zy-asrs-master.git

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

			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;
			}
			@@ -158,21 +158,21 @@
			// 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.setSync();//异步执行
			}))
			));
			// // 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(
			@@ -182,6 +182,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLocNo(standbyLocNoTo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			@@ -204,8 +205,10 @@
			})),
			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
			));
			@@ -224,20 +227,21 @@
			*/
			} 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());
			}))
			));
			// // 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(
			@@ -247,6 +251,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(standbyLocNoTo);
			})),
			@@ -287,6 +292,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(liftLocNoTo);
			})),
			@@ -339,6 +345,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLocNo(standbyLocNoFrom);
			})),
			MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
			@@ -379,6 +386,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(destLoc);
			})),
			@@ -476,10 +484,8 @@
			//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
			List<String> standbyLocs = shuttleStandbyFrom.getStandbyLoc$();//获取全部待机位
			//获取可用待机位
			String shuttleFromLiftStandbyLoc = shuttleDispatcher.searchAvailableLocNo(Integer.valueOf(shuttleDevice.getDeviceNo()), shuttleDevice.getHostId(), shuttleThread.getStatus().getCurrentLocNo(), standbyLocs);
			//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$();
			@@ -500,18 +506,11 @@
			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
			@@ -528,6 +527,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLocNo(originLoc);
			})),
			MotionCtgType.SHUTTLE_MOVE
			@@ -543,18 +543,21 @@
			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(
			@@ -564,6 +567,7 @@
			})),
			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
			@@ -580,7 +584,7 @@
			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());
			@@ -588,11 +592,12 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(shuttleFromLiftStandbyLoc);
			dto.setShuttleDevice(shuttleDevice);
			dto.setLocNo(standbyLocs);
			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
			@@ -637,6 +642,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(standbyLocNoTo);
			})),
			@@ -677,6 +683,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(liftLocNoTo);
			})),
			@@ -729,6 +736,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLocNo(standbyLocNoFrom);
			})),
			MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
			@@ -761,6 +769,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLocNo(originLoc);
			})),
			MotionCtgType.SHUTTLE_MOVE
			@@ -775,18 +784,21 @@
			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(
			@@ -796,6 +808,7 @@
			})),
			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
			@@ -812,7 +825,7 @@
			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());
			@@ -820,11 +833,12 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setLocNo(shuttleFromLiftStandbyLoc);
			dto.setShuttleDevice(shuttleDevice);
			dto.setLocNo(standbyLocs);
			dto.setSync(0);//异步执行
			dto.setReleaseShuttle(1);//执行完成后释放穿梭车
			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
			@@ -953,6 +967,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLocNo(chargeLocNo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			@@ -968,6 +983,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLocNo(standbyLocNoTo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			@@ -998,6 +1014,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLiftNo(transferLiftDevice.getId().intValue());
			dto.setLocNo(liftLocNoTo);
			})),
			@@ -1050,6 +1067,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLocNo(standbyLocNoFrom);
			})),
			MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
			@@ -1071,6 +1089,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLocNo(chargeLocNo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			@@ -1139,6 +1158,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLocNo(locNo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			@@ -1193,6 +1213,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLocNo(locNo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			@@ -1233,6 +1254,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLiftNo(liftDevice.getId().intValue());
			dto.setLocNo(standbyLocNoTo);
			})),
			@@ -1273,6 +1295,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLiftNo(liftDevice.getId().intValue());
			dto.setLocNo(liftLocNoTo);
			})),
			@@ -1325,6 +1348,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLocNo(standbyLocNoFrom);
			})),
			MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
			@@ -1356,6 +1380,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(shuttleDevice.getId().intValue());
			dto.setShuttleDevice(shuttleDevice);
			dto.setLocNo(locNo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			@@ -1411,6 +1436,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(device.getId().intValue());
			dto.setShuttleDevice(device);
			dto.setLocNo(targetLoc);
			})),
			MotionCtgType.SHUTTLE_MOVE
			@@ -1463,6 +1489,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(device.getId().intValue());
			dto.setShuttleDevice(device);
			dto.setLocNo(sourceLoc);
			})),
			MotionCtgType.SHUTTLE_MOVE
			@@ -1484,6 +1511,7 @@
			})),
			MotionDto.build((dto -> {
			dto.setShuttleNo(device.getId().intValue());
			dto.setShuttleDevice(device);
			dto.setLocNo(targetLoc);
			})),
			MotionCtgType.SHUTTLE_TRANSPORT
			@@ -1577,4 +1605,396 @@
			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
			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

			//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.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;
			}

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

			/**
			* 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
			));

			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
			// ));

			// 穿梭车走行至目标库位
			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.setLocNo(locNo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			));

			// 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(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.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
			));

			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
			));
			}

			// 穿梭车走行至目标库位
			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.setLocNo(locNo);
			})),
			MotionCtgType.SHUTTLE_MOVE
			));

			// 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;
			}
			}