zy-asrs-master.git

			@@ -4,17 +4,17 @@
			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;
			import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
			import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
			import com.zy.asrs.wcs.rcs.model.protocol.StaProtocol;
			import com.zy.asrs.wcs.rcs.service.DeviceService;
			import com.zy.asrs.wcs.rcs.thread.DevpThread;
			import com.zy.asrs.wcs.rcs.thread.LiftThread;
			import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
			import org.springframework.beans.factory.annotation.Autowired;
			@@ -67,7 +67,13 @@

			public List<Motion> generateMotion(Task task) {
			List<Motion> motionList = new ArrayList<>();
			motionList = this.generateFirstZoneMotion(task);
			int originSite = Integer.parseInt(task.getOriginSite());
			int destSite = Integer.parseInt(task.getDestSite());
			if (originSite == 1015 \|\| originSite == 1026 \|\| destSite == 1015 \|\| destSite == 1026) {
			motionList = generateSecondZoneMotion(task);
			}else {
			motionList = generateFirstZoneMotion(task);
			}
			return motionList;
			}

			@@ -101,8 +107,8 @@

			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;
			}
			@@ -113,11 +119,6 @@
			return motionList;
			}

			BasConveyorSta basConveyorStaDest = basConveyorStaService.selectBySiteNo(task.getDestSite());
			if (basConveyorStaDest == null) {
			return motionList;
			}

			//检测穿梭车是否有任务绑定
			boolean shuttleResult = Utils.checkShuttleHasBinding(shuttleDevice, task.getTaskNo());
			if (shuttleResult) {
			@@ -125,35 +126,19 @@
			return motionList;
			}

			//获取小车待机库位 ==> 进提升机
			//获取小车待机库位 ==> 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
			//穿梭车进提升机待机位库位号输送线位置
			String standbyLocNoTo = shuttleStandbyTo.getDeviceStandbyLoc();

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

			//换层需要锁定的路径
			List<String> lockPath = shuttleStandbyFrom.getLockPath$();
			//穿梭车换层时待机位置使用表列 memo数据
			String standbyLocNoMemo = shuttleStandbyTo.getMemo();

			// 入库目标层有穿梭车
			if (Utils.getLev(shuttleLocNo) == Utils.getLev(task.getDestLoc())) {
			@@ -162,19 +147,18 @@
			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
			dto.setStaNo(Integer.parseInt(task.getOriginSite()));//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.setSync();//异步执行
			}))
			dto.setStaNo(Integer.parseInt(task.getDestSite()));
			// dto.setReleaseLift(1);//执行完成后释放提升机
			})),
			MotionCtgType.LIFT_WITH_GOODS_IN
			));

			// 穿梭车走行至提升机库位待机位
			// 穿梭车走行至提升机库位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			@@ -182,184 +166,10 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoTo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			));

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

			// 穿梭车载货走行至目标库位
			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_TRANSPORT
			));

			// 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
			*/
			} 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());
			}))
			));

			// 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(standbyLocNoTo);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			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(destLoc));
			}))
			));

			// 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
			}))
			));

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

			// 穿梭车入库顶升
			@@ -371,16 +181,34 @@
			MotionCtgType.SHUTTLE_PALLET_LIFT
			));

			// 穿梭车载货走行至待机库位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(liftLocNoTo);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(standbyLocNoTo);
			dto.setReleaseLift(1);//执行完成后释放提升机
			})),
			MotionCtgType.SHUTTLE_TRANSPORT
			));

			// 穿梭车载货走行至目标库位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoFrom);
			dto.setLocNo(standbyLocNoTo);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(destLoc);
			dto.setReleaseLift(2);//执行中释放提升机
			})),
			MotionCtgType.SHUTTLE_TRANSPORT
			));
			@@ -393,7 +221,6 @@
			})),
			MotionCtgType.SHUTTLE_PALLET_DOWN
			));

			}

			}
			@@ -437,11 +264,6 @@
			return motionList;
			}

			BasConveyorSta basConveyorStaOrigin = basConveyorStaService.selectBySiteNo(task.getOriginSite());
			if (basConveyorStaOrigin == null) {
			return motionList;
			}

			//检测穿梭车是否有任务绑定
			boolean shuttleResult = Utils.checkShuttleHasBinding(shuttleDevice, task.getTaskNo());
			if (shuttleResult) {
			@@ -455,32 +277,14 @@
			.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
			//穿梭车进提升机待机位库位号输送线位置
			String standbyLocNoTo = shuttleStandbyTo.getDeviceStandbyLoc();

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

			//穿梭车出提升机后小车待机位
			String shuttleFromLiftStandbyLoc = shuttleStandbyFrom.getStandbyLoc();

			//换层需要锁定的路径
			List<String> lockPath = shuttleStandbyFrom.getLockPath$();
			//穿梭车待机位置使用表列
			String standbyLocNoList = shuttleStandbyTo.getStandbyLoc();

			//获取出库任务类型
			TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
			@@ -489,27 +293,12 @@
			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;
			}

			//计算路径并分解成两段动作
			List<NavigateNode> nodeList = NavigateUtils.calc(originLoc, standbyLocNoTo, NavigationMapType.DFX.id, Utils.getShuttlePoints(Integer.parseInt(shuttleDevice.getDeviceNo()), Utils.getLev(originLoc)));
			if (nodeList == null) {
			News.error("{} dash {} can't find navigate path!", originLoc, standbyLocNoTo);
			return null;
			//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
			}
			//获取分段路径
			ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(nodeList);
			//取出最后一段路径
			ArrayList<NavigateNode> navigateNodes = data.get(data.size() - 1);
			NavigateNode startNode = navigateNodes.get(0);
			String lastPathStartLoc = Utils.getLocNo(startNode.getX(), startNode.getY(), startNode.getZ());

			/**
			* 出库
			@@ -526,6 +315,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLocNo(originLoc);
			})),
			MotionCtgType.SHUTTLE_MOVE
			@@ -541,18 +331,21 @@
			MotionCtgType.SHUTTLE_PALLET_LIFT
			));

			// 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.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(
			@@ -562,11 +355,36 @@
			})),
			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
			MotionCtgType.SHUTTLE_TRANSPORT
			));

			Integer liftLevLogic = liftDispatcher.getLiftLevOffset(transferLiftDevice.getId().intValue(), Utils.getLev(originLoc));
			// 提升机空载移动到出库层
			motionList.addAll(kernelService.liftMove(
			null
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLev(liftLevLogic);
			}))
			));

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

			// 穿梭车出库托盘下降
			@@ -578,19 +396,20 @@
			MotionCtgType.SHUTTLE_PALLET_DOWN
			));

			// 穿梭车提升机待机位 - 到待机位
			// 穿梭车提升机待机位 - 到待机位(自动选择合适待机位)
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoFrom);
			dto.setLocNo(liftLocNoTo);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(shuttleFromLiftStandbyLoc);
			dto.setSync(0);//异步执行
			dto.setShuttleDevice(shuttleDevice);
			dto.setLocNo(standbyLocNoList);
			// dto.setSync(0);//异步执行
			dto.setReleaseShuttle(1);//执行完成后释放小车
			})),
			MotionCtgType.SHUTTLE_MOVE
			MotionCtgType.SHUTTLE_MOVE_STANDBY
			));

			// 提升机载货移动
			@@ -598,36 +417,88 @@
			MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLev(Utils.getLev(task.getOriginLoc()));
			dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//起始站点
			dto.setStaNo(Integer.parseInt(task.getOriginSite()));//起始站点
			}))
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLev(1);//光泰1层是输送线层
			dto.setStaNo(31001);//出库站点
			dto.setDevpNo(basConveyorStaOrigin.getConveyorDeviceId().intValue());
			dto.setStaNo(Integer.parseInt(task.getDestSite()));//出库站点
			dto.setReleaseLift(1);//执行完成后释放提升机
			}))
			})),
			MotionCtgType.LIFT_WITH_GOODS_OUT
			));

			// 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
			*/
			}

			return motionList;
			}

			public List<Motion> generateSecondZoneMotion(Task task) {
			List<Motion> motionList = new ArrayList<>();
			int originSite = Integer.parseInt(task.getOriginSite());

			String conveyLocNo;
			if (originSite == 1015 \|\| originSite == 1026) {
			BasConveyorSta basConveyorStaOrigin = basConveyorStaService.selectBySiteNo(task.getOriginSite());
			if (basConveyorStaOrigin == null) {
			return motionList;
			}

			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, basConveyorStaOrigin.getConveyorId().intValue());
			StaProtocol staProtocol = devpThread.getStation().get(originSite);
			if (staProtocol == null) {
			return motionList;
			} else {
			staProtocol = staProtocol.clone();
			}
			conveyLocNo = staProtocol.getLocNo();
			}else {
			conveyLocNo = null;
			}

			// 穿梭车走行至提升机库位待机位
			if(conveyLocNo == null) {
			return motionList;
			}

			/**
			* 入库
			*/
			if (task.getTaskSts() == TaskStsType.NEW_INBOUND.sts) {
			// locNo
			String destLoc = 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();

			//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;
			}

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

			// 穿梭车走行至取货库位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			@@ -635,134 +506,125 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(standbyLocNoTo);
			dto.setShuttleDevice(shuttleDevice);
			dto.setLocNo(conveyLocNo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			));

			// 锁定换层路径
			motionList.addAll(kernelService.mapLockPath(
			// 穿梭车入库顶升
			motionList.addAll(kernelService.shuttleAction(
			null,
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(JSON.toJSONString(lockPath));
			}))
			})),
			MotionCtgType.SHUTTLE_PALLET_LIFT
			));

			// 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
			// 穿梭车载货走行至目标库位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoTo);
			dto.setLocNo(conveyLocNo);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(liftLocNoTo);
			dto.setShuttleDevice(shuttleDevice);
			dto.setLocNo(destLoc);
			})),
			MotionCtgType.SHUTTLE_MOVE_TO_LIFT
			MotionCtgType.SHUTTLE_TRANSPORT
			));

			// 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
			}))
			));

			// 解锁换层路径
			motionList.addAll(kernelService.mapUnlockPath(
			// 穿梭车入库托盘下降
			motionList.addAll(kernelService.shuttleAction(
			null,
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(JSON.toJSONString(lockPath));
			}))
			})),
			MotionCtgType.SHUTTLE_PALLET_DOWN
			));
			}

			// 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
			));
			}

			/**
			* 出库
			*/
			if (task.getTaskSts() == TaskStsType.NEW_OUTBOUND.sts) {
			// locNo
			String originLoc = task.getOriginLoc();

			// 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();

			//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;
			}

			//分析出库路径放货库位
			String lastPathStartLoc = shuttleDispatcher.analyzeOutPathWaitLoc(originLoc, conveyLocNo, shuttleDevice);
			if (lastPathStartLoc == null) {
			return motionList;//未分析成功
			}

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

			//穿梭车待机位置使用表列
			String standbyLocNoList = shuttleStandbyTo.getStandbyLoc();

			String standbyLocNo;
			if (originSite == 1015) {
			standbyLocNo = "1200101";
			} else if (originSite == 1026) {
			standbyLocNo = "1200105";
			} else {
			standbyLocNo = null;
			}

			/**
			* 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(
			@@ -773,20 +635,23 @@
			MotionCtgType.SHUTTLE_PALLET_LIFT
			));

			// 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.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
			// 穿梭车载货至输送线位
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			@@ -794,8 +659,8 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(standbyLocNoFrom);
			dto.setShuttleDevice(shuttleDevice);
			dto.setLocNo(conveyLocNo);
			dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//输送站
			})),
			MotionCtgType.SHUTTLE_TRANSPORT_TO_CONVEYOR
			@@ -810,49 +675,21 @@
			MotionCtgType.SHUTTLE_PALLET_DOWN
			));

			// 穿梭车提升机待机位 - 到待机位
			// 穿梭车提升机待机位 - 到待机位(自动选择合适待机位)
			motionList.addAll(kernelService.shuttleMove(
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(standbyLocNoFrom);
			dto.setLocNo(conveyLocNo);
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(shuttleFromLiftStandbyLoc);
			dto.setSync(0);//异步执行
			dto.setReleaseShuttle(1);//执行完成后释放穿梭车
			dto.setShuttleDevice(shuttleDevice);
			dto.setLocNo(standbyLocNoList);
			// dto.setSync(0);//异步执行
			dto.setReleaseShuttle(1);//执行完成后释放小车
			})),
			MotionCtgType.SHUTTLE_MOVE
			MotionCtgType.SHUTTLE_MOVE_STANDBY
			));

			// 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(getStaByLev(Utils.getLev(task.getOriginLoc())));//起始站点
			}))
			, MotionDto.build((dto -> {
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLev(1);//光泰1层是输送线层
			dto.setStaNo(31001);//出库站点
			dto.setDevpNo(basConveyorStaOrigin.getConveyorDeviceId().intValue());
			dto.setReleaseLift(1);//执行完成后释放提升机
			}))
			));

			// 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
			// ));

			}

			@@ -860,7 +697,6 @@

			return motionList;
			}


			/**
			* 生成充电动作
			@@ -894,51 +730,12 @@

			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)) {
			@@ -951,124 +748,7 @@
			})),
			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.setShuttleDevice(shuttleDevice);
			dto.setLocNo(chargeLocNo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			@@ -1137,6 +817,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLocNo(locNo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			@@ -1177,7 +858,7 @@
			return motionList;
			}

			String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
			String shuttleLocNo = task.getOriginLoc();

			// 判断穿梭车是否在目标层
			if (Utils.getLev(shuttleLocNo) == Utils.getLev(locNo)) {
			@@ -1191,6 +872,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLocNo(locNo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			@@ -1231,6 +913,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLiftNo(liftDevice.getId().intValue());
			dto.setLocNo(standbyLocNoTo);
			})),
			@@ -1271,6 +954,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLiftNo(liftDevice.getId().intValue());
			dto.setLocNo(liftLocNoTo);
			})),
			@@ -1323,6 +1007,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLocNo(standbyLocNoFrom);
			})),
			MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
			@@ -1354,6 +1039,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLocNo(locNo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			@@ -1409,6 +1095,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(device.getId().intValue());
			dto.setShuttleDevice(device);
			dto.setLocNo(targetLoc);
			})),
			MotionCtgType.SHUTTLE_MOVE
			@@ -1461,6 +1148,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(device.getId().intValue());
			dto.setShuttleDevice(device);
			dto.setLocNo(sourceLoc);
			})),
			MotionCtgType.SHUTTLE_MOVE
			@@ -1482,6 +1170,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(device.getId().intValue());
			dto.setShuttleDevice(device);
			dto.setLocNo(targetLoc);
			})),
			MotionCtgType.SHUTTLE_TRANSPORT
			@@ -1522,12 +1211,13 @@
			if (destSite.equals("move")) {
			//提升机升降楼层

			Integer liftLevLogic = liftDispatcher.getLiftLevOffset(device.getId().intValue(), Integer.parseInt(task.getDestLoc()));
			// 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()));
			dto.setLev(liftLevLogic);
			}))
			));

			@@ -1539,19 +1229,23 @@
			return motionList;
			}

			Integer originLev = liftDispatcher.getLiftLevOffset(device.getId().intValue(), Utils.getLev(basConveyorStaOrigin.getLocNo()));
			Integer targetLev = liftDispatcher.getLiftLevOffset(device.getId().intValue(), Utils.getLev(basConveyorStaDest.getLocNo()));

			// 提升机移动托盘
			motionList.addAll(kernelService.liftMoveGoods(
			MotionDto.build((dto -> {
			dto.setLiftNo(device.getId().intValue());
			dto.setLev(Utils.getLev(basConveyorStaOrigin.getLocNo()));
			dto.setLev(originLev);
			dto.setStaNo(Integer.parseInt(task.getOriginSite()));
			}))
			, MotionDto.build((dto -> {
			dto.setLiftNo(device.getId().intValue());
			dto.setLev(Utils.getLev(basConveyorStaDest.getLocNo()));
			dto.setLev(targetLev);
			dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
			dto.setStaNo(Integer.parseInt(task.getDestSite()));
			}))
			})),
			MotionCtgType.LIFT_WITH_GOODS
			));

			} else if (destSite.equals("lock")) {
			@@ -1575,4 +1269,340 @@
			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;
			}
			}