diff --git a/SlnMesnac.Business/base/BaseAGVBusiness.cs b/SlnMesnac.Business/base/BaseAGVBusiness.cs
index 92a48d3..d1a74fc 100644
--- a/SlnMesnac.Business/base/BaseAGVBusiness.cs
+++ b/SlnMesnac.Business/base/BaseAGVBusiness.cs
@@ -320,19 +320,36 @@ namespace SlnMesnac.Business.@base
         }
 
         /// <summary>
-        /// 筛选一辆空闲且指定类型剩余可用空间最大的AGV, 返回GUID
+        /// 筛选一辆空闲且指定类型剩余可用空间最大的AGV, 返回调用的AGVState
         /// </summary>
         /// <returns></returns>
         public AGVState GetBestAGV(AgvType agvType)
         {
             try
             {
+                //对应类型的，待机的agv列表
                 List<AGVState> lists = _AGVStateService.GetAgvState(agvType).Where(x => x.agvworkstate == "待机").ToList();
                 if (lists.Count == 0)
                 {
                     return null;
                 }
-                int min = lists.Min(x => x.stackcount); //小车不可能是满的还空闲
+                //找到堆筐最少的agv
+                int min = lists.Min(x => x.stackcount);
+                //判断堆筐最少的AGV是不是满的, 如果都满返回null
+                if (agvType == AgvType.AMR)
+                {
+                    if (min >= BaseTaskInfoBusiness.AMRStackNumber)
+                    {
+                        return null;
+                    }
+                }
+                else
+                {
+                    if (min >= BaseTaskInfoBusiness.DeliverStackNumber)
+                    {
+                        return null;
+                    }
+                }
                 AGVState agv = lists.Where(x => x.stackcount == min).FirstOrDefault();
                 //var list = _AGVStateService
                 return agv;
diff --git a/SlnMesnac.Business/base/BaseTaskInfoBusiness.cs b/SlnMesnac.Business/base/BaseTaskInfoBusiness.cs
index 55b03ae..38b8b20 100644
--- a/SlnMesnac.Business/base/BaseTaskInfoBusiness.cs
+++ b/SlnMesnac.Business/base/BaseTaskInfoBusiness.cs
@@ -64,7 +64,12 @@ namespace SlnMesnac.Business.@base
 
 
             RefreshTimer = new System.Timers.Timer(1000);
-            RefreshTimer.Elapsed += (sender, e) => RefreshTaskState();
+            RefreshTimer.Elapsed += (sender, e) =>
+            {
+                //清理满载AGV 刷新状态
+                ClearFullAGV();
+                RefreshTaskState();
+            };
 
             _visionBusiness = visionBusiness;
         }
@@ -168,32 +173,104 @@ namespace SlnMesnac.Business.@base
                     _RefreshLogMessageAction?.Invoke("任务数量:" + Task.Count);
                     foreach (AirportTask taskItem in Task)
                     {
-
-                        //查询待执行任务，如果是新任务就下发车辆
-                        if (taskItem.taskstate == "等待" || string.IsNullOrEmpty(taskItem.amragvno))
+                        ///////////////////////////////////////////////////// 查询待执行任务，如果是新任务就下发车辆 /////////////////////////////////////////////////////
+                        if (taskItem.taskstate == "等待")
                         {
-                            //首先调一辆最优AMR
-                            AGVState firstAMR = _baseAGVBusiness.GetBestAGV(AgvType.AMR);
-                            string amrTaskId = _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(
-                                    firstAMR.agvno,
-                                    _AGVJobService.GetAGVJobListByTypeAndConveyorNo("1000入位", taskItem.conveyorno).JobName);
-                            _logger.LogInformation($"为AMR[ {firstAMR.agvno}]分配任务，目标:[ {taskItem.conveyorno} ]号传送带");
-                            taskItem.amragvno = firstAMR.agvno;
-                            taskItem.amragvisarrive = "未到达";
-                            taskItem.taskstate = "派车中";
-                            //需要AGV和AMR才能装下
-                            if (taskItem.totalcount > (AMRStackNumber - firstAMR.stackcount))
+                            /////////////////////////////////////////////////////// 如果AMR还没分配是空的 /////////////////////////////////////////////////////
+                            if (string.IsNullOrEmpty(taskItem.amragvno))
                             {
-                                //调一辆最优Deliver
-                                AGVState firstDeliver = _baseAGVBusiness.GetBestAGV(AgvType.Deliver);
-                                string deliverTaskID = _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(
-                                    firstDeliver.agvno,
-                                    _AGVJobService.GetAGVJobListByTypeAndConveyorNo("800入位", taskItem.conveyorno).JobName);
-                                _logger.LogInformation($"为Deliver[ {firstDeliver.agvno} ]分配任务，目标:[ {taskItem.conveyorno} ]号传送带");
-                                taskItem.deliveragvno = firstDeliver.agvno;
-                                taskItem.deliveragvisarrive = "未到达";
+                                // 首先调一辆最优AMR
+                                AGVState firstAMR = _baseAGVBusiness.GetBestAGV(AgvType.AMR);
+                                // 有空闲车辆 赋值 准备看看是否需要deliver
+                                if (firstAMR != null && !string.IsNullOrEmpty(firstAMR.agvno))
+                                {
+                                    string amrTaskId = _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(
+                                        firstAMR.agvno,
+                                        _AGVJobService.GetAGVJobListByTypeAndConveyorNo("1000入位", taskItem.conveyorno).JobName);
+                                    _logger.LogInformation($"为AMR[ {firstAMR.agvno}]分配任务，目标:[ {taskItem.conveyorno} ]号传送带");
+                                    taskItem.amragvno = firstAMR.agvno;
+                                    taskItem.amragvisarrive = "未到达";
+                                    _Taskservice.UpdateTaskAsync(taskItem);
+                                }
+                                // 如果没调到AMR直接 goto结束
+                                else
+                                {
+                                    _logger.LogInformation($"任务 [{taskItem.taskno}] 暂时匹配不到空闲AMR!");
+                                    goto OUT_POINT;
+                                }
+
+                                // 需要Deliver和AMR才能装下
+                                if (taskItem.totalcount > (AMRStackNumber - firstAMR.stackcount))
+                                {
+                                    // 调一辆最优Deliver
+                                    AGVState firstDeliver = _baseAGVBusiness.GetBestAGV(AgvType.Deliver);
+                                    // 如果有Deliver 赋值 调整状态为派车中
+                                    if (firstDeliver != null && !string.IsNullOrEmpty(firstDeliver.agvno))
+                                    {
+                                        string deliverTaskID = _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(
+                                            firstDeliver.agvno,
+                                            _AGVJobService.GetAGVJobListByTypeAndConveyorNo("800入位", taskItem.conveyorno).JobName);
+                                        _logger.LogInformation($"为Deliver[ {firstDeliver.agvno} ]分配任务，目标:[ {taskItem.conveyorno} ]号传送带");
+                                        taskItem.deliveragvno = firstDeliver.agvno;
+                                        taskItem.deliveragvisarrive = "未到达";
+                                        taskItem.taskstate = "派车中";
+                                        _Taskservice.UpdateTaskAsync(taskItem);
+                                        goto OUT_POINT;
+                                    }
+                                    // 如果没调到Deliver直接 goto结束
+                                    else
+                                    {
+                                        _logger.LogInformation($"任务 [{taskItem.taskno}] 暂时匹配不到空闲Deliver!");
+                                        goto OUT_POINT;
+                                    }
+                                }
+                                // 如果不需要直接调整状态为派车 goto结束
+                                else
+                                {
+                                    taskItem.taskstate = "派车中";
+                                    _Taskservice.UpdateTaskAsync(taskItem);
+                                    goto OUT_POINT;
+                                }
                             }
-                            _Taskservice.UpdateTaskAsync(taskItem);
+                            /////////////////////////////////////////////////////// 如果AMR已分配不是空的 /////////////////////////////////////////////////////
+                            if (!string.IsNullOrEmpty(taskItem.amragvno))
+                            {
+                                AGVState TaskAMR = _AGVStateService.GetSingleAGVState(taskItem.amragvno);
+                                // 看看是否需要AGV和AMR才能装下
+                                if (taskItem.totalcount > (AMRStackNumber - TaskAMR.stackcount))
+                                {
+                                    // 调一辆最优Deliver
+                                    AGVState firstDeliver = _baseAGVBusiness.GetBestAGV(AgvType.Deliver);
+                                    // 如果有Deliver 赋值 调整状态为派车中
+                                    if (firstDeliver != null && !string.IsNullOrEmpty(firstDeliver.agvno))
+                                    {
+                                        string deliverTaskID = _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(
+                                            firstDeliver.agvno,
+                                            _AGVJobService.GetAGVJobListByTypeAndConveyorNo("800入位", taskItem.conveyorno).JobName);
+                                        _logger.LogInformation($"为Deliver[ {firstDeliver.agvno} ]分配任务，目标:[ {taskItem.conveyorno} ]号传送带");
+                                        taskItem.deliveragvno = firstDeliver.agvno;
+                                        taskItem.deliveragvisarrive = "未到达";
+                                        taskItem.taskstate = "派车中";
+                                        _Taskservice.UpdateTaskAsync(taskItem);
+                                        goto OUT_POINT;
+                                    }
+                                    // 匹配不到直接goto
+                                    else
+                                    {
+                                        _logger.LogInformation($"任务 [{taskItem.taskno}] 暂时匹配不到空闲Deliver!");
+                                        goto OUT_POINT;
+                                    }
+                                }
+                                // 不需要Delievr直接改任务状态
+                                else
+                                {
+                                    taskItem.taskstate = "派车中";
+                                    _Taskservice.UpdateTaskAsync(taskItem);
+                                    goto OUT_POINT;
+                                }
+                            }
+
+                        OUT_POINT:; //未分配成功的退出点
                         }
 
                         //根据小车状态更新任务表中AMR是否到达状态，如果到达就改变任务表的状态
@@ -226,7 +303,7 @@ namespace SlnMesnac.Business.@base
                             //只有amr的情况
                             if (taskItem.amragvisarrive == "已到达" && string.IsNullOrEmpty(taskItem.deliveragvno))
                             {
-                                int amrStackNo =_AGVStateService.GetSingleAGVState(taskItem.amragvno).stackcount;
+                                int amrStackNo = _AGVStateService.GetSingleAGVState(taskItem.amragvno).stackcount;
                                 //调用机械臂向AMR小车抓取
                                 _visionBusiness.RequestVisionStartWork(StackState.NXAMRNeedPositioning, amrStackNo, _tcpServer.VID);
                                 taskItem.taskstate = "抓取中";
@@ -253,6 +330,76 @@ namespace SlnMesnac.Business.@base
                 _logger.LogError($"查询任务列表初次下发任务发生错误Message：{ex.Message}");
             }
         }
+
+        /// <summary>
+        /// 入库满载AGV
+        /// </summary>
+        public void ClearFullAGV()
+        {
+            try
+            {
+                var list = _AGVStateService.GetAgvState(AgvType.Deliver);
+                foreach (var record in list)
+                {
+                    if (record.stackcount >= BaseTaskInfoBusiness.DeliverStackNumber && record.agvworkstate == "待机")
+                    {
+                        //入库代码
+                        _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(record.agvno,
+                            _AGVJobService.GetAGVJobListByTypeAndConveyorNo("800入库", "0").JobName);
+                        _logger.LogInformation($"Deliver [{record.agvno}] 入库");
+                    }
+                }
+                list = _AGVStateService.GetAgvState(AgvType.AMR);
+                foreach (var record in list)
+                {
+                    if (record.stackcount >= BaseTaskInfoBusiness.AMRStackNumber && record.agvworkstate == "待机")
+                    {
+                        //入库代码
+                        _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(record.agvno,
+                            _AGVJobService.GetAGVJobListByTypeAndConveyorNo("1000入库", "0").JobName);
+                        _logger.LogInformation($"AMR [{record.agvno}] 入库");
+                    }
+                }
+            }
+            catch (Exception ex)
+            {
+                _logger.LogError($"清理满载AGV时发生错误！Error: [{ex.Message}]");
+            }
+        }
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
 
 
 
diff --git a/SlnMesnac.Business/base/VisionBusiness.cs b/SlnMesnac.Business/base/VisionBusiness.cs
index 9ea5244..5711bec 100644
--- a/SlnMesnac.Business/base/VisionBusiness.cs
+++ b/SlnMesnac.Business/base/VisionBusiness.cs
@@ -185,8 +185,12 @@ namespace SlnMesnac.Business.@base
                         VisionSetting record = _visionSettingService.GetList(x => x.VisionID == id).ToList().First();
                         //大端字节序
                         Array.Reverse(entity.SN);
-                        AirportTask airportTask = _airportTaskService.GetTaskInfos(x => x.amragvno == record.AMRGUID &&
-                            x.visiontaskno == (BitConverter.ToUInt16(entity.SN, 0) - 1).ToString() && x.taskstate == "抓取中").First();
+                        AirportTask airportTask = _airportTaskService.GetTaskInfos(
+                            x => 
+                            x.amragvno == record.AMRGUID &&
+                            x.visiontaskno == (BitConverter.ToUInt16(entity.SN, 0) - 1).ToString() && 
+                            x.taskstate == "抓取中"
+                            ).First();
                         //成功码垛先码垛计数
                         StackCount(airportTask, entity.DataBytes[1]);
                         //取出两辆小车的计数
@@ -196,12 +200,12 @@ namespace SlnMesnac.Business.@base
                         {
                             DeliverCount = _aGVStateService.GetSingleAGVState(airportTask.deliveragvno).stackcount;
                         }
-                        //////////////下面是下一次码垛的综合判断条件//////////////
+                        ////////////////////////////////////////////////////////////////////////////////////////////////////////下面是下一次码垛的综合判断条件////////////////////////////////////////////////////////////////////////////////////////////////////////
                         //先判断总数是否需要继续工作
                         if (airportTask.totalcount > airportTask.loadcount)
                         {
                             //如上一次是AMR 如有Deliver 判断是否到达 到达向deliver发送开始工作，没就判断amr是否装满 继续向amr
-                            //上一次是AMR
+                            //////////////////////////////////////////////////////上一次是AMR////////////////////////////////////////////////////
                             if (entity.DataBytes[1] == 0x00)
                             {
                                 //妹有Deliver的任务（小车号和是否已到达都没有）amr肯定能抓完 继续amr抓取 
@@ -209,6 +213,7 @@ namespace SlnMesnac.Business.@base
                                 {
                                     //一直向amr抓，直到抓满
                                     RequestVisionStartWork(StackState.NXAMRNoPositioning, AMRCount, id);
+                                    _logger.LogInformation($"任务 [{airportTask.taskno}] 继续向AMR [{airportTask.amragvno}] 抓取");
                                 }
                                 //有Delievr任务（有任务号且状态为未到达）继续amr抓取
                                 else if (!string.IsNullOrEmpty(airportTask.deliveragvno) && airportTask.deliveragvisarrive == "未到达")
@@ -218,6 +223,7 @@ namespace SlnMesnac.Business.@base
                                     if (_aGVStateService.GetSingleAGVState(airportTask.amragvno).stackcount < BaseTaskInfoBusiness.AMRStackNumber)
                                     {
                                         RequestVisionStartWork(StackState.NXAMRNoPositioning, AMRCount, id);
+                                        _logger.LogInformation($"任务 [{airportTask.taskno}] 继续向AMR [{airportTask.amragvno}] 抓取");
                                     }
                                     //AMR满了
                                     else
@@ -228,6 +234,7 @@ namespace SlnMesnac.Business.@base
                                         {
                                             //请求复位
                                             RequestVisionReplace(id);
+                                            _logger.LogInformation($"任务 [{airportTask.taskno}] AMR已满，停止抓取");
                                             while (true)
                                             {
                                                 //循环判断该任务的deliver是否到达
@@ -236,6 +243,7 @@ namespace SlnMesnac.Business.@base
                                                 if (task.deliveragvisarrive == "已到达")
                                                 {
                                                     RequestVisionStartWork(StackState.NXAGVNeedPositioning, DeliverCount, id);
+                                                    _logger.LogInformation($"任务 [{airportTask.taskno}] 向Deliver [{airportTask.deliveragvno}] 抓取");
                                                     break;
                                                 }
                                             }
@@ -246,6 +254,7 @@ namespace SlnMesnac.Business.@base
                                 else if (!string.IsNullOrEmpty(airportTask.deliveragvno) && airportTask.deliveragvisarrive == "已到达")
                                 {
                                     RequestVisionStartWork(StackState.NXAGVNeedPositioning, DeliverCount, id);
+                                    _logger.LogInformation($"任务 [{airportTask.taskno}] 向Deliver [{airportTask.deliveragvno}] 抓取");
                                 }
                                 //异常情况
                                 else
@@ -254,7 +263,7 @@ namespace SlnMesnac.Business.@base
                                 }
                             }
                             //如上一次是deliver-->则判断deliver是否装满-->装满则deliver入库-->判断剩下的数量用不用调新的deliver-->用就调新的deliver然后发向amr抓取(还得判断AMR是否抓满)-->不用就直接向amr抓取
-                            //上一次是Deliver
+                            //////////////////////////////////////////////////////上一次是Deliver////////////////////////////////////////////////////
                             else if (entity.DataBytes[1] == 0x01)
                             {
                                 //判断Deliver是否装满,装满就直接入库,未装满继续装
@@ -262,6 +271,7 @@ namespace SlnMesnac.Business.@base
                                 if (_aGVStateService.GetSingleAGVState(airportTask.deliveragvno).stackcount < BaseTaskInfoBusiness.DeliverStackNumber)
                                 {
                                     RequestVisionStartWork(StackState.NXAGVNoPositioning, DeliverCount, id);
+                                    _logger.LogInformation($"任务 [{airportTask.taskno}] 继续向Deliver [{airportTask.deliveragvno}] 抓取");
                                 }
                                 //deliver满了，入库然后判断
                                 else
@@ -269,6 +279,7 @@ namespace SlnMesnac.Business.@base
                                     //入库代码
                                     _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(airportTask.deliveragvno,
                                         _AGVJobService.GetAGVJobListByTypeAndConveyorNo("800入库", airportTask.conveyorno).JobName);
+                                    _logger.LogInformation($"任务 [{airportTask.taskno}] Deliver [{airportTask.deliveragvno}] 入库");
                                     airportTask.deliveragvno = null;
                                     airportTask.deliveragvisarrive = null;
                                     _airportTaskService.UpdateTaskAsync(airportTask);
@@ -278,6 +289,7 @@ namespace SlnMesnac.Business.@base
                                     if (airportTask.totalcount - airportTask.loadcount < amrleft)
                                     {
                                         RequestVisionStartWork(StackState.NXAMRNeedPositioning, AMRCount, id);
+                                        _logger.LogInformation($"任务 [{airportTask.taskno}] 向AMR [{airportTask.amragvno}] 抓取");
                                     }
                                     //剩下的数量需要调用，并判断向AMR抓取
                                     else
@@ -288,9 +300,10 @@ namespace SlnMesnac.Business.@base
                                             _AGVJobService.GetAGVJobListByTypeAndConveyorNo("800入位", airportTask.conveyorno).JobName);
                                         airportTask.deliveragvno = newagv.agvno;
                                         airportTask.deliveragvisarrive = "未到达";
+                                        _logger.LogInformation($"任务 [{airportTask.taskno}] 调用Deliver [{airportTask.deliveragvno}] 入位");
                                         _airportTaskService.UpdateTaskAsync(airportTask);
                                         //amr无容量，结束抓取，等待Deliver到达
-                                        if (amrleft == 0)
+                                        if (amrleft <= 0)
                                         {
                                             AirportTask task;
                                             //结束抓取、循环判断deliver是否到达，到了就向新的Deliver开始抓取
@@ -298,6 +311,7 @@ namespace SlnMesnac.Business.@base
                                             {
                                                 //请求复位
                                                 RequestVisionReplace(id);
+                                                _logger.LogInformation($"任务 [{airportTask.taskno}] AMR已满，停止抓取");
                                                 while (true)
                                                 {
                                                     //循环判断该任务的deliver是否到达
@@ -306,6 +320,7 @@ namespace SlnMesnac.Business.@base
                                                     if (task.deliveragvisarrive == "已到达")
                                                     {
                                                         RequestVisionStartWork(StackState.NXAGVNeedPositioning, DeliverCount, id);
+                                                        _logger.LogInformation($"任务 [{airportTask.taskno}] 向Deliver [{airportTask.deliveragvno}] 抓取");
                                                         break;
                                                     }
                                                 }
@@ -315,6 +330,7 @@ namespace SlnMesnac.Business.@base
                                         else
                                         {
                                             RequestVisionStartWork(StackState.NXAMRNeedPositioning, AMRCount, id);
+                                            _logger.LogInformation($"任务 [{airportTask.taskno}] 向AMR [{airportTask.amragvno}] 抓取");
                                         }
                                     }
                                 }
@@ -325,27 +341,32 @@ namespace SlnMesnac.Business.@base
                                 throw new Exception($"任务 {airportTask.taskno} 未知上次码垛代码！请检查视觉系统状态！");
                             }
                         }
-                        //总数达标，结束任务，复位机械臂，调回小车，任务状态调整
+                        ////////////////////////////////////////////////////总数达标，结束任务，复位机械臂，复位小车，任务状态调整////////////////////////////////////////////////////
                         else
                         {
-                            _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(airportTask.amragvno,
-                                        _AGVJobService.GetAGVJobListByTypeAndConveyorNo("1000入库", airportTask.conveyorno).JobName);
+                            //复位机械臂
+                            RequestVisionReplace(id);
+                            //结束AMR任务
+                            _baseAGVBusiness.EndTaskAndClearError(airportTask.amragvno);
+                            _logger.LogInformation($"任务 [{airportTask.taskno}] AMR [{airportTask.amragvno}] 结束任务");
                             airportTask.amragvno = null;
                             airportTask.amragvisarrive = null;
                             airportTask.visiontaskno = null;
+                            //有Deliver的话结束Deliver任务
                             if (!string.IsNullOrEmpty(airportTask.deliveragvno))
                             {
-                                _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(airportTask.deliveragvno,
-                                    _AGVJobService.GetAGVJobListByTypeAndConveyorNo("800入库", airportTask.conveyorno).JobName);
+                                _baseAGVBusiness.EndTaskAndClearError(airportTask.deliveragvno);
+                                _logger.LogInformation($"任务 [{airportTask.taskno}] Deliver [{airportTask.deliveragvno}] 结束任务");
                                 airportTask.deliveragvno = null;
                                 airportTask.deliveragvisarrive = null;
                             }
                             airportTask.finishtime = DateTime.Now;
                             airportTask.taskstate = "已完成";
                             _airportTaskService.UpdateTaskAsync(airportTask);
+                            _logger.LogInformation($"任务 [{airportTask.taskno}] 已完成");
                         }
                     }
-                    //码垛过程失败
+                    //////////////////////////////////////////////////////码垛过程失败////////////////////////////////////////////////////
                     else if (entity.DataBytes[0] == 0x01)
                     {
                         VisionSetting record = _visionSettingService.GetList(x => x.VisionID == id).ToList().First();
@@ -365,20 +386,20 @@ namespace SlnMesnac.Business.@base
                         {
                             //发送向复合机器人（AMR）码垛的信号
                             RequestVisionStartWork(StackState.NXAMRNoPositioning, AMRCount, id);
-                            _logger.LogInformation("下一次码垛开始，方向：复合机器人");
+                            _logger.LogInformation($"下一次码垛开始，方向：复合机器人 [{airportTask.amragvno}]");
                         }
                         else if (entity.DataBytes[1] == 0x01)
                         {
                             //发送向搬运机器人（AGVDeliver）码垛的信号
                             RequestVisionStartWork(StackState.NXAGVNoPositioning, DeliverCount, id);
-                            _logger.LogInformation("下一次码垛开始，方向：搬运机器人");
+                            _logger.LogInformation($"下一次码垛开始，方向：搬运机器人 [{airportTask.deliveragvno}]");
                         }
                         else
                         {
                             _logger.LogError($"码垛失败返回未知码垛结果代码，请手动重新发送码垛信号");
                         }
                     }
-                    //码垛检查失败
+                    //////////////////////////////////////////////////////码垛检查失败////////////////////////////////////////////////////
                     else if (entity.DataBytes[0] == 0x02)
                     {
                         _logger.LogError($"视觉系统一次码垛结束，码垛检查失败，请手动矫正并手动开始下一次码垛");
@@ -388,7 +409,7 @@ namespace SlnMesnac.Business.@base
                             x.visiontaskno == (BitConverter.ToInt16(entity.SN, 0) - 1).ToString() && x.taskstate == "抓取中").First();
                         StackCount(airportTask, entity.DataBytes[1]);
                     }
-                    //未知代码
+                    //////////////////////////////////////////////////////未知代码////////////////////////////////////////////////////
                     else
                     {
                         _logger.LogError($"视觉系统一次码垛结束，未知返回代码！请检查视觉系统状态！");
@@ -404,7 +425,7 @@ namespace SlnMesnac.Business.@base
             catch(Exception ex)
             {
                 RequestVisionReplace(id);
-                _logger.LogError($"接受工作结束再分配状态发生错误 {ex.Message}");
+                _logger.LogError($"上位机接受工作信号结束再分配状态发生错误 {ex.Message}");
             }
         }
 
@@ -419,7 +440,7 @@ namespace SlnMesnac.Business.@base
                 //判断返回结果
                 if (_aGVStateService.UpdateAsync(aGVState).Result || _airportTaskService.UpdateTaskAsync(airportTask).Result)
                 {
-                    _logger.LogInformation($"计数更新成功 {airportTask.amragvno} AMR: {aGVState.stackcount} Total: {airportTask.loadcount}");
+                    _logger.LogInformation($"计数更新成功 [{airportTask.amragvno}] AMR: [{aGVState.stackcount}] Task: [{airportTask.taskno}] Total: [{airportTask.loadcount}]");
                 }
                 else
                 {
@@ -436,7 +457,7 @@ namespace SlnMesnac.Business.@base
                 //判断返回结果
                 if (_aGVStateService.UpdateAsync(aGVState).Result || _airportTaskService.UpdateTaskAsync(airportTask).Result)
                 {
-                    _logger.LogInformation($"计数更新成功 {airportTask.amragvno} AMR: {aGVState.stackcount} Total: {airportTask.loadcount}");
+                    _logger.LogInformation($"计数更新成功 [{airportTask.amragvno}] Deliver: [{aGVState.stackcount}] Task: [{airportTask.taskno}] Total: [{airportTask.loadcount}]");
                 }
                 else
                 {
diff --git a/SlnMesnac.WPF/Page/ControlPage/UserTaskControl.xaml b/SlnMesnac.WPF/Page/ControlPage/UserTaskControl.xaml
index d5cb44d..ccc1789 100644
--- a/SlnMesnac.WPF/Page/ControlPage/UserTaskControl.xaml
+++ b/SlnMesnac.WPF/Page/ControlPage/UserTaskControl.xaml
@@ -22,7 +22,7 @@
         <Button Content="结束AGV状态刷新" x:Name="StopAGVStateRefresh"  Command="{Binding FormControlCommand}" CommandParameter="{Binding Name,ElementName=StopAGVStateRefresh}" Style="{StaticResource  BUTTON_AGREE}" Height="30" Background="Green" BorderBrush="#FF36B5C1" Margin="89,405,581,61" />
         <Button Content="开始任务状态刷新" x:Name="StartTaskRefresh"  Command="{Binding FormControlCommand}" CommandParameter="{Binding Name, ElementName=StartTaskRefresh}" Style="{StaticResource BUTTON_AGREE}" Height="30" Background="Green" BorderBrush="#FF36B5C1" Margin="251,342,419,124" />
         <Button Content="结束任务状态刷新" x:Name="StopTaskRefresh"  Command="{Binding FormControlCommand}" CommandParameter="{Binding Name, ElementName=StopTaskRefresh}" Style="{StaticResource BUTTON_AGREE}" Height="30" Background="Green" BorderBrush="#FF36B5C1" Margin="251,405,419,61" />
-        <Button Content="终止所有的航班任务、小车任务、机械臂复位" x:Name="StopAll"  Command="{Binding FormControlCommand}" CommandParameter="{Binding Name, ElementName=StopAGVStateRefresh}" Style="{StaticResource BUTTON_AGREE}" Height="30" Background="Green" BorderBrush="#FF36B5C1" Margin="89,517,419,43" RenderTransformOrigin="0.5,0.5" Click="StopAll_Click" >
+        <Button Content="终止所有的航班任务、小车任务、机械臂复位" x:Name="StopAll"  Command="{Binding FormControlCommand}" CommandParameter="{Binding Name, ElementName=StopAll}" Style="{StaticResource BUTTON_AGREE}" Height="30" Background="Green" BorderBrush="#FF36B5C1" Margin="89,517,419,43" RenderTransformOrigin="0.5,0.5" Click="StopAll_Click" >
             <Button.RenderTransform>
                 <TransformGroup>
                     <ScaleTransform/>
diff --git a/SlnMesnac.WPF/Page/ControlPage/UserTaskControl.xaml.cs b/SlnMesnac.WPF/Page/ControlPage/UserTaskControl.xaml.cs
index 8773fac..a063aa5 100644
--- a/SlnMesnac.WPF/Page/ControlPage/UserTaskControl.xaml.cs
+++ b/SlnMesnac.WPF/Page/ControlPage/UserTaskControl.xaml.cs
@@ -130,7 +130,10 @@ namespace SlnMesnac.WPF.Page.ControlPage
 
         private void StopAll_Click(object sender, RoutedEventArgs e)
         {
-            this.StopTaskAction.Invoke();
+            if(MessageBox.Show("是否确认停止所有任务并归为所有小车？", "确认", MessageBoxButton.OKCancel) == MessageBoxResult.OK)
+            {
+                this.StopTaskAction.Invoke();
+            }
         }
     }
 }
diff --git a/SlnMesnac.WPF/ViewModel/MainWindowViewModel.cs b/SlnMesnac.WPF/ViewModel/MainWindowViewModel.cs
index d4b91ac..17fc467 100644
--- a/SlnMesnac.WPF/ViewModel/MainWindowViewModel.cs
+++ b/SlnMesnac.WPF/ViewModel/MainWindowViewModel.cs
@@ -6,6 +6,7 @@ using Microsoft.Extensions.Logging;
 using SlnMesnac.Business.@base;
 using SlnMesnac.Config;
 using SlnMesnac.Model.AirportApiEntity;
+using SlnMesnac.Model.dto;
 using SlnMesnac.Repository;
 using SlnMesnac.Repository.service;
 using SlnMesnac.TouchSocket;
@@ -122,8 +123,8 @@ namespace SlnMesnac.WPF.ViewModel
             _visionSettingService = App.ServiceProvider.GetService<IVisionSettingService>();
             _tcpServer = App.ServiceProvider.GetService<TcpServer>();
             _airPorthttpClient = App.ServiceProvider.GetService<AirPorthttpClient>();
-            _baseTaskInfoBusiness = BaseTaskInfoBusiness.GetInstance(_BaseTaskInfoBusinesslogger, 
-                _Taskservice, _AGVStateService, _AGVMapPointService, _agvJobService, 
+            _baseTaskInfoBusiness = BaseTaskInfoBusiness.GetInstance(_BaseTaskInfoBusinesslogger,
+                _Taskservice, _AGVStateService, _AGVMapPointService, _agvJobService,
                 _tcpServer, _airPorthttpClient, _baseAGVBusiness, _visionBusiness);
             _baseAGVBusiness = BaseAGVBusiness.GetInstance(_baseAGVBusinessLogger, _airPorthttpClient, _AGVStateService, _AGVMapPointService, _appConfig);
             _visionBusiness = VisionBusiness.GetInstance(_VisionBusinessLogger, _tcpServer, _Taskservice, _visionSettingService, _AGVStateService, _agvJobService);
@@ -236,6 +237,9 @@ namespace SlnMesnac.WPF.ViewModel
                     case "StopTaskRefresh":
                         _baseTaskInfoBusiness.TaskStateUpdateTimerOperation(TimerControl.Stop);
                         break;
+                    case "StopAll":
+                        //StopAllTaskActionInvoke();
+                        break;
                     default:
                         break;
                 }
@@ -252,7 +256,7 @@ namespace SlnMesnac.WPF.ViewModel
             {
                 List<AirportTask> taskList = _Taskservice.GetTaskInfos(x => x.taskstate == "抓取中" && x.taskstate == "派车中").ToList();
                 //任务状态设置为已终止并且机械臂复位
-                foreach(var taskInfo in taskList)
+                foreach (var taskInfo in taskList)
                 {
                     _visionBusiness.RequestVisionReplace(_visionSettingService.GetVisionSettingByAMRGUID(taskInfo.amragvno).VisionID);
                     taskInfo.visiontaskno = null;
@@ -262,9 +266,20 @@ namespace SlnMesnac.WPF.ViewModel
                     taskInfo.deliveragvisarrive = null;
                     taskInfo.finishtime = DateTime.Now;
                     taskInfo.taskstate = "已终止";
+                    _logger.LogInformation($"任务 [{taskInfo.taskno}] 已终止");
                 }
+
                 //agv全部停止
-                _logger.LogInformation("已成功全部停止");
+                var responseList = _airPorthttpClient.AGVAllStateRequest();
+                foreach (var response in responseList.Data)
+                {
+                    if (!string.IsNullOrEmpty(response.TaskID) && response.AgvMoveStatus != 1 && response.AgvMoveStatus != 3)
+                    {
+                        _baseAGVBusiness.EndTaskAndClearError(response.Guid);
+                        _logger.LogInformation($"小车 [{response.Name}] 任务已终止");
+                    }
+                }
+                _logger.LogInformation($"全部复位完毕");
             };
         }