SuZhouGuanHong/ShanMeiXinNengYuan.git

			@@ -185,7 +185,7 @@
			// 将任务关联到状态对象
			state.CurrentTask = task;

			if(isScanNG)
			if (isScanNG)
			{
			state.IsScanNG = true;
			}
			@@ -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>
			@@ -409,7 +456,7 @@
			/// <param name="state">机器人当前状态</param>
			/// <param name="useSourceAddress">是否使用源地址（true 表示拆盘/换盘场景，false 表示组盘/换盘场景）</param>
			/// <returns>处理是否成功</returns>
			public async Task<bool> HandleInboundTaskAsync(RobotSocketState state, bool useSourceAddress)
			public async Task<bool> HandleInboundTaskAsync(RobotSocketState state, bool useSourceAddress, string isRoadway = null)
			{
			// 获取当前关联的任务
			var currentTask = state.CurrentTask;
			@@ -421,18 +468,17 @@
			}

			// 获取巷道代码
			string roadway = currentTask.RobotSourceAddressLineCode;
			string roadway = string.Empty;

			// 根据巷道名称判断仓库 ID
			// ZYRB1 -> 1, HPRB001 -> 2, 其他 -> 3
			int warehouseId = currentTask.RobotRoadway == "注液组盘机械手" ? 1 : currentTask.RobotRoadway == "HPRB001" ? 2 : 3;

			// 任务类型（0 表示未定义，稍后根据任务类型设置）
			int taskType = 0;
			int warehouseId = 0;

			// 源地址和目标地址（初始化）
			string SourceAddress = currentTask.RobotTargetAddressLineCode;
			string TargetAddress = currentTask.RobotSourceAddressLineCode;

			// 任务类型（0 表示未定义，稍后根据任务类型设置）
			int taskType = 0;

			// 托盘代码（初始化为空）
			string PalletCode = string.Empty;
			@@ -447,16 +493,33 @@
			switch (robotTaskType)
			{
			case RobotTaskTypeEnum.GroupPallet:
			// 组盘任务不使用源地址，直接返回 false
			_logger.LogDebug("HandleInboundTaskAsync：组盘任务不使用源地址");
			QuartzLogger.Debug($"HandleInboundTaskAsync：组盘任务不使用源地址", state.RobotCrane?.DeviceName ?? "Unknown");
			return false;
			warehouseId = 1;
			roadway = "GWSC1";
			break;

			case RobotTaskTypeEnum.ChangePallet:
			// 换盘/拆盘场景：托盘需要入库
			taskType = TaskTypeEnum.InEmpty.GetHashCode(); // 空托盘入库
			PalletCode = currentTask.RobotSourceAddressPalletCode; // 使用源地址的托盘码
			if (isRoadway == "HWSC1")
			{
			warehouseId = 2;
			roadway = "HWSC1";
			}
			else if (isRoadway == "GWSC1")
			{
			warehouseId = 1;
			roadway = "GWSC1";
			}

			break;
			case RobotTaskTypeEnum.SplitPallet:
			// 换盘/拆盘场景：托盘需要入库
			taskType = TaskTypeEnum.InEmpty.GetHashCode(); // 空托盘入库
			PalletCode = currentTask.RobotSourceAddressPalletCode; // 使用源地址的托盘码

			warehouseId = 3;
			roadway = "CWSC1";
			break;
			}
			}
			@@ -466,17 +529,34 @@
			switch (robotTaskType)
			{
			case RobotTaskTypeEnum.ChangePallet:
			// 换盘/组盘场景：货物需要入库
			taskType = TaskTypeEnum.Inbound.GetHashCode(); // 成品入库
			PalletCode = currentTask.RobotTargetAddressPalletCode; // 使用目标地址的托盘码

			if (isRoadway == "HWSC1")
			{
			warehouseId = 2;
			roadway = "HWSC1";
			}
			else if (isRoadway == "GWSC1")
			{
			warehouseId = 1;
			roadway = "GWSC1";
			}

			break;
			case RobotTaskTypeEnum.GroupPallet:
			// 换盘/组盘场景：货物需要入库
			taskType = TaskTypeEnum.Inbound.GetHashCode(); // 成品入库
			PalletCode = currentTask.RobotTargetAddressPalletCode; // 使用目标地址的托盘码

			warehouseId = 1;
			roadway = "GWSC1";
			break;

			case RobotTaskTypeEnum.SplitPallet:
			// 拆盘任务不使用目标地址
			_logger.LogDebug("HandleInboundTaskAsync：拆盘任务不使用目标地址");
			QuartzLogger.Debug($"HandleInboundTaskAsync：拆盘任务不使用目标地址", state.RobotCrane?.DeviceName ?? "Unknown");
			return true;

			break;
			}
			}

			@@ -485,8 +565,8 @@
			{
			PalletCode = PalletCode, // 托盘条码
			SourceAddress = SourceAddress ?? string.Empty, // 源地址
			TargetAddress = TargetAddress ?? string.Empty, // 目标地址
			Roadway = roadway, // 巷道
			TargetAddress = roadway ?? string.Empty, // 目标地址
			Roadway = roadway ?? string.Empty, // 巷道
			WarehouseId = warehouseId, // 仓库 ID
			PalletType = 1, // 托盘类型（默认为1）
			TaskType = taskType // 任务类型（入库/空托盘入库）