优化逻辑

AGVControl_Steel/App.config

@@ -40,10 +40,13 @@
 		<add key="FLEET_IP" value="10.85.199.3"/>
 		<add key="FLEET_Send" value="true"/>
 		<add key="WebService" value="http://10.85.196.40:8089/"/>
+		<!--<add key="WebService" value="http://10.211.55.23:8089/"/>-->
 		<add key="AGV_BATTERY_MAX" value="100"/>
 		<add key="AGV_BATTERY_MIN" value="40"/>
-		<add key="4C_AGV" value="32"/>
-		<add key="4D_AGV" value="25"/>
-		<add key="PlaceName" value="D1,D2,D3,D4,D5,D6,D7,D8,D9,D10,D11,D12,D13,D14,D15,D16,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14,C15,C16,4cwash,4dwash,storage"/>
+		<add key="Use_32" value="false"/>
+		<add key="Use_25" value="false"/>
+		<add key="Work_32" value="4C"/>
+		<add key="Work_25" value="4D"/>
+		<add key="PlaceName" value="D1,D2,D3,D4,D5,D6,D7,D8,D9,D10,D11,D12,D13,D14,D15,D16,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14,C15,C16,4Cwash,4Dwash,storage"/>
 	</appSettings>
 </configuration>
\ No newline at end of file

AGVControl_Steel/BLL/Common.cs

@@ -24,33 +24,25 @@ namespace AGVControl_Steel
         public static System.Configuration.Configuration appConfig;
         public static log4net.ILog log;
         public static string[] PLACE_NAME;
-        /// <summary>
-        /// 仓库对接完成
-        /// </summary>
-        public static bool StorageDockFinish;
+        public static bool FLEET_SEND;
 
+        public static bool StorageDockFinish = false;
+        public static bool StorageDockAlway = false;
 
         public const int AGV_CALL_SLEEP = 2000;
 
-        public const string STORAGE_ENTER_4C = "4c_enter";
-        public const string STORAGE_ENTER_4D = "4d_enter";
+        public const string STORAGE_ENTER_4C = "4C_enter";
+        public const string STORAGE_ENTER_4D = "4D_enter";
         public const string STORAGE_LEAVE = "leave";
         public const string STORAGE_IO_ON = "di_on";
         public const string STORAGE_IO_OFF = "di_off";
 
-        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";
-        public const string MISSION_CHARGE_4C = "AutoCharge4C";
-        public const string MISSION_STANDBY_4D = "Move4DStandby";
-        public const string MISSION_STANDBY_4C = "Move4CStandby";
-        public const string MISSION_MOVE_WASH_4D = "Move4DWash";
-        public const string MISSION_MOVE_WASH_4C = "Move4CWash";
+        public const string MISSION_PASS_DOOR_INTO = "PassDoorInto";
+        public const string MISSION_CHARGE = "AutoCharge";
+        public const string MISSION_STANDBY = "MoveStandby";
+        public const string MISSION_MOVE_WASH = "MoveWash";
         public const string MISSION_MOVE_STORAGE = "MoveSteelstorage";
         public const string MISSION_MOVE_D1 = "MoveSteelD1";
         public const string MISSION_MOVE_D2 = "MoveSteelD2";

AGVControl_Steel/BLL/SteelManage.cs

@@ -82,7 +82,7 @@ namespace BLL
             string name = "";
             bool find = false;
 
-            string s = info.Workshop.Substring(1, 1).ToUpper();
+            string s = info.Workshop.Substring(1, 1);
             for (int i = 0; i < Common.PLACE_NAME.Length; i++)
             {
                 name = Common.PLACE_NAME[i];
@@ -292,44 +292,18 @@ namespace BLL
 
         public Job GetSteelJob(AgvInfo info)
         {
+            if (info.Battery < info.BatteryMin)
+                return null;
 
-            //TEST
-            string s = "";
-            for (int i = 0; i < oldSteelWork.Count; i++)
-                s += oldSteelWork[i].Place + ";";
-            Common.log.Debug("TEST oldSteelWork=" + s);
-            s = "";
-            for (int i = 0; i < newSteelWork.Count; i++)
-                s += newSteelWork[i].From + "," + newSteelWork[i].Place + "; ";
-            Common.log.Debug("TEST newSteelWork=" + s);
-
-
-
+            int newSteelIndex = newSteelWork.FindIndex(s => s.From.StartsWith(info.Workshop) && s.From == s.Place);
+            int storageIndex = storageWork.FindIndex(s => s.Place.StartsWith(info.Workshop));
 
 
-            #region 回收回收钢板
-            string name = "";
-            if (info.Workshop == Common.WORKSHOP_4C)
-                name = "C";
-            else if (info.Workshop == Common.WORKSHOP_4D)
-                name = "D";
-            int index = oldSteelWork.FindIndex(s => s.Place.StartsWith(name));
-            if (index > -1)
-            {
-                Common.log.Info(info.Workshop + "回收钢板回收");
-                return new TakeOldJob();
-            }
-            else
-            {
-                Common.log.Debug("没有找到" + info.Workshop + "回收钢板任务");
-            }
-            #endregion
 
             #region 清洗点呼叫
-            index = newSteelWork.FindIndex(s => s.From.StartsWith(info.Workshop) && s.From == s.Place);
-            if (index > -1)
+            if (newSteelIndex > -1)
             {
-                info.SteelFrom = newSteelWork[index].From;
+                info.SteelFrom = newSteelWork[newSteelIndex].From;
                 Common.log.Info(info.Workshop + "清洗点呼叫");
                 return new WashPointJob();
             }
@@ -340,8 +314,7 @@ namespace BLL
             #endregion
 
             #region 仓库入架子出钢板
-            index = storageWork.FindIndex(s => s.Place.StartsWith(info.Workshop));
-            if (index > -1)
+            if (storageIndex > -1)
             {
                 info.SteelFrom = "storage";
                 Common.log.Info("4D仓库呼叫");
@@ -353,6 +326,53 @@ namespace BLL
             }
             #endregion
 
+            #region 回收钢板
+            string name = info.Workshop.Substring(1, 1);
+            int oldSteelIndex = oldSteelWork.FindIndex(s => s.Place.StartsWith(name));
+            if (oldSteelIndex > -1)
+            {
+                Common.log.Info(info.Workshop + "回收钢板回收");
+                return new TakeOldJob();
+            }
+            else
+            {
+                Common.log.Debug("没有找到" + info.Workshop + "回收钢板任务");
+            }
+
+
+
+
+            //string name = info.Workshop.Substring(1, 1);
+            //List<SteelWork> sw = oldSteelWork.FindAll(s => s.Place.StartsWith(name));
+            //if (sw.Count == 0)
+            //{
+            //    Common.log.Debug("没有找到" + info.Workshop + "回收钢板任务");
+            //}
+            //else
+            //{
+            //    bool find = false;
+            //    for (int i = 0; i < sw.Count; i++)
+            //    {
+            //        TimeSpan span = DateTime.Now - sw[i].DateTime;
+            //        if (span.TotalMinutes >= 2)
+            //        {
+            //            find = true;
+            //            break;
+            //        }
+            //    }
+            //    if (find)
+            //    {
+            //        Common.log.Info(info.Workshop + "回收钢板任务");
+            //        return new TakeOldJob();
+            //    }
+            //    else
+            //    {
+            //        Common.log.Debug("有" + info.Workshop + "回收钢板任务，但没有到2分钟，暂时不回收。");
+            //    }
+            //}
+            #endregion
+
+
             return null;
         }
 

AGVControl_Steel/BLL/WebService.cs

@@ -156,10 +156,7 @@ namespace Webs
 
             try
             {
-                from = from.ToLower();
-                place = place.ToLower();
-                if (from != place) place = place.ToUpper();
-                int index = Array.FindIndex(Common.PLACE_NAME, s => s == from);
+                int index = Array.FindIndex(Common.PLACE_NAME, s => s.ToLower() == from.ToLower());
 
                 if (index == -1)
                 {
@@ -168,12 +165,13 @@ namespace Webs
                 }
                 else
                 {
+                    from = Common.PLACE_NAME[index];
+
                     bool find = true;
                     string[] arr = place.Split(',');
                     for (int i = 0; i < arr.Length; i++)
                     {
-                        if (arr[i] == "STORAGE") arr[i] = arr[i].ToLower();
-                        index = Array.FindIndex(Common.PLACE_NAME, s => s == arr[i]);
+                        index = Array.FindIndex(Common.PLACE_NAME, s => s.ToLower() == arr[i].ToLower());
 
                         if (index == -1)
                         {
@@ -184,7 +182,7 @@ namespace Webs
                         }
                         else
                         {
-                            Common.steelManage.NewSteelWorkAdd(from, arr[i]);
+                            Common.steelManage.NewSteelWorkAdd(from, Common.PLACE_NAME[index]);
                             find = true;
                         }
                     }
@@ -211,44 +209,40 @@ namespace Webs
         /// <returns></returns>
         private Result Storage(string place)
         {
-            Result res = new Result();
+            Result res = new Result { Code = 0, Msg = "OK" };
 
             try
             {
                 string s = place.ToLower();
-                switch(s)
+                if (s == Common.STORAGE_ENTER_4C.ToLower())
                 {
-                    case Common.STORAGE_ENTER_4C:
-                        res.Code = 0;
                     res.Msg = "OK,4C";
-                        Common.steelManage.StorageWorkAdd(s);
-                        break;
-                    case Common.STORAGE_ENTER_4D:
-                        res.Code = 0;
+                    Common.steelManage.StorageWorkAdd(Common.STORAGE_ENTER_4C);
+                }
+                else if (s == Common.STORAGE_ENTER_4D.ToLower())
+                {
                     res.Msg = "OK,4D";
-                        Common.steelManage.StorageWorkAdd(s);
-                        break;
-                    case Common.STORAGE_LEAVE:
-                        res.Code = 0;
-                        res.Msg = "OK";
-                        Common.steelManage.StorageWorkAdd(s);
-                        break;
-                    case Common.STORAGE_IO_ON:
-                        res.Code = 0;
-                        res.Msg = "OK";
+                    Common.steelManage.StorageWorkAdd(Common.STORAGE_ENTER_4D);
+                }
+                else if (s == Common.STORAGE_LEAVE.ToLower())
+                {
+                    Common.steelManage.StorageWorkAdd(Common.STORAGE_LEAVE);
+                }
+                else if (s == Common.STORAGE_IO_ON.ToLower())
+                {
                     Common.StorageDockFinish = true;
                     UpdateStorageIO();
-                        break;
-                    case Common.STORAGE_IO_OFF:
-                        res.Code = 0;
-                        res.Msg = "OK";
+                }
+                else if (s == Common.STORAGE_IO_OFF.ToLower())
+                {
                     Common.StorageDockFinish = false;
                     UpdateStorageIO();
-                        break;
-                    default:
-                        res = new Result { Code = -2, Msg = "Not find place=" + place };
+                }
+                else
+                {
+                    res.Code = -2;
+                    res.Msg = "Not find place=" + place;
                     Common.log.Info("没有找到" + place);
-                        break;
                 }
             }
             catch (Exception ex)
@@ -264,6 +258,7 @@ namespace Webs
         {
             if (Common.lblStorageIO == null) return;
             int.TryParse(Common.lblStorageIO.Tag.ToString(), out int n);
+            if (Common.StorageDockAlway) Common.StorageDockFinish = true;
             string s = Common.StorageDockFinish ? "ON" : "OFF";
             Common.lblStorageIO.Text = string.Format("仓库IO信号 {0} ({1})", s, n);
             Common.lblStorageIO.BackColor = Common.StorageDockFinish ? Color.Lime : Color.Red;

AGVControl_Steel/Job/ChargeJob.cs

@@ -93,15 +93,14 @@ namespace Model
 
         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;
-
+            mission = Common.MISSION_PASS_DOOR_INTO + info.Workshop;
+            if (Common.FLEET_SEND)
                 rtn = Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
+            else
+                rtn = Common.mir.Add_Mission(info.IP, info.Authorization, mission, out id);
             if (rtn)
             {
-                chargeStep.Msg = info.FullName + "在" + info.Workshop.ToUpper() + "车间，先过车间门";
+                chargeStep.Msg = info.FullName + "在" + info.Workshop + "车间，先过车间门";
                 chargeStep.NextStep(ChargeStep.WaitWorkshopDoor);
             }
             else
@@ -112,16 +111,15 @@ namespace Model
 
         private void MoveCharge(AgvInfo info)
         {
-            if (info.Workshop == Common.WORKSHOP_4D)
-                mission = Common.MISSION_CHARGE_4D;
-            else if (info.Workshop == Common.WORKSHOP_4C)
-                mission = Common.MISSION_CHARGE_4C;
-
+            mission = Common.MISSION_CHARGE + info.Workshop;
+            if (Common.FLEET_SEND)
                 rtn = Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
+            else
+                rtn = Common.mir.Add_Mission(info.IP, info.Authorization, mission, out id);
             if (rtn)
             {
                 info.Place = "充电位";
-                chargeStep.Msg = info.FullName + "在" + info.Workshop + "车间，去充电位";
+                chargeStep.Msg = info.FullName + "在" + info.Workshop + "车间去充电位，" + mission;
                 chargeStep.NextStep(ChargeStep.WaitChargeStation);
             }
             else

AGVControl_Steel/Job/MissionMoveJob.cs

@@ -20,7 +20,10 @@ namespace Model
         {
             if (missionMoveStep.IsEqual(MissionMoveStep.None))
             {
+                if (Common.FLEET_SEND)
                     rtn = Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
+                else
+                    rtn = Common.mir.Add_Mission(info.IP, info.Authorization, mission, out id);
                 if (rtn)
                 {
                     getStateTime = 0;

AGVControl_Steel/Job/SendNewJob.cs

@@ -20,31 +20,9 @@ namespace Model
             if (sendNewStep.IsEqual(SendNewStep.None))
             {
                 dockTime = 0;
-                info.FillSteelCount();
                 sendNewStep.Msg = info.FullName + "等待任务";
-                sendNewStep.NextStep(SendNewStep.FindMission);
-            }
-            else if (sendNewStep.IsEqual(SendNewStep.FindMission))
-            {
-                rtn = Common.steelManage.FindNewSteelWork(info);
-                if (rtn)
-                {
-                    if (info.IsSelfWorkshop())
-                    {
-                        sendNewStep.Msg = info.FullName + "找到任务，开始执行";
                 sendNewStep.NextStep(SendNewStep.FindLine);
             }
-                    else
-                    {
-                        MoveDoor(info);
-                    }
-                }
-                //else
-                //{
-                //    sendNewStep.Msg = info.FullName + "没有找到任务";
-                //    sendNewStep.NextStep(SendNewStep.End);
-                //}
-            }
             else if (sendNewStep.IsEqual(SendNewStep.WaitWorkshopDoor))
             {
                 rtn = Common.mir.Get_MissionState_Fleet(info.Authorization, id, out string state);
@@ -67,30 +45,53 @@ namespace Model
             }
             else if (sendNewStep.IsEqual(SendNewStep.FindLine))
             {
-                if (info.IsSteelEmpty())
+                rtn = Common.steelManage.FindNewSteelWork(info, out string place);
+                if (rtn)
+                {
+                    if (place == "storage")
                     {
-                    sendNewStep.Msg = info.FullName + "钢板已全部取走";
-                    sendNewStep.NextStep(SendNewStep.End);
+                        if (info.Is4DWorkshop())
+                        {
+                            info.Place = place;
+                            mission = "MoveSteel" + info.Place;
+                            if (Common.FLEET_SEND)
+                                Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
+                            else
+                                Common.mir.Add_Mission(info.IP, info.Authorization, mission, out id);
+                            sendNewStep.Msg = info.FullName + "发送任务" + mission;
+                            sendNewStep.NextStep(SendNewStep.MoveLine);
                         }
                         else
                         {
-                    rtn = Common.steelManage.FindNewSteelWork(info, out string place);
-                    if (rtn)
+                            MoveDoor4D(info);
+                        }
+                    }
+                    else
+                    {
+                        if (info.IsSelfWorkshop())
                         {
                             info.Place = place;
                             mission = "MoveSteel" + info.Place;
+                            if (Common.FLEET_SEND)
                                 Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
+                            else
+                                Common.mir.Add_Mission(info.IP, info.Authorization, mission, out id);
                             sendNewStep.Msg = info.FullName + "发送任务" + mission;
                             sendNewStep.NextStep(SendNewStep.MoveLine);
                             info.SteelCountAdd();
                         }
                         else
                         {
+                            MoveDoor(info);
+                        }
+                    }
+                }
+                else
+                {
                     sendNewStep.Msg = info.FullName + "没有后续新钢板任务";
                     sendNewStep.NextStep(SendNewStep.End);
                 }
             }
-            }
             else if (sendNewStep.IsEqual(SendNewStep.MoveLine))
             {
                 rtn = Common.mir.Get_MissionState_Fleet(info.Authorization, id, out string state);
@@ -104,7 +105,6 @@ namespace Model
                             delayGetSignal = 0;
                             sendNewStep.Msg = info.FullName + "等待到位信号";
                             sendNewStep.NextStep(SendNewStep.GetSingle);
-
                         }
                         else
                         {
@@ -126,6 +126,12 @@ namespace Model
             {
                 if (Common.StorageDockFinish)
                 {
+                    //入库的同时又有出库，需要删除出库任务。
+                    if (info.Workshop == "4C")
+                        Common.steelManage.StorageWorkDel(Common.STORAGE_ENTER_4C);
+                    else if (info.Workshop == "4D")
+                        Common.steelManage.StorageWorkDel(Common.STORAGE_ENTER_4D);
+
                     Common.steelManage.NewSteelWorkDel(info.SteelFrom, info.Place);
                     sendNewStep.Msg = info.FullName + "已到位，等待离开信号";
                     sendNewStep.NextStep(SendNewStep.WaitStorageLeave);
@@ -145,7 +151,10 @@ namespace Model
                         {
                             dockTime++;
                             mission = "MoveSteel" + info.Place;
+                            if (Common.FLEET_SEND)
                                 Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
+                            else
+                                Common.mir.Add_Mission(info.IP, info.Authorization, mission, out id);
                             sendNewStep.Msg = info.FullName + "信号没有到位，第" + dockTime + "次重发任务" + mission;
                             sendNewStep.NextStep(SendNewStep.MoveLine);
                         }
@@ -166,7 +175,11 @@ namespace Model
             {
                 info.SteelFrom = "";
                 info.ClearSteelCount();
+                Job job = Common.steelManage.GetSteelJob(info);
+                if (job == null)
                     return new StandbyJob();
+                else
+                    return job;
             }
             else if (sendNewStep.IsEqual(SendNewStep.Error))
             {
@@ -176,15 +189,32 @@ namespace Model
 
         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;
+            mission = Common.MISSION_PASS_DOOR_INTO + info.Workshop;
+            if (Common.FLEET_SEND)
+                rtn = Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
+            else
+                rtn = Common.mir.Add_Mission(info.IP, info.Authorization, mission, out id);
+            if (rtn)
+            {
+                sendNewStep.Msg = info.FullName + "在其他车间，先过车间门";
+                sendNewStep.NextStep(SendNewStep.WaitWorkshopDoor);
+            }
+            else
+            {
+                sendNewStep.Msg = info.FullName + "发送" + mission + "任务失败";
+            }
+        }
 
+        private void MoveDoor4D(AgvInfo info)
+        {
+            mission = Common.MISSION_PASS_DOOR_INTO + "4D";
+            if (Common.FLEET_SEND)
                 rtn = Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
+            else
+                rtn = Common.mir.Add_Mission(info.IP, info.Authorization, mission, out id);
             if (rtn)
             {
-                sendNewStep.Msg = info.FullName + "在" + info.Workshop + "车间，先过车间门";
+                sendNewStep.Msg = info.FullName + "在其他车间，先过车间门";
                 sendNewStep.NextStep(SendNewStep.WaitWorkshopDoor);
             }
             else
@@ -196,7 +226,7 @@ namespace Model
         private enum SendNewStep
         {
             None,
-            FindMission,
+            //FindMission,
             WaitWorkshopDoor,
             FindLine,
             MoveLine,

AGVControl_Steel/Job/StandbyJob.cs

@@ -89,15 +89,14 @@ namespace Model
 
         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;
-
+            mission = Common.MISSION_PASS_DOOR_INTO + info.Workshop;
+            if (Common.FLEET_SEND)
                 rtn = Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
+            else
+                rtn = Common.mir.Add_Mission(info.IP, info.Authorization, mission, out id);
             if (rtn)
             {
-                standbyStep.Msg = info.FullName + "在" + info.Workshop + "车间，先过车间门";
+                standbyStep.Msg = info.FullName + "在其他车间，先过车间门";
                 standbyStep.NextStep(StandbyStep.WaitWorkshopDoor);
             }
             else
@@ -108,12 +107,11 @@ namespace Model
 
         private void MoveStandby(AgvInfo info)
         {
-            if (info.Workshop == Common.WORKSHOP_4D)
-                mission = Common.MISSION_STANDBY_4D;
-            else if (info.Workshop == Common.WORKSHOP_4C)
-                mission = Common.MISSION_STANDBY_4C;
-
+            mission = Common.MISSION_STANDBY + info.Workshop;
+            if (Common.FLEET_SEND)
                 rtn = Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
+            else
+                rtn = Common.mir.Add_Mission(info.IP, info.Authorization, mission, out id);
             if (rtn)
             {
                 info.Place = "待机位";

AGVControl_Steel/Job/StorageJob.cs

@@ -50,8 +50,11 @@ namespace Model
                 Common.steelManage.FindStorageWork(info, out string place);
                 info.Place = place;
 
-
+                if (Common.FLEET_SEND)
                     rtn = Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, Common.MISSION_MOVE_STORAGE, out id);
+                else
+                    rtn = Common.mir.Add_Mission(info.IP, info.Authorization, Common.MISSION_MOVE_STORAGE, out id);
+
                 if (rtn)
                 {
                     storageStep.Msg = info.FullName + "去4D仓库";
@@ -88,7 +91,8 @@ namespace Model
                 if (Common.StorageDockFinish)
                 {
                     Common.steelManage.StorageWorkDel(info.Place);
-                    storageStep.NextStep(StorageStep.End);
+                    storageStep.Msg = info.FullName + "已到位，等待离开信号";
+                    storageStep.NextStep(StorageStep.WaitStorageLeave);
                 }
                 else
                 {
@@ -105,7 +109,10 @@ namespace Model
                         {
                             dockTime++;
                             mission = "MoveSteel" + info.Place;
+                            if (Common.FLEET_SEND)
                                 Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
+                            else
+                                Common.mir.Add_Mission(info.IP, info.Authorization, mission, out id);
                             storageStep.Msg = info.FullName + "信号没有到位，第" + dockTime + "次重发任务" + mission;
                             storageStep.NextStep(StorageStep.GoStorage);
                         }
@@ -113,10 +120,23 @@ namespace Model
                     delayGetSignal++;
                 }
             }
-            else if (storageStep.IsEqual(StorageStep.End))
+            else if (storageStep.IsEqual(StorageStep.WaitStorageLeave))
+            {
+                if (Common.steelManage.FindStorageWorkLeave())
+                {
+                    Common.steelManage.StorageWorkDelLeave();
+                    storageStep.Msg = info.FullName + "收到离开信号";
+                    return new StandbyJob();
+                }
+                else if (Common.steelManage.FindNewSteelWork(info))
                 {
                     return new SendNewJob();
                 }
+            }
+            else if (storageStep.IsEqual(StorageStep.End))
+            {
+                
+            }
             else if (storageStep.IsEqual(StorageStep.Error))
             {
             }
@@ -125,7 +145,15 @@ namespace Model
 
         private void MoveDoor(AgvInfo info)
         {
-            rtn = Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, Common.MISSION_MOVE_4C_4D, out id);
+            string name = Common.MISSION_PASS_DOOR_INTO;
+            if (info.Workshop.Substring(1, 1) == "C")
+                name += info.Workshop.Substring(0, 1) + "D";
+            else
+                name += info.Workshop;
+            if (Common.FLEET_SEND)
+                rtn = Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, name, out id);
+            else
+                rtn = Common.mir.Add_Mission(info.IP, info.Authorization, name, out id);
             if (rtn)
             {
                 storageStep.Msg = info.FullName + "在" + info.Workshop + "车间，先过车间门";
@@ -144,6 +172,7 @@ namespace Model
             GoStorage,
             WaitStorage,
             GetSingle,
+            WaitStorageLeave,
             Error,
             End
         }

AGVControl_Steel/Job/TakeOldJob.cs

@@ -61,16 +61,15 @@ namespace Model
             }
             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;
-
+                mission = Common.MISSION_MOVE_WASH + info.Workshop;
+                if (Common.FLEET_SEND)
                     rtn = Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
+                else
+                    rtn = Common.mir.Add_Mission(info.IP, info.Authorization, mission, out id);
                 if (rtn)
                 {
                     info.Place = "4D清洗点";
-                    takeOldStep.Msg = info.FullName + "去" + info.Workshop.ToUpper() + "清洗点";
+                    takeOldStep.Msg = info.FullName + "去" + info.Workshop + "清洗点";
                     takeOldStep.NextStep(TakeOldStep.WaitWashPoint);
                 }
                 else
@@ -101,7 +100,11 @@ namespace Model
             else if (takeOldStep.IsEqual(TakeOldStep.End))
             {
                 info.ClearSteelCount();
+                Job job = Common.steelManage.GetSteelJob(info);
+                if (job == null)
                     return new StandbyJob();
+                else
+                    return job;
             }
 
             return this;
@@ -115,7 +118,10 @@ namespace Model
                 name = place;
                 info.Place = name;
                 mission = "MoveSteel" + name;
+                if (Common.FLEET_SEND)
                     Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
+                else
+                    Common.mir.Add_Mission(info.IP, info.Authorization, mission, out id);
                 takeOldStep.Msg = info.FullName + "发送任务，" + mission;
                 takeOldStep.NextStep(TakeOldStep.MoveLine);
                 info.SteelCountAdd();

AGVControl_Steel/Job/WashPointJob.cs

@@ -21,15 +21,14 @@ namespace Model
             }
             else if (washPointStep.IsEqual(WashPointStep.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;
-
+                mission = Common.MISSION_MOVE_WASH + info.Workshop;
+                if (Common.FLEET_SEND)
                     rtn = Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
+                else
+                    rtn = Common.mir.Add_Mission(info.IP, info.Authorization, mission, out id);
                 if (rtn)
                 {
-                    washPointStep.Msg = info.FullName + "去" + info.Workshop.ToUpper() + "清洗点";
+                    washPointStep.Msg = info.FullName + "去" + info.Workshop + "清洗点";
                     washPointStep.NextStep(WashPointStep.WaitWashPoint);
                 }
                 else

AGVControl_Steel/Model/AgvInfo.cs

@@ -124,16 +124,16 @@ namespace Model
         {
             if (Position.Y < 55)
             {
-                if (Workshop == Common.WORKSHOP_4D)
+                if (Workshop.IndexOf('D') > 0)
                     return true;
-                else if (Workshop == Common.WORKSHOP_4C)
+                else if (Workshop.IndexOf('C') > 0)
                     return false;
             }
             else if (Position.Y > 62)
             {
-                if (Workshop == Common.WORKSHOP_4D)
+                if (Workshop.IndexOf('D') > 0)
                     return false;
-                else if (Workshop == Common.WORKSHOP_4C)
+                else if (Workshop.IndexOf('C') > 0)
                     return true;
             }
 

AGVControl_Steel/Model/MiR_API.cs

@@ -218,46 +218,45 @@ namespace Model
             }
         }
 
-        //        /// <summary>
-        //        /// 添加任务到任务队列
-        //        /// </summary>
-        //        /// <param name="info"></param>
-        //        /// <param name="mission_id"></param>
-        //        /// <returns></returns>
-        //        public bool Add_Mission(AgvInfo info, string mission_id)
-        //        {
-        //            try
-        //            {
-        //                //防止上一个任务已执行但返回失败时，删除任务
-        //                Del_Mission(info);
-        //                var key = Common.agvMission.Where(qq => qq.Value == mission_id).Select(qq => qq.Key);
-        //                info.CurTaskName = key.ToList()[0];
-        //                Common.log.Info(string.Format("{0} Add_Mission [{1}]", info.Name, key.ToList()[0]));
-
+        /// <summary>
+        /// 添加任务到小车自身任务队列
+        /// </summary>
+        /// <param name="ip"></param>
+        /// <param name="authorization"></param>
+        /// <param name="missionName"></param>
+        /// <param name="id"></param>
+        /// <returns></returns>
+        public bool Add_Mission(string ip, string authorization, string missionName, out string id)
+        {
+            id = null;
 
-        //                string url = "http://" + info.IP + "/api/v2.0.0/mission_queue";
-        //                string body = "{\"mission_id\":\"" + mission_id + "\"}";
+            try
+            {
+                string url = "http://" + ip + "/api/v2.0.0/mission_queue";
+                string body = "{\"mission_id\":\"" + MissionList[missionName] + "\"}";
+                LOG.Info(string.Format("URL:{0}   Body:{1}", url, body));
 
-        //                string json = HttpPost(url, info.IP, info.Authorization, body);
-        //                Common.log.Info(string.Format("URL: {0};  Body: {1}", url, body)+"\n"+"Return: " + json);
-        //                if (string.IsNullOrWhiteSpace(json)) return false;
+                string json = HttpPost(url, ip, authorization, body);
+                LOG.Info("Return:" + json);
+                if (string.IsNullOrWhiteSpace(json)) return false;
 
-        //                JavaScriptSerializer serializer = new JavaScriptSerializer();
-        //                Dictionary<string, object> dic = (Dictionary<string, object>)serializer.DeserializeObject(json);
-        //                if (dic == null) return false;
+                JavaScriptSerializer serializer = new JavaScriptSerializer();
+                Dictionary<string, object> dic = (Dictionary<string, object>)serializer.DeserializeObject(json);
+                if (dic == null) return false;
 
-        //                string s = dic["mission_id"].ToString();
-        //                if (s == mission_id)
-        //                    return true;
-        //                else
-        //                    return false;
-        //            }
-        //            catch (Exception ex)
-        //            {
-        //                Common.log.Error(ex);
-        //                return false;
-        //            }
-        //        }
+                id = dic["id"].ToString();
+                string missionId = dic["mission_id"].ToString();
+                if (missionId == MissionList[missionName])
+                    return true;
+                else
+                    return false;
+            }
+            catch (Exception ex)
+            {
+                LOG.Error(ex);
+                return false;
+            }
+        }
 
         /// <summary>
         /// 添加任务到Fleet任务队列

AGVControl_Steel/Program.cs

@@ -52,17 +52,21 @@ namespace AGVControl_Steel
                 {
                     string[] str = lines[i].Split(',');
                     if (str.Length != 4) continue;
+
                     string isUse = "false";
-                    if (Common.appConfig.AppSettings.Settings[str[0]] == null)
+                    string key = "Use_" + str[0];
+                    if (Common.appConfig.AppSettings.Settings[key] == null)
                     {
-                        Common.appConfig.AppSettings.Settings.Add(str[0], "false");
+                        Common.appConfig.AppSettings.Settings.Add(key, "false");
                         Common.appConfig.Save();
                         System.Configuration.ConfigurationManager.RefreshSection("appSettings");
                     }
                     else
                     {
-                        isUse = Common.appConfig.AppSettings.Settings[str[0]].Value;
+                        isUse = Common.appConfig.AppSettings.Settings[key].Value;
                     }
+
+                    key = "Work_" + str[0];
                     Model.AgvInfo info = new Model.AgvInfo
                     {
                         FleetID = str[0],
@@ -71,7 +75,8 @@ namespace AGVControl_Steel
                         Authorization = str[3],
                         IsAuto = Convert.ToBoolean(isUse),
                         BatteryMax = Convert.ToInt32(Common.appConfig.AppSettings.Settings["AGV_BATTERY_MAX"].Value),
-                        BatteryMin = Convert.ToInt32(Common.appConfig.AppSettings.Settings["AGV_BATTERY_MIN"].Value)
+                        BatteryMin = Convert.ToInt32(Common.appConfig.AppSettings.Settings["AGV_BATTERY_MIN"].Value),
+                        Workshop = Common.appConfig.AppSettings.Settings[key].Value
                     };
                     Common.agvInfos.Add(info);
                 }
@@ -89,18 +94,19 @@ namespace AGVControl_Steel
                 Common.log.Info("读取配置文件 " + Common.PATH_AGV_MISSION);
 
 
-                //Common.LINE_NAME_4D = Common.appConfig.AppSettings.Settings["4D_Line"].Value.Split(',');
-                //Common.LINE_NAME_4C = Common.appConfig.AppSettings.Settings["4C_Line"].Value.Split(',');
-                //Common.STORE_NAME = Common.appConfig.AppSettings.Settings["Store"].Value.Split(',');
                 Common.PLACE_NAME = Common.appConfig.AppSettings.Settings["PlaceName"].Value.Split(',');
+                Common.FLEET_SEND = Convert.ToBoolean(Common.appConfig.AppSettings.Settings["FLEET_Send"].Value);
+
+
+
 
 
-                string id = Common.appConfig.AppSettings.Settings["4D_AGV"].Value;
-                int idx = Common.agvInfos.FindIndex(match => match.FleetID == id);
-                if (idx > -1) Common.agvInfos[idx].Workshop = Common.WORKSHOP_4D;
-                id = Common.appConfig.AppSettings.Settings["4C_AGV"].Value;
-                idx = Common.agvInfos.FindIndex(match => match.FleetID == id);
-                if (idx > -1) Common.agvInfos[idx].Workshop = Common.WORKSHOP_4C;
+                //string id = Common.appConfig.AppSettings.Settings["4D_AGV"].Value;
+                //int idx = Common.agvInfos.FindIndex(match => match.FleetID == id);
+                //if (idx > -1) Common.agvInfos[idx].Workshop = Common.WORKSHOP_4D;
+                //id = Common.appConfig.AppSettings.Settings["4C_AGV"].Value;
+                //idx = Common.agvInfos.FindIndex(match => match.FleetID == id);
+                //if (idx > -1) Common.agvInfos[idx].Workshop = Common.WORKSHOP_4C;
 
 
 

AGVControl_Steel/UI/FrmMain.Designer.cs

@@ -56,6 +56,8 @@
             this.LblStorageIO = new System.Windows.Forms.Label();
             this.LblWeb = new System.Windows.Forms.Label();
             this.tabPage3 = new System.Windows.Forms.TabPage();
+            this.ChkMissionDebug = new System.Windows.Forms.CheckBox();
+            this.ChkStorageIO = new System.Windows.Forms.CheckBox();
             this.LblMissionHint = new System.Windows.Forms.Label();
             this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
             this.LstStorage = new System.Windows.Forms.ListBox();
@@ -82,6 +84,7 @@
             this.BtnMissionClear = new System.Windows.Forms.Button();
             this.BtnMissionAdd = new System.Windows.Forms.Button();
             this.LstMission = new System.Windows.Forms.ListBox();
+            this.BtnClearLog = new System.Windows.Forms.Button();
             ((System.ComponentModel.ISupportInitialize)(this.DgvName)).BeginInit();
             this.tabControl1.SuspendLayout();
             this.tabPage2.SuspendLayout();
@@ -138,7 +141,7 @@
             this.DgvName.RowHeadersDefaultCellStyle = dataGridViewCellStyle10;
             this.DgvName.RowHeadersWidth = 50;
             this.DgvName.RowTemplate.Height = 23;
-            this.DgvName.Size = new System.Drawing.Size(827, 88);
+            this.DgvName.Size = new System.Drawing.Size(833, 88);
             this.DgvName.TabIndex = 0;
             this.DgvName.CellContentClick += new System.Windows.Forms.DataGridViewCellEventHandler(this.DgvName_CellContentClick);
             // 
@@ -226,18 +229,19 @@
             this.tabControl1.Location = new System.Drawing.Point(12, 106);
             this.tabControl1.Name = "tabControl1";
             this.tabControl1.SelectedIndex = 0;
-            this.tabControl1.Size = new System.Drawing.Size(827, 552);
+            this.tabControl1.Size = new System.Drawing.Size(833, 552);
             this.tabControl1.TabIndex = 1;
             // 
             // tabPage2
             // 
+            this.tabPage2.Controls.Add(this.BtnClearLog);
             this.tabPage2.Controls.Add(this.tableLayoutPanel5);
             this.tabPage2.Controls.Add(this.LblStorageIO);
             this.tabPage2.Controls.Add(this.LblWeb);
             this.tabPage2.Location = new System.Drawing.Point(4, 26);
             this.tabPage2.Name = "tabPage2";
             this.tabPage2.Padding = new System.Windows.Forms.Padding(3);
-            this.tabPage2.Size = new System.Drawing.Size(819, 522);
+            this.tabPage2.Size = new System.Drawing.Size(825, 522);
             this.tabPage2.TabIndex = 1;
             this.tabPage2.Text = "状态";
             this.tabPage2.UseVisualStyleBackColor = true;
@@ -259,19 +263,19 @@
             this.tableLayoutPanel5.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
             this.tableLayoutPanel5.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
             this.tableLayoutPanel5.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 20F));
-            this.tableLayoutPanel5.Size = new System.Drawing.Size(807, 468);
+            this.tableLayoutPanel5.Size = new System.Drawing.Size(813, 468);
             this.tableLayoutPanel5.TabIndex = 10;
             // 
             // TxtAgvMission0
             // 
             this.TxtAgvMission0.Dock = System.Windows.Forms.DockStyle.Fill;
             this.TxtAgvMission0.Font = new System.Drawing.Font("宋体", 12F);
-            this.TxtAgvMission0.Location = new System.Drawing.Point(567, 3);
+            this.TxtAgvMission0.Location = new System.Drawing.Point(572, 3);
             this.TxtAgvMission0.Multiline = true;
             this.TxtAgvMission0.Name = "TxtAgvMission0";
             this.TxtAgvMission0.ReadOnly = true;
             this.TxtAgvMission0.ScrollBars = System.Windows.Forms.ScrollBars.Both;
-            this.TxtAgvMission0.Size = new System.Drawing.Size(237, 228);
+            this.TxtAgvMission0.Size = new System.Drawing.Size(238, 228);
             this.TxtAgvMission0.TabIndex = 11;
             // 
             // TxtLog
@@ -284,19 +288,19 @@
             this.TxtLog.ReadOnly = true;
             this.tableLayoutPanel5.SetRowSpan(this.TxtLog, 2);
             this.TxtLog.ScrollBars = System.Windows.Forms.ScrollBars.Both;
-            this.TxtLog.Size = new System.Drawing.Size(558, 462);
+            this.TxtLog.Size = new System.Drawing.Size(563, 462);
             this.TxtLog.TabIndex = 2;
             // 
             // TxtAgvMission1
             // 
             this.TxtAgvMission1.Dock = System.Windows.Forms.DockStyle.Fill;
             this.TxtAgvMission1.Font = new System.Drawing.Font("宋体", 12F);
-            this.TxtAgvMission1.Location = new System.Drawing.Point(567, 237);
+            this.TxtAgvMission1.Location = new System.Drawing.Point(572, 237);
             this.TxtAgvMission1.Multiline = true;
             this.TxtAgvMission1.Name = "TxtAgvMission1";
             this.TxtAgvMission1.ReadOnly = true;
             this.TxtAgvMission1.ScrollBars = System.Windows.Forms.ScrollBars.Both;
-            this.TxtAgvMission1.Size = new System.Drawing.Size(237, 228);
+            this.TxtAgvMission1.Size = new System.Drawing.Size(238, 228);
             this.TxtAgvMission1.TabIndex = 12;
             // 
             // LblStorageIO
@@ -326,6 +330,8 @@
             // 
             // tabPage3
             // 
+            this.tabPage3.Controls.Add(this.ChkMissionDebug);
+            this.tabPage3.Controls.Add(this.ChkStorageIO);
             this.tabPage3.Controls.Add(this.LblMissionHint);
             this.tabPage3.Controls.Add(this.tableLayoutPanel1);
             this.tabPage3.Location = new System.Drawing.Point(4, 26);
@@ -336,6 +342,37 @@
             this.tabPage3.Text = "钢网任务";
             this.tabPage3.UseVisualStyleBackColor = true;
             // 
+            // ChkMissionDebug
+            // 
+            this.ChkMissionDebug.Appearance = System.Windows.Forms.Appearance.Button;
+            this.ChkMissionDebug.BackColor = System.Drawing.Color.Red;
+            this.ChkMissionDebug.FlatAppearance.BorderColor = System.Drawing.Color.White;
+            this.ChkMissionDebug.FlatAppearance.BorderSize = 0;
+            this.ChkMissionDebug.FlatAppearance.CheckedBackColor = System.Drawing.Color.Lime;
+            this.ChkMissionDebug.FlatAppearance.MouseDownBackColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(255)))), ((int)(((byte)(255)))));
+            this.ChkMissionDebug.FlatAppearance.MouseOverBackColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(192)))), ((int)(((byte)(255)))));
+            this.ChkMissionDebug.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.ChkMissionDebug.Location = new System.Drawing.Point(540, 6);
+            this.ChkMissionDebug.Name = "ChkMissionDebug";
+            this.ChkMissionDebug.Size = new System.Drawing.Size(130, 40);
+            this.ChkMissionDebug.TabIndex = 5;
+            this.ChkMissionDebug.Text = "调试功能";
+            this.ChkMissionDebug.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            this.ChkMissionDebug.UseVisualStyleBackColor = false;
+            this.ChkMissionDebug.CheckedChanged += new System.EventHandler(this.ChkMissionDebug_CheckedChanged);
+            // 
+            // ChkStorageIO
+            // 
+            this.ChkStorageIO.AutoSize = true;
+            this.ChkStorageIO.Enabled = false;
+            this.ChkStorageIO.Location = new System.Drawing.Point(542, 52);
+            this.ChkStorageIO.Name = "ChkStorageIO";
+            this.ChkStorageIO.Size = new System.Drawing.Size(171, 20);
+            this.ChkStorageIO.TabIndex = 4;
+            this.ChkStorageIO.Text = "仓库IO信号始终为ON";
+            this.ChkStorageIO.UseVisualStyleBackColor = true;
+            this.ChkStorageIO.CheckedChanged += new System.EventHandler(this.ChkStorageIO_CheckedChanged);
+            // 
             // LblMissionHint
             // 
             this.LblMissionHint.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left) 
@@ -433,6 +470,7 @@
             // BtnOldSteelWorkDelAll
             // 
             this.BtnOldSteelWorkDelAll.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.BtnOldSteelWorkDelAll.Enabled = false;
             this.BtnOldSteelWorkDelAll.Font = new System.Drawing.Font("宋体", 12F);
             this.BtnOldSteelWorkDelAll.Location = new System.Drawing.Point(3, 91);
             this.BtnOldSteelWorkDelAll.Name = "BtnOldSteelWorkDelAll";
@@ -445,6 +483,7 @@
             // BtnOldSteelWorkDel
             // 
             this.BtnOldSteelWorkDel.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.BtnOldSteelWorkDel.Enabled = false;
             this.BtnOldSteelWorkDel.Font = new System.Drawing.Font("宋体", 12F);
             this.BtnOldSteelWorkDel.Location = new System.Drawing.Point(3, 47);
             this.BtnOldSteelWorkDel.Name = "BtnOldSteelWorkDel";
@@ -457,6 +496,7 @@
             // BtnOldSteelWorkAdd
             // 
             this.BtnOldSteelWorkAdd.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.BtnOldSteelWorkAdd.Enabled = false;
             this.BtnOldSteelWorkAdd.Font = new System.Drawing.Font("宋体", 12F);
             this.BtnOldSteelWorkAdd.Location = new System.Drawing.Point(3, 3);
             this.BtnOldSteelWorkAdd.Name = "BtnOldSteelWorkAdd";
@@ -488,6 +528,7 @@
             // BtnNewSteelWorkDelAll
             // 
             this.BtnNewSteelWorkDelAll.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.BtnNewSteelWorkDelAll.Enabled = false;
             this.BtnNewSteelWorkDelAll.Font = new System.Drawing.Font("宋体", 12F);
             this.BtnNewSteelWorkDelAll.Location = new System.Drawing.Point(3, 91);
             this.BtnNewSteelWorkDelAll.Name = "BtnNewSteelWorkDelAll";
@@ -500,6 +541,7 @@
             // BtnNewSteelWorkDel
             // 
             this.BtnNewSteelWorkDel.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.BtnNewSteelWorkDel.Enabled = false;
             this.BtnNewSteelWorkDel.Font = new System.Drawing.Font("宋体", 12F);
             this.BtnNewSteelWorkDel.Location = new System.Drawing.Point(3, 47);
             this.BtnNewSteelWorkDel.Name = "BtnNewSteelWorkDel";
@@ -512,6 +554,7 @@
             // BtnNewSteelWorkAdd
             // 
             this.BtnNewSteelWorkAdd.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.BtnNewSteelWorkAdd.Enabled = false;
             this.BtnNewSteelWorkAdd.Font = new System.Drawing.Font("宋体", 12F);
             this.BtnNewSteelWorkAdd.Location = new System.Drawing.Point(3, 3);
             this.BtnNewSteelWorkAdd.Name = "BtnNewSteelWorkAdd";
@@ -543,6 +586,7 @@
             // BtnStorageWorkDelAll
             // 
             this.BtnStorageWorkDelAll.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.BtnStorageWorkDelAll.Enabled = false;
             this.BtnStorageWorkDelAll.Font = new System.Drawing.Font("宋体", 12F);
             this.BtnStorageWorkDelAll.Location = new System.Drawing.Point(3, 91);
             this.BtnStorageWorkDelAll.Name = "BtnStorageWorkDelAll";
@@ -555,6 +599,7 @@
             // BtnStorageWorkDel
             // 
             this.BtnStorageWorkDel.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.BtnStorageWorkDel.Enabled = false;
             this.BtnStorageWorkDel.Font = new System.Drawing.Font("宋体", 12F);
             this.BtnStorageWorkDel.Location = new System.Drawing.Point(3, 47);
             this.BtnStorageWorkDel.Name = "BtnStorageWorkDel";
@@ -567,6 +612,7 @@
             // BtnStorageWorkAdd
             // 
             this.BtnStorageWorkAdd.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.BtnStorageWorkAdd.Enabled = false;
             this.BtnStorageWorkAdd.Font = new System.Drawing.Font("宋体", 12F);
             this.BtnStorageWorkAdd.Location = new System.Drawing.Point(3, 3);
             this.BtnStorageWorkAdd.Name = "BtnStorageWorkAdd";
@@ -681,11 +727,22 @@
             this.LstMission.Size = new System.Drawing.Size(220, 510);
             this.LstMission.TabIndex = 12;
             // 
+            // BtnClearLog
+            // 
+            this.BtnClearLog.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
+            this.BtnClearLog.Location = new System.Drawing.Point(457, 6);
+            this.BtnClearLog.Name = "BtnClearLog";
+            this.BtnClearLog.Size = new System.Drawing.Size(116, 36);
+            this.BtnClearLog.TabIndex = 11;
+            this.BtnClearLog.Text = "清空日志";
+            this.BtnClearLog.UseVisualStyleBackColor = true;
+            this.BtnClearLog.Click += new System.EventHandler(this.BtnClearLog_Click);
+            // 
             // FrmMain
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.ClientSize = new System.Drawing.Size(851, 670);
+            this.ClientSize = new System.Drawing.Size(857, 670);
             this.Controls.Add(this.tabControl1);
             this.Controls.Add(this.DgvName);
             this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
@@ -700,6 +757,7 @@
             this.tableLayoutPanel5.ResumeLayout(false);
             this.tableLayoutPanel5.PerformLayout();
             this.tabPage3.ResumeLayout(false);
+            this.tabPage3.PerformLayout();
             this.tableLayoutPanel1.ResumeLayout(false);
             this.tableLayoutPanel2.ResumeLayout(false);
             this.tableLayoutPanel3.ResumeLayout(false);
@@ -754,6 +812,9 @@
         private System.Windows.Forms.ListBox LstStorage;
         private System.Windows.Forms.ListBox LstNewSteel;
         private System.Windows.Forms.Label LblMissionHint;
+        private System.Windows.Forms.CheckBox ChkMissionDebug;
+        private System.Windows.Forms.CheckBox ChkStorageIO;
+        private System.Windows.Forms.Button BtnClearLog;
     }
 }
 

AGVControl_Steel/UI/FrmMain.cs

@@ -81,12 +81,13 @@ namespace AGVControl_Steel
         {
             if (e.RowIndex == -1) return;
             AgvInfo info = Common.agvInfos[e.RowIndex];
+            string key = "Use_" + info.FleetID;
 
             if (e.ColumnIndex == DgvName.Columns.Count - 2)  //最后二列，自动/手动
             {
                 info.IsAuto = !info.IsAuto;
                 DgvName.Rows[e.RowIndex].Cells[e.ColumnIndex].Value = info.IsAuto.ToString();
-                Common.appConfig.AppSettings.Settings[info.FleetID].Value = info.IsAuto.ToString();
+                Common.appConfig.AppSettings.Settings[key].Value = info.IsAuto.ToString();
                 Common.appConfig.Save();
                 System.Configuration.ConfigurationManager.RefreshSection("appSettings");
                 Common.log.Info("手动修改 " + info.Name + " IsUse=" + info.IsAuto);
@@ -102,7 +103,7 @@ namespace AGVControl_Steel
                     info.IsAuto = false;
                     info.Place = "";
                     DgvName.Rows[e.RowIndex].Cells[e.ColumnIndex].Value = info.IsAuto.ToString();
-                    Common.appConfig.AppSettings.Settings[info.FleetID].Value = info.IsAuto.ToString();
+                    Common.appConfig.AppSettings.Settings[key].Value = info.IsAuto.ToString();
                     Common.appConfig.Save();
                     System.Configuration.ConfigurationManager.RefreshSection("appSettings");
                 }
@@ -118,7 +119,10 @@ namespace AGVControl_Steel
 
             if (LstMission.SelectedIndex == -1) return;
             AgvInfo info = Common.agvInfos[idx];
+            if (Common.FLEET_SEND)
                 Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, LstMission.Text, out string id);
+            else
+                Common.mir.Add_Mission(info.IP, info.Authorization, LstMission.Text, out string id);
         }
 
         private void BtnMissionClear_Click(object sender, EventArgs e)
@@ -137,7 +141,7 @@ namespace AGVControl_Steel
             int idx = DgvName.SelectedCells[0].RowIndex;
             if (idx < 0) return;
 
-            AgvInfo info = Common.agvInfos[DgvName.SelectedRows[0].Index];
+            AgvInfo info = Common.agvInfos[idx];
             Common.mir.State_Ready(info.IP, info.Authorization);
         }
 
@@ -147,7 +151,7 @@ namespace AGVControl_Steel
             int idx = DgvName.SelectedCells[0].RowIndex;
             if (idx < 0) return;
 
-            AgvInfo info = Common.agvInfos[DgvName.SelectedRows[0].Index];
+            AgvInfo info = Common.agvInfos[idx];
             Common.mir.State_Pause(info.IP, info.Authorization);
         }
 
@@ -255,10 +259,32 @@ namespace AGVControl_Steel
                 Common.steelManage.StorageWorkDelAll();
             }
         }
-        #endregion
 
+        private void ChkMissionDebug_CheckedChanged(object sender, EventArgs e)
+        {
+            BtnOldSteelWorkAdd.Enabled = ChkMissionDebug.Checked;
+            BtnOldSteelWorkDel.Enabled = ChkMissionDebug.Checked;
+            BtnOldSteelWorkDelAll.Enabled = ChkMissionDebug.Checked;
+            BtnNewSteelWorkAdd.Enabled = ChkMissionDebug.Checked;
+            BtnNewSteelWorkDel.Enabled = ChkMissionDebug.Checked;
+            BtnNewSteelWorkDelAll.Enabled = ChkMissionDebug.Checked;
+            BtnStorageWorkAdd.Enabled = ChkMissionDebug.Checked;
+            BtnStorageWorkDel.Enabled = ChkMissionDebug.Checked;
+            BtnStorageWorkDelAll.Enabled = ChkMissionDebug.Checked;
+            ChkStorageIO.Enabled = ChkMissionDebug.Checked;
+        }
+
+        private void ChkStorageIO_CheckedChanged(object sender, EventArgs e)
+        {
+            Common.StorageDockAlway = ChkStorageIO.Checked;
+        }
 
 
+        #endregion
 
+        private void BtnClearLog_Click(object sender, EventArgs e)
+        {
+            TxtLog.Text = "";
+        }
     }
 }

AGVControl_Steel/UI/FrmMain.resx

@@ -117,9 +117,6 @@
   <resheader name="writer">
     <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </resheader>
-  <metadata name="DgvName.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
   <metadata name="Column1.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>
@@ -141,114 +138,6 @@
   <metadata name="Column8.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>
-  <metadata name="tabControl1.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="tabPage2.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="tableLayoutPanel5.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="TxtAgvMission0.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="TxtLog.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="TxtAgvMission1.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="LblStorageIO.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="LblWeb.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="tabPage3.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="LblMissionHint.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="tableLayoutPanel1.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="LstStorage.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="LstOldSteel.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="LstNewSteel.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="tableLayoutPanel2.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="BtnOldSteelWorkDelAll.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="BtnOldSteelWorkDel.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="BtnOldSteelWorkAdd.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="tableLayoutPanel3.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="BtnNewSteelWorkDelAll.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="BtnNewSteelWorkDel.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="BtnNewSteelWorkAdd.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="tableLayoutPanel4.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="BtnStorageWorkDelAll.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="BtnStorageWorkDel.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="BtnStorageWorkAdd.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="label1.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="label2.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="label3.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="tabPage1.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="BtnMissionPause.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="BtnMissionRun.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="BtnMissionClear.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="BtnMissionAdd.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="LstMission.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="$this.Locked" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
   <assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
   <data name="$this.Icon" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>

AGVControl_Steel/bin/Debug/AGVControl_Steel.exe.Config

-<?xml version="1.0" encoding="utf-8" ?>
+<?xml version="1.0" encoding="utf-8" ?>
 <configuration>
 	<configSections>
 		<section name="log4net" type="log4net.Config.Log4NetConfigurationSectionHandler,log4net"/>
@@ -37,16 +37,16 @@
 		</logger>
 	</log4net>
 	<appSettings>
-  <add key="FLEET_IP" value="10.85.199.3" />
-  <add key="FLEET_Send" value="true" />
-  <add key="WebService" value="http://10.85.196.40:8089/" />
-  <add key="AGV_BATTERY_MAX" value="100" />
-  <add key="AGV_BATTERY_MIN" value="40" />
-  <add key="4C_AGV" value="32" />
-  <add key="4D_AGV" value="25" />
-  <add key="PlaceName" value="D1,D2,D3,D4,D5,D6,D7,D8,D9,D10,D11,D12,D13,D14,D15,D16,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14,C15,C16,4cwash,4dwash,storage" />
-  <add key="32" value="false" />
-  <add key="25" value="false" />
-  <add key="26" value="false" />
+		<add key="FLEET_IP" value="10.85.199.3"/>
+		<add key="FLEET_Send" value="true"/>
+		<add key="WebService" value="http://10.85.196.40:8089/"/>
+		<!--<add key="WebService" value="http://10.211.55.23:8089/"/>-->
+		<add key="AGV_BATTERY_MAX" value="100"/>
+		<add key="AGV_BATTERY_MIN" value="40"/>
+		<add key="Use_32" value="false"/>
+		<add key="Use_25" value="false"/>
+		<add key="Work_32" value="4C"/>
+		<add key="Work_25" value="4D"/>
+		<add key="PlaceName" value="D1,D2,D3,D4,D5,D6,D7,D8,D9,D10,D11,D12,D13,D14,D15,D16,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14,C15,C16,4Cwash,4Dwash,storage"/>
 	</appSettings>
 </configuration>
\ No newline at end of file

AGVControl_Steel/bin/Debug/Config/AgvMission.csv

@@ -22,14 +22,14 @@ MoveSteelD12,201e368d-f2ae-11ea-8452-94c691a7387d
 MoveSteelD14,445106a1-f2ae-11ea-8452-94c691a7387d
 MoveSteelD15,002b3e45-f105-11ea-a03e-94c691a7387d
 MoveSteelD16,15a766ac-f2a2-11ea-8452-94c691a7387d
-Move4CWash,691e75ab-f2b0-11ea-8452-94c691a7387d
-Move4DWash,e52ae766-f2ab-11ea-8452-94c691a7387d
-Move4CStandby,2dd387ce-f2b0-11ea-8452-94c691a7387d
-Move4DStandby,21ca7ffe-f29e-11ea-8452-94c691a7387d
+MoveWash4C,691e75ab-f2b0-11ea-8452-94c691a7387d
+MoveWash4D,e52ae766-f2ab-11ea-8452-94c691a7387d
+MoveStandby4C,2dd387ce-f2b0-11ea-8452-94c691a7387d
+MoveStandby4D,21ca7ffe-f29e-11ea-8452-94c691a7387d
 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
+PassDoorInto4D,d67f31c8-ca7e-11ea-9a66-94c691a7387d
+PassDoorInto4C,fd6e26ac-c1bf-11ea-9a66-94c691a7387d
 MoveSteelstorage,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/NewSteelWork.txt

-
\ No newline at end of file

AGVControl_Steel/bin/Debug/Config/OldSteelWork.txt

-
\ No newline at end of file

AGVControl_Steel/bin/Debug/Config/StorageWork.txt

-
\ No newline at end of file

AGVControl_Steel/bin/Debug/Logs/MiR_API.log

-[2020-09-23 16:32:24,855][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
-[2020-09-23 16:32:25,085][8][MiR_API:749]INFO  Return:{ "battery_percentage": 46.5, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a829 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:25,183][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
-[2020-09-23 16:32:25,264][8][MiR_API:749]INFO  Return:{ "battery_percentage": 43.29999923706055, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelD2'\uff08\u8ddd\u79bb\u76ee\u6807 51.100000000000001 \u7c73\uff09", "position": { "orientation": 0.3894372880458832, "x": 17.416547775268555, "y": 12.585073471069336 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:25,285][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:32:25,305][8][MiR_API:749]INFO  Return:{ "battery_percentage": 24.0, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '3'\uff08\u8ddd\u79bb\u76ee\u6807 3.2 \u7c73\uff09", "position": { "orientation": -171.39883422851562, "x": 46.54857635498047, "y": 32.74083709716797 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:26,815][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
-[2020-09-23 16:32:26,863][8][MiR_API:749]INFO  Return:{ "battery_percentage": 46.5, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a828 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:26,914][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
-[2020-09-23 16:32:26,933][8][MiR_API:749]INFO  Return:{ "battery_percentage": 43.29999923706055, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelD2'\uff08\u8ddd\u79bb\u76ee\u6807 50.200000000000003 \u7c73\uff09", "position": { "orientation": 0.6114866137504578, "x": 18.240909576416016, "y": 12.566874504089355 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:26,956][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:32:26,979][8][MiR_API:749]INFO  Return:{ "battery_percentage": 24.0, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '3'\uff08\u8ddd\u79bb\u76ee\u6807 2.6 \u7c73\uff09", "position": { "orientation": -171.18824768066406, "x": 45.917930603027344, "y": 32.56284713745117 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:28,826][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
-[2020-09-23 16:32:28,856][8][MiR_API:749]INFO  Return:{ "battery_percentage": 46.900001525878906, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a826 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:28,877][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
-[2020-09-23 16:32:28,920][8][MiR_API:749]INFO  Return:{ "battery_percentage": 43.29999923706055, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelD2'\uff08\u8ddd\u79bb\u76ee\u6807 49.299999999999997 \u7c73\uff09", "position": { "orientation": 1.0876144170761108, "x": 19.15827178955078, "y": 12.55032730102539 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:28,940][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:32:28,960][8][MiR_API:749]INFO  Return:{ "battery_percentage": 24.0, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '3'\uff08\u8ddd\u79bb\u76ee\u6807 1.7 \u7c73\uff09", "position": { "orientation": -177.4477081298828, "x": 45.0450439453125, "y": 32.52479553222656 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:30,840][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
-[2020-09-23 16:32:30,883][8][MiR_API:749]INFO  Return:{ "battery_percentage": 46.900001525878906, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a824 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:30,902][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
-[2020-09-23 16:32:30,924][8][MiR_API:749]INFO  Return:{ "battery_percentage": 43.29999923706055, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelD2'\uff08\u8ddd\u79bb\u76ee\u6807 48.299999999999997 \u7c73\uff09", "position": { "orientation": 1.7006887197494507, "x": 20.188976287841797, "y": 12.550790786743164 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:30,946][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:32:30,968][8][MiR_API:749]INFO  Return:{ "battery_percentage": 24.0, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '3'\uff08\u8ddd\u79bb\u76ee\u6807 0.8 \u7c73\uff09", "position": { "orientation": 171.91432189941406, "x": 44.168113708496094, "y": 32.57697296142578 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:32,853][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
-[2020-09-23 16:32:32,909][8][MiR_API:749]INFO  Return:{ "battery_percentage": 46.900001525878906, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a822 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:32,932][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
-[2020-09-23 16:32:32,950][8][MiR_API:749]INFO  Return:{ "battery_percentage": 43.29999923706055, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelD2'\uff08\u8ddd\u79bb\u76ee\u6807 47.299999999999997 \u7c73\uff09", "position": { "orientation": 2.1937150955200195, "x": 21.17035675048828, "y": 12.562642097473145 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:32,970][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:32:33,001][8][MiR_API:749]INFO  Return:{ "battery_percentage": 24.0, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '3'\uff08\u8ddd\u79bb\u76ee\u6807 0.2 \u7c73\uff09", "position": { "orientation": 170.03616333007812, "x": 43.55869674682617, "y": 32.690982818603516 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:34,866][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
-[2020-09-23 16:32:34,891][8][MiR_API:749]INFO  Return:{ "battery_percentage": 47.29999923706055, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a820 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:34,953][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
-[2020-09-23 16:32:34,975][8][MiR_API:749]INFO  Return:{ "battery_percentage": 43.29999923706055, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelD2'\uff08\u8ddd\u79bb\u76ee\u6807 46.299999999999997 \u7c73\uff09", "position": { "orientation": 2.093318223953247, "x": 22.145967483520508, "y": 12.580196380615234 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:34,993][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:32:35,011][8][MiR_API:749]INFO  Return:{ "battery_percentage": 24.0, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 10 \u79d2", "position": { "orientation": -179.71170043945312, "x": 43.42912673950195, "y": 32.71028518676758 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:36,876][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
-[2020-09-23 16:32:36,908][8][MiR_API:749]INFO  Return:{ "battery_percentage": 47.29999923706055, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a818 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:37,081][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
-[2020-09-23 16:32:37,101][8][MiR_API:749]INFO  Return:{ "battery_percentage": 43.29999923706055, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelD2'\uff08\u8ddd\u79bb\u76ee\u6807 45.299999999999997 \u7c73\uff09", "position": { "orientation": 2.0135600566864014, "x": 23.166749954223633, "y": 12.563803672790527 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:37,125][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:32:37,146][8][MiR_API:749]INFO  Return:{ "battery_percentage": 24.0, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 8 \u79d2", "position": { "orientation": -179.7443389892578, "x": 43.42905807495117, "y": 32.71028518676758 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:38,891][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
-[2020-09-23 16:32:38,920][8][MiR_API:749]INFO  Return:{ "battery_percentage": 47.29999923706055, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a816 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:38,941][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
-[2020-09-23 16:32:38,978][8][MiR_API:749]INFO  Return:{ "battery_percentage": 43.29999923706055, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelD2'\uff08\u8ddd\u79bb\u76ee\u6807 44.399999999999999 \u7c73\uff09", "position": { "orientation": -0.639132022857666, "x": 24.099838256835938, "y": 12.574906349182129 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:38,997][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:32:39,018][8][MiR_API:749]INFO  Return:{ "battery_percentage": 24.0, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 6 \u79d2", "position": { "orientation": -179.7443389892578, "x": 43.42905807495117, "y": 32.71028518676758 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:40,904][9][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
-[2020-09-23 16:32:40,941][9][MiR_API:749]INFO  Return:{ "battery_percentage": 47.599998474121094, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a814 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:40,961][9][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
-[2020-09-23 16:32:40,992][9][MiR_API:749]INFO  Return:{ "battery_percentage": 43.29999923706055, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelD2'\uff08\u8ddd\u79bb\u76ee\u6807 43.399999999999999 \u7c73\uff09", "position": { "orientation": 1.0349626541137695, "x": 25.07455062866211, "y": 12.56907844543457 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:41,012][9][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:32:41,028][9][MiR_API:749]INFO  Return:{ "battery_percentage": 24.0, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 4 \u79d2", "position": { "orientation": -179.7443389892578, "x": 43.42905807495117, "y": 32.71028518676758 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:42,907][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
-[2020-09-23 16:32:42,937][8][MiR_API:749]INFO  Return:{ "battery_percentage": 47.599998474121094, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a812 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:42,955][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
-[2020-09-23 16:32:42,978][8][MiR_API:749]INFO  Return:{ "battery_percentage": 43.29999923706055, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelD2'\uff08\u8ddd\u79bb\u76ee\u6807 42.5 \u7c73\uff09", "position": { "orientation": -2.624173402786255, "x": 26.028852462768555, "y": 12.557446479797363 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:42,996][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:32:43,016][8][MiR_API:749]INFO  Return:{ "battery_percentage": 24.0, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 2 \u79d2", "position": { "orientation": -179.7443389892578, "x": 43.42905807495117, "y": 32.71028518676758 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:44,913][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
-[2020-09-23 16:32:44,946][8][MiR_API:749]INFO  Return:{ "battery_percentage": 47.599998474121094, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a810 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:44,965][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
-[2020-09-23 16:32:44,991][8][MiR_API:749]INFO  Return:{ "battery_percentage": 43.29999923706055, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelD2'\uff08\u8ddd\u79bb\u76ee\u6807 41.700000000000003 \u7c73\uff09", "position": { "orientation": -1.0510365962982178, "x": 26.787107467651367, "y": 12.468159675598145 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:45,012][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:32:45,091][8][MiR_API:749]INFO  Return:{ "battery_percentage": 24.0, "mission_text": "LoadMissionAction: Started!", "position": { "orientation": -179.7443389892578, "x": 43.42905807495117, "y": 32.71028518676758 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:46,916][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
-[2020-09-23 16:32:46,958][8][MiR_API:749]INFO  Return:{ "battery_percentage": 48.0, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a808 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:46,992][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
-[2020-09-23 16:32:47,012][8][MiR_API:749]INFO  Return:{ "battery_percentage": 43.29999923706055, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelD2'\uff08\u8ddd\u79bb\u76ee\u6807 41.100000000000001 \u7c73\uff09", "position": { "orientation": -0.8642669320106506, "x": 27.492111206054688, "y": 12.584443092346191 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:47,032][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:32:47,052][8][MiR_API:749]INFO  Return:{ "battery_percentage": 24.0, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '1'\uff08\u8ddd\u79bb\u76ee\u6807 14.9 \u7c73\uff09", "position": { "orientation": 179.804443359375, "x": 43.31418991088867, "y": 32.70962142944336 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:48,931][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
-[2020-09-23 16:32:48,969][8][MiR_API:749]INFO  Return:{ "battery_percentage": 48.0, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a805 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:48,987][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
-[2020-09-23 16:32:49,006][8][MiR_API:749]INFO  Return:{ "battery_percentage": 43.29999923706055, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelD2'\uff08\u8ddd\u79bb\u76ee\u6807 40 \u7c73\uff09", "position": { "orientation": -1.4647462368011475, "x": 28.478151321411133, "y": 12.575240135192871 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:49,026][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:32:49,130][8][MiR_API:749]INFO  Return:{ "battery_percentage": 24.0, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '1'\uff08\u8ddd\u79bb\u76ee\u6807 14 \u7c73\uff09", "position": { "orientation": -178.40701293945312, "x": 42.44673156738281, "y": 32.73317337036133 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:50,944][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
-[2020-09-23 16:32:50,977][8][MiR_API:749]INFO  Return:{ "battery_percentage": 48.0, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a803 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:50,997][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
-[2020-09-23 16:32:51,016][8][MiR_API:749]INFO  Return:{ "battery_percentage": 43.400001525878906, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelD2'\uff08\u8ddd\u79bb\u76ee\u6807 39.100000000000001 \u7c73\uff09", "position": { "orientation": 2.2105050086975098, "x": 29.43646240234375, "y": 12.580827713012695 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:51,034][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:32:51,070][8][MiR_API:749]INFO  Return:{ "battery_percentage": 24.0, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '1'\uff08\u8ddd\u79bb\u76ee\u6807 13 \u7c73\uff09", "position": { "orientation": -179.52474975585938, "x": 41.45405197143555, "y": 32.7225227355957 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:52,945][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
-[2020-09-23 16:32:53,003][8][MiR_API:749]INFO  Return:{ "battery_percentage": 48.29999923706055, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a801 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:53,023][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
-[2020-09-23 16:32:53,042][8][MiR_API:749]INFO  Return:{ "battery_percentage": 43.400001525878906, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelD2'\uff08\u8ddd\u79bb\u76ee\u6807 38.100000000000001 \u7c73\uff09", "position": { "orientation": 0.07842128723859787, "x": 30.413005828857422, "y": 12.570451736450195 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:53,064][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:32:53,084][8][MiR_API:749]INFO  Return:{ "battery_percentage": 24.0, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '1'\uff08\u8ddd\u79bb\u76ee\u6807 12 \u7c73\uff09", "position": { "orientation": 178.4901123046875, "x": 40.41839599609375, "y": 32.726295471191406 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:54,959][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
-[2020-09-23 16:32:55,010][8][MiR_API:749]INFO  Return:{ "battery_percentage": 48.29999923706055, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a799 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:55,029][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
-[2020-09-23 16:32:55,054][8][MiR_API:749]INFO  Return:{ "battery_percentage": 43.400001525878906, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelD2'\uff08\u8ddd\u79bb\u76ee\u6807 37.100000000000001 \u7c73\uff09", "position": { "orientation": 0.20664848387241364, "x": 31.40692901611328, "y": 12.58108139038086 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:55,075][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:32:55,098][8][MiR_API:749]INFO  Return:{ "battery_percentage": 24.0, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '1'\uff08\u8ddd\u79bb\u76ee\u6807 11 \u7c73\uff09", "position": { "orientation": 178.8228302001953, "x": 39.473915100097656, "y": 32.70573425292969 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:56,963][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
-[2020-09-23 16:32:57,010][8][MiR_API:749]INFO  Return:{ "battery_percentage": 48.29999923706055, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a797 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:57,028][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
-[2020-09-23 16:32:57,046][8][MiR_API:749]INFO  Return:{ "battery_percentage": 43.29999923706055, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelD2'\uff08\u8ddd\u79bb\u76ee\u6807 36.100000000000001 \u7c73\uff09", "position": { "orientation": 0.7901264429092407, "x": 32.39302062988281, "y": 12.588071823120117 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:57,064][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:32:57,095][8][MiR_API:749]INFO  Return:{ "battery_percentage": 24.0, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '1'\uff08\u8ddd\u79bb\u76ee\u6807 10.1 \u7c73\uff09", "position": { "orientation": -179.45578002929688, "x": 38.54534149169922, "y": 32.719764709472656 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:58,971][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
-[2020-09-23 16:32:59,014][8][MiR_API:749]INFO  Return:{ "battery_percentage": 48.599998474121094, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a795 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:59,036][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
-[2020-09-23 16:32:59,055][8][MiR_API:749]INFO  Return:{ "battery_percentage": 43.29999923706055, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelD2'\uff08\u8ddd\u79bb\u76ee\u6807 35.100000000000001 \u7c73\uff09", "position": { "orientation": 1.2269608974456787, "x": 33.377925872802734, "y": 12.563826560974121 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:32:59,078][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:32:59,097][8][MiR_API:749]INFO  Return:{ "battery_percentage": 24.0, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '1'\uff08\u8ddd\u79bb\u76ee\u6807 9.1 \u7c73\uff09", "position": { "orientation": 179.0326690673828, "x": 37.503944396972656, "y": 32.69560241699219 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:33:00,978][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
-[2020-09-23 16:33:01,025][8][MiR_API:749]INFO  Return:{ "battery_percentage": 48.599998474121094, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a793 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:33:01,044][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
-[2020-09-23 16:33:01,063][8][MiR_API:749]INFO  Return:{ "battery_percentage": 43.29999923706055, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelD2'\uff08\u8ddd\u79bb\u76ee\u6807 34.200000000000003 \u7c73\uff09", "position": { "orientation": -0.2482835054397583, "x": 34.35713195800781, "y": 12.575434684753418 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:33:01,084][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:33:01,104][8][MiR_API:749]INFO  Return:{ "battery_percentage": 24.0, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '1'\uff08\u8ddd\u79bb\u76ee\u6807 8.1 \u7c73\uff09", "position": { "orientation": -176.03688049316406, "x": 36.56827163696289, "y": 32.75199890136719 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:33:03,031][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
-[2020-09-23 16:33:03,069][8][MiR_API:749]INFO  Return:{ "battery_percentage": 48.599998474121094, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a791 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:33:03,090][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
-[2020-09-23 16:33:03,120][8][MiR_API:749]INFO  Return:{ "battery_percentage": 43.29999923706055, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelD2'\uff08\u8ddd\u79bb\u76ee\u6807 33.100000000000001 \u7c73\uff09", "position": { "orientation": 1.5271118879318237, "x": 35.38633728027344, "y": 12.574934959411621 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:33:03,139][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:33:03,160][8][MiR_API:749]INFO  Return:{ "battery_percentage": 24.0, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '1'\uff08\u8ddd\u79bb\u76ee\u6807 7.1 \u7c73\uff09", "position": { "orientation": 179.6876983642578, "x": 35.569801330566406, "y": 32.74229431152344 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:33:05,001][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
-[2020-09-23 16:33:05,053][8][MiR_API:749]INFO  Return:{ "battery_percentage": 49.0, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a789 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:33:05,078][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
-[2020-09-23 16:33:05,099][8][MiR_API:749]INFO  Return:{ "battery_percentage": 43.29999923706055, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelD2'\uff08\u8ddd\u79bb\u76ee\u6807 32.200000000000003 \u7c73\uff09", "position": { "orientation": 0.02300363779067993, "x": 36.358097076416016, "y": 12.572973251342773 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:33:05,120][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:33:05,213][8][MiR_API:749]INFO  Return:{ "battery_percentage": 24.0, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '1'\uff08\u8ddd\u79bb\u76ee\u6807 6.2 \u7c73\uff09", "position": { "orientation": -178.5320587158203, "x": 34.59855651855469, "y": 32.72534942626953 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:33:07,012][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
-[2020-09-23 16:33:07,076][8][MiR_API:749]INFO  Return:{ "battery_percentage": 49.0, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a787 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:33:07,097][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
-[2020-09-23 16:33:07,130][8][MiR_API:749]INFO  Return:{ "battery_percentage": 43.29999923706055, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelD2'\uff08\u8ddd\u79bb\u76ee\u6807 31.199999999999999 \u7c73\uff09", "position": { "orientation": -1.3752306699752808, "x": 37.33681106567383, "y": 12.578706741333008 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:33:07,150][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:33:07,168][8][MiR_API:749]INFO  Return:{ "battery_percentage": 24.0, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '1'\uff08\u8ddd\u79bb\u76ee\u6807 5.2 \u7c73\uff09", "position": { "orientation": -177.63543701171875, "x": 33.63866424560547, "y": 32.74684143066406 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:33:09,026][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
-[2020-09-23 16:33:09,066][8][MiR_API:749]INFO  Return:{ "battery_percentage": 49.29999923706055, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a785 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:33:09,091][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
-[2020-09-23 16:33:09,133][8][MiR_API:749]INFO  Return:{ "battery_percentage": 43.29999923706055, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelD2'\uff08\u8ddd\u79bb\u76ee\u6807 30.199999999999999 \u7c73\uff09", "position": { "orientation": -0.5029275417327881, "x": 38.28809356689453, "y": 12.580010414123535 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:33:09,156][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:33:09,175][8][MiR_API:749]INFO  Return:{ "battery_percentage": 24.0, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '1'\uff08\u8ddd\u79bb\u76ee\u6807 4.2 \u7c73\uff09", "position": { "orientation": -179.66152954101562, "x": 32.66029357910156, "y": 32.72968673706055 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:33:11,032][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
-[2020-09-23 16:33:11,056][8][MiR_API:749]INFO  Return:{ "battery_percentage": 49.29999923706055, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a783 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:33:11,075][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
-[2020-09-23 16:33:11,109][8][MiR_API:749]INFO  Return:{ "battery_percentage": 43.29999923706055, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelD2'\uff08\u8ddd\u79bb\u76ee\u6807 29.5 \u7c73\uff09", "position": { "orientation": -23.320648193359375, "x": 38.9958381652832, "y": 12.449091911315918 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:33:11,128][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:33:11,142][8][MiR_API:749]INFO  Return:{ "battery_percentage": 24.0, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '1'\uff08\u8ddd\u79bb\u76ee\u6807 3.3 \u7c73\uff09", "position": { "orientation": 178.8468017578125, "x": 31.697721481323242, "y": 32.7232780456543 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:33:13,040][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
-[2020-09-23 16:33:13,086][8][MiR_API:749]INFO  Return:{ "battery_percentage": 49.29999923706055, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a781 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:33:13,111][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
-[2020-09-23 16:33:13,141][8][MiR_API:749]INFO  Return:{ "battery_percentage": 43.29999923706055, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelD2'\uff08\u8ddd\u79bb\u76ee\u6807 28.600000000000001 \u7c73\uff09", "position": { "orientation": -12.905068397521973, "x": 39.80419921875, "y": 12.112045288085938 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:33:13,160][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:33:13,177][8][MiR_API:749]INFO  Return:{ "battery_percentage": 24.0, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '1'\uff08\u8ddd\u79bb\u76ee\u6807 2.3 \u7c73\uff09", "position": { "orientation": 174.2646484375, "x": 30.830078125, "y": 32.75596237182617 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:33:15,044][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
-[2020-09-23 16:33:15,082][8][MiR_API:749]INFO  Return:{ "battery_percentage": 49.599998474121094, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a779 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:33:15,114][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
-[2020-09-23 16:33:15,144][8][MiR_API:749]INFO  Return:{ "battery_percentage": 43.29999923706055, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelD2'\uff08\u8ddd\u79bb\u76ee\u6807 27.699999999999999 \u7c73\uff09", "position": { "orientation": 1.9392999410629272, "x": 40.687713623046875, "y": 12.06846809387207 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:33:15,184][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:33:15,261][8][MiR_API:749]INFO  Return:{ "battery_percentage": 24.0, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '1'\uff08\u8ddd\u79bb\u76ee\u6807 1.6 \u7c73\uff09", "position": { "orientation": 168.8364715576172, "x": 30.10376739501953, "y": 32.99748992919922 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:20,482][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
-[2020-09-23 16:36:20,642][8][MiR_API:749]INFO  Return:{ "battery_percentage": 58.29999923706055, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a594 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:20,711][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
-[2020-09-23 16:36:20,798][8][MiR_API:749]INFO  Return:{ "battery_percentage": 41.79999923706055, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelWash4D'\uff08\u8ddd\u79bb\u76ee\u6807 46.399999999999999 \u7c73\uff09", "position": { "orientation": 178.1763916015625, "x": 54.565406799316406, "y": 12.676475524902344 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:20,858][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:36:20,907][8][MiR_API:749]INFO  Return:{ "battery_percentage": 23.799999237060547, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 5 \u79d2", "position": { "orientation": 1.4699445962905884, "x": 66.74105834960938, "y": 33.342803955078125 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:22,473][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
-[2020-09-23 16:36:22,518][8][MiR_API:749]INFO  Return:{ "battery_percentage": 58.5, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a592 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:22,539][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
-[2020-09-23 16:36:22,558][8][MiR_API:749]INFO  Return:{ "battery_percentage": 41.70000076293945, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelWash4D'\uff08\u8ddd\u79bb\u76ee\u6807 45.600000000000001 \u7c73\uff09", "position": { "orientation": -174.76815795898438, "x": 53.71825408935547, "y": 12.638912200927734 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:22,579][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:36:22,607][8][MiR_API:749]INFO  Return:{ "battery_percentage": 23.799999237060547, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 3 \u79d2", "position": { "orientation": 1.4699445962905884, "x": 66.74105834960938, "y": 33.342803955078125 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:24,487][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
-[2020-09-23 16:36:24,523][8][MiR_API:749]INFO  Return:{ "battery_percentage": 58.5, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a590 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:24,542][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
-[2020-09-23 16:36:24,573][8][MiR_API:749]INFO  Return:{ "battery_percentage": 41.70000076293945, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelWash4D'\uff08\u8ddd\u79bb\u76ee\u6807 44.600000000000001 \u7c73\uff09", "position": { "orientation": -173.05931091308594, "x": 52.73552322387695, "y": 12.553887367248535 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:24,591][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:36:24,623][8][MiR_API:749]INFO  Return:{ "battery_percentage": 23.799999237060547, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 1 \u79d2", "position": { "orientation": 1.4699445962905884, "x": 66.74105834960938, "y": 33.342803955078125 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:26,497][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
-[2020-09-23 16:36:26,537][8][MiR_API:749]INFO  Return:{ "battery_percentage": 58.5, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a588 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:26,569][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
-[2020-09-23 16:36:26,587][8][MiR_API:749]INFO  Return:{ "battery_percentage": 41.5, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelWash4D'\uff08\u8ddd\u79bb\u76ee\u6807 43.700000000000003 \u7c73\uff09", "position": { "orientation": 178.2459259033203, "x": 51.85861587524414, "y": 12.502823829650879 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:26,610][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:36:26,633][8][MiR_API:749]INFO  Return:{ "battery_percentage": 23.799999237060547, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '3'\uff08\u89c4\u5212\uff09", "position": { "orientation": 1.4699445962905884, "x": 66.74105834960938, "y": 33.342803955078125 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:28,506][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
-[2020-09-23 16:36:28,532][8][MiR_API:749]INFO  Return:{ "battery_percentage": 58.70000076293945, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a586 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:28,554][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
-[2020-09-23 16:36:28,575][8][MiR_API:749]INFO  Return:{ "battery_percentage": 41.5, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelWash4D'\uff08\u8ddd\u79bb\u76ee\u6807 42.700000000000003 \u7c73\uff09", "position": { "orientation": 173.8966064453125, "x": 50.8985595703125, "y": 12.621155738830566 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:28,597][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:36:28,618][8][MiR_API:749]INFO  Return:{ "battery_percentage": 23.799999237060547, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '3'\uff08\u8ddd\u79bb\u76ee\u6807 25.5 \u7c73\uff09", "position": { "orientation": -43.62124252319336, "x": 66.74602508544922, "y": 33.34979248046875 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:30,521][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
-[2020-09-23 16:36:30,562][8][MiR_API:749]INFO  Return:{ "battery_percentage": 58.70000076293945, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a584 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:30,584][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
-[2020-09-23 16:36:30,663][8][MiR_API:749]INFO  Return:{ "battery_percentage": 41.5, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelWash4D'\uff08\u8ddd\u79bb\u76ee\u6807 41.799999999999997 \u7c73\uff09", "position": { "orientation": -170.5928497314453, "x": 49.98875427246094, "y": 12.62121295928955 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:30,748][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:36:30,782][8][MiR_API:749]INFO  Return:{ "battery_percentage": 23.799999237060547, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '3'\uff08\u8ddd\u79bb\u76ee\u6807 25.399999999999999 \u7c73\uff09", "position": { "orientation": -74.69780731201172, "x": 66.78044128417969, "y": 33.255977630615234 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:32,535][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
-[2020-09-23 16:36:32,571][8][MiR_API:749]INFO  Return:{ "battery_percentage": 58.70000076293945, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a582 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:32,590][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
-[2020-09-23 16:36:32,611][8][MiR_API:749]INFO  Return:{ "battery_percentage": 41.5, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelWash4D'\uff08\u8ddd\u79bb\u76ee\u6807 40.899999999999999 \u7c73\uff09", "position": { "orientation": -172.8433380126953, "x": 49.08264923095703, "y": 12.476755142211914 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:32,632][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:36:32,655][8][MiR_API:749]INFO  Return:{ "battery_percentage": 23.799999237060547, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '3'\uff08\u8ddd\u79bb\u76ee\u6807 24.800000000000001 \u7c73\uff09", "position": { "orientation": -102.21929931640625, "x": 66.79617309570312, "y": 32.62678146362305 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:34,549][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
-[2020-09-23 16:36:34,603][8][MiR_API:749]INFO  Return:{ "battery_percentage": 58.900001525878906, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a580 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:34,665][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
-[2020-09-23 16:36:34,689][8][MiR_API:749]INFO  Return:{ "battery_percentage": 41.5, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelWash4D'\uff08\u8ddd\u79bb\u76ee\u6807 40 \u7c73\uff09", "position": { "orientation": 177.1566619873047, "x": 48.19331359863281, "y": 12.487826347351074 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:34,780][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:36:34,800][8][MiR_API:749]INFO  Return:{ "battery_percentage": 23.799999237060547, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '3'\uff08\u8ddd\u79bb\u76ee\u6807 23.899999999999999 \u7c73\uff09", "position": { "orientation": -128.15948486328125, "x": 66.39054870605469, "y": 31.85206413269043 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:36,563][9][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
-[2020-09-23 16:36:36,620][9][MiR_API:749]INFO  Return:{ "battery_percentage": 58.900001525878906, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a578 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:36,825][9][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
-[2020-09-23 16:36:36,991][9][MiR_API:749]INFO  Return:{ "battery_percentage": 41.5, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelWash4D'\uff08\u8ddd\u79bb\u76ee\u6807 39.200000000000003 \u7c73\uff09", "position": { "orientation": 172.5263671875, "x": 47.326786041259766, "y": 12.64353084564209 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:37,012][9][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:36:37,059][9][MiR_API:749]INFO  Return:{ "battery_percentage": 23.700000762939453, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '3'\uff08\u8ddd\u79bb\u76ee\u6807 23 \u7c73\uff09", "position": { "orientation": -137.85562133789062, "x": 65.73181915283203, "y": 31.17611312866211 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:38,567][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
-[2020-09-23 16:36:38,619][8][MiR_API:749]INFO  Return:{ "battery_percentage": 58.900001525878906, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a576 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:38,639][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
-[2020-09-23 16:36:38,663][8][MiR_API:749]INFO  Return:{ "battery_percentage": 41.599998474121094, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelWash4D'\uff08\u8ddd\u79bb\u76ee\u6807 38.600000000000001 \u7c73\uff09", "position": { "orientation": -163.64169311523438, "x": 46.770355224609375, "y": 12.680890083312988 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:38,682][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:36:38,754][8][MiR_API:749]INFO  Return:{ "battery_percentage": 23.700000762939453, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '3'\uff08\u8ddd\u79bb\u76ee\u6807 22.399999999999999 \u7c73\uff09", "position": { "orientation": -163.9044189453125, "x": 65.20883178710938, "y": 30.874391555786133 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:40,582][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
-[2020-09-23 16:36:40,607][8][MiR_API:749]INFO  Return:{ "battery_percentage": 59.099998474121094, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a574 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:40,633][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
-[2020-09-23 16:36:40,651][8][MiR_API:749]INFO  Return:{ "battery_percentage": 41.599998474121094, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelWash4D'\uff08\u8ddd\u79bb\u76ee\u6807 37.799999999999997 \u7c73\uff09", "position": { "orientation": -175.1203155517578, "x": 46.01826095581055, "y": 12.558037757873535 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:40,671][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:36:40,750][8][MiR_API:749]INFO  Return:{ "battery_percentage": 23.700000762939453, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '3'\uff08\u8ddd\u79bb\u76ee\u6807 21.5 \u7c73\uff09", "position": { "orientation": 179.755615234375, "x": 64.37258911132812, "y": 30.812097549438477 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:42,592][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
-[2020-09-23 16:36:42,635][8][MiR_API:749]INFO  Return:{ "battery_percentage": 59.099998474121094, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a572 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:42,655][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
-[2020-09-23 16:36:42,675][8][MiR_API:749]INFO  Return:{ "battery_percentage": 41.599998474121094, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelWash4D'\uff08\u8ddd\u79bb\u76ee\u6807 37 \u7c73\uff09", "position": { "orientation": -154.49903869628906, "x": 45.22029113769531, "y": 12.281132698059082 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:42,765][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:36:42,790][8][MiR_API:749]INFO  Return:{ "battery_percentage": 23.700000762939453, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '3'\uff08\u8ddd\u79bb\u76ee\u6807 20.5 \u7c73\uff09", "position": { "orientation": 179.75942993164062, "x": 63.35990905761719, "y": 30.821866989135742 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:44,606][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
-[2020-09-23 16:36:44,641][8][MiR_API:749]INFO  Return:{ "battery_percentage": 59.20000076293945, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a570 \u79d2\u949f...", "position": { "orientation": 89.2944107055664, "x": 85.98355865478516, "y": 110.88804626464844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:44,661][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
-[2020-09-23 16:36:44,684][8][MiR_API:749]INFO  Return:{ "battery_percentage": 41.400001525878906, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'SteelWash4D'\uff08\u8ddd\u79bb\u76ee\u6807 36.200000000000003 \u7c73\uff09", "position": { "orientation": -177.61097717285156, "x": 44.52386474609375, "y": 12.05854606628418 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 16:36:44,771][8][MiR_API:727]INFO  [GET]URL:http://10.85.199.83/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
-[2020-09-23 16:36:44,787][8][MiR_API:749]INFO  Return:{ "battery_percentage": 23.700000762939453, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '3'\uff08\u8ddd\u79bb\u76ee\u6807 19.5 \u7c73\uff09", "position": { "orientation": 179.55604553222656, "x": 62.38649368286133, "y": 30.825212478637695 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-23 19:13:54,660][3][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-23 19:13:56,658][3][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-23 19:13:56,658][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-23 19:13:58,653][3][MiR_API:584]INFO  Ping 10.85.199.83 请求没有响应
-[2020-09-23 19:13:58,653][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-23 19:13:58,653][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-23 19:14:00,661][10][MiR_API:584]INFO  Ping 10.85.199.83 请求没有响应
-[2020-09-23 19:14:00,661][11][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-23 19:14:02,659][11][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-23 19:14:02,659][3][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-23 19:14:04,650][11][MiR_API:584]INFO  Ping 10.85.199.83 请求没有响应
-[2020-09-23 19:14:04,650][3][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-23 19:14:04,651][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-23 19:14:06,662][3][MiR_API:584]INFO  Ping 10.85.199.83 请求没有响应
-[2020-09-23 19:14:06,662][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-23 19:14:06,663][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-23 19:14:08,660][9][MiR_API:584]INFO  Ping 10.85.199.83 请求没有响应
-[2020-09-23 19:14:08,660][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-23 19:14:08,661][11][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-23 19:14:10,660][10][MiR_API:584]INFO  Ping 10.85.199.83 请求没有响应
-[2020-09-23 19:14:10,661][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-23 19:14:10,660][11][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-23 19:14:12,650][9][MiR_API:584]INFO  Ping 10.85.199.83 请求没有响应
-[2020-09-23 19:14:12,650][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-23 19:15:01,655][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-23 19:15:03,658][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-23 19:15:03,658][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-23 19:15:05,658][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-23 19:15:05,658][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-23 19:15:07,654][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-23 19:15:07,654][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-23 19:15:09,654][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-23 19:15:09,654][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-23 19:15:11,648][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-23 19:15:11,648][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-23 19:15:13,660][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-23 19:15:13,660][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-23 19:15:15,654][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-23 19:15:15,654][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-23 19:15:17,661][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-23 19:15:17,661][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-23 19:15:19,655][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-23 19:15:19,655][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-23 19:15:21,659][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-23 19:15:21,659][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
+[2020-09-24 09:41:50,755][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/io_modules
+[2020-09-24 09:41:50,942][8][MiR_API:748]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" }]
+[2020-09-24 09:41:51,022][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:41:51,043][8][MiR_API:748]INFO  Return:{ "battery_percentage": 31.899999618530273, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 75.700000000000003 \u7c73\uff09", "position": { "orientation": -89.93533325195312, "x": 79.37785339355469, "y": 101.8035659790039 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-24 09:41:51,087][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/io_modules
+[2020-09-24 09:41:51,107][8][MiR_API:748]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" }]
+[2020-09-24 09:41:51,107][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:41:51,139][8][MiR_API:748]INFO  Return:{ "battery_percentage": 38.79999923706055, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": 178.09474182128906, "x": 4.808620929718018, "y": 18.436594009399414 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-24 09:41:52,687][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:41:52,753][8][MiR_API:748]INFO  Return:{ "battery_percentage": 31.899999618530273, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 75.099999999999994 \u7c73\uff09", "position": { "orientation": -87.09103393554688, "x": 79.34891510009766, "y": 101.16978454589844 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-24 09:41:52,758][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:41:52,799][8][MiR_API:748]INFO  Return:{ "battery_percentage": 38.79999923706055, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": 178.09474182128906, "x": 4.808620929718018, "y": 18.436594009399414 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-24 09:41:54,691][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:41:54,738][8][MiR_API:748]INFO  Return:{ "battery_percentage": 32.0, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 74.299999999999997 \u7c73\uff09", "position": { "orientation": -92.52440643310547, "x": 79.37625885009766, "y": 100.42344665527344 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-24 09:41:54,760][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:41:54,781][8][MiR_API:748]INFO  Return:{ "battery_percentage": 39.0, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": 178.09474182128906, "x": 4.808620929718018, "y": 18.436594009399414 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-24 09:41:56,705][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:41:57,067][8][MiR_API:748]INFO  Return:{ "battery_percentage": 32.0, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 73.5 \u7c73\uff09", "position": { "orientation": -88.66055297851562, "x": 79.37094116210938, "y": 99.58942413330078 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-24 09:41:57,081][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:41:57,117][8][MiR_API:748]INFO  Return:{ "battery_percentage": 39.0, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": 178.09474182128906, "x": 4.808620929718018, "y": 18.436594009399414 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-24 09:41:58,716][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:41:58,737][8][MiR_API:748]INFO  Return:{ "battery_percentage": 32.0, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 72.799999999999997 \u7c73\uff09", "position": { "orientation": -86.97412872314453, "x": 79.37427520751953, "y": 98.87818908691406 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-24 09:41:58,745][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:41:58,777][8][MiR_API:748]INFO  Return:{ "battery_percentage": 39.0, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": 178.09474182128906, "x": 4.808620929718018, "y": 18.436594009399414 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-24 09:42:00,717][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:00,796][8][MiR_API:748]INFO  Return:{ "battery_percentage": 31.899999618530273, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 72 \u7c73\uff09", "position": { "orientation": -90.70954895019531, "x": 79.37185668945312, "y": 98.10393524169922 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-24 09:42:00,803][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:00,826][8][MiR_API:748]INFO  Return:{ "battery_percentage": 38.900001525878906, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": 178.09474182128906, "x": 4.808620929718018, "y": 18.436594009399414 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-24 09:42:02,744][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:02,788][8][MiR_API:748]INFO  Return:{ "battery_percentage": 31.899999618530273, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 71.299999999999997 \u7c73\uff09", "position": { "orientation": -88.97383117675781, "x": 79.36426544189453, "y": 97.3402099609375 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-24 09:42:02,794][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:02,818][8][MiR_API:748]INFO  Return:{ "battery_percentage": 38.900001525878906, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": 178.09474182128906, "x": 4.808620929718018, "y": 18.436594009399414 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-24 09:42:04,734][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:04,798][8][MiR_API:748]INFO  Return:{ "battery_percentage": 31.899999618530273, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 70.5 \u7c73\uff09", "position": { "orientation": -88.82857513427734, "x": 79.37214660644531, "y": 96.60324096679688 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-24 09:42:04,804][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:04,827][8][MiR_API:748]INFO  Return:{ "battery_percentage": 38.900001525878906, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": 178.09474182128906, "x": 4.808620929718018, "y": 18.436594009399414 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-24 09:42:06,758][10][MiR_API:726]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:06,779][10][MiR_API:748]INFO  Return:{ "battery_percentage": 31.899999618530273, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 69.700000000000003 \u7c73\uff09", "position": { "orientation": -89.14307403564453, "x": 79.388427734375, "y": 95.83130645751953 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-24 09:42:06,785][10][MiR_API:726]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:06,824][10][MiR_API:748]INFO  Return:{ "battery_percentage": 38.900001525878906, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": 178.09474182128906, "x": 4.808620929718018, "y": 18.436594009399414 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-24 09:42:08,750][10][MiR_API:726]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:08,823][10][MiR_API:748]INFO  Return:{ "battery_percentage": 31.899999618530273, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 68.900000000000006 \u7c73\uff09", "position": { "orientation": -89.332763671875, "x": 79.3731918334961, "y": 95.03631591796875 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-24 09:42:08,830][10][MiR_API:726]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:08,870][10][MiR_API:748]INFO  Return:{ "battery_percentage": 38.900001525878906, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": 178.09474182128906, "x": 4.808620929718018, "y": 18.436594009399414 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-24 09:42:10,760][10][MiR_API:726]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:10,816][10][MiR_API:748]INFO  Return:{ "battery_percentage": 31.799999237060547, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 68.200000000000003 \u7c73\uff09", "position": { "orientation": -88.8277359008789, "x": 79.37012481689453, "y": 94.27587127685547 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-24 09:42:10,821][10][MiR_API:726]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:10,844][10][MiR_API:748]INFO  Return:{ "battery_percentage": 38.900001525878906, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": 178.09474182128906, "x": 4.808620929718018, "y": 18.436594009399414 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-24 09:42:12,770][10][MiR_API:726]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:12,797][10][MiR_API:748]INFO  Return:{ "battery_percentage": 31.799999237060547, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 67.400000000000006 \u7c73\uff09", "position": { "orientation": -92.50466918945312, "x": 79.3765640258789, "y": 93.51998901367188 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-24 09:42:12,805][10][MiR_API:726]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:12,821][10][MiR_API:748]INFO  Return:{ "battery_percentage": 38.900001525878906, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": 178.09474182128906, "x": 4.808620929718018, "y": 18.436594009399414 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-24 09:42:14,775][10][MiR_API:726]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:14,881][10][MiR_API:748]INFO  Return:{ "battery_percentage": 31.799999237060547, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 66.700000000000003 \u7c73\uff09", "position": { "orientation": -86.22252655029297, "x": 79.37586975097656, "y": 92.78275299072266 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-24 09:42:14,894][10][MiR_API:726]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:14,975][10][MiR_API:748]INFO  Return:{ "battery_percentage": 38.900001525878906, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": 178.09474182128906, "x": 4.808620929718018, "y": 18.436594009399414 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-24 09:42:16,786][10][MiR_API:726]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:16,817][10][MiR_API:748]INFO  Return:{ "battery_percentage": 31.700000762939453, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 65.900000000000006 \u7c73\uff09", "position": { "orientation": -89.50321197509766, "x": 79.37481689453125, "y": 92.01412963867188 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-24 09:42:16,824][10][MiR_API:726]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:16,843][10][MiR_API:748]INFO  Return:{ "battery_percentage": 38.900001525878906, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": 178.09474182128906, "x": 4.808620929718018, "y": 18.436594009399414 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-24 09:42:45,942][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/io_modules
+[2020-09-24 09:42:46,045][8][MiR_API:748]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" }]
+[2020-09-24 09:42:46,091][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:46,112][8][MiR_API:748]INFO  Return:{ "battery_percentage": 31.299999237060547, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 56.299999999999997 \u7c73\uff09", "position": { "orientation": -87.176513671875, "x": 79.47293853759766, "y": 82.38200378417969 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-24 09:42:46,135][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/io_modules
+[2020-09-24 09:42:46,155][8][MiR_API:748]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" }]
+[2020-09-24 09:42:46,156][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:46,175][8][MiR_API:748]INFO  Return:{ "battery_percentage": 39.0, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": 178.09474182128906, "x": 4.808620929718018, "y": 18.436594009399414 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-24 09:42:47,900][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:47,936][8][MiR_API:748]INFO  Return:{ "battery_percentage": 31.299999237060547, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 55.600000000000001 \u7c73\uff09", "position": { "orientation": -89.59019470214844, "x": 79.47929382324219, "y": 81.65172576904297 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-24 09:42:47,942][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:47,961][8][MiR_API:748]INFO  Return:{ "battery_percentage": 39.0, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": 178.09474182128906, "x": 4.808620929718018, "y": 18.436594009399414 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-24 09:42:49,908][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:49,926][8][MiR_API:748]INFO  Return:{ "battery_percentage": 31.399999618530273, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 54.799999999999997 \u7c73\uff09", "position": { "orientation": -92.31658935546875, "x": 79.48524475097656, "y": 80.8298110961914 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-24 09:42:49,932][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:50,094][8][MiR_API:748]INFO  Return:{ "battery_percentage": 39.099998474121094, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": 178.09474182128906, "x": 4.808620929718018, "y": 18.436594009399414 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-24 09:42:51,918][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:51,936][8][MiR_API:748]INFO  Return:{ "battery_percentage": 31.399999618530273, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 54 \u7c73\uff09", "position": { "orientation": -88.35818481445312, "x": 79.48416137695312, "y": 80.01963806152344 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-24 09:42:51,944][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:52,027][8][MiR_API:748]INFO  Return:{ "battery_percentage": 39.099998474121094, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": 178.09474182128906, "x": 4.808620929718018, "y": 18.436594009399414 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-24 09:42:53,928][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:53,944][8][MiR_API:748]INFO  Return:{ "battery_percentage": 31.399999618530273, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 53.200000000000003 \u7c73\uff09", "position": { "orientation": -92.55992126464844, "x": 79.46661376953125, "y": 79.238037109375 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-24 09:42:53,949][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:53,991][8][MiR_API:748]INFO  Return:{ "battery_percentage": 39.099998474121094, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": 178.09474182128906, "x": 4.808620929718018, "y": 18.436594009399414 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-24 09:42:55,937][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:55,954][8][MiR_API:748]INFO  Return:{ "battery_percentage": 31.399999618530273, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 52.5 \u7c73\uff09", "position": { "orientation": -103.36315155029297, "x": 79.36163330078125, "y": 78.59185028076172 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-24 09:42:55,962][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:55,980][8][MiR_API:748]INFO  Return:{ "battery_percentage": 39.29999923706055, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": 178.09474182128906, "x": 4.808620929718018, "y": 18.436594009399414 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-24 09:42:57,945][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:57,964][8][MiR_API:748]INFO  Return:{ "battery_percentage": 31.399999618530273, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 51.700000000000003 \u7c73\uff09", "position": { "orientation": -91.9524154663086, "x": 79.3265609741211, "y": 77.85210418701172 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-24 09:42:57,981][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:58,037][8][MiR_API:748]INFO  Return:{ "battery_percentage": 39.29999923706055, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": 178.09474182128906, "x": 4.808620929718018, "y": 18.436594009399414 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-24 09:42:59,954][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:42:59,978][8][MiR_API:748]INFO  Return:{ "battery_percentage": 31.399999618530273, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 51 \u7c73\uff09", "position": { "orientation": -89.39421081542969, "x": 79.34768676757812, "y": 77.09439086914062 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-24 09:42:59,984][8][MiR_API:726]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:43:00,025][8][MiR_API:748]INFO  Return:{ "battery_percentage": 39.29999923706055, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": 178.09474182128906, "x": 4.808620929718018, "y": 18.436594009399414 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
+[2020-09-24 09:43:40,282][9][MiR_API:726]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:43:40,403][9][MiR_API:748]INFO  Return:{ "battery_percentage": 30.799999237060547, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4cshelf1'\uff08\u8ddd\u79bb\u76ee\u6807 37.299999999999997 \u7c73\uff09", "position": { "orientation": 116.2479476928711, "x": 75.81297302246094, "y": 66.11811828613281 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-24 09:43:40,489][9][MiR_API:726]INFO  [GET]URL:http://10.85.199.84/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position
+[2020-09-24 09:43:40,520][9][MiR_API:748]INFO  Return:{ "battery_percentage": 39.29999923706055, "mission_text": "{\"message\": \"Relative Move: Robot is moving %(distance).2f meters backward\", \"args\": {\"distance\":0.551329256792}}", "position": { "orientation": 178.33782958984375, "x": 5.240734577178955, "y": 18.4196834564209 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
+[2020-09-24 09:43:46,050][9][MiR_API:726]INFO  [GET]URL:http://10.85.199.82/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position

AGVControl_Steel/bin/Debug/Logs/MiR_API.log2020-09-22

-[2020-09-22 09:48:02,284][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:48:04,283][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:48:04,283][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:48:06,277][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:48:06,277][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:48:08,287][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:48:08,287][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:48:10,280][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:48:10,280][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:48:12,279][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:48:12,279][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:48:14,277][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:48:14,278][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:48:16,275][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:48:16,276][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:48:18,285][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:48:18,285][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:48:20,279][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:48:20,280][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:48:22,275][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:48:22,785][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:48:24,783][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:48:26,781][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:48:28,779][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:48:28,779][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:48:30,777][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:48:30,777][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:48:32,775][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:48:32,776][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:48:34,785][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:48:34,786][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:48:36,789][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:48:36,789][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:48:38,786][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:48:38,786][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:48:40,789][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:48:40,789][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:48:42,777][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:48:42,777][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:48:44,776][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:48:44,776][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:50:22,289][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:50:24,282][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:50:24,282][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:50:26,278][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:50:26,278][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:50:28,287][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:50:28,287][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:50:30,289][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:50:30,289][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:53:55,286][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:53:57,285][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:53:57,286][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:53:59,275][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:53:59,275][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:54:01,281][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:54:01,282][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:54:03,290][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:54:03,291][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:54:05,285][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:54:05,286][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:54:07,277][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:54:07,277][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:54:09,289][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:54:09,290][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:54:11,285][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:54:11,285][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:57:43,285][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:57:45,284][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:57:45,285][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:57:47,284][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:57:47,284][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:57:49,286][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:57:49,286][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:57:51,290][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:57:51,290][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 09:57:53,282][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 09:57:53,282][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 10:01:20,288][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 10:01:22,280][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 10:01:22,280][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 10:01:24,279][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 10:01:24,279][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 10:01:26,287][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 10:01:26,288][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 10:01:28,277][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 10:01:28,278][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 10:01:30,278][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 10:01:30,279][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 10:06:06,232][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
-[2020-09-22 10:06:06,415][8][MiR_API:749]INFO  Return:{ "battery_percentage": 35.5, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a920 \u79d2\u949f...", "position": { "orientation": 89.46430206298828, "x": 85.96944427490234, "y": 110.93090057373047 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:06:06,526][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
-[2020-09-22 10:06:06,633][8][MiR_API:749]INFO  Return:{ "battery_percentage": 58.400001525878906, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 3 \u79d2", "position": { "orientation": -178.3656463623047, "x": 64.02989959716797, "y": 12.743584632873535 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:06:08,178][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
-[2020-09-22 10:06:08,202][8][MiR_API:749]INFO  Return:{ "battery_percentage": 36.0, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a918 \u79d2\u949f...", "position": { "orientation": 89.46430206298828, "x": 85.96944427490234, "y": 110.93090057373047 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:06:08,232][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
-[2020-09-22 10:06:08,334][8][MiR_API:749]INFO  Return:{ "battery_percentage": 58.400001525878906, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 1 \u79d2", "position": { "orientation": -178.3656463623047, "x": 64.02989959716797, "y": 12.743584632873535 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:06:10,193][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
-[2020-09-22 10:06:10,230][8][MiR_API:749]INFO  Return:{ "battery_percentage": 36.0, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a916 \u79d2\u949f...", "position": { "orientation": 89.46430206298828, "x": 85.96944427490234, "y": 110.93090057373047 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:06:10,262][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
-[2020-09-22 10:06:10,300][8][MiR_API:749]INFO  Return:{ "battery_percentage": 58.400001525878906, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4DshelfD'\uff08\u89c4\u5212\uff09", "position": { "orientation": -178.3656463623047, "x": 64.02989959716797, "y": 12.743584632873535 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:06:12,205][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
-[2020-09-22 10:06:12,269][8][MiR_API:749]INFO  Return:{ "battery_percentage": 36.0, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a914 \u79d2\u949f...", "position": { "orientation": 89.46430206298828, "x": 85.96944427490234, "y": 110.93090057373047 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:06:12,312][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
-[2020-09-22 10:06:12,405][8][MiR_API:749]INFO  Return:{ "battery_percentage": 58.400001525878906, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4DshelfD'\uff08\u8ddd\u79bb\u76ee\u6807 8.699999999999999 \u7c73\uff09", "position": { "orientation": 165.8600311279297, "x": 64.09710693359375, "y": 12.732315063476562 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:06:14,217][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
-[2020-09-22 10:06:14,255][8][MiR_API:749]INFO  Return:{ "battery_percentage": 36.29999923706055, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a912 \u79d2\u949f...", "position": { "orientation": 89.46430206298828, "x": 85.96944427490234, "y": 110.93090057373047 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:06:14,283][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
-[2020-09-22 10:06:14,321][8][MiR_API:749]INFO  Return:{ "battery_percentage": 58.29999923706055, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4DshelfD'\uff08\u8ddd\u79bb\u76ee\u6807 8.699999999999999 \u7c73\uff09", "position": { "orientation": -145.88787841796875, "x": 64.09103393554688, "y": 12.708508491516113 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:06:16,223][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
-[2020-09-22 10:06:16,255][8][MiR_API:749]INFO  Return:{ "battery_percentage": 36.29999923706055, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a910 \u79d2\u949f...", "position": { "orientation": 89.46430206298828, "x": 85.96944427490234, "y": 110.93090057373047 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:06:16,275][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
-[2020-09-22 10:06:16,358][8][MiR_API:749]INFO  Return:{ "battery_percentage": 58.29999923706055, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4DshelfD'\uff08\u8ddd\u79bb\u76ee\u6807 8.4 \u7c73\uff09", "position": { "orientation": -137.73472595214844, "x": 63.84566879272461, "y": 12.485936164855957 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:06:18,234][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
-[2020-09-22 10:06:18,263][8][MiR_API:749]INFO  Return:{ "battery_percentage": 36.29999923706055, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a908 \u79d2\u949f...", "position": { "orientation": 89.46430206298828, "x": 85.96944427490234, "y": 110.93090057373047 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:06:18,601][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
-[2020-09-22 10:06:18,918][8][MiR_API:749]INFO  Return:{ "battery_percentage": 58.099998474121094, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4DshelfD'\uff08\u8ddd\u79bb\u76ee\u6807 7.6 \u7c73\uff09", "position": { "orientation": -178.7974853515625, "x": 63.1584587097168, "y": 12.152608871459961 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:06:20,248][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
-[2020-09-22 10:06:20,273][8][MiR_API:749]INFO  Return:{ "battery_percentage": 36.70000076293945, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a906 \u79d2\u949f...", "position": { "orientation": 89.46430206298828, "x": 85.96944427490234, "y": 110.93090057373047 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:06:20,303][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
-[2020-09-22 10:06:20,322][8][MiR_API:749]INFO  Return:{ "battery_percentage": 58.099998474121094, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 '4DshelfD'\uff08\u8ddd\u79bb\u76ee\u6807 7.2 \u7c73\uff09", "position": { "orientation": 155.22093200683594, "x": 62.72597122192383, "y": 12.205918312072754 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:07:04,914][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
-[2020-09-22 10:07:05,023][8][MiR_API:749]INFO  Return:{ "battery_percentage": 40.599998474121094, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a861 \u79d2\u949f...", "position": { "orientation": 89.46430206298828, "x": 85.96944427490234, "y": 110.93090057373047 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:07:05,091][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
-[2020-09-22 10:07:05,121][8][MiR_API:749]INFO  Return:{ "battery_percentage": 56.599998474121094, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 6 \u79d2", "position": { "orientation": 179.42678833007812, "x": 55.82200241088867, "y": 12.65071964263916 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:07:06,911][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
-[2020-09-22 10:07:06,932][8][MiR_API:749]INFO  Return:{ "battery_percentage": 40.599998474121094, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a859 \u79d2\u949f...", "position": { "orientation": 89.46430206298828, "x": 85.96944427490234, "y": 110.93090057373047 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:07:06,954][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
-[2020-09-22 10:07:06,970][8][MiR_API:749]INFO  Return:{ "battery_percentage": 56.599998474121094, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 4 \u79d2", "position": { "orientation": 179.42678833007812, "x": 55.82200241088867, "y": 12.65071964263916 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:07:08,918][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
-[2020-09-22 10:07:08,947][8][MiR_API:749]INFO  Return:{ "battery_percentage": 41.099998474121094, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a857 \u79d2\u949f...", "position": { "orientation": 89.46430206298828, "x": 85.96944427490234, "y": 110.93090057373047 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:07:08,969][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
-[2020-09-22 10:07:09,005][8][MiR_API:749]INFO  Return:{ "battery_percentage": 56.5, "mission_text": "\u6b63\u5728\u7b49\u5f85...\u5269\u4f59 2 \u79d2", "position": { "orientation": 179.42678833007812, "x": 55.82200241088867, "y": 12.65071964263916 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:07:10,919][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
-[2020-09-22 10:07:10,946][8][MiR_API:749]INFO  Return:{ "battery_percentage": 41.099998474121094, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a855 \u79d2\u949f...", "position": { "orientation": 89.46430206298828, "x": 85.96944427490234, "y": 110.93090057373047 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:07:10,967][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
-[2020-09-22 10:07:11,052][8][MiR_API:749]INFO  Return:{ "battery_percentage": 56.5, "mission_text": "LoadMissionAction: Started!", "position": { "orientation": 179.42678833007812, "x": 55.82200241088867, "y": 12.65071964263916 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:07:12,924][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
-[2020-09-22 10:07:12,951][8][MiR_API:749]INFO  Return:{ "battery_percentage": 41.099998474121094, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a853 \u79d2\u949f...", "position": { "orientation": 89.46430206298828, "x": 85.96944427490234, "y": 110.93090057373047 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:07:12,972][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
-[2020-09-22 10:07:13,049][8][MiR_API:749]INFO  Return:{ "battery_percentage": 56.5, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'ShelfB'\uff08\u8ddd\u79bb\u76ee\u6807 16.600000000000001 \u7c73\uff09", "position": { "orientation": -178.69845581054688, "x": 55.69630813598633, "y": 12.648009300231934 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:07:14,939][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
-[2020-09-22 10:07:14,962][8][MiR_API:749]INFO  Return:{ "battery_percentage": 41.599998474121094, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a851 \u79d2\u949f...", "position": { "orientation": 89.46430206298828, "x": 85.96944427490234, "y": 110.93090057373047 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:07:14,985][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
-[2020-09-22 10:07:15,031][8][MiR_API:749]INFO  Return:{ "battery_percentage": 56.20000076293945, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'ShelfB'\uff08\u8ddd\u79bb\u76ee\u6807 15.800000000000001 \u7c73\uff09", "position": { "orientation": 178.14080810546875, "x": 54.83220672607422, "y": 12.621261596679688 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:07:17,081][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
-[2020-09-22 10:07:17,115][8][MiR_API:749]INFO  Return:{ "battery_percentage": 41.599998474121094, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a849 \u79d2\u949f...", "position": { "orientation": 89.46430206298828, "x": 85.96944427490234, "y": 110.93090057373047 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:07:17,174][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
-[2020-09-22 10:07:17,315][8][MiR_API:749]INFO  Return:{ "battery_percentage": 56.20000076293945, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'ShelfB'\uff08\u8ddd\u79bb\u76ee\u6807 14.699999999999999 \u7c73\uff09", "position": { "orientation": 179.00209045410156, "x": 53.745758056640625, "y": 12.638509750366211 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:07:18,964][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
-[2020-09-22 10:07:18,991][8][MiR_API:749]INFO  Return:{ "battery_percentage": 42.20000076293945, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a847 \u79d2\u949f...", "position": { "orientation": 89.46430206298828, "x": 85.96944427490234, "y": 110.93090057373047 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:07:19,014][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
-[2020-09-22 10:07:19,046][8][MiR_API:749]INFO  Return:{ "battery_percentage": 56.20000076293945, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'ShelfB'\uff08\u8ddd\u79bb\u76ee\u6807 13.800000000000001 \u7c73\uff09", "position": { "orientation": -176.44288635253906, "x": 52.88585662841797, "y": 12.63797378540039 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:07:20,967][9][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
-[2020-09-22 10:07:20,989][9][MiR_API:749]INFO  Return:{ "battery_percentage": 42.20000076293945, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a845 \u79d2\u949f...", "position": { "orientation": 89.46430206298828, "x": 85.96944427490234, "y": 110.93090057373047 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:07:21,011][9][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
-[2020-09-22 10:07:21,039][9][MiR_API:749]INFO  Return:{ "battery_percentage": 56.0, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'ShelfB'\uff08\u8ddd\u79bb\u76ee\u6807 12.9 \u7c73\uff09", "position": { "orientation": -177.66580200195312, "x": 51.94112014770508, "y": 12.631752014160156 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:07:22,980][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
-[2020-09-22 10:07:23,001][8][MiR_API:749]INFO  Return:{ "battery_percentage": 42.20000076293945, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a843 \u79d2\u949f...", "position": { "orientation": 89.46430206298828, "x": 85.96944427490234, "y": 110.93090057373047 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:07:23,021][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
-[2020-09-22 10:07:23,042][8][MiR_API:749]INFO  Return:{ "battery_percentage": 56.0, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'ShelfB'\uff08\u8ddd\u79bb\u76ee\u6807 11.9 \u7c73\uff09", "position": { "orientation": -179.28817749023438, "x": 50.98921585083008, "y": 12.62189769744873 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:07:24,988][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
-[2020-09-22 10:07:25,015][8][MiR_API:749]INFO  Return:{ "battery_percentage": 42.70000076293945, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a841 \u79d2\u949f...", "position": { "orientation": 89.46430206298828, "x": 85.96944427490234, "y": 110.93090057373047 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:07:25,037][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
-[2020-09-22 10:07:25,064][8][MiR_API:749]INFO  Return:{ "battery_percentage": 56.0, "mission_text": "\u6b63\u5728\u79fb\u52a8\u81f3 'ShelfB'\uff08\u8ddd\u79bb\u76ee\u6807 11 \u7c73\uff09", "position": { "orientation": 179.34814453125, "x": 50.043697357177734, "y": 12.624787330627441 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 10:18:43,790][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 10:18:45,786][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 10:18:45,786][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 10:18:47,780][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 10:18:47,780][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 10:18:49,786][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 10:18:49,786][11][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 10:18:51,777][11][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 10:18:51,777][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 10:18:53,784][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 10:18:53,784][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 10:18:55,779][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 10:18:55,779][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 10:18:57,789][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 10:18:57,790][11][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 10:18:59,777][11][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 10:18:59,777][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 10:19:01,787][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 10:19:01,788][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:11:28,278][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:11:30,277][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:11:30,277][7][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:11:32,287][7][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:11:32,288][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:11:34,280][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:11:34,281][7][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:11:36,280][7][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:11:36,281][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:11:38,276][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:11:38,277][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:11:40,281][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:11:40,282][7][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:11:42,286][7][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:11:42,287][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:11:44,287][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:11:44,287][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:11:46,285][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:11:46,285][7][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:11:48,278][7][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:11:48,278][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:11:50,282][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:11:50,282][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:11:52,276][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:11:52,276][7][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:11:54,287][7][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:11:54,287][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:11:56,282][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:11:56,282][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:11:58,279][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:11:58,279][7][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:12:00,286][7][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:12:00,287][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:12:02,286][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:12:02,286][7][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:12:04,278][7][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:12:04,278][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:12:06,276][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:12:06,276][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:12:08,286][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:12:08,286][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:12:10,276][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:12:10,277][7][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:12:12,290][7][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:12:12,291][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:12:14,285][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:12:14,285][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:12:16,277][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:12:16,277][7][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:12:18,281][7][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:12:18,282][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:12:20,285][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:12:20,286][7][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:12:22,285][7][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:12:22,285][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:12:24,278][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:12:24,279][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:12:26,278][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:12:26,278][7][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:12:28,286][7][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:12:28,287][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:12:30,278][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:12:30,278][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:12:32,276][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:12:32,276][7][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:12:34,280][7][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:12:34,280][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:12:36,278][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:12:36,278][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:12:38,286][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:12:38,286][7][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:12:40,284][7][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:12:40,284][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:12:42,286][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:12:42,286][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:12:44,284][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:12:44,284][7][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:12:46,286][7][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:12:46,286][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:12:48,286][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:12:48,286][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:12:50,284][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:12:50,284][3][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:12:52,284][3][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:12:52,285][7][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:12:54,282][7][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:12:54,282][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:12:56,288][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:12:56,289][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:12:58,289][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:12:58,290][7][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:13:00,281][7][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
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-[2020-09-22 11:15:19,785][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:15:21,790][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:15:21,790][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:15:23,783][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:15:23,783][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:15:25,775][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:15:25,775][11][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:15:27,786][11][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:15:27,786][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:15:29,779][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:15:29,779][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:15:31,790][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:15:31,790][11][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:15:33,777][11][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:15:33,777][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:15:35,789][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:15:35,789][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:15:37,787][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:15:37,787][11][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:15:39,785][11][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:15:39,785][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:15:41,781][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:15:41,781][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:15:43,789][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:15:43,789][11][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:15:45,789][11][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:15:46,285][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:15:48,281][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:15:48,281][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:15:50,283][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:15:50,283][11][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:15:52,279][11][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:15:52,279][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:15:54,277][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:15:54,277][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:15:56,289][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:15:56,289][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:15:58,276][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:15:58,276][11][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:16:00,286][11][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:16:00,286][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:16:02,282][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:16:02,282][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:16:04,275][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:16:04,275][11][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:16:06,286][11][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:16:06,286][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:16:08,286][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:16:08,286][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:16:10,284][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:16:10,284][11][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:16:12,276][11][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:16:12,276][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:16:14,287][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:16:14,287][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:16:16,279][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:16:16,279][11][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:16:18,283][11][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:16:18,283][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:16:20,291][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:16:20,291][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:16:22,281][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:16:22,281][11][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:16:24,279][11][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:16:24,279][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:16:26,278][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:16:26,278][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:16:28,286][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:16:28,287][11][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:16:30,286][11][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:16:30,286][3][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:16:32,289][3][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:16:32,289][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:16:34,279][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:16:34,279][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:16:36,277][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:16:36,278][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:49:46,284][3][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:49:48,286][3][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:49:48,287][4][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:49:50,284][4][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:49:50,284][3][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:49:52,277][3][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:49:52,277][4][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:49:54,276][4][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:49:54,277][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:50:29,778][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:50:31,786][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:50:31,787][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:50:33,783][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:50:33,783][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:50:35,783][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:50:35,783][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:50:37,778][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:50:37,778][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:50:39,775][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:50:39,776][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:50:41,775][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:50:41,776][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:50:43,790][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:50:43,790][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:50:45,787][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:50:45,788][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:50:47,783][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:50:47,783][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:50:49,784][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:50:49,784][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:50:51,777][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:50:51,777][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:50:53,785][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:50:53,785][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:51:28,776][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:51:30,786][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:51:30,786][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:51:32,781][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:51:32,781][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:51:34,780][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:51:34,781][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:51:36,789][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:51:36,789][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:51:38,786][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:51:38,786][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:51:40,782][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:51:40,782][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:51:42,779][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:51:42,780][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:51:44,782][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:51:44,782][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:51:46,787][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:51:46,788][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:51:48,777][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:51:48,777][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:51:50,781][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:51:50,781][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:52:15,287][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:52:17,278][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:52:17,278][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:52:19,276][9][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:52:19,277][10][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:52:21,276][10][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:52:21,276][8][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 11:52:23,281][8][MiR_API:584]INFO  Ping 10.85.199.84 请求没有响应
-[2020-09-22 11:52:23,281][9][MiR_API:584]INFO  Ping 10.85.199.82 请求没有响应
-[2020-09-22 16:21:33,774][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
-[2020-09-22 16:21:33,939][3][MiR_API:749]INFO  Return:{ "battery_percentage": 52.599998474121094, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a693 \u79d2\u949f...", "position": { "orientation": 90.01902770996094, "x": 85.96817779541016, "y": 110.96222686767578 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 16:21:34,040][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
-[2020-09-22 16:21:34,146][3][MiR_API:749]INFO  Return:{ "battery_percentage": 52.29999923706055, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -179.497314453125, "x": 3.0303385257720947, "y": 14.389684677124023 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
-[2020-09-22 16:21:35,735][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
-[2020-09-22 16:21:35,787][3][MiR_API:749]INFO  Return:{ "battery_percentage": 52.599998474121094, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a691 \u79d2\u949f...", "position": { "orientation": 90.01902770996094, "x": 85.96817779541016, "y": 110.96222686767578 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 16:21:35,814][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
-[2020-09-22 16:21:35,844][3][MiR_API:749]INFO  Return:{ "battery_percentage": 52.29999923706055, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -179.497314453125, "x": 3.0303385257720947, "y": 14.389684677124023 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
-[2020-09-22 16:21:37,740][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
-[2020-09-22 16:21:37,774][3][MiR_API:749]INFO  Return:{ "battery_percentage": 53.0, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a689 \u79d2\u949f...", "position": { "orientation": 90.01902770996094, "x": 85.96817779541016, "y": 110.96222686767578 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 16:21:37,800][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
-[2020-09-22 16:21:37,842][3][MiR_API:749]INFO  Return:{ "battery_percentage": 52.29999923706055, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -179.497314453125, "x": 3.0303385257720947, "y": 14.389684677124023 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
-[2020-09-22 16:21:39,749][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
-[2020-09-22 16:21:39,790][3][MiR_API:749]INFO  Return:{ "battery_percentage": 53.0, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a687 \u79d2\u949f...", "position": { "orientation": 90.01902770996094, "x": 85.96817779541016, "y": 110.96222686767578 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 16:21:39,810][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
-[2020-09-22 16:21:39,864][3][MiR_API:749]INFO  Return:{ "battery_percentage": 52.29999923706055, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -179.497314453125, "x": 3.0303385257720947, "y": 14.389684677124023 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
-[2020-09-22 16:21:41,755][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
-[2020-09-22 16:21:41,803][3][MiR_API:749]INFO  Return:{ "battery_percentage": 53.0, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a685 \u79d2\u949f...", "position": { "orientation": 90.01902770996094, "x": 85.96817779541016, "y": 110.96222686767578 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 16:21:41,824][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
-[2020-09-22 16:21:41,864][3][MiR_API:749]INFO  Return:{ "battery_percentage": 52.400001525878906, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -179.497314453125, "x": 3.0303385257720947, "y": 14.389684677124023 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
-[2020-09-22 16:22:57,036][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
-[2020-09-22 16:22:57,146][8][MiR_API:749]INFO  Return:{ "battery_percentage": 56.099998474121094, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a610 \u79d2\u949f...", "position": { "orientation": 90.01902770996094, "x": 85.96817779541016, "y": 110.96222686767578 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 16:22:57,221][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
-[2020-09-22 16:22:57,262][8][MiR_API:749]INFO  Return:{ "battery_percentage": 52.70000076293945, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -179.497314453125, "x": 3.0303385257720947, "y": 14.389684677124023 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
-[2020-09-22 16:22:59,022][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
-[2020-09-22 16:22:59,064][8][MiR_API:749]INFO  Return:{ "battery_percentage": 56.099998474121094, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a608 \u79d2\u949f...", "position": { "orientation": 90.01902770996094, "x": 85.96817779541016, "y": 110.96222686767578 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 16:22:59,101][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
-[2020-09-22 16:22:59,133][8][MiR_API:749]INFO  Return:{ "battery_percentage": 52.70000076293945, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -179.497314453125, "x": 3.0303385257720947, "y": 14.389684677124023 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
-[2020-09-22 16:23:01,033][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
-[2020-09-22 16:23:01,065][8][MiR_API:749]INFO  Return:{ "battery_percentage": 56.400001525878906, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a606 \u79d2\u949f...", "position": { "orientation": 90.01902770996094, "x": 85.96817779541016, "y": 110.96222686767578 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 16:23:01,149][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
-[2020-09-22 16:23:01,208][8][MiR_API:749]INFO  Return:{ "battery_percentage": 52.70000076293945, "mission_text": "\u6b63\u5728\u7b49\u5f85\u65b0\u4efb\u52a1...", "position": { "orientation": -179.497314453125, "x": 3.0303385257720947, "y": 14.389684677124023 }, "state_id": 3, "state_text": "Ready", "user_prompt": null}
-[2020-09-22 16:23:05,654][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
-[2020-09-22 16:23:07,667][8][MiR_API:749]INFO  Return:{ "battery_percentage": 56.599998474121094, "mission_text": "\u5145\u7535\u4e2d...\u5269\u4f59\u65f6\u95f4\uff1a602 \u79d2\u949f...", "position": { "orientation": 90.01902770996094, "x": 85.96817779541016, "y": 110.96222686767578 }, "state_id": 5, "state_text": "Executing", "user_prompt": null}
-[2020-09-22 16:23:09,172][9][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