package com.example.agvcontroller.protocol;
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import com.example.agvcontroller.action.AllResetAction;
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import com.example.agvcontroller.action.BackPaddle;
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import com.example.agvcontroller.action.CameraResetAction;
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import com.example.agvcontroller.action.ForceStopAction;
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import com.example.agvcontroller.action.ForceSwitchAction;
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import com.example.agvcontroller.action.ForkResetAction;
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import com.example.agvcontroller.action.ForwardBackAction;
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import com.example.agvcontroller.action.FrontPaddle;
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import com.example.agvcontroller.action.GyroResetAction;
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import com.example.agvcontroller.action.HandExtendCollect;
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import com.example.agvcontroller.action.HandForkRotatopn;
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import com.example.agvcontroller.action.HandInAction;
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import com.example.agvcontroller.action.HandLift;
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import com.example.agvcontroller.action.HandOutAction;
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import com.example.agvcontroller.action.LiftResetAction;
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import com.example.agvcontroller.action.LoadResetAction;
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import com.example.agvcontroller.action.RotatopnLeftRight;
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import com.example.agvcontroller.action.SingleSwitchAction;
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import com.example.agvcontroller.action.SingleSwitchRunAction;
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public enum HandleCmdType {
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HAND_OUT(0x02, "退出手动模式", HandOutAction.class),
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HAND_IN(0x01, "进入手动模式", HandInAction.class),
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FORCE_SWITCH(0x80, "开启/关闭强制", ForceSwitchAction.class),
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SINGLE_SWITCH(0x8C , "单轴使能", SingleSwitchAction.class),
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SINGLE_SWITCH_RUN(0x8D , "强制单轴点动", SingleSwitchRunAction.class),
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FORCE_STOP(0xF0, "急停", ForceStopAction.class),
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ALL_RESET(0x60, "整机复位", AllResetAction.class),
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CAMERA_RESET(0x61, "相机复位", CameraResetAction.class),
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GYRO_RESET(0x62, "陀螺仪复位", GyroResetAction.class),
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LOAD_RESET(0x65, "清除路径", LoadResetAction.class),
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FORK_RESET(0x66, "货叉归零", ForkResetAction.class),
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LIFT_RESET(0x68, "升降归零", LiftResetAction.class),
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FORWARD_BACK(0x81, "点动前进（后退）", ForwardBackAction.class),
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ROTATOPN_LEFT_RIGHT(0x82, "点动旋转（底盘）", RotatopnLeftRight.class),
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HAND_LIFT(0x86, "手动控制升降", HandLift.class),
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HAND_FORK_ROTATOPN(0x87, "手动控制货叉旋转", HandForkRotatopn.class),
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HAND_EXTEND_COLLECT(0x88, "手动控制伸缩", HandExtendCollect.class),
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FRONT_PADDLE(0x89, "手动控制前拨杆", FrontPaddle.class),
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BACK_PADDLE(0x8A, "手动控制后拨杆", BackPaddle.class),
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;
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public int cmdCode;
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public String desc;
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public Class<? extends IActionBody> cls;
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HandleCmdType(int cmdCode, String desc, Class<? extends IActionBody> cls) {
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this.cmdCode = cmdCode;
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this.desc = desc;
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this.cls = cls;
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}
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public static HandleCmdType find(Class<? extends IActionBody> cls) {
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for (HandleCmdType value : HandleCmdType.values()) {
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if (value.cls.equals(cls)) {
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return value;
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}
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}
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return null;
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}
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}
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