), (29774.845588235294, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29440.0, 31861.0, NaN), (29432.0, 31882.994919559696, NaN), (29424.0, 31861.0, NaN), (29306.02973977695, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29038.0, 31895.0, NaN), (29036.4126984127, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29024.46524064171, 31904.0, NaN), (29021.0, 31898.0, NaN), (29010.60714285714, 31904.0, NaN), (29024.46524064171, 31904.0, NaN)] 2025-09-11 09:11:47.657 [robot-dynamic-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree -179.754 to degree 0.0 in qrcode CrossQrcode[333], go to next qrcode with backward 2025-09-11 09:11:47.658 [robot-dynamic-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree -179.754 to degree 0.0 in qrcode CrossQrcode[333], go to next qrcode with backward 2025-09-11 09:11:47.659 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2 task 33096681 的任务路径初始化完成 2025-09-11 09:11:47.671 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 0, 时间估算: 25006.0, 路由: RobotMockPath: {qrcodes: [222], mocks: [(222, 180.0, ahead)], type: ahead} 2025-09-11 09:11:47.672 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 1, 时间估算: 25006.0, 路由: RobotMockPath: {qrcodes: [222], mocks: [(222, -179.754, ahead)], type: ahead} 2025-09-11 09:11:47.672 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 2, 时间估算: 25006.0, 路由: RobotMockPath: {qrcodes: [152, 222], mocks: [(152, 180.0, ahead), (222, 180.0, ahead)], type: ahead} 2025-09-11 09:11:47.672 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 3, 时间估算: 25006.0, 路由: RobotMockPath: {qrcodes: [152, 222], mocks: [(152, -179.754, ahead), (222, -179.754, ahead)], type: ahead} 2025-09-11 09:11:47.673 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [222], mocks: [(222, 180.0, ahead)], type: ahead} 2025-09-11 09:11:47.673 [robot-dynamic-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 动态规划路径结束 2025-09-11 09:11:47.886 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749047 2025-09-11 09:11:47.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:11:47.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:11:48.887 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749047 2025-09-11 09:11:48.887 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:11:48.887 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:11:49.890 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749047 2025-09-11 09:11:49.890 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:11:49.890 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:11:50.557 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":147,"timestamp":1757553110556}-zcnest.rcs.vertex.unlockNotify 2025-09-11 09:11:50.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749047 2025-09-11 09:11:50.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:11:50.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:11:51.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749047 2025-09-11 09:11:51.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:11:51.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:11:52.576 [robot-dynamic-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 开始动态规划路径, 最后的已申请 mock: RobotMock 1757550749048 (group null) [start=CrossQrcode[146](25578,33679) , end=CrossQrcode[333](25678,33679), degree=-179.754, action=RobotAhead [size=100]] 2025-09-11 09:11:52.576 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2 task 33096681 的离开任务初始化完成 2025-09-11 09:11:52.577 [robot-dynamic-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree -179.754 to degree 0.0 in qrcode CrossQrcode[333], go to next qrcode with backward 2025-09-11 09:11:52.586 [robot-dynamic-2] ERROR com.zcnest.rcs.robot.safe.MockValidation - robot 2, mock 108224->108225 不安全，超出安全范围：[(28696.75735294118, 35454.0, NaN), (28721.0, 35496.0, NaN), (28793.722222222226, 35454.0, NaN), (28696.75735294118, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (28864.96106162757, 35484.70415453103, NaN), (28880.0, 35570.0, NaN), (28929.31500799898, 35561.291722390866, NaN), (28961.0, 35599.0, NaN), (29026.334429729122, 35544.15957353425, NaN), (29067.48954014752, 35536.89220927537, NaN), (29100.850032151207, 35564.92390388745, NaN), (29130.0, 35645.0, NaN), (29176.151949397346, 35628.197561473644, NaN), (29214.0, 35660.0, NaN), (29269.067801204288, 35594.369892036135, NaN), (29309.688472324095, 35579.58121380472, NaN), (29346.03224891051, 35600.55905543732, NaN), (29389.0, 35675.0, NaN), (29432.0, 35650.180147058825, NaN), (29475.0, 35675.0, NaN), (29517.96775108949, 35600.55905543732, NaN), (29554.311527675905, 35579.58121380472, NaN), (29594.932198795712, 35594.369892036135, NaN), (29650.0, 35660.0, NaN), (29687.848050602654, 35628.197561473644, NaN), (29734.0, 35645.0, NaN), (29763.149967848793, 35564.92390388745, NaN), (29796.510459852478, 35536.89220927537, NaN), (29837.66557027088, 35544.15957353425, NaN), (29903.0, 35599.0, NaN), (29934.68499200102, 35561.291722390866, NaN), (29984.0, 35570.0, NaN), (29999.03893837243, 35484.70415453103, NaN), (30024.83860232945, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (30143.0, 35496.0, NaN), (30167.24264705882, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (29853.408163265307, 31904.0, NaN), (29843.0, 31898.0, NaN), (29839.53475935829, 31904.0, NaN), (29853.408163265307, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29826.0, 31895.0, NaN), (29774.845588235294, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29440.0, 31861.0, NaN), (29432.0, 31882.994919559696, NaN), (29424.0, 31861.0, NaN), (29306.02973977695, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29038.0, 31895.0, NaN), (29036.4126984127, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29024.46524064171, 31904.0, NaN), (29021.0, 31898.0, NaN), (29010.60714285714, 31904.0, NaN), (29024.46524064171, 31904.0, NaN)] 2025-09-11 09:11:52.587 [robot-dynamic-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree -179.754 to degree 0.0 in qrcode CrossQrcode[333], go to next qrcode with backward 2025-09-11 09:11:52.595 [robot-dynamic-2] ERROR com.zcnest.rcs.robot.safe.MockValidation - robot 2, mock 108230->108231 不安全，超出安全范围：[(28696.75735294118, 35454.0, NaN), (28721.0, 35496.0, NaN), (28793.722222222226, 35454.0, NaN), (28696.75735294118, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (28864.96106162757, 35484.70415453103, NaN), (28880.0, 35570.0, NaN), (28929.31500799898, 35561.291722390866, NaN), (28961.0, 35599.0, NaN), (29026.334429729122, 35544.15957353425, NaN), (29067.48954014752, 35536.89220927537, NaN), (29100.850032151207, 35564.92390388745, NaN), (29130.0, 35645.0, NaN), (29176.151949397346, 35628.197561473644, NaN), (29214.0, 35660.0, NaN), (29269.067801204288, 35594.369892036135, NaN), (29309.688472324095, 35579.58121380472, NaN), (29346.03224891051, 35600.55905543732, NaN), (29389.0, 35675.0, NaN), (29432.0, 35650.180147058825, NaN), (29475.0, 35675.0, NaN), (29517.96775108949, 35600.55905543732, NaN), (29554.311527675905, 35579.58121380472, NaN), (29594.932198795712, 35594.369892036135, NaN), (29650.0, 35660.0, NaN), (29687.848050602654, 35628.197561473644, NaN), (29734.0, 35645.0, NaN), (29763.149967848793, 35564.92390388745, NaN), (29796.510459852478, 35536.89220927537, NaN), (29837.66557027088, 35544.15957353425, NaN), (29903.0, 35599.0, NaN), (29934.68499200102, 35561.291722390866, NaN), (29984.0, 35570.0, NaN), (29999.03893837243, 35484.70415453103, NaN), (30024.83860232945, 35454.0, NaN), (28839.16139767055, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (30143.0, 35496.0, NaN), (30167.24264705882, 35454.0, NaN), (30070.277777777774, 35454.0, NaN), (29853.408163265307, 31904.0, NaN), (29843.0, 31898.0, NaN), (29839.53475935829, 31904.0, NaN), (29853.408163265307, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29826.0, 31895.0, NaN), (29774.845588235294, 31904.0, NaN), (29827.5873015873, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29440.0, 31861.0, NaN), (29432.0, 31882.994919559696, NaN), (29424.0, 31861.0, NaN), (29306.02973977695, 31904.0, NaN), (29557.97026022305, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29038.0, 31895.0, NaN), (29036.4126984127, 31904.0, NaN), (29089.154411764706, 31904.0, NaN), (29024.46524064171, 31904.0, NaN), (29021.0, 31898.0, NaN), (29010.60714285714, 31904.0, NaN), (29024.46524064171, 31904.0, NaN)] 2025-09-11 09:11:52.596 [robot-dynamic-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree -179.754 to degree 0.0 in qrcode CrossQrcode[333], go to next qrcode with backward 2025-09-11 09:11:52.597 [robot-dynamic-2] WARN com.zcnest.rcs.robot.mock.PathMockBuilder - can not rotation from degree -179.754 to degree 0.0 in qrcode CrossQrcode[333], go to next qrcode with backward 2025-09-11 09:11:52.597 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2 task 33096681 的任务路径初始化完成 2025-09-11 09:11:52.608 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 0, 时间估算: 25006.0, 路由: RobotMockPath: {qrcodes: [222], mocks: [(222, 180.0, ahead)], type: ahead} 2025-09-11 09:11:52.609 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 1, 时间估算: 25006.0, 路由: RobotMockPath: {qrcodes: [222], mocks: [(222, -179.754, ahead)], type: ahead} 2025-09-11 09:11:52.609 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 2, 时间估算: 25006.0, 路由: RobotMockPath: {qrcodes: [152, 222], mocks: [(152, 180.0, ahead), (222, 180.0, ahead)], type: ahead} 2025-09-11 09:11:52.610 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 规划线路 3, 时间估算: 25006.0, 路由: RobotMockPath: {qrcodes: [152, 222], mocks: [(152, -179.754, ahead), (222, -179.754, ahead)], type: ahead} 2025-09-11 09:11:52.610 [robot-dynamic-2] INFO com.zcnest.rcs.robot.mock.RobotMockBuilder - robot 2, 最佳线路 0, 路由: RobotMockPath: {qrcodes: [222], mocks: [(222, 180.0, ahead)], type: ahead} 2025-09-11 09:11:52.610 [robot-dynamic-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 动态规划路径结束 2025-09-11 09:11:52.886 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749047 2025-09-11 09:11:52.886 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:11:52.886 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:11:52.889 [http-nio-18002-exec-4] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1757550749047 setActionDone: {"robot_id":2,"height":605,"forkDegree":90,"location_x":25325,"location_y":33713,"location_theta":1793631,"energy":74,"v":0,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1757550749047,"taskFinish":0} 2025-09-11 09:11:53.576 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 update its occupied waypoints [146, 333] from [147, 146, 333] 2025-09-11 09:11:54.232 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:11:54.232 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:12:09.887 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749048 2025-09-11 09:12:09.887 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:12:09.887 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:12:09.889 [http-nio-18002-exec-4] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1757550749048 setActionDone: {"robot_id":2,"height":605,"forkDegree":90,"location_x":25632,"location_y":33705,"location_theta":1789912,"energy":74,"v":0,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1757550749048,"taskFinish":0} 2025-09-11 09:12:10.608 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 update its occupied waypoints [333] from [146, 333] 2025-09-11 09:12:10.886 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749049 2025-09-11 09:12:10.886 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:12:10.886 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:12:11.888 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749049 2025-09-11 09:12:11.888 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:12:11.888 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:12:12.887 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749049 2025-09-11 09:12:12.887 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:12:12.887 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:12:13.888 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749049 2025-09-11 09:12:13.888 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:12:13.888 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:12:14.888 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749049 2025-09-11 09:12:14.888 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:12:14.888 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:12:15.889 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749049 2025-09-11 09:12:15.889 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:12:15.889 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:12:16.637 [robot-action-2] WARN com.zcnest.rcs.robot.RobotActionControl - robot 2 释放不需要的锁定点，保留522个，但其中：未锁定6个，补申请 2025-09-11 09:12:16.886 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749049 2025-09-11 09:12:16.886 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:12:16.886 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:12:17.890 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749049 2025-09-11 09:12:17.890 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:12:17.890 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:12:18.647 [robot-action-2] WARN com.zcnest.rcs.robot.RobotActionControl - robot 2 释放不需要的锁定点，保留496个，但其中：未锁定1个，补申请 2025-09-11 09:12:18.887 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749049 2025-09-11 09:12:18.887 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:12:18.887 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:12:19.887 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749049 2025-09-11 09:12:19.887 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:12:19.887 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:12:20.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749049 2025-09-11 09:12:20.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:12:20.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:12:21.887 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749049 2025-09-11 09:12:21.887 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:12:21.887 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:12:22.672 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":146,"timestamp":1757553142671}-zcnest.rcs.vertex.unlockNotify 2025-09-11 09:12:22.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749049 2025-09-11 09:12:22.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:12:22.887 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:12:23.678 [org.springframework.amqp.rabbit.RabbitListenerEndpointContainer#2-1] INFO com.zcnest.rcs.plcDevice.PlcDeviceZcnestMqReceiver - 锁申请消息：{"vertexId":333,"timestamp":1757553143676}-zcnest.rcs.vertex.unlockNotify 2025-09-11 09:12:23.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749049 2025-09-11 09:12:23.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:12:23.887 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:12:24.887 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749049 2025-09-11 09:12:24.887 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:12:24.887 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:12:25.888 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749049 2025-09-11 09:12:25.888 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:12:25.888 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:12:26.886 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749049 2025-09-11 09:12:26.886 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:12:26.886 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:12:27.891 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749049 2025-09-11 09:12:27.891 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:12:27.891 [http-nio-18002-exec-10] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:12:28.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749049 2025-09-11 09:12:28.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:12:28.887 [http-nio-18002-exec-2] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:12:29.890 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749049 2025-09-11 09:12:29.890 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:12:29.890 [http-nio-18002-exec-7] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:12:30.887 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749049 2025-09-11 09:12:30.887 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:12:30.887 [http-nio-18002-exec-8] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:12:31.886 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749049 2025-09-11 09:12:31.887 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:12:31.887 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:12:32.887 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749049 2025-09-11 09:12:32.887 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:12:32.887 [http-nio-18002-exec-4] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:12:33.887 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749049 2025-09-11 09:12:33.887 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:12:33.887 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:12:33.889 [http-nio-18002-exec-5] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1757550749049 setActionDone: {"robot_id":2,"height":605,"forkDegree":90,"location_x":32237,"location_y":33700,"location_theta":-1796241,"energy":74,"v":0,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1757550749049,"taskFinish":0} 2025-09-11 09:12:34.739 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 update its occupied waypoints [] from [333] 2025-09-11 09:12:47.892 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749050 2025-09-11 09:12:47.892 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:12:47.892 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:12:47.892 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: RobotMock 1757550749050 (group 66) [start=PickQrcode [shelf=172,type=51, degree=180.0, pickQrcode=173](32580,33674) , end=PickQrcode [shelf=172,type=52, degree=180.0, pickQrcode=173](32580,33674), degree=-179.754, action=RobotAhead [size=0]] 2025-09-11 09:12:47.892 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 开始删除任务: 108136 2025-09-11 09:12:47.892 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: pick 2025-09-11 09:12:47.893 [http-nio-18002-exec-9] INFO com.zcnest.rcs.robot.RobotActionControl - 删除成功: 1 2025-09-11 09:12:47.895 [http-nio-18002-exec-9] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1757550749051 setActionDone: {"robot_id":2,"height":605,"forkDegree":90,"location_x":32581,"location_y":33707,"location_theta":1798210,"energy":74,"v":0,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1757550749051,"taskFinish":0} 2025-09-11 09:12:54.236 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:12:54.236 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:13:15.887 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749052 2025-09-11 09:13:15.887 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:13:15.887 [http-nio-18002-exec-3] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:13:15.890 [http-nio-18002-exec-3] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1757550749052 setActionDone: {"robot_id":2,"height":5670,"forkDegree":90,"location_x":32584,"location_y":33705,"location_theta":1798143,"energy":74,"v":0,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1757550749052,"taskFinish":0} 2025-09-11 09:13:16.795 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 re planned its route [] from [147, 146] 2025-09-11 09:13:26.890 [http-nio-18002-exec-5] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1757550749053 setActionDone: {"robot_id":2,"height":5719,"forkDegree":90,"location_x":32588,"location_y":33709,"location_theta":1798528,"energy":74,"v":0,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1757550749053,"taskFinish":0} 2025-09-11 09:13:26.890 [http-nio-18002-exec-5] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 finish action pick time：25812，now [32580，33674] degree: -179.754 task: 33096681 waitTime: 0 2025-09-11 09:13:27.810 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 waitTime 920, move away for pickTask offset 2025-09-11 09:13:27.810 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot2 取货任务即将完成接受避让任务 null 2025-09-11 09:13:27.810 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 因等待 920 超过等待时限, 自行执行离开任务, 当前EndQrcode: PickQrcode [shelf=172,type=6, degree=-179.754, pickQrcode=173] 2025-09-11 09:13:27.810 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 尝试避让 robot null 开始生成动作 2025-09-11 09:13:27.812 [robot-action-2] INFO com.zcnest.rcs.robot.away.MoveAwayControl - get path for rotationShelfQrcode: 173, with fromQrcodeId: 172 toQrcodeId: 173 2025-09-11 09:13:27.816 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 避让 robot null 生成动作成功 2025-09-11 09:13:27.816 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 规划离开 108122 路由: [108291] 2025-09-11 09:13:27.816 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 move mocks be cleared. 2025-09-11 09:13:27.817 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 执行避让任务，添加 1 个避让动作 2025-09-11 09:13:38.889 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的值: 1757550749056 2025-09-11 09:13:38.889 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - moveMocks的名称: ahead 2025-09-11 09:13:38.889 [http-nio-18002-exec-6] INFO com.zcnest.rcs.robot.RobotActionControl - 当前是否等待 2025-09-11 09:13:38.891 [http-nio-18002-exec-6] INFO com.zcnest.rcs.monitor.controller.RobotController - mock 1757550749056 setActionDone: {"robot_id":2,"height":5778,"forkDegree":90,"location_x":32585,"location_y":33707,"location_theta":1798364,"energy":74,"v":0,"manual_mode_flag":0,"boxHeight":0,"boxWeight":0,"task_id":1757550749056,"taskFinish":0} 2025-09-11 09:13:39.958 [task-dispatch-thread1] INFO com.zcnest.rcs.schedule.TaskSchedule - 60号点任务完成：60 2025-09-11 09:13:44.829 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 waitTime 5938, move away for pickTask 2025-09-11 09:13:44.830 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 因等待 5939 超过等待时限, 自行执行离开任务, 当前EndQrcode: PickQrcode [shelf=172,type=60, degree=-179.754, pickQrcode=173] 2025-09-11 09:13:44.830 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 尝试避让 robot null 开始生成动作 2025-09-11 09:13:44.830 [robot-action-2] INFO com.zcnest.rcs.robot.away.MoveAwayControl - get path for rotationShelfQrcode: 173, with fromQrcodeId: 172 toQrcodeId: 173 2025-09-11 09:13:44.833 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 避让 robot null 生成动作成功 2025-09-11 09:13:44.833 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 规划离开 108291 路由: [108293, 172] 2025-09-11 09:13:44.833 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 move mocks be cleared. 2025-09-11 09:13:44.834 [robot-action-2] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 执行避让任务，添加 2 个避让动作 2025-09-11 09:13:44.835 [robot-action-2] INFO c.zcnest.rcs.kernel.planning.RobotConflictDetector - robot 2 update its occupied waypoints [172] from [] 2025-09-11 09:13:54.240 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:13:54.241 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:14:24.366 [http-nio-18002-exec-1] ERROR com.zcnest.rcs.monitor.controller.RobotController - robot 2 report error 55204 2025-09-11 09:14:24.367 [http-nio-18002-exec-1] INFO com.zcnest.rcs.monitor.controller.RobotController - 当前异常任务ID: 33096681 2025-09-11 09:14:24.370 [http-nio-18002-exec-1] WARN com.zcnest.rcs.monitor.service.ErrorService - Warn: execute Method There are 39 results. 2025-09-11 09:14:24.371 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 move mocks be cleared. 2025-09-11 09:14:24.371 [http-nio-18002-exec-1] INFO com.zcnest.rcs.monitor.controller.RobotController - 呼叫按钮异常处理 2025-09-11 09:14:24.371 [http-nio-18002-exec-1] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 任务0 未关联呼叫按钮 2025-09-11 09:14:24.371 [http-nio-18002-exec-1] INFO com.zcnest.rcs.robot.RobotActionControl - robot 2 按照错误码设置为阻塞suspend状态 2025-09-11 09:14:54.245 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:14:54.245 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:15:54.249 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:15:54.249 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:16:54.254 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:16:54.254 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:17:54.258 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:17:54.258 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:18:54.262 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态************************************** 2025-09-11 09:18:54.262 [call-button-work-thread] INFO c.zcnest.rcs.plc.call.button.CallButtonTaskControl - 呼叫按钮相关状态**************************************