修改出片任务分批进行

huang

2 天以前 ea51b55feb73883040ed8a87b5a4aeb0bf94bb5e

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

@@ -676,21 +676,72 @@
                                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，无论步骤是否已进入RUNNING，都应该轮询MES任务/确认状态
                    // 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)) {
                        // 轮询MES任务/确认，避免错过MES侧后写入的任务
                        pollMesForVehicle(task, step, device, context);
                        // 如果仍然没有卧转立输出的玻璃，保持/更新为PENDING提示
                        if (!TaskStepDetail.Status.RUNNING.name().equals(step.getStatus())
                                && !TaskStepDetail.Status.PENDING.name().equals(step.getStatus())) {
                            step.setStatus(TaskStepDetail.Status.PENDING.name());
                            step.setSuccessMessage("等待卧转立输出玻璃");
                            taskStepDetailMapper.updateById(step);
                            notificationService.notifyStepUpdate(task.getTaskId(), step);
                        // 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;
                    }
@@ -778,15 +829,56 @@
                        // 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());
                            Map<String, Object> confirmParams = new HashMap<>();
                            confirmParams.put("_taskContext", context);
                            mesResult = handler.execute(device, "checkMesConfirm", confirmParams);
                        } 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(step, mesResult);
                            updateStepStatusForVehicle(task.getTaskId(), step, mesResult);
                            boolean opSuccess = Boolean.TRUE.equals(mesResult.getSuccess());
                            updateTaskProgress(task, step.getStepOrder(), opSuccess);
                            if (!opSuccess) {
@@ -794,7 +886,7 @@
                                        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) {
@@ -843,11 +935,43 @@
                    // 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());
                    boolean isCompleted = TaskStepDetail.Status.COMPLETED.name().equals(step.getStatus());
                    
                    // 如果设备已经在运行中，即使没有新玻璃，也要继续监控MES任务和确认状态
                    // 获取已出片的玻璃ID列表（在方法开始处声明，避免重复定义）
                    List<String> outboundGlassIds = getOutboundGlassIds(context);
                    
                    // 如果步骤已完成，检查是否所有初始玻璃都已出片
                    if (isCompleted) {
                        @SuppressWarnings("unchecked")
                        List<String> initialGlassIds = (List<String>) context.getSharedData().get("initialGlassIds");
                        
                        // 如果还有未出片的玻璃，重置步骤状态为RUNNING，继续等待
                        if (initialGlassIds != null && !initialGlassIds.isEmpty() 
                                && (outboundGlassIds == null || !outboundGlassIds.containsAll(initialGlassIds))) {
                            log.info("出片大车步骤已完成，但还有未出片的玻璃，重置为RUNNING继续等待: taskId={}, deviceId={}, initialCount={}, outboundCount={}",
                                    task.getTaskId(), device.getId(), 
                                    initialGlassIds.size(), 
                                    outboundGlassIds != null ? outboundGlassIds.size() : 0);
                            step.setStatus(TaskStepDetail.Status.RUNNING.name());
                            step.setEndTime(null); // 清除结束时间
                            step.setSuccessMessage("等待剩余玻璃出片");
                            taskStepDetailMapper.updateById(step);
                            notificationService.notifyStepUpdate(task.getTaskId(), step);
                            // 继续执行后续逻辑，检查是否有新的已处理玻璃
                        } else {
                            // 所有玻璃都已出片，保持完成状态
                            log.debug("出片大车所有玻璃都已出片: taskId={}, deviceId={}, initialCount={}, outboundCount={}",
                                    task.getTaskId(), device.getId(), 
                                    initialGlassIds != null ? initialGlassIds.size() : 0, 
                                    outboundGlassIds != null ? outboundGlassIds.size() : 0);
                            return;
                        }
                    }
                    
                    // 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) {
                            // 设备正在运行中，先检查MES任务，然后监控MES确认状态
                        if (isRunning || isCompleted) {
                            // 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);
@@ -856,9 +980,14 @@
                                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());
                                    if (mesTaskResult != null) {
                                        if (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());
                                        } else {
                                            log.debug("出片大车设备检查MES任务，等待中: 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={}",
@@ -868,7 +997,9 @@
                                // 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());
                                    Map<String, Object> checkParams = new HashMap<>();
                                    checkParams.put("_taskContext", context);
                                    mesResult = handler.execute(device, "checkMesConfirm", checkParams);
                                } 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());
@@ -876,7 +1007,7 @@
                                
                                // 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) {
@@ -885,10 +1016,10 @@
                                    }
                                }
                            }
                            return;
                        } else {
                            // 没有数据，且设备未运行，保持PENDING状态
                            if (!TaskStepDetail.Status.PENDING.name().equals(step.getStatus())) {
                            // 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);
@@ -896,16 +1027,37 @@
                            }
                            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;
                        }
                        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());

                    // 过滤出还未出片的玻璃（支持分批出片）
                    // 重新获取已出片的玻璃ID列表（可能在上面的逻辑中已更新）
                    outboundGlassIds = getOutboundGlassIds(context);
                    List<String> glassIdsToOutbound = new ArrayList<>();
                    for (String glassId : processedGlassIds) {
                        if (outboundGlassIds == null || !outboundGlassIds.contains(glassId)) {
                            glassIdsToOutbound.add(glassId);
                        }
                    }
                    
                    // 如果没有需要出片的玻璃（都已经出片过了），继续等待新的已处理玻璃
                    if (glassIdsToOutbound.isEmpty()) {
                        log.debug("出片大车已处理的玻璃都已出片，等待新的已处理玻璃: taskId={}, deviceId={}",
                                task.getTaskId(), device.getId());
                        return;
                    }
                    
                    log.debug("出片大车准备出片: taskId={}, deviceId={}, 待出片数量={}, 已出片数量={}",
                            task.getTaskId(), device.getId(), glassIdsToOutbound.size(), 
                            outboundGlassIds != null ? outboundGlassIds.size() : 0);
                    
                    // 执行出片操作
                    Map<String, Object> checkParams = new HashMap<>();
                    checkParams.put("glassIds", new ArrayList<>(processedGlassIds));
                    checkParams.put("glassIds", glassIdsToOutbound);
                    checkParams.put("_taskContext", context);
                    
                    DeviceLogicHandler handler = handlerFactory.getHandler(device.getDeviceType());
@@ -932,9 +1084,17 @@
                                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);
                                    task.getTaskId(), device.getId(), glassIdsToOutbound.size());
                            // 记录已出片的玻璃ID（只记录本次出片的玻璃）
                            addOutboundGlassIds(context, glassIdsToOutbound);
                            // 从processedGlassIds中移除已出片的玻璃，保留未出片的玻璃
                            processedGlassIds.removeAll(glassIdsToOutbound);
                            // 如果还有未出片的玻璃，不清空processedGlassIds；如果全部出片了，清空
                            if (processedGlassIds.isEmpty()) {
                                clearProcessedGlassIds(context);
                            } else {
                                setProcessedGlassIds(context, processedGlassIds);
                            }
                            
                            // feedGlass成功后，先检查MES任务（checkMesTask）来开始执行任务
                            DevicePlcVO.OperationResult mesTaskResult = null;
@@ -966,15 +1126,54 @@
                        // 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());
                            Map<String, Object> confirmParams = new HashMap<>();
                            confirmParams.put("_taskContext", context);
                            mesResult = handler.execute(device, "checkMesConfirm", confirmParams);
                        } 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());
                        }
                        
                        // 对于出片大车，需要检查是否所有初始玻璃都已出片
                        // 如果MES返回completed=true，但还有未出片的玻璃，则不应标记为完成
                        if (mesResult != null && mesResult.getData() != null) {
                            Object completedFlag = mesResult.getData().get("completed");
                            boolean mesCompleted = false;
                            if (completedFlag instanceof Boolean) {
                                mesCompleted = (Boolean) completedFlag;
                            } else if (completedFlag != null) {
                                mesCompleted = "true".equalsIgnoreCase(String.valueOf(completedFlag));
                            }
                            
                            // 如果MES返回completed=true，检查是否所有初始玻璃都已出片
                            if (mesCompleted) {
                                @SuppressWarnings("unchecked")
                                List<String> initialGlassIds = (List<String>) context.getSharedData().get("initialGlassIds");
                                // 重新获取已出片的玻璃ID列表（可能在上面的逻辑中已更新）
                                outboundGlassIds = getOutboundGlassIds(context);
                                
                                // 如果还有未出片的玻璃，修改mesResult，将completed设为false
                                if (initialGlassIds != null && !initialGlassIds.isEmpty() 
                                        && (outboundGlassIds == null || !outboundGlassIds.containsAll(initialGlassIds))) {
                                    log.debug("出片大车MES返回completed=true，但还有未出片的玻璃: taskId={}, deviceId={}, initialCount={}, outboundCount={}",
                                            task.getTaskId(), device.getId(), 
                                            initialGlassIds.size(), 
                                            outboundGlassIds != null ? outboundGlassIds.size() : 0);
                                    // 修改mesResult，将completed设为false，保持RUNNING状态
                                    Map<String, Object> modifiedData = new HashMap<>(mesResult.getData());
                                    modifiedData.put("completed", false);
                                    DevicePlcVO.OperationResult modifiedResult = new DevicePlcVO.OperationResult();
                                    modifiedResult.setSuccess(mesResult.getSuccess());
                                    modifiedResult.setMessage(mesResult.getMessage());
                                    modifiedResult.setData(modifiedData);
                                    mesResult = modifiedResult;
                                }
                            }
                        }
                        
                        // 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) {
@@ -982,7 +1181,7 @@
                                        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) {
@@ -1030,14 +1229,57 @@
                                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，保持WAITING状态和PENDING步骤状态
                        // 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())) {
                        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);
@@ -1056,7 +1298,17 @@
                    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());
                        long now = System.currentTimeMillis();
                        setProcessStartTime(context, now);
                        // 补齐步骤的开始时间与状态，确保前端耗时正常显示
                        if (!TaskStepDetail.Status.RUNNING.name().equals(step.getStatus())) {
                            step.setStatus(TaskStepDetail.Status.RUNNING.name());
                        }
                        if (step.getStartTime() == null) {
                            step.setStartTime(new Date(now));
                        }
                        taskStepDetailMapper.updateById(step);
                        notificationService.notifyStepUpdate(task.getTaskId(), step);
                        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;
@@ -1082,6 +1334,17 @@
                    // 更新步骤状态
                    step.setStatus(TaskStepDetail.Status.COMPLETED.name());
                    step.setErrorMessage(null);
                    // 记录结束时间与耗时
                    if (step.getEndTime() == null) {
                        step.setEndTime(new Date());
                    }
                    if (step.getStartTime() == null) {
                        // 如果开始时间缺失，用处理开始时间或结束时间兜底
                        step.setStartTime(new Date(processStartTime));
                    }
                    if (step.getStartTime() != null && step.getEndTime() != null) {
                        step.setDurationMs(step.getEndTime().getTime() - step.getStartTime().getTime());
                    }
                    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
@@ -1141,7 +1404,14 @@
     */
    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);
        }
    }
    
@@ -1184,6 +1454,33 @@
    private void clearProcessedGlassIds(TaskExecutionContext context) {
        if (context != null) {
            context.getSharedData().put("processedGlassIds", new ArrayList<>());
        }
    }
    
    /**
     * 获取已出片的玻璃ID列表
     */
    @SuppressWarnings("unchecked")
    private List<String> getOutboundGlassIds(TaskExecutionContext context) {
        if (context == null) {
            return Collections.emptyList();
        }
        Object glassIds = context.getSharedData().get("outboundGlassIds");
        if (glassIds instanceof List) {
            return new ArrayList<>((List<String>) glassIds);
        }
        return Collections.emptyList();
    }
    
    /**
     * 添加已出片的玻璃ID列表
     */
    private void addOutboundGlassIds(TaskExecutionContext context, List<String> glassIds) {
        if (context != null && glassIds != null && !glassIds.isEmpty()) {
            List<String> existing = getOutboundGlassIds(context);
            Set<String> allOutbound = new HashSet<>(existing);
            allOutbound.addAll(glassIds);
            context.getSharedData().put("outboundGlassIds", new ArrayList<>(allOutbound));
        }
    }
    
@@ -1438,6 +1735,9 @@
        }
        step.setOutputData(toJson(result));
        taskStepDetailMapper.updateById(step);
        if (StringUtils.hasText(step.getTaskId())) {
            notificationService.notifyStepUpdate(step.getTaskId(), step);
        }
    }
    
    /**
@@ -1508,8 +1808,14 @@
    /**
     * 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());
@@ -1546,16 +1852,20 @@
        
        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
            if (waiting) {
            // 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 ? "大车设备等待中" : "大车设备运行中"));
            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());
@@ -1589,6 +1899,8 @@

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

    /**
@@ -1623,15 +1935,56 @@
            // 然后检查MES确认状态
            DevicePlcVO.OperationResult mesResult = null;
            try {
                mesResult = handler.execute(device, "checkMesConfirm", Collections.emptyMap());
                Map<String, Object> checkParams = new HashMap<>();
                checkParams.put("_taskContext", context);
                mesResult = handler.execute(device, "checkMesConfirm", checkParams);
            } 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(step, mesResult);
                updateStepStatusForVehicle(task.getTaskId(), step, mesResult);
                boolean opSuccess = Boolean.TRUE.equals(mesResult.getSuccess());
                updateTaskProgress(task, step.getStepOrder(), opSuccess);
                if (!opSuccess) {
@@ -2455,6 +2808,66 @@
        }
    }

    /**
     * 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");