修改任务执行步骤状态完成检验

huang

2025-12-05 73aa66976e35252378be3f09be2474193ccd0bf6

 mes-processes/mes-plcSend/src/main/java/com/mes/task/service/TaskExecutionEngine.java

@@ -102,6 +102,8 @@

        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);
        
        task.setTotalSteps(devices.size());
        task.setStatus(MultiDeviceTask.Status.RUNNING.name());
@@ -340,6 +342,35 @@
        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);
        }
@@ -382,10 +413,13 @@
            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={}", 
                        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)) {
@@ -484,6 +518,8 @@
                }
            }, 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;
@@ -509,6 +545,9 @@
                    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)) {
@@ -516,7 +555,14 @@
                                task.getTaskId(), device.getId());
                        return;
                    }
                    ensureStepRunning(step, task.getTaskId());
                    
                    // 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);
@@ -529,19 +575,61 @@
                    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);
                        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) {
                            String message = result.getMessage();
                            // 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={}",
                                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("卧转立设备定时器等待中: taskId={}, deviceId={}, message={}",
                                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 {
@@ -556,8 +644,9 @@
                }
            }, 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.RUNNING, context);
                    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);
@@ -587,17 +676,81 @@
                                task.getTaskId(), device.getId());
                        return;
                    }
                    ensureStepRunning(step, task.getTaskId());
                    // 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);
                    if (CollectionUtils.isEmpty(readyGlassIds)) {
                        // 没有卧转立输出的玻璃，继续等待
                    // 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;
                    }
                    
                    // 如果玻璃ID数量没有变化，说明没有新的玻璃，继续等待
                    // 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;
@@ -622,6 +775,18 @@
                        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）
@@ -631,7 +796,29 @@
                            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());
@@ -639,6 +826,7 @@
                        }
                        
                        // 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());
@@ -647,9 +835,48 @@
                                    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(step, mesResult);
                            updateStepStatusForVehicle(task.getTaskId(), step, mesResult);
                            boolean opSuccess = Boolean.TRUE.equals(mesResult.getSuccess());
                            updateTaskProgress(task, step.getStepOrder(), opSuccess);
                            if (!opSuccess) {
@@ -657,7 +884,7 @@
                                        DeviceCoordinationService.DeviceStatus.FAILED, context);
                            }
                        } else {
                            updateStepStatusForVehicle(step, feedResult);
                            updateStepStatusForVehicle(task.getTaskId(), step, feedResult);
                            boolean opSuccess = Boolean.TRUE.equals(feedResult.getSuccess());
                            updateTaskProgress(task, step.getStepOrder(), opSuccess);
                            if (!opSuccess) {
@@ -671,8 +898,9 @@
                }
            }, 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.RUNNING, context);
                    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);
@@ -701,12 +929,64 @@
                                task.getTaskId(), device.getId());
                        return;
                    }
                    ensureStepRunning(step, task.getTaskId());
                    // 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)) {
                        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());
                        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;
                    }
                    
@@ -729,16 +1009,51 @@
                        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());
@@ -749,7 +1064,7 @@
                        
                        // 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(step, mesResult);
                            updateStepStatusForVehicle(task.getTaskId(), step, mesResult);
                            boolean opSuccess = Boolean.TRUE.equals(mesResult.getSuccess());
                            updateTaskProgress(task, step.getStepOrder(), opSuccess);
                            if (!opSuccess) {
@@ -757,7 +1072,7 @@
                                        DeviceCoordinationService.DeviceStatus.FAILED, context);
                            }
                        } else {
                            updateStepStatusForVehicle(step, feedResult);
                            updateStepStatusForVehicle(task.getTaskId(), step, feedResult);
                            boolean opSuccess = Boolean.TRUE.equals(feedResult.getSuccess());
                            updateTaskProgress(task, step.getStepOrder(), opSuccess);
                            if (!opSuccess) {
@@ -771,8 +1086,9 @@
                }
            }, 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.RUNNING, context);
                    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);
@@ -804,14 +1120,70 @@
                                task.getTaskId(), device.getId());
                        return;
                    }
                    ensureStepRunning(step, task.getTaskId());
                    // 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);
@@ -853,6 +1225,9 @@
                }
            }, 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);
@@ -899,7 +1274,14 @@
     */
    private void setLoadedGlassIds(TaskExecutionContext context, List<String> glassIds) {
        if (context != null) {
            context.getSharedData().put("loadedGlassIds", new ArrayList<>(glassIds));
            // 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);
        }
    }
    
@@ -1196,6 +1578,9 @@
        }
        step.setOutputData(toJson(result));
        taskStepDetailMapper.updateById(step);
        if (StringUtils.hasText(step.getTaskId())) {
            notificationService.notifyStepUpdate(step.getTaskId(), step);
        }
    }
    
    /**
@@ -1266,8 +1651,14 @@
    /**
     * 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(TaskStepDetail step, DevicePlcVO.OperationResult result) {
    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());
@@ -1287,11 +1678,37 @@
            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：保持RUNNING状态，仅更新提示信息和耗时
            step.setStatus(TaskStepDetail.Status.RUNNING.name());
            // 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();
            step.setSuccessMessage(StringUtils.hasText(message) ? message : "大车设备运行中");
            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());
@@ -1325,12 +1742,108 @@

        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) {
    private void updateStepStatusForTransfer(TaskStepDetail step, DevicePlcVO.OperationResult result, 
                                            DeviceConfig device, TaskExecutionContext context) {
        if (step == null || result == null) {
            return;
        }
@@ -1338,26 +1851,36 @@
        String message = result.getMessage();
        
        // 判断是否真正完成：
        // 1. 写入PLC成功
        // 2. 且缓冲已清空（表示所有玻璃已处理完，无新玻璃）
        boolean isRealCompleted = success && message != null 
                && message.contains("批次已写入PLC") 
                && message.contains("缓冲已清空，任务完成");
        // 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
            step.setStatus(TaskStepDetail.Status.COMPLETED.name());
            step.setSuccessMessage(message);
            if (step.getEndTime() == null) {
                step.setEndTime(new Date());
            // 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);
                }
            }
            // 计算耗时
            if (step.getStartTime() != null && step.getEndTime() != null) {
                step.setDurationMs(step.getEndTime().getTime() - step.getStartTime().getTime());
            }
            log.debug("卧转立设备步骤已完成: stepId={}, durationMs={}", step.getId(), step.getDurationMs());
            // 卧转立主体完成后尝试自动收尾整个任务
            checkAndCompleteTaskIfDone(step.getTaskId());
        } 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())) {
@@ -1369,12 +1892,13 @@
                step.setStartTime(new Date());
            }
        } else if (success) {
            // 等待中：保持运行状态，只更新消息
            // 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
            // 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());
            }
@@ -2125,6 +2649,66 @@
        }
    }

    /**
     * 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) {
        if (params != null && params.containsKey("operation")) {
            Object op = params.get("operation");