...
{
"taskId": "61xxxxxxxxxxxxxx99", // 任务Id
"name": "多点任务1706079197009", // 任务名称
"taskPts": [{
"ext": {
"name": "3"
}, //扩展字段
"areaId": "65bxxxxxxxxxxa1" //区域Id
}], //任务执行点位集合
"runType": 21, //执行类型
"businessId": "655xxxxxxxxxeeb", //业务Id
"backPt": {
"areaId": "6xxxxxxxa1",
"ext": {
"id": "65xxxxxxea2",
"name": "返航中"
},
"key": "",
"stepActs": [{
"data": {
"color": 4,
"feature": 1,
"mode": 1
},
"type": 37
}],
"stopRadius": 1,
"type": 9,
"x": -0.2579306188960005,
"y": -0.3057315748102021,
"yaw": 50
}, //返航点
"speed": -1,
"taskType": 2, //任务类型
"runNum": 1, //执行次数
"busiType": 5, //业务类型
"ignorePublicSite": true,
"isCancel": false, //是否取消
"isFinish": false, //是否完成
"robotId": "8981307a02163yT",
"robotName": "63yT",
"runMode": 1, //运行模式
"buildingId": "64xxxxxxxc", //楼宇id
"isExcute": false, //是否执行
"createTime": 1706079196905, //创建时间
"routeMode": 1, //路线模式
"isDel": false, //是否删除
"taskState": "success", //任务状态：waiting：等待中，running：运行中，abort: 任务终止，cancel: 任务取消，success:任务完成
"useTime": 29078, //耗时，单位：ms
"taskLogs": [{
"_id": "65b0b3e28171a93d2ca362db",
"taskType": "restaurant",
"logType": "state",
"logName": "task-start",
"timestamp": 1706079198426,
"createTime": 1706079202386
},
{
"_id": "65b0b3e28171a93d2ca362dc",
"taskType": "restaurant",
"logType": "event",
"logName": "turn-on-light",
"Data": {
"color": 4,
"feature": 1,
"mode": 1
},
"timestamp": 1706079198446,
"createTime": 1706079202389
},
{
"_id": "65b0b3e28171a93d2ca362dd",
"taskType": "restaurant",
"logType": "event",
"logName": "play-audio",
"Data": {
"audioId": "/storage/xxxxxx.mp3",
"channel": 1,
"duration": -1,
"forcePlay": true,
"interval": -1,
"mode": 1,
"num": 1,
"volume": 50
},
"timestamp": 1706079198463,
"createTime": 1706079202391
},
{
"_id": "65b0b3e28171a93d2ca362de",
"taskType": "restaurant",
"logType": "event",
"logName": "set-speed",
"Data": {
"speed": 1.2
},
"timestamp": 1706079198586,
"createTime": 1706079202393
},
{
"_id": "65b0b3f48171a93d2ca362df",
"taskType": "restaurant",
"logType": "state",
"logName": "dest-arrive",
"Data": {
"current": {
"id": "65bxxxxxxx4",
"index": 0,
"name": "3"
}
},
"timestamp": 1706079217941,
"createTime": 1706079220441
},
{
"_id": "65b0b3f48171a93d2ca362e0",
"taskType": "restaurant",
"logType": "event",
"logName": "play-audio",
"Data": {
"audioId": "/storage/xxxx.mp3",
"duration": -1,
"forcePlay": true,
"interval": -1,
"mode": 1,
"num": 1,
"volume": 50
},
"timestamp": 1706079217949,
"createTime": 1706079220443
},
{
"_id": "65b0b3f48171a93d2ca362e1",
"taskType": "restaurant",
"logType": "event",
"logName": "turn-on-light",
"Data": {
"color": 5,
"feature": 3,
"mode": 1
},
"timestamp": 1706079217959,
"createTime": 1706079220445
},
{
"_id": "65b0b3fd8171a93d2ca362e2",
"taskType": "restaurant",
"logType": "event",
"logName": "turn-on-light",
"Data": {
"color": 4,
"feature": 1,
"mode": 1
},
"timestamp": 1706079226522,
"createTime": 1706079229665
},
{
"_id": "65b0b4188171a93d2ca362eb",
"taskType": "restaurant",
"logType": "state",
"logName": "dest-arrive",
"Data": {
"current": {
"id": "65bxxxxxxx6cdea2",
"name": "返航中",
"type": 9
}
},
"timestamp": 1706079251803,
"createTime": 1706079256550
},
{
"_id": "65b0b4188171a93d2ca362ec",
"taskType": "restaurant",
"logType": "event",
"logName": "turn-on-light",
"Data": {
"color": 4,
"feature": 1,
"mode": 1
},
"timestamp": 1706079251814,
"createTime": 1706079256552
},
{
"_id": "65b0b42d8171a93d2ca362ed",
"taskType": "restaurant",
"logType": "state",
"logName": "task-end",
"Data": {
"endType": "success"
},
"timestamp": 1706079274736,
"createTime": 1706079277619
}
], //任务日志
"taskTracks": {
"65b0b1xxxxxxxdea1": [{
"timestamp": 1706079198600,
"x": 0.0725,
"y": -0.005,
"yaw": 1.53
},
{
"timestamp": 1706079199700,
"x": 0.075,
"y": -0.0025,
"yaw": 1.53
},
{
"timestamp": 1706079200756,
"x": 0.07,
"y": 0.0375,
"yaw": 1.57
},
{
"timestamp": 1706079201816,
"x": 0.0875,
"y": 0.075,
"yaw": 1.15
},
{
"timestamp": 1706079202876,
"x": 0.1525,
"y": 0.1325,
"yaw": 0.14
},
{
"timestamp": 1706079203926,
"x": 0.59,
"y": 0.125,
"yaw": -0.09
},
{
"timestamp": 1706079205012,
"x": 1.47,
"y": 0.085,
"yaw": -0.03
},
{
"timestamp": 1706079206051,
"x": 2.6775,
"y": 0.2525,
"yaw": 0.23
},
{
"timestamp": 1706079207089,
"x": 3.82,
"y": 0.6125,
"yaw": 0.21
},
{
"timestamp": 1706079208132,
"x": 4.74,
"y": 0.73,
"yaw": -0.13
},
{
"timestamp": 1706079209169,
"x": 5.1275,
"y": 0.65,
"yaw": -0.4
},
{
"timestamp": 1706079210253,
"x": 5.31,
"y": 0.5475,
"yaw": -1.15
},
{
"timestamp": 1706079211285,
"x": 5.315,
"y": 0.5125,
"yaw": 4.7
},
{
"timestamp": 1706079212379,
"x": 5.3125,
"y": 0.5025,
"yaw": -1.5
},
{
"timestamp": 1706079213407,
"x": 5.24,
"y": 0.27,
"yaw": -0.53
},
{
"timestamp": 1706079214434,
"x": 5.2475,
"y": 0.265,
"yaw": -0.18
},
{
"timestamp": 1706079215457,
"x": 5.25,
"y": 0.2625,
"yaw": -0.07
},
{
"timestamp": 1706079216481,
"x": 5.245,
"y": 0.26,
"yaw": -0.01
},
{
"timestamp": 1706079217514,
"x": 5.2625,
"y": 0.2625,
"yaw": 0.02
},
{
"timestamp": 1706079218578,
"x": 5.255,
"y": 0.2625,
"yaw": 0.01
},
{
"timestamp": 1706079219594,
"x": 5.26,
"y": 0.2625,
"yaw": 0.01
},
{
"timestamp": 1706079220617,
"x": 5.26,
"y": 0.265,
"yaw": 0.01
},
{
"timestamp": 1706079221638,
"x": 5.2625,
"y": 0.265,
"yaw": 0.01
},
{
"timestamp": 1706079223262,
"x": 5.26,
"y": 0.265,
"yaw": 0.01
},
{
"timestamp": 1706079224280,
"x": 5.2575,
"y": 0.265,
"yaw": 0.01
},
{
"timestamp": 1706079226309,
"x": 5.2625,
"y": 0.265,
"yaw": 0.01
},
{
"timestamp": 1706079226548,
"x": 5.2625,
"y": 0.265,
"yaw": 0.01
},
{
"timestamp": 1706079227612,
"x": 5.26,
"y": 0.2625,
"yaw": 0.08
},
{
"timestamp": 1706079228649,
"x": 5.2425,
"y": 0.265,
"yaw": 1.08
},
{
"timestamp": 1706079229689,
"x": 5.21,
"y": 0.44,
"yaw": 2.24
},
{
"timestamp": 1706079230729,
"x": 4.76,
"y": 0.6325,
"yaw": 3.1
},
{
"timestamp": 1706079231785,
"x": 4.08,
"y": 0.5025,
"yaw": 3.36
},
{
"timestamp": 1706079232817,
"x": 3.0825,
"y": 0.2375,
"yaw": 3.38
},
{
"timestamp": 1706079233846,
"x": 2.245,
"y": 0.0025,
"yaw": 3.33
},
{
"timestamp": 1706079234872,
"x": 1.5925,
"y": -0.0575,
"yaw": 3.05
},
{
"timestamp": 1706079235899,
"x": 1.05,
"y": 0.02,
"yaw": 2.91
},
{
"timestamp": 1706079236938,
"x": 0.76,
"y": 0.0925,
"yaw": 2.76
},
{
"timestamp": 1706079237967,
"x": 0.765,
"y": 0.0925,
"yaw": 2.76
},
{
"timestamp": 1706079238999,
"x": 0.7675,
"y": 0.095,
"yaw": 2.76
},
{
"timestamp": 1706079240031,
"x": 0.7625,
"y": 0.105,
"yaw": 2.76
},
{
"timestamp": 1706079241061,
"x": 0.7475,
"y": 0.1075,
"yaw": 2.68
},
{
"timestamp": 1706079242086,
"x": 0.535,
"y": 0.2375,
"yaw": 2.49
},
{
"timestamp": 1706079243131,
"x": 0.405,
"y": 0.3325,
"yaw": 2.49
},
{
"timestamp": 1706079244163,
"x": 0.3975,
"y": 0.3325,
"yaw": 2.48
},
{
"timestamp": 1706079245192,
"x": 0.38,
"y": 0.3575,
"yaw": 2.26
},
{
"timestamp": 1706079246227,
"x": 0.38,
"y": 0.35,
"yaw": 2.24
},
{
"timestamp": 1706079247250,
"x": 0.3775,
"y": 0.35,
"yaw": 2.42
},
{
"timestamp": 1706079248289,
"x": 0.3775,
"y": 0.3525,
"yaw": 2.79
},
{
"timestamp": 1706079249329,
"x": 0.3725,
"y": 0.3725,
"yaw": 3.78
},
{
"timestamp": 1706079250351,
"x": 0.39,
"y": 0.39,
"yaw": 3.97
},
{
"timestamp": 1706079251378,
"x": 0.3875,
"y": 0.39,
"yaw": 4.02
},
{
"timestamp": 1706079252441,
"x": 0.3875,
"y": 0.39,
"yaw": 4.02
},
{
"timestamp": 1706079253468,
"x": 0.3575,
"y": 0.3325,
"yaw": 4.35
},
{
"timestamp": 1706079254490,
"x": 0.31,
"y": 0.19,
"yaw": 4.16
},
{
"timestamp": 1706079255511,
"x": 0.2275,
"y": 0.1275,
"yaw": 3.15
},
{
"timestamp": 1706079256528,
"x": 0.17,
"y": 0.1625,
"yaw": 2.02
},
{
"timestamp": 1706079257547,
"x": 0.155,
"y": 0.17,
"yaw": 1.73
},
{
"timestamp": 1706079258567,
"x": 0.1475,
"y": 0.175,
"yaw": 1.42
},
{
"timestamp": 1706079259596,
"x": 0.135,
"y": 0.1725,
"yaw": 1.13
},
{
"timestamp": 1706079260617,
"x": 0.125,
"y": 0.1875,
"yaw": 0.99
},
{
"timestamp": 1706079261641,
"x": 0.13,
"y": 0.19,
"yaw": 0.91
},
{
"timestamp": 1706079262669,
"x": 0.1275,
"y": 0.195,
"yaw": 0.86
},
{
"timestamp": 1706079263691,
"x": 0.1125,
"y": 0.185,
"yaw": 0.88
},
{
"timestamp": 1706079264719,
"x": 0.09,
"y": 0.1475,
"yaw": 0.95
},
{
"timestamp": 1706079265739,
"x": 0.085,
"y": 0.1225,
"yaw": 1.11
},
{
"timestamp": 1706079266770,
"x": 0.0875,
"y": 0.1175,
"yaw": 1.15
},
{
"timestamp": 1706079267793,
"x": 0.08,
"y": 0.0925,
"yaw": 1.31
},
{
"timestamp": 1706079268811,
"x": 0.09,
"y": 0.0725,
"yaw": 1.44
},
{
"timestamp": 1706079269830,
"x": 0.085,
"y": 0.055,
"yaw": 1.54
},
{
"timestamp": 1706079270848,
"x": 0.095,
"y": 0.035,
"yaw": 1.6
},
{
"timestamp": 1706079271866,
"x": 0.0975,
"y": 0.015,
"yaw": 1.61
},
{
"timestamp": 1706079272895,
"x": 0.1,
"y": 0.0025,
"yaw": 1.6
},
{
"timestamp": 1706079273913,
"x": 0,
"y": 0,
"yaw": 1.6
},
{
"timestamp": 1706079274740,
"x": -0.1,
"y": -0.2,
"yaw": 0.8
},
{
"timestamp": 1706079274753,
"x": -0.1,
"y": -0.2,
"yaw": 0.8
}
]
} //任务轨迹
} //数据体
...