feat(机械手任务): 实现换盘任务多阶段处理逻辑

wanshenmean

16 小时以前 2f7c7a0621ee2e84c47ccd054889a71e8ce4fdd0

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotPrefixCommandHandler.cs

@@ -270,29 +270,48 @@
                    // 换盘任务：根据阶段区分处理
                    if (state.ChangePalletPhase == 2)
                    {
                        if (isFlowA)
                        {
                            // 流向A Phase2：放假电芯到目标托盘，不调用 API，不递增计数
                            // 仅更新状态
                        }
                        else
                        {
                            // 流向B Phase2：放正常电芯，递增计数
                        // Phase 2：放正常电芯到目标托盘完成，递增计数
                            state.RobotTaskTotalNum += positions.Length;
                            if (task != null)
                                task.RobotTaskTotalNum -= positions.Length;

                            // 构建库存 DTO 并调用 ChangePalletAsync API
                        if (isFlowA)
                        {
                            // 流向A：不调用 API，仅递增计数
                        }
                        else
                        {
                            // 流向B：调用换盘 API
                            var stockDTO = RobotTaskProcessor.BuildStockDTO(state, positions);
                            var result = _taskProcessor.PostGroupPalletAsync(nameof(ConfigKey.ChangePalletAsync), stockDTO);
                            putSuccess = result.Data.Status && result.IsSuccess;
                        }

                        // 切回 Phase 1，继续取正常电芯
                        state.ChangePalletPhase = 1;
                    }
                    else if (state.ChangePalletPhase == 4)
                    {
                        // 流向B Phase4：放假电芯到5号位，不调用 API，不递增计数，释放点位
                        if (isFlowA)
                        {
                            // 流向A：放假电芯到目标托盘，递增计数，调用换盘 API
                            state.RobotTaskTotalNum += positions.Length;
                            if (task != null)
                                task.RobotTaskTotalNum -= positions.Length;

                            var stockDTO = RobotTaskProcessor.BuildStockDTO(state, positions);
                            var result = _taskProcessor.PostGroupPalletAsync(nameof(ConfigKey.ChangePalletAsync), stockDTO);
                            putSuccess = result.Data.Status && result.IsSuccess;
                        }
                        else
                        {
                            // 流向B：放假电芯到5号位，释放点位
                        _fakeBatteryPositionService.MarkAsAvailable(positions.ToList());
                    }

                        // 切回 Phase 3，继续取假电芯
                        state.ChangePalletPhase = 3;
                    }
                    else
                    {
                        // 非批次模式：正常递增计数并调用 API