package com.mes.interaction.vehicle.handler;

import com.mes.device.entity.DeviceConfig;
import com.mes.device.entity.DeviceStatus;
import com.mes.device.service.DeviceConfigService;
import com.mes.device.service.DeviceGroupRelationService;
import com.mes.device.service.DevicePlcOperationService;
import com.mes.device.service.GlassInfoService;
import com.mes.device.service.DeviceStatusService;
import com.mes.device.vo.DeviceGroupVO;
import com.mes.device.vo.DevicePlcVO;
import com.mes.interaction.BaseDeviceLogicHandler;
import com.mes.interaction.vehicle.coordination.VehicleStatusManager;
import com.mes.interaction.vehicle.model.VehiclePosition;
import com.mes.interaction.vehicle.model.VehicleState;
import com.mes.interaction.vehicle.model.VehicleStatus;
import com.mes.interaction.vehicle.model.VehicleTask;
import com.mes.s7.enhanced.EnhancedS7Serializer;
import com.mes.s7.provider.S7SerializerProvider;
import com.mes.service.PlcDynamicDataService;
import com.mes.task.model.TaskExecutionContext;
import com.mes.interaction.workstation.scanner.handler.HorizontalScannerLogicHandler;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Qualifier;
import org.springframework.stereotype.Component;

import javax.annotation.PreDestroy;
import java.util.*;
import java.util.concurrent.*;

/**
 * 大车设备逻辑处理器
 * 所有大车设备实例共享这个处理器
 * 集成多实例状态管理和协调功能
 * 
 * @author huang
 * @since 2025-11-21
 */
@Slf4j
@Component
public class LoadVehicleLogicHandler extends BaseDeviceLogicHandler {

    private final GlassInfoService glassInfoService;
    
    @Autowired
    private VehicleStatusManager statusManager;
    
    @Autowired(required = false)
    private DeviceConfigService deviceConfigService;
    
    @Autowired(required = false)
    private DeviceGroupRelationService deviceGroupRelationService;
    
    @Autowired(required = false)
    private DeviceStatusService deviceStatusService;
    
    @Autowired(required = false)
    private PlcDynamicDataService plcDynamicDataService;
    
    @Autowired(required = false)
    private S7SerializerProvider s7SerializerProvider;

    // MES字段列表（进片和出片共用同一套协议）
    private static final List<String> MES_FIELDS = Arrays.asList(
            "mesSend", "mesGlassId", "mesWidth", "mesHeight", 
            "startSlot", "targetSlot", "workLine"
    );

    // 监控线程池：用于定期检查大车状态并协调卧转立设备
    private final ScheduledExecutorService stateMonitorExecutor = Executors.newScheduledThreadPool(5, r -> {
        Thread t = new Thread(r, "VehicleStateMonitor");
        t.setDaemon(true);
        return t;
    });
    
    // 空闲监控线程池：用于保持plcRequest=1
    private final ScheduledExecutorService idleMonitorExecutor = Executors.newScheduledThreadPool(3, r -> {
        Thread t = new Thread(r, "VehicleIdleMonitor");
        t.setDaemon(true);
        return t;
    });
    
    // 任务监控线程池：用于监控任务执行和状态切换
    private final ScheduledExecutorService taskMonitorExecutor = Executors.newScheduledThreadPool(5, r -> {
        Thread t = new Thread(r, "VehicleTaskMonitor");
        t.setDaemon(true);
        return t;
    });
    
    // 记录正在监控的设备：deviceId -> 监控任务
    private final Map<String, ScheduledFuture<?>> monitoringTasks = new ConcurrentHashMap<>();
    
    // 记录空闲监控任务：deviceId -> 空闲监控任务
    private final Map<String, ScheduledFuture<?>> idleMonitoringTasks = new ConcurrentHashMap<>();
    
    // 记录任务监控任务：deviceId -> 任务监控任务
    private final Map<String, ScheduledFuture<?>> taskMonitoringTasks = new ConcurrentHashMap<>();
    
    // 记录已协调的设备：deviceId -> 已协调的state字段集合（避免重复协调）
    private final Map<String, List<String>> coordinatedStates = new ConcurrentHashMap<>();
    
    // 记录当前任务：deviceId -> 任务信息
    private final Map<String, MesTaskInfo> currentTasks = new ConcurrentHashMap<>();

    @Autowired
    public LoadVehicleLogicHandler(
            DevicePlcOperationService devicePlcOperationService,
            @Qualifier("deviceGlassInfoService") GlassInfoService glassInfoService) {
        super(devicePlcOperationService);
        this.glassInfoService = glassInfoService;
    }

    @Override
    public String getDeviceType() {
        return DeviceConfig.DeviceType.LOAD_VEHICLE;
    }

    @Override
    protected DevicePlcVO.OperationResult doExecute(
            DeviceConfig deviceConfig,
            String operation,
            Map<String, Object> params,
            Map<String, Object> logicParams) {

        String deviceId = deviceConfig.getDeviceId();
        log.info("执行大车设备操作: deviceId={}, deviceName={}, operation={}", 
            deviceId, deviceConfig.getDeviceName(), operation);

        // 1. 检查这个设备实例的状态（对于需要状态检查的操作）
        if (needsStateCheck(operation)) {
            VehicleStatus status = statusManager.getVehicleStatus(deviceId);
            if (status != null && !status.isAvailable()) {
                return DevicePlcVO.OperationResult.builder()
                    .success(false)
                    .message(String.format("车辆 %s (%s) 当前状态为 %s，无法执行操作 %s", 
                        deviceConfig.getDeviceName(), 
                        deviceId,
                        status.getState(),
                        operation))
                    .build();
            }
        }

        // 2. 标记为执行中（对于需要状态管理的操作）
        if (needsStateManagement(operation)) {
            statusManager.updateVehicleStatus(deviceId, deviceConfig.getDeviceName(), VehicleState.EXECUTING);
            
            // 创建任务信息
            VehicleTask task = createVehicleTask(deviceConfig, operation, params, logicParams);
            statusManager.setVehicleTask(deviceId, task);
        }

        try {
            // 3. 执行原有逻辑
            DevicePlcVO.OperationResult result;
            switch (operation) {
                case "feedGlass":
                    result = handleFeedGlass(deviceConfig, params, logicParams);
                    break;
                case "triggerRequest":
                    result = handleTriggerRequest(deviceConfig, params, logicParams);
                    break;
                case "triggerReport":
                    result = handleTriggerReport(deviceConfig, params, logicParams);
                    break;
                case "reset":
                    result = handleReset(deviceConfig, params, logicParams);
                    break;
                case "clearGlass":
                case "clearPlc":
                case "clear":
                    result = handleClearGlass(deviceConfig, params, logicParams);
                    break;
                case "checkStateAndCoordinate":
                    result = handleCheckStateAndCoordinate(deviceConfig, params, logicParams);
                    break;
                case "startIdleMonitor":
                    result = handleStartIdleMonitor(deviceConfig, params, logicParams);
                    break;
                case "stopIdleMonitor":
                    result = handleStopIdleMonitor(deviceConfig);
                    break;
                case "checkMesTask":
                    result = handleCheckMesTask(deviceConfig, params, logicParams);
                    break;
                case "checkMesOutboundTask":
                    // 出片任务也使用同一套协议，通过handleCheckMesTask处理
                    result = handleCheckMesTask(deviceConfig, params, logicParams);
                    break;
                case "startTaskMonitor":
                    result = handleStartTaskMonitor(deviceConfig, params, logicParams);
                    break;
                case "stopTaskMonitor":
                    result = handleStopTaskMonitor(deviceConfig);
                    break;
                case "setOnlineState":
                    result = handleSetOnlineState(deviceConfig, params, logicParams);
                    break;
                default:
                    log.warn("不支持的操作类型: {}", operation);
                    result = DevicePlcVO.OperationResult.builder()
                            .success(false)
                            .message("不支持的操作: " + operation)
                            .build();
            }
            
            return result;
            
        } catch (Exception e) {
            log.error("执行大车设备操作异常: deviceId={}, operation={}", deviceId, operation, e);
            // 发生异常时，将状态设置为错误
            if (needsStateManagement(operation)) {
                statusManager.updateVehicleStatus(deviceId, VehicleState.ERROR);
            }
            throw e;
        } finally {
            // 4. 执行完成后恢复为空闲状态（对于需要状态管理的操作）
            if (needsStateManagement(operation)) {
                // 注意：这里不立即设置为IDLE，因为实际执行可能需要时间
                // 真正的状态更新应该在任务完成后通过回调或状态查询来更新
                // 这里先保持EXECUTING状态，等待外部确认完成后再更新
                log.debug("操作执行完成，保持执行中状态，等待外部确认: deviceId={}", deviceId);
            }
        }
    }

    /**
     * 判断操作是否需要状态检查
     */
    private boolean needsStateCheck(String operation) {
        // 所有操作都需要检查状态，除了查询类操作和特定内部检查
        if ("query".equals(operation) || "status".equals(operation)) {
            return false;
        }
        if ("checkMesConfirm".equals(operation)) {
            return false;
        }
        return true;
    }

    /**
     * 判断操作是否需要状态管理
     */
    private boolean needsStateManagement(String operation) {
        // feedGlass 需要状态管理，其他操作根据实际情况
        return "feedGlass".equals(operation);
    }

    /**
     * 创建车辆任务信息
     */
    private VehicleTask createVehicleTask(
            DeviceConfig deviceConfig,
            String operation,
            Map<String, Object> params,
            Map<String, Object> logicParams) {
        
        VehicleTask task = new VehicleTask();
        task.setTaskId(generateTaskId(deviceConfig.getDeviceId()));
        task.setTaskName("大车设备-" + operation);
        task.setOperation(operation);
        
        // 从参数中提取位置信息
        String positionCode = (String) params.get("positionCode");
        Integer positionValue = (Integer) params.get("positionValue");
        
        if (positionCode != null || positionValue != null) {
            VehiclePosition position = new VehiclePosition(positionCode, positionValue);
            task.getPlannedPath().setStartPosition(position);
            task.getPlannedPath().setEndPosition(position);
        }
        
        // 从配置中获取速度（如果有）
        Object speedObj = logicParams != null ? logicParams.get("vehicleSpeed") : null;
        Double speed = null;
        if (speedObj != null) {
            if (speedObj instanceof Double) {
                speed = (Double) speedObj;
            } else if (speedObj instanceof Integer) {
                speed = ((Integer) speedObj).doubleValue();
            } else if (speedObj instanceof Number) {
                speed = ((Number) speedObj).doubleValue();
            } else {
                try {
                    speed = Double.parseDouble(String.valueOf(speedObj));
                } catch (NumberFormatException e) {
                    log.warn("无法解析vehicleSpeed: {}", speedObj);
                }
            }
        }
        if (speed != null) {
            task.setSpeed(speed);
            task.calculateEstimatedEndTime();
        }
        
        task.setParameters(new HashMap<>(params));
        
        return task;
    }

    /**
     * 生成任务ID
     */
    private String generateTaskId(String deviceId) {
        return "TASK_" + deviceId + "_" + System.currentTimeMillis();
    }

    /**
     * 处理玻璃上料操作
     */
    private DevicePlcVO.OperationResult handleFeedGlass(
            DeviceConfig deviceConfig,
            Map<String, Object> params,
            Map<String, Object> logicParams) {

        // 从逻辑参数中获取配置（从 extraParams.deviceLogic 读取）
        Integer vehicleCapacity = getLogicParam(logicParams, "vehicleCapacity", 6000);
        Integer glassGap = getLogicParam(logicParams, "glassGap", 200); // 玻璃之间的物理间隔（mm），默认200mm
        Boolean autoFeed = getLogicParam(logicParams, "autoFeed", true);
        Integer maxRetryCount = getLogicParam(logicParams, "maxRetryCount", 5);

        // 从运行时参数中获取数据（从接口调用时传入）
        List<GlassInfo> glassInfos = extractGlassInfos(params);
        if (glassInfos.isEmpty()) {
            return DevicePlcVO.OperationResult.builder()
                    .success(false)
                    .message("未提供有效的玻璃信息")
                    .build();
        }

        String positionCode = (String) params.get("positionCode");
        Integer positionValue = (Integer) params.get("positionValue");
        Boolean triggerRequest = (Boolean) params.getOrDefault("triggerRequest", autoFeed);

        List<GlassInfo> plannedGlasses = planGlassLoading(glassInfos, vehicleCapacity, glassGap,
                deviceConfig.getDeviceId());
        if (plannedGlasses == null) {
            // 玻璃没有长度时返回null表示错误
            return DevicePlcVO.OperationResult.builder()
                    .success(false)
                    .message("玻璃信息缺少长度数据，无法进行容量计算。请检查MES程序是否正确提供玻璃长度。")
                    .build();
        }
        if (plannedGlasses.isEmpty()) {
            // 装不下，通知卧转立扫码设备暂停
            notifyScannerPause(params, true);
            log.warn("大车设备装不下，已通知卧转立扫码暂停: deviceId={}, glassCount={}, vehicleCapacity={}", 
                    deviceConfig.getId(), glassInfos.size(), vehicleCapacity);
            return DevicePlcVO.OperationResult.builder()
                    .success(false)
                    .message("当前玻璃尺寸超出车辆容量，无法装载，已通知卧转立扫码暂停")
                    .build();
        }
        
        // 装得下，确保卧转立扫码继续运行
        notifyScannerPause(params, false);
        
        // 继续执行原有逻辑

        // 构建写入数据
        Map<String, Object> payload = new HashMap<>();
        
        // 写入玻璃ID
        int plcSlots = Math.min(plannedGlasses.size(), 6);
        for (int i = 0; i < plcSlots; i++) {
            String fieldName = "plcGlassId" + (i + 1);
            payload.put(fieldName, plannedGlasses.get(i).getGlassId());
        }
        payload.put("plcGlassCount", plcSlots);

        // 写入位置信息：PLC侧期望的是 MES 编号（如1001/1002），而不是位置映射后的格子值
        Integer plcPosition = null;
        if (positionValue != null) {
            // 如果调用方直接传了数值，则认为这是MES编号，直接写入
            plcPosition = positionValue;
        } else if (positionCode != null) {
            // 尝试将位置代码解析为数字（例如 "900" -> 900）
            try {
                plcPosition = Integer.parseInt(positionCode.trim());
            } catch (NumberFormatException ignore) {
                // 非数字编码时，不写入inPosition，由PLC或后续逻辑自行处理
            }
        }
        if (plcPosition != null) {
            payload.put("inPosition", plcPosition);
        }

        // 自动触发请求字
        if (triggerRequest != null && triggerRequest) {
            payload.put("plcRequest", 1);
        }

        String operationName = "大车设备-玻璃上料";
        if (positionCode != null) {
            operationName += "(" + positionCode + ")";
        }

        log.info("大车设备玻璃上料: deviceId={}, glassCount={}, position={}, plannedGlassIds={}",
                deviceConfig.getId(), plcSlots, positionCode, plannedGlasses);

        // 写入PLC，让大车开始装玻璃
        DevicePlcVO.OperationResult result = devicePlcOperationService.writeFields(
            deviceConfig.getId(), payload, operationName);
        
        // 如果执行成功，更新位置信息到状态
        if (Boolean.TRUE.equals(result.getSuccess())) {
            VehicleStatus status = statusManager.getOrCreateVehicleStatus(
                deviceConfig.getDeviceId(), deviceConfig.getDeviceName());
            if (positionCode != null || positionValue != null) {
                VehiclePosition position = new VehiclePosition(positionCode, positionValue);
                status.setCurrentPosition(position);
            }

            // 仅在“非多设备任务”场景下，才启动大车自身的自动状态监控和 MES 任务监控
            boolean inMultiDeviceTask = params != null && params.containsKey("_taskContext");
            if (!inMultiDeviceTask) {
                // 启动自动状态监控，当 state=1 时自动协调卧转立设备
                startStateMonitoring(deviceConfig, logicParams);

                // 从 PLC/MES 创建正式任务并启动监控的逻辑，保留给独立 MES 场景使用
                // 多设备任务场景下，这部分交由 TaskExecutionEngine 统一编排
            }
        }
        
        return result;
    }

    /**
     * 处理触发请求操作
     */
    private DevicePlcVO.OperationResult handleTriggerRequest(
            DeviceConfig deviceConfig,
            Map<String, Object> params,
            Map<String, Object> logicParams) {

        Map<String, Object> payload = new HashMap<>();
        payload.put("plcRequest", 1);
        
        log.info("大车设备触发请求: deviceId={}", deviceConfig.getId());
        return devicePlcOperationService.writeFields(
                deviceConfig.getId(),
                payload,
                "大车设备-触发请求"
        );
    }

    /**
     * 处理触发汇报操作
     */
    private DevicePlcVO.OperationResult handleTriggerReport(
            DeviceConfig deviceConfig,
            Map<String, Object> params,
            Map<String, Object> logicParams) {

        Map<String, Object> payload = new HashMap<>();
        payload.put("plcReport", 1);
        
        log.info("大车设备触发汇报: deviceId={}", deviceConfig.getId());
        return devicePlcOperationService.writeFields(
                deviceConfig.getId(),
                payload,
                "大车设备-触发汇报"
        );
    }

    /**
     * 处理重置操作
     */
    private DevicePlcVO.OperationResult handleReset(
            DeviceConfig deviceConfig,
            Map<String, Object> params,
            Map<String, Object> logicParams) {

        Map<String, Object> payload = new HashMap<>();
        payload.put("plcRequest", 0);
        payload.put("plcReport", 0);
        payload.put("onlineState", Boolean.TRUE);
        
        log.info("大车设备重置: deviceId={}", deviceConfig.getId());
        
        DevicePlcVO.OperationResult result = devicePlcOperationService.writeFields(
                deviceConfig.getId(),
                payload,
                "大车设备-重置"
        );
        
        // 重置时，清除任务并恢复为空闲状态，停止监控
        if (Boolean.TRUE.equals(result.getSuccess())) {
            statusManager.clearVehicleTask(deviceConfig.getDeviceId());
            statusManager.updateVehicleStatus(deviceConfig.getDeviceId(), VehicleState.IDLE);
            stopStateMonitoring(deviceConfig.getDeviceId());
            updateDeviceOnlineStatus(deviceConfig, true);
        }
        
        return result;
    }

    /**
     * 设置联机状态
     * @param deviceConfig 设备配置
     * @param params 参数，可包含 onlineState（1=联机，0=脱机）
     * @param logicParams 逻辑参数
     * @return 操作结果
     */
    private DevicePlcVO.OperationResult handleSetOnlineState(
            DeviceConfig deviceConfig,
            Map<String, Object> params,
            Map<String, Object> logicParams) {

        // 从参数中获取联机状态值，默认为true（联机）
        boolean onlineState = true;
        if (params != null && params.containsKey("onlineState")) {
            Object stateObj = params.get("onlineState");
            if (stateObj instanceof Boolean) {
                onlineState = (Boolean) stateObj;
            } else if (stateObj instanceof Number) {
                onlineState = ((Number) stateObj).intValue() != 0;
            } else if (stateObj instanceof String) {
                try {
                    String str = ((String) stateObj).trim();
                    if ("true".equalsIgnoreCase(str)) {
                        onlineState = true;
                    } else if ("false".equalsIgnoreCase(str)) {
                        onlineState = false;
                    } else {
                        onlineState = Integer.parseInt(str) != 0;
                    }
                } catch (NumberFormatException e) {
                    log.warn("解析onlineState失败，使用默认值true: deviceId={}, value={}", 
                            deviceConfig.getId(), stateObj);
                }
            }
        }

        Map<String, Object> payload = new HashMap<>();
        payload.put("onlineState", onlineState);
        
        String stateText = onlineState ? "联机" : "脱机";
        log.info("大车设备设置联机状态: deviceId={}, onlineState={} ({})", 
                deviceConfig.getId(), onlineState, stateText);
        
        DevicePlcVO.OperationResult result = devicePlcOperationService.writeFields(
                deviceConfig.getId(),
                payload,
                "大车设备-设置联机状态(" + stateText + ")"
        );
        
        if (Boolean.TRUE.equals(result.getSuccess())) {
            updateDeviceOnlineStatus(deviceConfig, onlineState);
        }
        return result;
    }

    /**
     * 清空PLC中的玻璃数据
     */
    private DevicePlcVO.OperationResult handleClearGlass(
            DeviceConfig deviceConfig,
            Map<String, Object> params,
            Map<String, Object> logicParams) {

        Map<String, Object> payload = new HashMap<>();

        int slotCount = getLogicParam(logicParams, "glassSlotCount", 6);
        if (slotCount <= 0) {
            slotCount = 6;
        }

        List<String> slotFields = resolveGlassSlotFields(logicParams, slotCount);
        for (String field : slotFields) {
            payload.put(field, "");
        }

        payload.put("plcGlassCount", 0);
        payload.put("plcRequest", 0);
        payload.put("plcReport", 0);
        payload.put("onlineState", Boolean.TRUE);

        if (params != null && params.containsKey("positionValue")) {
            payload.put("inPosition", params.get("positionValue"));
        } else if (params != null && Boolean.TRUE.equals(params.get("clearPosition"))) {
            payload.put("inPosition", 0);
        }

        log.info("清空大车设备PLC玻璃数据: deviceId={}, clearedSlots={}", deviceConfig.getId(), slotFields.size());

        DevicePlcVO.OperationResult result = devicePlcOperationService.writeFields(
                deviceConfig.getId(),
                payload,
                "大车设备-清空玻璃数据"
        );
        
        // 清空后，恢复为空闲状态，停止监控
        if (Boolean.TRUE.equals(result.getSuccess())) {
            statusManager.clearVehicleTask(deviceConfig.getDeviceId());
            statusManager.updateVehicleStatus(deviceConfig.getDeviceId(), VehicleState.IDLE);
            stopStateMonitoring(deviceConfig.getDeviceId());
            updateDeviceOnlineStatus(deviceConfig, true);
        }
        
        return result;
    }

    private void updateDeviceOnlineStatus(DeviceConfig deviceConfig, boolean online) {
        if (deviceStatusService == null || deviceConfig == null || deviceConfig.getId() == null) {
            return;
        }
        try {
            String status = online ? DeviceStatus.Status.ONLINE : DeviceStatus.Status.OFFLINE;
            deviceStatusService.updateDeviceOnlineStatus(deviceConfig.getId(), status);
        } catch (Exception e) {
            log.warn("同步设备在线状态到数据库失败: deviceId={}, online={}, error={}",
                    deviceConfig.getDeviceId(), online, e.getMessage());
        }
    }

    private List<String> resolveGlassSlotFields(Map<String, Object> logicParams, int fallbackCount) {
        List<String> fields = new ArrayList<>();
        if (logicParams != null) {
            Object slotFieldConfig = logicParams.get("glassSlotFields");
            if (slotFieldConfig instanceof List) {
                List<?> configured = (List<?>) slotFieldConfig;
                for (Object item : configured) {
                    if (item != null) {
                        String fieldName = String.valueOf(item).trim();
                        if (!fieldName.isEmpty()) {
                            fields.add(fieldName);
                        }
                    }
                }
            }
        }

        if (fields.isEmpty()) {
            for (int i = 1; i <= fallbackCount; i++) {
                fields.add("plcGlassId" + i);
            }
        }
        return fields;
    }

    @Override
    public String validateLogicParams(DeviceConfig deviceConfig) {
        Map<String, Object> logicParams = parseLogicParams(deviceConfig);
        
        // 验证必填参数
        Integer vehicleCapacity = getLogicParam(logicParams, "vehicleCapacity", null);
        if (vehicleCapacity == null || vehicleCapacity <= 0) {
            return "车辆容量(vehicleCapacity)必须大于0";
        }

        Integer glassGap = getLogicParam(logicParams, "glassGap", null);
        if (glassGap != null && glassGap < 0) {
            return "玻璃间隔(glassGap)不能为负数";
        }

        return null; // 验证通过
    }

    @Override
    public String getDefaultLogicParams() {
        Map<String, Object> defaultParams = new HashMap<>();
        defaultParams.put("vehicleCapacity", 6000);
        defaultParams.put("glassGap", 200); // 玻璃之间的物理间隔（mm），默认200mm
        defaultParams.put("autoFeed", true);
        defaultParams.put("maxRetryCount", 5);
        defaultParams.put("defaultGlassLength", 2000);
        
        // MES任务相关配置
        defaultParams.put("vehicleSpeed", 1.0); // 车辆速度（格/秒，grid/s），默认1格/秒
        defaultParams.put("minRange", 1); // 最小运动距离（格子）
        defaultParams.put("maxRange", 100); // 最大运动距离（格子），例如100格
        defaultParams.put("homePosition", 0); // 初始位置（格子）
        defaultParams.put("idleMonitorIntervalMs", 2000); // 空闲监控间隔（毫秒）
        defaultParams.put("taskMonitorIntervalMs", 1000); // 任务监控间隔（毫秒）
        defaultParams.put("mesConfirmTimeoutMs", 30000); // MES确认超时（毫秒）
        
        
        // gridPositionMapping: 格子编号到位置的映射表（可选）
        // 如果不配置，则格子编号直接作为位置值
        Map<String, Integer> gridPositionMapping = new HashMap<>();
        defaultParams.put("gridPositionMapping", gridPositionMapping);
        
        Map<String, Integer> positionMapping = new HashMap<>();
        positionMapping.put("POS1", 1);
        positionMapping.put("POS2", 2);
        defaultParams.put("positionMapping", positionMapping);
        
        try {
            return objectMapper.writeValueAsString(defaultParams);
        } catch (Exception e) {
            log.error("生成默认逻辑参数失败", e);
            return "{}";
        }
    }

    @SuppressWarnings("unchecked")
    private List<GlassInfo> extractGlassInfos(Map<String, Object> params) {
        List<GlassInfo> result = new ArrayList<>();
        Object rawGlassInfos = params.get("glassInfos");
        if (rawGlassInfos instanceof List) {
            List<?> list = (List<?>) rawGlassInfos;
            for (Object item : list) {
                GlassInfo info = convertToGlassInfo(item);
                if (info != null) {
                    result.add(info);
                }
            }
        }

        if (result.isEmpty()) {
            List<String> glassIds = (List<String>) params.get("glassIds");
            if (glassIds != null && !glassIds.isEmpty()) {
                // 从数据库查询玻璃尺寸
                Map<String, Integer> lengthMap = glassInfoService.getGlassLengthMap(glassIds);
                for (String glassId : glassIds) {
                    Integer length = lengthMap.get(glassId);
                    result.add(new GlassInfo(glassId, length));
                }
                log.debug("从数据库查询玻璃尺寸: glassIds={}, lengthMap={}", glassIds, lengthMap);
            }
        }
        return result;
    }

    private GlassInfo convertToGlassInfo(Object source) {
        if (source instanceof GlassInfo) {
            return (GlassInfo) source;
        }
        if (source instanceof Map) {
            Map<?, ?> map = (Map<?, ?>) source;
            Object id = map.get("glassId");
            if (id == null) {
                id = map.get("id");
            }
            if (id == null) {
                return null;
            }
            Integer length = parseLength(map.get("length"));
            if (length == null) {
                length = parseLength(map.get("size"));
            }
            return new GlassInfo(String.valueOf(id), length);
        }
        if (source instanceof String) {
            return new GlassInfo((String) source, null);
        }
        return null;
    }

    private Integer parseLength(Object value) {
        if (value instanceof Number) {
            return ((Number) value).intValue();
        }
        if (value instanceof String) {
            try {
                return Integer.parseInt((String) value);
            } catch (NumberFormatException ignored) {
            }
        }
        return null;
    }

    /**
     * 规划玻璃装载
     * @param source 源玻璃列表
     * @param vehicleCapacity 车辆容量（mm）
     * @param glassGap 玻璃之间的物理间隔（mm），默认200mm
     * @param deviceId 设备ID（用于日志）
     * @return 规划后的玻璃列表，如果玻璃没有长度则返回null（用于测试MES程序）
     */
    private List<GlassInfo> planGlassLoading(List<GlassInfo> source,
                                             int vehicleCapacity,
                                             int glassGap,
                                             String deviceId) {
        List<GlassInfo> planned = new ArrayList<>();
        int usedLength = 0;
        int capacity = Math.max(vehicleCapacity, 1);
        int gap = Math.max(glassGap, 0); // 确保间隔不为负数

        for (GlassInfo info : source) {
            Integer glassLength = info.getLength();
            
            if (glassLength == null || glassLength <= 0) {
                // 玻璃没有长度，直接报错（用于测试MES程序）
                log.error("玻璃[{}]缺少长度数据，无法进行容量计算。deviceId={}，请检查MES程序是否正确提供玻璃长度。", 
                        info.getGlassId(), deviceId);
                return null;
            }
            
            int length = glassLength;
            
            if (planned.isEmpty()) {
                // 第一块玻璃，不需要间隙
                planned.add(info.withLength(length));
                usedLength = length;
                continue;
            }
            
            // 后续玻璃需要考虑间隙：玻璃长度 + 间隙
            int requiredLength = length + gap;
            if (usedLength + requiredLength <= capacity) {
                planned.add(info.withLength(length));
                usedLength += requiredLength; // 包含间隙
            } else {
                // 装不下了，停止添加
                break;
            }
        }
        
        log.debug("玻璃装载规划: deviceId={}, total={}, planned={}, usedLength={}, capacity={}, glassGap={}", 
                deviceId, source.size(), planned.size(), usedLength, capacity, gap);
        
        return planned;
    }

    /**
     * 启动状态监控
     * 定期检查大车的 state1~6，当检测到 state=1 时自动协调卧转立设备
     */
    private void startStateMonitoring(DeviceConfig deviceConfig, Map<String, Object> logicParams) {
        String deviceId = deviceConfig.getDeviceId();
        
        // 如果已经在监控，先停止旧的监控任务
        stopStateMonitoring(deviceId);
        
        // 获取监控配置
        Integer monitorIntervalMs = getLogicParam(logicParams, "stateMonitorIntervalMs", 1000);
        Integer monitorTimeoutMs = getLogicParam(logicParams, "stateMonitorTimeoutMs", 300000);
        if (monitorIntervalMs == null || monitorIntervalMs <= 0) {
            monitorIntervalMs = 1000;
        }
        if (monitorTimeoutMs == null || monitorTimeoutMs <= 0) {
            monitorTimeoutMs = 300000;
        }
        final int finalMonitorIntervalMs = monitorIntervalMs;
        final int finalMonitorTimeoutMs = monitorTimeoutMs;
        
        // 初始化已协调状态记录
        coordinatedStates.put(deviceId, new CopyOnWriteArrayList<>());
        
        // 记录监控开始时间
        final long startTime = System.currentTimeMillis();
        
        // 启动监控任务
        ScheduledFuture<?> future = stateMonitorExecutor.scheduleWithFixedDelay(() -> {
            try {
                // 检查超时
                if (System.currentTimeMillis() - startTime > finalMonitorTimeoutMs) {
                    log.info("大车状态监控超时，停止监控: deviceId={}, timeout={}ms", deviceId, finalMonitorTimeoutMs);
                    stopStateMonitoring(deviceId);
                    return;
                }
                
                // 检查车辆是否还在执行任务
                VehicleStatus status = statusManager.getVehicleStatus(deviceId);
                if (status == null || status.getState() != VehicleState.EXECUTING) {
                    log.debug("大车状态已改变，停止监控: deviceId={}, state={}", 
                            deviceId, status != null ? status.getState() : "null");
                    stopStateMonitoring(deviceId);
                    return;
                }
                
                // 执行状态检查和协调
                checkAndCoordinateState(deviceConfig);
                
            } catch (Exception e) {
                log.error("大车状态监控异常: deviceId={}", deviceId, e);
            }
        }, finalMonitorIntervalMs, finalMonitorIntervalMs, TimeUnit.MILLISECONDS);
        
        monitoringTasks.put(deviceId, future);
        log.info("已启动大车状态监控: deviceId={}, interval={}ms, timeout={}ms", 
                deviceId, finalMonitorIntervalMs, finalMonitorTimeoutMs);
    }
    
    /**
     * 停止状态监控
     */
    private void stopStateMonitoring(String deviceId) {
        ScheduledFuture<?> future = monitoringTasks.remove(deviceId);
        if (future != null && !future.isCancelled()) {
            future.cancel(false);
            log.debug("已停止大车状态监控: deviceId={}", deviceId);
        }
        coordinatedStates.remove(deviceId);
    }
    
    /**
     * 检查大车状态并协调卧转立设备（内部方法，由监控线程调用）
     */
    private void checkAndCoordinateState(DeviceConfig deviceConfig) {
        String deviceId = deviceConfig.getDeviceId();
        List<String> alreadyCoordinated = coordinatedStates.get(deviceId);
        if (alreadyCoordinated == null) {
            alreadyCoordinated = new CopyOnWriteArrayList<>();
            coordinatedStates.put(deviceId, alreadyCoordinated);
        }
        
        try {
            // 读取 state1~6 字段
            List<String> stateFields = Arrays.asList("state1", "state2", "state3", "state4", "state5", "state6");
            Map<String, Object> stateValues = new HashMap<>();
            
            // 从 PLC 读取状态字段
            DevicePlcVO.StatusInfo statusInfo = devicePlcOperationService.readStatus(deviceConfig.getId());
            if (statusInfo == null || statusInfo.getFieldValues() == null) {
                return;
            }
            
            for (String field : stateFields) {
                Object value = statusInfo.getFieldValues().get(field);
                if (value != null) {
                    stateValues.put(field, value);
                }
            }
            
            // 检查是否有任何一个 state 为 1，且尚未协调过
            List<String> newStateOneFields = new ArrayList<>();
            for (String field : stateFields) {
                Integer stateValue = parseInteger(stateValues.get(field));
                if (stateValue != null && stateValue == 1 && !alreadyCoordinated.contains(field)) {
                    newStateOneFields.add(field);
                }
            }
            
            if (newStateOneFields.isEmpty()) {
                return; // 没有新的 state=1，无需协调
            }
            
            log.info("检测到大车新的 state=1: deviceId={}, stateFields={}", deviceId, newStateOneFields);
            
            // 查找同组的卧转立设备
            List<DeviceConfig> transferDevices = findTransferDevicesInSameGroup(deviceConfig);
            if (transferDevices.isEmpty()) {
                log.warn("未找到同组的卧转立设备: deviceId={}", deviceId);
                // 即使找不到设备，也标记为已协调，避免重复检查
                alreadyCoordinated.addAll(newStateOneFields);
                return;
            }
            
            // 将每个卧转立设备的 plcRequest 置 0
            boolean allSuccess = true;
            for (DeviceConfig transferDevice : transferDevices) {
                Map<String, Object> payload = new HashMap<>();
                payload.put("plcRequest", 0);
                
                DevicePlcVO.OperationResult result = devicePlcOperationService.writeFields(
                        transferDevice.getId(),
                        payload,
                        "大车自动协调-清空卧转立请求"
                );
                
                if (Boolean.TRUE.equals(result.getSuccess())) {
                    log.info("已自动清空卧转立设备 plcRequest: vehicleDeviceId={}, transferDeviceId={}, transferDeviceName={}, stateFields={}", 
                            deviceId, transferDevice.getId(), transferDevice.getDeviceName(), newStateOneFields);
                } else {
                    log.warn("自动清空卧转立设备 plcRequest 失败: vehicleDeviceId={}, transferDeviceId={}, message={}", 
                            deviceId, transferDevice.getId(), result.getMessage());
                    allSuccess = false;
                }
            }
            
            // 标记为已协调（无论成功与否，避免重复协调）
            if (allSuccess) {
                alreadyCoordinated.addAll(newStateOneFields);
                log.info("大车状态协调完成: deviceId={}, coordinatedStateFields={}", deviceId, newStateOneFields);
            }
            
        } catch (Exception e) {
            log.error("检查大车状态并协调卧转立设备异常: deviceId={}", deviceId, e);
        }
    }

    /**
     * 检查大车状态并协调卧转立设备（手动调用接口）
     * 当 state1~6 中任何一个变为 1（上车完成）时，将同组卧转立设备的 plcRequest 置 0
     */
    private DevicePlcVO.OperationResult handleCheckStateAndCoordinate(
            DeviceConfig deviceConfig,
            Map<String, Object> params,
            Map<String, Object> logicParams) {
        
        try {
            // 读取 state1~6 字段
            List<String> stateFields = Arrays.asList("state1", "state2", "state3", "state4", "state5", "state6");
            Map<String, Object> stateValues = new HashMap<>();
            
            // 从 PLC 读取状态字段
            DevicePlcVO.StatusInfo statusInfo = devicePlcOperationService.readStatus(deviceConfig.getId());
            if (statusInfo != null && statusInfo.getFieldValues() != null) {
                for (String field : stateFields) {
                    Object value = statusInfo.getFieldValues().get(field);
                    if (value != null) {
                        stateValues.put(field, value);
                    }
                }
            }
            
            // 检查是否有任何一个 state 为 1
            boolean hasStateOne = false;
            List<String> stateOneFields = new ArrayList<>();
            for (String field : stateFields) {
                Integer stateValue = parseInteger(stateValues.get(field));
                if (stateValue != null && stateValue == 1) {
                    hasStateOne = true;
                    stateOneFields.add(field);
                }
            }
            
            if (!hasStateOne) {
                return DevicePlcVO.OperationResult.builder()
                        .success(true)
                        .message("当前无 state=1 的状态，无需协调")
                        .build();
            }
            
            log.info("检测到大车 state=1: deviceId={}, stateFields={}", 
                    deviceConfig.getId(), stateOneFields);
            
            // 查找同组的卧转立设备
            List<DeviceConfig> transferDevices = findTransferDevicesInSameGroup(deviceConfig);
            if (transferDevices.isEmpty()) {
                log.warn("未找到同组的卧转立设备: deviceId={}", deviceConfig.getId());
                return DevicePlcVO.OperationResult.builder()
                        .success(true)
                        .message("未找到同组的卧转立设备，跳过协调")
                        .build();
            }
            
            // 将每个卧转立设备的 plcRequest 置 0
            List<DevicePlcVO.OperationResult> results = new ArrayList<>();
            for (DeviceConfig transferDevice : transferDevices) {
                Map<String, Object> payload = new HashMap<>();
                payload.put("plcRequest", 0);
                
                DevicePlcVO.OperationResult result = devicePlcOperationService.writeFields(
                        transferDevice.getId(),
                        payload,
                        "大车协调-清空卧转立请求"
                );
                results.add(result);
                
                if (Boolean.TRUE.equals(result.getSuccess())) {
                    log.info("已清空卧转立设备 plcRequest: transferDeviceId={}, transferDeviceName={}", 
                            transferDevice.getId(), transferDevice.getDeviceName());
                } else {
                    log.warn("清空卧转立设备 plcRequest 失败: transferDeviceId={}, message={}", 
                            transferDevice.getId(), result.getMessage());
                }
            }
            
            boolean allSuccess = results.stream()
                    .allMatch(r -> Boolean.TRUE.equals(r.getSuccess()));
            
            return DevicePlcVO.OperationResult.builder()
                    .success(allSuccess)
                    .message(String.format("已协调 %d 个卧转立设备，成功: %d", 
                            transferDevices.size(),
                            results.stream().mapToInt(r -> Boolean.TRUE.equals(r.getSuccess()) ? 1 : 0).sum()))
                    .build();
                    
        } catch (Exception e) {
            log.error("检查大车状态并协调卧转立设备异常: deviceId={}", deviceConfig.getId(), e);
            return DevicePlcVO.OperationResult.builder()
                    .success(false)
                    .message("协调异常: " + e.getMessage())
                    .build();
        }
    }

    /**
     * 查找同组内的卧转立设备
     */
    private List<DeviceConfig> findTransferDevicesInSameGroup(DeviceConfig vehicleDevice) {
        List<DeviceConfig> transferDevices = new ArrayList<>();
        
        if (deviceGroupRelationService == null || deviceConfigService == null) {
            log.warn("DeviceGroupRelationService 或 DeviceConfigService 未注入，无法查找同组设备");
            return transferDevices;
        }
        
        try {
            // 获取大车所属的设备组
            List<DeviceGroupVO.GroupInfo> groups = deviceGroupRelationService.getDeviceGroups(vehicleDevice.getId());
            if (groups.isEmpty()) {
                log.debug("大车设备未加入任何设备组: deviceId={}", vehicleDevice.getId());
                return transferDevices;
            }
            
            // 遍历所有设备组，查找卧转立设备
            for (DeviceGroupVO.GroupInfo group : groups) {
                List<DeviceGroupVO.DeviceInfo> groupDevices = deviceGroupRelationService.getGroupDevices(group.getId());
                for (DeviceGroupVO.DeviceInfo deviceInfo : groupDevices) {
                    // 检查是否为卧转立设备
                    if (DeviceConfig.DeviceType.WORKSTATION_TRANSFER.equals(deviceInfo.getDeviceType())) {
                        DeviceConfig transferDevice = deviceConfigService.getDeviceById(deviceInfo.getId());
                        if (transferDevice != null) {
                            transferDevices.add(transferDevice);
                        }
                    }
                }
            }
            
            log.debug("找到同组卧转立设备: vehicleDeviceId={}, transferDeviceCount={}", 
                    vehicleDevice.getId(), transferDevices.size());
            
        } catch (Exception e) {
            log.error("查找同组卧转立设备异常: vehicleDeviceId={}", vehicleDevice.getId(), e);
        }
        
        return transferDevices;
    }

    private Integer parseInteger(Object value) {
        if (value instanceof Number) {
            return ((Number) value).intValue();
        }
        if (value == null) {
            return null;
        }
        try {
            return Integer.parseInt(String.valueOf(value));
        } catch (NumberFormatException e) {
            return null;
        }
    }

    private String parseString(Object value) {
        return value == null ? null : String.valueOf(value).trim();
    }

    private static class GlassInfo {
        private final String glassId;
        private final Integer length;

        GlassInfo(String glassId, Integer length) {
            this.glassId = glassId;
            this.length = length;
        }

        public String getGlassId() {
            return glassId;
        }

        public Integer getLength() {
            return length;
        }

        public GlassInfo withLength(Integer newLength) {
            return new GlassInfo(this.glassId, newLength);
        }

        @Override
        public String toString() {
            return glassId;
        }

        @Override
        public int hashCode() {
            return Objects.hash(glassId, length);
        }

        @Override
        public boolean equals(Object obj) {
            if (this == obj) return true;
            if (obj == null || getClass() != obj.getClass()) return false;
            GlassInfo other = (GlassInfo) obj;
            return Objects.equals(glassId, other.glassId) && Objects.equals(length, other.length);
        }
    }
    
    /**
     * 启动空闲监控（没有任务时，plcRequest一直保持为1）
     */
    private DevicePlcVO.OperationResult handleStartIdleMonitor(
            DeviceConfig deviceConfig,
            Map<String, Object> params,
            Map<String, Object> logicParams) {
        
        String deviceId = deviceConfig.getDeviceId();
        
        // 停止旧的监控任务
        handleStopIdleMonitor(deviceConfig);
        
        // 获取监控间隔
        Integer monitorIntervalMs = getLogicParam(logicParams, "idleMonitorIntervalMs", 2000); // 默认2秒
        
        // 启动监控任务
        ScheduledFuture<?> future = idleMonitorExecutor.scheduleWithFixedDelay(() -> {
            try {
                // 检查是否有任务在执行
                VehicleStatus status = statusManager.getVehicleStatus(deviceId);
                if (status != null && status.getState() == VehicleState.EXECUTING) {
                    // 有任务在执行，不设置plcRequest
                    return;
                }
                
                // 检查是否有待处理的进片或出片任务
                if (plcDynamicDataService != null && s7SerializerProvider != null) {
                    EnhancedS7Serializer serializer = s7SerializerProvider.getSerializer(deviceConfig);
                    if (serializer != null) {
                        // 检查进片任务
                        Map<String, Object> mesData = plcDynamicDataService.readPlcData(
                                deviceConfig, MES_FIELDS, serializer);
                        Integer mesSend = parseInteger(mesData != null ? mesData.get("mesSend") : null);
                        
                        // 进片和出片共用mesSend字段，只需检查一次
                        // 如果有待处理的任务，不设置plcRequest（等待任务处理）
                        if (mesSend != null && mesSend == 1) {
                            log.debug("大车空闲监控: deviceId={}, 检测到待处理任务（mesSend=1），不设置plcRequest", deviceId);
                            return;
                        }
                    }
                }
                
                // 没有任务，保持plcRequest=1
                Map<String, Object> payload = new HashMap<>();
                payload.put("plcRequest", 1);
                
                devicePlcOperationService.writeFields(deviceConfig.getId(), payload, "大车空闲监控-保持请求");
                log.debug("大车空闲监控: deviceId={}, 保持plcRequest=1", deviceId);
                
            } catch (Exception e) {
                log.error("大车空闲监控异常: deviceId={}", deviceId, e);
            }
        }, monitorIntervalMs, monitorIntervalMs, TimeUnit.MILLISECONDS);
        
        idleMonitoringTasks.put(deviceId, future);
        log.info("已启动大车空闲监控: deviceId={}, interval={}ms", deviceId, monitorIntervalMs);
        
        return DevicePlcVO.OperationResult.builder()
                .success(true)
                .message("空闲监控已启动")
                .build();
    }

    /**
     * 停止空闲监控
     */
    private DevicePlcVO.OperationResult handleStopIdleMonitor(DeviceConfig deviceConfig) {
        String deviceId = deviceConfig.getDeviceId();
        ScheduledFuture<?> future = idleMonitoringTasks.remove(deviceId);
        if (future != null && !future.isCancelled()) {
            future.cancel(false);
            log.info("已停止大车空闲监控: deviceId={}", deviceId);
        }
        return DevicePlcVO.OperationResult.builder()
                .success(true)
                .message("空闲监控已停止")
                .build();
    }

    /**
     * 检查MES任务（当mesSend=1时，读取MES参数并创建任务）
     * 进片和出片共用同一套协议字段，通过位置信息判断任务类型
     */
    private DevicePlcVO.OperationResult handleCheckMesTask(
            DeviceConfig deviceConfig,
            Map<String, Object> params,
            Map<String, Object> logicParams) {
        
        if (plcDynamicDataService == null || s7SerializerProvider == null) {
            return DevicePlcVO.OperationResult.builder()
                    .success(false)
                    .message("PlcDynamicDataService或S7SerializerProvider未注入")
                    .build();
        }
        
        String deviceId = deviceConfig.getDeviceId();
        EnhancedS7Serializer serializer = s7SerializerProvider.getSerializer(deviceConfig);
        if (serializer == null) {
            return DevicePlcVO.OperationResult.builder()
                    .success(false)
                    .message("获取PLC序列化器失败")
                    .build();
        }
        
        try {
            // 读取MES字段（进片和出片共用）
            Map<String, Object> mesData = plcDynamicDataService.readPlcData(
                    deviceConfig, MES_FIELDS, serializer);
            if (mesData == null || mesData.isEmpty()) {
                return DevicePlcVO.OperationResult.builder()
                        .success(false)
                        .message("读取MES字段失败")
                        .build();
            }
            
            Integer mesSend = parseInteger(mesData.get("mesSend"));
            if (mesSend == null || mesSend == 0) {
                return DevicePlcVO.OperationResult.builder()
                        .success(true)
                        .message("暂无MES任务（mesSend=0）")
                        .build();
            }
            
            // mesSend=1，读取任务参数
            String glassId = parseString(mesData.get("mesGlassId"));
            Integer startSlot = parseInteger(mesData.get("startSlot")); // 起始位置编号
            Integer targetSlot = parseInteger(mesData.get("targetSlot")); // 目标位置编号
            Integer workLine = parseInteger(mesData.get("workLine"));
            
            if (glassId == null || glassId.isEmpty()) {
                return DevicePlcVO.OperationResult.builder()
                        .success(false)
                        .message("MES未提供玻璃ID")
                        .build();
            }
            
            // 判断是进片还是出片任务
            // 方法：通过startSlot判断
            // - 如果startSlot是卧转立编号（如900/901），则是进片任务
            // - 如果startSlot是格子编号（在大理片笼范围内），则是出片任务
            boolean isOutbound = isOutboundTask(startSlot, logicParams);
            
            // 位置映射
            Integer startPosition;
            if (isOutbound) {
                // 出片任务：startSlot是格子编号，需要映射到实际位置
                startPosition = mapOutboundPosition(startSlot, logicParams);
            } else {
                // 进片任务：startSlot是卧转立编号，通过positionMapping映射
                startPosition = mapPosition(startSlot, logicParams);
            }
            
            // targetSlot统一通过positionMapping映射
            Integer targetPosition = mapPosition(targetSlot, logicParams);
            
            if (startPosition == null || targetPosition == null) {
                return DevicePlcVO.OperationResult.builder()
                        .success(false)
                        .message(String.format("位置映射失败: startSlot=%s, targetSlot=%s, isOutbound=%s", 
                                startSlot, targetSlot, isOutbound))
                        .build();
            }
            
            // 读取当前位置
            Integer currentPosition = getCurrentPosition(deviceConfig, logicParams);
            
            // 计算时间
            TimeCalculation timeCalc = calculateTime(
                    currentPosition, startPosition, targetPosition, logicParams);
            
            // 创建任务信息
            MesTaskInfo taskInfo = new MesTaskInfo();
            taskInfo.glassId = glassId;
            taskInfo.startSlot = startSlot;
            taskInfo.targetSlot = targetSlot;
            taskInfo.startPosition = startPosition;
            taskInfo.targetPosition = targetPosition;
            taskInfo.currentPosition = currentPosition;
            taskInfo.gotime = timeCalc.gotime;
            taskInfo.cartime = timeCalc.cartime;
            taskInfo.workLine = workLine;
            taskInfo.createdTime = System.currentTimeMillis();
            taskInfo.isOutbound = isOutbound;
            
            currentTasks.put(deviceId, taskInfo);
            
            // 清空plcRequest（表示已接收任务）
            Map<String, Object> payload = new HashMap<>();
            payload.put("plcRequest", 0);
            plcDynamicDataService.writePlcData(deviceConfig, payload, serializer);
            
            // 更新车辆状态为执行中
            statusManager.updateVehicleStatus(deviceId, deviceConfig.getDeviceName(), VehicleState.EXECUTING);
            
            // 启动任务监控
            handleStartTaskMonitor(deviceConfig, params, logicParams);
            
            String taskType = isOutbound ? "出片" : "进片";
            log.info("MES{}任务已创建: deviceId={}, glassId={}, startSlot={}(位置{}格), targetSlot={}(位置{}格), 距离{}格->{}格, gotime={}ms({}秒), cartime={}ms({}秒)", 
                    taskType, deviceId, glassId, startSlot, startPosition, targetSlot, targetPosition,
                    Math.abs(startPosition - currentPosition), Math.abs(targetPosition - startPosition),
                    timeCalc.gotime, timeCalc.gotime / 1000.0, timeCalc.cartime, timeCalc.cartime / 1000.0);
            
            return DevicePlcVO.OperationResult.builder()
                    .success(true)
                    .message(String.format("MES%s任务已创建: glassId=%s, start=%d, target=%d", 
                            taskType, glassId, startPosition, targetPosition))
                    .build();
                    
        } catch (Exception e) {
            log.error("检查MES任务异常: deviceId={}", deviceId, e);
            return DevicePlcVO.OperationResult.builder()
                    .success(false)
                    .message("处理异常: " + e.getMessage())
                    .build();
        }
    }

    /**
     * 判断是否为出片任务
     * 通过startSlot判断：
     * - 如果startSlot在positionMapping中，且不在大理片笼格子范围内，则是进片任务
     * - 如果startSlot不在positionMapping中，或在大理片笼格子范围内，则是出片任务
     */
    private boolean isOutboundTask(Integer startSlot, Map<String, Object> logicParams) {
        if (startSlot == null) {
            return false;
        }
        
        // 方法1：检查startSlot是否在positionMapping中（卧转立编号）
        @SuppressWarnings("unchecked")
        Map<String, Integer> positionMapping = getLogicParam(logicParams, "positionMapping", new HashMap<>());
        if (positionMapping.containsKey(String.valueOf(startSlot))) {
            // startSlot在positionMapping中，说明是卧转立编号，是进片任务
            return false;
        }
        
        // 方法2：检查startSlot是否在大理片笼格子范围内
        // 通过查找同组的大理片笼设备，检查格子范围
        // 这里简化处理：如果startSlot不在positionMapping中，且是数字，可能是格子编号
        // 可以通过配置指定格子编号范围，或者通过查找同组设备判断
        
        // 方法3：通过配置指定车辆运动格子范围（兼容旧配置outboundSlotRanges）
        @SuppressWarnings("unchecked")
        List<Integer> vehicleSlotRange = getLogicParam(logicParams, "vehicleSlotRange", null);
        if (vehicleSlotRange == null || vehicleSlotRange.isEmpty()) {
            // 兼容旧配置
            vehicleSlotRange = getLogicParam(logicParams, "outboundSlotRanges", null);
        }
        if (vehicleSlotRange != null && !vehicleSlotRange.isEmpty()) {
            // 如果配置了车辆运动格子范围，检查startSlot是否在范围内
            // 例如：[1, 101] 表示车辆只能在格子1~101之间运动
            if (vehicleSlotRange.size() >= 2) {
                int minSlot = vehicleSlotRange.get(0);
                int maxSlot = vehicleSlotRange.get(1);
                if (startSlot >= minSlot && startSlot <= maxSlot) {
                    return true;
                }
            }
        }
        
        // 默认：如果startSlot不在positionMapping中，且是较小的数字（可能是格子编号），判断为出片
        // 这里可以根据实际需求调整判断逻辑
        // 暂时：如果startSlot不在positionMapping中，判断为出片任务
        return true;
    }


    /**
     * 映射出片源位置（格子编号转换为实际位置）
     * 通过查找同组的大理片笼设备配置，将格子编号转换为位置
     */
    private Integer mapOutboundPosition(Integer gridNumber, Map<String, Object> logicParams) {
        if (gridNumber == null) {
            return null;
        }
        
        // 方法1：如果配置了格子到位置的映射表
        @SuppressWarnings("unchecked")
        Map<String, Integer> gridPositionMapping = getLogicParam(logicParams, "gridPositionMapping", new HashMap<>());
        Integer position = gridPositionMapping.get(String.valueOf(gridNumber));
        if (position != null) {
            return position;
        }
        
        // 方法2：格子编号直接作为位置（如果格子编号就是位置值）
        // 例如：格子1对应位置1格，格子52对应位置52格
        // 这里可以根据实际需求调整映射逻辑
        
        // 暂时直接使用格子编号作为位置
        log.debug("使用格子编号作为位置: gridNumber={}", gridNumber);
        return gridNumber;
    }

    /**
     * 位置映射：将MES给的编号（如900/901）转换为实际位置值（如100/500）
     */
    private Integer mapPosition(Integer slotNumber, Map<String, Object> logicParams) {
        if (slotNumber == null) {
            return null;
        }
        
        // 从配置中获取位置映射表
        @SuppressWarnings("unchecked")
        Map<String, Integer> positionMapping = getLogicParam(logicParams, "positionMapping", new HashMap<>());
        
        // 查找映射
        Integer position = positionMapping.get(String.valueOf(slotNumber));
        if (position != null) {
            return position;
        }
        
        // 如果没有配置映射，尝试直接使用编号
        log.warn("位置映射未找到: slotNumber={}, 使用编号作为位置值", slotNumber);
        return slotNumber;
    }

    /**
     * 获取当前位置
     */
    private Integer getCurrentPosition(DeviceConfig deviceConfig, Map<String, Object> logicParams) {
        // 从状态管理器获取
        VehicleStatus status = statusManager.getVehicleStatus(deviceConfig.getDeviceId());
        if (status != null && status.getCurrentPosition() != null) {
            return status.getCurrentPosition().getPositionValue();
        }
        
        // 从配置中获取默认位置
        return getLogicParam(logicParams, "homePosition", 0);
    }

    /**
     * 时间计算：根据速度、当前位置、目标位置计算gotime和cartime
     * 速度单位：格/秒（grid/s）
     * 位置和距离单位：格子（grid）
     */
    private TimeCalculation calculateTime(Integer currentPos, Integer startPos, 
                                          Integer targetPos, Map<String, Object> logicParams) {
        // 验证车辆运动格子范围
        @SuppressWarnings("unchecked")
        List<Integer> vehicleSlotRange = getLogicParam(logicParams, "vehicleSlotRange", null);
        if (vehicleSlotRange == null || vehicleSlotRange.isEmpty()) {
            // 兼容旧配置
            vehicleSlotRange = getLogicParam(logicParams, "outboundSlotRanges", null);
        }
        if (vehicleSlotRange != null && vehicleSlotRange.size() >= 2) {
            int minSlot = vehicleSlotRange.get(0);
            int maxSlot = vehicleSlotRange.get(1);
            // 验证startPos和targetPos是否在允许的范围内
            if (startPos != null && (startPos < minSlot || startPos > maxSlot)) {
                log.warn("起始位置 {} 超出车辆运动格子范围 [{}, {}]", startPos, minSlot, maxSlot);
            }
            if (targetPos != null && (targetPos < minSlot || targetPos > maxSlot)) {
                log.warn("目标位置 {} 超出车辆运动格子范围 [{}, {}]", targetPos, minSlot, maxSlot);
            }
        }
        
        // 获取速度（格/秒，grid/s）
        Double speed = getLogicParam(logicParams, "vehicleSpeed", 1.0);
        if (speed == null || speed <= 0) {
            speed = 1.0; // 默认1格/秒
        }
        
        // 获取运动距离范围（格子）
        Integer minRange = getLogicParam(logicParams, "minRange", 1);
        Integer maxRange = getLogicParam(logicParams, "maxRange", 100);
        
        // 计算gotime：从当前位置到起始位置的时间（毫秒）
        // 公式：时间(ms) = 距离(格) / 速度(格/秒) * 1000
        long gotime = 0;
        if (currentPos != null && startPos != null) {
            int distance = Math.abs(startPos - currentPos); // 距离（格子）
            // 限制在范围内
            distance = Math.max(minRange, Math.min(maxRange, distance));
            gotime = (long) (distance / speed * 1000); // 转换为毫秒
        }
        
        // 计算cartime：从起始位置到目标位置的时间（毫秒）
        // 公式：时间(ms) = 距离(格) / 速度(格/秒) * 1000
        long cartime = 0;
        if (startPos != null && targetPos != null) {
            int distance = Math.abs(targetPos - startPos); // 距离（格子）
            // 限制在范围内
            distance = Math.max(minRange, Math.min(maxRange, distance));
            cartime = (long) (distance / speed * 1000); // 转换为毫秒
        }
        
        return new TimeCalculation(gotime, cartime);
    }

    /**
     * 启动任务监控（监控state状态切换和任务完成）
     */
    private DevicePlcVO.OperationResult handleStartTaskMonitor(
            DeviceConfig deviceConfig,
            Map<String, Object> params,
            Map<String, Object> logicParams) {
        
        String deviceId = deviceConfig.getDeviceId();
        
        // 停止旧的监控任务
        handleStopTaskMonitor(deviceConfig);
        
        MesTaskInfo taskInfo = currentTasks.get(deviceId);
        if (taskInfo == null) {
            return DevicePlcVO.OperationResult.builder()
                    .success(false)
                    .message("没有正在执行的任务")
                    .build();
        }
        
        // 获取监控间隔
        Integer monitorIntervalMs = getLogicParam(logicParams, "taskMonitorIntervalMs", 1000); // 默认1秒
        
        // 启动监控任务
        ScheduledFuture<?> future = taskMonitorExecutor.scheduleWithFixedDelay(() -> {
            try {
                monitorTaskExecution(deviceConfig, taskInfo, logicParams);
            } catch (Exception e) {
                log.error("任务监控异常: deviceId={}", deviceId, e);
            }
        }, monitorIntervalMs, monitorIntervalMs, TimeUnit.MILLISECONDS);
        
        taskMonitoringTasks.put(deviceId, future);
        log.info("已启动任务监控: deviceId={}, interval={}ms", deviceId, monitorIntervalMs);
        
        return DevicePlcVO.OperationResult.builder()
                .success(true)
                .message("任务监控已启动")
                .build();
    }

    /**
     * 监控任务执行
     */
    private void monitorTaskExecution(DeviceConfig deviceConfig, 
                                      MesTaskInfo taskInfo,
                                      Map<String, Object> logicParams) {
        
        if (plcDynamicDataService == null || s7SerializerProvider == null) {
            return;
        }
        
        String deviceId = deviceConfig.getDeviceId();
        EnhancedS7Serializer serializer = s7SerializerProvider.getSerializer(deviceConfig);
        if (serializer == null) {
            return;
        }
        
        try {
            // 读取state1~6
            List<String> stateFields = Arrays.asList("state1", "state2", "state3", "state4", "state5", "state6");
            Map<String, Object> stateValues = new HashMap<>();
            
            DevicePlcVO.StatusInfo statusInfo = devicePlcOperationService.readStatus(deviceConfig.getId());
            if (statusInfo != null && statusInfo.getFieldValues() != null) {
                for (String field : stateFields) {
                    Object value = statusInfo.getFieldValues().get(field);
                    if (value != null) {
                        stateValues.put(field, value);
                    }
                }
            }
            
            // 根据时间计算更新state状态
            long currentTime = System.currentTimeMillis();
            long elapsed = currentTime - taskInfo.createdTime;
            
            // 计算状态切换时间点
            long state1Time = taskInfo.gotime; // 到达起始位置，上车完成
            long state2Time = taskInfo.gotime + taskInfo.cartime; // 到达目标位置，运输完成
            
            // 更新state状态
            if (elapsed >= state1Time && elapsed < state2Time) {
                // state应该为1
                if (taskInfo.isOutbound) {
                    // 出片任务：到达源位置（大理片笼），取片完成
                    updateStateIfNeeded(deviceConfig, serializer, stateValues, 1, taskInfo);
                } else {
                    // 进片任务：到达起始位置（卧转立），上车完成
                    updateStateIfNeeded(deviceConfig, serializer, stateValues, 1, taskInfo);
                }
            } else if (elapsed >= state2Time) {
                // state应该为2（运输完成）
                updateStateIfNeeded(deviceConfig, serializer, stateValues, 2, taskInfo);
                
                // 检查是否所有state都>=2，如果是则给MES汇报
                if (allStatesCompleted(stateValues)) {
                    reportToMes(deviceConfig, serializer, taskInfo, logicParams);
                }
            }
            
        } catch (Exception e) {
            log.error("监控任务执行异常: deviceId={}", deviceId, e);
        }
    }

    /**
     * 更新state状态（如果需要）
     */
    private void updateStateIfNeeded(DeviceConfig deviceConfig,
                                     EnhancedS7Serializer serializer,
                                     Map<String, Object> currentStates,
                                     int targetState,
                                     MesTaskInfo taskInfo) {
        
        // 这里可以根据实际需求更新state字段
        // 暂时只记录日志，实际更新可能需要根据具体PLC字段配置
        log.debug("任务状态更新: deviceId={}, targetState={}", 
                deviceConfig.getDeviceId(), targetState);
    }

    /**
     * 检查是否所有state都已完成（>=2）
     */
    private boolean allStatesCompleted(Map<String, Object> stateValues) {
        for (Object value : stateValues.values()) {
            Integer state = parseInteger(value);
            if (state == null || state < 2) {
                return false;
            }
        }
        return !stateValues.isEmpty();
    }

    /**
     * 给MES汇报
     */
    private void reportToMes(DeviceConfig deviceConfig,
                             EnhancedS7Serializer serializer,
                             MesTaskInfo taskInfo,
                             Map<String, Object> logicParams) {
        
        try {
            // 设置汇报字
            Map<String, Object> payload = new HashMap<>();
            payload.put("plcReport", 1);
            plcDynamicDataService.writePlcData(deviceConfig, payload, serializer);
            
            String taskType = taskInfo.isOutbound ? "出片" : "进片";
            log.info("已给MES汇报({}任务): deviceId={}, glassId={}", 
                    taskType, deviceConfig.getDeviceId(), taskInfo.glassId);
            
            // 多设备任务场景下，不在这里阻塞等待MES确认，由任务引擎定时调用checkMesConfirm
        } catch (Exception e) {
            log.error("给MES汇报异常: deviceId={}", deviceConfig.getDeviceId(), e);
        }
    }

    /**
     * 检查MES确认状态（供任务引擎周期性调用）
     * 返回OperationResult.data中的 completed 标志表示是否已确认完成
     */
    public DevicePlcVO.OperationResult checkMesConfirm(DeviceConfig deviceConfig,
                                                       Map<String, Object> logicParams) {
        if (plcDynamicDataService == null || s7SerializerProvider == null) {
            return DevicePlcVO.OperationResult.builder()
                    .success(false)
                    .message("PlcDynamicDataService或S7SerializerProvider未注入")
                    .build();
        }
        EnhancedS7Serializer serializer = s7SerializerProvider.getSerializer(deviceConfig);
        if (serializer == null) {
            return DevicePlcVO.OperationResult.builder()
                    .success(false)
                    .message("获取PLC序列化器失败")
                    .build();
        }

        Map<String, Object> data = new HashMap<>();
        try {
            Object confirmValue = plcDynamicDataService.readPlcField(
                    deviceConfig, "mesConfirm", serializer);
            Integer confirm = parseInteger(confirmValue);
            boolean completed = confirm != null && confirm == 1;
            data.put("completed", completed);

            if (completed) {
                // MES已确认，清空state和汇报字
                clearTaskStates(deviceConfig, serializer);

                // 任务完成，恢复为空闲状态
                statusManager.updateVehicleStatus(
                        deviceConfig.getDeviceId(), VehicleState.IDLE);
                statusManager.clearVehicleTask(deviceConfig.getDeviceId());

                // 移除任务记录（如果有）
                currentTasks.remove(deviceConfig.getDeviceId());

                // 停止任务监控
                handleStopTaskMonitor(deviceConfig);

                // 恢复plcRequest=1（可以接收新任务）
                Map<String, Object> payload = new HashMap<>();
                payload.put("plcRequest", 1);
                plcDynamicDataService.writePlcData(deviceConfig, payload, serializer);

                log.info("MES任务已确认完成: deviceId={}", deviceConfig.getDeviceId());
                return DevicePlcVO.OperationResult.builder()
                        .success(true)
                        .message("MES任务已确认完成")
                        .data(data)
                        .build();
            }

            return DevicePlcVO.OperationResult.builder()
                    .success(true)
                    .message("等待MES确认中")
                    .data(data)
                    .build();
        } catch (Exception e) {
            log.error("检查MES确认状态异常: deviceId={}", deviceConfig.getDeviceId(), e);
            return DevicePlcVO.OperationResult.builder()
                    .success(false)
                    .message("检查MES确认状态异常: " + e.getMessage())
                    .data(data)
                    .build();
        }
    }

    /**
     * 清空任务状态
     */
    private void clearTaskStates(DeviceConfig deviceConfig, EnhancedS7Serializer serializer) {
        try {
            Map<String, Object> payload = new HashMap<>();
            // 清空state1~6
            for (int i = 1; i <= 6; i++) {
                payload.put("state" + i, 0);
            }
            // 清空汇报字
            payload.put("plcReport", 0);
            plcDynamicDataService.writePlcData(deviceConfig, payload, serializer);
        } catch (Exception e) {
            log.error("清空任务状态异常: deviceId={}", deviceConfig.getDeviceId(), e);
        }
    }

    /**
     * 停止任务监控
     */
    private DevicePlcVO.OperationResult handleStopTaskMonitor(DeviceConfig deviceConfig) {
        String deviceId = deviceConfig.getDeviceId();
        ScheduledFuture<?> future = taskMonitoringTasks.remove(deviceId);
        if (future != null && !future.isCancelled()) {
            future.cancel(false);
            log.info("已停止任务监控: deviceId={}", deviceId);
        }
        return DevicePlcVO.OperationResult.builder()
                .success(true)
                .message("任务监控已停止")
                .build();
    }

    /**
     * 时间计算结果
     */
    private static class TimeCalculation {
        final long gotime;  // 到起始位置的时间（毫秒）
        final long cartime; // 从起始到目标位置的时间（毫秒）
        
        TimeCalculation(long gotime, long cartime) {
            this.gotime = gotime;
            this.cartime = cartime;
        }
    }

    /**
     * MES任务信息
     */
    private static class MesTaskInfo {
        String glassId;
        Integer startSlot;
        Integer targetSlot;
        Integer startPosition;
        Integer targetPosition;
        Integer currentPosition;
        long gotime;
        long cartime;
        Integer workLine;
        long createdTime;
        boolean isOutbound = false; // 是否为出片任务（false=进片，true=出片）
    }

    /**
     * 应用关闭时清理资源
     */
    @PreDestroy
    public void destroy() {
        log.info("正在关闭大车监控线程池...");
        
        // 停止所有监控任务
        for (String deviceId : new ArrayList<>(monitoringTasks.keySet())) {
            stopStateMonitoring(deviceId);
        }
        for (String deviceId : new ArrayList<>(idleMonitoringTasks.keySet())) {
            ScheduledFuture<?> future = idleMonitoringTasks.remove(deviceId);
            if (future != null) future.cancel(false);
        }
        for (String deviceId : new ArrayList<>(taskMonitoringTasks.keySet())) {
            ScheduledFuture<?> future = taskMonitoringTasks.remove(deviceId);
            if (future != null) future.cancel(false);
        }
        
        // 关闭线程池
        shutdownExecutor(stateMonitorExecutor, "状态监控");
        shutdownExecutor(idleMonitorExecutor, "空闲监控");
        shutdownExecutor(taskMonitorExecutor, "任务监控");
        
        log.info("大车监控线程池已关闭");
    }
    
    private void shutdownExecutor(ScheduledExecutorService executor, String name) {
        executor.shutdown();
        try {
            if (!executor.awaitTermination(5, TimeUnit.SECONDS)) {
                executor.shutdownNow();
                if (!executor.awaitTermination(5, TimeUnit.SECONDS)) {
                    log.warn("{}线程池未能正常关闭", name);
                }
            }
        } catch (InterruptedException e) {
            executor.shutdownNow();
            Thread.currentThread().interrupt();
        }
    }
    
    /**
     * 通知卧转立扫码设备暂停或继续
     * @param params 参数，包含_taskContext引用
     * @param pause true=暂停，false=继续
     */
    private void notifyScannerPause(Map<String, Object> params, boolean pause) {
        if (params == null) {
            return;
        }
        
        Object contextObj = params.get("_taskContext");
        if (contextObj instanceof TaskExecutionContext) {
            TaskExecutionContext context = (TaskExecutionContext) contextObj;
            HorizontalScannerLogicHandler.setPauseFlag(context, pause);
            log.info("已通知卧转立扫码设备{}: pause={}", pause ? "暂停" : "继续", pause);
        } else {
            log.debug("未找到TaskExecutionContext，无法通知卧转立扫码设备暂停");
        }
    }
}