~huangxinlei/MES_Test_Project.git

			@@ -7,14 +7,16 @@
			import com.fasterxml.jackson.databind.ObjectMapper;
			import com.mes.device.entity.DeviceConfig;
			import com.mes.device.entity.DeviceGroupConfig;
			import com.mes.device.service.DeviceCoordinationService;
			import com.mes.device.service.DeviceInteractionService;
			import com.mes.device.service.GlassInfoService;
			import com.mes.device.vo.DevicePlcVO;
			import com.mes.interaction.DeviceInteraction;
			import com.mes.interaction.DeviceInteractionRegistry;
			import com.mes.interaction.DeviceLogicHandler;
			import com.mes.interaction.DeviceLogicHandlerFactory;
			import com.mes.interaction.base.InteractionContext;
			import com.mes.interaction.base.InteractionResult;
			import com.mes.device.service.DeviceCoordinationService;
			import com.mes.device.service.DeviceInteractionService;
			import com.mes.task.dto.TaskParameters;
			import com.mes.task.entity.MultiDeviceTask;
			import com.mes.task.entity.TaskStepDetail;
			@@ -23,16 +25,16 @@
			import com.mes.task.model.RetryPolicy;
			import com.mes.task.model.TaskExecutionContext;
			import com.mes.task.model.TaskExecutionResult;
			import com.mes.task.service.TaskStatusNotificationService;
			import com.mes.device.vo.DevicePlcVO;
			import lombok.RequiredArgsConstructor;
			import lombok.extern.slf4j.Slf4j;
			import org.springframework.beans.factory.annotation.Qualifier;
			import org.springframework.stereotype.Component;
			import org.springframework.util.CollectionUtils;
			import org.springframework.util.StringUtils;

			import java.util.*;
			import java.util.concurrent.*;
			import java.util.concurrent.atomic.AtomicInteger;

			/**
			* 多设备任务执行引擎
			@@ -45,6 +47,8 @@

			private static final Map<String, String> DEFAULT_OPERATIONS = new HashMap<>();
			private static final TypeReference<Map<String, Object>> MAP_TYPE = new TypeReference<Map<String, Object>>() {};
			private static final int SCANNER_LOOKBACK_MINUTES = 2;
			private static final int SCANNER_LOOKBACK_LIMIT = 20;

			// 执行模式常量
			private static final String EXECUTION_MODE_SERIAL = "SERIAL";
			@@ -53,7 +57,8 @@
			static {
			DEFAULT_OPERATIONS.put(DeviceConfig.DeviceType.LOAD_VEHICLE, "feedGlass");
			DEFAULT_OPERATIONS.put(DeviceConfig.DeviceType.LARGE_GLASS, "processGlass");
			DEFAULT_OPERATIONS.put(DeviceConfig.DeviceType.GLASS_STORAGE, "storeGlass");
			DEFAULT_OPERATIONS.put(DeviceConfig.DeviceType.WORKSTATION_SCANNER, "scanOnce");
			DEFAULT_OPERATIONS.put(DeviceConfig.DeviceType.WORKSTATION_TRANSFER, "checkAndProcess");
			}

			private final TaskStepDetailMapper taskStepDetailMapper;
			@@ -64,6 +69,8 @@
			private final DeviceCoordinationService deviceCoordinationService;
			private final TaskStatusNotificationService notificationService;
			private final ObjectMapper objectMapper;
			@Qualifier("deviceGlassInfoService")
			private final GlassInfoService glassInfoService;

			// 线程池用于并行执行
			private final ExecutorService executorService = Executors.newCachedThreadPool(r -> {
			@@ -71,6 +78,18 @@
			t.setDaemon(true);
			return t;
			});

			// 定时器线程池：用于设备定时扫描
			private final ScheduledExecutorService scheduledExecutor = Executors.newScheduledThreadPool(10, r -> {
			Thread t = new Thread(r, "TaskExecutionEngine-Scheduled");
			t.setDaemon(true);
			return t;
			});

			// 存储每个任务的定时器任务：taskId -> List<ScheduledFuture>
			private final Map<String, List<ScheduledFuture<?>>> taskScheduledTasks = new ConcurrentHashMap<>();
			// 记录正在运行任务的上下文，便于取消任务时访问
			private final Map<String, TaskExecutionContext> runningTaskContexts = new ConcurrentHashMap<>();

			public TaskExecutionResult execute(MultiDeviceTask task,
			DeviceGroupConfig groupConfig,
			@@ -82,16 +101,10 @@
			}

			TaskExecutionContext context = new TaskExecutionContext(parameters);
			runningTaskContexts.put(task.getTaskId(), context);
			// 将本次任务涉及的设备列表存入上下文，便于取消任务时做设备级收尾（如停止大车内部监控定时器）
			context.getSharedData().put("devices", devices);

			// 设备协调：检查依赖关系和执行条件
			DeviceCoordinationService.CoordinationResult coordinationResult =
			deviceCoordinationService.coordinateExecution(groupConfig, devices, context);
			if (!coordinationResult.canExecute()) {
			log.warn("设备协调失败: {}", coordinationResult.getMessage());
			return TaskExecutionResult.failure(coordinationResult.getMessage(), Collections.emptyMap());
			}
			log.info("设备协调成功: {}", coordinationResult.getMessage());

			task.setTotalSteps(devices.size());
			task.setStatus(MultiDeviceTask.Status.RUNNING.name());
			multiDeviceTaskMapper.updateById(task);
			@@ -120,10 +133,137 @@
			stepSummaries = new ArrayList<>();
			success = true;
			failureMessage = null;
			for (int i = 0; i < devices.size(); i++) {
			DeviceConfig device = devices.get(i);
			int order = i + 1;
			TaskStepDetail step = createStepRecord(task, device, order);

			TaskParameters params = context.getParameters();
			boolean hasGlassIds = !CollectionUtils.isEmpty(params.getGlassIds());
			boolean triggerFirst = Boolean.TRUE.equals(params.getTriggerRequestFirst());

			int currentOrder = 1;
			// 统计大车设备数量，用于区分进片大车和出片大车
			int loadVehicleCount = 0;
			for (DeviceConfig device : devices) {
			if (DeviceConfig.DeviceType.LOAD_VEHICLE.equals(device.getDeviceType())) {
			loadVehicleCount++;
			}
			}
			int currentLoadVehicleIndex = 0;

			for (DeviceConfig device : devices) {
			String deviceType = device.getDeviceType();
			log.debug("处理设备: deviceId={}, deviceType={}, deviceName={}, WORKSTATION_SCANNER常量={}, equals={}",
			device.getId(), deviceType, device.getDeviceName(),
			DeviceConfig.DeviceType.WORKSTATION_SCANNER,
			DeviceConfig.DeviceType.WORKSTATION_SCANNER.equals(deviceType));
			boolean isLoadVehicle = DeviceConfig.DeviceType.LOAD_VEHICLE.equals(deviceType);
			boolean isScanner = DeviceConfig.DeviceType.WORKSTATION_SCANNER.equals(deviceType)
			\|\| (deviceType != null && (deviceType.contains("扫码") \|\| deviceType.contains("SCANNER")));
			boolean isLargeGlass = DeviceConfig.DeviceType.LARGE_GLASS.equals(deviceType);
			boolean isTransfer = DeviceConfig.DeviceType.WORKSTATION_TRANSFER.equals(deviceType);
			log.debug("设备类型判断: deviceId={}, isLoadVehicle={}, isScanner={}, isLargeGlass={}, isTransfer={}",
			device.getId(), isLoadVehicle, isScanner, isLargeGlass, isTransfer);

			// 1. 卧转立扫码设备：启动定时器扫描（每10秒处理一个玻璃ID）
			if (isScanner) {
			log.debug("检测到扫码设备，准备启动定时器: deviceId={}, deviceType={}, deviceName={}",
			device.getId(), device.getDeviceType(), device.getDeviceName());
			TaskStepDetail step = createStepRecord(task, device, currentOrder);

			ScheduledFuture<?> scannerTask = startScannerTimer(task, step, device, context);
			if (scannerTask != null) {
			registerScheduledTask(task.getTaskId(), scannerTask);
			stepSummaries.add(createStepSummary(device.getDeviceName(), true, "定时器已启动，每10秒扫描一次"));
			log.debug("扫码设备定时器启动成功: deviceId={}, taskId={}", device.getId(), task.getTaskId());
			} else {
			log.warn("扫码设备定时器启动失败，glassIds可能为空: deviceId={}, taskId={}, contextParams={}",
			device.getId(), task.getTaskId(), context.getParameters());
			stepSummaries.add(createStepSummary(device.getDeviceName(), false, "启动定时器失败"));
			success = false;
			failureMessage = "卧转立扫码设备启动定时器失败";
			break;
			}
			currentOrder++;
			continue;
			}

			// 2. 卧转立设备：启动定时器定期检查并处理（中转设备）
			if (isTransfer) {
			log.debug("检测到卧转立设备，准备启动定时器: deviceId={}, deviceType={}, deviceName={}",
			device.getId(), device.getDeviceType(), device.getDeviceName());
			TaskStepDetail step = createStepRecord(task, device, currentOrder);

			ScheduledFuture<?> transferTask = startTransferTimer(task, step, device, context);
			if (transferTask != null) {
			registerScheduledTask(task.getTaskId(), transferTask);
			stepSummaries.add(createStepSummary(device.getDeviceName(), true, "定时器已启动，定期检查并处理玻璃批次"));
			log.debug("卧转立设备定时器启动成功: deviceId={}, taskId={}", device.getId(), task.getTaskId());
			} else {
			log.warn("卧转立设备定时器启动失败: deviceId={}, taskId={}", device.getId(), task.getTaskId());
			stepSummaries.add(createStepSummary(device.getDeviceName(), false, "启动定时器失败"));
			success = false;
			failureMessage = "卧转立设备启动定时器失败";
			break;
			}
			currentOrder++;
			continue;
			}

			// 3. 进片大车设备：启动定时器持续监控容量（第一个大车设备）
			if (isLoadVehicle) {
			currentLoadVehicleIndex++;
			boolean isInboundVehicle = currentLoadVehicleIndex == 1; // 第一个大车是进片大车

			TaskStepDetail step = createStepRecord(task, device, currentOrder);

			ScheduledFuture<?> vehicleTask;
			if (isInboundVehicle) {
			// 进片大车：监控容量，动态判断
			vehicleTask = startInboundVehicleTimer(task, step, device, context);
			if (vehicleTask != null) {
			registerScheduledTask(task.getTaskId(), vehicleTask);
			stepSummaries.add(createStepSummary(device.getDeviceName(), true, "进片大车定时器已启动，持续监控容量"));
			} else {
			stepSummaries.add(createStepSummary(device.getDeviceName(), false, "启动定时器失败"));
			success = false;
			failureMessage = "进片大车设备启动定时器失败";
			break;
			}
			} else {
			// 出片大车：启动定时器监控出片任务
			vehicleTask = startOutboundVehicleTimer(task, step, device, context);
			if (vehicleTask != null) {
			registerScheduledTask(task.getTaskId(), vehicleTask);
			stepSummaries.add(createStepSummary(device.getDeviceName(), true, "出片大车定时器已启动，持续监控出片任务"));
			} else {
			stepSummaries.add(createStepSummary(device.getDeviceName(), false, "启动定时器失败"));
			success = false;
			failureMessage = "出片大车设备启动定时器失败";
			break;
			}
			}
			currentOrder++;
			continue;
			}

			// 4. 大理片笼设备：启动定时器逻辑处理（不涉及PLC交互，只负责逻辑处理）
			if (isLargeGlass) {
			TaskStepDetail step = createStepRecord(task, device, currentOrder);

			ScheduledFuture<?> largeGlassTask = startLargeGlassTimer(task, step, device, context);
			if (largeGlassTask != null) {
			registerScheduledTask(task.getTaskId(), largeGlassTask);
			stepSummaries.add(createStepSummary(device.getDeviceName(), true, "大理片笼定时器已启动，逻辑处理中"));
			} else {
			stepSummaries.add(createStepSummary(device.getDeviceName(), false, "启动定时器失败"));
			success = false;
			failureMessage = "大理片笼设备启动定时器失败";
			break;
			}
			currentOrder++;
			continue;
			}

			// 其他设备：正常执行
			TaskStepDetail step = createStepRecord(task, device, currentOrder);
			StepResult stepResult = executeStep(task, step, device, context);
			stepSummaries.add(stepResult.toSummary());
			if (!stepResult.isSuccess()) {
			@@ -131,7 +271,35 @@
			failureMessage = stepResult.getMessage();
			break;
			}
			currentOrder++;
			}

			// 如果所有设备都是定时器模式，任务保持运行状态，不等待完成
			// 定时器会在后台持续运行，直到手动停止或超时
			boolean hasScheduledTasks = !CollectionUtils.isEmpty(taskScheduledTasks.get(task.getTaskId()));
			if (hasScheduledTasks) {
			log.debug("任务已启动所有定时器，保持运行状态: taskId={}, scheduledTasksCount={}",
			task.getTaskId(), taskScheduledTasks.get(task.getTaskId()).size());
			// 任务保持 RUNNING 状态，定时器在后台运行
			// 不更新任务状态为 COMPLETED，让任务持续运行
			Map<String, Object> payload = new HashMap<>();
			payload.put("steps", stepSummaries);
			payload.put("groupId", groupConfig.getId());
			payload.put("deviceCount", devices.size());
			payload.put("executionMode", executionMode);
			payload.put("message", "任务已启动，定时器在后台运行中");

			// 通知任务状态（保持 RUNNING）
			notificationService.notifyTaskStatus(task);

			if (success) {
			return TaskExecutionResult.success(payload);
			}
			return TaskExecutionResult.failure(failureMessage != null ? failureMessage : "任务执行失败", payload);
			}

			// 如果没有定时器任务，等待所有步骤完成
			// 这种情况通常不会发生，因为所有设备都是定时器模式
			}

			Map<String, Object> payload = new HashMap<>();
			@@ -140,8 +308,15 @@
			payload.put("deviceCount", devices.size());
			payload.put("executionMode", executionMode);

			// 停止所有定时器任务
			stopScheduledTasks(task.getTaskId());

			boolean cancelled = isTaskCancelled(context);
			// 更新任务最终状态
			if (success) {
			if (cancelled) {
			task.setStatus(MultiDeviceTask.Status.CANCELLED.name());
			task.setErrorMessage("任务已取消");
			} else if (success) {
			task.setStatus(MultiDeviceTask.Status.COMPLETED.name());
			} else {
			task.setStatus(MultiDeviceTask.Status.FAILED.name());
			@@ -157,6 +332,1624 @@
			return TaskExecutionResult.success(payload);
			}
			return TaskExecutionResult.failure(failureMessage != null ? failureMessage : "任务执行失败", payload);
			}

			/**
			* 请求取消任务：停止所有定时器并标记上下文
			*/
			public void requestTaskCancellation(String taskId) {
			TaskExecutionContext context = runningTaskContexts.get(taskId);
			if (context != null) {
			context.getSharedData().put("taskCancelled", true);
			log.warn("已标记任务取消: taskId={}", taskId);

			// 同时通知相关设备逻辑处理器执行取消收尾逻辑（例如停止大车内部的监控定时器）
			try {
			Map<String, Object> cancelParams = new HashMap<>();
			cancelParams.put("_taskContext", context);
			Object devicesObj = context.getSharedData().get("devices");
			if (devicesObj instanceof List) {
			@SuppressWarnings("unchecked")
			List<DeviceConfig> devices = (List<DeviceConfig>) devicesObj;
			for (DeviceConfig device : devices) {
			if (device == null) {
			continue;
			}
			try {
			DeviceLogicHandler handler = handlerFactory.getHandler(device.getDeviceType());
			if (handler != null) {
			// 目前大车逻辑处理器会在reset/clear等操作中停止内部监控定时器
			// 这里统一调用一次“reset”作为任务取消时的收尾动作
			handler.execute(device, "reset", cancelParams);
			}
			} catch (Exception e) {
			log.warn("任务取消时执行设备收尾(reset)失败: taskId={}, deviceId={}, error={}",
			taskId, device.getId(), e.getMessage());
			}
			}
			}
			} catch (Exception e) {
			log.warn("任务取消时执行设备收尾逻辑异常: taskId={}, error={}", taskId, e.getMessage());
			}
			} else {
			log.warn("请求取消任务但未找到上下文: taskId={}", taskId);
			}
			stopScheduledTasks(taskId);
			}

			/**
			* 启动卧转立扫码设备定时器：每10秒处理一个玻璃ID
			*/
			private ScheduledFuture<?> startScannerTimer(MultiDeviceTask task,
			TaskStepDetail step,
			DeviceConfig device,
			TaskExecutionContext context) {
			try {
			TaskParameters params = context.getParameters();
			List<String> glassIds = params.getGlassIds();
			log.debug("卧转立扫码定时器初始化: taskId={}, deviceId={}, glassIds={}, glassIdsSize={}, isEmpty={}",
			task.getTaskId(), device.getId(), glassIds,
			glassIds != null ? glassIds.size() : 0,
			CollectionUtils.isEmpty(glassIds));
			if (CollectionUtils.isEmpty(glassIds)) {
			log.warn("卧转立扫码设备没有玻璃ID，定时器不启动: deviceId={}", device.getId());
			return null;
			}

			// 创建待处理玻璃ID队列
			Queue<String> glassIdQueue = new ConcurrentLinkedQueue<>(glassIds);
			AtomicInteger processedCount = new AtomicInteger(0);
			AtomicInteger successCount = new AtomicInteger(0);
			AtomicInteger failCount = new AtomicInteger(0);

			// 从设备配置中获取扫码间隔，默认10秒
			Map<String, Object> logicParams = parseLogicParams(device);
			Integer scanIntervalMs = getLogicParam(logicParams, "scanIntervalMs", 10_000);

			log.debug("启动卧转立扫码定时器: taskId={}, deviceId={}, glassCount={}, interval={}ms, glassIds={}",
			task.getTaskId(), device.getId(), glassIds.size(), scanIntervalMs, glassIds);

			// 启动定时任务
			ScheduledFuture<?> future = scheduledExecutor.scheduleWithFixedDelay(() -> {
			try {
			if (isTaskCancelled(context)) {
			log.debug("任务已取消，停止卧转立扫码定时器: taskId={}, deviceId={}",
			task.getTaskId(), device.getId());
			return;
			}
			// 定时器第一次执行时，将设备状态从 WAITING 设置为 RUNNING
			deviceCoordinationService.syncDeviceStatus(device,
			DeviceCoordinationService.DeviceStatus.RUNNING, context);
			ensureStepRunning(step, task.getTaskId());
			// 检查是否需要暂停
			if (shouldPauseScanner(context)) {
			log.debug("卧转立扫码定时器暂停: taskId={}, deviceId={}", task.getTaskId(), device.getId());
			return;
			}

			// 检查是否还有待处理的玻璃ID
			String glassId = glassIdQueue.poll();
			if (glassId == null) {
			log.debug("卧转立扫码定时器完成: taskId={}, deviceId={}, processed={}/{}, success={}, fail={}",
			task.getTaskId(), device.getId(), processedCount.get(), glassIds.size(),
			successCount.get(), failCount.get());

			// 清空plcRequest和plcGlassId（确保PLC状态清理）
			try {
			DeviceLogicHandler handler = handlerFactory.getHandler(device.getDeviceType());
			if (handler != null) {
			Map<String, Object> clearParams = new HashMap<>();
			clearParams.put("_taskContext", context);
			handler.execute(device, "clearPlc", clearParams);
			log.debug("卧转立扫码定时器完成，已清空PLC请求字段: taskId={}, deviceId={}",
			task.getTaskId(), device.getId());
			}
			} catch (Exception e) {
			log.warn("卧转立扫码定时器完成时清空PLC失败: taskId={}, deviceId={}, error={}",
			task.getTaskId(), device.getId(), e.getMessage());
			}

			// 若之前未出现失败，再将状态置为完成
			boolean alreadyFailed = TaskStepDetail.Status.FAILED.name().equals(step.getStatus());
			if (!alreadyFailed) {
			step.setStatus(TaskStepDetail.Status.COMPLETED.name());
			step.setSuccessMessage(String.format("已完成扫描: 成功=%d, 失败=%d", successCount.get(), failCount.get()));
			if (step.getEndTime() == null) {
			step.setEndTime(new Date());
			}
			taskStepDetailMapper.updateById(step);
			notificationService.notifyStepUpdate(task.getTaskId(), step);
			// 扫码设备完成后尝试自动收尾整个任务
			checkAndCompleteTaskIfDone(step.getTaskId());
			}
			deviceCoordinationService.syncDeviceStatus(device,
			DeviceCoordinationService.DeviceStatus.COMPLETED, context);
			return;
			}

			int currentIndex = processedCount.incrementAndGet();
			log.debug("卧转立扫码定时器处理第{}/{}个玻璃: taskId={}, deviceId={}, glassId={}",
			currentIndex, glassIds.size(), task.getTaskId(), device.getId(), glassId);

			// 执行单次扫描
			Map<String, Object> scanParams = new HashMap<>();
			scanParams.put("glassId", glassId);
			scanParams.put("_taskContext", context);
			log.debug("卧转立扫码定时器准备执行: taskId={}, deviceId={}, glassId={}, scanParams={}",
			task.getTaskId(), device.getId(), glassId, scanParams);

			DeviceLogicHandler handler = handlerFactory.getHandler(device.getDeviceType());
			if (handler != null) {
			// 将logicParams合并到scanParams中（使用已定义的logicParams变量）
			if (logicParams != null && !logicParams.isEmpty()) {
			scanParams.put("_logicParams", logicParams);
			}
			log.debug("卧转立扫码定时器调用handler.execute: taskId={}, deviceId={}, glassId={}, operation=scanOnce, scanParamsKeys={}, scanParams={}",
			task.getTaskId(), device.getId(), glassId, scanParams.keySet(), scanParams);
			DevicePlcVO.OperationResult result = handler.execute(device, "scanOnce", scanParams);
			log.debug("卧转立扫码定时器handler.execute返回: taskId={}, deviceId={}, glassId={}, success={}",
			task.getTaskId(), device.getId(), glassId, result.getSuccess());

			if (Boolean.TRUE.equals(result.getSuccess())) {
			successCount.incrementAndGet();
			log.debug("卧转立扫码定时器处理成功: taskId={}, deviceId={}, glassId={}",
			task.getTaskId(), device.getId(), glassId);
			} else {
			failCount.incrementAndGet();
			log.warn("卧转立扫码定时器处理失败: taskId={}, deviceId={}, glassId={}, error={}",
			task.getTaskId(), device.getId(), glassId, result.getMessage());
			}

			// 更新步骤状态（显示进度，保持RUNNING状态直到所有玻璃处理完成）
			updateStepStatusForScanner(step, result, currentIndex, glassIds.size(),
			successCount.get(), failCount.get());
			// 通知步骤更新（让前端实时看到步骤状态和进度）
			notificationService.notifyStepUpdate(task.getTaskId(), step);
			boolean opSuccess = Boolean.TRUE.equals(result.getSuccess());
			updateTaskProgress(task, step.getStepOrder(), opSuccess);
			if (!opSuccess) {
			deviceCoordinationService.syncDeviceStatus(device,
			DeviceCoordinationService.DeviceStatus.FAILED, context);
			}
			}
			} catch (Exception e) {
			log.error("卧转立扫码定时器执行异常: taskId={}, deviceId={}", task.getTaskId(), device.getId(), e);
			failCount.incrementAndGet();
			}
			}, 0, scanIntervalMs, TimeUnit.MILLISECONDS);

			// 在串行执行模式下，扫码设备是第一个，应该立即设置为 RUNNING
			// 其他设备保持 WAITING，直到它们真正开始工作
			deviceCoordinationService.syncDeviceStatus(device,
			DeviceCoordinationService.DeviceStatus.RUNNING, context);
			return future;
			} catch (Exception e) {
			log.error("启动卧转立扫码定时器失败: taskId={}, deviceId={}", task.getTaskId(), device.getId(), e);
			return null;
			}
			}

			/**
			* 启动卧转立设备定时器：定期检查并处理玻璃批次
			*/
			private ScheduledFuture<?> startTransferTimer(MultiDeviceTask task,
			TaskStepDetail step,
			DeviceConfig device,
			TaskExecutionContext context) {
			try {
			// 从设备配置中获取监控间隔，默认5秒
			Map<String, Object> logicParams = parseLogicParams(device);
			Integer monitorIntervalMs = getLogicParam(logicParams, "monitorIntervalMs", 5_000);

			log.debug("启动卧转立设备定时器: taskId={}, deviceId={}, interval={}ms",
			task.getTaskId(), device.getId(), monitorIntervalMs);

			// 启动定时任务
			// 使用AtomicBoolean标记是否第一次执行
			final java.util.concurrent.atomic.AtomicBoolean firstExecution = new java.util.concurrent.atomic.AtomicBoolean(true);

			ScheduledFuture<?> future = scheduledExecutor.scheduleWithFixedDelay(() -> {
			try {
			if (isTaskCancelled(context)) {
			log.debug("任务已取消，停止卧转立设备定时器: taskId={}, deviceId={}",
			task.getTaskId(), device.getId());
			return;
			}

			// 如果步骤已经完成，不再执行后续逻辑（避免状态被重置）
			if (TaskStepDetail.Status.COMPLETED.name().equals(step.getStatus())) {
			log.debug("卧转立设备步骤已完成，停止定时器执行: taskId={}, deviceId={}",
			task.getTaskId(), device.getId());
			return;
			}

			// 构建参数
			Map<String, Object> params = new HashMap<>();
			params.put("_taskContext", context);
			if (logicParams != null && !logicParams.isEmpty()) {
			params.put("_logicParams", logicParams);
			}

			// 调用handler执行checkAndProcess
			DeviceLogicHandler handler = handlerFactory.getHandler(device.getDeviceType());
			if (handler != null) {
			DevicePlcVO.OperationResult result = handler.execute(device, "checkAndProcess", params);

			// 检查是否有数据：如果有数据或正在处理，设置为RUNNING；如果缓冲队列为空且无待处理玻璃，保持PENDING
			String message = result.getMessage();
			boolean hasData = result.getSuccess() != null && result.getSuccess()
			&& message != null && !message.contains("缓冲队列为空，无待处理玻璃");

			// 如果当前是PENDING状态，且检测到有数据，则设置为RUNNING（设备开始工作）
			boolean isPending = TaskStepDetail.Status.PENDING.name().equals(step.getStatus());

			if (hasData && isPending) {
			// 检测到数据且当前是等待状态，设备开始工作，设置为RUNNING
			deviceCoordinationService.syncDeviceStatus(device,
			DeviceCoordinationService.DeviceStatus.RUNNING, context);
			step.setStatus(TaskStepDetail.Status.RUNNING.name());
			if (step.getStartTime() == null) {
			step.setStartTime(new Date());
			}
			taskStepDetailMapper.updateById(step);
			notificationService.notifyStepUpdate(task.getTaskId(), step);
			log.debug("卧转立设备定时器检测到数据，从PENDING转为RUNNING: taskId={}, deviceId={}, message={}",
			task.getTaskId(), device.getId(), message);
			} else if (!hasData) {
			// 没有数据，保持PENDING状态，等待扫码设备输出
			if (firstExecution.compareAndSet(true, false)) {
			// 第一次执行，确保状态是PENDING
			if (!TaskStepDetail.Status.PENDING.name().equals(step.getStatus())) {
			step.setStatus(TaskStepDetail.Status.PENDING.name());
			step.setSuccessMessage("等待扫码设备输出数据");
			taskStepDetailMapper.updateById(step);
			notificationService.notifyStepUpdate(task.getTaskId(), step);
			}
			log.debug("卧转立设备定时器第一次执行，无数据，保持PENDING: taskId={}, deviceId={}, message={}",
			task.getTaskId(), device.getId(), message);
			}
			return; // 不执行后续逻辑，等待下一次定时器触发
			}

			// 更新步骤状态（区分等待中和真正完成）
			updateStepStatusForTransfer(step, result, device, context);
			// 通知步骤更新（让前端实时看到步骤状态）
			notificationService.notifyStepUpdate(task.getTaskId(), step);
			boolean opSuccess = Boolean.TRUE.equals(result.getSuccess());
			updateTaskProgress(task, step.getStepOrder(), opSuccess);

			// 根据执行结果更新设备状态
			// 注意：设备已经开始工作（定时器已执行），所以应该保持RUNNING状态
			// 只有在真正完成时才设置为COMPLETED
			if (opSuccess) {
			// 设备正在工作（等待缓冲、处理中等），保持RUNNING状态
			deviceCoordinationService.syncDeviceStatus(device,
			DeviceCoordinationService.DeviceStatus.RUNNING, context);
			if (message != null && message.contains("批次已写入PLC")) {
			log.debug("卧转立设备定时器执行成功（已写入PLC）: taskId={}, deviceId={}, message={}",
			task.getTaskId(), device.getId(), message);
			} else {
			log.debug("卧转立设备定时器工作中（等待缓冲）: taskId={}, deviceId={}, message={}",
			task.getTaskId(), device.getId(), message);
			}
			} else {
			log.warn("卧转立设备定时器执行失败: taskId={}, deviceId={}, message={}",
			task.getTaskId(), device.getId(), result.getMessage());
			deviceCoordinationService.syncDeviceStatus(device,
			DeviceCoordinationService.DeviceStatus.FAILED, context);
			}
			}
			} catch (Exception e) {
			log.error("卧转立设备定时器执行异常: taskId={}, deviceId={}", task.getTaskId(), device.getId(), e);
			}
			}, 0, monitorIntervalMs, TimeUnit.MILLISECONDS);

			// 在串行执行模式下，设备启动定时器时先设置为 WAITING，定时器第一次执行时再设置为 RUNNING
			deviceCoordinationService.syncDeviceStatus(device,
			DeviceCoordinationService.DeviceStatus.WAITING, context);
			return future;
			} catch (Exception e) {
			log.error("启动卧转立设备定时器失败: taskId={}, deviceId={}", task.getTaskId(), device.getId(), e);
			return null;
			}
			}

			/**
			* 启动进片大车设备定时器：持续监控容量，动态判断
			*/
			private ScheduledFuture<?> startInboundVehicleTimer(MultiDeviceTask task,
			TaskStepDetail step,
			DeviceConfig device,
			TaskExecutionContext context) {
			try {
			final long MONITOR_INTERVAL_MS = 2_000; // 2秒监控一次
			final AtomicInteger lastProcessedCount = new AtomicInteger(0);

			log.debug("启动进片大车设备定时器: taskId={}, deviceId={}, interval={}s",
			task.getTaskId(), device.getId(), MONITOR_INTERVAL_MS / 1000);

			// 启动定时任务
			ScheduledFuture<?> future = scheduledExecutor.scheduleWithFixedDelay(() -> {
			try {
			if (isTaskCancelled(context)) {
			log.debug("任务已取消，停止进片大车定时器: taskId={}, deviceId={}",
			task.getTaskId(), device.getId());
			return;
			}
			// 已完成/失败的步骤不再回退状态
			if (TaskStepDetail.Status.COMPLETED.name().equals(step.getStatus())
			\|\| TaskStepDetail.Status.FAILED.name().equals(step.getStatus())) {
			return;
			}
			// 进片大车设备：只有在真正开始处理时才设置为RUNNING
			// 先检查卧转立设备是否已完成，如果还在执行中，不应该开始大车的工作
			boolean transferCompleted = isTransferDeviceCompleted(task.getTaskId(), context);
			if (!transferCompleted) {
			// 卧转立还在执行中，等待卧转立完成
			if (!TaskStepDetail.Status.PENDING.name().equals(step.getStatus())) {
			step.setStatus(TaskStepDetail.Status.PENDING.name());
			step.setSuccessMessage("等待卧转立完成");
			if (step.getStartTime() == null) {
			step.setStartTime(new Date());
			}
			taskStepDetailMapper.updateById(step);
			notificationService.notifyStepUpdate(task.getTaskId(), step);
			}
			log.debug("卧转立还在执行中，进片大车等待: taskId={}, deviceId={}",
			task.getTaskId(), device.getId());
			return;
			}

			// 检查是否有卧转立主体已输出、准备上大车的玻璃信息
			List<String> readyGlassIds = getTransferReadyGlassIds(context);

			// 如果当前没有新的玻璃，但卧转立已完成，可以轮询MES任务/确认状态
			if (CollectionUtils.isEmpty(readyGlassIds)) {
			// 检查是否所有初始玻璃都已装载
			@SuppressWarnings("unchecked")
			List<String> initialGlassIds = (List<String>) context.getSharedData().get("initialGlassIds");
			List<String> loadedGlassIds = getLoadedGlassIds(context);

			if (initialGlassIds != null && !initialGlassIds.isEmpty()) {
			// 如果所有初始玻璃都已装载，说明已经处理完，不应该再变回等待
			if (loadedGlassIds != null && !loadedGlassIds.isEmpty()
			&& loadedGlassIds.containsAll(initialGlassIds)) {
			// 所有玻璃都已装载，保持RUNNING状态，继续轮询MES任务/确认
			if (!TaskStepDetail.Status.RUNNING.name().equals(step.getStatus())) {
			step.setStatus(TaskStepDetail.Status.RUNNING.name());
			if (step.getStartTime() == null) {
			step.setStartTime(new Date());
			}
			taskStepDetailMapper.updateById(step);
			notificationService.notifyStepUpdate(task.getTaskId(), step);
			}
			pollMesForVehicle(task, step, device, context);
			return;
			}
			}

			// 如果大车已经装载过玻璃（RUNNING状态），轮询MES任务/确认状态
			if (TaskStepDetail.Status.RUNNING.name().equals(step.getStatus())) {
			pollMesForVehicle(task, step, device, context);
			} else {
			// 如果还没有装载过玻璃，等待卧转立输出
			if (!TaskStepDetail.Status.PENDING.name().equals(step.getStatus())) {
			step.setStatus(TaskStepDetail.Status.PENDING.name());
			step.setSuccessMessage("等待卧转立输出玻璃");
			if (step.getStartTime() == null) {
			step.setStartTime(new Date());
			}
			taskStepDetailMapper.updateById(step);
			notificationService.notifyStepUpdate(task.getTaskId(), step);
			}
			}
			return;
			}

			// 如果玻璃ID数量没有变化，说明没有新的玻璃
			int currentCount = readyGlassIds.size();
			if (currentCount == lastProcessedCount.get()) {
			// 玻璃数量没有变化：没有新玻璃，但仍需轮询MES任务/确认，避免错过MES侧的变化
			pollMesForVehicle(task, step, device, context);
			log.debug("大车设备定时器：玻璃ID数量未变化，继续等待: taskId={}, deviceId={}, count={}",
			task.getTaskId(), device.getId(), currentCount);
			return;
			}

			log.debug("进片大车设备定时器检测到卧转立输出的玻璃信息: taskId={}, deviceId={}, glassCount={}",
			task.getTaskId(), device.getId(), currentCount);

			// 检查容量
			Map<String, Object> checkParams = new HashMap<>();
			checkParams.put("glassIds", new ArrayList<>(readyGlassIds));
			checkParams.put("_taskContext", context);

			DeviceLogicHandler handler = handlerFactory.getHandler(device.getDeviceType());
			if (handler != null) {
			// 将logicParams合并到checkParams中
			Map<String, Object> logicParams = parseLogicParams(device);
			if (logicParams != null && !logicParams.isEmpty()) {
			checkParams.put("_logicParams", logicParams);
			}
			// 第一步：写入大车上料请求
			DevicePlcVO.OperationResult feedResult = handler.execute(device, "feedGlass", checkParams);

			if (Boolean.TRUE.equals(feedResult.getSuccess())) {
			// 真正开始处理，设置为RUNNING
			deviceCoordinationService.syncDeviceStatus(device,
			DeviceCoordinationService.DeviceStatus.RUNNING, context);
			// 步骤状态也设置为RUNNING
			if (!TaskStepDetail.Status.RUNNING.name().equals(step.getStatus())) {
			step.setStatus(TaskStepDetail.Status.RUNNING.name());
			if (step.getStartTime() == null) {
			step.setStartTime(new Date());
			}
			taskStepDetailMapper.updateById(step);
			notificationService.notifyStepUpdate(task.getTaskId(), step);
			}
			log.debug("进片大车设备定时器执行成功: taskId={}, deviceId={}, glassCount={}",
			task.getTaskId(), device.getId(), readyGlassIds.size());
			// 将已装载的玻璃ID保存到共享数据中（供大理片笼使用）
			setLoadedGlassIds(context, new ArrayList<>(readyGlassIds));
			// 清空卧转立输出的玻璃ID列表（已处理）
			clearTransferReadyGlassIds(context);
			lastProcessedCount.set(0);
			// 确保卧转立扫码继续运行
			setScannerPause(context, false);

			// feedGlass成功后，先检查MES任务（checkMesTask）来开始执行任务
			DevicePlcVO.OperationResult mesTaskResult = null;
			try {
			mesTaskResult = handler.execute(device, "checkMesTask", Collections.emptyMap());
			if (mesTaskResult != null && Boolean.TRUE.equals(mesTaskResult.getSuccess())) {
			log.info("进片大车设备已检查MES任务并开始执行: taskId={}, deviceId={}, message={}",
			task.getTaskId(), device.getId(), mesTaskResult.getMessage());
			}
			} catch (Exception e) {
			log.warn("进片大车设备检查MES任务异常: taskId={}, deviceId={}, error={}",
			task.getTaskId(), device.getId(), e.getMessage());
			}
			} else {
			// 装不下，保持WAITING状态和PENDING步骤状态
			deviceCoordinationService.syncDeviceStatus(device,
			DeviceCoordinationService.DeviceStatus.WAITING, context);
			if (!TaskStepDetail.Status.PENDING.name().equals(step.getStatus())) {
			step.setStatus(TaskStepDetail.Status.PENDING.name());
			step.setSuccessMessage("容量不足，等待中");
			taskStepDetailMapper.updateById(step);
			notificationService.notifyStepUpdate(task.getTaskId(), step);
			}
			// 装不下，记录容量不足（是否需要影响扫码由工艺再决定）
			log.warn("进片大车设备定时器容量不足: taskId={}, deviceId={}, message={}",
			task.getTaskId(), device.getId(), feedResult.getMessage());
			lastProcessedCount.set(currentCount); // 记录当前数量，避免重复检查
			}

			// 第二步：检查MES确认状态（如果大车处理器支持的话）
			// 只有在任务已开始执行（有任务记录）时才检查MES确认
			DevicePlcVO.OperationResult mesResult = null;
			try {
			mesResult = handler.execute(device, "checkMesConfirm", Collections.emptyMap());
			} catch (Exception e) {
			log.warn("进片大车设备检查MES确认状态异常: taskId={}, deviceId={}, error={}",
			task.getTaskId(), device.getId(), e.getMessage());
			}

			// 如果MES已确认完成（mesConfirm=1），检查卧转立设备状态和玻璃信息
			// 如果卧转立已完成且所有玻璃都已装载，可以标记为完成
			if (mesResult != null && mesResult.getData() != null) {
			Object completedFlag = mesResult.getData().get("completed");
			boolean mesConfirmed = false;
			if (completedFlag instanceof Boolean) {
			mesConfirmed = (Boolean) completedFlag;
			} else if (completedFlag != null) {
			mesConfirmed = "true".equalsIgnoreCase(String.valueOf(completedFlag));
			}

			if (mesConfirmed) {
			// MES已确认完成，检查卧转立设备是否已完成
			boolean transferCompletedForMes = isTransferDeviceCompleted(task.getTaskId(), context);
			if (transferCompletedForMes) {
			// 检查任务上下文中的初始玻璃ID和已装载的玻璃ID
			@SuppressWarnings("unchecked")
			List<String> initialGlassIds = (List<String>) context.getSharedData().get("initialGlassIds");
			List<String> loadedGlassIds = getLoadedGlassIds(context);

			if (initialGlassIds != null && !initialGlassIds.isEmpty()
			&& loadedGlassIds != null && !loadedGlassIds.isEmpty()) {
			// 检查是否所有初始玻璃都已装载
			boolean allGlassesLoaded = loadedGlassIds.containsAll(initialGlassIds);
			if (allGlassesLoaded) {
			// 卧转立已完成且所有玻璃都已装载，标记为完成
			log.info("MES已确认且卧转立已完成且所有玻璃已装载，任务自动完成: taskId={}, deviceId={}, initialCount={}, loadedCount={}",
			task.getTaskId(), device.getId(), initialGlassIds.size(), loadedGlassIds.size());
			// mesResult已经包含completed=true，不需要修改
			}
			}
			} else {
			// 卧转立还未完成，不应该标记为完成
			log.debug("MES已确认但卧转立未完成，等待卧转立完成: taskId={}, deviceId={}",
			task.getTaskId(), device.getId());
			}
			}
			}

			// 更新步骤状态（大车设备保持RUNNING，直到MES确认完成或任务取消）
			if (mesResult != null) {
			updateStepStatusForVehicle(task.getTaskId(), step, mesResult);
			boolean opSuccess = Boolean.TRUE.equals(mesResult.getSuccess());
			updateTaskProgress(task, step.getStepOrder(), opSuccess);
			if (!opSuccess) {
			deviceCoordinationService.syncDeviceStatus(device,
			DeviceCoordinationService.DeviceStatus.FAILED, context);
			}
			} else {
			updateStepStatusForVehicle(task.getTaskId(), step, feedResult);
			boolean opSuccess = Boolean.TRUE.equals(feedResult.getSuccess());
			updateTaskProgress(task, step.getStepOrder(), opSuccess);
			if (!opSuccess) {
			deviceCoordinationService.syncDeviceStatus(device,
			DeviceCoordinationService.DeviceStatus.FAILED, context);
			}
			}
			}
			} catch (Exception e) {
			log.error("进片大车设备定时器执行异常: taskId={}, deviceId={}", task.getTaskId(), device.getId(), e);
			}
			}, 0, MONITOR_INTERVAL_MS, TimeUnit.MILLISECONDS);

			// 在串行执行模式下，设备启动定时器时先设置为 WAITING，定时器第一次执行时再设置为 RUNNING
			deviceCoordinationService.syncDeviceStatus(device,
			DeviceCoordinationService.DeviceStatus.WAITING, context);
			return future;
			} catch (Exception e) {
			log.error("启动进片大车设备定时器失败: taskId={}, deviceId={}", task.getTaskId(), device.getId(), e);
			return null;
			}
			}

			/**
			* 启动出片大车设备定时器：持续监控出片任务
			*/
			private ScheduledFuture<?> startOutboundVehicleTimer(MultiDeviceTask task,
			TaskStepDetail step,
			DeviceConfig device,
			TaskExecutionContext context) {
			try {
			final long MONITOR_INTERVAL_MS = 2_000; // 2秒监控一次

			log.debug("启动出片大车设备定时器: taskId={}, deviceId={}, interval={}s",
			task.getTaskId(), device.getId(), MONITOR_INTERVAL_MS / 1000);

			// 启动定时任务
			ScheduledFuture<?> future = scheduledExecutor.scheduleWithFixedDelay(() -> {
			try {
			if (isTaskCancelled(context)) {
			log.debug("任务已取消，停止出片大车定时器: taskId={}, deviceId={}",
			task.getTaskId(), device.getId());
			return;
			}
			// 出片大车设备：只有在真正开始处理时才设置为RUNNING
			// 检查是否有已处理的玻璃信息（从大理片笼来的）
			List<String> processedGlassIds = getProcessedGlassIds(context);
			boolean isRunning = TaskStepDetail.Status.RUNNING.name().equals(step.getStatus());

			// 如果没有已处理玻璃，则不应主动把步骤拉到RUNNING，只保持已运行状态
			if (CollectionUtils.isEmpty(processedGlassIds)) {
			if (isRunning) {
			// 已经在运行的情况下，继续轮询MES任务/确认，避免错过确认
			DeviceLogicHandler handler = handlerFactory.getHandler(device.getDeviceType());
			if (handler != null) {
			Map<String, Object> logicParams = parseLogicParams(device);

			// 先检查MES任务（如果mesSend=1，会创建任务并开始执行）
			DevicePlcVO.OperationResult mesTaskResult = null;
			try {
			mesTaskResult = handler.execute(device, "checkMesTask", Collections.emptyMap());
			if (mesTaskResult != null && Boolean.TRUE.equals(mesTaskResult.getSuccess())) {
			log.info("出片大车设备已检查MES任务并开始执行: taskId={}, deviceId={}, message={}",
			task.getTaskId(), device.getId(), mesTaskResult.getMessage());
			}
			} catch (Exception e) {
			log.warn("出片大车设备检查MES任务异常: taskId={}, deviceId={}, error={}",
			task.getTaskId(), device.getId(), e.getMessage());
			}

			// 然后检查MES确认状态（只有在任务已开始执行时才检查）
			DevicePlcVO.OperationResult mesResult = null;
			try {
			mesResult = handler.execute(device, "checkMesConfirm", Collections.emptyMap());
			} catch (Exception e) {
			log.warn("出片大车设备检查MES确认状态异常: taskId={}, deviceId={}, error={}",
			task.getTaskId(), device.getId(), e.getMessage());
			}

			// 更新步骤状态（大车设备保持RUNNING，直到MES确认完成或任务取消）
			if (mesResult != null) {
			updateStepStatusForVehicle(task.getTaskId(), step, mesResult);
			boolean opSuccess = Boolean.TRUE.equals(mesResult.getSuccess());
			updateTaskProgress(task, step.getStepOrder(), opSuccess);
			if (!opSuccess) {
			deviceCoordinationService.syncDeviceStatus(device,
			DeviceCoordinationService.DeviceStatus.FAILED, context);
			}
			}
			}
			} else {
			// 未运行且没有已处理玻璃，保持PENDING
			if (!TaskStepDetail.Status.PENDING.name().equals(step.getStatus())
			&& !TaskStepDetail.Status.COMPLETED.name().equals(step.getStatus())) {
			step.setStatus(TaskStepDetail.Status.PENDING.name());
			step.setSuccessMessage("等待大理片笼处理完成");
			taskStepDetailMapper.updateById(step);
			notificationService.notifyStepUpdate(task.getTaskId(), step);
			}
			log.debug("出片大车设备定时器：暂无已处理的玻璃信息: taskId={}, deviceId={}",
			task.getTaskId(), device.getId());
			}
			return;
			}

			log.debug("出片大车设备定时器检测到已处理的玻璃信息: taskId={}, deviceId={}, glassCount={}",
			task.getTaskId(), device.getId(), processedGlassIds.size());

			// 执行出片操作
			Map<String, Object> checkParams = new HashMap<>();
			checkParams.put("glassIds", new ArrayList<>(processedGlassIds));
			checkParams.put("_taskContext", context);

			DeviceLogicHandler handler = handlerFactory.getHandler(device.getDeviceType());
			if (handler != null) {
			// 将logicParams合并到checkParams中
			Map<String, Object> logicParams = parseLogicParams(device);
			if (logicParams != null && !logicParams.isEmpty()) {
			checkParams.put("_logicParams", logicParams);
			}
			// 第一步：写入大车出片请求
			DevicePlcVO.OperationResult feedResult = handler.execute(device, "feedGlass", checkParams);

			if (Boolean.TRUE.equals(feedResult.getSuccess())) {
			// 真正开始处理，设置为RUNNING
			deviceCoordinationService.syncDeviceStatus(device,
			DeviceCoordinationService.DeviceStatus.RUNNING, context);
			// 步骤状态也设置为RUNNING
			if (!TaskStepDetail.Status.RUNNING.name().equals(step.getStatus())) {
			step.setStatus(TaskStepDetail.Status.RUNNING.name());
			if (step.getStartTime() == null) {
			step.setStartTime(new Date());
			}
			taskStepDetailMapper.updateById(step);
			notificationService.notifyStepUpdate(task.getTaskId(), step);
			}
			log.debug("出片大车设备定时器执行成功: taskId={}, deviceId={}, glassCount={}",
			task.getTaskId(), device.getId(), processedGlassIds.size());
			// 清空已处理的玻璃ID列表（已处理）
			clearProcessedGlassIds(context);

			// feedGlass成功后，先检查MES任务（checkMesTask）来开始执行任务
			DevicePlcVO.OperationResult mesTaskResult = null;
			try {
			mesTaskResult = handler.execute(device, "checkMesTask", Collections.emptyMap());
			if (mesTaskResult != null && Boolean.TRUE.equals(mesTaskResult.getSuccess())) {
			log.info("出片大车设备已检查MES任务并开始执行: taskId={}, deviceId={}, message={}",
			task.getTaskId(), device.getId(), mesTaskResult.getMessage());
			}
			} catch (Exception e) {
			log.warn("出片大车设备检查MES任务异常: taskId={}, deviceId={}, error={}",
			task.getTaskId(), device.getId(), e.getMessage());
			}
			} else {
			// 没有数据，保持WAITING状态和PENDING步骤状态
			deviceCoordinationService.syncDeviceStatus(device,
			DeviceCoordinationService.DeviceStatus.WAITING, context);
			if (!TaskStepDetail.Status.PENDING.name().equals(step.getStatus())) {
			step.setStatus(TaskStepDetail.Status.PENDING.name());
			step.setSuccessMessage("等待中");
			taskStepDetailMapper.updateById(step);
			notificationService.notifyStepUpdate(task.getTaskId(), step);
			}
			log.debug("出片大车设备定时器执行失败: taskId={}, deviceId={}, message={}",
			task.getTaskId(), device.getId(), feedResult.getMessage());
			}

			// 第二步：检查MES确认状态（如果大车处理器支持的话）
			// 只有在任务已开始执行（有任务记录）时才检查MES确认
			DevicePlcVO.OperationResult mesResult = null;
			try {
			mesResult = handler.execute(device, "checkMesConfirm", Collections.emptyMap());
			} catch (Exception e) {
			log.warn("出片大车设备检查MES确认状态异常: taskId={}, deviceId={}, error={}",
			task.getTaskId(), device.getId(), e.getMessage());
			}

			// 更新步骤状态（大车设备保持RUNNING，直到MES确认完成或任务取消）
			if (mesResult != null) {
			updateStepStatusForVehicle(task.getTaskId(), step, mesResult);
			boolean opSuccess = Boolean.TRUE.equals(mesResult.getSuccess());
			updateTaskProgress(task, step.getStepOrder(), opSuccess);
			if (!opSuccess) {
			deviceCoordinationService.syncDeviceStatus(device,
			DeviceCoordinationService.DeviceStatus.FAILED, context);
			}
			} else {
			updateStepStatusForVehicle(task.getTaskId(), step, feedResult);
			boolean opSuccess = Boolean.TRUE.equals(feedResult.getSuccess());
			updateTaskProgress(task, step.getStepOrder(), opSuccess);
			if (!opSuccess) {
			deviceCoordinationService.syncDeviceStatus(device,
			DeviceCoordinationService.DeviceStatus.FAILED, context);
			}
			}
			}
			} catch (Exception e) {
			log.error("出片大车设备定时器执行异常: taskId={}, deviceId={}", task.getTaskId(), device.getId(), e);
			}
			}, 0, MONITOR_INTERVAL_MS, TimeUnit.MILLISECONDS);

			// 在串行执行模式下，设备启动定时器时先设置为 WAITING，定时器第一次执行时再设置为 RUNNING
			deviceCoordinationService.syncDeviceStatus(device,
			DeviceCoordinationService.DeviceStatus.WAITING, context);
			return future;
			} catch (Exception e) {
			log.error("启动出片大车设备定时器失败: taskId={}, deviceId={}", task.getTaskId(), device.getId(), e);
			return null;
			}
			}

			/**
			* 启动大理片笼设备定时器：逻辑处理（不涉及PLC交互，只负责逻辑处理，比如多久给任务汇报）
			*/
			private ScheduledFuture<?> startLargeGlassTimer(MultiDeviceTask task,
			TaskStepDetail step,
			DeviceConfig device,
			TaskExecutionContext context) {
			try {
			// 从设备配置中获取处理时间（默认30秒）
			Map<String, Object> logicParams = parseLogicParams(device);
			Integer processTimeSeconds = getLogicParam(logicParams, "processTimeSeconds", 30);
			final long PROCESS_TIME_MS = processTimeSeconds * 1000;

			log.debug("启动大理片笼设备定时器: taskId={}, deviceId={}, processTime={}s",
			task.getTaskId(), device.getId(), processTimeSeconds);

			// 启动定时任务
			ScheduledFuture<?> future = scheduledExecutor.scheduleWithFixedDelay(() -> {
			try {
			if (isTaskCancelled(context)) {
			log.debug("任务已取消，停止大理片笼定时器: taskId={}, deviceId={}",
			task.getTaskId(), device.getId());
			return;
			}
			// 如果步骤已经完成，不再处理
			if (TaskStepDetail.Status.COMPLETED.name().equals(step.getStatus())) {
			// 检查是否所有初始玻璃都已处理完
			@SuppressWarnings("unchecked")
			List<String> initialGlassIds = (List<String>) context.getSharedData().get("initialGlassIds");
			List<String> processedGlassIds = getProcessedGlassIds(context);

			if (initialGlassIds != null && !initialGlassIds.isEmpty()
			&& processedGlassIds != null && !processedGlassIds.isEmpty()
			&& processedGlassIds.containsAll(initialGlassIds)) {
			// 所有玻璃都已处理完，保持完成状态
			log.debug("大理片笼设备已完成且所有玻璃已处理: taskId={}, deviceId={}, initialCount={}, processedCount={}",
			task.getTaskId(), device.getId(), initialGlassIds.size(), processedGlassIds.size());
			return;
			}
			}

			// 大理片笼设备：只有在真正开始处理时才设置为RUNNING
			// 检查是否有已装载的玻璃信息（从进片大车来的）
			List<String> loadedGlassIds = getLoadedGlassIds(context);
			if (CollectionUtils.isEmpty(loadedGlassIds)) {
			// 没有数据，检查是否所有玻璃都已处理完
			@SuppressWarnings("unchecked")
			List<String> initialGlassIds = (List<String>) context.getSharedData().get("initialGlassIds");
			List<String> processedGlassIds = getProcessedGlassIds(context);

			if (initialGlassIds != null && !initialGlassIds.isEmpty()
			&& processedGlassIds != null && !processedGlassIds.isEmpty()
			&& processedGlassIds.containsAll(initialGlassIds)) {
			// 所有玻璃都已处理完，标记为完成
			if (!TaskStepDetail.Status.COMPLETED.name().equals(step.getStatus())) {
			step.setStatus(TaskStepDetail.Status.COMPLETED.name());
			step.setSuccessMessage("所有玻璃已处理完成");
			if (step.getEndTime() == null) {
			step.setEndTime(new Date());
			}
			if (step.getStartTime() != null && step.getEndTime() != null) {
			step.setDurationMs(step.getEndTime().getTime() - step.getStartTime().getTime());
			}
			taskStepDetailMapper.updateById(step);
			notificationService.notifyStepUpdate(task.getTaskId(), step);
			checkAndCompleteTaskIfDone(step.getTaskId());
			}
			return;
			}

			// 没有数据且未完成，保持WAITING状态和PENDING步骤状态
			deviceCoordinationService.syncDeviceStatus(device,
			DeviceCoordinationService.DeviceStatus.WAITING, context);
			if (!TaskStepDetail.Status.PENDING.name().equals(step.getStatus())
			&& !TaskStepDetail.Status.COMPLETED.name().equals(step.getStatus())) {
			step.setStatus(TaskStepDetail.Status.PENDING.name());
			step.setSuccessMessage("等待进片大车装载玻璃");
			taskStepDetailMapper.updateById(step);
			notificationService.notifyStepUpdate(task.getTaskId(), step);
			}
			log.debug("大理片笼设备定时器：暂无已装载的玻璃信息: taskId={}, deviceId={}",
			task.getTaskId(), device.getId());
			return;
			}

			// 有数据，设置为RUNNING
			deviceCoordinationService.syncDeviceStatus(device,
			DeviceCoordinationService.DeviceStatus.RUNNING, context);

			// 检查玻璃是否已经处理完成（通过处理时间判断）
			Long processStartTime = getProcessStartTime(context);
			if (processStartTime == null) {
			// 第一次检测到玻璃，记录开始处理时间
			setProcessStartTime(context, System.currentTimeMillis());
			log.debug("大理片笼设备开始处理: taskId={}, deviceId={}, glassCount={}, processTime={}s",
			task.getTaskId(), device.getId(), loadedGlassIds.size(), processTimeSeconds);
			return;
			}

			long elapsed = System.currentTimeMillis() - processStartTime;
			if (elapsed < PROCESS_TIME_MS) {
			// 处理时间未到，继续等待
			log.debug("大理片笼设备处理中: taskId={}, deviceId={}, elapsed={}s, remaining={}s",
			task.getTaskId(), device.getId(), elapsed / 1000, (PROCESS_TIME_MS - elapsed) / 1000);
			return;
			}

			// 处理时间已到，完成任务汇报
			log.debug("大理片笼设备处理完成: taskId={}, deviceId={}, glassCount={}, processTime={}s",
			task.getTaskId(), device.getId(), loadedGlassIds.size(), processTimeSeconds);

			// 将已处理的玻璃ID转移到已处理列表（供出片大车使用）
			setProcessedGlassIds(context, new ArrayList<>(loadedGlassIds));
			clearLoadedGlassIds(context);
			clearProcessStartTime(context);

			// 更新步骤状态
			step.setStatus(TaskStepDetail.Status.COMPLETED.name());
			step.setErrorMessage(null);
			step.setOutputData(toJson(Collections.singletonMap("glassIds", loadedGlassIds)));
			taskStepDetailMapper.updateById(step);
			// 大理片笼完成后尝试自动收尾整个任务
			checkAndCompleteTaskIfDone(step.getTaskId());

			} catch (Exception e) {
			log.error("大理片笼设备定时器执行异常: taskId={}, deviceId={}", task.getTaskId(), device.getId(), e);
			}
			}, 0, 1_000, TimeUnit.MILLISECONDS); // 每秒检查一次

			// 在串行执行模式下，设备启动定时器时先设置为 WAITING，定时器第一次执行时再设置为 RUNNING
			deviceCoordinationService.syncDeviceStatus(device,
			DeviceCoordinationService.DeviceStatus.WAITING, context);
			return future;
			} catch (Exception e) {
			log.error("启动大理片笼设备定时器失败: taskId={}, deviceId={}", task.getTaskId(), device.getId(), e);
			return null;
			}
			}

			/**
			* 获取逻辑参数
			*/
			@SuppressWarnings("unchecked")
			private <T> T getLogicParam(Map<String, Object> logicParams, String key, T defaultValue) {
			if (logicParams == null) {
			return defaultValue;
			}
			Object value = logicParams.get(key);
			if (value == null) {
			return defaultValue;
			}
			try {
			return (T) value;
			} catch (ClassCastException e) {
			return defaultValue;
			}
			}

			/**
			* 获取已装载的玻璃ID列表
			*/
			@SuppressWarnings("unchecked")
			private List<String> getLoadedGlassIds(TaskExecutionContext context) {
			if (context == null) {
			return Collections.emptyList();
			}
			Object glassIds = context.getSharedData().get("loadedGlassIds");
			if (glassIds instanceof List) {
			return new ArrayList<>((List<String>) glassIds);
			}
			return Collections.emptyList();
			}

			/**
			* 设置已装载的玻璃ID列表
			*/
			private void setLoadedGlassIds(TaskExecutionContext context, List<String> glassIds) {
			if (context != null) {
			// 累加记录，避免后续 containsAll 判断因覆盖丢失历史玻璃而回退为等待
			List<String> merged = new ArrayList<>(getLoadedGlassIds(context)); // 确保可变
			if (glassIds != null) {
			merged.addAll(glassIds);
			}
			// 去重
			List<String> distinct = merged.stream().distinct().collect(java.util.stream.Collectors.toList());
			context.getSharedData().put("loadedGlassIds", distinct);
			}
			}

			/**
			* 清空已装载的玻璃ID列表
			*/
			private void clearLoadedGlassIds(TaskExecutionContext context) {
			if (context != null) {
			context.getSharedData().put("loadedGlassIds", new ArrayList<>());
			}
			}

			/**
			* 获取已处理的玻璃ID列表
			*/
			@SuppressWarnings("unchecked")
			private List<String> getProcessedGlassIds(TaskExecutionContext context) {
			if (context == null) {
			return Collections.emptyList();
			}
			Object glassIds = context.getSharedData().get("processedGlassIds");
			if (glassIds instanceof List) {
			return new ArrayList<>((List<String>) glassIds);
			}
			return Collections.emptyList();
			}

			/**
			* 设置已处理的玻璃ID列表
			*/
			private void setProcessedGlassIds(TaskExecutionContext context, List<String> glassIds) {
			if (context != null) {
			context.getSharedData().put("processedGlassIds", new ArrayList<>(glassIds));
			}
			}

			/**
			* 清空已处理的玻璃ID列表
			*/
			private void clearProcessedGlassIds(TaskExecutionContext context) {
			if (context != null) {
			context.getSharedData().put("processedGlassIds", new ArrayList<>());
			}
			}

			/**
			* 获取处理开始时间
			*/
			private Long getProcessStartTime(TaskExecutionContext context) {
			if (context == null) {
			return null;
			}
			Object time = context.getSharedData().get("processStartTime");
			if (time instanceof Number) {
			return ((Number) time).longValue();
			}
			return null;
			}

			/**
			* 设置处理开始时间
			*/
			private void setProcessStartTime(TaskExecutionContext context, long time) {
			if (context != null) {
			context.getSharedData().put("processStartTime", time);
			}
			}

			/**
			* 清空处理开始时间
			*/
			private void clearProcessStartTime(TaskExecutionContext context) {
			if (context != null) {
			context.getSharedData().remove("processStartTime");
			}
			}

			/**
			* 设置卧转立扫码暂停标志
			*/
			private void setScannerPause(TaskExecutionContext context, boolean pause) {
			if (context != null) {
			context.getSharedData().put("scannerPause", pause);
			}
			}

			private boolean isTaskCancelled(TaskExecutionContext context) {
			if (context == null) {
			return false;
			}
			Object cancelled = context.getSharedData().get("taskCancelled");
			return cancelled instanceof Boolean && (Boolean) cancelled;
			}

			/**
			* 检查是否需要暂停卧转立扫码
			*/
			private boolean shouldPauseScanner(TaskExecutionContext context) {
			if (context == null) {
			return false;
			}
			Object pauseFlag = context.getSharedData().get("scannerPause");
			return pauseFlag instanceof Boolean && (Boolean) pauseFlag;
			}

			/**
			* 获取已扫描的玻璃ID列表
			*/
			@SuppressWarnings("unchecked")
			private List<String> getScannedGlassIds(TaskExecutionContext context) {
			if (context == null) {
			return Collections.emptyList();
			}
			Object glassIds = context.getSharedData().get("scannedGlassIds");
			if (glassIds instanceof List) {
			return new ArrayList<>((List<String>) glassIds);
			}
			return Collections.emptyList();
			}

			/**
			* 清空已扫描的玻璃ID列表
			*/
			private void clearScannedGlassIds(TaskExecutionContext context) {
			if (context != null) {
			context.getSharedData().put("scannedGlassIds", new ArrayList<>());
			}
			}

			/**
			* 获取卧转立主体已输出、准备上大车的玻璃ID列表
			*/
			@SuppressWarnings("unchecked")
			private List<String> getTransferReadyGlassIds(TaskExecutionContext context) {
			if (context == null) {
			return Collections.emptyList();
			}
			Object glassIds = context.getSharedData().get("transferReadyGlassIds");
			if (glassIds instanceof List) {
			return new ArrayList<>((List<String>) glassIds);
			}
			return Collections.emptyList();
			}

			/**
			* 清空卧转立主体已输出的玻璃ID列表
			*/
			private void clearTransferReadyGlassIds(TaskExecutionContext context) {
			if (context != null) {
			context.getSharedData().put("transferReadyGlassIds", new ArrayList<>());
			}
			}

			/**
			* 注册定时器任务
			*/
			private void registerScheduledTask(String taskId, ScheduledFuture<?> future) {
			taskScheduledTasks.computeIfAbsent(taskId, k -> new ArrayList<>()).add(future);
			}

			/**
			* 停止所有定时器任务
			*/
			private void stopScheduledTasks(String taskId) {
			List<ScheduledFuture<?>> futures = taskScheduledTasks.remove(taskId);
			if (futures != null) {
			for (ScheduledFuture<?> future : futures) {
			if (future != null && !future.isCancelled()) {
			future.cancel(false);
			}
			}
			log.debug("已停止任务的所有定时器: taskId={}, count={}", taskId, futures.size());
			}
			runningTaskContexts.remove(taskId);
			}

			/**
			* 等待定时器任务完成（带超时）
			*/
			private void waitForScheduledTasks(String taskId, TaskExecutionContext context) {
			// 获取任务超时时间（默认30分钟）
			TaskParameters params = context.getParameters();
			long timeoutMinutes = params != null && params.getTimeoutMinutes() != null
			? params.getTimeoutMinutes() : 30;
			long timeoutMs = timeoutMinutes * 60 * 1000;
			long deadline = System.currentTimeMillis() + timeoutMs;

			log.debug("等待定时器任务完成: taskId={}, timeout={}分钟", taskId, timeoutMinutes);

			while (System.currentTimeMillis() < deadline) {
			List<ScheduledFuture<?>> futures = taskScheduledTasks.get(taskId);
			if (futures == null \|\| futures.isEmpty()) {
			break;
			}

			// 检查是否所有任务都已完成
			boolean allDone = true;
			for (ScheduledFuture<?> future : futures) {
			if (future != null && !future.isDone()) {
			allDone = false;
			break;
			}
			}

			if (allDone) {
			break;
			}

			try {
			Thread.sleep(1000);
			} catch (InterruptedException e) {
			Thread.currentThread().interrupt();
			break;
			}
			}

			log.debug("定时器任务等待完成: taskId={}", taskId);
			}

			/**
			* 当某个步骤可能完成时，检查任务是否所有步骤都已完成，如果是则自动将任务标记为已完成
			*/
			private void checkAndCompleteTaskIfDone(String taskId) {
			if (taskId == null) {
			return;
			}
			try {
			MultiDeviceTask task = multiDeviceTaskMapper.selectOne(
			Wrappers.<MultiDeviceTask>lambdaQuery()
			.eq(MultiDeviceTask::getTaskId, taskId)
			);
			if (task == null) {
			return;
			}
			// 仅在任务仍为RUNNING时才尝试自动收尾
			if (!MultiDeviceTask.Status.RUNNING.name().equals(task.getStatus())) {
			return;
			}

			int totalSteps = task.getTotalSteps() != null ? task.getTotalSteps() : 0;
			if (totalSteps <= 0) {
			return;
			}

			int completedSteps = countCompletedSteps(taskId);
			if (completedSteps < totalSteps) {
			return;
			}

			// 所有步骤都已完成，收尾任务
			task.setStatus(MultiDeviceTask.Status.COMPLETED.name());
			task.setEndTime(new Date());
			multiDeviceTaskMapper.updateById(task);

			// 停止所有定时器
			stopScheduledTasks(taskId);

			// 通知任务完成
			notificationService.notifyTaskStatus(task);

			log.info("所有步骤已完成，自动将任务标记为已完成: taskId={}, totalSteps={}", taskId, totalSteps);
			} catch (Exception e) {
			log.warn("检查并自动完成任务失败: taskId={}", taskId, e);
			}
			}

			/**
			* 更新步骤状态
			*/
			private void updateStepStatus(TaskStepDetail step, DevicePlcVO.OperationResult result) {
			if (step == null \|\| result == null) {
			return;
			}
			boolean success = Boolean.TRUE.equals(result.getSuccess());
			step.setStatus(success
			? TaskStepDetail.Status.COMPLETED.name()
			: TaskStepDetail.Status.FAILED.name());
			// 设置消息：成功时如果有消息也保存，失败时保存错误消息
			String message = result.getMessage();
			if (success) {
			// 成功时，如果有消息则保存（用于提示信息），否则清空
			step.setSuccessMessage(StringUtils.hasText(message) ? message : null);
			// 如果状态变为完成，设置结束时间
			if (TaskStepDetail.Status.COMPLETED.name().equals(step.getStatus()) && step.getEndTime() == null) {
			step.setEndTime(new Date());
			}
			} else {
			// 失败时保存错误消息
			step.setErrorMessage(message);
			// 如果状态变为失败，设置结束时间
			if (TaskStepDetail.Status.FAILED.name().equals(step.getStatus()) && step.getEndTime() == null) {
			step.setEndTime(new Date());
			}
			}
			step.setOutputData(toJson(result));
			taskStepDetailMapper.updateById(step);
			if (StringUtils.hasText(step.getTaskId())) {
			notificationService.notifyStepUpdate(step.getTaskId(), step);
			}
			}

			/**
			* 确保步骤进入RUNNING状态（仅在第一次真正执行前调用）
			*/
			private void ensureStepRunning(TaskStepDetail step, String taskId) {
			if (step == null) {
			return;
			}
			if (!TaskStepDetail.Status.RUNNING.name().equals(step.getStatus())) {
			step.setStatus(TaskStepDetail.Status.RUNNING.name());
			if (step.getStartTime() == null) {
			step.setStartTime(new Date());
			}
			taskStepDetailMapper.updateById(step);
			notificationService.notifyStepUpdate(taskId, step);
			}
			}

			/**
			* 更新扫码设备步骤状态（显示进度，保持RUNNING状态直到所有玻璃处理完成）
			*/
			private void updateStepStatusForScanner(TaskStepDetail step, DevicePlcVO.OperationResult result,
			int currentIndex, int totalCount,
			int successCount, int failCount) {
			if (step == null \|\| result == null) {
			return;
			}

			boolean success = Boolean.TRUE.equals(result.getSuccess());

			// 保持RUNNING状态，直到所有玻璃处理完成（在定时器完成时再设置为COMPLETED）
			step.setStatus(TaskStepDetail.Status.RUNNING.name());

			// 更新时间和耗时，前端可以实时看到执行耗时
			Date now = new Date();
			if (step.getStartTime() == null) {
			step.setStartTime(now);
			}
			if (step.getStartTime() != null) {
			step.setDurationMs(now.getTime() - step.getStartTime().getTime());
			}

			// 更新进度信息
			String progressMessage = String.format("正在处理 %d/%d (成功:%d, 失败:%d)",
			currentIndex, totalCount, successCount, failCount);

			if (success) {
			// 成功时显示进度和成功消息
			String resultMessage = result.getMessage();
			if (StringUtils.hasText(resultMessage)) {
			step.setSuccessMessage(progressMessage + " - " + resultMessage);
			} else {
			step.setSuccessMessage(progressMessage);
			}
			step.setErrorMessage(null);
			} else {
			// 失败时显示进度和错误消息
			String errorMessage = result.getMessage();
			step.setErrorMessage(progressMessage + " - " + (StringUtils.hasText(errorMessage) ? errorMessage : "处理失败"));
			step.setSuccessMessage(null);
			}

			step.setOutputData(toJson(result));
			taskStepDetailMapper.updateById(step);
			}

			/**
			* 更新大车设备步骤状态（保持RUNNING，直到手动停止或任务取消；失败时标记为FAILED）
			*/
			private void updateStepStatusForVehicle(String taskId, TaskStepDetail step, DevicePlcVO.OperationResult result) {
			if (step == null \|\| result == null) {
			return;
			}
			// 如果步骤已经处于完成或失败状态，则不再被重复更新（防止状态反复切换）
			if (TaskStepDetail.Status.COMPLETED.name().equals(step.getStatus())
			\|\| TaskStepDetail.Status.FAILED.name().equals(step.getStatus())) {
			log.debug("步骤已完成或失败，不再更新状态: stepId={}, status={}", step.getId(), step.getStatus());
			return;
			}
			boolean success = Boolean.TRUE.equals(result.getSuccess());
			boolean completed = false;
			if (result.getData() != null && result.getData().get("completed") != null) {
			Object flag = result.getData().get("completed");
			if (flag instanceof Boolean) {
			completed = (Boolean) flag;
			} else {
			completed = "true".equalsIgnoreCase(String.valueOf(flag));
			}
			}
			Date now = new Date();

			// 初始化开始时间
			if (step.getStartTime() == null) {
			step.setStartTime(now);
			}

			boolean waiting = false;
			String waitingReason = null;
			if (result.getData() != null) {
			Object waitingFlag = result.getData().get("waiting");
			if (waitingFlag instanceof Boolean) {
			waiting = (Boolean) waitingFlag;
			} else if (waitingFlag != null) {
			waiting = "true".equalsIgnoreCase(String.valueOf(waitingFlag));
			}
			Object reason = result.getData().get("waitingReason");
			if (reason != null) {
			waitingReason = String.valueOf(reason);
			}
			}

			if (success && !completed) {
			// 成功但未完成：根据waiting状态决定显示为等待还是执行中
			// 注意：如果步骤已经是RUNNING状态（说明已经装载过玻璃），不应该改回PENDING
			boolean isAlreadyRunning = TaskStepDetail.Status.RUNNING.name().equals(step.getStatus());
			if (waiting && !isAlreadyRunning) {
			// 只有在还没有开始运行时，才设置为PENDING
			step.setStatus(TaskStepDetail.Status.PENDING.name());
			} else {
			// 如果已经运行过，或者不是等待状态，保持或设置为RUNNING
			step.setStatus(TaskStepDetail.Status.RUNNING.name());
			}
			String message = result.getMessage();
			if (!StringUtils.hasText(message) && waiting) {
			message = "大车设备等待中" + (StringUtils.hasText(waitingReason) ? "（" + waitingReason + "）" : "");
			}
			step.setSuccessMessage(StringUtils.hasText(message) ? message : (waiting && !isAlreadyRunning ? "大车设备等待中" : "大车设备运行中"));
			step.setErrorMessage(null);
			if (step.getStartTime() != null) {
			step.setDurationMs(now.getTime() - step.getStartTime().getTime());
			}
			} else if (success && completed) {
			// 成功且MES已确认完成：标记为COMPLETED并记录结束时间
			step.setStatus(TaskStepDetail.Status.COMPLETED.name());
			String message = result.getMessage();
			step.setSuccessMessage(StringUtils.hasText(message) ? message : "大车设备任务已完成");
			step.setErrorMessage(null);
			if (step.getEndTime() == null) {
			step.setEndTime(now);
			}
			if (step.getStartTime() != null && step.getEndTime() != null) {
			step.setDurationMs(step.getEndTime().getTime() - step.getStartTime().getTime());
			}
			// 尝试自动收尾整个任务
			checkAndCompleteTaskIfDone(step.getTaskId());
			} else {
			// 失败：标记为FAILED并记录结束时间
			step.setStatus(TaskStepDetail.Status.FAILED.name());
			String message = result.getMessage();
			step.setErrorMessage(message);
			if (step.getEndTime() == null) {
			step.setEndTime(now);
			}
			if (step.getStartTime() != null && step.getEndTime() != null) {
			step.setDurationMs(step.getEndTime().getTime() - step.getStartTime().getTime());
			}
			}

			step.setOutputData(toJson(result));
			taskStepDetailMapper.updateById(step);
			// 通知前端步骤状态已更新
			notificationService.notifyStepUpdate(taskId, step);
			}

			/**
			* 轮询大车设备的MES任务和确认状态
			* 无论步骤当前是否为RUNNING/PENDING，都可以调用，用于避免错过MES端后写入的任务
			*/
			private void pollMesForVehicle(MultiDeviceTask task,
			TaskStepDetail step,
			DeviceConfig device,
			TaskExecutionContext context) {
			try {
			DeviceLogicHandler handler = handlerFactory.getHandler(device.getDeviceType());
			if (handler == null) {
			return;
			}

			Map<String, Object> logicParams = parseLogicParams(device);

			// 先检查MES任务（如果mesSend=1，会创建任务并开始执行）
			DevicePlcVO.OperationResult mesTaskResult = null;
			try {
			mesTaskResult = handler.execute(device, "checkMesTask", Collections.emptyMap());
			if (mesTaskResult != null && Boolean.TRUE.equals(mesTaskResult.getSuccess())) {
			log.info("大车设备已检查MES任务并开始执行: taskId={}, deviceId={}, message={}",
			task.getTaskId(), device.getId(), mesTaskResult.getMessage());
			}
			} catch (Exception e) {
			log.warn("大车设备检查MES任务异常: taskId={}, deviceId={}, error={}",
			task.getTaskId(), device.getId(), e.getMessage());
			}

			// 然后检查MES确认状态
			DevicePlcVO.OperationResult mesResult = null;
			try {
			mesResult = handler.execute(device, "checkMesConfirm", Collections.emptyMap());
			} catch (Exception e) {
			log.warn("大车设备检查MES确认状态异常: taskId={}, deviceId={}, error={}",
			task.getTaskId(), device.getId(), e.getMessage());
			}

			// 如果MES已确认完成（mesConfirm=1），检查卧转立设备状态和玻璃信息
			// 如果卧转立已完成且所有玻璃都已装载，可以标记为完成
			if (mesResult != null && mesResult.getData() != null) {
			Object completedFlag = mesResult.getData().get("completed");
			boolean mesConfirmed = false;
			if (completedFlag instanceof Boolean) {
			mesConfirmed = (Boolean) completedFlag;
			} else if (completedFlag != null) {
			mesConfirmed = "true".equalsIgnoreCase(String.valueOf(completedFlag));
			}

			if (mesConfirmed) {
			// MES已确认完成，检查卧转立设备是否已完成
			boolean transferCompleted = isTransferDeviceCompleted(task.getTaskId(), context);
			if (transferCompleted) {
			// 检查任务上下文中的初始玻璃ID和已装载的玻璃ID
			@SuppressWarnings("unchecked")
			List<String> initialGlassIds = (List<String>) context.getSharedData().get("initialGlassIds");
			List<String> loadedGlassIds = getLoadedGlassIds(context);

			if (initialGlassIds != null && !initialGlassIds.isEmpty()
			&& loadedGlassIds != null && !loadedGlassIds.isEmpty()) {
			// 检查是否所有初始玻璃都已装载
			boolean allGlassesLoaded = loadedGlassIds.containsAll(initialGlassIds);
			if (allGlassesLoaded) {
			// 卧转立已完成且所有玻璃都已装载，标记为完成
			log.info("MES已确认且卧转立已完成且所有玻璃已装载，任务自动完成: taskId={}, deviceId={}, initialCount={}, loadedCount={}",
			task.getTaskId(), device.getId(), initialGlassIds.size(), loadedGlassIds.size());
			// mesResult已经包含completed=true，不需要修改
			}
			}
			} else {
			// 卧转立还未完成，不应该标记为完成
			log.debug("MES已确认但卧转立未完成，等待卧转立完成: taskId={}, deviceId={}",
			task.getTaskId(), device.getId());
			}
			}
			}

			// 更新步骤状态
			if (mesResult != null) {
			updateStepStatusForVehicle(task.getTaskId(), step, mesResult);
			boolean opSuccess = Boolean.TRUE.equals(mesResult.getSuccess());
			updateTaskProgress(task, step.getStepOrder(), opSuccess);
			if (!opSuccess) {
			deviceCoordinationService.syncDeviceStatus(device,
			DeviceCoordinationService.DeviceStatus.FAILED, context);
			}
			}
			} catch (Exception e) {
			log.warn("轮询大车设备MES任务/确认状态异常: taskId={}, deviceId={}, error={}",
			task.getTaskId(), device.getId(), e.getMessage());
			}
			}

			/**
			* 更新卧转立设备步骤状态（区分等待中和真正完成）
			*/
			private void updateStepStatusForTransfer(TaskStepDetail step, DevicePlcVO.OperationResult result,
			DeviceConfig device, TaskExecutionContext context) {
			if (step == null \|\| result == null) {
			return;
			}
			boolean success = Boolean.TRUE.equals(result.getSuccess());
			String message = result.getMessage();

			// 判断是否真正完成：
			// 1. 写入PLC成功且缓冲已清空（表示所有玻璃已处理完，无新玻璃）
			// 注意：缓冲队列为空且无待处理玻璃，在任务刚开始时也可能出现，不应该立即标记为完成
			// 只有当任务已经运行一段时间，且确实没有玻璃需要处理时，才标记为完成
			boolean isRealCompleted = success && message != null && (
			(message.contains("批次已写入PLC") && message.contains("缓冲已清空，任务完成"))
			);

			if (isRealCompleted) {
			// 真正完成：设置为完成状态，并设置结束时间
			// 注意：一旦标记为完成，状态不应该再被改变
			if (!TaskStepDetail.Status.COMPLETED.name().equals(step.getStatus())) {
			step.setStatus(TaskStepDetail.Status.COMPLETED.name());
			step.setSuccessMessage(message);
			if (step.getEndTime() == null) {
			step.setEndTime(new Date());
			}
			// 计算耗时
			if (step.getStartTime() != null && step.getEndTime() != null) {
			step.setDurationMs(step.getEndTime().getTime() - step.getStartTime().getTime());
			}
			log.info("卧转立设备步骤已完成: stepId={}, durationMs={}, message={}",
			step.getId(), step.getDurationMs(), message);
			// 卧转立主体完成后尝试自动收尾整个任务
			checkAndCompleteTaskIfDone(step.getTaskId());
			// 更新设备状态为已完成
			if (device != null) {
			deviceCoordinationService.syncDeviceStatus(device,
			DeviceCoordinationService.DeviceStatus.COMPLETED, context);
			}
			}
			} else if (success && message != null && message.contains("批次已写入PLC")) {
			// 写入PLC成功但缓冲还有玻璃（车满情况），继续运行
			if (!TaskStepDetail.Status.RUNNING.name().equals(step.getStatus())) {
			step.setStatus(TaskStepDetail.Status.RUNNING.name());
			}
			step.setSuccessMessage(message);
			// 确保开始时间已设置
			if (step.getStartTime() == null) {
			step.setStartTime(new Date());
			}
			} else if (success) {
			// 设备正在工作（等待缓冲、等待更多玻璃等），保持RUNNING状态
			// 因为定时器已经执行，说明设备已经开始工作了
			if (!TaskStepDetail.Status.RUNNING.name().equals(step.getStatus())) {
			step.setStatus(TaskStepDetail.Status.RUNNING.name());
			}
			step.setSuccessMessage(message);
			// 确保开始时间已设置（设备已经开始工作）
			if (step.getStartTime() == null) {
			step.setStartTime(new Date());
			}
			} else {
			// 失败：设置为失败状态，并设置结束时间
			step.setStatus(TaskStepDetail.Status.FAILED.name());
			step.setErrorMessage(message);
			if (step.getEndTime() == null) {
			step.setEndTime(new Date());
			}
			// 计算耗时
			if (step.getStartTime() != null && step.getEndTime() != null) {
			step.setDurationMs(step.getEndTime().getTime() - step.getStartTime().getTime());
			}
			}

			step.setOutputData(toJson(result));
			taskStepDetailMapper.updateById(step);
			}

			/**
			* 创建步骤摘要
			*/
			private Map<String, Object> createStepSummary(String deviceName, boolean success, String message) {
			Map<String, Object> summary = new HashMap<>();
			summary.put("deviceName", deviceName);
			summary.put("success", success);
			summary.put("message", message);
			return summary;
			}

			/**
			* 解析设备逻辑参数
			*/
			@SuppressWarnings("unchecked")
			private Map<String, Object> parseLogicParams(DeviceConfig device) {
			String extraParams = device.getExtraParams();
			if (!StringUtils.hasText(extraParams)) {
			return Collections.emptyMap();
			}
			try {
			Map<String, Object> extraParamsMap = objectMapper.readValue(extraParams, MAP_TYPE);
			Object deviceLogic = extraParamsMap.get("deviceLogic");
			if (deviceLogic instanceof Map) {
			return (Map<String, Object>) deviceLogic;
			}
			return Collections.emptyMap();
			} catch (Exception e) {
			log.warn("解析设备逻辑参数失败: deviceId={}", device.getId(), e);
			return Collections.emptyMap();
			}
			}

			/**
			@@ -346,6 +2139,60 @@
			}
			}

			/**
			* 分批执行大车设备玻璃上料（当玻璃ID数量超过6个时）
			*/
			private StepResult executeLoadVehicleWithBatches(MultiDeviceTask task,
			DeviceConfig device,
			int order,
			TaskExecutionContext context,
			List<Map<String, Object>> stepSummaries) {
			List<String> allGlassIds = context.getParameters().getGlassIds();
			int batchSize = 6; // 每批最多6个玻璃ID

			// 分批处理
			int totalBatches = (allGlassIds.size() + batchSize - 1) / batchSize;
			log.debug("大车设备分批上料: deviceId={}, totalGlassIds={}, batchSize={}, totalBatches={}",
			device.getId(), allGlassIds.size(), batchSize, totalBatches);

			for (int batchIndex = 0; batchIndex < totalBatches; batchIndex++) {
			int startIndex = batchIndex * batchSize;
			int endIndex = Math.min(startIndex + batchSize, allGlassIds.size());
			List<String> batchGlassIds = allGlassIds.subList(startIndex, endIndex);

			// 创建临时参数，只包含当前批次的玻璃ID
			TaskParameters batchParams = new TaskParameters();
			batchParams.setGlassIds(new ArrayList<>(batchGlassIds));
			batchParams.setPositionCode(context.getParameters().getPositionCode());
			batchParams.setPositionValue(context.getParameters().getPositionValue());

			// 创建临时上下文
			TaskExecutionContext batchContext = new TaskExecutionContext(batchParams);

			// 创建步骤记录
			TaskStepDetail step = createStepRecord(task, device, order);
			step.setStepName(step.getStepName() + String.format(" (批次 %d/%d)", batchIndex + 1, totalBatches));

			// 执行当前批次
			StepResult stepResult = executeStep(task, step, device, batchContext);
			stepSummaries.add(stepResult.toSummary());

			if (!stepResult.isSuccess()) {
			log.error("大车设备分批上料失败: deviceId={}, batchIndex={}/{}, error={}",
			device.getId(), batchIndex + 1, totalBatches, stepResult.getMessage());
			return stepResult;
			}

			log.debug("大车设备分批上料成功: deviceId={}, batchIndex={}/{}, glassIds={}",
			device.getId(), batchIndex + 1, totalBatches, batchGlassIds);
			}

			// 更新上下文中的已加载玻璃ID
			context.setLoadedGlassIds(new ArrayList<>(allGlassIds));

			return StepResult.success(device.getDeviceName(), "分批上料完成，共" + totalBatches + "批");
			}

			private TaskStepDetail createStepRecord(MultiDeviceTask task, DeviceConfig device, int order) {
			TaskStepDetail step = new TaskStepDetail();
			step.setTaskId(task.getTaskId());
			@@ -362,6 +2209,18 @@
			TaskStepDetail step,
			DeviceConfig device,
			TaskExecutionContext context) {
			DeviceCoordinationService.DependencyCheckResult dependencyResult =
			deviceCoordinationService.checkDependencies(device, context);
			if (!dependencyResult.isSatisfied()) {
			log.warn("设备依赖未满足: deviceId={}, message={}", device.getId(), dependencyResult.getMessage());
			step.setStatus(TaskStepDetail.Status.FAILED.name());
			step.setErrorMessage(dependencyResult.getMessage());
			step.setStartTime(new Date());
			step.setEndTime(new Date());
			taskStepDetailMapper.updateById(step);
			updateTaskProgress(task, step.getStepOrder(), false);
			return StepResult.failure(device.getDeviceName(), dependencyResult.getMessage());
			}
			return executeStepWithRetry(task, step, device, context, getRetryPolicy(device));
			}

			@@ -384,6 +2243,10 @@
			}

			Map<String, Object> params = buildOperationParams(device, context);
			// 将context引用放入params，供设备处理器使用（用于设备协调）
			params.put("_taskContext", context);
			log.debug("executeStepWithRetry构建参数: deviceId={}, deviceType={}, operation={}, paramsKeys={}, params={}",
			device.getId(), device.getDeviceType(), determineOperation(device, params), params.keySet(), params);
			step.setInputData(toJson(params));
			taskStepDetailMapper.updateById(step);

			@@ -398,7 +2261,7 @@
			if (retryAttempt > 0) {
			// 重试前等待
			long waitTime = retryPolicy.calculateRetryInterval(retryAttempt);
			log.info("步骤执行重试: deviceId={}, operation={}, retryAttempt={}/{}, waitTime={}ms",
			log.debug("步骤执行重试: deviceId={}, operation={}, retryAttempt={}/{}, waitTime={}ms",
			device.getId(), operation, retryAttempt, retryPolicy.getMaxRetryCount(), waitTime);
			Thread.sleep(waitTime);

			@@ -424,7 +2287,7 @@
			notificationService.notifyStepUpdate(task.getTaskId(), step);

			if (opSuccess) {
			updateContextAfterSuccess(device, context, params);
			updateContextAfterSuccess(device, context, params, result);

			// 同步设备状态
			deviceCoordinationService.syncDeviceStatus(device,
			@@ -514,6 +2377,69 @@
			}

			/**
			* 执行一次简单的设备操作步骤（不走交互引擎），用于触发请求等场景
			*/
			private StepResult executeDirectOperationStep(MultiDeviceTask task,
			TaskStepDetail step,
			DeviceConfig device,
			TaskExecutionContext context,
			String operation,
			Map<String, Object> params) {
			Date startTime = new Date();
			step.setStartTime(startTime);
			step.setStatus(TaskStepDetail.Status.RUNNING.name());
			step.setRetryCount(0);
			step.setInputData(toJson(params));
			taskStepDetailMapper.updateById(step);

			try {
			DeviceCoordinationService.DependencyCheckResult dependencyResult =
			deviceCoordinationService.checkDependencies(device, context);
			if (!dependencyResult.isSatisfied()) {
			log.warn("直接操作依赖未满足: deviceId={}, message={}", device.getId(), dependencyResult.getMessage());
			step.setStatus(TaskStepDetail.Status.FAILED.name());
			step.setErrorMessage(dependencyResult.getMessage());
			step.setEndTime(new Date());
			step.setDurationMs(step.getEndTime().getTime() - step.getStartTime().getTime());
			taskStepDetailMapper.updateById(step);
			updateTaskProgress(task, step.getStepOrder(), false);
			return StepResult.failure(device.getDeviceName(), dependencyResult.getMessage());
			}

			DevicePlcVO.OperationResult result = deviceInteractionService.executeOperation(
			device.getId(), operation, params);

			boolean opSuccess = Boolean.TRUE.equals(result.getSuccess());
			updateStepAfterOperation(step, result, opSuccess);
			updateTaskProgress(task, step.getStepOrder(), opSuccess);

			if (opSuccess) {
			updateContextAfterSuccess(device, context, params, result);
			// 简单同步设备状态为已完成
			deviceCoordinationService.syncDeviceStatus(device,
			DeviceCoordinationService.DeviceStatus.COMPLETED, context);
			return StepResult.success(device.getDeviceName(), result.getMessage());
			} else {
			deviceCoordinationService.syncDeviceStatus(device,
			DeviceCoordinationService.DeviceStatus.FAILED, context);
			return StepResult.failure(device.getDeviceName(), result.getMessage());
			}
			} catch (Exception e) {
			log.error("直接设备操作异常, deviceId={}, operation={}", device.getId(), operation, e);
			step.setStatus(TaskStepDetail.Status.FAILED.name());
			step.setErrorMessage(e.getMessage());
			step.setEndTime(new Date());
			step.setDurationMs(step.getEndTime().getTime() - step.getStartTime().getTime());
			taskStepDetailMapper.updateById(step);
			updateTaskProgress(task, step.getStepOrder(), false);

			deviceCoordinationService.syncDeviceStatus(device,
			DeviceCoordinationService.DeviceStatus.FAILED, context);
			return StepResult.failure(device.getDeviceName(), e.getMessage());
			}
			}

			/**
			* 带重试的交互步骤执行
			*/
			private StepResult executeInteractionStepWithRetry(MultiDeviceTask task,
			@@ -529,7 +2455,7 @@
			try {
			if (retryAttempt > 0) {
			long waitTime = retryPolicy.calculateRetryInterval(retryAttempt);
			log.info("交互步骤执行重试: deviceId={}, retryAttempt={}/{}, waitTime={}ms",
			log.debug("交互步骤执行重试: deviceId={}, retryAttempt={}/{}, waitTime={}ms",
			device.getId(), retryAttempt, retryPolicy.getMaxRetryCount(), waitTime);
			Thread.sleep(waitTime);

			@@ -652,7 +2578,15 @@
			step.setDurationMs(step.getEndTime().getTime() - step.getStartTime().getTime());
			}
			step.setStatus(success ? TaskStepDetail.Status.COMPLETED.name() : TaskStepDetail.Status.FAILED.name());
			step.setErrorMessage(success ? null : result.getMessage());
			// 设置消息：成功时如果有消息也保存，失败时保存错误消息
			String message = result != null ? result.getMessage() : null;
			if (success) {
			// 成功时，如果有消息则保存（用于提示信息），否则清空
			step.setErrorMessage(StringUtils.hasText(message) ? message : null);
			} else {
			// 失败时保存错误消息
			step.setErrorMessage(message);
			}
			step.setOutputData(toJson(result));
			taskStepDetailMapper.updateById(step);
			}
			@@ -671,20 +2605,108 @@
			}

			private void updateTaskProgress(MultiDeviceTask task, int currentStep, boolean success) {
			task.setCurrentStep(currentStep);
			if (!success) {
			task.setStatus(MultiDeviceTask.Status.FAILED.name());
			}

			// 计算已完成的步骤数（用于进度显示）
			int completedSteps = countCompletedSteps(task.getTaskId());
			int progressStep = success
			? completedSteps
			: Math.max(completedSteps, currentStep); // 失败时至少显示当前步骤

			LambdaUpdateWrapper<MultiDeviceTask> update = Wrappers.<MultiDeviceTask>lambdaUpdate()
			.eq(MultiDeviceTask::getId, task.getId())
			.set(MultiDeviceTask::getCurrentStep, currentStep);
			.set(MultiDeviceTask::getCurrentStep, progressStep);
			if (!success) {
			update.set(MultiDeviceTask::getStatus, MultiDeviceTask.Status.FAILED.name());
			}
			multiDeviceTaskMapper.update(null, update);

			// 通知任务状态更新
			// 更新任务对象的进度，用于通知
			task.setCurrentStep(progressStep);

			// 通知任务状态更新（包含进度信息）
			notificationService.notifyTaskStatus(task);
			}

			/**
			* 统计已完成的步骤数
			*/
			private int countCompletedSteps(String taskId) {
			if (taskId == null) {
			return 0;
			}
			try {
			return taskStepDetailMapper.selectCount(
			Wrappers.<TaskStepDetail>lambdaQuery()
			.eq(TaskStepDetail::getTaskId, taskId)
			.eq(TaskStepDetail::getStatus, TaskStepDetail.Status.COMPLETED.name())
			).intValue();
			} catch (Exception e) {
			log.warn("统计已完成步骤数失败: taskId={}", taskId, e);
			return 0;
			}
			}

			/**
			* 检查卧转立设备是否已完成
			* 返回true表示卧转立已完成（COMPLETED），可以判断大车是否完成
			* 返回false表示卧转立还在运行中（RUNNING）或等待中（PENDING），不应该标记大车为完成
			*/
			private boolean isTransferDeviceCompleted(String taskId, TaskExecutionContext context) {
			if (taskId == null \|\| context == null) {
			return false;
			}
			try {
			// 从上下文中获取设备列表
			@SuppressWarnings("unchecked")
			List<DeviceConfig> devices = (List<DeviceConfig>) context.getSharedData().get("devices");
			if (devices == null \|\| devices.isEmpty()) {
			return false;
			}

			// 查找卧转立设备
			DeviceConfig transferDevice = null;
			for (DeviceConfig device : devices) {
			if (DeviceConfig.DeviceType.WORKSTATION_TRANSFER.equals(device.getDeviceType())) {
			transferDevice = device;
			break;
			}
			}

			if (transferDevice == null) {
			// 没有卧转立设备，返回true（不影响判断）
			return true;
			}

			// 查找卧转立设备的步骤（应该只有一个步骤）
			List<TaskStepDetail> transferSteps = taskStepDetailMapper.selectList(
			Wrappers.<TaskStepDetail>lambdaQuery()
			.eq(TaskStepDetail::getTaskId, taskId)
			.eq(TaskStepDetail::getDeviceId, transferDevice.getId())
			.orderByDesc(TaskStepDetail::getStepOrder)
			.last("LIMIT 1")
			);

			if (transferSteps == null \|\| transferSteps.isEmpty()) {
			// 没有找到步骤，返回false（卧转立可能还没开始）
			return false;
			}

			// 检查步骤状态：只有COMPLETED才算完成，RUNNING或PENDING都不算完成
			TaskStepDetail transferStep = transferSteps.get(0);
			String status = transferStep.getStatus();
			boolean isCompleted = TaskStepDetail.Status.COMPLETED.name().equals(status);

			log.debug("检查卧转立设备状态: taskId={}, deviceId={}, status={}, isCompleted={}",
			taskId, transferDevice.getId(), status, isCompleted);

			return isCompleted;
			} catch (Exception e) {
			log.warn("检查卧转立设备状态失败: taskId={}", taskId, e);
			return false;
			}
			}

			private String determineOperation(DeviceConfig device, Map<String, Object> params) {
			@@ -724,19 +2746,21 @@
			params.put("processType", taskParams.getProcessType() != null ? taskParams.getProcessType() : 1);
			params.put("triggerRequest", true);
			break;
			case DeviceConfig.DeviceType.GLASS_STORAGE:
			List<String> processed = context.getSafeProcessedGlassIds();
			if (CollectionUtils.isEmpty(processed)) {
			processed = context.getSafeLoadedGlassIds();
			case DeviceConfig.DeviceType.WORKSTATION_SCANNER:
			// 卧转立扫码设备：从任务参数中获取玻璃ID列表，取第一个作为当前要测试的玻璃ID
			// 注意：扫码设备通常通过定时器执行，但如果通过executeStep执行，也需要传递glassId
			log.debug("buildOperationParams处理扫码设备: deviceId={}, taskParams.glassIds={}, isEmpty={}",
			device.getId(), taskParams.getGlassIds(),
			CollectionUtils.isEmpty(taskParams.getGlassIds()));
			if (!CollectionUtils.isEmpty(taskParams.getGlassIds())) {
			params.put("glassId", taskParams.getGlassIds().get(0));
			params.put("glassIds", new ArrayList<>(taskParams.getGlassIds()));
			log.debug("buildOperationParams为扫码设备添加glassId: deviceId={}, glassId={}, glassIdsSize={}",
			device.getId(), taskParams.getGlassIds().get(0), taskParams.getGlassIds().size());
			} else {
			log.warn("buildOperationParams扫码设备glassIds为空: deviceId={}, taskParams.glassIds={}, taskParams={}",
			device.getId(), taskParams.getGlassIds(), taskParams);
			}
			if (!CollectionUtils.isEmpty(processed)) {
			params.put("glassId", processed.get(0));
			params.put("glassIds", new ArrayList<>(processed));
			}
			if (taskParams.getStoragePosition() != null) {
			params.put("storagePosition", taskParams.getStoragePosition());
			}
			params.put("triggerRequest", true);
			break;
			default:
			if (!CollectionUtils.isEmpty(taskParams.getExtra())) {
			@@ -763,13 +2787,17 @@

			private void updateContextAfterSuccess(DeviceConfig device,
			TaskExecutionContext context,
			Map<String, Object> params) {
			Map<String, Object> params,
			DevicePlcVO.OperationResult result) {
			List<String> glassIds = extractGlassIds(params);


			switch (device.getDeviceType()) {
			case DeviceConfig.DeviceType.WORKSTATION_SCANNER:
			handleScannerSuccess(context, result);
			break;
			case DeviceConfig.DeviceType.LOAD_VEHICLE:
			context.setLoadedGlassIds(glassIds);
			// 数据传递：上大车 -> 下一个设备
			// 数据传递：大车设备 -> 下一个设备
			if (!CollectionUtils.isEmpty(glassIds)) {
			Map<String, Object> transferData = new HashMap<>();
			transferData.put("glassIds", glassIds);
			@@ -792,6 +2820,23 @@
			}
			}

			private void handleScannerSuccess(TaskExecutionContext context,
			DevicePlcVO.OperationResult result) {
			List<String> scannerGlassIds = extractGlassIdsFromResult(result);
			if (CollectionUtils.isEmpty(scannerGlassIds)) {
			String workLine = resolveWorkLineFromResult(result, context.getParameters());
			scannerGlassIds = glassInfoService.getRecentScannedGlassIds(
			SCANNER_LOOKBACK_MINUTES, SCANNER_LOOKBACK_LIMIT, workLine);
			}
			if (!CollectionUtils.isEmpty(scannerGlassIds)) {
			context.getParameters().setGlassIds(new ArrayList<>(scannerGlassIds));
			context.setLoadedGlassIds(new ArrayList<>(scannerGlassIds));
			log.debug("卧转立扫码获取到玻璃ID: {}", scannerGlassIds);
			} else {
			log.warn("卧转立扫码未获取到玻璃ID，后续设备可能无法执行");
			}
			}

			private List<String> extractGlassIds(Map<String, Object> params) {
			if (params == null) {
			return Collections.emptyList();
			@@ -809,6 +2854,45 @@
			return Collections.emptyList();
			}

			@SuppressWarnings("unchecked")
			private List<String> extractGlassIdsFromResult(DevicePlcVO.OperationResult result) {
			if (result == null \|\| result.getData() == null) {
			return Collections.emptyList();
			}
			Object data = result.getData().get("glassIds");
			if (data instanceof List) {
			List<Object> raw = (List<Object>) data;
			List<String> converted = new ArrayList<>();
			for (Object item : raw) {
			if (item != null) {
			converted.add(String.valueOf(item));
			}
			}
			return converted;
			}
			if (data instanceof String && StringUtils.hasText((String) data)) {
			return Collections.singletonList((String) data);
			}
			return Collections.emptyList();
			}

			private String resolveWorkLineFromResult(DevicePlcVO.OperationResult result,
			TaskParameters parameters) {
			if (result != null && result.getData() != null) {
			Object workLine = result.getData().get("workLine");
			if (workLine != null && StringUtils.hasText(String.valueOf(workLine))) {
			return String.valueOf(workLine);
			}
			}
			if (parameters != null && !CollectionUtils.isEmpty(parameters.getExtra())) {
			Object extraWorkLine = parameters.getExtra().get("workLine");
			if (extraWorkLine != null) {
			return String.valueOf(extraWorkLine);
			}
			}
			return null;
			}

			private String toJson(Object value) {
			try {
			return objectMapper.writeValueAsString(value);