#

Junjie

2024-06-19 534cebb8a1a5317161dac9ac8784aea0f1c9e610

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java

@@ -1,30 +1,37 @@
package com.zy.asrs.wcs.core.kernel;

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

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

/**
 * todo:luxiaotao 1.充电任务，2.库位移转，3.小车迁移
 * 1.充电任务，2.库位移转，3.小车迁移，4.手动任务
 * Created by vincent on 2023/10/11
 */
@Service
@@ -40,17 +47,16 @@
    private ShuttleDispatcher shuttleDispatcher;
    @Autowired
    private LiftDispatcher liftDispatcher;
//    @Autowired
//    private ConveyorDispatcher conveyorDispatcher;
    @Autowired
    private ConveyorDispatcher conveyorDispatcher;
    @Autowired
    private DeviceService deviceService;
    @Autowired
    private ShuttleStandbyService shuttleStandbyService;

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

@@ -69,21 +75,86 @@
         * 5.穿梭车入库至目标库位
         */
        if (task.getTaskSts() == TaskStsType.NEW_INBOUND.sts) {
//            // lift
//            LiftThread liftThread = liftDispatcher.queryLiftForTransport(task.getOriginSite());
//            LiftProtocol liftProtocol = liftThread.getStatus();
//            if (liftProtocol == null) {
//                return motionList;
//            }
            // locNo
            String destLoc = task.getDestLoc();

            // shuttle
            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);
            if (shuttleResult) {
                //存在任务，禁止解析
                return motionList;
            }

            //检测提升机是否有任务绑定
            boolean liftResult = Utils.checkLiftHasBinding(Integer.parseInt(transferLiftDevice.getDeviceNo()));
            if (liftResult) {
                //存在任务，禁止解析
                return motionList;
            }

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

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

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

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

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

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

            // shuttle
//            ShuttleThread shuttleThread = shuttleDispatcher.queryShuttleWhichConvenient(task, Integer.parseInt(liftThread.getStatus().getLiftNo()));
//            ShuttleThread shuttleThread = shuttleDispatcher.queryShuttleWhichConvenient(task, 1);
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, 6);
            if (Cools.isEmpty(shuttleThread)) { return motionList; }
            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
//            String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
            String shuttleLocNo = "0100201";

//            // conveyor
//            DevpSlave devpSlave = conveyorDispatcher.queryByInBound(task.getSourceStaNo());
@@ -703,215 +774,590 @@
    }


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

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

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

        String shuttleLocNo = shuttleProtocol.getCurrentLocNo();

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

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

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

        //检测提升机是否有任务绑定
        boolean liftResult = Utils.checkLiftHasBinding(Integer.parseInt(transferLiftDevice.getDeviceNo()));
        if (liftResult) {
            //存在任务，禁止解析
            return motionList;
        }

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

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

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

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

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

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

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

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

        } else {

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

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

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

            // 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));
                    }))
            ));

            // 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
            ));

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

            task.setLiftNo(Integer.parseInt(transferLiftDevice.getDeviceNo()));
            taskService.updateById(task);
        }

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

        return motionList;
    }

    /**
     * 生成充电完成动作
     */
    public List<Motion> generateShuttleChargeWrkComplete(Task task) {
        List<Motion> motionList = new ArrayList<>();
        if (task.getTaskSts() != TaskStsType.NEW_MOVE.sts) {
            return motionList;
        }

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

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

        String shuttleLocNo = shuttleProtocol.getCurrentLocNo();

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

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

        }
        return motionList;
    }

    /**
     * 生成小车迁移动作
     */
    public List<Motion> generateShuttleMoveMotion(Task task) {
        List<Motion> motionList = new ArrayList<>();
        if (task.getTaskSts() != TaskStsType.NEW_MOVE.sts) {
            return motionList;
        }

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

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

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

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

        String shuttleLocNo = shuttleProtocol.getCurrentLocNo();

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

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

        } else {
            //小车跨层

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

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

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

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

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


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

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

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

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

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

        }
        return motionList;
    }

    /**
     * 生成小车手动动作
     */
    public List<Motion> generateShuttleManualMotion(Task task) {
        List<Motion> motionList = new ArrayList<>();
        if (task.getTaskSts() != TaskStsType.NEW_MANUAL.sts) {
            return motionList;
        }

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

        Device device = 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 (device == null) {
            return motionList;
        }

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

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

        if (targetSite.equals("moveLoc")) {//移动
            String shuttleLocNo = shuttleProtocol.getCurrentLocNo();

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

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

            }
        } else if (targetSite.equals("palletLift")) {
            //托盘顶升
            motionList.add(Motion.build(motion -> {
                motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
                motion.setDevice(String.valueOf(device.getId()));
                motion.setMotionCtg(MotionCtgType.SHUTTLE_PALLET_LIFT.val());
            }));
        } else if (targetSite.equals("palletDown")) {
            //托盘下降
            motionList.add(Motion.build(motion -> {
                motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
                motion.setDevice(String.valueOf(device.getId()));
                motion.setMotionCtg(MotionCtgType.SHUTTLE_PALLET_DOWN.val());
            }));
        } else if (targetSite.equals("chargeOpen")) {
            //充电开
            motionList.add(Motion.build(motion -> {
                motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
                motion.setDevice(String.valueOf(device.getId()));
                motion.setMotionCtg(MotionCtgType.SHUTTLE_CHARGE_ON.val());
            }));
        } else if (targetSite.equals("chargeClose")) {
            //充电关
            motionList.add(Motion.build(motion -> {
                motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
                motion.setDevice(String.valueOf(device.getId()));
                motion.setMotionCtg(MotionCtgType.SHUTTLE_CHARGE_OFF.val());
            }));
        } else if (targetSite.equals("reset")) {
            //复位
        } else if (targetSite.equals("takeMove")) {
            //取放货
            String shuttleLocNo = shuttleProtocol.getCurrentLocNo();

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

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

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

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

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

            }
        }

        return motionList;
    }

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

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

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

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

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

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

        }

        return motionList;
    }

}