# 换盘任务完整流程分析

## 任务参数

| 参数 | 值 |
|------|-----|
| 流向 | **Flow A** (isFlowA = true, 源地址 LineCode = "11001") |
| 源地址 | 11001 |
| 目标地址 | 2101 |
| 正常电芯数量 | **33** |
| 假电芯数量 | 48 - 33 = **15** |
| 目标总数 | 48 |

---

## 阶段状态定义

| Phase | 含义 |
|-------|------|
| 0 | 未开始 |
| 1 | 取正常电芯 |
| 2 | 放正常电芯 |
| 3 | 取假电芯（Flow A: 从5号位取） |
| 4 | 放假电芯（Flow A: 放到目标托盘） |
| 5 | 等待入库完成 |

---

## 完整代码执行流程（33 正常 + 15 假 = 48 总计）

### 初始状态

```
ChangePalletPhase = 0
currentCompletedCount = 0
targetNormalCount = 33
```

---

### 第1轮：Pick 1-4 正常电芯

| 步骤 | 方法 | Phase | currentCompletedCount | remainingNormal | 操作 |
|------|------|-------|---------------------|----------------|------|
| 1 | HandlePutFinishedStateAsync | 1 | 0 | 33 - 0 = **33** | PickBatch(1, 4) → Phase=2 |
| 2 | (机械手执行取货) | - | - | - | - |
| 3 | HandlePickFinishedAsync | - | - | - | CurrentAction=PickFinished, task状态=RobotPickFinish |
| 4 | HandlePickFinishedStateAsync | 2 | 0 | 33 - 0 = **33** | PutBatch(1, 4) → Phase=1 |
| 5 | (机械手执行放货) | - | - | - | - |
| 6 | HandlePutFinishedAsync | - | **4** | - | currentCompletedCount+=4, task.RobotTaskTotalNum-=4 |

---

### 第2轮：Pick 5-8 正常电芯

| 步骤 | 方法 | Phase | currentCompletedCount | remainingNormal | 操作 |
|------|------|-------|---------------------|----------------|------|
| 7 | HandlePutFinishedStateAsync | 1 | 4 | 33 - 4 = **29** | PickBatch(5, 8) → Phase=2 |
| 8 | HandlePickFinishedAsync | - | - | - | CurrentAction=PickFinished |
| 9 | HandlePickFinishedStateAsync | 2 | 4 | 33 - 4 = **29** | PutBatch(1, 4) → Phase=1 |
| 10 | HandlePutFinishedAsync | - | **8** | - | currentCompletedCount+=4 |

---

### 第3轮：Pick 9-12 正常电芯

| 步骤 | 方法 | Phase | currentCompletedCount | remainingNormal | 操作 |
|------|------|-------|---------------------|----------------|------|
| 11 | HandlePutFinishedStateAsync | 1 | 8 | 33 - 8 = **25** | PickBatch(9, 12) → Phase=2 |
| 12 | HandlePickFinishedAsync | - | - | - | CurrentAction=PickFinished |
| 13 | HandlePickFinishedStateAsync | 2 | 8 | 33 - 8 = **25** | PutBatch(1, 4) → Phase=1 |
| 14 | HandlePutFinishedAsync | - | **12** | - | currentCompletedCount+=4 |

---

### 第4轮：Pick 13-16 正常电芯

| 步骤 | 方法 | Phase | currentCompletedCount | remainingNormal | 操作 |
|------|------|-------|---------------------|----------------|------|
| 15 | HandlePutFinishedStateAsync | 1 | 12 | 33 - 12 = **21** | PickBatch(13, 16) → Phase=2 |
| 16 | HandlePickFinishedAsync | - | - | - | CurrentAction=PickFinished |
| 17 | HandlePickFinishedStateAsync | 2 | 12 | 33 - 12 = **21** | PutBatch(1, 4) → Phase=1 |
| 18 | HandlePutFinishedAsync | - | **16** | - | currentCompletedCount+=4 |

---

### 第5轮：Pick 17-20 正常电芯

| 步骤 | 方法 | Phase | currentCompletedCount | remainingNormal | 操作 |
|------|------|-------|---------------------|----------------|------|
| 19 | HandlePutFinishedStateAsync | 1 | 16 | 33 - 16 = **17** | PickBatch(17, 20) → Phase=2 |
| 20 | HandlePickFinishedAsync | - | - | - | CurrentAction=PickFinished |
| 21 | HandlePickFinishedStateAsync | 2 | 16 | 33 - 16 = **17** | PutBatch(1, 4) → Phase=1 |
| 22 | HandlePutFinishedAsync | - | **20** | - | currentCompletedCount+=4 |

---

### 第6轮：Pick 21-24 正常电芯

| 步骤 | 方法 | Phase | currentCompletedCount | remainingNormal | 操作 |
|------|------|-------|---------------------|----------------|------|
| 23 | HandlePutFinishedStateAsync | 1 | 20 | 33 - 20 = **13** | PickBatch(21, 24) → Phase=2 |
| 24 | HandlePickFinishedAsync | - | - | - | CurrentAction=PickFinished |
| 25 | HandlePickFinishedStateAsync | 2 | 20 | 33 - 20 = **13** | PutBatch(1, 4) → Phase=1 |
| 26 | HandlePutFinishedAsync | - | **24** | - | currentCompletedCount+=4 |

---

### 第7轮：Pick 25-28 正常电芯

| 步骤 | 方法 | Phase | currentCompletedCount | remainingNormal | 操作 |
|------|------|-------|---------------------|----------------|------|
| 27 | HandlePutFinishedStateAsync | 1 | 24 | 33 - 24 = **9** | PickBatch(25, 28) → Phase=2 |
| 28 | HandlePickFinishedAsync | - | - | - | CurrentAction=PickFinished |
| 29 | HandlePickFinishedStateAsync | 2 | 24 | 33 - 24 = **9** | PutBatch(1, 4) → Phase=1 |
| 30 | HandlePutFinishedAsync | - | **28** | - | currentCompletedCount+=4 |

---

### 第8轮：Pick 29-32 正常电芯

| 步骤 | 方法 | Phase | currentCompletedCount | remainingNormal | 操作 |
|------|------|-------|---------------------|----------------|------|
| 31 | HandlePutFinishedStateAsync | 1 | 28 | 33 - 28 = **5** | PickBatch(29, 32) → Phase=2 |
| 32 | HandlePickFinishedAsync | - | - | - | CurrentAction=PickFinished |
| 33 | HandlePickFinishedStateAsync | 2 | 28 | 33 - 28 = **5** | PutBatch(1, 4) → Phase=1 |
| 34 | HandlePutFinishedAsync | - | **32** | - | currentCompletedCount+=4 |

---

### 第9轮：Pick 33 正常电芯（最后1个）

| 步骤 | 方法 | Phase | currentCompletedCount | remainingNormal | 操作 |
|------|------|-------|---------------------|----------------|------|
| 35 | HandlePutFinishedStateAsync | 1 | 32 | 33 - 32 = **1** | PickBatch(33, 33) → Phase=2 |
| 36 | HandlePickFinishedAsync | - | - | - | CurrentAction=PickFinished |
| 37 | HandlePickFinishedStateAsync | 2 | 32 | 33 - 32 = **1** | PutBatch(33, 33) → Phase=1 |
| 38 | HandlePutFinishedAsync | - | **33** | - | currentCompletedCount+=1 |

---

### 第10轮：正常电芯全部完成 → 切换 Phase 3

| 步骤 | 方法 | Phase | currentCompletedCount | remainingNormal | 操作 |
|------|------|-------|---------------------|----------------|------|
| 39 | HandlePutFinishedStateAsync | 1 | **33** | 33 - 33 = **0** → ≤0 | **切换 Phase=3**, Pick fake from 5号位 |

> **Flow A 特性**：正常电芯取完后，源托盘（11001）已空。此时机械手携带最后一批正常电芯放到目标托盘后，源托盘自动空出回库。代码中不需要显式处理这个回库动作——由输送线自动完成。

---

### 第11轮：Pick 1-4 假电芯（从5号位）

| 步骤 | 方法 | Phase | currentCompletedCount | remainingFake | 操作 |
|------|------|-------|---------------------|--------------|------|
| 40 | HandlePutFinishedStateAsync | 3 | 33 | 15 - 0 = **15** | Pick fake from 5号位(1,4) → Phase=4 |
| 41 | HandlePickFinishedAsync | - | - | - | CurrentAction=PickFinished |
| 42 | HandlePickFinishedStateAsync | 4 | 33 | 15 - 0 = **15** | Put fake to target(BatchStart=34, 4个) → Phase=3 |
| 43 | HandlePutFinishedAsync | - | **37** | - | currentCompletedCount+=4 |

---

### 第12轮：Pick 5-8 假电芯

| 步骤 | 方法 | Phase | currentCompletedCount | remainingFake | 操作 |
|------|------|-------|---------------------|--------------|------|
| 44 | HandlePutFinishedStateAsync | 3 | 37 | 15 - 4 = **11** | Pick fake from 5号位(5,8) → Phase=4 |
| 45 | HandlePickFinishedAsync | - | - | - | CurrentAction=PickFinished |
| 46 | HandlePickFinishedStateAsync | 4 | 37 | 15 - 4 = **11** | Put fake to target(BatchStart=38, 4个) → Phase=3 |
| 47 | HandlePutFinishedAsync | - | **41** | - | currentCompletedCount+=4 |

---

### 第13轮：Pick 9-12 假电芯

| 步骤 | 方法 | Phase | currentCompletedCount | remainingFake | 操作 |
|------|------|-------|---------------------|--------------|------|
| 48 | HandlePutFinishedStateAsync | 3 | 41 | 15 - 8 = **7** | Pick fake from 5号位(9,12) → Phase=4 |
| 49 | HandlePickFinishedAsync | - | - | - | CurrentAction=PickFinished |
| 50 | HandlePickFinishedStateAsync | 4 | 41 | 15 - 8 = **7** | Put fake to target(BatchStart=42, 4个) → Phase=3 |
| 51 | HandlePutFinishedAsync | - | **45** | - | currentCompletedCount+=4 |

---

### 第14轮：Pick 13-15 假电芯（最后3个）

| 步骤 | 方法 | Phase | currentCompletedCount | remainingFake | 操作 |
|------|------|-------|---------------------|--------------|------|
| 52 | HandlePutFinishedStateAsync | 3 | 45 | 15 - 12 = **3** | Pick fake from 5号位(13,15) → Phase=4 |
| 53 | HandlePickFinishedAsync | - | - | - | CurrentAction=PickFinished |
| 54 | HandlePickFinishedStateAsync | 4 | 45 | 15 - 12 = **3** | Put fake to target(BatchStart=46, 3个) → Phase=3 |
| 55 | HandlePutFinishedAsync | - | **48** | - | currentCompletedCount+=3 |

---

### 第15轮：假电芯全部完成 → 切换 Phase 5

| 步骤 | 方法 | Phase | currentCompletedCount | remainingFake | 操作 |
|------|------|-------|---------------------|--------------|------|
| 56 | HandlePutFinishedStateAsync | 3 | **48** | 15 - 15 = **0** → ≤0 | **切换 Phase=5**, 等待入库 |

---

### 第16轮：全部放货完成 → 入库

| 步骤 | 方法 | Phase | 操作 |
|------|------|-------|------|
| 57 | HandlePutFinishedAsync | - | PutFinished → allputfinished |
| 58 | ExecuteAsync | - | 检测 allputfinished → RobotSimpleCommandHandler 处理 |
| 59 | RobotSimpleCommandHandler | **5** | Phase=5 → 调用 HandleInboundTaskAsync(useSourceAddress=false) 入库到 **HCSC1** |
| 60 | - | - | 删除任务记录，重置状态，发送 "Group,diskFinished" |

---

## 数据流汇总

### currentCompletedCount 变化

```
0 → 4 → 8 → 12 → 16 → 20 → 24 → 28 → 32 → 33 → 37 → 41 → 45 → 48
 |    |    |    |    |    |    |    |    |    |    |    |    |    |
 正常电芯批次                  正常完成   假电芯批次                      总完成
 (每批4个)                     +0        (每批4个)                    +3
```

### Phase 切换图

```
Phase=0 ──(初始化)──► Phase=1 ──► Phase=2 ──► Phase=1 ──► ... ──► Phase=1
                       (Pick 1-4)   (Put 1-4)    (Pick 5-8)         (Pick 33)
                                                    ↓
                                              Phase=2 ──► ... ──► Phase=2
                                              (Put 5-8)              (Put 33)
                                                    ↓
                               ┌──────────────────────────────────────┐
                               │        Phase=1  (remainingNormal=0)   │
                               │              ↓                      │
                               │        Phase=3 (取假电芯)             │
                               │     Pick fake → Phase=4 → Put fake    │
                               │              ↺                        │
                               │        直到 remainingFake=0          │
                               │              ↓                      │
                               │        Phase=5 (入库)               │
                               └──────────────────────────────────────┘
```

### 关键数据对照表

| 轮次 | Phase | 操作 | currentCompletedCount | remainingNormal | remainingFake | 发送指令 |
|------|-------|------|---------------------|----------------|--------------|---------|
| 1 | 1→2 | Pick 1-4 | 0 | 33 | - | PickBatch(1,4) |
| 1 | 2→1 | Put 1-4 | 4 | 33 | - | PutBatch(1,4) |
| 2 | 1→2 | Pick 5-8 | 4 | 29 | - | PickBatch(5,8) |
| 2 | 2→1 | Put 5-8 | 8 | 29 | - | PutBatch(1,4) |
| 3 | 1→2 | Pick 9-12 | 8 | 25 | - | PickBatch(9,12) |
| 3 | 2→1 | Put 9-12 | 12 | 25 | - | PutBatch(1,4) |
| 4 | 1→2 | Pick 13-16 | 12 | 21 | - | PickBatch(13,16) |
| 4 | 2→1 | Put 13-16 | 16 | 21 | - | PutBatch(1,4) |
| 5 | 1→2 | Pick 17-20 | 16 | 17 | - | PickBatch(17,20) |
| 5 | 2→1 | Put 17-20 | 20 | 17 | - | PutBatch(1,4) |
| 6 | 1→2 | Pick 21-24 | 20 | 13 | - | PickBatch(21,24) |
| 6 | 2→1 | Put 21-24 | 24 | 13 | - | PutBatch(1,4) |
| 7 | 1→2 | Pick 25-28 | 24 | 9 | - | PickBatch(25,28) |
| 7 | 2→1 | Put 25-28 | 28 | 9 | - | PutBatch(1,4) |
| 8 | 1→2 | Pick 29-32 | 28 | 5 | - | PickBatch(29,32) |
| 8 | 2→1 | Put 29-32 | 32 | 5 | - | PutBatch(1,4) |
| 9 | 1→2 | Pick 33 | 32 | 1 | - | PickBatch(33,33) |
| 9 | 2→1 | Put 33 | 33 | 0 | - | PutBatch(33,33) |
| 10 | 1→**3** | **切换** | 33 | **0** | 15 | Pick fake(5号位 1-4) |
| 11 | 3→4 | Pick fake 1-4 | 33 | 0 | 15 | PickBattery,5,1-4 |
| 11 | 4→3 | Put fake 34-37 | 37 | 0 | 11 | PutBatch(34,37) |
| 12 | 3→4 | Pick fake 5-8 | 37 | 0 | 11 | PickBattery,5,5-8 |
| 12 | 4→3 | Put fake 38-41 | 41 | 0 | 7 | PutBatch(38,41) |
| 13 | 3→4 | Pick fake 9-12 | 41 | 0 | 7 | PickBattery,5,9-12 |
| 13 | 4→3 | Put fake 42-45 | 45 | 0 | 3 | PutBatch(42,45) |
| 14 | 3→4 | Pick fake 13-15 | 45 | 0 | 3 | PickBattery,5,13-15 |
| 14 | 4→3 | Put fake 46-48 | 48 | 0 | 0 | PutBatch(46,48) |
| 15 | 3→**5** | **切换** | 48 | 0 | **0** | 等待入库 |
| 16 | 5 | **入库** | - | - | - | allputfinished → HandleInboundTaskAsync → HCSC1 |

---

## 代码职责对照

| 方法 | 何时调用 | 职责 |
|------|---------|------|
| HandlePutFinishedStateAsync | `ExecuteAsync` 检测 PutFinished | 发送 **Pick** 指令，更新 Phase |
| HandlePickFinishedStateAsync | `ExecuteAsync` 检测 PickFinished | 发送 **Put** 指令 |
| HandlePickFinishedAsync | prefix command `pickfinished` | 更新状态 CurrentAction |
| HandlePutFinishedAsync | prefix command `putfinished` | 更新 currentCompletedCount 计数 |
| RobotSimpleCommandHandler | 命令 `allpickfinished` / `allputfinished` | 触发入库，清理状态 |