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471 lines
30 KiB
471 lines
30 KiB
2025-06-27 15:00:24.280 [ExecutorConnector-3] INFO com.galaxis.rcs.connector.cl2.Cl2DeviceConnector -
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╔══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
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╠═════ CL2 发送报文 ═════
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║ {
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║ "SeqNo" : 148,
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║ "OperationType" : 0,
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║ "ChargeDirection" : null,
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║ "ChargeLocation" : null,
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║ "StorageRacksNo" : null,
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║ "StartX" : 6,
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║ "StartY" : 2,
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║ "EndX" : 3,
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║ "EndY" : 2,
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║ "GoNow" : true,
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║ "LinkCounts" : 3,
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║ "Link" : [ {
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║ "X" : 5,
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║ "Y" : 2,
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║ "Speed" : -1000
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║ }, {
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║ "X" : 4,
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║ "Y" : 2,
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║ "Speed" : -1000
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║ }, {
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║ "X" : 3,
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║ "Y" : 2,
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║ "Speed" : -1000
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║ } ],
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║ "BuiltinSlotNo" : null,
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║ "PickMode" : 0,
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║ "GoodsSlotHeight" : 0,
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║ "GoodsSlotDirection" : 0,
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║ "MPickMode" : null,
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║ "MGoodsSlotHeight" : null,
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║ "MGoodsSlotDirection" : null,
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║ "MStorageRacksNo" : null,
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║ "Roll1Motion" : null,
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║ "Roll2Motion" : null,
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║ "Roll1StationDirection" : null,
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║ "Roll2StationDirection" : null,
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║ "Roll1GoodsLength" : null,
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║ "Roll2GoodsLength" : null,
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║ "Roll1GoodsQuantity" : null,
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║ "Roll2GoodsQuantity" : null,
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║ "MRollMotion" : null,
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║ "MRollStationDirection" : null,
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║ "MRollGoodsQuantity" : null,
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║ "Preparing" : null,
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║ "RackTypeId" : null,
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║ "EndSelfAdaption" : null
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║ }
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╚══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
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2025-06-27 15:00:24.283 [ExecutorConnector-3] INFO com.galaxis.rcs.ptr.AmrMessageHandler - sendCmd10010: {"id":10010,"content":{"SeqNo":148,"OperationType":0,"StartX":6,"StartY":2,"EndX":3,"EndY":2,"GoNow":true,"LinkCounts":3,"Link":[{"X":5,"Y":2,"Speed":-1000},{"X":4,"Y":2,"Speed":-1000},{"X":3,"Y":2,"Speed":-1000}],"PickMode":0,"GoodsSlotHeight":0,"GoodsSlotDirection":0}}
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2025-06-27 15:00:24.284 [ExecutorConnector-3] INFO com.galaxis.rcs.ptr.AmrMessageHandler -
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╔══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
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╠═════ MQTT 发送报文 [10010] RcsMessageType.RCS_TASK - AMR作业指令 ═════
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║ {
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║ "id" : 10010,
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║ "content" : {
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║ "SeqNo" : 148,
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║ "OperationType" : 0,
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║ "StartX" : 6,
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║ "StartY" : 2,
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║ "EndX" : 3,
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║ "EndY" : 2,
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║ "GoNow" : true,
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║ "LinkCounts" : 3,
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║ "Link" : [ {
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║ "X" : 5,
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║ "Y" : 2,
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║ "Speed" : -1000
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║ }, {
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║ "X" : 4,
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║ "Y" : 2,
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║ "Speed" : -1000
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║ }, {
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║ "X" : 3,
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║ "Y" : 2,
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║ "Speed" : -1000
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║ } ],
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║ "PickMode" : 0,
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║ "GoodsSlotHeight" : 0,
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║ "GoodsSlotDirection" : 0
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║ }
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║ }
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╚══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
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2025-06-27 15:00:24.285 [ExecutorConnector-3] INFO com.galaxis.rcs.ptr.PtrMqttClient - Message published to topic /wcs_server/3: finish
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2025-06-27 15:00:24.337 [ExecutorConnector-3] INFO com.galaxis.rcs.connector.cl2.Cl2DeviceConnector -
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╔══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
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╠═════ CL2 发送报文 ═════
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║ {
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║ "SeqNo" : 150,
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║ "OperationType" : 0,
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║ "ChargeDirection" : null,
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║ "ChargeLocation" : null,
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║ "StorageRacksNo" : null,
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║ "StartX" : 3,
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║ "StartY" : 2,
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║ "EndX" : 1,
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║ "EndY" : 2,
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║ "GoNow" : true,
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║ "LinkCounts" : 2,
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║ "Link" : [ {
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║ "X" : 2,
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║ "Y" : 2,
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║ "Speed" : -1000
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║ }, {
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║ "X" : 1,
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║ "Y" : 2,
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║ "Speed" : -1000
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║ } ],
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║ "BuiltinSlotNo" : null,
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║ "PickMode" : 0,
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║ "GoodsSlotHeight" : 0,
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║ "GoodsSlotDirection" : 0,
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║ "MPickMode" : null,
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║ "MGoodsSlotHeight" : null,
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║ "MGoodsSlotDirection" : null,
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║ "MStorageRacksNo" : null,
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║ "Roll1Motion" : null,
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║ "Roll2Motion" : null,
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║ "Roll1StationDirection" : null,
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║ "Roll2StationDirection" : null,
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║ "Roll1GoodsLength" : null,
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║ "Roll2GoodsLength" : null,
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║ "Roll1GoodsQuantity" : null,
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║ "Roll2GoodsQuantity" : null,
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║ "MRollMotion" : null,
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║ "MRollStationDirection" : null,
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║ "MRollGoodsQuantity" : null,
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║ "Preparing" : null,
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║ "RackTypeId" : null,
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║ "EndSelfAdaption" : null
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║ }
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╚══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
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2025-06-27 15:00:24.337 [ExecutorConnector-3] INFO com.galaxis.rcs.ptr.AmrMessageHandler - sendCmd10010: {"id":10010,"content":{"SeqNo":150,"OperationType":0,"StartX":3,"StartY":2,"EndX":1,"EndY":2,"GoNow":true,"LinkCounts":2,"Link":[{"X":2,"Y":2,"Speed":-1000},{"X":1,"Y":2,"Speed":-1000}],"PickMode":0,"GoodsSlotHeight":0,"GoodsSlotDirection":0}}
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2025-06-27 15:00:24.338 [ExecutorConnector-3] INFO com.galaxis.rcs.ptr.AmrMessageHandler -
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╔══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
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╠═════ MQTT 发送报文 [10010] RcsMessageType.RCS_TASK - AMR作业指令 ═════
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║ {
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║ "id" : 10010,
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║ "content" : {
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║ "SeqNo" : 150,
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║ "OperationType" : 0,
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║ "StartX" : 3,
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║ "StartY" : 2,
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║ "EndX" : 1,
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║ "EndY" : 2,
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║ "GoNow" : true,
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║ "LinkCounts" : 2,
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║ "Link" : [ {
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║ "X" : 2,
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║ "Y" : 2,
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║ "Speed" : -1000
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║ }, {
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║ "X" : 1,
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║ "Y" : 2,
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║ "Speed" : -1000
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║ } ],
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║ "PickMode" : 0,
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║ "GoodsSlotHeight" : 0,
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║ "GoodsSlotDirection" : 0
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║ }
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║ }
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╚══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
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2025-06-27 15:00:24.338 [ExecutorConnector-3] INFO com.galaxis.rcs.ptr.PtrMqttClient - Message published to topic /wcs_server/3: finish
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2025-06-27 15:00:24.386 [http-nio-0.0.0.0-7779-exec-2] INFO ECHO - POST /api/workbench/RcsController@agvInfo | [156ms] | [200]
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2025-06-27 15:00:24.414 [MQTT Call: MacBook-Pro-6.local] INFO com.galaxis.rcs.ptr.AmrMessageHandler -
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╔══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
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╠═════ MQTT 收到报文 [20011] ArmMessageType.AMR_TASK_STATUS - 任务状态上报 ═════
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║ {
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║ "content" : {
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║ "CreateMonoTime" : 2284248,
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║ "CreateTime" : "1751007624368",
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║ "EventId" : 1,
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║ "Info" : {
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║ "PrevTaskMode" : 0,
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║ "TaskMode" : 2
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║ },
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║ "SendTime" : "1751007624368",
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║ "SeqNo" : 79,
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║ "TaskMode" : 2,
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║ "VehicleId" : 3
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║ },
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║ "id" : 20011
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║ }
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╚══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
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2025-06-27 15:00:24.417 [MQTT Call: MacBook-Pro-6.local] INFO com.galaxis.rcs.ptr.PtrMqttClient - Message published to topic /wcs_server/3: finish
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2025-06-27 15:00:24.478 [MQTT Call: MacBook-Pro-6.local] INFO com.galaxis.rcs.ptr.AmrMessageHandler -
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╔══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
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╠═════ MQTT 收到报文 [20011] ArmMessageType.AMR_TASK_STATUS - 任务状态上报 ═════
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║ {
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║ "content" : {
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║ "CreateMonoTime" : 2284248,
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║ "CreateTime" : "1751007624368",
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║ "EventId" : 3,
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║ "Info" : {
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║ "OperationType" : 0
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║ },
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║ "SendTime" : "1751007624499",
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║ "SeqNo" : 80,
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║ "TaskMode" : 2,
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║ "VehicleId" : 3
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║ },
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║ "id" : 20011
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║ }
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╚══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
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2025-06-27 15:00:24.480 [MQTT Call: MacBook-Pro-6.local] INFO com.galaxis.rcs.ptr.PtrMqttClient - Message published to topic /wcs_server/3: finish
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2025-06-27 15:00:31.260 [MQTT Call: MacBook-Pro-6.local] INFO com.galaxis.rcs.ptr.AmrMessageHandler -
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╔══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
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╠═════ MQTT 收到报文 [20020] ArmMessageType.AMR_LANDMARK - 地标报告 ═════
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║ {
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║ "content" : {
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║ "CreateMonoTime" : 2291109,
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║ "CreateTime" : "1751007631230",
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║ "CurDirection" : 0,
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║ "CurLogicX" : 5,
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║ "CurLogicY" : 2,
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║ "CurOrientation" : -0.02847806472304383,
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║ "CurX" : 5,
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║ "CurY" : 2,
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║ "MarkerType" : 1,
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║ "SendTime" : "1751007631230",
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║ "SeqNo" : 83,
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║ "VehicleId" : 3,
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║ "X" : 9615.397097142539,
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║ "Y" : 2136.2159776580456
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║ },
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║ "id" : 20020
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║ }
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╚══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
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2025-06-27 15:00:31.361 [MQTT Call: MacBook-Pro-6.local] INFO com.galaxis.rcs.ptr.PtrMqttClient - Message published to topic /wcs_server/3: finish
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2025-06-27 15:00:32.764 [MQTT Call: MacBook-Pro-6.local] INFO com.galaxis.rcs.ptr.AmrMessageHandler -
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╔══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
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╠═════ MQTT 收到报文 [20020] ArmMessageType.AMR_LANDMARK - 地标报告 ═════
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║ {
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║ "content" : {
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║ "CreateMonoTime" : 2292660,
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║ "CreateTime" : "1751007632781",
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║ "CurDirection" : 0,
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║ "CurLogicX" : 4,
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║ "CurLogicY" : 2,
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║ "CurOrientation" : 0.019256434254617302,
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║ "CurX" : 4,
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║ "CurY" : 2,
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║ "MarkerType" : 1,
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║ "SendTime" : "1751007632781",
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║ "SeqNo" : 84,
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║ "VehicleId" : 3,
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║ "X" : 8606.442879736009,
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║ "Y" : 2123.384842438544
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║ },
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║ "id" : 20020
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║ }
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╚══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
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2025-06-27 15:00:32.868 [MQTT Call: MacBook-Pro-6.local] INFO com.galaxis.rcs.ptr.PtrMqttClient - Message published to topic /wcs_server/3: finish
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2025-06-27 15:00:34.436 [MQTT Call: MacBook-Pro-6.local] INFO com.galaxis.rcs.ptr.AmrMessageHandler -
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╔══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
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╠═════ MQTT 收到报文 [20020] ArmMessageType.AMR_LANDMARK - 地标报告 ═════
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║ {
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║ "content" : {
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║ "CreateMonoTime" : 2294294,
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║ "CreateTime" : "1751007634415",
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║ "CurDirection" : 0,
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║ "CurLogicX" : 3,
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║ "CurLogicY" : 2,
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║ "CurOrientation" : -0.006489294703697969,
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║ "CurX" : 3,
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║ "CurY" : 2,
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║ "MarkerType" : 1,
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║ "SendTime" : "1751007634415",
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║ "SeqNo" : 85,
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║ "VehicleId" : 3,
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║ "X" : 7502.072696707337,
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║ "Y" : 2107.0817850912763
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║ },
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║ "id" : 20020
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║ }
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╚══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
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2025-06-27 15:00:34.535 [MQTT Call: MacBook-Pro-6.local] INFO com.galaxis.rcs.ptr.PtrMqttClient - Message published to topic /wcs_server/3: finish
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2025-06-27 15:00:36.175 [MQTT Call: MacBook-Pro-6.local] INFO com.galaxis.rcs.ptr.AmrMessageHandler -
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╔══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
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╠═════ MQTT 收到报文 [20020] ArmMessageType.AMR_LANDMARK - 地标报告 ═════
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║ {
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║ "content" : {
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║ "CreateMonoTime" : 2296007,
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║ "CreateTime" : "1751007636128",
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║ "CurDirection" : 0,
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║ "CurLogicX" : 2,
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║ "CurLogicY" : 2,
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║ "CurOrientation" : -0.012030803691131672,
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║ "CurX" : 2,
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║ "CurY" : 2,
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║ "MarkerType" : 1,
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║ "SendTime" : "1751007636128",
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║ "SeqNo" : 86,
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║ "VehicleId" : 3,
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║ "X" : 6211.98886753389,
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║ "Y" : 2118.791179724893
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║ },
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║ "id" : 20020
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║ }
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╚══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
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2025-06-27 15:00:36.284 [MQTT Call: MacBook-Pro-6.local] INFO com.galaxis.rcs.ptr.PtrMqttClient - Message published to topic /wcs_server/3: finish
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2025-06-27 15:00:38.325 [MQTT Call: MacBook-Pro-6.local] INFO com.galaxis.rcs.ptr.AmrMessageHandler -
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╔══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
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╠═════ MQTT 收到报文 [20020] ArmMessageType.AMR_LANDMARK - 地标报告 ═════
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║ {
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║ "content" : {
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║ "CreateMonoTime" : 2298150,
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║ "CreateTime" : "1751007638270",
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║ "CurDirection" : 0,
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║ "CurLogicX" : 1,
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║ "CurLogicY" : 2,
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║ "CurOrientation" : 0.007747868034737305,
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║ "CurX" : 1,
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║ "CurY" : 2,
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║ "MarkerType" : 1,
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║ "SendTime" : "1751007638270",
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║ "SeqNo" : 88,
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║ "VehicleId" : 3,
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║ "X" : 5122.318947144535,
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║ "Y" : 2116.9947018736734
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║ },
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║ "id" : 20020
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║ }
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╚══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
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2025-06-27 15:00:38.435 [MQTT Call: MacBook-Pro-6.local] INFO com.galaxis.rcs.ptr.PtrMqttClient - Message published to topic /wcs_server/3: finish
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2025-06-27 15:00:38.564 [MQTT Call: MacBook-Pro-6.local] INFO com.galaxis.rcs.ptr.AmrMessageHandler -
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╔══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
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╠═════ MQTT 收到报文 [20011] ArmMessageType.AMR_TASK_STATUS - 任务状态上报 ═════
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║ {
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║ "content" : {
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║ "CreateMonoTime" : 2298456,
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║ "CreateTime" : "1751007638577",
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║ "EventId" : 4,
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║ "Info" : {
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║ "Battery" : 57,
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║ "CurDirection" : 0,
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║ "CurLogicX" : 1,
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║ "CurLogicY" : 2,
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║ "CurOrientation" : 0.005623439285652832,
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║ "CurX" : 5128.891704586081,
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║ "CurY" : 2115.999392961749,
|
|
║ "ForkDirection" : 0,
|
|
║ "GoodsSlots" : [ {
|
|
║ "DetectedStatus" : 0,
|
|
║ "Height" : 100.64794956610422,
|
|
║ "ID" : 0,
|
|
║ "Name" : "default",
|
|
║ "Position" : {
|
|
║ "OffsetX" : 0.002606201087473892,
|
|
║ "OffsetY" : 0.0,
|
|
║ "OffsetZ" : -0.8520504338957839,
|
|
║ "Orientation" : 0.0
|
|
║ },
|
|
║ "ShouldHaveGoods" : false
|
|
║ } ],
|
|
║ "OperationResult" : 0,
|
|
║ "OperationType" : 0,
|
|
║ "StorageDirection" : 15
|
|
║ },
|
|
║ "SendTime" : "1751007638577",
|
|
║ "SeqNo" : 89,
|
|
║ "TaskMode" : 2,
|
|
║ "VehicleId" : 3
|
|
║ },
|
|
║ "id" : 20011
|
|
║ }
|
|
╚══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
|
|
2025-06-27 15:00:38.671 [MQTT Call: MacBook-Pro-6.local] INFO com.galaxis.rcs.ptr.PtrMqttClient - Message published to topic /wcs_server/3: finish
|
|
2025-06-27 15:00:38.751 [MQTT Call: MacBook-Pro-6.local] INFO com.galaxis.rcs.ptr.AmrMessageHandler -
|
|
╔══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
|
|
╠═════ MQTT 收到报文 [20010] ArmMessageType.AMR_TASK_COMPLETED - 小车作业完成 ═════
|
|
║ {
|
|
║ "content" : {
|
|
║ "Battery" : 57,
|
|
║ "CreateMonoTime" : 2298456,
|
|
║ "CreateTime" : "1751007638577",
|
|
║ "CurDirection" : 0,
|
|
║ "CurOrientation" : 0.005623439285652832,
|
|
║ "CurX" : 1,
|
|
║ "CurY" : 2,
|
|
║ "ForkDirection" : 0,
|
|
║ "GoodsSlots" : [ {
|
|
║ "DetectedStatus" : 0,
|
|
║ "Height" : 100.64794956610422,
|
|
║ "ID" : 0,
|
|
║ "Name" : "default",
|
|
║ "Position" : {
|
|
║ "OffsetX" : 0.002606201087473892,
|
|
║ "OffsetY" : 0.0,
|
|
║ "OffsetZ" : -0.8520504338957839,
|
|
║ "Orientation" : 0.0
|
|
║ },
|
|
║ "ShouldHaveGoods" : false
|
|
║ } ],
|
|
║ "OperationResult" : 0,
|
|
║ "OperationType" : 0,
|
|
║ "SendTime" : "1751007638758",
|
|
║ "SeqNo" : 90,
|
|
║ "StorageDirection" : 15,
|
|
║ "VehicleId" : 3
|
|
║ },
|
|
║ "id" : 20010
|
|
║ }
|
|
╚══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
|
|
2025-06-27 15:00:38.754 [MQTT Call: MacBook-Pro-6.local] INFO com.galaxis.rcs.ptr.PtrMqttClient - Message published to topic /wcs_server/3: finish
|
|
2025-06-27 15:00:38.819 [MQTT Call: MacBook-Pro-6.local] INFO com.galaxis.rcs.ptr.AmrMessageHandler -
|
|
╔══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
|
|
╠═════ MQTT 收到报文 [20011] ArmMessageType.AMR_TASK_STATUS - 任务状态上报 ═════
|
|
║ {
|
|
║ "content" : {
|
|
║ "CreateMonoTime" : 2298456,
|
|
║ "CreateTime" : "1751007638577",
|
|
║ "EventId" : 1,
|
|
║ "Info" : {
|
|
║ "PrevTaskMode" : 2,
|
|
║ "TaskMode" : 0
|
|
║ },
|
|
║ "SendTime" : "1751007638837",
|
|
║ "SeqNo" : 91,
|
|
║ "TaskMode" : 0,
|
|
║ "VehicleId" : 3
|
|
║ },
|
|
║ "id" : 20011
|
|
║ }
|
|
╚══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
|
|
2025-06-27 15:00:38.819 [MQTT Call: MacBook-Pro-6.local] INFO com.galaxis.rcs.ptr.PtrMqttClient - Message published to topic /wcs_server/3: finish
|
|
2025-06-27 15:00:38.887 [MQTT Call: MacBook-Pro-6.local] INFO com.galaxis.rcs.ptr.AmrMessageHandler -
|
|
╔══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
|
|
╠═════ MQTT 收到报文 [20011] ArmMessageType.AMR_TASK_STATUS - 任务状态上报 ═════
|
|
║ {
|
|
║ "content" : {
|
|
║ "CreateMonoTime" : 2298456,
|
|
║ "CreateTime" : "1751007638577",
|
|
║ "EventId" : 1,
|
|
║ "Info" : {
|
|
║ "PrevTaskMode" : 0,
|
|
║ "TaskMode" : 6
|
|
║ },
|
|
║ "SendTime" : "1751007638904",
|
|
║ "SeqNo" : 92,
|
|
║ "TaskMode" : 6,
|
|
║ "VehicleId" : 3
|
|
║ },
|
|
║ "id" : 20011
|
|
║ }
|
|
╚══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
|
|
2025-06-27 15:00:38.889 [MQTT Call: MacBook-Pro-6.local] INFO com.galaxis.rcs.ptr.PtrMqttClient - Message published to topic /wcs_server/3: finish
|
|
2025-06-27 15:00:38.951 [MQTT Call: MacBook-Pro-6.local] INFO com.galaxis.rcs.ptr.AmrMessageHandler -
|
|
╔══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
|
|
╠═════ MQTT 收到报文 [20011] ArmMessageType.AMR_TASK_STATUS - 任务状态上报 ═════
|
|
║ {
|
|
║ "content" : {
|
|
║ "CreateMonoTime" : 2298456,
|
|
║ "CreateTime" : "1751007638577",
|
|
║ "EventId" : 1,
|
|
║ "Info" : {
|
|
║ "PrevTaskMode" : 6,
|
|
║ "TaskMode" : 0
|
|
║ },
|
|
║ "SendTime" : "1751007638972",
|
|
║ "SeqNo" : 93,
|
|
║ "TaskMode" : 0,
|
|
║ "VehicleId" : 3
|
|
║ },
|
|
║ "id" : 20011
|
|
║ }
|
|
╚══════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════════
|
|
2025-06-27 15:00:38.952 [MQTT Call: MacBook-Pro-6.local] INFO com.galaxis.rcs.ptr.PtrMqttClient - Message published to topic /wcs_server/3: finish
|
|
|