zy-asrs-master.git

			@@ -1,36 +1,33 @@
			package com.zy.asrs.wcs.core.kernel;

			import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
			import com.zy.asrs.framework.common.Cools;
			import com.zy.asrs.wcs.core.domain.dto.MotionDto;
			import com.zy.asrs.wcs.core.entity.Task;
			import com.zy.asrs.wcs.core.entity.*;
			import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
			import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
			import com.zy.asrs.wcs.core.model.enums.TaskCtgType;
			import com.zy.asrs.wcs.core.model.enums.TaskStsType;
			import com.zy.asrs.wcs.core.model.enums.WorkZoneType;
			import com.zy.asrs.wcs.core.service.TaskService;
			import com.zy.asrs.wcs.core.service.*;
			import com.zy.asrs.wcs.core.utils.ConveyorDispatcher;
			import com.zy.asrs.wcs.core.utils.LiftDispatcher;
			import com.zy.asrs.wcs.core.utils.ShuttleDispatcher;
			import com.zy.asrs.wcs.core.utils.Utils;
			import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
			import com.zy.asrs.wcs.core.entity.Motion;
			import com.zy.asrs.wcs.rcs.entity.Device;
			import com.zy.asrs.wcs.rcs.entity.DeviceType;
			import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
			import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
			import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
			import com.zy.asrs.wcs.core.service.MotionService;
			import com.zy.asrs.wcs.rcs.service.DeviceService;
			import com.zy.asrs.wcs.rcs.service.DeviceTypeService;
			import com.zy.asrs.wcs.rcs.thread.LiftThread;
			import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
			import org.springframework.beans.factory.annotation.Autowired;
			import org.springframework.stereotype.Service;

			import java.util.ArrayList;
			import java.util.List;
			import java.util.Objects;

			/**
			* todo:luxiaotao 1.充电任务，2.库位移转，3.小车迁移
			* 1.充电任务，2.库位移转，3.小车迁移，4.手动任务
			* Created by vincent on 2023/10/11
			*/
			@Service
			@@ -46,29 +43,26 @@
			private ShuttleDispatcher shuttleDispatcher;
			@Autowired
			private LiftDispatcher liftDispatcher;
			// @Autowired
			// private ConveyorDispatcher conveyorDispatcher;
			@Autowired
			private ConveyorDispatcher conveyorDispatcher;
			@Autowired
			private DeviceService deviceService;
			@Autowired
			private DeviceTypeService deviceTypeService;
			private ShuttleStandbyService shuttleStandbyService;
			@Autowired
			private BasConveyorPathService basConveyorPathService;
			@Autowired
			private TaskCtgService taskCtgService;

			public List<Motion> generateMotion(Task task) {
			List<Motion> motionList = new ArrayList<>();
			switch (Objects.requireNonNull(WorkZoneType.query(task.getTaskSts() == TaskStsType.NEW_INBOUND.sts ? task.getOriginSite() : task.getDestSite()))) {
			case FIRST_ZONE:
			motionList = this.generateFirstZoneMotion(task);
			break;
			default:
			}
			motionList = this.generateFirstZoneMotion(task);
			return motionList;
			}

			public List<Motion> generateFirstZoneMotion(Task task) {
			List<Motion> motionList = new ArrayList<>();

			String shuttleNo = null;
			String liftNo = null;
			/**
			* 入库
			* 一、入库目标层有穿梭车
			@@ -79,172 +73,182 @@
			* 5.穿梭车入库至目标库位
			*/
			if (task.getTaskSts() == TaskStsType.NEW_INBOUND.sts) {
			// // lift
			// LiftThread liftThread = liftDispatcher.queryLiftForTransport(task.getOriginSite());
			// LiftProtocol liftProtocol = liftThread.getStatus();
			// if (liftProtocol == null) {
			// return motionList;
			// }
			// locNo
			String destLoc = task.getDestLoc();

			// shuttle
			// ShuttleThread shuttleThread = shuttleDispatcher.queryShuttleWhichConvenient(task, Integer.parseInt(liftThread.getStatus().getLiftNo()));
			// ShuttleThread shuttleThread = shuttleDispatcher.queryShuttleWhichConvenient(task, 1);
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, 6);
			if (Cools.isEmpty(shuttleThread)) { return motionList; }
			Device shuttleDevice = deviceService.getOne(new LambdaQueryWrapper<Device>()
			.eq(Device::getDeviceNo, task.getShuttleNo())
			.eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
			.eq(Device::getHostId, task.getHostId())
			.eq(Device::getStatus, 1));
			if (shuttleDevice == null) {
			return motionList;
			}
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleDevice.getId().intValue());
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			// String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
			String shuttleLocNo = "0100201";
			if (shuttleProtocol == null \|\| shuttleProtocol.getShuttleNo() == null) {
			return motionList;
			}
			if (!shuttleThread.isIdle()) {
			return motionList;
			}

			// // conveyor
			// DevpSlave devpSlave = conveyorDispatcher.queryByInBound(task.getSourceStaNo());
			// DevpSlave.Sta slaveInSta = devpSlave.queryInSta(wrkMast.getSourceStaNo());
			String shuttleLocNo = shuttleProtocol.getCurrentLocNo();

			// //检测穿梭车是否有任务绑定
			// boolean shuttleResult = Utils.checkShuttleHasBinding(shuttleProtocol.getShuttleNo().intValue());
			// if (shuttleResult) {
			// //存在任务，禁止解析
			// return motionList;
			// }
			//
			// //检测提升机是否有任务绑定
			// boolean liftResult = Utils.checkLiftHasBinding(liftSlave.getId());
			// if (liftResult) {
			// //存在任务，禁止解析
			// return motionList;
			// }
			//获取距离目标位置最近的空闲可换层提升机
			LiftThread liftThread = liftDispatcher.searchIdleLift(shuttleLocNo, task.getHostId(), true);
			if (liftThread == null) {
			return motionList;
			}
			Device transferLiftDevice = liftThread.getDevice();

			// //穿梭车到提升机库位号
			// String liftLocNoTo = LiftCodeType.getLocNo(Integer.parseInt(liftNo), Utils.getLev(shuttleLocNo), task.getHostId());
			//
			// //穿梭车出提升机库位号
			// String liftLocNoFrom = LiftCodeType.getLocNo(Integer.parseInt(liftNo), Utils.getLev(task.getDestLoc()), task.getHostId());
			//
			// //穿梭车到提升机待机位库位号
			// String standbyLocNoTo = LiftCodeType.getStandbyLocNo(Integer.parseInt(liftNo), Utils.getLev(shuttleLocNo));
			//
			// //穿梭车出提升机待机位库位号
			// String standbyLocNoFrom = LiftCodeType.getStandbyLocNo(Integer.parseInt(liftNo), Utils.getLev(task.getDestLoc()));
			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null \|\| liftProtocol.getLiftNo() == null) {
			return motionList;
			}

			//检测穿梭车是否有任务绑定
			boolean shuttleResult = Utils.checkShuttleHasBinding(shuttleDevice, task.getTaskNo());
			if (shuttleResult) {
			//存在任务，禁止解析
			return motionList;
			}

			//获取小车待机库位 ==> 进提升机
			ShuttleStandby shuttleStandbyTo = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
			.eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId())
			.eq(ShuttleStandby::getDeviceLev, Utils.getLev(shuttleLocNo))
			.eq(ShuttleStandby::getStatus, 1));

			//获取小车待机库位 ==> 出提升机
			ShuttleStandby shuttleStandbyFrom = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
			.eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId())
			.eq(ShuttleStandby::getDeviceLev, Utils.getLev(destLoc))
			.eq(ShuttleStandby::getStatus, 1));
			if (shuttleStandbyTo == null \|\| shuttleStandbyFrom == null) {
			return motionList;
			}

			//穿梭车进提升机库位号
			String liftLocNoTo = shuttleStandbyTo.getDeviceLoc();

			//穿梭车出提升机库位号
			String liftLocNoFrom = shuttleStandbyFrom.getDeviceLoc();

			//穿梭车进提升机待机位库位号
			String standbyLocNoTo = shuttleStandbyTo.getDeviceStandbyLoc();

			//穿梭车出提升机待机位库位号
			String standbyLocNoFrom = shuttleStandbyFrom.getDeviceStandbyLoc();

			// 入库目标层有穿梭车
			if (Utils.getLev(shuttleLocNo) == Utils.getLev(task.getDestLoc())) {

			// 穿梭车走行至库位
			// 提升机载货移动
			motionList.addAll(kernelService.liftMoveGoods(
			MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLev(5);//索牌项目5层是输送线层
			dto.setStaNo(1);//提升机左侧
			}))
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLev(Utils.getLev(task.getDestLoc()));
			dto.setStaNo(0);//提升机内侧
			dto.setSync(0);//异步执行
			}))
			));

			// 穿梭车走行至提升机库位待机位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(Integer.valueOf(shuttleProtocol.getShuttleNo()));
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(shuttleLocNo);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(Integer.valueOf(shuttleProtocol.getShuttleNo()));
			dto.setLocNo(task.getDestLoc());
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoTo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			));

			// // 提升机空载移动
			// motionList.addAll(kernelService.liftMove(
			// null
			// , MotionDto.build((dto -> {
			// dto.setLiftNo(Integer.valueOf(liftProtocol.getLiftNo()));
			//// dto.setLev(slaveInSta.getLiftLev());
			// dto.setLev(1);
			// }))
			// ));
			//
			// // 输送线入库至提升机口
			// motionList.addAll(kernelService.conveyorInbound(
			// MotionDto.build((dto -> {
			//// dto.setDevpNo(devpSlave.getId());
			// dto.setDevpNo(1);
			// dto.setStaNo(Integer.valueOf(task.getOriginSite()));
			// })),
			// MotionDto.build((dto -> {
			// dto.setLiftNo(Integer.valueOf(liftProtocol.getLiftNo()));
			//// dto.setLev(slaveInSta.getLiftLev());
			// dto.setLev(1);
			// })),
			// MotionCtgType.CONVEYOR_INBOUND_TO_LIFT
			// ));
			//
			// // 目标库位是否与输送线入库站属于同一层
			// if (!slaveInSta.getLiftLev().equals(Utils.getLev(wrkMast.getLocNo()))) {
			// // 提升机载货移动
			// motionList.addAll(kernelService.liftMoveGoods(
			// MotionDto.build((dto -> {
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLev(slaveInSta.getLiftLev());
			// }))
			// , MotionDto.build((dto -> {
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLev(Utils.getLev(wrkMast.getLocNo()));
			// }))
			// ));
			// }
			//
			// // 穿梭车走行至提升机库位待机位
			// motionList.addAll(kernelService.shuttleMove(
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(shuttleLocNo);
			// })),
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLocNo(standbyLocNoTo);
			// })),
			// MotionCtgType.SHUTTLE_MOVE
			// ));
			//
			// // 提升机移动至小车楼层
			// motionList.addAll(kernelService.liftMove(
			// null
			// , MotionDto.build((dto -> {
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLev(Utils.getLev(shuttleLocNo));
			// }))
			// ));
			//
			// // 穿梭车待机位至提升机库位
			// motionList.addAll(kernelService.shuttleMove(
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(standbyLocNoTo);
			// })),
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLocNo(liftLocNoTo);
			// })),
			// MotionCtgType.SHUTTLE_MOVE_TO_LIFT
			// ));
			//
			// // 穿梭车入库顶升并移动至提升机待机位
			// motionList.addAll(kernelService.shuttleTransport(
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLocNo(liftLocNoFrom);
			// })),
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(standbyLocNoFrom);
			// })),
			// MotionCtgType.SHUTTLE_TRANSPORT_FROM_LIFT
			// ));
			//
			// // 穿梭车走行至提升机库位待机位
			// motionList.addAll(kernelService.shuttleMove(
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(standbyLocNoFrom);
			// })),
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLocNo(wrkMast.getLocNo());
			// })),
			// MotionCtgType.SHUTTLE_MOVE_DOWN_PALLET
			// ));
			// 锁定提升机
			motionList.addAll(kernelService.liftLock(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			}))
			));

			// 穿梭车待机位至提升机
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoTo);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(liftLocNoTo);
			})),
			MotionCtgType.SHUTTLE_MOVE_TO_LIFT
			));

			// 穿梭车入库顶升
			motionList.addAll(kernelService.shuttleAction(
			null,
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			})),
			MotionCtgType.SHUTTLE_PALLET_LIFT
			));

			// 穿梭车入库移动至提升机待机位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(liftLocNoFrom);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoFrom);
			})),
			MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
			));

			// 解锁提升机
			motionList.addAll(kernelService.liftUnlock(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setReleaseLift(1);//执行完成后释放提升机
			}))
			));

			// 穿梭车走行至目标库位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoFrom);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(destLoc);
			})),
			MotionCtgType.SHUTTLE_MOVE
			));

			// 穿梭车入库托盘下降
			motionList.addAll(kernelService.shuttleAction(
			null,
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			})),
			MotionCtgType.SHUTTLE_PALLET_DOWN
			));

			/**
			* 二、入库目标层没有穿梭车
			@@ -256,458 +260,670 @@
			* 6.穿梭车入库至目标库位
			*/
			} else {
			//
			// // 穿梭车走行至提升机库位待机位
			// motionList.addAll(kernelService.shuttleMove(
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(shuttleLocNo);
			// })),
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLocNo(standbyLocNoTo);
			// })),
			// MotionCtgType.SHUTTLE_MOVE
			// ));
			//
			// // 提升机空载移动到穿梭车层
			// motionList.addAll(kernelService.liftMove(
			// null
			// , MotionDto.build((dto -> {
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLev(Utils.getLev(shuttleLocNo));
			// }))
			// ));
			//
			// // 穿梭车待机位至提升机库位
			// motionList.addAll(kernelService.shuttleMove(
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(standbyLocNoTo);
			// })),
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLocNo(liftLocNoTo);
			// })),
			// MotionCtgType.SHUTTLE_MOVE_TO_LIFT
			// ));
			//
			// // 提升机搬车至输送线层
			// motionList.addAll(kernelService.liftMoveShuttle(
			// MotionDto.build((dto -> {
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLev(Utils.getLev(shuttleLocNo));
			// })),
			// MotionDto.build((dto -> {
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLev(slaveInSta.getLiftLev());
			// }))
			// ));
			//
			// // 输送线入库至提升机口
			// motionList.addAll(kernelService.conveyorInbound(
			// MotionDto.build((dto -> {
			// dto.setDevpNo(devpSlave.getId());
			// dto.setStaNo(wrkMast.getSourceStaNo());
			// })),
			// MotionDto.build((dto -> {
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLev(slaveInSta.getLiftLev());
			// })),
			// MotionCtgType.CONVEYOR_INBOUND_TO_LIFT
			// ));
			//
			// // 目标库位是否与输送线入库站属于同一层
			// if (!slaveInSta.getLiftLev().equals(Utils.getLev(wrkMast.getLocNo()))) {
			// // 提升机载货移动
			// motionList.addAll(kernelService.liftMoveGoodsAndShuttle(
			// MotionDto.build((dto -> {
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLev(slaveInSta.getLiftLev());
			// }))
			// , MotionDto.build((dto -> {
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLev(Utils.getLev(wrkMast.getLocNo()));
			// }))
			// ));
			// }
			//
			// // 穿梭车入库顶升并移动至提升机待机位
			// motionList.addAll(kernelService.shuttleTransport(
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLocNo(liftLocNoFrom);
			// })),
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(standbyLocNoFrom);
			// })),
			// MotionCtgType.SHUTTLE_TRANSPORT_FROM_LIFT
			// ));
			//
			// // 穿梭车待机位至入库库位
			// motionList.addAll(kernelService.shuttleMove(
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(standbyLocNoFrom);
			// })),
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLocNo(wrkMast.getLocNo());
			// })),
			// MotionCtgType.SHUTTLE_MOVE_DOWN_PALLET
			// ));

			// 穿梭车走行至提升机库位待机位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(shuttleLocNo);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(standbyLocNoTo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			));

			// 提升机空载移动到穿梭车层
			motionList.addAll(kernelService.liftMove(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLev(Utils.getLev(shuttleLocNo));
			}))
			));

			// 锁定提升机
			motionList.addAll(kernelService.liftLock(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			}))
			));

			// 穿梭车待机位至提升机
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoTo);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(liftLocNoTo);
			})),
			MotionCtgType.SHUTTLE_MOVE_TO_LIFT
			));

			// 解锁提升机
			motionList.addAll(kernelService.liftUnlock(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			}))
			));

			// 提升机载货移动
			motionList.addAll(kernelService.liftMoveGoods(
			MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLev(5);//索牌项目5层是输送线层
			dto.setStaNo(1);//提升机左侧
			}))
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLev(Utils.getLev(task.getDestLoc()));
			dto.setStaNo(0);//提升机内侧
			}))
			));

			// 锁定提升机
			motionList.addAll(kernelService.liftLock(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			}))
			));

			// 穿梭车入库顶升
			motionList.addAll(kernelService.shuttleAction(
			null,
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			})),
			MotionCtgType.SHUTTLE_PALLET_LIFT
			));

			// 更新小车坐标
			motionList.addAll(kernelService.shuttleUpdateLocation(
			null
			, MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(liftLocNoFrom);
			}))
			));

			// 穿梭车入库移动至提升机待机位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(liftLocNoFrom);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoFrom);
			})),
			MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
			));

			// 解锁提升机
			motionList.addAll(kernelService.liftUnlock(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setReleaseLift(1);//执行完成后释放提升机
			}))
			));

			// 穿梭车走行至目标库位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoFrom);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(destLoc);
			})),
			MotionCtgType.SHUTTLE_MOVE
			));

			// 穿梭车入库托盘下降
			motionList.addAll(kernelService.shuttleAction(
			null,
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			})),
			MotionCtgType.SHUTTLE_PALLET_DOWN
			));

			}

			shuttleNo = String.valueOf(shuttleProtocol.getShuttleNo());
			// liftNo = String.valueOf(liftProtocol.getLiftNo());
			}

			/**
			* 出库
			*/
			if (task.getTaskSts() == TaskStsType.NEW_OUTBOUND.sts) {
			// // lift
			// LiftProtocol liftProtocol = liftDispatcher.queryLiftForTransport(wrkMast.getStaNo());
			// LiftSlave liftSlave = liftProtocol.querySlave();
			//
			// // shuttle
			// ShuttleProtocol shuttleProtocol = shuttleDispatcher.queryShuttleWhichConvenient(wrkMast, liftProtocol.getLiftNo().intValue());
			// if (Cools.isEmpty(shuttleProtocol)) { return motionList; }
			// String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
			//
			// // conveyor
			// DevpSlave devpSlave = conveyorDispatcher.queryByOutBound(wrkMast.getSourceStaNo());
			// DevpSlave.Sta slaveOutSta = devpSlave.queryOutSta(wrkMast.getSourceStaNo());
			//
			// //检测穿梭车是否有任务绑定
			// boolean shuttleResult = Utils.checkShuttleHasBinding(shuttleProtocol.getShuttleNo().intValue());
			// if (shuttleResult) {
			// //存在任务，禁止解析
			// return motionList;
			// }
			//
			// //检测提升机是否有任务绑定
			// boolean liftResult = Utils.checkLiftHasBinding(liftSlave.getId());
			// if (liftResult) {
			// //存在任务，禁止解析
			// return motionList;
			// }
			//
			// //穿梭车到提升机库位号
			// String liftLocNoTo = LiftCodeType.getLocNo(liftSlave.getId(), Utils.getLev(shuttleLocNo));
			//
			// //穿梭车出提升机库位号
			// String liftLocNoFrom = LiftCodeType.getLocNo(liftSlave.getId(), Utils.getLev(wrkMast.getSourceLocNo()));
			//
			// //穿梭车到提升机待机位库位号
			// String standbyLocNoTo = LiftCodeType.getStandbyLocNo(liftSlave.getId(), Utils.getLev(shuttleLocNo));
			//
			// //穿梭车出提升机待机位库位号
			// String standbyLocNoFrom = LiftCodeType.getStandbyLocNo(liftSlave.getId(), Utils.getLev(wrkMast.getSourceLocNo()));
			//
			// /**
			// * 出库
			// * 一、出库起始层有穿梭车
			// * 1.穿梭车走行至出库库位
			// * 2.提升机到出库起始层
			// * 3.穿梭车出库至提升机
			// * 4.穿梭车离开提升机
			// * 5.提升机载货移动（非必需）
			// * 6.输送线运输至出库口
			// */
			// if (Utils.getLev(shuttleLocNo) == Utils.getLev(wrkMast.getSourceLocNo())) {
			//
			// //穿梭车不在出库库位
			// if (!shuttleLocNo.equals(wrkMast.getSourceLocNo())) {
			// // 穿梭车走行至出库库位
			// motionList.addAll(kernelService.shuttleMove(
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(shuttleLocNo);
			// })),
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(wrkMast.getSourceLocNo());
			// })),
			// MotionCtgType.SHUTTLE_MOVE
			// ));
			// }
			//
			// // 穿梭车出库至提升机待机位
			// motionList.addAll(kernelService.shuttleTransport(
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(wrkMast.getSourceLocNo());
			// })),
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLocNo(standbyLocNoTo);
			// })),
			// MotionCtgType.SHUTTLE_MOVE_LIFT_PALLET
			// ));
			//
			// // 提升机空载移动
			// motionList.addAll(kernelService.liftMove(
			// null
			// , MotionDto.build((dto -> {
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLev(Utils.getLev(wrkMast.getSourceLocNo()));
			// }))
			// ));
			//
			// // 穿梭车待机位至提升机
			// motionList.addAll(kernelService.shuttleTransport(
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(standbyLocNoTo);
			// })),
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLocNo(liftLocNoTo);
			// })),
			// MotionCtgType.SHUTTLE_TRANSPORT_TO_LIFT
			// ));
			//
			// // 穿梭车离开提升机 - 到提升机待机位
			// motionList.addAll(kernelService.shuttleMove(
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLocNo(liftLocNoFrom);
			// })),
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(standbyLocNoFrom);
			// })),
			// MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
			// ));
			//
			// // 提升机载货移动
			// // 出库库位是否与输送线出库站属于同一层
			// if (!slaveOutSta.getLiftLev().equals(Utils.getLev(wrkMast.getSourceLocNo()))) {
			// motionList.addAll(kernelService.liftMoveGoods(
			// MotionDto.build((dto -> {
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLev(Utils.getLev(wrkMast.getSourceLocNo()));
			// })),
			// MotionDto.build((dto -> {
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLev(slaveOutSta.getLiftLev());
			// }))
			// ));
			// }
			//
			// LiftNeighborType neighborType = LiftNeighborType.query(liftSlave.getId(), slaveOutSta.getLiftLev(), false, wrkMast.getStaNo());
			//
			// // 提升机运输到输送线
			// motionList.addAll(kernelService.liftTransportGoodsToConveyor(
			// MotionDto.build((dto -> {
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLev(slaveOutSta.getLiftLev());
			// })),
			// MotionDto.build((dto -> {
			// dto.setDevpNo(devpSlave.getId());
			// dto.setStaNo(neighborType.staNo);
			// }))
			// ));
			//
			// // 穿梭车提升机待机位 - 到待机位
			// motionList.addAll(kernelService.shuttleMove(
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(standbyLocNoFrom);
			// })),
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(
			// ShuttleTempLocType.query(shuttleProtocol.getShuttleNo().intValue(), liftSlave.getId(), Utils.getLev(wrkMast.getSourceLocNo())).locNo
			// );
			// })),
			// MotionCtgType.SHUTTLE_MOVE
			// ));
			//
			// /**
			// * 二、出库起始层没有穿梭车
			// *
			// * 1.提升机到穿梭车层
			// * 2.穿梭车走行至提升机
			// * 3.提升机载车至出库起始层
			// * 4.穿梭车走行至出库库位
			// * 5.穿梭车出库至提升机
			// * 6.穿梭车离开提升机
			// * 7.提升机载货移动（非必需）
			// * 8.输送线运输至出库口
			// *
			// */
			// } else {
			//
			// // 穿梭车走行至提升机待机位
			// motionList.addAll(kernelService.shuttleMove(
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(shuttleLocNo);
			// })),
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLocNo(standbyLocNoTo);
			// })),
			// MotionCtgType.SHUTTLE_MOVE
			// ));
			//
			// // 提升机到穿梭车层
			// motionList.addAll(kernelService.liftMove(
			// null
			// , MotionDto.build((dto -> {
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLev(Utils.getLev(shuttleLocNo));
			// }))
			// ));
			//
			// // 穿梭车待机位至提升机
			// motionList.addAll(kernelService.shuttleMove(
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(standbyLocNoTo);
			// })),
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLocNo(liftLocNoTo);
			// })),
			// MotionCtgType.SHUTTLE_MOVE_TO_LIFT
			// ));
			//
			// // 提升机载车至出库起始层
			// motionList.addAll(kernelService.liftMoveShuttle(
			// MotionDto.build((dto -> {
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLev(Utils.getLev(shuttleLocNo));
			// })),
			// MotionDto.build((dto -> {
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLev(Utils.getLev(wrkMast.getSourceLocNo()));
			// }))
			// ));
			//
			// // 穿梭车走行至提升机待机位
			// motionList.addAll(kernelService.shuttleMove(
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLocNo(liftLocNoFrom);
			// })),
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(standbyLocNoFrom);
			// })),
			// MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
			// ));
			//
			// // 穿梭车提升机待机位至出库库位
			// motionList.addAll(kernelService.shuttleMove(
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLocNo(standbyLocNoFrom);
			// })),
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(wrkMast.getSourceLocNo());
			// })),
			// MotionCtgType.SHUTTLE_MOVE
			// ));
			//
			// // 穿梭车出库至提升机待机位
			// motionList.addAll(kernelService.shuttleMove(
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(wrkMast.getSourceLocNo());
			// })),
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLocNo(standbyLocNoFrom);
			// })),
			// MotionCtgType.SHUTTLE_MOVE_LIFT_PALLET
			// ));
			//
			// // 穿梭车提升机待机位至提升机
			// motionList.addAll(kernelService.shuttleTransport(
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(standbyLocNoFrom);
			// })),
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLocNo(liftLocNoFrom);
			// })),
			// MotionCtgType.SHUTTLE_TRANSPORT_TO_LIFT
			// ));
			//
			// // 穿梭车离开提升机
			// motionList.addAll(kernelService.shuttleMove(
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLocNo(liftLocNoFrom);
			// })),
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(
			// ShuttleTempLocType.query(shuttleProtocol.getShuttleNo().intValue(), liftSlave.getId(), Utils.getLev(wrkMast.getSourceLocNo())).locNo
			// );
			// })),
			// MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
			// ));
			//
			// // 提升机载货移动
			// // 出库库位是否与输送线出库站属于同一层
			// if (!slaveOutSta.getLiftLev().equals(Utils.getLev(wrkMast.getSourceLocNo()))) {
			// motionList.addAll(kernelService.liftMoveGoods(
			// MotionDto.build((dto -> {
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLev(Utils.getLev(wrkMast.getSourceLocNo()));
			// })),
			// MotionDto.build((dto -> {
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLev(slaveOutSta.getLiftLev());
			// }))
			// ));
			// }
			//
			// LiftNeighborType neighborType = LiftNeighborType.query(liftSlave.getId(), slaveOutSta.getLiftLev(), false, wrkMast.getStaNo());
			//
			// // 提升机运输到输送线
			// motionList.addAll(kernelService.liftTransportGoodsToConveyor(
			// MotionDto.build((dto -> {
			// dto.setLiftNo(liftSlave.getId());
			// dto.setLev(slaveOutSta.getLiftLev());
			// })),
			// MotionDto.build((dto -> {
			// dto.setDevpNo(devpSlave.getId());
			// dto.setStaNo(neighborType.staNo);
			// }))
			// ));
			//
			// }
			//
			// shuttleNo = String.valueOf(shuttleProtocol.getShuttleNo());
			// liftNo = String.valueOf(liftProtocol.getLiftNo());
			}
			// locNo
			String originLoc = task.getOriginLoc();

			assert !Cools.isEmpty(shuttleNo);
			// task.setShuttleNo(Integer.parseInt(shuttleNo));
			// task.setLiftNo(Integer.parseInt(liftNo));
			// shuttle
			Device shuttleDevice = deviceService.getOne(new LambdaQueryWrapper<Device>()
			.eq(Device::getDeviceNo, task.getShuttleNo())
			.eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
			.eq(Device::getHostId, task.getHostId())
			.eq(Device::getStatus, 1));
			if (shuttleDevice == null) {
			return motionList;
			}
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleDevice.getId().intValue());
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null \|\| shuttleProtocol.getShuttleNo() == null) {
			return motionList;
			}
			if (!shuttleThread.isIdle()) {
			return motionList;
			}

			String shuttleLocNo = shuttleProtocol.getCurrentLocNo();

			//获取距离目标位置最近的空闲可换层提升机
			LiftThread liftThread = liftDispatcher.searchIdleLift(shuttleLocNo, task.getHostId(), true);
			if (liftThread == null) {
			return motionList;
			}
			Device transferLiftDevice = liftThread.getDevice();

			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null \|\| liftProtocol.getLiftNo() == null) {
			return motionList;
			}

			//检测穿梭车是否有任务绑定
			boolean shuttleResult = Utils.checkShuttleHasBinding(shuttleDevice, task.getTaskNo());
			if (shuttleResult) {
			//存在任务，禁止解析
			return motionList;
			}

			//获取小车待机库位 ==> 进提升机
			ShuttleStandby shuttleStandbyTo = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
			.eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId())
			.eq(ShuttleStandby::getDeviceLev, Utils.getLev(shuttleLocNo))
			.eq(ShuttleStandby::getStatus, 1));

			//获取小车待机库位 ==> 出提升机
			ShuttleStandby shuttleStandbyFrom = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
			.eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId())
			.eq(ShuttleStandby::getDeviceLev, Utils.getLev(originLoc))
			.eq(ShuttleStandby::getStatus, 1));
			if (shuttleStandbyTo == null \|\| shuttleStandbyFrom == null) {
			return motionList;
			}

			//穿梭车进提升机库位号
			String liftLocNoTo = shuttleStandbyTo.getDeviceLoc();

			//穿梭车出提升机库位号
			String liftLocNoFrom = shuttleStandbyFrom.getDeviceLoc();

			//穿梭车进提升机待机位库位号
			String standbyLocNoTo = shuttleStandbyTo.getDeviceStandbyLoc();

			//穿梭车出提升机待机位库位号
			String standbyLocNoFrom = shuttleStandbyFrom.getDeviceStandbyLoc();

			//穿梭车出提升机后全部待机位
			String standbyLocs = shuttleStandbyFrom.getStandbyLoc();//获取全部待机位


			//获取出库任务类型
			TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
			.eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.OUT))
			.eq(TaskCtg::getStatus, 1));
			if (taskCtg == null) {
			return motionList;
			}
			//获取输送线路径
			BasConveyorPath basConveyorPath = basConveyorPathService.getOne(new LambdaQueryWrapper<BasConveyorPath>()
			.eq(BasConveyorPath::getDeviceStn, task.getOriginSite())
			.eq(BasConveyorPath::getDeviceNo, liftProtocol.getLiftNo())
			.eq(BasConveyorPath::getTypeNo, taskCtg.getId()));
			if (basConveyorPath == null) {
			return motionList;
			}

			/**
			* 出库
			* 一、出库起始层有穿梭车
			* 1.穿梭车走行至出库库位
			* 2.提升机到出库起始层
			* 3.穿梭车出库至提升机
			* 4.穿梭车离开提升机
			* 5.提升机载货移动（非必需）
			* 6.输送线运输至出库口
			*/
			if (Utils.getLev(shuttleLocNo) == Utils.getLev(originLoc)) {

			//穿梭车不在出库库位
			if (!shuttleLocNo.equals(task.getOriginLoc())) {
			// 穿梭车走行至出库库位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(shuttleLocNo);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(originLoc);
			})),
			MotionCtgType.SHUTTLE_MOVE
			));
			}

			// 穿梭车出库顶升
			motionList.addAll(kernelService.shuttleAction(
			null,
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			})),
			MotionCtgType.SHUTTLE_PALLET_LIFT
			));

			// 穿梭车出库至提升机待机位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(originLoc);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(standbyLocNoTo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			));

			// 提升机空载移动到穿梭车层
			motionList.addAll(kernelService.liftMove(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLev(Utils.getLev(shuttleLocNo));
			}))
			));

			// 锁定提升机
			motionList.addAll(kernelService.liftLock(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			}))
			));

			// 穿梭车待机位至提升机
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoTo);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(liftLocNoTo);
			})),
			MotionCtgType.SHUTTLE_MOVE_TO_LIFT
			));

			// 穿梭车出库托盘下降
			motionList.addAll(kernelService.shuttleAction(
			null,
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			})),
			MotionCtgType.SHUTTLE_PALLET_DOWN
			));

			// 穿梭车离开提升机 - 到提升机待机位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(liftLocNoFrom);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoFrom);
			})),
			MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
			));

			// 解锁提升机
			motionList.addAll(kernelService.liftUnlock(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			}))
			));

			// 提升机载货移动
			motionList.addAll(kernelService.liftMoveGoods(
			MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLev(Utils.getLev(task.getOriginLoc()));
			dto.setStaNo(0);//提升机内侧
			}))
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLev(5);//索牌项目5层是输送线层
			dto.setStaNo(1);//提升机左侧
			dto.setSync(0);//异步执行
			dto.setReleaseLift(1);//执行完成后释放提升机
			}))
			));

			// 穿梭车提升机待机位 - 到待机位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoFrom);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocs);
			})),
			MotionCtgType.SHUTTLE_MOVE
			));

			// 输送线运输至出库口
			motionList.addAll(kernelService.conveyorOutbound(
			MotionDto.build((dto -> {
			dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
			dto.setStaNo(basConveyorPath.getDeviceStn());
			})),
			MotionDto.build((dto -> {
			dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
			dto.setStaNo(basConveyorPath.getStnNo());
			})),
			MotionCtgType.CONVEYOR_OUTBOUND
			));

			/**
			* 二、出库起始层没有穿梭车
			*
			* 1.提升机到穿梭车层
			* 2.穿梭车走行至提升机
			* 3.提升机载车至出库起始层
			* 4.穿梭车走行至出库库位
			* 5.穿梭车出库至提升机
			* 6.穿梭车离开提升机
			* 7.提升机载货移动（非必需）
			* 8.输送线运输至出库口
			*
			*/
			} else {

			// 穿梭车走行至提升机库位待机位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(shuttleLocNo);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(standbyLocNoTo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			));

			// 锁定目标楼层穿梭车待机位路径
			motionList.addAll(kernelService.mapLockPath(
			null,
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoFrom);
			}))
			));

			// 提升机空载移动到穿梭车层
			motionList.addAll(kernelService.liftMove(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLev(Utils.getLev(shuttleLocNo));
			}))
			));

			// 锁定提升机
			motionList.addAll(kernelService.liftLock(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			}))
			));

			// 穿梭车待机位至提升机
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoTo);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(liftLocNoTo);
			})),
			MotionCtgType.SHUTTLE_MOVE_TO_LIFT
			));

			// 解锁提升机
			motionList.addAll(kernelService.liftUnlock(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			}))
			));

			// 提升机搬车至目标位置层
			motionList.addAll(kernelService.liftMoveShuttle(
			MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLev(Utils.getLev(shuttleLocNo));
			})),
			MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLev(Utils.getLev(liftLocNoFrom));
			}))
			));

			// 锁定提升机
			motionList.addAll(kernelService.liftLock(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			}))
			));

			// 更新小车坐标
			motionList.addAll(kernelService.shuttleUpdateLocation(
			null
			, MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(liftLocNoFrom);
			}))
			));

			// 穿梭车走行至提升机待机位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(liftLocNoFrom);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoFrom);
			})),
			MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
			));

			// 解锁提升机
			motionList.addAll(kernelService.liftUnlock(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setReleaseLift(1);//执行完成后释放提升机
			}))
			));

			// 穿梭车提升机待机位至出库库位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(standbyLocNoFrom);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(originLoc);
			})),
			MotionCtgType.SHUTTLE_MOVE
			));

			// 穿梭车出库顶升
			motionList.addAll(kernelService.shuttleAction(
			null,
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			})),
			MotionCtgType.SHUTTLE_PALLET_LIFT
			));

			// 穿梭车出库至提升机待机位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(originLoc);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(standbyLocNoFrom);
			})),
			MotionCtgType.SHUTTLE_MOVE
			));

			// 提升机空载移动到目标层
			motionList.addAll(kernelService.liftMove(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLev(Utils.getLev(originLoc));
			}))
			));

			// 锁定提升机
			motionList.addAll(kernelService.liftLock(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			}))
			));

			// 穿梭车待机位至提升机
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoFrom);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(liftLocNoFrom);
			})),
			MotionCtgType.SHUTTLE_MOVE_TO_LIFT
			));

			// 穿梭车出库托盘下降
			motionList.addAll(kernelService.shuttleAction(
			null,
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			})),
			MotionCtgType.SHUTTLE_PALLET_DOWN
			));

			// 穿梭车离开提升机 - 到提升机待机位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(liftLocNoFrom);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoFrom);
			})),
			MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
			));

			// 解锁提升机
			motionList.addAll(kernelService.liftUnlock(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			}))
			));

			// 提升机载货移动
			motionList.addAll(kernelService.liftMoveGoods(
			MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLev(Utils.getLev(task.getOriginLoc()));
			dto.setStaNo(0);//提升机内侧
			}))
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLev(5);//索牌项目5层是输送线层
			dto.setStaNo(1);//提升机左侧
			dto.setSync(0);//异步执行
			}))
			));

			// 穿梭车提升机待机位 - 到待机位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoFrom);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocs);
			})),
			MotionCtgType.SHUTTLE_MOVE_STANDBY
			));

			// 输送线运输至出库口
			motionList.addAll(kernelService.conveyorOutbound(
			MotionDto.build((dto -> {
			dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
			dto.setStaNo(basConveyorPath.getDeviceStn());
			})),
			MotionDto.build((dto -> {
			dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
			dto.setStaNo(basConveyorPath.getStnNo());
			})),
			MotionCtgType.CONVEYOR_OUTBOUND
			));

			}

			}

			return motionList;
			}
			@@ -718,164 +934,223 @@
			*/
			public List<Motion> generateChargeMotion(Task task) {
			List<Motion> motionList = new ArrayList<>();
			// if (wrkCharge.getWrkSts() != WrkMastStsType.NEW_CHARGE.sts \|\| wrkCharge.getIoType() != WrkIoTypeType.CHARGE.sts) {
			// return motionList;
			// }
			//
			// // locNo
			// String chargeLocNo = wrkCharge.getLocNo();
			//
			// // lift
			// Integer transferLiftNo = 2;
			// SiemensLiftThread liftThread = (SiemensLiftThread) SlaveConnection.get(SlaveType.Lift, transferLiftNo);
			// LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			// if (liftProtocol == null \|\| liftProtocol.getLiftNo() == null) {
			// return motionList;
			// }
			//
			// // shuttle
			// Integer shuttleNo = wrkCharge.getShuttleNo();
			// ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
			// ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			// if (shuttleProtocol == null \|\| shuttleProtocol.getShuttleNo() == null) {
			// return motionList;
			// }
			// if (!shuttleProtocol.isIdle()) {
			// return motionList;
			// }
			//
			// //检测穿梭车是否有任务绑定
			// boolean shuttleResult = Utils.checkShuttleHasBinding(shuttleProtocol.getShuttleNo().intValue());
			// if (shuttleResult) {
			// //存在任务，禁止解析
			// return motionList;
			// }
			//
			// //检测提升机是否有任务绑定
			// boolean liftResult = Utils.checkLiftHasBinding(transferLiftNo);
			// if (liftResult) {
			// //存在任务，禁止解析
			// return motionList;
			// }
			//
			// String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
			//
			// //穿梭车到提升机库位号
			// String liftLocNoTo = LiftCodeType.getLocNo(transferLiftNo, Utils.getLev(shuttleLocNo));
			//
			// //穿梭车出提升机库位号
			// String liftLocNoFrom = LiftCodeType.getLocNo(transferLiftNo, Utils.getLev(wrkCharge.getLocNo()));
			//
			// //穿梭车到提升机待机位库位号
			// String standbyLocNoTo = LiftCodeType.getStandbyLocNo(transferLiftNo, Utils.getLev(shuttleLocNo));
			//
			// //穿梭车出提升机待机位库位号
			// String standbyLocNoFrom = LiftCodeType.getStandbyLocNo(transferLiftNo, Utils.getLev(wrkCharge.getLocNo()));
			//
			// // 判断穿梭车是否在充电层
			// if (Utils.getLev(shuttleLocNo) == Utils.getLev(chargeLocNo)) {
			//
			// // 穿梭车走行至充电桩库位
			// motionList.addAll(kernelService.shuttleMove(
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(shuttleLocNo);
			// })),
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(chargeLocNo);
			// })),
			// MotionCtgType.SHUTTLE_MOVE
			// ));
			//
			// } else {
			//
			// // 穿梭车走行至提升机待机位
			// motionList.addAll(kernelService.shuttleMove(
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(shuttleLocNo);
			// })),
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(standbyLocNoTo);
			// })),
			// MotionCtgType.SHUTTLE_MOVE
			// ));
			//
			// // 提升机空载移动到穿梭车层
			// motionList.addAll(kernelService.liftMove(
			// null
			// , MotionDto.build((dto -> {
			// dto.setLiftNo(transferLiftNo);
			// dto.setLev(Utils.getLev(shuttleLocNo));
			// }))
			// ));
			//
			// // 穿梭车提升机待机位至提升机库位
			// motionList.addAll(kernelService.shuttleMove(
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(standbyLocNoTo);
			// })),
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLiftNo(transferLiftNo);
			// dto.setLocNo(liftLocNoTo);
			// })),
			// MotionCtgType.SHUTTLE_MOVE_TO_LIFT
			// ));
			//
			// // 提升机搬车至输送线层
			// motionList.addAll(kernelService.liftMoveShuttle(
			// MotionDto.build((dto -> {
			// dto.setLiftNo(transferLiftNo);
			// dto.setLev(Utils.getLev(shuttleLocNo));
			// })),
			// MotionDto.build((dto -> {
			// dto.setLiftNo(transferLiftNo);
			// dto.setLev(Utils.getLev(chargeLocNo));
			// }))
			// ));
			//
			// // 穿梭车提升机至提升机待机位
			// motionList.addAll(kernelService.shuttleMove(
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLiftNo(transferLiftNo);
			// dto.setLocNo(liftLocNoFrom);
			// })),
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(standbyLocNoFrom);
			// })),
			// MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
			// ));
			//
			// // 穿梭车提升机待机位至充电位
			// motionList.addAll(kernelService.shuttleMove(
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(standbyLocNoFrom);
			// })),
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(chargeLocNo);
			// })),
			// MotionCtgType.SHUTTLE_MOVE
			// ));
			//
			// wrkCharge.setLiftNo(transferLiftNo);
			// wrkChargeMapper.updateById(wrkCharge);
			// }
			//
			// // 穿梭车开始充电
			// motionList.addAll(kernelService.shuttleCharge(
			// null,
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// }))
			// ));
			if (task.getTaskSts() != TaskStsType.NEW_CHARGE.sts) {
			return motionList;
			}

			// locNo
			String chargeLocNo = task.getDestLoc();

			// shuttle
			Device shuttleDevice = deviceService.getOne(new LambdaQueryWrapper<Device>()
			.eq(Device::getDeviceNo, task.getShuttleNo())
			.eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
			.eq(Device::getHostId, task.getHostId())
			.eq(Device::getStatus, 1));
			if (shuttleDevice == null) {
			return motionList;
			}
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleDevice.getId().intValue());
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null \|\| shuttleProtocol.getShuttleNo() == null) {
			return motionList;
			}
			if (!shuttleThread.isIdle()) {
			return motionList;
			}

			String shuttleLocNo = shuttleProtocol.getCurrentLocNo();

			//获取距离目标位置最近的空闲可换层提升机
			LiftThread liftThread = liftDispatcher.searchIdleLift(shuttleLocNo, task.getHostId(), true);
			if (liftThread == null) {
			return motionList;
			}
			Device transferLiftDevice = liftThread.getDevice();

			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null \|\| liftProtocol.getLiftNo() == null) {
			return motionList;
			}

			//检测穿梭车是否有任务绑定
			boolean shuttleResult = Utils.checkShuttleHasBinding(shuttleDevice, task.getTaskNo());
			if (shuttleResult) {
			//存在任务，禁止解析
			return motionList;
			}

			//获取小车待机库位 ==> 进提升机
			ShuttleStandby shuttleStandbyTo = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
			.eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId())
			.eq(ShuttleStandby::getDeviceLev, Utils.getLev(shuttleLocNo))
			.eq(ShuttleStandby::getStatus, 1));

			//获取小车待机库位 ==> 出提升机
			ShuttleStandby shuttleStandbyFrom = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
			.eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId())
			.eq(ShuttleStandby::getDeviceLev, Utils.getLev(chargeLocNo))
			.eq(ShuttleStandby::getStatus, 1));
			if (shuttleStandbyTo == null \|\| shuttleStandbyFrom == null) {
			return motionList;
			}

			//穿梭车进提升机库位号
			String liftLocNoTo = shuttleStandbyTo.getDeviceLoc();

			//穿梭车出提升机库位号
			String liftLocNoFrom = shuttleStandbyFrom.getDeviceLoc();

			//穿梭车进提升机待机位库位号
			String standbyLocNoTo = shuttleStandbyTo.getDeviceStandbyLoc();

			//穿梭车出提升机待机位库位号
			String standbyLocNoFrom = shuttleStandbyFrom.getDeviceStandbyLoc();

			// 判断穿梭车是否在充电层
			if (Utils.getLev(shuttleLocNo) == Utils.getLev(chargeLocNo)) {

			// 穿梭车走行至充电桩库位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(shuttleLocNo);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(chargeLocNo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			));

			} else {

			// 穿梭车走行至提升机待机位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(shuttleLocNo);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoTo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			));

			// 提升机空载移动到穿梭车层
			motionList.addAll(kernelService.liftMove(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLev(Utils.getLev(shuttleLocNo));
			}))
			));

			// 锁定提升机
			motionList.addAll(kernelService.liftLock(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			}))
			));

			// 穿梭车提升机待机位至提升机
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoTo);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(liftLocNoTo);
			})),
			MotionCtgType.SHUTTLE_MOVE_TO_LIFT
			));

			// 解锁提升机
			motionList.addAll(kernelService.liftUnlock(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			}))
			));

			// 提升机搬车至充电层
			motionList.addAll(kernelService.liftMoveShuttle(
			MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLev(Utils.getLev(shuttleLocNo));
			})),
			MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLev(Utils.getLev(chargeLocNo));
			}))
			));

			// 锁定提升机
			motionList.addAll(kernelService.liftLock(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			}))
			));

			// 更新小车坐标
			motionList.addAll(kernelService.shuttleUpdateLocation(
			null
			, MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(liftLocNoFrom);
			}))
			));

			// 穿梭车提升机至提升机待机位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(liftLocNoFrom);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoFrom);
			})),
			MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
			));

			// 解锁提升机
			motionList.addAll(kernelService.liftUnlock(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			}))
			));

			// 穿梭车提升机待机位至充电位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoFrom);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(chargeLocNo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			));

			}

			// 穿梭车开始充电
			motionList.addAll(kernelService.shuttleAction(
			null,
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			})),
			MotionCtgType.SHUTTLE_CHARGE_ON
			));

			return motionList;
			}
			@@ -885,40 +1160,56 @@
			*/
			public List<Motion> generateShuttleChargeWrkComplete(Task task) {
			List<Motion> motionList = new ArrayList<>();
			// if (wrkCharge.getWrkSts() != WrkMastStsType.NEW_MOVE.sts \|\| wrkCharge.getIoType() != WrkIoTypeType.MOVE.sts) {
			// return motionList;
			// }
			//
			// // locNo
			// String locNo = wrkCharge.getLocNo();
			//
			// // shuttle
			// Integer shuttleNo = wrkCharge.getShuttleNo();
			// ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
			// ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			// if (shuttleProtocol == null \|\| shuttleProtocol.getShuttleNo() == null) {
			// return motionList;
			// }
			//
			// String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
			//
			// // 判断穿梭车是否在目标层
			// if (Utils.getLev(shuttleLocNo) == Utils.getLev(locNo)) {
			//
			// // 穿梭车走行至目标库位
			// motionList.addAll(kernelService.shuttleMove(
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(shuttleLocNo);
			// })),
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			// dto.setLocNo(locNo);
			// })),
			// MotionCtgType.SHUTTLE_MOVE
			// ));
			//
			// }
			if (task.getTaskSts() != TaskStsType.NEW_MOVE.sts) {
			return motionList;
			}

			// locNo
			String locNo = task.getDestLoc();

			// shuttle
			Device shuttleDevice = deviceService.getOne(new LambdaQueryWrapper<Device>()
			.eq(Device::getDeviceNo, task.getShuttleNo())
			.eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
			.eq(Device::getHostId, task.getHostId())
			.eq(Device::getStatus, 1));
			if (shuttleDevice == null) {
			return motionList;
			}
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleDevice.getId().intValue());
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null \|\| shuttleProtocol.getShuttleNo() == null) {
			return motionList;
			}

			String shuttleLocNo = shuttleProtocol.getCurrentLocNo();

			// 判断穿梭车是否在目标层
			if (Utils.getLev(shuttleLocNo) == Utils.getLev(locNo)) {

			// 穿梭车关闭充电
			motionList.addAll(kernelService.shuttleAction(
			null,
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			})),
			MotionCtgType.SHUTTLE_CHARGE_OFF
			));

			// 穿梭车走行至目标库位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(shuttleLocNo);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(locNo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			));

			}
			return motionList;
			}

			@@ -934,24 +1225,16 @@
			// locNo
			String locNo = task.getDestLoc();

			//获取穿梭车类型
			DeviceType deviceType = deviceTypeService.getOne(new LambdaQueryWrapper<DeviceType>()
			.eq(DeviceType::getFlag, String.valueOf(SlaveType.Shuttle))
			.eq(DeviceType::getStatus, 1));
			if (deviceType == null) {
			return motionList;
			}

			Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
			Device shuttleDevice = deviceService.getOne(new LambdaQueryWrapper<Device>()
			.eq(Device::getDeviceNo, task.getShuttleNo())
			.eq(Device::getDeviceType, deviceType.getId())
			.eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
			.eq(Device::getHostId, task.getHostId())
			.eq(Device::getStatus, 1));
			if (device == null) {
			if (shuttleDevice == null) {
			return motionList;
			}

			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleDevice.getId().intValue());
			if (shuttleThread == null) {
			return motionList;
			}
			@@ -966,19 +1249,264 @@
			// 判断穿梭车是否在目标层
			if (Utils.getLev(shuttleLocNo) == Utils.getLev(locNo)) {

			// 穿梭车走行至目标库位
			if (!shuttleLocNo.equals(locNo)) {//小车不在目标库位
			// 穿梭车走行至目标库位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(shuttleLocNo);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(locNo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			));
			}

			} else {
			//小车跨层

			//获取距离目标位置最近的空闲可换层提升机
			LiftThread liftThread = liftDispatcher.searchIdleLift(locNo, task.getHostId(), true);
			if (liftThread == null) {
			return motionList;
			}
			Device liftDevice = liftThread.getDevice();

			//穿梭车到提升机库位号
			String liftLocNoTo = liftDispatcher.getLiftLocNo(liftThread, Utils.getLev(shuttleLocNo));

			//穿梭车出提升机库位号
			String liftLocNoFrom = liftDispatcher.getLiftLocNo(liftThread, Utils.getLev(task.getDestLoc()));

			//穿梭车到提升机待机位库位号
			String standbyLocNoTo = liftDispatcher.getLiftStandByLocNo(liftThread, Utils.getLev(shuttleLocNo));

			//穿梭车出提升机待机位库位号
			String standbyLocNoFrom = liftDispatcher.getLiftStandByLocNo(liftThread, Utils.getLev(task.getDestLoc()));


			// 穿梭车走行至提升机库位待机位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(shuttleLocNo);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLiftNo(liftDevice.getId().intValue());
			dto.setLocNo(standbyLocNoTo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			));

			// 锁定目标楼层穿梭车待机位路径
			motionList.addAll(kernelService.mapLockPath(
			null,
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoFrom);
			}))
			));

			// 提升机空载移动到穿梭车层
			motionList.addAll(kernelService.liftMove(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(liftDevice.getId().intValue());
			dto.setLev(Utils.getLev(shuttleLocNo));
			}))
			));

			// 锁定提升机
			motionList.addAll(kernelService.liftLock(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(liftDevice.getId().intValue());
			}))
			));

			// 穿梭车待机位至提升机
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoTo);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLiftNo(liftDevice.getId().intValue());
			dto.setLocNo(liftLocNoTo);
			})),
			MotionCtgType.SHUTTLE_MOVE_TO_LIFT
			));

			// 向提升机发送小车已到位信号
			motionList.addAll(kernelService.liftShuttleArrival(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(liftDevice.getId().intValue());
			}))
			));

			// 解锁提升机
			motionList.addAll(kernelService.liftUnlock(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(liftDevice.getId().intValue());
			}))
			));

			// 提升机搬车至目标位置层
			motionList.addAll(kernelService.liftMoveShuttle(
			MotionDto.build((dto -> {
			dto.setLiftNo(liftDevice.getId().intValue());
			dto.setLev(Utils.getLev(shuttleLocNo));
			})),
			MotionDto.build((dto -> {
			dto.setLiftNo(liftDevice.getId().intValue());
			dto.setLev(Utils.getLev(locNo));
			}))
			));

			// 锁定提升机
			motionList.addAll(kernelService.liftLock(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(liftDevice.getId().intValue());
			}))
			));

			// 更新小车坐标
			motionList.addAll(kernelService.shuttleUpdateLocation(
			null
			, MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(liftLocNoFrom);
			}))
			));

			// 穿梭车走行至提升机待机位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLiftNo(liftDevice.getId().intValue());
			dto.setLocNo(liftLocNoFrom);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoFrom);
			})),
			MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
			));

			// 解锁提升机
			motionList.addAll(kernelService.liftUnlock(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(liftDevice.getId().intValue());
			}))
			));

			// 穿梭车提升机待机位至目标位置
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLiftNo(liftDevice.getId().intValue());
			dto.setLocNo(standbyLocNoFrom);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(locNo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			));

			}
			return motionList;
			}
			/**
			* 生成小车载货迁移动作
			*/
			public List<Motion> generateShuttleLadenMoveMotion(Task task) {
			List<Motion> motionList = new ArrayList<>();
			if (task.getTaskSts() != TaskStsType.NEW_LADEN_MOVE.sts) {
			return motionList;
			}
			//originLoc 源库位
			String originLoc = task.getOriginLoc();
			// locNo 目标库位
			String locNo = task.getDestLoc();

			Device shuttleDevice = deviceService.getOne(new LambdaQueryWrapper<Device>()
			.eq(Device::getDeviceNo, task.getShuttleNo())
			.eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
			.eq(Device::getHostId, task.getHostId())
			.eq(Device::getStatus, 1));
			if (shuttleDevice == null) {
			return motionList;
			}

			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleDevice.getId().intValue());
			if (shuttleThread == null) {
			return motionList;
			}

			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null \|\| shuttleProtocol.getShuttleNo() == null) {
			return motionList;
			}

			String shuttleLocNo = shuttleProtocol.getCurrentLocNo();

			// 判断穿梭车是否在目标层
			if (Utils.getLev(shuttleLocNo) == Utils.getLev(locNo)) {

			if (!shuttleLocNo.equals(locNo)) {//小车不在目标库位
			// 穿梭车走行至源库位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(shuttleLocNo);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(originLoc);
			})),
			MotionCtgType.SHUTTLE_MOVE
			));

			// 穿梭车顶升
			motionList.add(Motion.build(motion -> {
			motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
			motion.setDevice(String.valueOf(shuttleDevice.getId()));
			motion.setMotionCtg(MotionCtgType.SHUTTLE_PALLET_LIFT.val());
			}));

			// 穿梭车走行至目标库位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(originLoc);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(locNo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			));

			//穿梭车托盘下降
			motionList.add(Motion.build(motion -> {
			motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
			motion.setDevice(String.valueOf(shuttleDevice.getId()));
			motion.setMotionCtg(MotionCtgType.SHUTTLE_PALLET_DOWN.val());
			}));

			}

			} else {
			//小车跨层
			}
			return motionList;
			}
			@@ -992,20 +1520,13 @@
			return motionList;
			}

			String sourceLoc = task.getOriginLoc();//源库位
			String targetLoc = task.getDestLoc();//任务目标(借用字段)
			String targetSite = task.getDestSite();//任务类型(借用字段)

			//获取穿梭车类型
			DeviceType deviceType = deviceTypeService.getOne(new LambdaQueryWrapper<DeviceType>()
			.eq(DeviceType::getFlag, String.valueOf(SlaveType.Shuttle))
			.eq(DeviceType::getStatus, 1));
			if (deviceType == null) {
			return motionList;
			}

			Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
			.eq(Device::getDeviceNo, task.getShuttleNo())
			.eq(Device::getDeviceType, deviceType.getId())
			.eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
			.eq(Device::getHostId, task.getHostId())
			.eq(Device::getStatus, 1));
			if (device == null) {
			@@ -1031,11 +1552,11 @@
			// 穿梭车走行至目标库位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			dto.setShuttleNo(device.getId().intValue());
			dto.setLocNo(shuttleLocNo);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
			dto.setShuttleNo(device.getId().intValue());
			dto.setLocNo(targetLoc);
			})),
			MotionCtgType.SHUTTLE_MOVE
			@@ -1046,32 +1567,134 @@
			//托盘顶升
			motionList.add(Motion.build(motion -> {
			motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
			motion.setDevice(String.valueOf(task.getShuttleNo()));
			motion.setDevice(String.valueOf(device.getId()));
			motion.setMotionCtg(MotionCtgType.SHUTTLE_PALLET_LIFT.val());
			}));
			} else if (targetSite.equals("palletDown")) {
			//托盘下降
			motionList.add(Motion.build(motion -> {
			motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
			motion.setDevice(String.valueOf(task.getShuttleNo()));
			motion.setDevice(String.valueOf(device.getId()));
			motion.setMotionCtg(MotionCtgType.SHUTTLE_PALLET_DOWN.val());
			}));
			} else if (targetSite.equals("chargeOpen")) {
			//充电开
			motionList.add(Motion.build(motion -> {
			motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
			motion.setDevice(String.valueOf(task.getShuttleNo()));
			motion.setDevice(String.valueOf(device.getId()));
			motion.setMotionCtg(MotionCtgType.SHUTTLE_CHARGE_ON.val());
			}));
			} else if (targetSite.equals("chargeClose")) {
			//充电关
			motionList.add(Motion.build(motion -> {
			motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
			motion.setDevice(String.valueOf(task.getShuttleNo()));
			motion.setDevice(String.valueOf(device.getId()));
			motion.setMotionCtg(MotionCtgType.SHUTTLE_CHARGE_OFF.val());
			}));
			} else if (targetSite.equals("reset")) {
			//复位
			} else if (targetSite.equals("takeMove")) {
			//取放货
			String shuttleLocNo = shuttleProtocol.getCurrentLocNo();

			// 判断穿梭车是否在目标层
			if (Utils.getLev(shuttleLocNo) == Utils.getLev(targetLoc)) {

			if (!shuttleLocNo.equals(sourceLoc)) {//小车不在目标库位
			// 穿梭车走行至源库位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(device.getId().intValue());
			dto.setLocNo(shuttleLocNo);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(device.getId().intValue());
			dto.setLocNo(sourceLoc);
			})),
			MotionCtgType.SHUTTLE_MOVE
			));
			}

			//托盘顶升
			motionList.add(Motion.build(motion -> {
			motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
			motion.setDevice(String.valueOf(device.getId()));
			motion.setMotionCtg(MotionCtgType.SHUTTLE_PALLET_LIFT.val());
			}));

			// 穿梭车走行至目标库位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(device.getId().intValue());
			dto.setLocNo(sourceLoc);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(device.getId().intValue());
			dto.setLocNo(targetLoc);
			})),
			MotionCtgType.SHUTTLE_MOVE
			));

			//托盘下降
			motionList.add(Motion.build(motion -> {
			motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
			motion.setDevice(String.valueOf(device.getId()));
			motion.setMotionCtg(MotionCtgType.SHUTTLE_PALLET_DOWN.val());
			}));

			}
			}

			return motionList;
			}

			/**
			* 生成提升机手动动作
			*/
			public List<Motion> generateLiftManualMotion(Task task) {
			List<Motion> motionList = new ArrayList<>();
			if (task.getTaskSts() != TaskStsType.NEW_MANUAL.sts) {
			return motionList;
			}

			Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
			.eq(Device::getDeviceNo, task.getLiftNo())
			.eq(Device::getDeviceType, DeviceCtgType.LIFT.val())
			.eq(Device::getHostId, task.getHostId())
			.eq(Device::getStatus, 1));
			if (device == null) {
			return motionList;
			}

			if (task.getDestSite().equals("move")) {
			//提升机升降楼层

			// 提升机空载移动到穿梭车层
			motionList.addAll(kernelService.liftMove(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(device.getId().intValue());
			dto.setLev(Integer.parseInt(task.getDestLoc()));
			}))
			));

			} else if (task.getDestSite().equals("movePallet")) {
			//移动托盘

			// 提升机移动托盘
			motionList.addAll(kernelService.liftMoveGoods(
			MotionDto.build((dto -> {
			dto.setLiftNo(device.getId().intValue());
			dto.setLev(Integer.parseInt(task.getOriginLoc()));
			dto.setStaNo(Integer.parseInt(task.getOriginSite()));
			}))
			, MotionDto.build((dto -> {
			dto.setLiftNo(device.getId().intValue());
			dto.setLev(Integer.parseInt(task.getDestLoc()));
			dto.setStaNo(Integer.parseInt(task.getDestSite()));
			}))
			));

			}

			return motionList;