#

Junjie

2024-10-17 d62c5c0eb2e28b7bf27d23de84a609b5a2e415e4

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

@@ -1,19 +1,14 @@
package com.zy.asrs.wcs.core.kernel;

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.common.R;
import com.zy.asrs.wcs.core.domain.dto.MotionDto;
import com.zy.asrs.wcs.core.entity.*;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
import com.zy.asrs.wcs.core.model.enums.TaskCtgType;
import com.zy.asrs.wcs.core.model.enums.TaskStsType;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.enums.*;
import com.zy.asrs.wcs.core.service.*;
import com.zy.asrs.wcs.core.utils.ConveyorDispatcher;
import com.zy.asrs.wcs.core.utils.LiftDispatcher;
import com.zy.asrs.wcs.core.utils.ShuttleDispatcher;
import com.zy.asrs.wcs.core.utils.Utils;
import com.zy.asrs.wcs.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;
@@ -26,6 +21,7 @@
import org.springframework.stereotype.Service;

import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;

/**
@@ -54,7 +50,20 @@
    @Autowired
    private BasConveyorPathService basConveyorPathService;
    @Autowired
    private BasConveyorStaService basConveyorStaService;
    @Autowired
    private BasConveyorService basConveyorService;
    @Autowired
    private TaskCtgService taskCtgService;

    public Integer getStaByLev(Integer lev) {
        HashMap<Integer, Integer> map = new HashMap<>();
        map.put(1, 31006);
        map.put(2, 31007);
        map.put(3, 31008);

        return map.get(lev);
    }

    public List<Motion> generateMotion(Task task) {
        List<Motion> motionList = new ArrayList<>();
@@ -67,12 +76,6 @@

        /**
         * 入库
         * 一、入库目标层有穿梭车
         * 1.提升机升降到源层
         * 2.货物从输送线到提升机
         * 3.提升机载货移动（非必需）
         * 4.穿梭车走行至提升机
         * 5.穿梭车入库至目标库位
         */
        if (task.getTaskSts() == TaskStsType.NEW_INBOUND.sts) {
            // locNo
@@ -110,6 +113,11 @@
                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) {
@@ -144,6 +152,9 @@
            //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$();

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

@@ -151,14 +162,15 @@
                motionList.addAll(kernelService.liftMoveGoods(
                        MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(5);//索牌项目5层是输送线层
                            dto.setStaNo(1);//提升机左侧
                            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(0);//提升机内侧
                            dto.setSync(0);//异步执行
                            dto.setStaNo(getStaByLev(Utils.getLev(task.getDestLoc())));
                            dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
//                            dto.setSync();//异步执行
                        }))
                ));

@@ -175,28 +187,6 @@
                        MotionCtgType.SHUTTLE_MOVE
                ));

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

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

                // 穿梭车入库顶升
                motionList.addAll(kernelService.shuttleAction(
                        null,
@@ -206,30 +196,7 @@
                        MotionCtgType.SHUTTLE_PALLET_LIFT
                ));

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

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

                // 穿梭车走行至目标库位
                // 穿梭车载货走行至目标库位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
@@ -239,8 +206,9 @@
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(destLoc);
                            dto.setReleaseLift(2);//执行中释放提升机
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                        MotionCtgType.SHUTTLE_TRANSPORT
                ));

                // 穿梭车入库托盘下降
@@ -254,14 +222,23 @@

            /**
             * 二、入库目标层没有穿梭车
             * 1.提升机升降到穿梭车层
             * 2.穿梭车走行至提升机待机位
             * 3.提升机搬运穿梭车至目标层
             * 4.货物从输送线到提升机
             * 5.提升机载车与货移动（非必需）
             * 6.穿梭车入库至目标库位
             */
            } 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(
@@ -275,6 +252,15 @@
                            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
@@ -316,17 +302,15 @@
                        }))
                ));

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

@@ -338,15 +322,6 @@
                        }))
                ));

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

                // 更新小车坐标
                motionList.addAll(kernelService.shuttleUpdateLocation(
                        null
@@ -356,7 +331,7 @@
                        }))
                ));

                // 穿梭车入库移动至提升机待机位
                // 穿梭车移动至提升机待机位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
@@ -379,7 +354,25 @@
                        }))
                ));

                // 穿梭车走行至目标库位
                // 解锁换层路径
                motionList.addAll(kernelService.mapUnlockPath(
                        null,
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(JSON.toJSONString(lockPath));
                        }))
                ));

                // 穿梭车入库顶升
                motionList.addAll(kernelService.shuttleAction(
                        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());
@@ -389,8 +382,9 @@
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(destLoc);
                            dto.setReleaseLift(2);//执行中释放提升机
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                        MotionCtgType.SHUTTLE_TRANSPORT
                ));

                // 穿梭车入库托盘下降
@@ -445,6 +439,11 @@
                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) {
@@ -479,8 +478,11 @@
            //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();
            //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>()
@@ -498,15 +500,14 @@
                return motionList;
            }

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

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

@@ -535,7 +536,7 @@
                        MotionCtgType.SHUTTLE_PALLET_LIFT
                ));

                // 穿梭车出库至提升机待机位
                // 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());
@@ -543,41 +544,24 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoTo);
                            dto.setLocNo(lastPathStartLoc);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                        MotionCtgType.SHUTTLE_TRANSPORT
                ));

                // 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
                // 穿梭车载货至提升机待机位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoTo);
                            dto.setLocNo(lastPathStartLoc);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(liftLocNoTo);
                            dto.setLocNo(standbyLocNoTo);
                            dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//输送站
                        })),
                        MotionCtgType.SHUTTLE_MOVE_TO_LIFT
                        MotionCtgType.SHUTTLE_TRANSPORT_TO_CONVEYOR
                ));

                // 穿梭车出库托盘下降
@@ -589,26 +573,19 @@
                        MotionCtgType.SHUTTLE_PALLET_DOWN
                ));

                // 穿梭车离开提升机 - 到提升机待机位
                // 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.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());
                        }))
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            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_STANDBY
                ));

                // 提升机载货移动
@@ -616,55 +593,32 @@
                        MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(Utils.getLev(task.getOriginLoc()));
                            dto.setStaNo(0);//提升机内侧
                            dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//起始站点
                        }))
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(5);//索牌项目5层是输送线层
                            dto.setStaNo(1);//提升机左侧
                            dto.setSync(0);//异步执行
                            dto.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
                        }))
                ));

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

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

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

@@ -680,6 +634,15 @@
                            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
@@ -773,6 +736,15 @@
                        }))
                ));

                // 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 -> {
@@ -796,7 +768,7 @@
                        MotionCtgType.SHUTTLE_PALLET_LIFT
                ));

                // 穿梭车出库至提升机待机位
                // 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());
@@ -804,41 +776,24 @@
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoFrom);
                            dto.setLocNo(lastPathStartLoc);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                        MotionCtgType.SHUTTLE_TRANSPORT
                ));

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

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

                // 穿梭车待机位至提升机
                // 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(standbyLocNoFrom);
                            dto.setLocNo(lastPathStartLoc);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(liftLocNoFrom);
                            dto.setLocNo(standbyLocNoFrom);
                            dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//输送站
                        })),
                        MotionCtgType.SHUTTLE_MOVE_TO_LIFT
                        MotionCtgType.SHUTTLE_TRANSPORT_TO_CONVEYOR
                ));

                // 穿梭车出库托盘下降
@@ -850,26 +805,19 @@
                        MotionCtgType.SHUTTLE_PALLET_DOWN
                ));

                // 穿梭车离开提升机 - 到提升机待机位
                // 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.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());
                        }))
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            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_STANDBY
                ));

                // 提升机载货移动
@@ -877,41 +825,29 @@
                        MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(Utils.getLev(task.getOriginLoc()));
                            dto.setStaNo(0);//提升机内侧
                            dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//起始站点
                        }))
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(5);//索牌项目5层是输送线层
                            dto.setStaNo(1);//提升机左侧
                            dto.setSync(0);//异步执行
                            dto.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
                        }))
                ));

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

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

            }

@@ -1133,8 +1069,6 @@
                    MotionCtgType.SHUTTLE_MOVE
            ));

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

        // 穿梭车开始充电
@@ -1280,6 +1214,9 @@
            //穿梭车出提升机待机位库位号
            String standbyLocNoFrom = liftDispatcher.getLiftStandByLocNo(liftThread, Utils.getLev(task.getDestLoc()));

            //换层需要锁定的路径
            List<String> lockPath = liftDispatcher.getLockPathByLocNo(liftThread, Utils.getLev(task.getDestLoc()));


            // 穿梭车走行至提升机库位待机位
            motionList.addAll(kernelService.shuttleMove(
@@ -1293,6 +1230,15 @@
                        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
@@ -1324,14 +1270,6 @@
                        dto.setLocNo(liftLocNoTo);
                    })),
                    MotionCtgType.SHUTTLE_MOVE_TO_LIFT
            ));

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

            // 解锁提升机
@@ -1393,6 +1331,15 @@
                    }))
            ));

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

            // 穿梭车提升机待机位至目标位置
            motionList.addAll(kernelService.shuttleMove(
                    MotionDto.build((dto -> {
@@ -1422,7 +1369,7 @@

        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)
        String targetSite = task.getMemo();//任务类型(借用字段)

        Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
                .eq(Device::getDeviceNo, task.getShuttleNo())
@@ -1522,7 +1469,7 @@
                    motion.setMotionCtg(MotionCtgType.SHUTTLE_PALLET_LIFT.val());
                }));

                // 穿梭车走行至目标库位
                // 穿梭车载货走行至目标库位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(device.getId().intValue());
@@ -1532,7 +1479,7 @@
                            dto.setShuttleNo(device.getId().intValue());
                            dto.setLocNo(targetLoc);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                        MotionCtgType.SHUTTLE_TRANSPORT
                ));

                //托盘下降
@@ -1566,7 +1513,8 @@
            return motionList;
        }

        if (task.getDestSite().equals("move")) {
        String destSite = task.getMemo();//任务目标(借用字段)
        if (destSite.equals("move")) {
            //提升机升降楼层

            // 提升机空载移动到穿梭车层
@@ -1578,23 +1526,45 @@
                    }))
            ));

        } else if (task.getDestSite().equals("movePallet")) {
        } else if (destSite.equals("movePallet")) {
            //移动托盘
            BasConveyorSta basConveyorStaOrigin = basConveyorStaService.selectBySiteNo(task.getOriginSite());
            BasConveyorSta basConveyorStaDest = basConveyorStaService.selectBySiteNo(task.getDestSite());
            if(basConveyorStaOrigin == null || basConveyorStaDest == null) {
                return motionList;
            }

            // 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.setLev(Utils.getLev(basConveyorStaOrigin.getLocNo()));
                        dto.setStaNo(Integer.parseInt(task.getOriginSite()));
                    }))
                    , MotionDto.build((dto -> {
                        dto.setLiftNo(device.getId().intValue());
                        dto.setLev(Integer.parseInt(task.getDestLoc()));
                        dto.setLev(Utils.getLev(basConveyorStaDest.getLocNo()));
                        dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
                        dto.setStaNo(Integer.parseInt(task.getDestSite()));
                    }))
            ));

        } else if (destSite.equals("lock")) {
            // 锁定提升机
            motionList.addAll(kernelService.liftLock(
                    null
                    , MotionDto.build((dto -> {
                        dto.setLiftNo(device.getId().intValue());
                    }))
            ));
        } else if (destSite.equals("unlock")) {
            // 解锁提升机
            motionList.addAll(kernelService.liftUnlock(
                    null
                    , MotionDto.build((dto -> {
                        dto.setLiftNo(device.getId().intValue());
                    }))
            ));
        }

        return motionList;