package com.zy.asrs.wcs.core.kernel;

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.wcs.core.domain.dto.MotionDto;
import com.zy.asrs.wcs.core.entity.*;
import com.zy.asrs.wcs.core.model.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.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.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.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;

/**
 * 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
public class AnalyzeService {

    @Autowired
    private TaskService taskService;
    @Autowired
    private MotionService motionService;
    @Autowired
    private KernelService kernelService;
    @Autowired
    private ShuttleDispatcher shuttleDispatcher;
    @Autowired
    private LiftDispatcher liftDispatcher;
    @Autowired
    private ConveyorDispatcher conveyorDispatcher;
    @Autowired
    private DeviceService deviceService;
    @Autowired
    private ShuttleStandbyService shuttleStandbyService;
    @Autowired
    private BasConveyorPathService basConveyorPathService;
    @Autowired
    private BasConveyorStaService basConveyorStaService;
    @Autowired
    private BasConveyorService basConveyorService;
    @Autowired
    private TaskCtgService taskCtgService;

    public List<Motion> generateMotion(Task task) {
        List<Motion> motionList = new ArrayList<>();
        motionList = this.generateFirstZoneMotion(task);
        return motionList;
    }

    public List<Motion> generateFirstZoneMotion(Task task) {
        List<Motion> motionList = new ArrayList<>();

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

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

            String shuttleLocNo = shuttleProtocol.getCurrentLocNo();

            //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(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();

            // 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(Integer.parseInt(task.getDestSite()));
                            dto.setSync(0);//异步执行
                        }))
                ));

                // 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.setLocNo(standbyLocNoTo);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                ));

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

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

                // 穿梭车入库托盘下降
                motionList.addAll(kernelService.shuttleAction(
                        null,
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                        })),
                        MotionCtgType.SHUTTLE_PALLET_DOWN
                ));

            /**
             * 二、入库目标层没有穿梭车
             */
            } else {

                // 提升机载货移动
                motionList.addAll(kernelService.liftMoveGoods(
                        MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(1);//光泰1层是输送线层
                            dto.setStaNo(31004);//入库站点
                        }))
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(Utils.getLev(task.getDestLoc()));
                            dto.setStaNo(Integer.parseInt(task.getDestSite()));
                        }))
                ));

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

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

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

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

                // 解锁提升机
                motionList.addAll(kernelService.liftUnlock(
                        null
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                        }))
                ));

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

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

                // 更新小车坐标
                motionList.addAll(kernelService.shuttleUpdateLocation(
                        null
                        , MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(liftLocNoFrom);
                        }))
                ));

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

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

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

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

                // 穿梭车入库托盘下降
                motionList.addAll(kernelService.shuttleAction(
                        null,
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                        })),
                        MotionCtgType.SHUTTLE_PALLET_DOWN
                ));

            }

        }

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

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

            String shuttleLocNo = shuttleProtocol.getCurrentLocNo();

            //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();

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

            //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;
            }

            /**
             * 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.setLocNo(originLoc);
                            })),
                            MotionCtgType.SHUTTLE_MOVE
                    ));
                }

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

                // 穿梭车出库至提升机待机位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(originLoc);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoTo);
                        })),
                        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
                ));

                // 提升机载货移动
                motionList.addAll(kernelService.liftMoveGoods(
                        MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(Utils.getLev(task.getOriginLoc()));
                            dto.setStaNo(Integer.parseInt(task.getOriginSite()));//起始站点
                        }))
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(1);//光泰1层是输送线层
                            dto.setStaNo(31004);//出库站点
                            dto.setSync(0);//异步执行
                            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
                ));

            /**
             * 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.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoTo);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                ));

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

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

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

                // 解锁提升机
                motionList.addAll(kernelService.liftUnlock(
                        null
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                        }))
                ));

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

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

                // 更新小车坐标
                motionList.addAll(kernelService.shuttleUpdateLocation(
                        null
                        , MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(liftLocNoFrom);
                        }))
                ));

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

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

                // 穿梭车提升机待机位至出库库位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoFrom);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(originLoc);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                ));

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

                // 穿梭车出库至提升机待机位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(originLoc);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoFrom);
                        })),
                        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
                ));

                // 提升机载货移动
                motionList.addAll(kernelService.liftMoveGoods(
                        MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(Utils.getLev(task.getOriginLoc()));
                            dto.setStaNo(Integer.parseInt(task.getOriginSite()));//起始站点
                        }))
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(1);//光泰1层是输送线层
                            dto.setStaNo(31004);//出库站点
                            dto.setSync(0);//异步执行
                            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
                ));

            }

        }

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

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

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

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

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

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

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

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

            // 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));
                    }))
            ));

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

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

            // 解锁提升机
            motionList.addAll(kernelService.liftUnlock(
                    null
                    , MotionDto.build((dto -> {
                        dto.setLiftNo(transferLiftDevice.getId().intValue());
                    }))
            ));

            // 提升机搬车 至 充电层
            motionList.addAll(kernelService.liftMoveShuttle(
                    MotionDto.build((dto -> {
                        dto.setLiftNo(transferLiftDevice.getId().intValue());
                        dto.setLev(Utils.getLev(shuttleLocNo));
                    })),
                    MotionDto.build((dto -> {
                        dto.setLiftNo(transferLiftDevice.getId().intValue());
                        dto.setLev(Utils.getLev(chargeLocNo));
                    }))
            ));

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

            // 更新小车坐标
            motionList.addAll(kernelService.shuttleUpdateLocation(
                    null
                    , MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setLocNo(liftLocNoFrom);
                    }))
            ));

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

            // 解锁提升机
            motionList.addAll(kernelService.liftUnlock(
                    null
                    , MotionDto.build((dto -> {
                        dto.setLiftNo(transferLiftDevice.getId().intValue());
                    }))
            ));

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

        }

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

        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)) {

            // 穿梭车关闭充电
            motionList.addAll(kernelService.shuttleAction(
                    null,
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                    })),
                    MotionCtgType.SHUTTLE_CHARGE_OFF
            ));

            // 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));
                    }))
            ));

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

            // 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));
                    }))
            ));

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

            // 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.getMemo();//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;
        }

        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
            motionList.addAll(kernelService.liftMove(
                    null
                    , MotionDto.build((dto -> {
                        dto.setLiftNo(device.getId().intValue());
                        dto.setLev(Integer.parseInt(task.getDestLoc()));
                    }))
            ));

        } 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(Utils.getLev(basConveyorStaOrigin.getLocNo()));
                        dto.setStaNo(Integer.parseInt(task.getOriginSite()));
                    }))
                    , MotionDto.build((dto -> {
                        dto.setLiftNo(device.getId().intValue());
                        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;
    }

}