zy-asrs-master.git

			@@ -1,14 +1,11 @@
			package com.zy.asrs.wcs.core.kernel;

			import com.alibaba.fastjson.JSON;
			import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
			import com.zy.asrs.wcs.core.domain.dto.MotionDto;
			import com.zy.asrs.wcs.core.entity.*;
			import com.zy.asrs.wcs.core.model.NavigateNode;
			import com.zy.asrs.wcs.core.model.enums.*;
			import com.zy.asrs.wcs.core.service.*;
			import com.zy.asrs.wcs.core.utils.*;
			import com.zy.asrs.wcs.rcs.News;
			import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
			import com.zy.asrs.wcs.rcs.entity.Device;
			import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
			@@ -101,8 +98,8 @@

			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);
			//获取距离目标位置最近的可换层提升机(可能不空闲)
			LiftThread liftThread = liftDispatcher.searchLift(shuttleLocNo, task.getHostId(), true);
			if (liftThread == null) {
			return motionList;
			}
			@@ -146,8 +143,10 @@
			//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
			//穿梭车进提升机待机位库位号输送线位置
			String standbyLocNoTo = shuttleStandbyTo.getDeviceStandbyLoc();
			//穿梭车换层时待机位置使用表列 memo数据
			String standbyLocNoMemo = shuttleStandbyTo.getMemo();

			//穿梭车出提升机待机位库位号
			String standbyLocNoFrom = shuttleStandbyFrom.getDeviceStandbyLoc();
			@@ -158,21 +157,21 @@
			// 入库目标层有穿梭车
			if (Utils.getLev(shuttleLocNo) == Utils.getLev(task.getDestLoc())) {

			// 提升机载货移动
			motionList.addAll(kernelService.liftMoveGoods(
			MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLev(1);//光泰1层是输送线层
			dto.setStaNo(31004);//入库站点
			}))
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLev(Utils.getLev(task.getDestLoc()));
			dto.setStaNo(getStaByLev(Utils.getLev(task.getDestLoc())));
			dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
			dto.setReleaseLift(1);//执行完成后释放提升机
			}))
			));
			// // 提升机载货移动
			// motionList.addAll(kernelService.liftMoveGoods(
			// MotionDto.build((dto -> {
			// dto.setLiftNo(transferLiftDevice.getId().intValue());
			// dto.setLev(1);//光泰1层是输送线层
			// dto.setStaNo(31004);//入库站点
			// }))
			// , MotionDto.build((dto -> {
			// dto.setLiftNo(transferLiftDevice.getId().intValue());
			// dto.setLev(Utils.getLev(task.getDestLoc()));
			// dto.setStaNo(getStaByLev(Utils.getLev(task.getDestLoc())));
			// dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
			// dto.setReleaseLift(1);//执行完成后释放提升机
			// }))
			// ));

			// 穿梭车走行至提升机库位待机位
			motionList.addAll(kernelService.shuttleMove(
			@@ -227,21 +226,21 @@
			*/
			} else {

			// 提升机载货移动
			motionList.addAll(kernelService.liftMoveGoods(
			MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLev(1);//光泰1层是输送线层
			dto.setStaNo(31004);//入库站点
			}))
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLev(Utils.getLev(task.getDestLoc()));
			dto.setStaNo(getStaByLev(Utils.getLev(task.getDestLoc())));
			dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
			dto.setReleaseLift(1);//执行完成后释放提升机
			}))
			));
			// // 提升机载货移动
			// motionList.addAll(kernelService.liftMoveGoods(
			// MotionDto.build((dto -> {
			// dto.setLiftNo(transferLiftDevice.getId().intValue());
			// dto.setLev(1);//光泰1层是输送线层
			// dto.setStaNo(31004);//入库站点
			// }))
			// , MotionDto.build((dto -> {
			// dto.setLiftNo(transferLiftDevice.getId().intValue());
			// dto.setLev(Utils.getLev(task.getDestLoc()));
			// dto.setStaNo(getStaByLev(Utils.getLev(task.getDestLoc())));
			// dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
			// dto.setReleaseLift(1);//执行完成后释放提升机
			// }))
			// ));

			// 穿梭车走行至提升机库位待机位
			motionList.addAll(kernelService.shuttleMove(
			@@ -253,19 +252,19 @@
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(standbyLocNoTo);
			dto.setLocNo(standbyLocNoMemo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			));

			// 锁定换层路径
			motionList.addAll(kernelService.mapLockPath(
			null,
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(JSON.toJSONString(lockPath));
			}))
			));
			// // 锁定换层路径
			// motionList.addAll(kernelService.mapLockPath(
			// null,
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleDevice.getId().intValue());
			// dto.setLocNo(JSON.toJSONString(lockPath));
			// }))
			// ));

			// 提升机空载移动到穿梭车层
			motionList.addAll(kernelService.liftMove(
			@@ -288,7 +287,7 @@
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoTo);
			dto.setLocNo(standbyLocNoMemo);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			@@ -360,14 +359,14 @@
			}))
			));

			// 解锁换层路径
			motionList.addAll(kernelService.mapUnlockPath(
			null,
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(JSON.toJSONString(lockPath));
			}))
			));
			// // 解锁换层路径
			// motionList.addAll(kernelService.mapUnlockPath(
			// null,
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleDevice.getId().intValue());
			// dto.setLocNo(JSON.toJSONString(lockPath));
			// }))
			// ));

			// 穿梭车入库顶升
			motionList.addAll(kernelService.shuttleAction(
			@@ -478,8 +477,11 @@
			//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
			//穿梭车进提升机待机位库位号输送线位置
			String standbyLocNoTo = shuttleStandbyTo.getDeviceStandbyLoc();

			//穿梭车换层时待机位置使用表列 memo数据
			String standbyLocNoMemo = shuttleStandbyTo.getMemo();

			//穿梭车出提升机待机位库位号
			String standbyLocNoFrom = shuttleStandbyFrom.getDeviceStandbyLoc();
			@@ -506,11 +508,11 @@
			return motionList;
			}

			//分析出库路径待机库位
			String lastPathStartLoc = shuttleDispatcher.analyzeOutPathWaitLoc(originLoc, standbyLocNoTo, shuttleDevice);
			if (lastPathStartLoc == null) {
			return motionList;//未分析成功
			}
			// //分析出库路径待机库位
			// String lastPathStartLoc = shuttleDispatcher.analyzeOutPathWaitLoc(originLoc, standbyLocNoTo, shuttleDevice);
			// if (lastPathStartLoc == null) {
			// return motionList;//未分析成功
			// }

			/**
			* 出库
			@@ -543,27 +545,43 @@
			MotionCtgType.SHUTTLE_PALLET_LIFT
			));

			if (!originLoc.equals(lastPathStartLoc)) {
			// 穿梭车载货出库至最后一段路径等待
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(originLoc);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLocNo(lastPathStartLoc);
			})),
			MotionCtgType.SHUTTLE_TRANSPORT
			));
			}
			// if (!originLoc.equals(lastPathStartLoc)) {
			// // 穿梭车载货出库至最后一段路径等待
			// motionList.addAll(kernelService.shuttleMove(
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleDevice.getId().intValue());
			// dto.setLocNo(originLoc);
			// })),
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleDevice.getId().intValue());
			// dto.setShuttleDevice(shuttleDevice);
			// dto.setLocNo(lastPathStartLoc);
			// })),
			// MotionCtgType.SHUTTLE_TRANSPORT
			// ));
			// }
			//
			// // 穿梭车载货至提升机待机位
			// motionList.addAll(kernelService.shuttleMove(
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleDevice.getId().intValue());
			// dto.setLocNo(lastPathStartLoc);
			// })),
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleDevice.getId().intValue());
			// dto.setShuttleDevice(shuttleDevice);
			// dto.setLiftNo(transferLiftDevice.getId().intValue());
			// dto.setLocNo(standbyLocNoTo);
			// dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//输送站
			// })),
			// MotionCtgType.SHUTTLE_TRANSPORT_TO_CONVEYOR
			// ));

			// 穿梭车载货至提升机待机位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(lastPathStartLoc);
			dto.setLocNo(originLoc);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			@@ -644,19 +662,19 @@
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(standbyLocNoTo);
			dto.setLocNo(standbyLocNoMemo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			));

			// 锁定换层路径
			motionList.addAll(kernelService.mapLockPath(
			null,
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(JSON.toJSONString(lockPath));
			}))
			));
			// // 锁定换层路径
			// motionList.addAll(kernelService.mapLockPath(
			// null,
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleDevice.getId().intValue());
			// dto.setLocNo(JSON.toJSONString(lockPath));
			// }))
			// ));

			// 提升机空载移动到穿梭车层
			motionList.addAll(kernelService.liftMove(
			@@ -679,7 +697,7 @@
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoTo);
			dto.setLocNo(standbyLocNoMemo);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			@@ -751,14 +769,14 @@
			}))
			));

			// 解锁换层路径
			motionList.addAll(kernelService.mapUnlockPath(
			null,
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(JSON.toJSONString(lockPath));
			}))
			));
			// // 解锁换层路径
			// motionList.addAll(kernelService.mapUnlockPath(
			// null,
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleDevice.getId().intValue());
			// dto.setLocNo(JSON.toJSONString(lockPath));
			// }))
			// ));

			// 穿梭车提升机待机位至出库库位
			motionList.addAll(kernelService.shuttleMove(
			@@ -784,27 +802,43 @@
			MotionCtgType.SHUTTLE_PALLET_LIFT
			));

			if (!originLoc.equals(lastPathStartLoc)) {
			// 穿梭车载货出库至最后一段路径等待
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(originLoc);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLocNo(lastPathStartLoc);
			})),
			MotionCtgType.SHUTTLE_TRANSPORT
			));
			}
			// if (!originLoc.equals(lastPathStartLoc)) {
			// // 穿梭车载货出库至最后一段路径等待
			// motionList.addAll(kernelService.shuttleMove(
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleDevice.getId().intValue());
			// dto.setLocNo(originLoc);
			// })),
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleDevice.getId().intValue());
			// dto.setShuttleDevice(shuttleDevice);
			// dto.setLocNo(lastPathStartLoc);
			// })),
			// MotionCtgType.SHUTTLE_TRANSPORT
			// ));
			// }
			//
			// // 穿梭车载货至提升机待机位
			// motionList.addAll(kernelService.shuttleMove(
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleDevice.getId().intValue());
			// dto.setLocNo(lastPathStartLoc);
			// })),
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleDevice.getId().intValue());
			// dto.setShuttleDevice(shuttleDevice);
			// dto.setLiftNo(transferLiftDevice.getId().intValue());
			// dto.setLocNo(standbyLocNoFrom);
			// dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//输送站
			// })),
			// MotionCtgType.SHUTTLE_TRANSPORT_TO_CONVEYOR
			// ));

			// 穿梭车载货至提升机待机位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(lastPathStartLoc);
			dto.setLocNo(originLoc);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			@@ -1239,6 +1273,9 @@
			//穿梭车到提升机待机位库位号
			String standbyLocNoTo = liftDispatcher.getLiftStandByLocNo(liftThread, Utils.getLev(shuttleLocNo));

			//穿梭车换层时待机位置使用表列 memo数据
			String standbyLocNoMemo = liftDispatcher.getInLiftStandByLocNo(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()));

			@@ -1256,19 +1293,19 @@
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLiftNo(liftDevice.getId().intValue());
			dto.setLocNo(standbyLocNoTo);
			dto.setLocNo(standbyLocNoMemo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			));

			// 锁定换层路径
			motionList.addAll(kernelService.mapLockPath(
			null,
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(JSON.toJSONString(lockPath));
			}))
			));
			// // 锁定换层路径
			// motionList.addAll(kernelService.mapLockPath(
			// null,
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleDevice.getId().intValue());
			// dto.setLocNo(JSON.toJSONString(lockPath));
			// }))
			// ));

			// 提升机空载移动到穿梭车层
			motionList.addAll(kernelService.liftMove(
			@@ -1291,7 +1328,7 @@
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoTo);
			dto.setLocNo(standbyLocNoMemo);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			@@ -1362,14 +1399,14 @@
			}))
			));

			// 解锁换层路径
			motionList.addAll(kernelService.mapUnlockPath(
			null,
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(JSON.toJSONString(lockPath));
			}))
			));
			// // 解锁换层路径
			// motionList.addAll(kernelService.mapUnlockPath(
			// null,
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleDevice.getId().intValue());
			// dto.setLocNo(JSON.toJSONString(lockPath));
			// }))
			// ));

			// 穿梭车提升机待机位至目标位置
			motionList.addAll(kernelService.shuttleMove(
			@@ -1605,4 +1642,340 @@
			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();

			// 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输送线位置
			String standbyLocNoTo = shuttleStandbyTo.getDeviceStandbyLoc();

			//穿梭车换层时待机位置使用表列 memo数据
			String standbyLocNoMemo = shuttleStandbyTo.getMemo();

			//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

			//换层需要锁定的路径
			List<String> lockPath = shuttleStandbyFrom.getLockPath$();

			//获取出库任务类型
			TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
			.eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.MOVE))
			.eq(TaskCtg::getStatus, 1));
			if (taskCtg == null) {
			return motionList;
			}




			/**
			* 出库
			*/
			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.setShuttleDevice(shuttleDevice);
			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.setShuttleDevice(shuttleDevice);
			dto.setLocNo(locNo);
			})),
			MotionCtgType.SHUTTLE_TRANSPORT
			));

			// 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
			));



			/**
			* 二、出库起始层没有穿梭车
			*/
			} 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.setShuttleDevice(shuttleDevice);
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(standbyLocNoMemo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			));

			// // 锁定换层路径
			// motionList.addAll(kernelService.mapLockPath(
			// null,
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleDevice.getId().intValue());
			// dto.setLocNo(JSON.toJSONString(lockPath));
			// }))
			// ));

			// 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(standbyLocNoMemo);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			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.setShuttleDevice(shuttleDevice);
			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
			}))
			));

			// // 解锁换层路径
			// motionList.addAll(kernelService.mapUnlockPath(
			// null,
			// MotionDto.build((dto -> {
			// dto.setShuttleNo(shuttleDevice.getId().intValue());
			// dto.setLocNo(JSON.toJSONString(lockPath));
			// }))
			// ));

			// 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.setShuttleDevice(shuttleDevice);
			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.setShuttleDevice(shuttleDevice);
			dto.setLocNo(locNo);
			})),
			MotionCtgType.SHUTTLE_TRANSPORT
			));

			// 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
			));

			}
			return motionList;
			}
			}