From b698a2085fd090e90abedb1e91266ec496574b29 Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期四, 16 四月 2026 23:31:35 +0800
Subject: [PATCH] 1
---
Code/docs/superpowers/plans/2026-04-16-change-pallet-batch-command.md | 1054 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 1,054 insertions(+), 0 deletions(-)
diff --git a/Code/docs/superpowers/plans/2026-04-16-change-pallet-batch-command.md b/Code/docs/superpowers/plans/2026-04-16-change-pallet-batch-command.md
new file mode 100644
index 0000000..a5c7485
--- /dev/null
+++ b/Code/docs/superpowers/plans/2026-04-16-change-pallet-batch-command.md
@@ -0,0 +1,1054 @@
+# 鎹㈢洏浠诲姟鎵规鎸囦护涓庡弻娴佸悜瀹炵幇璁″垝
+
+> **For agentic workers:** REQUIRED SUB-SKILL: Use superpowers:subagent-driven-development (recommended) or superpowers:executing-plans to implement this plan task-by-task. Steps use checkbox (`- [ ]`) syntax for tracking.
+
+**Goal:** 鍗囩骇鎹㈢洏浠诲姟鍙栬揣/鏀捐揣鎸囦护鏍煎紡涓烘壒娆℃ā寮忥紝鏀寔 PickTotalNum/PutTotalNum锛屽苟鏍规嵁 RobotSourceAddressLineCode 鍖哄垎涓ょ娴佸悜
+
+**Architecture:**
+- RobotSocketState 鏂板鎵规鐘舵�佸瓧娈碉紙CurrentBatchIndex, ChangePalletPhase锛�
+- RobotTaskProcessor 鏂板鎵规鎸囦护鏋勫缓鏂规硶锛圔uildBatchRange, SendPickWithBatchAsync, SendPutWithBatchAsync锛�
+- RobotWorkflowOrchestrator 閲嶅啓 HandlePutFinishedStateAsync 鍜� HandlePickFinishedStateAsync 瀹炵幇涓ょ娴佸悜鐨勭姸鎬佹満
+- RobotPrefixCommandHandler 鍜� RobotSimpleCommandHandler 鏍规嵁闃舵鍖哄垎澶勭悊閫昏緫
+- 鍋囩數鑺湇鍔″眰鏂板 MarkAsAvailable 鏂规硶鐢ㄤ簬閲婃斁鐐逛綅
+
+**Tech Stack:** C# / .NET 8, SqlSugar ORM, Redis缂撳瓨
+
+---
+
+## File Structure
+
+```
+WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/
+ = RobotSocketState.cs # +CurrentBatchIndex, +ChangePalletPhase
+ = RobotTaskProcessor.cs # +BuildBatchRange, +SendPickWithBatchAsync, +SendPutWithBatchAsync
+ = Workflow/RobotWorkflowOrchestrator.cs # 閲嶅啓 HandlePutFinishedStateAsync + HandlePickFinishedStateAsync
+ = Workflow/RobotPrefixCommandHandler.cs # putfinished/pickfinished 闃舵鍒ゆ柇
+ = Workflow/RobotSimpleCommandHandler.cs # allpickfinished/allputfinished 闃舵瀹堝崼
+
+WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/
+ = IFakeBatteryPositionService.cs # +MarkAsAvailable
+
+WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/
+ = FakeBatteryPositionService.cs # +MarkAsAvailable
+
+WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoRepository/
+ = IFakeBatteryPositionRepository.cs # +MarkAsAvailable
+
+WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoRepository/
+ = FakeBatteryPositionRepository.cs # +MarkAsAvailable
+```
+
+---
+
+## Task 1: RobotSocketState 鏂板鎵规鐘舵�佸瓧娈�
+
+**Files:**
+- Modify: `WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotSocketState.cs`
+
+- [ ] **Step 1: 娣诲姞 CurrentBatchIndex 鍜� ChangePalletPhase 灞炴��**
+
+鍦� `IsInFakeBatteryMode` 灞炴�у悗娣诲姞锛�
+
+```csharp
+ /// <summary>
+ /// 鏄惁澶勪簬鍋囩數鑺ˉ鍏呮ā寮�
+ /// </summary>
+ public bool IsInFakeBatteryMode { get; set; }
+
+ /// <summary>
+ /// 褰撳墠鎵规璧峰缂栧彿锛堢敤浜庨�掑璁＄畻鍙栬揣/鏀捐揣缂栧彿锛�
+ /// </summary>
+ /// <remarks>
+ /// 鍦ㄦ壒娆℃ā寮忎笅锛屾瘡鎵瑰彇璐�/鏀捐揣鐨勮捣濮嬬紪鍙蜂粠1寮�濮嬮�掑銆�
+ /// 鐢ㄤ簬璁＄畻 {start}-{end} 鏍煎紡涓殑 start 鍊笺��
+ /// </remarks>
+ public int CurrentBatchIndex { get; set; } = 1;
+
+ /// <summary>
+ /// 鎹㈢洏浠诲姟褰撳墠闃舵
+ /// </summary>
+ /// <remarks>
+ /// 闃舵瀹氫箟锛�
+ /// 0: 鏈紑濮�
+ /// 1: 鍙栨甯哥數鑺紙娴佸悜B锛� / 鍙栧亣鐢佃姱锛堟祦鍚慉锛�
+ /// 2: 鏀炬甯哥數鑺紙娴佸悜B锛� / 鏀惧亣鐢佃姱锛堟祦鍚慉锛�
+ /// 3: 鍙栧亣鐢佃姱锛堟祦鍚態 Phase2锛�
+ /// 4: 鏀惧亣鐢佃姱鍒�5鍙蜂綅锛堟祦鍚態 Phase2锛�
+ /// </remarks>
+ public int ChangePalletPhase { get; set; }
+```
+
+- [ ] **Step 2: 楠岃瘉缂栬瘧**
+
+```bash
+cd D:\Git\ShanMeiXinNengYuan\Code\WCS\WIDESEAWCS_Server
+dotnet build WIDESEAWCS_Tasks/WIDESEAWCS_Tasks.csproj
+```
+
+Expected: 0 errors
+
+- [ ] **Step 3: Commit**
+
+```bash
+git add WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotSocketState.cs
+git commit -m "feat(Robot): RobotSocketState 鏂板 CurrentBatchIndex 鍜� ChangePalletPhase"
+```
+
+---
+
+## Task 2: 鍋囩數鑺粨鍌ㄥ眰鏂板 MarkAsAvailable 鏂规硶
+
+**Files:**
+- Modify: `WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoRepository/IFakeBatteryPositionRepository.cs`
+- Modify: `WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoRepository/FakeBatteryPositionRepository.cs`
+
+- [ ] **Step 1: 鍦ㄦ帴鍙ｄ腑娣诲姞 MarkAsAvailable 鏂规硶澹版槑锛堝湪 MarkAsUsed 鏂规硶鍚庯級**
+
+鍦� `IFakeBatteryPositionRepository.cs` 鐨� `MarkAsUsed` 鏂规硶鍚庢坊鍔狅細
+
+```csharp
+ /// <summary>
+ /// 鏍囪鎸囧畾鐐逛綅涓哄彲鐢紙閲婃斁鐐逛綅锛�
+ /// </summary>
+ /// <param name="positions">鐐逛綅绱㈠紩鍒楄〃</param>
+ /// <returns>鏄惁鎴愬姛</returns>
+ bool MarkAsAvailable(List<int> positions);
+```
+
+- [ ] **Step 2: 鍦ㄤ粨鍌ㄥ疄鐜颁腑娣诲姞 MarkAsAvailable 鏂规硶锛堝湪 MarkAsUsed 鏂规硶鍚庯級**
+
+鍦� `FakeBatteryPositionRepository.cs` 鐨� `MarkAsUsed` 鏂规硶鍚庢坊鍔狅細
+
+```csharp
+ /// <inheritdoc/>
+ public bool MarkAsAvailable(List<int> positions)
+ {
+ if (positions == null || positions.Count == 0)
+ return true;
+
+ return Db.Updateable<Dt_FakeBatteryPosition>()
+ .SetColumns(x => x.IsUsed, false)
+ .Where(x => positions.Contains(x.PositionIndex))
+ .ExecuteCommand() > 0;
+ }
+```
+
+- [ ] **Step 3: 楠岃瘉缂栬瘧**
+
+```bash
+dotnet build WIDESEAWCS_Server.sln
+```
+
+Expected: 0 errors
+
+- [ ] **Step 4: Commit**
+
+```bash
+git add WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoRepository/IFakeBatteryPositionRepository.cs
+git add WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoRepository/FakeBatteryPositionRepository.cs
+git commit -m "feat(Robot): 鍋囩數鑺粨鍌ㄥ眰鏂板 MarkAsAvailable 鏂规硶"
+```
+
+---
+
+## Task 3: 鍋囩數鑺湇鍔″眰鏂板 MarkAsAvailable 鏂规硶
+
+**Files:**
+- Modify: `WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/IFakeBatteryPositionService.cs`
+- Modify: `WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/FakeBatteryPositionService.cs`
+
+- [ ] **Step 1: 鍦ㄦ湇鍔℃帴鍙ｄ腑娣诲姞 MarkAsAvailable 鏂规硶澹版槑锛堝湪 MarkAsUsed 鍚庯級**
+
+鍦� `IFakeBatteryPositionService.cs` 鐨� `MarkAsUsed` 鏂规硶鍚庢坊鍔狅細
+
+```csharp
+ /// <summary>
+ /// 鏍囪鎸囧畾鐐逛綅涓哄彲鐢紙閲婃斁鐐逛綅锛�
+ /// </summary>
+ /// <param name="positions">鐐逛綅绱㈠紩鍒楄〃</param>
+ /// <returns>鏄惁鎴愬姛</returns>
+ bool MarkAsAvailable(List<int> positions);
+```
+
+- [ ] **Step 2: 鍦ㄦ湇鍔″疄鐜颁腑娣诲姞 MarkAsAvailable 鏂规硶**
+
+```csharp
+ /// <inheritdoc/>
+ public bool MarkAsAvailable(List<int> positions)
+ {
+ return BaseDal.MarkAsAvailable(positions);
+ }
+```
+
+- [ ] **Step 3: 楠岃瘉缂栬瘧**
+
+```bash
+dotnet build WIDESEAWCS_Server.sln
+```
+
+Expected: 0 errors
+
+- [ ] **Step 4: Commit**
+
+```bash
+git add WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/IFakeBatteryPositionService.cs
+git add WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/FakeBatteryPositionService.cs
+git commit -m "feat(Robot): 鍋囩數鑺湇鍔″眰鏂板 MarkAsAvailable 鏂规硶"
+```
+
+---
+
+## Task 4: RobotTaskProcessor 鏂板鎵规鎸囦护杈呭姪鏂规硶
+
+**娉ㄦ剰锛�** `_fakeBatteryPositionService` 瀛楁宸插湪涓婁竴杞凯浠ｄ腑娣诲姞锛屾棤闇�閲嶅娉ㄥ叆銆�
+
+**Files:**
+- Modify: `WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs`
+
+- [ ] **Step 1: 娣诲姞 BuildBatchRange 杈呭姪鏂规硶**
+
+鍦� `GetNextAvailableFakeBatteryPositions` 鏂规硶鍚庢坊鍔狅細
+
+```csharp
+ /// <summary>
+ /// 璁＄畻鎵规缂栧彿鑼冨洿
+ /// </summary>
+ /// <remarks>
+ /// 杩斿洖鏍煎紡锛�(start, end)
+ /// - remaining >= 4: (currentIndex, currentIndex + 3)
+ /// - remaining > 1: (currentIndex, currentIndex + remaining - 1)
+ /// - remaining == 1: (currentIndex, 0) -- 鍗曚釜鐗╁搧鐢� 0 琛ㄧず end
+ /// </remarks>
+ /// <param name="currentIndex">褰撳墠鎵规璧峰缂栧彿</param>
+ /// <param name="remaining">鍓╀綑鏁伴噺</param>
+ /// <returns>(start, end) 鍏冪粍</returns>
+ public (int Start, int End) BuildBatchRange(int currentIndex, int remaining)
+ {
+ if (remaining >= 4)
+ return (currentIndex, currentIndex + 3);
+ else if (remaining > 1)
+ return (currentIndex, currentIndex + remaining - 1);
+ else // remaining == 1
+ return (currentIndex, 0);
+ }
+```
+
+- [ ] **Step 2: 娣诲姞 SendPickWithBatchAsync 鏂规硶**
+
+```csharp
+ /// <summary>
+ /// 涓嬪彂鍙栬揣鎸囦护锛堝甫鎵规鏍煎紡鍜屾�绘暟锛�
+ /// </summary>
+ /// <remarks>
+ /// 鍙戦�侀『搴忥細
+ /// 1. PickTotalNum,{N} -- 鐪熷疄鐢佃姱鎬绘暟
+ /// 2. Pickbattery,{浣嶇疆},{start}-{end} -- 鎵规鍙栬揣鎸囦护
+ ///
+ /// 涓嬪彂鎴愬姛鍚庢洿鏂颁换鍔＄姸鎬佷负"鏈哄櫒浜烘墽琛屼腑"銆�
+ /// </remarks>
+ /// <param name="task">瑕佷笅鍙戠殑浠诲姟瀵硅薄</param>
+ /// <param name="state">鏈哄櫒浜哄綋鍓嶇姸鎬�</param>
+ /// <param name="position">鍙栬揣浣嶇疆</param>
+ /// <param name="batchStart">鎵规璧峰缂栧彿</param>
+ /// <param name="batchEnd">鎵规缁撴潫缂栧彿</param>
+ public async Task SendPickWithBatchAsync(Dt_RobotTask task, RobotSocketState state, string position, int batchStart, int batchEnd)
+ {
+ // 鍏堝彂閫佹�绘暟鎸囦护
+ string totalNumCmd = $"PickTotalNum,{task.RobotTaskTotalNum}";
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, totalNumCmd);
+
+ // 鍐嶅彂閫佹壒娆″彇璐ф寚浠�
+ string range = batchEnd == 0 ? $"{batchStart}-0" : $"{batchStart}-{batchEnd}";
+ string taskString = $"Pickbattery,{position},{range}";
+
+ bool result = await _socketClientGateway.SendToClientAsync(state.IPAddress, taskString);
+
+ if (result)
+ {
+ _logger.LogInformation("涓嬪彂鎵规鍙栬揣鎸囦护鎴愬姛锛屾寚浠�: {TaskString}锛屾壒娆�: {Range}锛岃澶�: {DeviceName}",
+ taskString, range, state.RobotCrane?.DeviceName);
+ QuartzLogger.Info($"涓嬪彂鎵规鍙栬揣鎸囦护鎴愬姛锛屾寚浠�: {taskString}锛屾壒娆�: {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("涓嬪彂鎵规鍙栬揣鎸囦护澶辫触锛屾寚浠�: {TaskString}锛岃澶�: {DeviceName}", taskString, state.RobotCrane?.DeviceName);
+ QuartzLogger.Error($"涓嬪彂鎵规鍙栬揣鎸囦护澶辫触锛屾寚浠�: {taskString}", state.RobotCrane?.DeviceName);
+ }
+ }
+```
+
+- [ ] **Step 3: 娣诲姞 SendPutWithBatchAsync 鏂规硶**
+
+```csharp
+ /// <summary>
+ /// 涓嬪彂鏀捐揣鎸囦护锛堝甫鎵规鏍煎紡鍜屾�绘暟锛�
+ /// </summary>
+ /// <remarks>
+ /// 鍙戦�侀『搴忥細
+ /// 1. PutTotalNum,{N} -- 鐪熷疄鐢佃姱鎬绘暟
+ /// 2. Putbattery,{浣嶇疆},{start}-{end} -- 鎵规鏀捐揣鎸囦护
+ ///
+ /// 涓嬪彂鎴愬姛鍚庢洿鏂颁换鍔＄姸鎬佷负"鏈哄櫒浜烘墽琛屼腑"銆�
+ /// </remarks>
+ /// <param name="task">瑕佷笅鍙戠殑浠诲姟瀵硅薄</param>
+ /// <param name="state">鏈哄櫒浜哄綋鍓嶇姸鎬�</param>
+ /// <param name="position">鏀捐揣浣嶇疆</param>
+ /// <param name="batchStart">鎵规璧峰缂栧彿</param>
+ /// <param name="batchEnd">鎵规缁撴潫缂栧彿</param>
+ public async Task SendPutWithBatchAsync(Dt_RobotTask task, RobotSocketState state, string position, int batchStart, int batchEnd)
+ {
+ // 鍏堝彂閫佹�绘暟鎸囦护
+ string totalNumCmd = $"PutTotalNum,{task.RobotTaskTotalNum}";
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, totalNumCmd);
+
+ // 鍐嶅彂閫佹壒娆℃斁璐ф寚浠�
+ string range = batchEnd == 0 ? $"{batchStart}-0" : $"{batchStart}-{batchEnd}";
+ string taskString = $"Putbattery,{position},{range}";
+
+ bool result = await _socketClientGateway.SendToClientAsync(state.IPAddress, taskString);
+
+ if (result)
+ {
+ _logger.LogInformation("涓嬪彂鏀捐揣鎸囦护鎴愬姛锛屾寚浠�: {TaskString}锛屾壒娆�: {Range}锛岃澶�: {DeviceName}",
+ taskString, range, state.RobotCrane?.DeviceName);
+ QuartzLogger.Info($"涓嬪彂鏀捐揣鎸囦护鎴愬姛锛屾寚浠�: {taskString}锛屾壒娆�: {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("涓嬪彂鏀捐揣鎸囦护澶辫触锛屾寚浠�: {TaskString}锛岃澶�: {DeviceName}", taskString, state.RobotCrane?.DeviceName);
+ QuartzLogger.Error($"涓嬪彂鏀捐揣鎸囦护澶辫触锛屾寚浠�: {taskString}", state.RobotCrane?.DeviceName);
+ }
+ }
+```
+
+- [ ] **Step 4: 楠岃瘉缂栬瘧**
+
+```bash
+dotnet build WIDESEAWCS_Tasks/WIDESEAWCS_Tasks.csproj
+```
+
+Expected: 0 errors
+
+- [ ] **Step 5: Commit**
+
+```bash
+git add WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs
+git commit -m "feat(Robot): RobotTaskProcessor 鏂板鎵规鎸囦护杈呭姪鏂规硶"
+```
+
+---
+
+## Task 5: RobotSimpleCommandHandler 娣诲姞闃舵瀹堝崼
+
+**Files:**
+- Modify: `WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs`
+
+- [ ] **Step 1: 淇敼 allpickfinished 鍒嗘敮**
+
+鎵惧埌 `case "allpickfinished":` 鍒嗘敮锛屾浛鎹负锛�
+
+```csharp
+ // 鍏ㄩ儴鍙栬揣瀹屾垚
+ case "allpickfinished":
+ {
+ state.CurrentAction = "AllPickFinished";
+
+ var currentTask = state.CurrentTask;
+ if (currentTask == null)
+ return false;
+
+ var robotTaskType = (RobotTaskTypeEnum)currentTask.RobotTaskType;
+
+ // 鎹㈢洏浠诲姟锛氫粎褰撴墍鏈夐樁娈靛畬鎴愭椂鎵嶅鐞嗗叆搴�
+ if (robotTaskType == RobotTaskTypeEnum.ChangePallet)
+ {
+ if (state.ChangePalletPhase == 0)
+ {
+ // 鎵�鏈夐樁娈靛畬鎴愶紝澶勭悊鍏ュ簱
+ if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
+ {
+ _taskProcessor.DeleteTask(currentTask.RobotTaskId);
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
+ QuartzLogger.Info($"鍙戦�佹秷鎭細銆怱wap,diskFinished銆�", state.RobotCrane.DeviceName);
+
+ // 閲嶇疆鎵规鐘舵��
+ state.ChangePalletPhase = 0;
+ state.CurrentBatchIndex = 1;
+ state.IsInFakeBatteryMode = false;
+ return true;
+ }
+ }
+ // 涓棿闃舵涓嶅鐞嗭紝浠呮洿鏂扮姸鎬�
+ return true;
+ }
+
+ // 鎷嗙洏浠诲姟锛氱洿鎺ュ鐞嗗叆搴�
+ if (robotTaskType == RobotTaskTypeEnum.SplitPallet)
+ {
+ if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
+ {
+ _taskProcessor.DeleteTask(currentTask.RobotTaskId);
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
+ QuartzLogger.Info($"鍙戦�佹秷鎭細銆怱wap,diskFinished銆�", state.RobotCrane.DeviceName);
+ return true;
+ }
+ }
+ return false;
+ }
+```
+
+- [ ] **Step 2: 淇敼 allputfinished 鍒嗘敮**
+
+鎵惧埌 `case "allputfinished":` 鍒嗘敮锛屾浛鎹负锛�
+
+```csharp
+ // 鍏ㄩ儴鏀捐揣瀹屾垚
+ case "allputfinished":
+ {
+ state.CurrentAction = "AllPutFinished";
+
+ var currentTask = state.CurrentTask;
+ if (currentTask == null)
+ return false;
+
+ var robotTaskType = (RobotTaskTypeEnum)currentTask.RobotTaskType;
+
+ // 鎹㈢洏浠诲姟锛氫粎褰撴墍鏈夐樁娈靛畬鎴愭椂鎵嶅鐞嗗叆搴�
+ if (robotTaskType == RobotTaskTypeEnum.ChangePallet)
+ {
+ if (state.ChangePalletPhase == 0)
+ {
+ // 鎵�鏈夐樁娈靛畬鎴愶紝澶勭悊鍏ュ簱
+ if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
+ {
+ _taskProcessor.DeleteTask(currentTask.RobotTaskId);
+ state.CurrentTask = null;
+ state.RobotTaskTotalNum = 0;
+ state.CellBarcode = new List<string>();
+
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
+ QuartzLogger.Info($"鍙戦�佹秷鎭細銆怗roup,diskFinished銆�", state.RobotCrane.DeviceName);
+
+ // 閲嶇疆鎵规鐘舵��
+ state.ChangePalletPhase = 0;
+ state.CurrentBatchIndex = 1;
+ state.IsInFakeBatteryMode = false;
+ return true;
+ }
+ }
+ // 涓棿闃舵涓嶅鐞嗭紝浠呮洿鏂扮姸鎬�
+ return true;
+ }
+
+ // 缁勭洏浠诲姟锛氱洿鎺ュ鐞嗗叆搴�
+ if (robotTaskType == RobotTaskTypeEnum.GroupPallet)
+ {
+ if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
+ {
+ _taskProcessor.DeleteTask(currentTask.RobotTaskId);
+ state.CurrentTask = null;
+ state.RobotTaskTotalNum = 0;
+ state.CellBarcode = new List<string>();
+
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
+ QuartzLogger.Info($"鍙戦�佹秷鎭細銆怗roup,diskFinished銆�", state.RobotCrane.DeviceName);
+ return true;
+ }
+ }
+ return false;
+ }
+```
+
+- [ ] **Step 3: 楠岃瘉缂栬瘧**
+
+```bash
+dotnet build WIDESEAWCS_Tasks/WIDESEAWCS_Tasks.csproj
+```
+
+Expected: 0 errors
+
+- [ ] **Step 4: Commit**
+
+```bash
+git add WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs
+git commit -m "feat(Robot): RobotSimpleCommandHandler 鎹㈢洏浠诲姟娣诲姞 ChangePalletPhase 闃舵瀹堝崼"
+```
+
+---
+
+## Task 6: RobotPrefixCommandHandler 淇敼 putfinished/pickfinished 澶勭悊閫昏緫
+
+**Files:**
+- Modify: `WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotPrefixCommandHandler.cs`
+
+- [ ] **Step 1: 娣诲姞 IFakeBatteryPositionService 渚濊禆**
+
+鍦ㄧ被椤堕儴娣诲姞瀛楁鍜屾瀯閫犲嚱鏁板弬鏁帮細
+
+```csharp
+ /// <summary>
+ /// 鍋囩數鑺綅缃湇鍔�
+ /// </summary>
+ private readonly IFakeBatteryPositionService _fakeBatteryPositionService;
+
+ public RobotPrefixCommandHandler(
+ IRobotTaskService robotTaskService,
+ RobotTaskProcessor taskProcessor,
+ RobotStateManager stateManager,
+ ISocketClientGateway socketClientGateway,
+ IFakeBatteryPositionService fakeBatteryPositionService)
+ {
+ _robotTaskService = robotTaskService;
+ _taskProcessor = taskProcessor;
+ _stateManager = stateManager;
+ _socketClientGateway = socketClientGateway;
+ _fakeBatteryPositionService = fakeBatteryPositionService;
+ }
+```
+
+- [ ] **Step 2: 淇敼 HandlePutFinishedAsync 鏂规硶涓殑鏀捐揣澶勭悊閫昏緫**
+
+鎵惧埌 `if (putSuccess)` 鍧楋紙鐜版湁浠ｇ爜绾﹀湪绗�258琛岄檮杩戯級锛屾浛鎹㈠叾涓殑鏀捐揣鎴愬姛澶勭悊閫昏緫涓猴細
+
+```csharp
+ // 濡傛灉鏀捐揣鎴愬姛
+ if (putSuccess)
+ {
+ state.CurrentAction = "PutFinished";
+
+ // 鍒ゆ柇鏄惁涓烘崲鐩樹换鍔′笖澶勪簬鎵规妯″紡
+ var isChangePallet = state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode();
+ var isFlowA = state.CurrentTask?.RobotSourceAddressLineCode is "11001" or "11010";
+
+ if (isChangePallet)
+ {
+ if (state.ChangePalletPhase == 2)
+ {
+ if (isFlowA)
+ {
+ // 娴佸悜A Phase 2锛氭斁鍋囩數鑺埌鐩爣鎵樼洏锛屼笉璋冪敤 API锛屼笉閫掑璁℃暟
+ // 涓嶅仛浠讳綍棰濆澶勭悊锛屼粎鏇存柊鐘舵��
+ }
+ else
+ {
+ // 娴佸悜B Phase 2锛氭斁姝ｅ父鐢佃姱锛岄�掑璁℃暟
+ state.RobotTaskTotalNum += positions.Length;
+ if (task != null)
+ task.RobotTaskTotalNum -= positions.Length;
+ }
+ }
+ else if (state.ChangePalletPhase == 4)
+ {
+ // 娴佸悜B Phase 4锛氭斁鍋囩數鑺埌5鍙蜂綅锛屼笉璋冪敤 API锛屼笉閫掑璁℃暟锛岄噴鏀剧偣浣�
+ _fakeBatteryPositionService.MarkAsAvailable(positions.ToList());
+ }
+ else
+ {
+ // 闈炴壒娆℃ā寮忔垨闈炴崲鐩樹换鍔★細閫掑璁℃暟
+ state.RobotTaskTotalNum += positions.Length;
+ if (task != null)
+ task.RobotTaskTotalNum -= positions.Length;
+ }
+ }
+ else
+ {
+ // 闈炴崲鐩樹换鍔★細鍘熸湁閫昏緫
+ state.RobotTaskTotalNum += positions.Length;
+ if (task != null)
+ task.RobotTaskTotalNum -= positions.Length;
+ }
+ }
+```
+
+- [ ] **Step 3: 淇敼 HandlePickFinishedAsync 鏂规硶**
+
+鎵惧埌 `if (state.IsSplitPallet)` 鍧楋紙鐜版湁浠ｇ爜绾﹀湪绗�173-198琛岋級锛屾浛鎹负锛�
+
+```csharp
+ // 濡傛灉鏄媶鐩樹换鍔�
+ if (state.IsSplitPallet)
+ {
+ var stockDTO = RobotTaskProcessor.BuildStockDTO(state, positions);
+ state.LastPickPositions = positions;
+ var result = _taskProcessor.PostSplitPalletAsync(stockDTO);
+
+ if (result.Data.Status && result.IsSuccess)
+ {
+ state.CurrentAction = "PickFinished";
+ }
+ }
+ // 鎹㈢洏浠诲姟鍙栧亣鐢佃姱鏃讹紙Phase 3锛変笉璋冪敤鎷嗙洏 API
+ else if (state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode()
+ && state.ChangePalletPhase == 3)
+ {
+ state.CurrentAction = "PickFinished";
+ state.LastPickPositions = positions;
+ }
+ else
+ {
+ state.CurrentAction = "PickFinished";
+ state.LastPickPositions = positions;
+ }
+```
+
+- [ ] **Step 4: 楠岃瘉缂栬瘧**
+
+```bash
+dotnet build WIDESEAWCS_Tasks/WIDESEAWCS_Tasks.csproj
+```
+
+Expected: 0 errors
+
+- [ ] **Step 5: Commit**
+
+```bash
+git add WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotPrefixCommandHandler.cs
+git commit -m "feat(Robot): RobotPrefixCommandHandler 鎹㈢洏浠诲姟鏍规嵁闃舵鍖哄垎澶勭悊閫昏緫"
+```
+
+---
+
+## Task 7: RobotWorkflowOrchestrator 閲嶅啓 HandlePutFinishedStateAsync 鐨� ChangePallet 鍒嗘敮
+
+**Files:**
+- Modify: `WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs`
+
+- [ ] **Step 1: 鏇挎崲 ChangePallet 鍒嗘敮閫昏緫**
+
+鎵惧埌 `else if (task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())` 鍒嗘敮锛屽皢鍏跺畬鏁存浛鎹负锛�
+
+```csharp
+ else if (task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
+ {
+ const int targetTotal = 48;
+ int targetNormalCount = task.RobotTaskTotalNum;
+ int currentCompletedCount = stateForUpdate.RobotTaskTotalNum;
+
+ // 鍒ゆ柇娴佸悜锛坣ull-safe锛�
+ bool isFlowA = task.RobotSourceAddressLineCode is "11001" or "11010";
+
+ // 鐩爣鏁伴噺涓�48锛氱洿鎺ヨ蛋鍘熸湁閫昏緫锛屼笉杩涘叆鎵规妯″紡
+ if (targetNormalCount == targetTotal)
+ {
+ await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);
+ return;
+ }
+
+ // 鍒濆鍖栨壒娆℃ā寮�
+ if (stateForUpdate.ChangePalletPhase == 0)
+ {
+ stateForUpdate.ChangePalletPhase = 1;
+ stateForUpdate.CurrentBatchIndex = 1;
+ _logger.LogInformation("HandlePutFinishedStateAsync锛氭崲鐩樹换鍔¤繘鍏ユ壒娆℃ā寮忥紝浠诲姟鍙�: {TaskNum}锛屾祦鍚�: {Flow}",
+ task.RobotTaskNum, isFlowA ? "A" : "B");
+ }
+
+ // ==================== 娴佸悜A锛氳ˉ鍋囩數鑺埌鐩爣鎵樼洏 ====================
+ if (isFlowA)
+ {
+ // Phase 1: 鍙栧亣鐢佃姱锛堜粠5鍙蜂綅锛屼娇鐢� PositionIndex锛�
+ if (stateForUpdate.ChangePalletPhase == 1)
+ {
+ int remaining = targetTotal - currentCompletedCount;
+ if (remaining <= 0)
+ {
+ stateForUpdate.ChangePalletPhase = 0;
+ stateForUpdate.CurrentBatchIndex = 1;
+ stateForUpdate.IsInFakeBatteryMode = false;
+ _logger.LogInformation("HandlePutFinishedStateAsync锛氭祦鍚慉瀹屾垚锛屼换鍔″彿: {TaskNum}", task.RobotTaskNum);
+ return;
+ }
+
+ int pickCount = Math.Min(4, remaining);
+ var positions = _taskProcessor.GetNextAvailableFakeBatteryPositions(pickCount);
+ if (positions.Count == 0)
+ {
+ _logger.LogError("HandlePutFinishedStateAsync锛氭棤鍙敤鍋囩數鑺偣浣嶏紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
+ return;
+ }
+
+ await _taskProcessor.SendSocketRobotFakeBatteryPickAsync(task, stateForUpdate, positions);
+ stateForUpdate.ChangePalletPhase = 2;
+ }
+ // Phase 2: 鏀惧亣鐢佃姱鍒扮洰鏍囨墭鐩橈紙浠� targetNormalCount+1 寮�濮嬮�掑锛�
+ else if (stateForUpdate.ChangePalletPhase == 2)
+ {
+ int remaining = targetTotal - currentCompletedCount;
+ if (remaining <= 0)
+ {
+ stateForUpdate.ChangePalletPhase = 0;
+ stateForUpdate.CurrentBatchIndex = 1;
+ stateForUpdate.IsInFakeBatteryMode = false;
+ _logger.LogInformation("HandlePutFinishedStateAsync锛氭祦鍚慉瀹屾垚锛屼换鍔″彿: {TaskNum}", task.RobotTaskNum);
+ return;
+ }
+
+ // 璁＄畻鏀捐揣鎵规缂栧彿锛氫粠 targetNormalCount + 1 寮�濮�
+ int batchStart = targetNormalCount + 1 + (stateForUpdate.CurrentBatchIndex - 1);
+ int putCount = Math.Min(4, remaining);
+ var (start, end) = _taskProcessor.BuildBatchRange(batchStart, putCount);
+
+ await _taskProcessor.SendPutWithBatchAsync(task, stateForUpdate, task.RobotTargetAddress, start, end);
+
+ stateForUpdate.CurrentBatchIndex += putCount;
+ stateForUpdate.ChangePalletPhase = 1;
+ }
+ }
+ // ==================== 娴佸悜B锛氬彇姝ｅ父鐢佃姱 + 鍥炴敹鍋囩數鑺� ====================
+ else
+ {
+ // Phase 1: 鍙栨甯哥數鑺紙浠庢簮鍦板潃锛屼粠1寮�濮嬮�掑锛�
+ if (stateForUpdate.ChangePalletPhase == 1)
+ {
+ int remainingNormal = targetNormalCount - currentCompletedCount;
+
+ int pickCount = Math.Min(4, remainingNormal);
+ var (start, end) = _taskProcessor.BuildBatchRange(stateForUpdate.CurrentBatchIndex, pickCount);
+
+ await _taskProcessor.SendPickWithBatchAsync(task, stateForUpdate, task.RobotSourceAddress, start, end);
+
+ // 閫掑鎵规绱㈠紩锛堝鏋滃垰濂藉彇瀹屾渶鍚庝竴涓紝绱㈠紩浼氳秴杩囩洰鏍囷紝浣唒utfinished鍥炴潵鏃朵細鍒囨崲闃舵锛�
+ stateForUpdate.CurrentBatchIndex += pickCount;
+
+ // 鍒囨崲鍒� Phase 2
+ stateForUpdate.ChangePalletPhase = 2;
+ }
+ // Phase 2: 鏀炬甯哥數鑺埌鐩爣鎵樼洏锛堟斁璐х紪鍙蜂笌鍙栬揣缂栧彿涓�鑷达級
+ else if (stateForUpdate.ChangePalletPhase == 2)
+ {
+ int remainingNormal = targetNormalCount - currentCompletedCount;
+ if (remainingNormal <= 0)
+ {
+ // 姝ｅ父鐢佃姱鏀惧畬锛屽垏鎹㈠埌 Phase 3
+ stateForUpdate.ChangePalletPhase = 3;
+ stateForUpdate.CurrentBatchIndex = targetNormalCount + 1;
+ _logger.LogInformation("HandlePutFinishedStateAsync锛氭甯哥數鑺叏閮ㄦ斁瀹岋紝杩涘叆Phase 3鍥炴敹鍋囩數鑺紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
+ return;
+ }
+
+ // 璁＄畻鏈壒鏀捐揣缂栧彿锛氬熀浜� currentCompletedCount 鎺ㄥ鎵规璧峰锛堜笌鍙栬揣缂栧彿涓�鑷达級
+ // batchStart = ((currentCompletedCount - 1) / 4) * 4 + 1
+ int batchStart = ((currentCompletedCount - 1) / 4) * 4 + 1;
+ int putCount = Math.Min(4, remainingNormal);
+ var (start, end) = _taskProcessor.BuildBatchRange(batchStart, putCount);
+
+ await _taskProcessor.SendPutWithBatchAsync(task, stateForUpdate, task.RobotTargetAddress, start, end);
+
+ stateForUpdate.ChangePalletPhase = 1;
+ }
+ // Phase 3: 鍙栧亣鐢佃姱锛堜粠婧愬湴鍧�锛屼粠 targetNormalCount+1 寮�濮嬮�掑锛�
+ else if (stateForUpdate.ChangePalletPhase == 3)
+ {
+ int fakeCount = targetTotal - targetNormalCount;
+ int completedFake = Math.Max(0, currentCompletedCount - targetNormalCount);
+ int remainingFake = fakeCount - completedFake;
+
+ if (remainingFake <= 0)
+ {
+ stateForUpdate.ChangePalletPhase = 0;
+ stateForUpdate.CurrentBatchIndex = 1;
+ stateForUpdate.IsInFakeBatteryMode = false;
+ _logger.LogInformation("HandlePutFinishedStateAsync锛氭祦鍚態瀹屾垚锛屼换鍔″彿: {TaskNum}", task.RobotTaskNum);
+ return;
+ }
+
+ int pickCount = Math.Min(4, remainingFake);
+ var (start, end) = _taskProcessor.BuildBatchRange(stateForUpdate.CurrentBatchIndex, pickCount);
+
+ await _taskProcessor.SendPickWithBatchAsync(task, stateForUpdate, task.RobotSourceAddress, start, end);
+
+ stateForUpdate.CurrentBatchIndex += pickCount;
+ stateForUpdate.ChangePalletPhase = 4;
+ }
+ // Phase 4: 鏀惧亣鐢佃姱鍒�5鍙蜂綅锛堜娇鐢� PositionIndex锛�
+ else if (stateForUpdate.ChangePalletPhase == 4)
+ {
+ int fakeCount = targetTotal - targetNormalCount;
+ int completedFake = Math.Max(0, currentCompletedCount - targetNormalCount);
+ int remainingFake = fakeCount - completedFake;
+
+ if (remainingFake <= 0)
+ {
+ stateForUpdate.ChangePalletPhase = 0;
+ stateForUpdate.CurrentBatchIndex = 1;
+ stateForUpdate.IsInFakeBatteryMode = false;
+ _logger.LogInformation("HandlePutFinishedStateAsync锛氭祦鍚態瀹屾垚锛屼换鍔″彿: {TaskNum}", task.RobotTaskNum);
+ return;
+ }
+
+ var positions = _taskProcessor.GetNextAvailableFakeBatteryPositions(Math.Min(4, remainingFake));
+ if (positions.Count == 0)
+ {
+ _logger.LogError("HandlePutFinishedStateAsync锛氭棤鍙敤鍋囩數鑺偣浣嶏紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
+ return;
+ }
+
+ int start = positions.Min();
+ int end = positions.Max();
+
+ await _taskProcessor.SendPutWithBatchAsync(task, stateForUpdate, "5", start, end);
+
+ stateForUpdate.ChangePalletPhase = 3;
+ }
+ }
+ }
+```
+
+- [ ] **Step 2: 楠岃瘉缂栬瘧**
+
+```bash
+dotnet build WIDESEAWCS_Tasks/WIDESEAWCS_Tasks.csproj
+```
+
+Expected: 0 errors
+
+- [ ] **Step 3: Commit**
+
+```bash
+git add WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs
+git commit -m "feat(Robot): RobotWorkflowOrchestrator 閲嶅啓 HandlePutFinishedStateAsync 瀹炵幇鎵规鎸囦护涓庡弻娴佸悜"
+```
+
+---
+
+## Task 8: RobotWorkflowOrchestrator 閲嶅啓 HandlePickFinishedStateAsync 鐨� ChangePallet 鍒嗘敮
+
+**Files:**
+- Modify: `WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs`
+
+- [ ] **Step 1: 淇敼 HandlePickFinishedStateAsync 鏂规硶**
+
+鎵惧埌 `HandlePickFinishedStateAsync` 鏂规硶锛堢幇鏈変唬鐮佺害绗�162-199琛岋級锛屽皢鏁翠釜鏂规硶鏇挎崲涓猴細
+
+```csharp
+ /// <summary>
+ /// 澶勭悊鍙栬揣瀹屾垚鍚庣殑鏀捐揣鎸囦护
+ /// </summary>
+ /// <remarks>
+ /// 鏍规嵁浠诲姟绫诲瀷鍐冲畾鏀捐揣鎸囦护鏍煎紡锛�
+ /// - 鎹㈢洏浠诲姟锛圕hangePallet锛夛細浣跨敤鎵规鏍煎紡 SendPutWithBatchAsync
+ /// - 缁勭洏浠诲姟锛圙roupPallet锛夛細浣跨敤鍘熸湁鏍煎紡 Putbattery,{鐩爣鍦板潃}
+ /// - 鍏朵粬浠诲姟锛氫娇鐢ㄥ師鏈夋牸寮�
+ /// </remarks>
+ /// <param name="task">褰撳墠浠诲姟</param>
+ /// <param name="ipAddress">鏈哄櫒浜� IP 鍦板潃</param>
+ private async Task HandlePickFinishedStateAsync(Dt_RobotTask task, string ipAddress)
+ {
+ string taskString;
+
+ // 鎹㈢洏浠诲姟浣跨敤鎵规鏍煎紡
+ if (task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
+ {
+ int targetNormalCount = task.RobotTaskTotalNum;
+ var state = _stateManager.GetState(ipAddress);
+ int currentCompletedCount = state?.RobotTaskTotalNum ?? 0;
+
+ bool isFlowA = task.RobotSourceAddressLineCode is "11001" or "11010";
+
+ // 娴佸悜A锛氭斁鍋囩數鑺埌鐩爣鎵樼洏锛圥hase 2锛�
+ if (isFlowA && state?.ChangePalletPhase == 2)
+ {
+ int remaining = 48 - currentCompletedCount;
+ if (remaining <= 0) return;
+
+ // 璁＄畻鎵规缂栧彿锛氫粠 targetNormalCount + 1 寮�濮�
+ int batchStart = targetNormalCount + 1;
+ int putCount = Math.Min(4, remaining);
+ var (start, end) = _taskProcessor.BuildBatchRange(batchStart, putCount);
+
+ await _taskProcessor.SendPutWithBatchAsync(task, state, task.RobotTargetAddress, start, end);
+ return;
+ }
+
+ // 娴佸悜B Phase 4锛氭斁鍋囩數鑺埌5鍙蜂綅
+ if (!isFlowA && state?.ChangePalletPhase == 4)
+ {
+ int fakeCount = 48 - targetNormalCount;
+ int completedFake = Math.Max(0, currentCompletedCount - targetNormalCount);
+ int remainingFake = fakeCount - completedFake;
+
+ if (remainingFake <= 0) return;
+
+ var positions = _taskProcessor.GetNextAvailableFakeBatteryPositions(Math.Min(4, remainingFake));
+ if (positions.Count == 0)
+ {
+ _logger.LogError("HandlePickFinishedStateAsync锛氭棤鍙敤鍋囩數鑺偣浣嶏紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
+ return;
+ }
+
+ int start = positions.Min();
+ int end = positions.Max();
+
+ await _taskProcessor.SendPutWithBatchAsync(task, state, "5", start, end);
+ return;
+ }
+
+ // 娴佸悜B Phase 2锛氭斁姝ｅ父鐢佃姱鍒扮洰鏍囨墭鐩�
+ if (!isFlowA && state?.ChangePalletPhase == 2)
+ {
+ int remainingNormal = targetNormalCount - currentCompletedCount;
+ if (remainingNormal <= 0) return;
+
+ int batchStart = state.CurrentBatchIndex - (state.CurrentBatchIndex - 1) / 4 * 4;
+ int putCount = Math.Min(4, remainingNormal);
+ var (start, end) = _taskProcessor.BuildBatchRange(batchStart, putCount);
+
+ await _taskProcessor.SendPutWithBatchAsync(task, state, task.RobotTargetAddress, start, end);
+ return;
+ }
+
+ // 榛樿锛氫娇鐢ㄥ師鏈夋牸寮�
+ taskString = $"Putbattery,{task.RobotTargetAddress}";
+ }
+ else
+ {
+ // 闈炴崲鐩樹换鍔★細浣跨敤鍘熸湁鏍煎紡
+ taskString = $"Putbattery,{task.RobotTargetAddress}";
+ }
+
+ bool result = await _clientManager.SendToClientAsync(ipAddress, taskString);
+
+ if (result)
+ {
+ _logger.LogInformation("HandlePickFinishedStateAsync锛氫笅鍙戞斁璐ф寚浠ゆ垚鍔燂紝鎸囦护: {TaskString}锛屼换鍔″彿: {TaskNum}", taskString, task.RobotTaskNum);
+ QuartzLogger.Info($"涓嬪彂鏀捐揣鎸囦护鎴愬姛锛屾寚浠�: {taskString}", task.RobotRoadway);
+
+ task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
+
+ var stateToUpdate = _stateManager.GetState(ipAddress);
+ if (stateToUpdate != null)
+ {
+ stateToUpdate.CurrentTask = task;
+
+ if (_stateManager.TryUpdateStateSafely(ipAddress, stateToUpdate))
+ {
+ await _robotTaskService.UpdateRobotTaskAsync(task);
+ }
+ }
+ }
+ else
+ {
+ _logger.LogError("HandlePickFinishedStateAsync锛氫笅鍙戞斁璐ф寚浠ゅけ璐ワ紝鎸囦护: {TaskString}锛屼换鍔″彿: {TaskNum}", taskString, task.RobotTaskNum);
+ QuartzLogger.Error($"涓嬪彂鏀捐揣鎸囦护澶辫触锛屾寚浠�: {taskString}", task.RobotRoadway);
+ }
+ }
+```
+
+- [ ] **Step 2: 楠岃瘉缂栬瘧**
+
+```bash
+dotnet build WIDESEAWCS_Tasks/WIDESEAWCS_Tasks.csproj
+```
+
+Expected: 0 errors
+
+- [ ] **Step 3: Commit**
+
+```bash
+git add WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs
+git commit -m "feat(Robot): RobotWorkflowOrchestrator 閲嶅啓 HandlePickFinishedStateAsync 鏀寔鎵规鎸囦护"
+```
+
+---
+
+## Task 9: 娉ㄥ唽渚濊禆娉ㄥ叆
+
+**Files:**
+- Modify: AutofacModuleRegister.cs 鎴栨鏌ョ幇鏈夋敞鍐�
+
+- [ ] **Step 1: 妫�鏌� FakeBatteryPositionService 鏄惁宸茶嚜鍔ㄦ敞鍐�**
+
+```bash
+grep -r "FakeBatteryPositionService" D:\Git\ShanMeiXinNengYuan\Code\WCS\WIDESEAWCS_Server\WIDESEAWCS_Core --include="*.cs"
+```
+
+Expected: 濡傛灉椤圭洰浣跨敤 `AsImplementedInterfaces()` 鑷姩鎵弿锛岃鏈嶅姟宸茶嚜鍔ㄦ敞鍐屻��
+
+- [ ] **Step 2: 妫�鏌� RobotPrefixCommandHandler 鏋勯�犲嚱鏁板彉鏇村悗鏄惁闇�瑕侀澶栨敞鍐�**
+
+鐢变簬浠呮柊澧炰簡渚濊禆鍙傛暟锛屽鏋滈」鐩娇鐢� Autofac 鑷姩瑁呴厤锛堝弬鏁拌嚜鍔ㄦ敞鍏ワ級锛屽垯鏃犻渶淇敼銆傚鏋滈渶瑕佹墜鍔ㄦ敞鍐岋紝娣诲姞锛�
+
+```csharp
+// 纭繚 IFakeBatteryPositionService 宸茶娉ㄥ唽锛堥�氬父閫氳繃 AsImplementedInterfaces 鑷姩瀹屾垚锛�
+// RobotPrefixCommandHandler 鐨勬柊鏋勯�犲嚱鏁板弬鏁颁細鑷姩瑁呴厤
+```
+
+- [ ] **Step 3: 楠岃瘉缂栬瘧**
+
+```bash
+dotnet build WIDESEAWCS_Server.sln
+```
+
+Expected: 0 errors
+
+- [ ] **Step 4: Commit**锛堜粎褰撴湁瀹為檯鏀瑰姩鏃舵墠鎻愪氦锛�
+
+```bash
+git add <淇敼鐨勬枃浠�>
+git commit -m "feat(Robot): 娉ㄥ唽渚濊禆娉ㄥ叆锛堝鏈夋敼鍔級"
+```
+
+---
+
+## Task 10: 楠岃瘉鏁翠綋鏋勫缓
+
+- [ ] **Step 1: 瀹屾暣鏋勫缓**
+
+```bash
+cd D:\Git\ShanMeiXinNengYuan\Code
+dotnet build WCS/WIDESEAWCS_Server/WIDESEAWCS_Server.sln
+```
+
+Expected: 0 errors, 0 warnings
+
+- [ ] **Step 2: 妫�鏌ユ祴璇�**
+
+```bash
+dotnet test WCS/WIDESEAWCS_Tests/WIDESEAWCS_Tests.csproj
+```
+
+Expected: 鐜版湁娴嬭瘯閫氳繃
+
+- [ ] **Step 3: 鎻愪氦瀹屾垚鏍囪**
+
+```bash
+git commit --allow-empty -m "feat(Robot): 鎹㈢洏浠诲姟鎵规鎸囦护涓庡弻娴佸悜瀹炵幇瀹屾垚"
+```
+
+---
+
+## 闄勫綍锛氭祴璇曢獙璇佹楠�
+
+### 鎵嬪姩楠岃瘉娴佺▼
+
+1. **娴佸悜A娴嬭瘯锛圧obotSourceAddressLineCode = 11001锛�**
+ - targetNormalCount = 11
+ - 棰勬湡锛歅hase1 鍙栧亣鐢佃姱锛圥ickbattery,5,{pos}锛夆啋 Phase2 鏀惧亣鐢佃姱锛圥utbattery,{鐩爣},12-15锛夆啋 寰幆鐩村埌48
+
+2. **娴佸悜B娴嬭瘯锛圧obotSourceAddressLineCode != 11001/11010锛�**
+ - targetNormalCount = 11
+ - 棰勬湡锛歅hase1 鍙栨甯革紙Pickbattery,{婧恾,1-4锛夆啋 Phase2 鏀炬甯革紙Putbattery,{鐩爣},1-4锛夆啋 寰幆 鈫� Phase3 鍙栧亣锛圥ickbattery,{婧恾,12-15锛夆啋 Phase4 鏀惧亣鍒�5鍙蜂綅锛圥utbattery,5,{pos}锛夆啋 寰幆鐩村埌鍥炴敹瀹�37涓亣鐢佃姱
+
+3. **杈圭晫鏉′欢**
+ - targetNormalCount = 48锛氳蛋鍘熸湁閫昏緫
+ - targetNormalCount = 1锛氭壒娆� 1-0 鏍煎紡
+
+---
+
+**Plan complete.**
--
Gitblit v1.9.3