upload

AGVControl_Steel/AGVControl_Steel.csproj

@@ -35,7 +35,13 @@
     <ErrorReport>prompt</ErrorReport>
     <WarningLevel>4</WarningLevel>
   </PropertyGroup>
+  <PropertyGroup>
+    <ApplicationIcon>Icon.ico</ApplicationIcon>
+  </PropertyGroup>
   <ItemGroup>
+    <Reference Include="ClassFormParent">
+      <HintPath>..\..\ClassFormParent\ClassFormParent\bin\Debug\ClassFormParent.dll</HintPath>
+    </Reference>
     <Reference Include="log4net">
       <HintPath>..\..\..\..\DLL\log4net.dll</HintPath>
     </Reference>
@@ -86,6 +92,7 @@
     <Compile Include="BLL\SteelManage.cs" />
     <EmbeddedResource Include="UI\FrmMain.resx">
       <DependentUpon>FrmMain.cs</DependentUpon>
+      <SubType>Designer</SubType>
     </EmbeddedResource>
     <EmbeddedResource Include="Properties\Resources.resx">
       <Generator>ResXFileCodeGenerator</Generator>
@@ -96,6 +103,9 @@
       <AutoGen>True</AutoGen>
       <DependentUpon>Resources.resx</DependentUpon>
     </Compile>
+    <None Include="bin\Debug\AGVControl_Steel.exe.config" />
+    <None Include="bin\Debug\Config\AgvMission.csv" />
+    <None Include="bin\Debug\Config\AgvName.csv" />
     <None Include="packages.config" />
     <None Include="Properties\Settings.settings">
       <Generator>SettingsSingleFileGenerator</Generator>
@@ -110,5 +120,18 @@
   <ItemGroup>
     <None Include="App.config" />
   </ItemGroup>
+  <ItemGroup>
+    <Content Include="bin\Debug\AGVControl_Steel.exe" />
+    <Content Include="bin\Debug\AGVControl_Steel.pdb" />
+    <Content Include="bin\Debug\AGVControl_Steel.xml" />
+    <Content Include="bin\Debug\log4net.dll" />
+    <Content Include="bin\Debug\RestSharp.dll" />
+    <Content Include="bin\Debug\RestSharp.xml" />
+    <Content Include="Icon.ico" />
+  </ItemGroup>
+  <ItemGroup>
+    <Folder Include="bin\Debug\Logs\" />
+    <Folder Include="bin\Release\" />
+  </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
 </Project>
\ No newline at end of file

AGVControl_Steel/AGVControl_Steel.csproj.user

+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="Current" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <PropertyGroup>
+    <ProjectView>ShowAllFiles</ProjectView>
+  </PropertyGroup>
+</Project>
\ No newline at end of file

AGVControl_Steel/App.config

@@ -43,8 +43,8 @@
 		<add key="AGV_BATTERY_MIN" value="60"/>
 		<add key="4D_Line" value="D1,D2,D3,D4,D5,D6,D8,D9,D10,D11,D12,D14,D15,D16"/>
 		<add key="4C_Line" value="C1,C2,C3,C4,C5,C6,C7,C8,C9,C10"/>
-		<add key="Store" value="wash,storage"/>
-		<add key="4D_AGV" value="25"/>
+		<add key="Store" value="4cwash,4dwash,storage"/>
+		<add key="4D_AGV" value="6"/>
 		<add key="4C_AGV" value="32"/>
 	</appSettings>
 </configuration>
\ No newline at end of file

AGVControl_Steel/BLL/Common.cs

@@ -10,6 +10,7 @@ namespace AGVControl_Steel
     /// </summary>
     public static class Common
     {
+        public static System.Windows.Forms.TextBox txtLog;
         public static List<AgvInfo> agvInfos;
         public static Dictionary<string, string> agvMissions;
         public static MiR_API mir;
@@ -23,6 +24,8 @@ namespace AGVControl_Steel
         public static string[] STORE_NAME;
         public const string WORKSHOP_4D = "4D";
         public const string WORKSHOP_4C = "4C";
+        public const string MISSION_TAKE_OFF_SHELF = "Placeqisdashelf";
+        public const string MISSION_TAKE_ON_SHELF = "Pickupqisdashelf";
         public const string MISSION_MOVE_4C_4D = "MoveDoor-4C-4D";
         public const string MISSION_MOVE_4D_4C = "MoveDoor-4D-4C";
         public const string MISSION_CHARGE_4D = "AutoCharge4D";
@@ -32,7 +35,6 @@ namespace AGVControl_Steel
         public const string MISSION_MOVE_WASH_4D = "Move4DWash";
         public const string MISSION_MOVE_WASH_4C = "Move4CWash";
         public const string MISSION_MOVE_STORAGE = "MoveStorage";
-
         public const string MISSION_MOVE_D1 = "MoveSteelD1";
         public const string MISSION_MOVE_D2 = "MoveSteelD2";
         public const string MISSION_MOVE_D3 = "MoveSteelD3";

AGVControl_Steel/BLL/Control.cs

@@ -32,7 +32,7 @@ namespace BLL
         /// </summary>
         public void Start()
         {
-            timerCall = new Timer(CallProcess, null, 0, 3000);
+            timerCall = new Timer(CallProcess, null, 0, 2000);
         }
 
         /// <summary>
@@ -84,7 +84,7 @@ namespace BLL
         {
             if (!info.IsOnline) return;
             bool rtn = Common.mir.Get_State(info.IP, info.Authorization, out int stateID, out string stateText, out int battery, out string missionText, out System.Drawing.PointF position);
-            Common.log.Debug(string.Format("{1} GetAgvState[return={0}] stateID={2}, stateText={3}, battery={4}, missionText={5}, position={6}", rtn, info.FullName, stateID, stateText, battery, missionText, position));
+            //Common.log.Debug(string.Format("{1} GetAgvState[return={0}] stateID={2}, stateText={3}, battery={4}, missionText={5}, position={6}", rtn, info.FullName, stateID, stateText, battery, missionText, position));
 
             if (rtn)
             {
@@ -97,6 +97,11 @@ namespace BLL
                 string ip = info.IP;
                 int idx = Common.agvInfos.FindIndex(s => s.IP == ip);
                 if (idx > -1) AgvChanged?.Invoke(idx);
+
+                if (info.StateID == 4)  //Pause
+                {
+                    Common.mir.State_Ready(info.IP, info.Authorization);
+                }
             }
         }
 
@@ -119,7 +124,7 @@ namespace BLL
                     rtn = Common.mir.Get_IO_Modules(info.IP, info.Authorization, out string[] guid);
                     if (rtn) info.IOGuid = guid[0];
                 }
-                Common.log.Debug(string.Format("{0}[{1}] 在线", info.Name, info.IP));
+                //Common.log.Debug(string.Format("{0}[{1}] 在线", info.Name, info.IP));
             }
             else
             {

AGVControl_Steel/BLL/SteelManage.cs

@@ -34,33 +34,33 @@ namespace BLL
 
 
 
-        public void OldSteelWorkAdd(string from)
+        public void OldSteelWorkAdd(string place)
         {
-            int index = oldSteelWork.FindIndex(sw => sw.From == from);
+            int index = oldSteelWork.FindIndex(sw => sw.Place == place);
             if (index == -1)
             {
-                SteelWork sw = new SteelWork() { From = from };
+                SteelWork sw = new SteelWork() { Place = place };
                 oldSteelWork.Add(sw);
                 string[] content = new string[oldSteelWork.Count];
                 for (int i = 0; i < content.Length; i++)
-                    content[i] = oldSteelWork[i].From + "," + oldSteelWork[i].DateTime.ToString();
+                    content[i] = oldSteelWork[i].Place + "," + oldSteelWork[i].DateTime.ToString();
                 System.IO.File.WriteAllLines(Common.PATH_OLD_STEEL_WORK, content, System.Text.Encoding.UTF8);
             }
-            Common.log.Debug("OldSteelWorkAdd(" + from + ") 添加旧钢板任务，保存到" + Common.PATH_OLD_STEEL_WORK);
+            Common.log.Debug("添加(" + place + ")旧钢板任务，保存到" + Common.PATH_OLD_STEEL_WORK);
         }
 
-        public void OldSteelWorkDel(string from)
+        public void OldSteelWorkDel(string place)
         {
-            int index = oldSteelWork.FindIndex(sw => sw.From == from);
+            int index = oldSteelWork.FindIndex(sw => sw.Place == place);
             if (index > -1)
             {
                 oldSteelWork.RemoveAt(index);
                 string[] content = new string[oldSteelWork.Count];
                 for (int i = 0; i < content.Length; i++)
-                    content[i] = oldSteelWork[i].From + "," + oldSteelWork[i].DateTime.ToString();
+                    content[i] = oldSteelWork[i].Place + "," + oldSteelWork[i].DateTime.ToString();
                 System.IO.File.WriteAllLines(Common.PATH_OLD_STEEL_WORK, content, System.Text.Encoding.UTF8);
             }
-            Common.log.Debug("OldSteelWorkDel(" + from + ") 旧钢板任务，保存到" + Common.PATH_OLD_STEEL_WORK);
+            Common.log.Debug("删除(" + place + ")旧钢板任务，保存到" + Common.PATH_OLD_STEEL_WORK);
         }
 
         public void OldSteelWorkLoad()
@@ -71,20 +71,18 @@ namespace BLL
             for (int i = 0; i < lines.Length; i++)
             {
                 string[] arr = lines[i].Split(',');
-                SteelWork sw = new SteelWork() { From = arr[0], DateTime = Convert.ToDateTime(arr[1]) };
+                SteelWork sw = new SteelWork() { Place = arr[0], DateTime = Convert.ToDateTime(arr[1]) };
                 oldSteelWork.Add(sw);
             }
-            Common.log.Debug("OldSteelWorkLoad() 旧钢板任务加载，来自" + Common.PATH_OLD_STEEL_WORK);
+            Common.log.Debug("加载旧钢板任务，来自" + Common.PATH_OLD_STEEL_WORK);
         }
 
-        public bool FindOldSteelWork(string lineName)
+        public bool FindOldSteelWork(string place)
         {
-            int idx = oldSteelWork.FindIndex(s => s.From == lineName);
+            int idx = oldSteelWork.FindIndex(s => s.Place == place);
             return idx > -1;
         }
 
-
-
         public void NewSteelWorkAdd(string from, string place)
         {
             int index = newSteelWork.FindIndex(sw => sw.From == from && sw.Place == place);
@@ -97,8 +95,22 @@ namespace BLL
                     content[i] = newSteelWork[i].From + "," + newSteelWork[i].Place + "," + newSteelWork[i].DateTime.ToString();
                 System.IO.File.WriteAllLines(Common.PATH_NEW_STEEL_WORK, content, System.Text.Encoding.UTF8);
             }
-            Common.log.Debug("NewSteelWorkAdd(" + from + "," + place + ") 添加新钢板任务，保存到" + Common.PATH_NEW_STEEL_WORK);
+            Common.log.Debug("添加(" + from + "," + place + ")新钢板任务，保存到" + Common.PATH_NEW_STEEL_WORK);
+
+        }
 
+        public void NewSteelWorkDel(string from, string place)
+        {
+            int index = newSteelWork.FindIndex(sw => sw.From == from && sw.Place == place);
+            if (index > -1)
+            {
+                newSteelWork.RemoveAt(index);
+                string[] content = new string[newSteelWork.Count];
+                for (int i = 0; i < content.Length; i++)
+                    content[i] = newSteelWork[i].From + "," + newSteelWork[i].Place + "," + newSteelWork[i].DateTime.ToString();
+                System.IO.File.WriteAllLines(Common.PATH_NEW_STEEL_WORK, content, System.Text.Encoding.UTF8);
+            }
+            Common.log.Debug("删除(" + from + "," + place + ")新钢板任务，保存到" + Common.PATH_NEW_STEEL_WORK);
         }
 
         public void NewSteelWorkLoad()
@@ -112,9 +124,14 @@ namespace BLL
                 SteelWork sw = new SteelWork() { From = arr[0], Place = arr[1], DateTime = Convert.ToDateTime(arr[2]) };
                 newSteelWork.Add(sw);
             }
-            Common.log.Debug("NewSteelWorkLoad() 新钢板任务加载，来自" + Common.PATH_NEW_STEEL_WORK);
+            Common.log.Debug("加载新钢板任务，来自" + Common.PATH_NEW_STEEL_WORK);
         }
 
+        public bool FindNewSteelWork(string from, string place)
+        {
+            int idx = newSteelWork.FindIndex(s => s.From == from && s.Place == place);
+            return idx > -1;
+        }
 
 
 
@@ -122,20 +139,26 @@ namespace BLL
 
 
 
-
-        public Job GetSteelJob()
+        public Job GetSteelJob(AgvInfo info)
         {
-            if (oldSteelWork.Count > 0)
-            {
-                return new TakeOldJob();
-            }
-            //else if (newSteelWork.Count > 0)
-            //{
-            //    return new WashPointJob();
-            //    return new StorageJob();
-            //}
-            else
+            string name = info.Workshop.Substring(1, 1);
+            int index = oldSteelWork.FindIndex(s => s.Place.StartsWith(name));
+
+            //TEST
+            string s = "";
+            for (int i = 0; i < oldSteelWork.Count; i++)
+                s += oldSteelWork[i].Place + ";";
+            Common.log.Debug("name=" + name + " oldSteelWork=" + s);
+
+
+
+
+
+            if (index == -1)
                 return null;
+            else
+                return new TakeOldJob();
+
         }
 
     }

AGVControl_Steel/BLL/WebService.cs

@@ -12,12 +12,12 @@ namespace Webs
     internal interface IWeb
     {
         [OperationContract]
-        [WebGet(UriTemplate = "StealAgv/takeOld?from={from}", BodyStyle = WebMessageBodyStyle.Bare, RequestFormat = WebMessageFormat.Json, ResponseFormat = WebMessageFormat.Json)]
-        Result TakeOldGet(string from);
+        [WebGet(UriTemplate = "StealAgv/takeOld?place={place}", BodyStyle = WebMessageBodyStyle.Bare, RequestFormat = WebMessageFormat.Json, ResponseFormat = WebMessageFormat.Json)]
+        Result TakeOldGet(string place);
 
         [OperationContract]
-        [WebGet(UriTemplate = "StealAgv/sendNew?from={from}&placeList={list}", BodyStyle = WebMessageBodyStyle.Bare, RequestFormat = WebMessageFormat.Json, ResponseFormat = WebMessageFormat.Json)]
-        Result SendNewGet(string from, string list);
+        [WebGet(UriTemplate = "StealAgv/sendNew?from={from}&place={place}", BodyStyle = WebMessageBodyStyle.Bare, RequestFormat = WebMessageFormat.Json, ResponseFormat = WebMessageFormat.Json)]
+        Result SendNewGet(string from, string place);
 
         [OperationContract]
         [WebInvoke(Method = "POST", UriTemplate = "StealAgv/takeOld", BodyStyle = WebMessageBodyStyle.Bare, RequestFormat = WebMessageFormat.Json, ResponseFormat = WebMessageFormat.Json)]
@@ -47,16 +47,16 @@ namespace Webs
         {
         }
 
-        public Result TakeOldGet(string from)
+        public Result TakeOldGet(string place)
         {
-            Common.log.Info("takeOld[GET] from=" + from);
-            return TakeOld(from);
+            Common.log.Info("takeOld[GET] place=" + place);
+            return TakeOld(place);
         }
 
-        public Result SendNewGet(string from, string list)
+        public Result SendNewGet(string from, string place)
         {
-            Common.log.Info("sendNew[GET] from=" + from + " placeList=" + list);
-            return SendNew(from, list);
+            Common.log.Info("sendNew[GET] from=" + from + " place=" + place);
+            return SendNew(from, place);
         }
 
         public Result TakeOldPost(Stream info)
@@ -64,7 +64,7 @@ namespace Webs
             StreamReader sr = new StreamReader(info);
             string s = sr.ReadToEnd();
             Common.log.Info("takeOld[POST] " + s);
-            s = s.ToLower().Replace("from=", "");
+            s = s.ToLower().Replace("place=", "");
             return TakeOld(s);
         }
 
@@ -77,69 +77,98 @@ namespace Webs
             s = s.ToLower();
             string[] arr = s.Split('&');
             arr[0] = arr[0].Replace("from=", "");
-            arr[1] = arr[1].Replace("placelist=", "");
+            arr[1] = arr[1].Replace("place=", "");
             return SendNew(arr[0], arr[1]);
         }
 
 
 
-        private Result TakeOld(string from)
+        private Result TakeOld(string place)
         {
             Result res;
-            from = from.ToUpper();
-            int index1 = Array.FindIndex(Common.LINE_NAME_4D, match => match == from);
-            int index2 = Array.FindIndex(Common.LINE_NAME_4C, match => match == from);
 
-            if (index1 == -1 && index2 == -1)
+            try
             {
-                res = new Result { Code = -1, Msg = "Not find " + from };
+                place = place.ToUpper();
+                int index1 = Array.FindIndex(Common.LINE_NAME_4D, s => s == place);
+                int index2 = Array.FindIndex(Common.LINE_NAME_4C, s => s == place);
+
+                if (index1 == -1 && index2 == -1)
+                {
+                    res = new Result { Code = -2, Msg = "Not find place=" + place };
+                }
+                else
+                {
+                    Common.steelManage.OldSteelWorkAdd(place);
+                    res = new Result { Code = 0, Msg = "OK" };
+                }
             }
-            else
+            catch (Exception ex)
             {
-                Common.steelManage.OldSteelWorkAdd(from);
-                res = new Result { Code = 0, Msg = "OK" };
+                res = new Result { Code = -100, Msg = ex.Message };
             }
+
             return res;
         }
 
-        private Result SendNew(string from, string list)
+        private Result SendNew(string from, string place)
         {
-            from = from.ToLower();
-            int index = Array.FindIndex(Common.STORE_NAME, match => match == from);
-            
-            if (index == -1)
-            {
-                return new Result { Code = -1, Msg = "Not find " + from };
-            }
-            else
+            Result res = new Result();
+
+            try
             {
-                list = list.ToUpper();
-                if (list == "EMPTYSHELFIN")
-                {
-                    Common.steelManage.NewSteelWorkAdd(from, list);
-                    return new Result { Code = 0, Msg = "OK" };
-                }
-                else if (list == "EMPTYSHELFLEAVE")
+                from = from.ToLower();
+                int index = Array.FindIndex(Common.STORE_NAME, s => s == from);
+
+                if (index == -1)
                 {
-                    Common.steelManage.NewSteelWorkAdd(from, list);
-                    return new Result { Code = 0, Msg = "OK" };
+                    res = new Result { Code = -1, Msg = "Not find from=" + from };
                 }
                 else
                 {
-                    string[] arr = list.Split(',');
-                    for (int i = 0; i < arr.Length; i++)
+                    place = place.ToUpper();
+                    if (place == "EMPTYSHELFIN")
                     {
-                        int index1 = Array.FindIndex(Common.LINE_NAME_4D, match => match == arr[i]);
-                        int index2 = Array.FindIndex(Common.LINE_NAME_4C, match => match == arr[i]);
-
-                        if (index1 == -1 && index2 == -1)
-                            return new Result { Code = -2, Msg = "Not find " + arr[i] };
-                        else
-                            Common.steelManage.NewSteelWorkAdd(from, arr[i]);
+                        Common.steelManage.NewSteelWorkAdd(from, place);
+                        res = new Result { Code = 0, Msg = "OK" };
+                    }
+                    else if (place == "EMPTYSHELFLEAVE")
+                    {
+                        Common.steelManage.NewSteelWorkAdd(from, place);
+                        res = new Result { Code = 0, Msg = "OK" };
+                    }
+                    else
+                    {
+                        bool find = true;
+                        string[] arr = place.Split(',');
+                        for (int i = 0; i < arr.Length; i++)
+                        {
+                            int index1 = Array.FindIndex(Common.LINE_NAME_4D, s => s == arr[i]);
+                            int index2 = Array.FindIndex(Common.LINE_NAME_4C, s => s == arr[i]);
+
+                            if (index1 == -1 && index2 == -1)
+                            {
+                                res = new Result { Code = -2, Msg = "Not find place=" + arr[i] };
+                                find = false;
+                                break;
+                            }
+                            else
+                            {
+                                Common.steelManage.NewSteelWorkAdd(from, arr[i]);
+                                find = true;
+                            }
+                        }
+                        if (find)
+                            res = new Result { Code = 0, Msg = "OK" };
                     }
-                    return new Result { Code = 0, Msg = "OK" };
                 }
             }
+            catch (Exception ex)
+            {
+                res = new Result { Code = -100, Msg = ex.Message };
+            }
+
+            return res;
         }
     }
 

AGVControl_Steel/Job/ChargeJob.cs

@@ -27,134 +27,107 @@ namespace Model
         {
             if (chargeStep.IsEqual(ChargeStep.None))
             {
-                None(info);
+                if (info.IsSelfWorkshop())
+                    MoveCharge(info);
+                else
+                    MoveDoor(info);
             }
             else if (chargeStep.IsEqual(ChargeStep.WaitWorkshopDoor))
             {
-                WaitWorkshopDoor(info);
+                rtn = Common.mir.Get_MissionState_Fleet(info.Authorization, id, out string state);
+                if (rtn)
+                {
+                    if (state == MissionState.Done.ToString())
+                        MoveCharge(info);
+                    else if (state == MissionState.Aborted.ToString())
+                        chargeStep.Msg = info.FullName + "任务状态" + MissionState.Aborted.ToString();
+                }
+                else
+                {
+                    chargeStep.Msg = info.FullName + "获取任务状态id[" + id + "]失败";
+                }
             }
             else if (chargeStep.IsEqual(ChargeStep.WaitChargeStation))
             {
-                WaitChargeStation(info);
+                rtn = Common.mir.Get_Register(info.IP, info.Authorization, 20, out int value);
+                if (rtn)
+                {
+                    if (value == 1)
+                    {
+                        chargeStep.Msg = info.FullName + "到达充电位，准备充电";
+                        chargeStep.NextStep(ChargeStep.Charging);
+                    }
+                }
+                else
+                {
+                    chargeStep.Msg = info.FullName + "获取PLC20失败";
+                }
             }
             else if (chargeStep.IsEqual(ChargeStep.Charging))
             {
                 if (info.Battery == info.BatteryMax)
                 {
-                    chargeStep.NextStep(ChargeStep.End);
                     chargeStep.Msg = info.FullName + "电量达到" + info.BatteryMax + "，充电工作结束";
+                    chargeStep.NextStep(ChargeStep.End);
                 }
                 else if (info.Battery > info.BatteryMin)
                 {
-                    Job job = Common.steelManage.GetSteelJob();
-                    if (job != null) return job;
+                    Job job = Common.steelManage.GetSteelJob(info);
+                    if (job != null)
+                    {
+                        Common.mir.Del_Mission(info.IP, info.Authorization);
+                        return job;
+                    }
                 }
             }
             else if (chargeStep.IsEqual(ChargeStep.End))
             {
+                Common.mir.Del_Mission(info.IP, info.Authorization);
                 Common.log.Info(info.FullName + "ChargeJob结束，切换StandbyJob");
                 return new StandbyJob();
             }
             return this;
         }
 
-
-
-        private void None(AgvInfo info)
+        private void MoveDoor(AgvInfo info)
         {
-            if (info.IsSelfWorkshop())
-            {
-                if (info.Workshop == Common.WORKSHOP_4D)
-                    mission = Common.MISSION_CHARGE_4D;
-                else if (info.Workshop == Common.WORKSHOP_4C)
-                    mission = Common.MISSION_CHARGE_4C;
+            if (info.Workshop == Common.WORKSHOP_4D)
+                mission = Common.MISSION_MOVE_4C_4D;
+            else if (info.Workshop == Common.WORKSHOP_4C)
+                mission = Common.MISSION_MOVE_4D_4C;
 
-                rtn = Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
-                if (rtn)
-                {
-                    chargeStep.NextStep(ChargeStep.WaitChargeStation);
-                    chargeStep.Msg = info.FullName + "在" + info.Workshop + "车间，去充电位";
-                }
-                else
-                {
-                    chargeStep.Msg = info.FullName + "发送" + mission + "任务失败";
-                }
-            }
-            else
-            {
-                if (info.Workshop == Common.WORKSHOP_4D)
-                    mission = Common.MISSION_MOVE_4C_4D;
-                else if (info.Workshop == Common.WORKSHOP_4C)
-                    mission = Common.MISSION_MOVE_4D_4C;
-
-                rtn = Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
-                if (rtn)
-                {
-                    chargeStep.NextStep(ChargeStep.WaitWorkshopDoor);
-                    chargeStep.Msg = info.FullName + "在" + info.Workshop + "车间，先过车间门";
-                }
-                else
-                {
-                    chargeStep.Msg = info.FullName + "发送" + mission + "任务失败";
-                }
-            }
-        }
-
-        private void WaitWorkshopDoor(AgvInfo info)
-        {
-            rtn = Common.mir.Get_MissionState_Fleet(info.Authorization, id, out string state);
+            rtn = Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
             if (rtn)
             {
-                if (state == MissionState.Done.ToString())
-                {
-                    if (info.Workshop == Common.WORKSHOP_4D)
-                        mission = Common.MISSION_CHARGE_4D;
-                    else if (info.Workshop == Common.WORKSHOP_4C)
-                        mission = Common.MISSION_CHARGE_4C;
-
-                    rtn = Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
-                    if (rtn)
-                    {
-                        chargeStep.NextStep(ChargeStep.WaitChargeStation);
-                        chargeStep.Msg = info.FullName + "在" + info.Workshop + "车间，去充电位";
-                    }
-                    else
-                    {
-                        chargeStep.Msg = info.FullName + "发送" + mission + "任务失败";
-                    }
-                }
-                else if (state == MissionState.Aborted.ToString())
-                {
-                    chargeStep.Msg = info.FullName + "任务状态" + MissionState.Aborted.ToString();
-                }
+                chargeStep.Msg = info.FullName + "在" + info.Workshop + "车间，先过车间门";
+                chargeStep.NextStep(ChargeStep.WaitWorkshopDoor);
             }
             else
             {
-                chargeStep.Msg = info.FullName + "获取任务状态id[" + id + "]失败";
+                chargeStep.Msg = info.FullName + "发送" + mission + "任务失败";
             }
         }
 
-        private void WaitChargeStation(AgvInfo info)
+        private void MoveCharge(AgvInfo info)
         {
-            rtn = Common.mir.Get_Register(info.IP, info.Authorization, 20, out int value);
+            if (info.Workshop == Common.WORKSHOP_4D)
+                mission = Common.MISSION_CHARGE_4D;
+            else if (info.Workshop == Common.WORKSHOP_4C)
+                mission = Common.MISSION_CHARGE_4C;
+
+            rtn = Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
             if (rtn)
             {
-                if (value == 1)
-                {
-                    chargeStep.NextStep(ChargeStep.Charging);
-                    chargeStep.Msg = info.FullName + "到达充电位，准备充电";
-                }
+                chargeStep.Msg = info.FullName + "在" + info.Workshop + "车间，去充电位";
+                chargeStep.NextStep(ChargeStep.WaitChargeStation);
             }
             else
             {
-                chargeStep.Msg = info.FullName + "获取PLC20失败";
+                chargeStep.Msg = info.FullName + "发送" + mission + "任务失败";
             }
         }
 
 
-
-
-
         /// <summary>
         /// 充电步骤
         /// </summary>

AGVControl_Steel/Job/StandbyJob.cs

@@ -16,11 +16,25 @@ namespace Model
         {
             if (standbyStep.IsEqual(StandbyStep.None))
             {
-                None(info);
+                if (info.IsSelfWorkshop())
+                    MoveStandby(info);
+                else
+                    MoveDoor(info);
             }
             else if (standbyStep.IsEqual(StandbyStep.WaitWorkshopDoor))
             {
-                WaitWorkshopDoor(info);
+                rtn = Common.mir.Get_MissionState_Fleet(info.Authorization, id, out string state);
+                if (rtn)
+                {
+                    if (state == MissionState.Done.ToString())
+                        MoveStandby(info);
+                    else if (state == MissionState.Aborted.ToString())
+                        standbyStep.Msg = info.FullName + "任务状态" + MissionState.Aborted.ToString();
+                }
+                else
+                {
+                    standbyStep.Msg = info.FullName + "获取任务状态id[" + id + "]失败";
+                }
             }
             else if (standbyStep.IsEqual(StandbyStep.WaitStandby))
             {
@@ -29,8 +43,8 @@ namespace Model
                 {
                     if (state == MissionState.Done.ToString())
                     {
-                        standbyStep.NextStep(StandbyStep.End);
                         standbyStep.Msg = info.FullName + "已在待机位";
+                        standbyStep.NextStep(StandbyStep.End);
                     }
                     else if (state == MissionState.Aborted.ToString())
                     {
@@ -50,92 +64,51 @@ namespace Model
                 }
                 else
                 {
-                    Job job = Common.steelManage.GetSteelJob();
+                    Job job = Common.steelManage.GetSteelJob(info);
                     if (job != null) return job;
                 }
             }
             return this;
         }
 
-
-
-
-        private void None(AgvInfo info)
+        private void MoveDoor(AgvInfo info)
         {
+            if (info.Workshop == Common.WORKSHOP_4D)
+                mission = Common.MISSION_MOVE_4C_4D;
+            else if (info.Workshop == Common.WORKSHOP_4C)
+                mission = Common.MISSION_MOVE_4D_4C;
 
-            if (info.IsSelfWorkshop())
+            rtn = Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
+            if (rtn)
             {
-                if (info.Workshop == Common.WORKSHOP_4D)
-                    mission = Common.MISSION_STANDBY_4D;
-                else if (info.Workshop == Common.WORKSHOP_4C)
-                    mission = Common.MISSION_STANDBY_4C;
-
-                rtn = Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
-                if (rtn)
-                {
-                    standbyStep.NextStep(StandbyStep.WaitStandby);
-                    standbyStep.Msg = info.FullName + "回待机位";
-                }
-                else
-                {
-                    standbyStep.Msg = info.FullName + "发送" + Common.MISSION_STANDBY_4D + "任务失败";
-                }
+                standbyStep.Msg = info.FullName + "在" + info.Workshop + "车间，先过车间门";
+                standbyStep.NextStep(StandbyStep.WaitWorkshopDoor);
             }
             else
             {
-                if (info.Workshop == Common.WORKSHOP_4D)
-                    mission = Common.MISSION_MOVE_4C_4D;
-                else if (info.Workshop == Common.WORKSHOP_4C)
-                    mission = Common.MISSION_MOVE_4D_4C;
-
-                rtn = Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
-                if (rtn)
-                {
-                    standbyStep.NextStep(StandbyStep.WaitWorkshopDoor);
-                    standbyStep.Msg = info.FullName + "在" + info.Workshop + "车间，先过车间门";
-                }
-                else
-                {
-                    standbyStep.Msg = info.FullName + "发送" + mission + "任务失败";
-                }
+                standbyStep.Msg = info.FullName + "发送" + mission + "任务失败";
             }
         }
 
-        private void WaitWorkshopDoor(AgvInfo info)
+        private void MoveStandby(AgvInfo info)
         {
-            rtn = Common.mir.Get_MissionState_Fleet(info.Authorization, id, out string state);
+            if (info.Workshop == Common.WORKSHOP_4D)
+                mission = Common.MISSION_STANDBY_4D;
+            else if (info.Workshop == Common.WORKSHOP_4C)
+                mission = Common.MISSION_STANDBY_4C;
+
+            rtn = Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
             if (rtn)
             {
-                if (state == MissionState.Done.ToString())
-                {
-                    if (info.Workshop == Common.WORKSHOP_4D)
-                        mission = Common.MISSION_STANDBY_4D;
-                    else if (info.Workshop == Common.WORKSHOP_4C)
-                        mission = Common.MISSION_STANDBY_4C;
-
-                    rtn = Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
-                    if (rtn)
-                    {
-                        standbyStep.NextStep(StandbyStep.WaitStandby);
-                        standbyStep.Msg = info.FullName + "回待机位";
-                    }
-                    else
-                    {
-                        standbyStep.Msg = info.FullName + "发送" + Common.MISSION_STANDBY_4D + "任务失败";
-                    }
-                }
-                else if (state == MissionState.Aborted.ToString())
-                {
-                    standbyStep.Msg = info.FullName + "任务状态" + MissionState.Aborted.ToString();
-                }
+                standbyStep.Msg = info.FullName + "回待机位" + mission;
+                standbyStep.NextStep(StandbyStep.WaitStandby);
             }
             else
             {
-                standbyStep.Msg = info.FullName + "获取任务状态id[" + id + "]失败";
+                standbyStep.Msg = info.FullName + "发送" + mission + "任务失败";
             }
         }
 
-
         private enum StandbyStep
         {
             None,

AGVControl_Steel/Job/TakeOldJob.cs

@@ -5,6 +5,7 @@ namespace Model
     public class TakeOldJob : Job
     {
         private string id;
+        private string name = null;
         private JobStep<TakeOldStep> takeOldStep;
 
         public TakeOldJob()
@@ -23,13 +24,17 @@ namespace Model
             {
                 if (info.IsSteelFull())
                 {
-                    return new WashPointJob();
+                    takeOldStep.Msg = info.FullName + "钢板已满";
+                    takeOldStep.NextStep(TakeOldStep.GoWashPoint);
                 }
                 else
                 {
                     rtn = FindLine(info);
                     if (!rtn)
-                        return new WashPointJob();
+                    {
+                        takeOldStep.Msg = info.FullName + "没有后续旧钢板任务";
+                        takeOldStep.NextStep(TakeOldStep.GoWashPoint);
+                    }
                 }
             }
             else if (takeOldStep.IsEqual(TakeOldStep.MoveLine))
@@ -39,8 +44,47 @@ namespace Model
                 {
                     if (state == MissionState.Done.ToString())
                     {
+                        takeOldStep.Msg = info.FullName + "完成" + mission;
                         takeOldStep.NextStep(TakeOldStep.FindLine);
-                        takeOldStep.Msg = info.FullName + "当前任务完成";
+                        Common.steelManage.OldSteelWorkDel(name);
+                    }
+                    else if (state == MissionState.Aborted.ToString())
+                    {
+                        takeOldStep.Msg = info.FullName + "任务状态" + MissionState.Aborted.ToString();
+                    }
+                }
+                else
+                {
+                    takeOldStep.Msg = info.FullName + "获取任务状态id[" + id + "]失败";
+                }
+            }
+            else if (takeOldStep.IsEqual(TakeOldStep.GoWashPoint))
+            {
+                if (info.Workshop == Common.WORKSHOP_4D)
+                    mission = Common.MISSION_MOVE_WASH_4D;
+                else if (info.Workshop == Common.WORKSHOP_4C)
+                    mission = Common.MISSION_MOVE_WASH_4C;
+
+                rtn = Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
+                if (rtn)
+                {
+                    takeOldStep.Msg = info.FullName + "去" + info.Workshop + "清洗点";
+                    takeOldStep.NextStep(TakeOldStep.WaitWashPoint);
+                }
+                else
+                {
+                    takeOldStep.Msg = info.FullName + "发送" + mission + "任务失败";
+                }
+            }
+            else if (takeOldStep.IsEqual(TakeOldStep.WaitWashPoint))
+            {
+                rtn = Common.mir.Get_MissionState_Fleet(info.Authorization, id, out string state);
+                if (rtn)
+                {
+                    if (state == MissionState.Done.ToString())
+                    {
+                        takeOldStep.Msg = info.FullName + "已在清洗点";
+                        takeOldStep.NextStep(TakeOldStep.End);
                     }
                     else if (state == MissionState.Aborted.ToString())
                     {
@@ -52,20 +96,28 @@ namespace Model
                     takeOldStep.Msg = info.FullName + "获取任务状态id[" + id + "]失败";
                 }
             }
+            else if (takeOldStep.IsEqual(TakeOldStep.End))
+            {
+                return new StandbyJob();
+            }
 
             return this;
         }
 
         private bool FindLine(AgvInfo info)
         {
-            string name = null;
+            bool find = false;
+
             if (info.Workshop == Common.WORKSHOP_4D)
             {
                 for (int i = 0; i < Common.LINE_NAME_4D.Length; i++)
                 {
                     name = Common.LINE_NAME_4D[i];
                     if (Common.steelManage.FindOldSteelWork(name))
+                    {
+                        find = true;
                         break;
+                    }
                 }
             }
             else if (info.Workshop == Common.WORKSHOP_4C)
@@ -74,24 +126,24 @@ namespace Model
                 {
                     name = Common.LINE_NAME_4C[i];
                     if (Common.steelManage.FindOldSteelWork(name))
+                    {
+                        find = true;
                         break;
+                    }
                 }
             }
-            if (name == null)
-            {
-                return false;
-            }
-            else
+
+            if (find)
             {
                 info.Place = name;
-                name = "MoveSteel" + name;
-                Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, name, out id);
+                mission = "MoveSteel" + name;
+                Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
+                takeOldStep.Msg = info.FullName + "发送任务" + mission;
                 takeOldStep.NextStep(TakeOldStep.MoveLine);
-                takeOldStep.Msg = info.FullName + "发送任务" + name;
                 info.SteelCountAdd();
-                return true;
             }
 
+            return find;
         }
 
         private enum TakeOldStep
@@ -99,7 +151,8 @@ namespace Model
             None,
             FindLine,
             MoveLine,
-            MoveWash,
+            GoWashPoint,
+            WaitWashPoint,
             End
         }
     }

AGVControl_Steel/Job/WashPointJob.cs

@@ -16,42 +16,42 @@ namespace Model
         {
             if (washPointStep.IsEqual(WashPointStep.None))
             {
-                if (info.Workshop == Common.WORKSHOP_4D)
-                    mission = Common.MISSION_MOVE_WASH_4D;
-                else if (info.Workshop == Common.WORKSHOP_4C)
-                    mission = Common.MISSION_MOVE_WASH_4C;
+                //if (info.Workshop == Common.WORKSHOP_4D)
+                //    mission = Common.MISSION_MOVE_WASH_4D;
+                //else if (info.Workshop == Common.WORKSHOP_4C)
+                //    mission = Common.MISSION_MOVE_WASH_4C;
 
-                rtn = Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
-                if (rtn)
-                {
-                    washPointStep.NextStep(WashPointStep.MoveWash);
-                    washPointStep.Msg = info.FullName + "去"+ info.Workshop + "清洗点";
-                }
-                else
-                {
-                    washPointStep.Msg = info.FullName + "发送" + mission + "任务失败";
-                }
+                //rtn = Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
+                //if (rtn)
+                //{
+                //    washPointStep.Msg = info.FullName + "去"+ info.Workshop + "清洗点";
+                //    washPointStep.NextStep(WashPointStep.MoveWash);
+                //}
+                //else
+                //{
+                //    washPointStep.Msg = info.FullName + "发送" + mission + "任务失败";
+                //}
 
             }
             else if (washPointStep.IsEqual(WashPointStep.MoveWash))
             {
-                rtn = Common.mir.Get_MissionState_Fleet(info.Authorization, id, out string state);
-                if (rtn)
-                {
-                    if (state == MissionState.Done.ToString())
-                    {
-                        washPointStep.NextStep(WashPointStep.End);
-                        washPointStep.Msg = info.FullName + "已在清洗点";
-                    }
-                    else if (state == MissionState.Aborted.ToString())
-                    {
-                        washPointStep.Msg = info.FullName + "任务状态" + MissionState.Aborted.ToString();
-                    }
-                }
-                else
-                {
-                    washPointStep.Msg = info.FullName + "获取任务状态id[" + id + "]失败";
-                }
+                //rtn = Common.mir.Get_MissionState_Fleet(info.Authorization, id, out string state);
+                //if (rtn)
+                //{
+                //    if (state == MissionState.Done.ToString())
+                //    {
+                //        washPointStep.Msg = info.FullName + "已在清洗点";
+                //        washPointStep.NextStep(WashPointStep.End);
+                //    }
+                //    else if (state == MissionState.Aborted.ToString())
+                //    {
+                //        washPointStep.Msg = info.FullName + "任务状态" + MissionState.Aborted.ToString();
+                //    }
+                //}
+                //else
+                //{
+                //    washPointStep.Msg = info.FullName + "获取任务状态id[" + id + "]失败";
+                //}
             }
             else if (washPointStep.IsEqual(WashPointStep.End))
             {

AGVControl_Steel/Model/JobStep.cs

 using System;
+using AGVControl_Steel;
 
 namespace Model
 {
@@ -72,7 +73,9 @@ namespace Model
                     //与上一个消息不一样才打印
                     if (!value.Equals(_msg))
                     {
-                       AGVControl_Steel.Common.log.Info(_step.ToString() + ":" + value);
+                        Common.log.Info(_step.ToString() + ":" + value);
+                        Common.txtLog.AppendText(value + "\r\n");
+                        Common.txtLog.ScrollToCaret();
                     }
                 }
                 _msg = value;

AGVControl_Steel/Program.cs

@@ -15,6 +15,18 @@ namespace AGVControl_Steel
             Application.EnableVisualStyles();
             Application.SetCompatibleTextRenderingDefault(false);
 
+            if (Asa.WindowsForm.IsRun())
+            {
+                MessageBox.Show("IsRun");
+                return;
+            }
+
+            if (!Asa.WindowsForm.IsAdmin())
+            {
+                Asa.WindowsForm.AdminRun();
+                return;
+            }
+
             Common.appConfig = System.Configuration.ConfigurationManager.OpenExeConfiguration(System.Configuration.ConfigurationUserLevel.None);
             Common.log = log4net.LogManager.GetLogger("AGVControl_Steel");
             Common.log.Info("=====程序开始=====");

AGVControl_Steel/UI/FrmMain.Designer.cs

@@ -28,11 +28,8 @@
         /// </summary>
         private void InitializeComponent()
         {
+            System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(FrmMain));
             this.DgvName = new System.Windows.Forms.DataGridView();
-            this.tabControl1 = new System.Windows.Forms.TabControl();
-            this.tabPage2 = new System.Windows.Forms.TabPage();
-            this.button1 = new System.Windows.Forms.Button();
-            this.LblWeb = new System.Windows.Forms.Label();
             this.Column1 = new System.Windows.Forms.DataGridViewTextBoxColumn();
             this.Column2 = new System.Windows.Forms.DataGridViewTextBoxColumn();
             this.Column5 = new System.Windows.Forms.DataGridViewTextBoxColumn();
@@ -40,6 +37,11 @@
             this.Column3 = new System.Windows.Forms.DataGridViewTextBoxColumn();
             this.Column7 = new System.Windows.Forms.DataGridViewTextBoxColumn();
             this.Column4 = new System.Windows.Forms.DataGridViewButtonColumn();
+            this.tabControl1 = new System.Windows.Forms.TabControl();
+            this.tabPage2 = new System.Windows.Forms.TabPage();
+            this.button1 = new System.Windows.Forms.Button();
+            this.LblWeb = new System.Windows.Forms.Label();
+            this.TxtLog = new System.Windows.Forms.TextBox();
             ((System.ComponentModel.ISupportInitialize)(this.DgvName)).BeginInit();
             this.tabControl1.SuspendLayout();
             this.tabPage2.SuspendLayout();
@@ -68,52 +70,6 @@
             this.DgvName.TabIndex = 0;
             this.DgvName.CellContentClick += new System.Windows.Forms.DataGridViewCellEventHandler(this.DgvName_CellContentClick);
             // 
-            // tabControl1
-            // 
-            this.tabControl1.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
-            | System.Windows.Forms.AnchorStyles.Left) 
-            | System.Windows.Forms.AnchorStyles.Right)));
-            this.tabControl1.Controls.Add(this.tabPage2);
-            this.tabControl1.Location = new System.Drawing.Point(12, 98);
-            this.tabControl1.Name = "tabControl1";
-            this.tabControl1.SelectedIndex = 0;
-            this.tabControl1.Size = new System.Drawing.Size(722, 340);
-            this.tabControl1.TabIndex = 1;
-            // 
-            // tabPage2
-            // 
-            this.tabPage2.Controls.Add(this.button1);
-            this.tabPage2.Controls.Add(this.LblWeb);
-            this.tabPage2.Location = new System.Drawing.Point(4, 22);
-            this.tabPage2.Name = "tabPage2";
-            this.tabPage2.Padding = new System.Windows.Forms.Padding(3);
-            this.tabPage2.Size = new System.Drawing.Size(714, 314);
-            this.tabPage2.TabIndex = 1;
-            this.tabPage2.Text = "状态";
-            this.tabPage2.UseVisualStyleBackColor = true;
-            // 
-            // button1
-            // 
-            this.button1.Font = new System.Drawing.Font("宋体", 15.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.button1.Location = new System.Drawing.Point(502, 211);
-            this.button1.Name = "button1";
-            this.button1.Size = new System.Drawing.Size(170, 55);
-            this.button1.TabIndex = 1;
-            this.button1.Text = "TEST";
-            this.button1.UseVisualStyleBackColor = true;
-            this.button1.Click += new System.EventHandler(this.button1_Click);
-            // 
-            // LblWeb
-            // 
-            this.LblWeb.Font = new System.Drawing.Font("宋体", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.LblWeb.Location = new System.Drawing.Point(9, 9);
-            this.LblWeb.Margin = new System.Windows.Forms.Padding(6);
-            this.LblWeb.Name = "LblWeb";
-            this.LblWeb.Size = new System.Drawing.Size(150, 30);
-            this.LblWeb.TabIndex = 0;
-            this.LblWeb.Text = "WebService Close";
-            this.LblWeb.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            // 
             // Column1
             // 
             this.Column1.AutoSizeMode = System.Windows.Forms.DataGridViewAutoSizeColumnMode.None;
@@ -174,13 +130,73 @@
             this.Column4.Name = "Column4";
             this.Column4.ReadOnly = true;
             // 
+            // tabControl1
+            // 
+            this.tabControl1.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
+            | System.Windows.Forms.AnchorStyles.Left) 
+            | System.Windows.Forms.AnchorStyles.Right)));
+            this.tabControl1.Controls.Add(this.tabPage2);
+            this.tabControl1.Location = new System.Drawing.Point(12, 98);
+            this.tabControl1.Name = "tabControl1";
+            this.tabControl1.SelectedIndex = 0;
+            this.tabControl1.Size = new System.Drawing.Size(722, 462);
+            this.tabControl1.TabIndex = 1;
+            // 
+            // tabPage2
+            // 
+            this.tabPage2.Controls.Add(this.TxtLog);
+            this.tabPage2.Controls.Add(this.button1);
+            this.tabPage2.Controls.Add(this.LblWeb);
+            this.tabPage2.Location = new System.Drawing.Point(4, 22);
+            this.tabPage2.Name = "tabPage2";
+            this.tabPage2.Padding = new System.Windows.Forms.Padding(3);
+            this.tabPage2.Size = new System.Drawing.Size(714, 436);
+            this.tabPage2.TabIndex = 1;
+            this.tabPage2.Text = "状态";
+            this.tabPage2.UseVisualStyleBackColor = true;
+            // 
+            // button1
+            // 
+            this.button1.Font = new System.Drawing.Font("宋体", 15.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.button1.Location = new System.Drawing.Point(348, 375);
+            this.button1.Name = "button1";
+            this.button1.Size = new System.Drawing.Size(170, 55);
+            this.button1.TabIndex = 1;
+            this.button1.Text = "TEST";
+            this.button1.UseVisualStyleBackColor = true;
+            this.button1.Click += new System.EventHandler(this.button1_Click);
+            // 
+            // LblWeb
+            // 
+            this.LblWeb.Font = new System.Drawing.Font("宋体", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.LblWeb.Location = new System.Drawing.Point(351, 9);
+            this.LblWeb.Margin = new System.Windows.Forms.Padding(6);
+            this.LblWeb.Name = "LblWeb";
+            this.LblWeb.Size = new System.Drawing.Size(150, 30);
+            this.LblWeb.TabIndex = 0;
+            this.LblWeb.Text = "WebService Close";
+            this.LblWeb.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
+            // TxtLog
+            // 
+            this.TxtLog.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
+            | System.Windows.Forms.AnchorStyles.Left)));
+            this.TxtLog.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.TxtLog.Location = new System.Drawing.Point(6, 6);
+            this.TxtLog.Multiline = true;
+            this.TxtLog.Name = "TxtLog";
+            this.TxtLog.ScrollBars = System.Windows.Forms.ScrollBars.Both;
+            this.TxtLog.Size = new System.Drawing.Size(336, 424);
+            this.TxtLog.TabIndex = 2;
+            // 
             // FrmMain
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.ClientSize = new System.Drawing.Size(746, 450);
+            this.ClientSize = new System.Drawing.Size(746, 572);
             this.Controls.Add(this.tabControl1);
             this.Controls.Add(this.DgvName);
+            this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
             this.Name = "FrmMain";
             this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
             this.Text = "钢网AGV调度";
@@ -189,6 +205,7 @@
             ((System.ComponentModel.ISupportInitialize)(this.DgvName)).EndInit();
             this.tabControl1.ResumeLayout(false);
             this.tabPage2.ResumeLayout(false);
+            this.tabPage2.PerformLayout();
             this.ResumeLayout(false);
 
         }
@@ -207,6 +224,7 @@
         private System.Windows.Forms.DataGridViewTextBoxColumn Column3;
         private System.Windows.Forms.DataGridViewTextBoxColumn Column7;
         private System.Windows.Forms.DataGridViewButtonColumn Column4;
+        private System.Windows.Forms.TextBox TxtLog;
     }
 }
 

AGVControl_Steel/UI/FrmMain.cs

@@ -33,6 +33,8 @@ namespace AGVControl_Steel
 
         private void FrmMain_Load(object sender, EventArgs e)
         {
+            Common.txtLog = TxtLog;
+            Asa.WindowsForm.Load(this);
             webService = new Webs.WebService();
             webService.Open(Common.appConfig.AppSettings.Settings["WebService"].Value);
             LblWeb.BackColor = webService.IsOpen ? Color.Lime : Color.Red;
@@ -52,7 +54,8 @@ namespace AGVControl_Steel
 
         private void FrmMain_FormClosing(object sender, FormClosingEventArgs e)
         {
-            webService.Close();
+            if (Asa.WindowsForm.Close(e))
+                webService.Close();
         }
 
         private void DgvName_CellContentClick(object sender, DataGridViewCellEventArgs e)

AGVControl_Steel/UI/FrmMain.resx

@@ -138,4 +138,935 @@
   <metadata name="Column4.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>
+  <assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
+  <data name="$this.Icon" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+    <value>
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+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
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+        ADgAAAAeAAAAAAAAAQAAAAAAAAABAAAAAAEAAAAiAAAAOQAAADkAAAA5AAAAOQAAADkAAAA5AAAAOQAA
+        ADkAAAA5AAAAOQAAADkAAAA5AAAAOQAAADkAAAA5AAAAOQAAADkAAAA5AAAAOQAAADkAAAA5AAAAOQAA
+        ADkAAAA5AAAAOQAAADkAAAA5AAAAOQAAADkAAAA5AAAAOQAAADkAAAA5AAAAOQAAADkAAAA5AAAAOQAA
+        ADkAAAA5AAAAOQAAADkAAAA5AAAAOQAAADkAAAA5AAAAOQAAADkAAAA5AAAAOQAAADkAAAA5AAAAOAAA
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+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAACgAAADsAAAB+AAAAtQAA
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+        AAD//////////////////////////////////////////////////////////////////wABAAAAAAAA
+        AAf///////gAAAAAAAAAAAAA///////gAAAAAAAAAAAAAH//////wAAAAAAAAAAAAAAf/////4AAAAAA
+        AAAAAAAAD/////8AAAAAAAAAAAAAAAf////+AAAAAAAAAAAAAAAD/////AAAAAAAAAAAAAAAA/////wA
+        AAAAAAAAAAAAAAH////4AAAAAAAAAAAAAAAB////+AAAAAAAAAAAAAAAAP////AAAAAAAAAAAAAAAAD/
+        ///wAAAAAAAAAAAAAAAA////8AAAAAAAAAAAAAAAAH////AAAAAAAAAAAAAAAAB////wAAAAAAAAAAAA
+        AAAAf///8AAAAAAAAAAAAAAAAD////AAAAAAAAAAAAAAAAA////wAAAAAAAAAAAAAAAAP///8AAAAAAA
+        AAAAAAAAAB////AAAAAAAAAAAAAAAAAf///wAAAAAAAAAAAAAAAAH///8AAAAAAAAAAAAAAAAA////AA
+        AAAAAAAAAAAAAAAP///4AAAAAAAAAAAAAAAAD///+AAAAAAAAAAAAAAAAAf///gAAAAAAAAAAAAAAAAH
+        ///8AAAAAAAAAAAAAAAAB////AAAAAAAAAAAAAAAAAP///4AAAAAAAAAAAAAAAAD////AAAAAAAAAAAA
+        AAAAA////4AAAAAAAAAAAAAAAAP////AAAAAAAAAAAAAAAAB////4AAAAAAAAAAAAAAAAf////gAAAAA
+        AAAAAAAAAAD/////AAAAAAAAAAAAAAAA////////AAAAAAAAAAAAAP///////gAAAAAAAAAAAAD/////
+        //wAAAAAAAAAAAAAf//////wAAAAAAAAAAAAAH//////4AAAAAAAAAAAAAA//////8AAAAAAAAAAAAAA
+        P/////8AAAAAAAAAAAAAAD/////+AAAAAAAAAAAAAAA//////AAAAAAAAAAAAAAAH/////gAAAAAAAAA
+        AAAAAB/////wAAAAAAAAAAAAAAAf////8AAAAAAAAAAAAAAAH////+AAAAAAAAAAAAAAAB/////gAAAA
+        AAAAAAAAAAAf////wAAAAAAAAAAAAAAAD////8AAAAAAAAAAAAAAAAf////AAAAAAAAAAAAAAAAH////
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+        AA////8AAAHgAAAAAAAAAAAP////gAADwAAAAAAAAAAAD/////AAD8AAAAAAAAAAAA/////+AP/AAAAA
+        AAAAAAAP////////wAAAAAAAAAAAD////////8AAAAAAAAAAAA/////////AAAAAAAAAAAAP////////
+        wAAAAAAAAAAAD////////8AAAAAAAAAAAA/////////AAAAAAQAAAAAP////////wAAAAAEAAAAAD///
+        /////8AAAAADAAAAAA/////////AAAAAA4AAAAAP////////wAAAAAOAAAAAD////////8AAAAAHgAAA
+        AB/////////AAAAAB8AAAAAf////////wAAAAAfAAAAAP////////+AAAAAH4AAAAD/////////gAAAA
+        D/AAAAB/////////8AAAAB/4AAAA//////////gAAAAf/AAAAf/////////4AAAAP/4AAAf/////////
+        /AAAAH//AAAP//////////4AAAD//+AAP///////////gAAD/////////////////+AAB///////////
+        ///////8AD//////////////////////////////////////////////////////////////////////
+        //8=
+</value>
+  </data>
 </root>
\ No newline at end of file

AGVControl_Steel/bin/Debug/AGVControl_Steel.exe.Config

@@ -44,5 +44,7 @@
 		<add key="4D_Line" value="D1,D2,D3,D4,D5,D6,D8,D9,D10,D11,D12,D14,D15,D16"/>
 		<add key="4C_Line" value="C1,C2,C3,C4,C5,C6,C7,C8,C9,C10"/>
 		<add key="Store" value="wash,storage"/>
+		<add key="4D_AGV" value="6"/>
+		<add key="4C_AGV" value="32"/>
 	</appSettings>
 </configuration>
\ No newline at end of file

AGVControl_Steel/bin/Debug/AGVControl_Steel.xml

@@ -331,7 +331,12 @@
         </member>
         <member name="P:Model.AgvInfo.Place">
             <summary>
-            当前车间位置，4C/4D
+            当前位置
+            </summary>
+        </member>
+        <member name="P:Model.AgvInfo.Workshop">
+            <summary>
+            车间
             </summary>
         </member>
         <member name="P:Model.AgvInfo.IsAuto">
@@ -359,6 +364,11 @@
             AGV最低电量，小于此值必须充电
             </summary>
         </member>
+        <member name="P:Model.AgvInfo.Position">
+            <summary>
+            小车坐标位置
+            </summary>
+        </member>
         <member name="P:Model.AgvInfo.TaskSend">
             <summary>
             任务发送
@@ -400,6 +410,28 @@
             </summary>
             <returns></returns>
         </member>
+        <member name="M:Model.AgvInfo.IsSelfWorkshop">
+            <summary>
+            是否在自己的车间里面
+            </summary>
+            <returns></returns>
+        </member>
+        <member name="M:Model.AgvInfo.IsSteelFull">
+            <summary>
+            钢板是否已放满
+            </summary>
+            <returns></returns>
+        </member>
+        <member name="M:Model.AgvInfo.SteelCountAdd">
+            <summary>
+            钢板数量增加
+            </summary>
+        </member>
+        <member name="M:Model.AgvInfo.ClearSteelCount">
+            <summary>
+            钢板数量清零
+            </summary>
+        </member>
         <member name="T:Model.JobStep`1">
             <summary>
             小车工作步骤

AGVControl_Steel/bin/Debug/Config/AgvMission.csv

-MoveSteelC1,
-MoveSteelC2,
-MoveSteelC3,
-MoveSteelC4,
-MoveSteelC5,
-MoveSteelC6,
-MoveSteelC7,
-MoveSteelC8,
-MoveSteelC9,
-MoveSteelC10,
+MoveSteelC1,77a02463-f387-11ea-8452-94c691a7387d
+MoveSteelC2,b2dc4ed9-f387-11ea-8452-94c691a7387d
+MoveSteelC3,c7f598c1-f387-11ea-8452-94c691a7387d
+MoveSteelC4,ddfd5992-f387-11ea-8452-94c691a7387d
+MoveSteelC5,f0a4498e-f387-11ea-8452-94c691a7387d
+MoveSteelC6,037a7f67-f388-11ea-8452-94c691a7387d
+MoveSteelC7,1b361828-f388-11ea-8452-94c691a7387d
+MoveSteelC8,2aec8e6c-f388-11ea-8452-94c691a7387d
+MoveSteelC9,3cad8c7d-f388-11ea-8452-94c691a7387d
+MoveSteelC10,4cc3d656-f388-11ea-8452-94c691a7387d
 MoveSteelD1,e9ed94bf-f2ac-11ea-8452-94c691a7387d
 MoveSteelD2,04e5690f-f2ad-11ea-8452-94c691a7387d
 MoveSteelD3,1d3f9b5a-f2ad-11ea-8452-94c691a7387d
@@ -30,4 +30,6 @@ AutoCharge4C,8ed7b459-f2b0-11ea-8452-94c691a7387d
 AutoCharge4D,2f0a31b1-f2ab-11ea-8452-94c691a7387d
 MoveDoor-4C-4D,d67f31c8-ca7e-11ea-9a66-94c691a7387d
 MoveDoor-4D-4C,fd6e26ac-c1bf-11ea-9a66-94c691a7387d
-MoveStorage,418c9064-f2ac-11ea-8452-94c691a7387d
\ No newline at end of file
+MoveStorage,418c9064-f2ac-11ea-8452-94c691a7387d
+Pickupqisdashelf,f2acdcae-e524-11ea-b003-0001299a3f0e
+Placeqisdashelf,4001120d-e525-11ea-b003-0001299a3f0e
\ No newline at end of file

AGVControl_Steel/bin/Debug/Config/AgvName.csv

 32,11号_1762,10.85.199.82,Basic ZGlzdHJpYnV0b3I6NjJmMmYwZjFlZmYxMGQzMTUyYzk1ZjZmMDU5NjU3NmU0ODJiYjhlNDQ4MDY0MzNmNGNmOTI5NzkyODM0YjAxNA==
-25,13号_1766,10.85.199.84,Basic ZGlzdHJpYnV0b3I6NjJmMmYwZjFlZmYxMGQzMTUyYzk1ZjZmMDU5NjU3NmU0ODJiYjhlNDQ4MDY0MzNmNGNmOTI5NzkyODM0YjAxNA==
\ No newline at end of file
+25,13号_1766,10.85.199.84,Basic ZGlzdHJpYnV0b3I6NjJmMmYwZjFlZmYxMGQzMTUyYzk1ZjZmMDU5NjU3NmU0ODJiYjhlNDQ4MDY0MzNmNGNmOTI5NzkyODM0YjAxNA==
+6,4号_1470,10.85.199.70,Basic ZGlzdHJpYnV0b3I6NjJmMmYwZjFlZmYxMGQzMTUyYzk1ZjZmMDU5NjU3NmU0ODJiYjhlNDQ4MDY0MzNmNGNmOTI5NzkyODM0YjAxNA==
\ No newline at end of file

AGVControl_Steel/bin/Debug/Logs/AGVControl_Steel.log

+[2020-09-10 14:29:58,242][1][AGVControl_Steel:32]INFO  =====程序开始=====
+[2020-09-10 14:29:58,379][1][AGVControl_Steel:80]INFO  读取配置文件 D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl_Steel\AGVControl_Steel\bin\Debug\Config\AgvName.csv
+[2020-09-10 14:29:58,380][1][AGVControl_Steel:91]INFO  读取配置文件 D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl_Steel\AGVControl_Steel\bin\Debug\Config\AgvMission.csv
+[2020-09-10 14:29:59,366][1][AGVControl_Steel:172]INFO  Web服务已开启
+[2020-09-10 14:30:05,682][1][AGVControl_Steel:73]INFO  手动修改 4号_1470 IsUse=True
+[2020-09-10 14:30:11,916][8][AGVControl_Steel:76]INFO  None:4号_1470[10.85.199.70]回待机位Move4DStandby
+[2020-09-10 14:30:14,539][8][AGVControl_Steel:76]INFO  WaitStandby:4号_1470[10.85.199.70]已在待机位
+[2020-09-10 14:31:43,325][1][AGVControl_Steel:189]INFO  Web服务已关闭
+[2020-09-10 14:31:43,388][1][AGVControl_Steel:43]INFO  =====程序结束=====
+

AGVControl_Steel/bin/Debug/Logs/MiR_API.log

+[2020-09-10 14:29:59,536][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/io_modules
+[2020-09-10 14:29:59,788][8][MiR_API:749]INFO  Return:[ { "guid": "007615a5-2220-11ea-99f2-94c691a73b53", "name": "WISE-4060/LAN", "type": "wise", "url": "/v2.0.0/io_modules/007615a5-2220-11ea-99f2-94c691a73b53" }, { "guid": "fba284c3-c7f4-11ea-8343-000129998252", "name": "WISE-4060/LAN-4C", "type": "wise", "url": "/v2.0.0/io_modules/fba284c3-c7f4-11ea-8343-000129998252" }, { "guid": "62a80d61-c832-11ea-adc7-0001299981d4", "name": "WISE-4060/LAN-4D", "type": "wise", "url": "/v2.0.0/io_modules/62a80d61-c832-11ea-adc7-0001299981d4" }, { "guid": "26ffcc2a-d177-11ea-88e9-0001299981d4", "name": "WISE-4060/LAN-4C-Air", "type": "wise", "url": "/v2.0.0/io_modules/26ffcc2a-d177-11ea-88e9-0001299981d4" }]
+[2020-09-10 14:29:59,846][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:29:59,911][8][MiR_API:749]INFO  Return:{ "battery_percentage": 31.299999237060547, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 14 \u79d2", "position": { "orientation": -5.708185195922852, "x": 87.46511840820312, "y": 106.88920593261719 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:29:59,925][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/io_modules
+[2020-09-10 14:29:59,952][8][MiR_API:749]INFO  Return:[ { "guid": "007615a5-2220-11ea-99f2-94c691a73b53", "name": "WISE-4060/LAN", "type": "wise", "url": "/v2.0.0/io_modules/007615a5-2220-11ea-99f2-94c691a73b53" }, { "guid": "fba284c3-c7f4-11ea-8343-000129998252", "name": "WISE-4060/LAN-4C", "type": "wise", "url": "/v2.0.0/io_modules/fba284c3-c7f4-11ea-8343-000129998252" }, { "guid": "62a80d61-c832-11ea-adc7-0001299981d4", "name": "WISE-4060/LAN-4D", "type": "wise", "url": "/v2.0.0/io_modules/62a80d61-c832-11ea-adc7-0001299981d4" }, { "guid": "26ffcc2a-d177-11ea-88e9-0001299981d4", "name": "WISE-4060/LAN-4C-Air", "type": "wise", "url": "/v2.0.0/io_modules/26ffcc2a-d177-11ea-88e9-0001299981d4" }]
+[2020-09-10 14:29:59,952][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:00,005][8][MiR_API:749]INFO  Return:{ "battery_percentage": 19.799999237060547, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 8 \u79d2", "position": { "orientation": -179.8934326171875, "x": 39.788185119628906, "y": 12.614283561706543 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:00,009][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/io_modules
+[2020-09-10 14:30:00,029][8][MiR_API:749]INFO  Return:[ { "guid": "007615a5-2220-11ea-99f2-94c691a73b53", "name": "WISE-4060/LAN", "type": "wise", "url": "/v2.0.0/io_modules/007615a5-2220-11ea-99f2-94c691a73b53" }, { "guid": "fba284c3-c7f4-11ea-8343-000129998252", "name": "WISE-4060/LAN-4C", "type": "wise", "url": "/v2.0.0/io_modules/fba284c3-c7f4-11ea-8343-000129998252" }, { "guid": "62a80d61-c832-11ea-adc7-0001299981d4", "name": "WISE-4060/LAN-4D", "type": "wise", "url": "/v2.0.0/io_modules/62a80d61-c832-11ea-adc7-0001299981d4" }, { "guid": "26ffcc2a-d177-11ea-88e9-0001299981d4", "name": "WISE-4060/LAN-4C-Air", "type": "wise", "url": "/v2.0.0/io_modules/26ffcc2a-d177-11ea-88e9-0001299981d4" }]
+[2020-09-10 14:30:00,029][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:00,052][8][MiR_API:749]INFO  Return:{ "battery_percentage": 73.0, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 4, "state_text": "Pause", "user_prompt": null}
+[2020-09-10 14:30:00,055][8][MiR_API:783]INFO  [PUT]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text   Body:{"state_id": 3}
+[2020-09-10 14:30:00,148][8][MiR_API:805]INFO  Return:{ "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:30:02,393][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:02,445][8][MiR_API:749]INFO  Return:{ "battery_percentage": 31.299999237060547, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 12 \u79d2", "position": { "orientation": -5.708185195922852, "x": 87.46511840820312, "y": 106.88920593261719 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:02,451][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:02,471][8][MiR_API:749]INFO  Return:{ "battery_percentage": 19.799999237060547, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 6 \u79d2", "position": { "orientation": -179.8934326171875, "x": 39.788185119628906, "y": 12.614283561706543 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:02,475][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:02,504][8][MiR_API:749]INFO  Return:{ "battery_percentage": 72.9000015258789, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:30:05,399][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:05,466][8][MiR_API:749]INFO  Return:{ "battery_percentage": 31.299999237060547, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 9 \u79d2", "position": { "orientation": -5.708185195922852, "x": 87.46511840820312, "y": 106.88920593261719 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:05,471][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:05,495][8][MiR_API:749]INFO  Return:{ "battery_percentage": 19.799999237060547, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 3 \u79d2", "position": { "orientation": -179.8934326171875, "x": 39.788185119628906, "y": 12.614283561706543 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:05,499][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:05,522][8][MiR_API:749]INFO  Return:{ "battery_percentage": 72.9000015258789, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:30:08,414][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:08,443][8][MiR_API:749]INFO  Return:{ "battery_percentage": 31.299999237060547, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 6 \u79d2", "position": { "orientation": -5.708185195922852, "x": 87.46511840820312, "y": 106.88920593261719 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:08,447][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:08,466][8][MiR_API:749]INFO  Return:{ "battery_percentage": 19.799999237060547, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4DshelfE'\uff08\u89c4\u5212\uff09", "position": { "orientation": -179.8934326171875, "x": 39.788185119628906, "y": 12.614283561706543 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:08,470][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:08,496][8][MiR_API:749]INFO  Return:{ "battery_percentage": 72.9000015258789, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:30:11,430][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:11,461][8][MiR_API:749]INFO  Return:{ "battery_percentage": 31.299999237060547, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 3 \u79d2", "position": { "orientation": -5.708185195922852, "x": 87.46511840820312, "y": 106.88920593261719 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:11,466][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:11,491][8][MiR_API:749]INFO  Return:{ "battery_percentage": 19.799999237060547, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4DshelfE'\uff08\u8ddd\u79bb\u76ee\u6807 16.300000000000001 \u7c73\uff09", "position": { "orientation": -178.14471435546875, "x": 38.826820373535156, "y": 12.629549026489258 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:11,495][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:11,516][8][MiR_API:749]INFO  Return:{ "battery_percentage": 72.9000015258789, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:30:11,520][8][MiR_API:278]INFO  URL:http://10.85.199.3/api/v2.0.0/mission_scheduler   Body:{"mission_id":"21ca7ffe-f29e-11ea-8452-94c691a7387d","robot_id":6}
+[2020-09-10 14:30:11,521][8][MiR_API:755]INFO  [POST]URL:http://10.85.199.3/api/v2.0.0/mission_scheduler   Body:{"mission_id":"21ca7ffe-f29e-11ea-8452-94c691a7387d","robot_id":6}
+[2020-09-10 14:30:11,914][8][MiR_API:777]INFO  Return:{ "allowed_methods": [ "PUT", "GET", "DELETE" ], "created_by": "/v2.0.0/users/mirconst-guid-0000-0004-users0000000", "created_by_id": "mirconst-guid-0000-0004-users0000000", "created_by_name": "Distributor", "description": "", "earliest_start_time": "2020-09-10T07:35:07", "finish_time": "1970-01-01T00:00:00", "fleet_schedule_guid": "235265f2-f361-11ea-bbfe-94c691a7387d", "high_priority": false, "id": 212079, "mission": "/v2.0.0/missions/21ca7ffe-f29e-11ea-8452-94c691a7387d", "mission_id": "21ca7ffe-f29e-11ea-8452-94c691a7387d", "order_time": "2020-09-10T14:28:31", "parameters": { "data": [] }, "priority": 1, "robot_id": 6, "start_time": "1970-01-01T00:00:00", "state": "Pending"}
+[2020-09-10 14:30:11,915][8][MiR_API:281]INFO  Return:{ "allowed_methods": [ "PUT", "GET", "DELETE" ], "created_by": "/v2.0.0/users/mirconst-guid-0000-0004-users0000000", "created_by_id": "mirconst-guid-0000-0004-users0000000", "created_by_name": "Distributor", "description": "", "earliest_start_time": "2020-09-10T07:35:07", "finish_time": "1970-01-01T00:00:00", "fleet_schedule_guid": "235265f2-f361-11ea-bbfe-94c691a7387d", "high_priority": false, "id": 212079, "mission": "/v2.0.0/missions/21ca7ffe-f29e-11ea-8452-94c691a7387d", "mission_id": "21ca7ffe-f29e-11ea-8452-94c691a7387d", "order_time": "2020-09-10T14:28:31", "parameters": { "data": [] }, "priority": 1, "robot_id": 6, "start_time": "1970-01-01T00:00:00", "state": "Pending"}
+[2020-09-10 14:30:14,438][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:14,464][8][MiR_API:749]INFO  Return:{ "battery_percentage": 31.299999237060547, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u89c4\u5212\uff09", "position": { "orientation": -5.708185195922852, "x": 87.46511840820312, "y": 106.88920593261719 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:14,469][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:14,493][8][MiR_API:749]INFO  Return:{ "battery_percentage": 19.700000762939453, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4DshelfE'\uff08\u8ddd\u79bb\u76ee\u6807 14.9 \u7c73\uff09", "position": { "orientation": -178.60665893554688, "x": 37.39442443847656, "y": 12.639939308166504 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:14,497][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:14,522][8][MiR_API:749]INFO  Return:{ "battery_percentage": 72.9000015258789, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:30:14,523][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.3/api/v2.0.0/mission_scheduler/212079
+[2020-09-10 14:30:14,539][8][MiR_API:749]INFO  Return:{ "allowed_methods": [ "PUT", "GET", "DELETE" ], "created_by": "/v2.0.0/users/mirconst-guid-0000-0004-users0000000", "created_by_id": "mirconst-guid-0000-0004-users0000000", "created_by_name": "Distributor", "description": "", "earliest_start_time": "2020-09-10T07:35:07", "finish_time": "2020-09-10T14:28:34", "fleet_schedule_guid": "235265f2-f361-11ea-bbfe-94c691a7387d", "high_priority": false, "id": 212079, "mission": "/v2.0.0/missions/21ca7ffe-f29e-11ea-8452-94c691a7387d", "mission_id": "21ca7ffe-f29e-11ea-8452-94c691a7387d", "order_time": "2020-09-10T14:28:31", "parameters": { "data": [] }, "priority": 0, "robot_id": 6, "start_time": "2020-09-10T14:28:32", "state": "Done"}
+[2020-09-10 14:30:17,448][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:17,479][10][MiR_API:749]INFO  Return:{ "battery_percentage": 31.299999237060547, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 89.299999999999997 \u7c73\uff09", "position": { "orientation": -72.73768615722656, "x": 87.45375061035156, "y": 106.88911437988281 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:17,515][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:17,548][10][MiR_API:749]INFO  Return:{ "battery_percentage": 19.700000762939453, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4DshelfE'\uff08\u8ddd\u79bb\u76ee\u6807 13.300000000000001 \u7c73\uff09", "position": { "orientation": -177.73521423339844, "x": 35.837886810302734, "y": 12.644848823547363 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:17,551][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:17,586][10][MiR_API:749]INFO  Return:{ "battery_percentage": 72.9000015258789, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:30:20,453][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:20,483][10][MiR_API:749]INFO  Return:{ "battery_percentage": 31.299999237060547, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 89.299999999999997 \u7c73\uff09", "position": { "orientation": -131.17913818359375, "x": 87.43696594238281, "y": 106.85118103027344 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:20,491][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:20,523][10][MiR_API:749]INFO  Return:{ "battery_percentage": 19.600000381469727, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4DshelfE'\uff08\u8ddd\u79bb\u76ee\u6807 11.800000000000001 \u7c73\uff09", "position": { "orientation": -179.42779541015625, "x": 34.33863830566406, "y": 12.630989074707031 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:20,529][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:20,560][10][MiR_API:749]INFO  Return:{ "battery_percentage": 72.9000015258789, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:30:23,474][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:23,499][10][MiR_API:749]INFO  Return:{ "battery_percentage": 31.299999237060547, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 88.400000000000006 \u7c73\uff09", "position": { "orientation": -160.6517333984375, "x": 86.76226806640625, "y": 106.34478759765625 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:23,503][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:23,556][10][MiR_API:749]INFO  Return:{ "battery_percentage": 19.600000381469727, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4DshelfE'\uff08\u8ddd\u79bb\u76ee\u6807 10.4 \u7c73\uff09", "position": { "orientation": -178.1347198486328, "x": 32.85558319091797, "y": 12.619677543640137 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:23,560][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:23,595][10][MiR_API:749]INFO  Return:{ "battery_percentage": 72.80000305175781, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:30:26,477][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:26,509][10][MiR_API:749]INFO  Return:{ "battery_percentage": 31.299999237060547, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 87.599999999999994 \u7c73\uff09", "position": { "orientation": 155.385498046875, "x": 85.92998504638672, "y": 106.42363739013672 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:26,513][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:26,628][10][MiR_API:749]INFO  Return:{ "battery_percentage": 19.5, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4DshelfE'\uff08\u8ddd\u79bb\u76ee\u6807 8.9 \u7c73\uff09", "position": { "orientation": -179.04006958007812, "x": 31.368133544921875, "y": 12.630672454833984 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:26,635][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:26,694][10][MiR_API:749]INFO  Return:{ "battery_percentage": 72.80000305175781, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:30:29,491][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:29,528][10][MiR_API:749]INFO  Return:{ "battery_percentage": 31.200000762939453, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 86.5 \u7c73\uff09", "position": { "orientation": 169.9861297607422, "x": 85.03289031982422, "y": 106.79888916015625 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:29,647][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:29,675][10][MiR_API:749]INFO  Return:{ "battery_percentage": 19.5, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4DshelfE'\uff08\u8ddd\u79bb\u76ee\u6807 7.3 \u7c73\uff09", "position": { "orientation": -179.56222534179688, "x": 29.82164764404297, "y": 12.615276336669922 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:29,679][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:29,720][10][MiR_API:749]INFO  Return:{ "battery_percentage": 72.80000305175781, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:30:32,499][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:32,551][8][MiR_API:749]INFO  Return:{ "battery_percentage": 31.200000762939453, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 85.400000000000006 \u7c73\uff09", "position": { "orientation": -179.05015563964844, "x": 83.87495422363281, "y": 106.83827209472656 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:32,634][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:32,667][8][MiR_API:749]INFO  Return:{ "battery_percentage": 19.5, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4DshelfE'\uff08\u8ddd\u79bb\u76ee\u6807 5.8 \u7c73\uff09", "position": { "orientation": -179.91612243652344, "x": 28.324132919311523, "y": 12.617222785949707 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:32,670][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:32,736][8][MiR_API:749]INFO  Return:{ "battery_percentage": 72.80000305175781, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:30:35,512][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:35,570][8][MiR_API:749]INFO  Return:{ "battery_percentage": 31.100000381469727, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 84.200000000000003 \u7c73\uff09", "position": { "orientation": -177.2798309326172, "x": 82.7234115600586, "y": 106.83236694335938 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:35,650][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:35,676][8][MiR_API:749]INFO  Return:{ "battery_percentage": 19.5, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4DshelfE'\uff08\u8ddd\u79bb\u76ee\u6807 4.3 \u7c73\uff09", "position": { "orientation": -178.82186889648438, "x": 26.8365421295166, "y": 12.620957374572754 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:35,679][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:35,725][8][MiR_API:749]INFO  Return:{ "battery_percentage": 72.80000305175781, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:30:38,527][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:38,571][8][MiR_API:749]INFO  Return:{ "battery_percentage": 31.100000381469727, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 83.099999999999994 \u7c73\uff09", "position": { "orientation": -177.59156799316406, "x": 81.58233642578125, "y": 106.81809997558594 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:38,673][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:38,702][8][MiR_API:749]INFO  Return:{ "battery_percentage": 19.5, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4DshelfE'\uff08\u8ddd\u79bb\u76ee\u6807 2.8 \u7c73\uff09", "position": { "orientation": -179.35133361816406, "x": 25.360074996948242, "y": 12.62130355834961 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:38,710][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:38,784][8][MiR_API:749]INFO  Return:{ "battery_percentage": 72.80000305175781, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:30:41,533][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:41,580][8][MiR_API:749]INFO  Return:{ "battery_percentage": 31.0, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 82 \u7c73\uff09", "position": { "orientation": -179.51031494140625, "x": 80.44960021972656, "y": 106.81187438964844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:41,589][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:41,643][8][MiR_API:749]INFO  Return:{ "battery_percentage": 19.5, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4DshelfE'\uff08\u8ddd\u79bb\u76ee\u6807 2 \u7c73\uff09", "position": { "orientation": 175.38941955566406, "x": 24.598674774169922, "y": 12.648075103759766 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:41,651][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:41,687][8][MiR_API:749]INFO  Return:{ "battery_percentage": 72.80000305175781, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:30:44,555][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:44,724][8][MiR_API:749]INFO  Return:{ "battery_percentage": 31.0, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 81.099999999999994 \u7c73\uff09", "position": { "orientation": -171.18844604492188, "x": 79.60247802734375, "y": 106.75835418701172 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:44,810][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:44,886][8][MiR_API:749]INFO  Return:{ "battery_percentage": 19.5, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4DshelfE'\uff08\u8ddd\u79bb\u76ee\u6807 0.6 \u7c73\uff09", "position": { "orientation": -178.6537322998047, "x": 23.153512954711914, "y": 12.647740364074707 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:44,890][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:44,982][8][MiR_API:749]INFO  Return:{ "battery_percentage": 72.80000305175781, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:30:47,576][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:47,605][8][MiR_API:749]INFO  Return:{ "battery_percentage": 30.799999237060547, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 80.900000000000006 \u7c73\uff09", "position": { "orientation": -127.2957763671875, "x": 79.47028350830078, "y": 106.7286605834961 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:47,648][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:47,707][8][MiR_API:749]INFO  Return:{ "battery_percentage": 19.399999618530273, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4DshelfE'\uff08\u8ddd\u79bb\u76ee\u6807 0 \u7c73\uff09", "position": { "orientation": -179.48892211914062, "x": 22.599227905273438, "y": 12.65231704711914 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:47,729][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:47,773][8][MiR_API:749]INFO  Return:{ "battery_percentage": 72.69999694824219, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:30:50,577][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:50,616][8][MiR_API:749]INFO  Return:{ "battery_percentage": 30.799999237060547, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 80.599999999999994 \u7c73\uff09", "position": { "orientation": -104.65186309814453, "x": 79.36944580078125, "y": 106.3941650390625 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:50,630][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:50,662][8][MiR_API:749]INFO  Return:{ "battery_percentage": 19.399999618530273, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 28 \u79d2", "position": { "orientation": -178.3672332763672, "x": 22.537242889404297, "y": 12.651191711425781 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:50,673][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:50,714][8][MiR_API:749]INFO  Return:{ "battery_percentage": 72.69999694824219, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:30:53,587][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:53,634][8][MiR_API:749]INFO  Return:{ "battery_percentage": 30.799999237060547, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 79.599999999999994 \u7c73\uff09", "position": { "orientation": -89.83634948730469, "x": 79.37310028076172, "y": 105.38797760009766 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:53,664][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:53,730][8][MiR_API:749]INFO  Return:{ "battery_percentage": 19.5, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 25 \u79d2", "position": { "orientation": -178.3672332763672, "x": 22.537242889404297, "y": 12.651191711425781 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:53,734][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:53,807][8][MiR_API:749]INFO  Return:{ "battery_percentage": 72.69999694824219, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:30:56,594][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:56,694][8][MiR_API:749]INFO  Return:{ "battery_percentage": 30.600000381469727, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 78.400000000000006 \u7c73\uff09", "position": { "orientation": -89.40315246582031, "x": 79.37821960449219, "y": 104.2314224243164 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:56,704][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:56,745][8][MiR_API:749]INFO  Return:{ "battery_percentage": 19.5, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 22 \u79d2", "position": { "orientation": -178.3672332763672, "x": 22.537242889404297, "y": 12.651191711425781 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:56,753][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:56,804][8][MiR_API:749]INFO  Return:{ "battery_percentage": 72.69999694824219, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:30:59,598][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:59,650][8][MiR_API:749]INFO  Return:{ "battery_percentage": 30.600000381469727, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 77.299999999999997 \u7c73\uff09", "position": { "orientation": -89.3795166015625, "x": 79.3631591796875, "y": 103.04501342773438 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:59,704][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:59,779][8][MiR_API:749]INFO  Return:{ "battery_percentage": 19.600000381469727, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 19 \u79d2", "position": { "orientation": -178.3672332763672, "x": 22.537242889404297, "y": 12.651191711425781 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:30:59,785][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:30:59,845][8][MiR_API:749]INFO  Return:{ "battery_percentage": 72.69999694824219, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:31:02,604][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:02,653][10][MiR_API:749]INFO  Return:{ "battery_percentage": 30.600000381469727, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 76.099999999999994 \u7c73\uff09", "position": { "orientation": -89.02943420410156, "x": 79.36495971679688, "y": 101.9110107421875 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:31:02,664][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:02,719][10][MiR_API:749]INFO  Return:{ "battery_percentage": 19.600000381469727, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 16 \u79d2", "position": { "orientation": -178.3672332763672, "x": 22.537242889404297, "y": 12.651191711425781 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:31:02,725][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:02,780][10][MiR_API:749]INFO  Return:{ "battery_percentage": 72.69999694824219, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:31:05,611][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:05,673][10][MiR_API:749]INFO  Return:{ "battery_percentage": 30.600000381469727, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 75 \u7c73\uff09", "position": { "orientation": -90.65664672851562, "x": 79.36044311523438, "y": 100.75248718261719 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:31:05,688][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:05,754][10][MiR_API:749]INFO  Return:{ "battery_percentage": 19.600000381469727, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 13 \u79d2", "position": { "orientation": -178.3672332763672, "x": 22.537242889404297, "y": 12.651191711425781 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:31:05,767][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:05,851][10][MiR_API:749]INFO  Return:{ "battery_percentage": 72.69999694824219, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:31:08,620][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:08,709][10][MiR_API:749]INFO  Return:{ "battery_percentage": 30.5, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 73.900000000000006 \u7c73\uff09", "position": { "orientation": -91.21736145019531, "x": 79.37812042236328, "y": 99.61746215820312 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:31:08,854][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:08,926][10][MiR_API:749]INFO  Return:{ "battery_percentage": 19.700000762939453, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 10 \u79d2", "position": { "orientation": -178.3672332763672, "x": 22.537242889404297, "y": 12.651191711425781 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:31:08,934][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:08,991][10][MiR_API:749]INFO  Return:{ "battery_percentage": 72.69999694824219, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:31:11,632][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:11,714][10][MiR_API:749]INFO  Return:{ "battery_percentage": 30.5, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 72.700000000000003 \u7c73\uff09", "position": { "orientation": -89.03829193115234, "x": 79.37773895263672, "y": 98.43419647216797 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:31:11,718][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:11,798][10][MiR_API:749]INFO  Return:{ "battery_percentage": 19.700000762939453, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 7 \u79d2", "position": { "orientation": -178.3672332763672, "x": 22.537242889404297, "y": 12.651191711425781 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:31:11,803][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:11,845][10][MiR_API:749]INFO  Return:{ "battery_percentage": 72.69999694824219, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:31:14,643][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:14,706][10][MiR_API:749]INFO  Return:{ "battery_percentage": 30.200000762939453, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 71.5 \u7c73\uff09", "position": { "orientation": -88.37660217285156, "x": 79.37483215332031, "y": 97.2823257446289 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:31:14,711][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:14,747][10][MiR_API:749]INFO  Return:{ "battery_percentage": 19.600000381469727, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 4 \u79d2", "position": { "orientation": -178.3672332763672, "x": 22.537242889404297, "y": 12.651191711425781 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:31:14,756][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:14,822][10][MiR_API:749]INFO  Return:{ "battery_percentage": 72.69999694824219, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:31:17,654][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:17,759][8][MiR_API:749]INFO  Return:{ "battery_percentage": 30.0, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 70.400000000000006 \u7c73\uff09", "position": { "orientation": -89.49791717529297, "x": 79.37541198730469, "y": 96.10259246826172 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:31:17,821][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:17,954][8][MiR_API:749]INFO  Return:{ "battery_percentage": 19.600000381469727, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 1 \u79d2", "position": { "orientation": -178.3672332763672, "x": 22.537242889404297, "y": 12.651191711425781 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:31:17,960][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:18,079][8][MiR_API:749]INFO  Return:{ "battery_percentage": 72.5999984741211, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:31:20,665][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:20,716][8][MiR_API:749]INFO  Return:{ "battery_percentage": 30.0, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 69.200000000000003 \u7c73\uff09", "position": { "orientation": -88.7068099975586, "x": 79.37557983398438, "y": 94.95887756347656 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:31:20,824][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:20,889][8][MiR_API:749]INFO  Return:{ "battery_percentage": 19.600000381469727, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4dcgready'\uff08\u8ddd\u79bb\u76ee\u6807 18.699999999999999 \u7c73\uff09", "position": { "orientation": -177.20228576660156, "x": 22.465478897094727, "y": 12.648435592651367 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:31:20,897][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:20,970][8][MiR_API:749]INFO  Return:{ "battery_percentage": 72.5999984741211, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:31:23,688][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:23,748][8][MiR_API:749]INFO  Return:{ "battery_percentage": 29.899999618530273, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 68 \u7c73\uff09", "position": { "orientation": -89.2674331665039, "x": 79.37333679199219, "y": 93.80848693847656 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:31:23,780][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:23,834][8][MiR_API:749]INFO  Return:{ "battery_percentage": 19.600000381469727, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4dcgready'\uff08\u8ddd\u79bb\u76ee\u6807 17.300000000000001 \u7c73\uff09", "position": { "orientation": -178.1449737548828, "x": 21.16489601135254, "y": 12.638564109802246 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:31:23,862][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:23,911][8][MiR_API:749]INFO  Return:{ "battery_percentage": 72.5999984741211, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:31:26,691][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:26,734][8][MiR_API:749]INFO  Return:{ "battery_percentage": 29.899999618530273, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 66.900000000000006 \u7c73\uff09", "position": { "orientation": -87.3850326538086, "x": 79.36507415771484, "y": 92.66595458984375 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:31:26,755][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:26,867][8][MiR_API:749]INFO  Return:{ "battery_percentage": 19.600000381469727, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4dcgready'\uff08\u8ddd\u79bb\u76ee\u6807 15.800000000000001 \u7c73\uff09", "position": { "orientation": 179.45518493652344, "x": 19.675270080566406, "y": 12.622949600219727 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:31:26,882][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:26,923][8][MiR_API:749]INFO  Return:{ "battery_percentage": 72.5999984741211, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:31:29,712][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:29,758][10][MiR_API:749]INFO  Return:{ "battery_percentage": 29.799999237060547, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 65.799999999999997 \u7c73\uff09", "position": { "orientation": -87.98462677001953, "x": 79.3734359741211, "y": 91.48357391357422 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:31:29,762][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:29,830][10][MiR_API:749]INFO  Return:{ "battery_percentage": 19.600000381469727, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4dcgready'\uff08\u8ddd\u79bb\u76ee\u6807 14.4 \u7c73\uff09", "position": { "orientation": -178.83763122558594, "x": 18.200756072998047, "y": 12.617491722106934 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:31:29,836][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:29,890][10][MiR_API:749]INFO  Return:{ "battery_percentage": 72.5999984741211, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:31:32,745][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:32,796][10][MiR_API:749]INFO  Return:{ "battery_percentage": 29.799999237060547, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 64.599999999999994 \u7c73\uff09", "position": { "orientation": -89.43286895751953, "x": 79.37551879882812, "y": 90.3380126953125 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:31:32,830][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:32,880][10][MiR_API:749]INFO  Return:{ "battery_percentage": 19.5, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4dcgready'\uff08\u8ddd\u79bb\u76ee\u6807 12.9 \u7c73\uff09", "position": { "orientation": 179.62744140625, "x": 16.65668487548828, "y": 12.618239402770996 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:31:32,957][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:33,121][10][MiR_API:749]INFO  Return:{ "battery_percentage": 72.5999984741211, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:31:35,740][3][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:35,778][3][MiR_API:749]INFO  Return:{ "battery_percentage": 29.600000381469727, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 63.399999999999999 \u7c73\uff09", "position": { "orientation": -90.90863800048828, "x": 79.3805160522461, "y": 89.15534973144531 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:31:35,851][3][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:35,915][3][MiR_API:749]INFO  Return:{ "battery_percentage": 19.5, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4dcgready'\uff08\u8ddd\u79bb\u76ee\u6807 11.300000000000001 \u7c73\uff09", "position": { "orientation": -179.00057983398438, "x": 15.17582893371582, "y": 12.609502792358398 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:31:35,949][3][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:36,004][3][MiR_API:749]INFO  Return:{ "battery_percentage": 72.5999984741211, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:31:38,753][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:38,798][8][MiR_API:749]INFO  Return:{ "battery_percentage": 29.600000381469727, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 62.200000000000003 \u7c73\uff09", "position": { "orientation": -90.22364044189453, "x": 79.38118743896484, "y": 87.97667694091797 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:31:38,881][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:38,958][8][MiR_API:749]INFO  Return:{ "battery_percentage": 19.399999618530273, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4dcgready'\uff08\u8ddd\u79bb\u76ee\u6807 9.9 \u7c73\uff09", "position": { "orientation": -179.5852813720703, "x": 13.673100471496582, "y": 12.619451522827148 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:31:38,981][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:39,042][8][MiR_API:749]INFO  Return:{ "battery_percentage": 72.5, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-10 14:31:41,756][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:41,791][10][MiR_API:749]INFO  Return:{ "battery_percentage": 29.399999618530273, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 61.100000000000001 \u7c73\uff09", "position": { "orientation": -86.85234069824219, "x": 79.35648345947266, "y": 86.84957122802734 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:31:41,902][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:41,986][10][MiR_API:749]INFO  Return:{ "battery_percentage": 19.399999618530273, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4dcgready'\uff08\u8ddd\u79bb\u76ee\u6807 8.4 \u7c73\uff09", "position": { "orientation": 179.44371032714844, "x": 12.201641082763672, "y": 12.62713623046875 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-10 14:31:42,004][10][MiR_API:727]INFO  [GET]URL:http://10.85.199.70/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-10 14:31:42,049][10][MiR_API:749]INFO  Return:{ "battery_percentage": 72.5, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -174.98614501953125, "x": 2.926605224609375, "y": 14.409751892089844 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}

AGVControl_Steel/obj/Debug/AGVControl_Steel.csproj.CoreCompileInputs.cache

-f5d387375c56a96c8e6b88a603ea5a9491ae11c5
+41508a38d8edbbc58c27e72e45c82c9ba74fa2bf

AGVControl_Steel/obj/Debug/AGVControl_Steel.csproj.FileListAbsolute.txt

@@ -12,3 +12,5 @@ D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl_Steel\AGVControl_Ste
 D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl_Steel\AGVControl_Steel\bin\Debug\RestSharp.dll
 D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl_Steel\AGVControl_Steel\bin\Debug\RestSharp.xml
 D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl_Steel\AGVControl_Steel\obj\Debug\AGVControl_Steel.csproj.CopyComplete
+D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl_Steel\AGVControl_Steel\bin\Debug\ClassFormParent.dll
+D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl_Steel\AGVControl_Steel\bin\Debug\ClassFormParent.pdb