feat(机械手任务): 实现换盘任务多阶段处理逻辑

wanshenmean

12 小时以前 2f7c7a0621ee2e84c47ccd054889a71e8ce4fdd0

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs

@@ -344,6 +344,53 @@
        }

        /// <summary>
        /// 下发假电芯取货指令（带批次格式和总数）
        /// </summary>
        /// <remarks>
        /// 发送顺序：
        /// 1. PickTotalNum,{N} -- 真实电芯总数
        /// 2. Pickbattery,5,{start}-{end} -- 批次取货指令（固定从5号位取）
        ///
        /// 下发成功后更新任务状态为"机器人执行中"。
        /// </remarks>
        /// <param name="task">要下发的任务对象</param>
        /// <param name="state">机器人当前状态</param>
        /// <param name="batchStart">批次起始编号</param>
        /// <param name="batchEnd">批次结束编号</param>
        public async Task SendFakeBatteryPickWithBatchAsync(Dt_RobotTask task, RobotSocketState state, int batchStart, int batchEnd)
        {
            // 先发送总数指令
            string totalNumCmd = $"PickTotalNum,{task.RobotTaskTotalNum}";
            await _socketClientGateway.SendToClientAsync(state.IPAddress, totalNumCmd);

            // 再发送批次取货指令（假电芯固定从5号位取）
            string range = batchEnd == 0 ? $"{batchStart}-0" : $"{batchStart}-{batchEnd}";
            string taskString = $"Pickbattery,5,{range}";

            bool result = await _socketClientGateway.SendToClientAsync(state.IPAddress, taskString);

            if (result)
            {
                _logger.LogInformation("下发假电芯批次取货指令成功，指令: {TaskString}，批次: {Range}，设备: {DeviceName}",
                    taskString, range, state.RobotCrane?.DeviceName);
                QuartzLogger.Info($"下发假电芯批次取货指令成功，指令: {taskString}，批次: {range}", state.RobotCrane?.DeviceName);

                task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
                state.CurrentTask = task;

                if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
                {
                    await _robotTaskService.UpdateRobotTaskAsync(task);
                }
            }
            else
            {
                _logger.LogError("下发假电芯批次取货指令失败，指令: {TaskString}，设备: {DeviceName}", taskString, state.RobotCrane?.DeviceName);
                QuartzLogger.Error($"下发假电芯批次取货指令失败，指令: {taskString}", state.RobotCrane?.DeviceName);
            }
        }

        /// <summary>
        /// 下发放货指令（带批次格式和总数）
        /// </summary>
        /// <remarks>