🐛 fix(fanuc): 修复 J519 队列等待与日志注入

* 为 FANUC 命令、状态和 J519 客户端注入独立日志记录器
* 补充不可接收命令状态下队列完成等待的回归测试
* 调整 J519 命令流结束后的状态处理语义

tests/Flyshot.Core.Tests/FanucControllerRuntimeLoggingRegistrationTests.cs

@@ -1,5 +1,6 @@
 using Flyshot.Runtime.Common;
 using Flyshot.Runtime.Fanuc;
+using Flyshot.Runtime.Fanuc.Protocol;
 using Microsoft.Extensions.DependencyInjection;
 using System.Reflection;
 
@@ -14,7 +15,7 @@ public sealed class FanucControllerRuntimeLoggingRegistrationTests
     /// 验证宿主按 IControllerRuntime 解析 FANUC 运行时时，不会因为可选日志参数而退回到无日志实例。
     /// </summary>
     [Fact]
-    public void ServiceProvider_Resolves_FanucControllerRuntime_WithLogger()
+    public void ServiceProvider_Resolves_FanucControllerRuntime_WithAllClientLoggers()
     {
         var services = new ServiceCollection();
         services.AddLogging();
@@ -28,5 +29,27 @@ public sealed class FanucControllerRuntimeLoggingRegistrationTests
 
         Assert.NotNull(loggerField);
         Assert.NotNull(loggerField!.GetValue(concreteRuntime));
+
+        AssertClientLoggerIsInjected<FanucCommandClient>(concreteRuntime, "_commandClient");
+        AssertClientLoggerIsInjected<FanucStateClient>(concreteRuntime, "_stateClient");
+        AssertClientLoggerIsInjected<FanucJ519Client>(concreteRuntime, "_j519Client");
+    }
+
+    /// <summary>
+    /// 断言运行时持有的底层协议客户端已注入对应类型的日志记录器。
+    /// </summary>
+    /// <typeparam name="TClient">待检查的协议客户端类型。</typeparam>
+    /// <param name="runtime">已经通过依赖注入解析出的 FANUC 运行时。</param>
+    /// <param name="clientFieldName">运行时内部保存该客户端实例的字段名。</param>
+    private static void AssertClientLoggerIsInjected<TClient>(FanucControllerRuntime runtime, string clientFieldName)
+    {
+        var clientField = typeof(FanucControllerRuntime).GetField(clientFieldName, BindingFlags.Instance | BindingFlags.NonPublic);
+
+        Assert.NotNull(clientField);
+        var client = Assert.IsType<TClient>(clientField!.GetValue(runtime));
+        var loggerField = typeof(TClient).GetField("_logger", BindingFlags.Instance | BindingFlags.NonPublic);
+
+        Assert.NotNull(loggerField);
+        Assert.NotNull(loggerField!.GetValue(client));
     }
 }

tests/Flyshot.Core.Tests/FanucJ519ClientTests.cs

@@ -279,6 +279,34 @@ public sealed class FanucJ519ClientTests : IDisposable
         Assert.True(client.IsCommandQueueDrainedForTests());
     }
 
+    /// <summary>
+    /// 验证机器人持续不可接收命令时，后续装载的命令队列会被完成，避免执行请求永久等待。
+    /// </summary>
+    [Fact]
+    public async Task LoadCommandQueue_WhenLatestStatusDoesNotAcceptCommands_CompletesQueueWait()
+    {
+        using var client = new FanucJ519Client();
+        await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
+        var initResult = await _server.ReceiveAsync(_cts.Token);
+
+        client.StartMotion();
+        await SendStatusPacketAsync(initResult.RemoteEndPoint, sequence: 900, status: 0x04);
+        await Task.Delay(100, _cts.Token);
+
+        client.LoadCommandQueue(
+        [
+            new FanucJ519Command(sequence: 0, targetJoints: [1.0, 0.0, 0.0, 0.0, 0.0, 0.0])
+        ]);
+        await SendStatusPacketAsync(initResult.RemoteEndPoint, sequence: 901, status: 0x04);
+
+        await client.WaitForCommandQueueDrainedAsync(_cts.Token).WaitAsync(TimeSpan.FromSeconds(1), _cts.Token);
+        await Assert.ThrowsAsync<TimeoutException>(
+            () => _server.ReceiveAsync(_cts.Token).AsTask().WaitAsync(TimeSpan.FromMilliseconds(120)));
+
+        Assert.True(client.IsCommandQueueDrainedForTests());
+        await client.StopMotionAsync(_cts.Token);
+    }
+
     /// <summary>
     /// 验证启用命令流结束开关后，LastData 结束帧发送完成会进入仅监控状态，不再继续回发保姿命令。
     /// </summary>
@@ -572,13 +600,14 @@ public sealed class FanucJ519ClientTests : IDisposable
     private async Task SendStatusPacketAsync(
         IPEndPoint clientEndpoint,
         uint sequence,
-        IReadOnlyList<double>? jointDegrees = null)
+        IReadOnlyList<double>? jointDegrees = null,
+        byte status = 15)
     {
         var responsePacket = new byte[FanucJ519Protocol.ResponsePacketLength];
         BinaryPrimitives.WriteUInt32BigEndian(responsePacket.AsSpan(0x00, 4), 0);
         BinaryPrimitives.WriteUInt32BigEndian(responsePacket.AsSpan(0x04, 4), 1);
         BinaryPrimitives.WriteUInt32BigEndian(responsePacket.AsSpan(0x08, 4), sequence);
-        responsePacket[0x0c] = 15;
+        responsePacket[0x0c] = status;
 
         if (jointDegrees is not null)
         {