空指针报错异常校验

zhang

2025-10-29 14a25e774ca8f40c0baaebb37aaa46c93db2a43d

 algo-zkd/ctu_agv_status.json

@@ -1,48 +1 @@
[
  {
    "agvId": "105",
    "status": 0,
    "position": "213",
    "empty": "2",
    "direction": "90",
    "vol": 85,
    "error": 0,
    "autoCharge": 30,
    "lowVol": 15,
    "currentPathIndex": 1,
    "nextPointArrivalTime": 1692345600000,
    "backpack": [
      {
        "index": 0,
        "loaded": false,
        "taskId": "TASK_001"
      },
      {
        "index": 1,
        "loaded": false,
        "taskId": null
      },
      {
        "index": 2,
        "loaded": false,
        "taskId": null
      }
    ],

    "physicalConfig": {
      "maxSpeed": 2.0,
      "normalSpeed": 1.5,
      "maxAcceleration": 1.0,
      "maxDeceleration": 1.5,
      "turnTime90": 2.0,
      "turnTime180": 4.0,
      "minSafetyDistance": 3.0,
      "minFollowingDistance": 2.0,
      "ctuLength": 1.5,
      "ctuWidth": 1.0,
      "startupTime": 1.0,
      "stopTime": 1.5,
      "standardPointDistance": 1.0
    }
  }
]
[{"agvId":"101","autoCharge":5130,"available":true,"availableBackpackCount":5,"backpack":[{"available":true,"execute":false,"index":1,"loaded":false},{"available":true,"execute":false,"index":2,"loaded":false},{"available":true,"execute":false,"index":3,"loaded":false},{"available":true,"execute":false,"index":4,"loaded":false},{"available":true,"execute":false,"index":5,"loaded":false}],"currentPathIndex":0,"direction":"180","empty":"5","error":0,"lowVol":4880,"nextPointArrivalTime":1761618440994,"physicalConfig":{"ctuLength":1.5,"ctuWidth":1.0,"maxAcceleration":0.4,"maxDeceleration":0.4,"maxSpeed":1.0,"minFollowingDistance":3.0,"minSafetyDistance":3.0,"normalSpeed":1.0,"standardPointDistance":1.0,"startupTime":1.0,"stopTime":1.5,"turnTime180":8.0,"turnTime90":4.0},"position":"00000075","remainingPath":{"agvId":"101","codeList":[],"pathLength":0},"remainingPathLength":0,"status":0,"vol":5180},{"agvId":"102","autoCharge":5130,"available":true,"availableBackpackCount":5,"backpack":[{"available":true,"execute":false,"index":1,"loaded":false},{"available":true,"execute":false,"index":2,"loaded":false},{"available":true,"execute":false,"index":3,"loaded":false},{"available":true,"execute":false,"index":4,"loaded":false},{"available":true,"execute":false,"index":5,"loaded":false}],"currentPathIndex":0,"direction":"180","empty":"5","error":0,"lowVol":4880,"nextPointArrivalTime":1761618441014,"physicalConfig":{"ctuLength":1.5,"ctuWidth":1.0,"maxAcceleration":0.4,"maxDeceleration":0.4,"maxSpeed":1.0,"minFollowingDistance":3.0,"minSafetyDistance":3.0,"normalSpeed":1.0,"standardPointDistance":1.0,"startupTime":1.0,"stopTime":1.5,"turnTime180":8.0,"turnTime90":4.0},"position":"00000176","remainingPath":{"agvId":"102","codeList":[],"pathLength":0},"remainingPathLength":0,"status":0,"vol":5180},{"agvId":"103","autoCharge":5130,"available":true,"availableBackpackCount":5,"backpack":[{"available":true,"execute":false,"index":1,"loaded":false},{"available":true,"execute":false,"index":2,"loaded":false},{"available":true,"execute":false,"index":3,"loaded":false},{"available":true,"execute":false,"index":4,"loaded":false},{"available":true,"execute":false,"index":5,"loaded":false}],"currentPathIndex":0,"direction":"180","empty":"5","error":0,"lowVol":4880,"nextPointArrivalTime":1761618441031,"physicalConfig":{"ctuLength":1.5,"ctuWidth":1.0,"maxAcceleration":0.4,"maxDeceleration":0.4,"maxSpeed":1.0,"minFollowingDistance":3.0,"minSafetyDistance":3.0,"normalSpeed":1.0,"standardPointDistance":1.0,"startupTime":1.0,"stopTime":1.5,"turnTime180":8.0,"turnTime90":4.0},"position":"00000109","remainingPath":{"agvId":"103","codeList":[],"pathLength":0},"remainingPathLength":0,"status":0,"vol":5180},{"agvId":"104","autoCharge":5130,"available":true,"availableBackpackCount":5,"backpack":[{"available":true,"execute":false,"index":1,"loaded":false},{"available":true,"execute":false,"index":2,"loaded":false},{"available":true,"execute":false,"index":3,"loaded":false},{"available":true,"execute":false,"index":4,"loaded":false},{"available":true,"execute":false,"index":5,"loaded":false}],"currentPathIndex":0,"direction":"180","empty":"5","error":0,"lowVol":4880,"nextPointArrivalTime":1761618441047,"physicalConfig":{"ctuLength":1.5,"ctuWidth":1.0,"maxAcceleration":0.4,"maxDeceleration":0.4,"maxSpeed":1.0,"minFollowingDistance":3.0,"minSafetyDistance":3.0,"normalSpeed":1.0,"standardPointDistance":1.0,"startupTime":1.0,"stopTime":1.5,"turnTime180":8.0,"turnTime90":4.0},"position":"00000032","remainingPath":{"agvId":"104","codeList":[],"pathLength":0},"remainingPathLength":0,"status":0,"vol":5180},{"agvId":"105","autoCharge":5130,"available":true,"availableBackpackCount":0,"backpack":[{"available":false,"execute":false,"index":1,"loaded":false,"taskId":"21"},{"available":false,"execute":false,"index":2,"loaded":false,"taskId":"20"},{"available":false,"execute":false,"index":3,"loaded":false,"taskId":"23"},{"available":false,"execute":false,"index":4,"loaded":false,"taskId":"24"},{"available":false,"execute":false,"index":5,"loaded":false,"taskId":"30"}],"currentPathIndex":0,"direction":"179","empty":"0","error":0,"lowVol":4880,"nextPointArrivalTime":1761618441063,"physicalConfig":{"ctuLength":1.5,"ctuWidth":1.0,"maxAcceleration":0.4,"maxDeceleration":0.4,"maxSpeed":1.0,"minFollowingDistance":3.0,"minSafetyDistance":3.0,"normalSpeed":1.0,"standardPointDistance":1.0,"startupTime":1.0,"stopTime":1.5,"turnTime180":8.0,"turnTime90":4.0},"position":"00000274","remainingPath":{"agvId":"105","codeList":[],"pathLength":0},"remainingPathLength":0,"status":0,"vol":5180},{"agvId":"106","autoCharge":5130,"available":true,"availableBackpackCount":5,"backpack":[{"available":true,"execute":false,"index":1,"loaded":false},{"available":true,"execute":false,"index":2,"loaded":false},{"available":true,"execute":false,"index":3,"loaded":false},{"available":true,"execute":false,"index":4,"loaded":false},{"available":true,"execute":false,"index":5,"loaded":false}],"currentPathIndex":0,"direction":"180","empty":"5","error":0,"lowVol":4880,"nextPointArrivalTime":1761618441082,"physicalConfig":{"ctuLength":1.5,"ctuWidth":1.0,"maxAcceleration":0.4,"maxDeceleration":0.4,"maxSpeed":1.0,"minFollowingDistance":3.0,"minSafetyDistance":3.0,"normalSpeed":1.0,"standardPointDistance":1.0,"startupTime":1.0,"stopTime":1.5,"turnTime180":8.0,"turnTime90":4.0},"position":"00000069","remainingPath":{"agvId":"106","codeList":[],"pathLength":0},"remainingPathLength":0,"status":0,"vol":5180},{"agvId":"107","autoCharge":5130,"available":true,"availableBackpackCount":4,"backpack":[{"available":false,"execute":false,"index":1,"loaded":false,"taskId":"148"},{"available":true,"execute":false,"index":2,"loaded":false},{"available":true,"execute":false,"index":3,"loaded":false},{"available":true,"execute":false,"index":4,"loaded":false},{"available":true,"execute":false,"index":5,"loaded":false}],"currentPathIndex":0,"direction":"180","empty":"4","error":0,"lowVol":4880,"nextPointArrivalTime":1761618441101,"physicalConfig":{"ctuLength":1.5,"ctuWidth":1.0,"maxAcceleration":0.4,"maxDeceleration":0.4,"maxSpeed":1.0,"minFollowingDistance":3.0,"minSafetyDistance":3.0,"normalSpeed":1.0,"standardPointDistance":1.0,"startupTime":1.0,"stopTime":1.5,"turnTime180":8.0,"turnTime90":4.0},"position":"00000032","remainingPath":{"agvId":"107","codeList":[],"pathLength":0},"remainingPathLength":0,"status":0,"vol":5180},{"agvId":"108","autoCharge":5130,"available":true,"availableBackpackCount":5,"backpack":[{"available":true,"execute":false,"index":1,"loaded":false},{"available":true,"execute":false,"index":2,"loaded":false},{"available":true,"execute":false,"index":3,"loaded":false},{"available":true,"execute":false,"index":4,"loaded":false},{"available":true,"execute":false,"index":5,"loaded":false}],"currentPathIndex":0,"direction":"180","empty":"5","error":0,"lowVol":4880,"nextPointArrivalTime":1761618441116,"physicalConfig":{"ctuLength":1.5,"ctuWidth":1.0,"maxAcceleration":0.4,"maxDeceleration":0.4,"maxSpeed":1.0,"minFollowingDistance":3.0,"minSafetyDistance":3.0,"normalSpeed":1.0,"standardPointDistance":1.0,"startupTime":1.0,"stopTime":1.5,"turnTime180":8.0,"turnTime90":4.0},"position":"00000198","remainingPath":{"agvId":"108","codeList":[],"pathLength":0},"remainingPathLength":0,"status":0,"vol":5180},{"agvId":"109","autoCharge":5130,"available":true,"availableBackpackCount":5,"backpack":[{"available":true,"execute":false,"index":1,"loaded":false},{"available":true,"execute":false,"index":2,"loaded":false},{"available":true,"execute":false,"index":3,"loaded":false},{"available":true,"execute":false,"index":4,"loaded":false},{"available":true,"execute":false,"index":5,"loaded":false}],"currentPathIndex":0,"direction":"180","empty":"5","error":0,"lowVol":4880,"nextPointArrivalTime":1761618441134,"physicalConfig":{"ctuLength":1.5,"ctuWidth":1.0,"maxAcceleration":0.4,"maxDeceleration":0.4,"maxSpeed":1.0,"minFollowingDistance":3.0,"minSafetyDistance":3.0,"normalSpeed":1.0,"standardPointDistance":1.0,"startupTime":1.0,"stopTime":1.5,"turnTime180":8.0,"turnTime90":4.0},"position":"00000111","remainingPath":{"agvId":"109","codeList":[],"pathLength":0},"remainingPathLength":0,"status":0,"vol":5180},{"agvId":"110","autoCharge":5130,"available":true,"availableBackpackCount":0,"backpack":[{"available":false,"execute":false,"index":1,"loaded":false,"taskId":"58"},{"available":false,"execute":false,"index":2,"loaded":false,"taskId":"62"},{"available":false,"execute":false,"index":3,"loaded":false,"taskId":"66"},{"available":false,"execute":false,"index":4,"loaded":false,"taskId":"71"},{"available":false,"execute":false,"index":5,"loaded":false,"taskId":"91"}],"currentPathIndex":0,"direction":"359","empty":"0","error":0,"lowVol":4880,"nextPointArrivalTime":1761618441158,"physicalConfig":{"ctuLength":1.5,"ctuWidth":1.0,"maxAcceleration":0.4,"maxDeceleration":0.4,"maxSpeed":1.0,"minFollowingDistance":3.0,"minSafetyDistance":3.0,"normalSpeed":1.0,"standardPointDistance":1.0,"startupTime":1.0,"stopTime":1.5,"turnTime180":8.0,"turnTime90":4.0},"position":"00000283","remainingPath":{"agvId":"110","codeList":[],"pathLength":0},"remainingPathLength":0,"status":0,"vol":5180}]