package com.zy.acs.common.enums.error;
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public enum AgvErrorType {
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ERROR_0x0001("0001", "硬件错误"),
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ERROR_0x0002("0002", "硬件错误"),
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ERROR_0x2000("2000", "地面扫码相机出错"),
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ERROR_0x2001("2001", "待机状态下丢码"),
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ERROR_0x2002("2002", "校准中丢码"),
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ERROR_0x2003("2003", "路径中丢码"),
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ERROR_0x2004("2004", "直行中丢码"),
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ERROR_0x2005("2005", "直行中错码"),
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ERROR_0x2006("2006", "直行丢失终点码"),
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ERROR_0x2007("2007", "直行中间码丢失"),
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ERROR_0x2008("2008", "检测不到货位码"),
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ERROR_0x200B("200B", "货位码不匹配"),
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ERROR_0x2010("2010", "直行位置偏差过大"),
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ERROR_0x2011("2011", "位姿融合失败轻度"),
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ERROR_0x2012("2012", "位姿融合失败重度"),
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ERROR_0x2013("2013", "实际地址码与给定不符，重登录"),
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ERROR_0x2014("2014", "检测不到地面码"),
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ERROR_0x3001("3001", "直行前进中前避障雷达触发"),
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ERROR_0x3002("3002", "直行前进中前避障雷达触发停止"),
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ERROR_0x3003("3003", "直行后退中后避障雷达触发"),
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ERROR_0x3004("3004", "直行后退中后避障雷达触发停止"),
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ERROR_0x3005("3005", "避障雷达模块报警"),
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ERROR_0x3006("3006", "避障雷达失联"),
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ERROR_0x3010("3010", "急停触发和解除"),
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ERROR_0x3011("3011", "碰撞条触发与解除"),
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ERROR_0x4001("4001", "传感器信号异常"),
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ERROR_0x4002("4002", "相机掉线"),
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ERROR_0x4003("4003", "高度传感器掉线"),
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ERROR_0x4004("4004", "货叉控制器通信异常"),
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ERROR_0x4005("4005", "电机温度异常"),
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ERROR_0x4006("4006", "环境温度异常"),
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ERROR_0x5001("5001", "陀螺仪模块通讯异常"),
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ERROR_0x5003("5003", "陀螺仪数据异常"),
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ERROR_0x5004("5004", "陀螺仪归零异常"),
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ERROR_0x5007("5007", "陀螺仪角度偏差过大，紧急停止"),
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ERROR_0x6001("6001", "电机掉线"),
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ERROR_0x6002("6002", "电机温度过高"),
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ERROR_0x6003("6003", "电机操作异常"),
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ERROR_0x6004("6004", "电机报警"),
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ERROR_0x6005("6005", "未知"),
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ERROR_0x7001("7001", "电池通讯失败"),
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ERROR_0x7002("7002", "电量异常"),
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ERROR_0x7003("7003", "过压报警"),
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ERROR_0x7004("7004", "欠压报警"),
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ERROR_0x7005("7005", "电池温度过高"),
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ERROR_0x7006("7006", "温度过低"),
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ERROR_0x7007("7007", "剩余电量低"),
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ERROR_0x7009("7009", "未知"),
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ERROR_0x8001("8001", "网络模块报警"),
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ERROR_0x8002("8002", "上位机通信失败"),
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ERROR_0x8003("8003", "无效的指令"),
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ERROR_0x8004("8004", "非法的路径"),
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ERROR_0x8005("8005", "未知"),
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ERROR_0x8006("8006", "未知"),
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ERROR_0x9001("9001", "充电对接传感器异常"),
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ERROR_0x9002("9002", "充电对接超时"),
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ERROR_0x9003("9003", "对接后长时间未充电"),
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ERROR_0xA000("A000", "小车脱轨"),
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ERROR_0xA001("A001", "读码角度偏差过大"),
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ERROR_0xA002("A002", "里程计数据溢出"),
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ERROR_0xA003("A003", "IMU数据异常"),
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ERROR_0xA004("A004", "激光近距离急停"),
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ERROR_0xA005("A005", "驱动器报警"),
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ERROR_0xA008("A008", "轴0驱动器报警"),
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ERROR_0xA009("A009", "轴1驱动器报警"),
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ERROR_0xA00A("A00A", "急停信号触发"),
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ERROR_0xA00B("A00B", "货叉传感器检测异常"),
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ERROR_0xA00C("A00C", "支撑未到位"),
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ERROR_0xA00D("A00D", "松绳检测"),
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ERROR_0xA028("A028", "左取货货架无货"),
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ERROR_0xA029("A029", "左取货车内有货"),
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ERROR_0xA02A("A02A", "左放货货架有货"),
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ERROR_0xA02B("A02B", "左放货车内无货"),
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ERROR_0xA02C("A02C", "右取货货架无货"),
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ERROR_0xA02D("A02D", "右取货车内有货"),
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ERROR_0xA02E("A02E", "右放货货架有货"),
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ERROR_0xA02F("A02F", "右放货车内无货"),
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ERROR_0xA030("A030", "轮廓检测前异常"),
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ERROR_0xA031("A031", "轮廓检测后异常"),
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ERROR_0xA032("A032", "轮廓检测左异常"),
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ERROR_0xA033("A033", "轮廓检测右异常"),
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ERROR_0xA034("A034", "轮廓检测上异常"),
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ERROR_0xA03C("A03C", "从站1未就绪"),
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ERROR_0xA03D("A03D", "从站2未就绪"),
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ERROR_0xA03E("A03E", "从站3未就绪"),
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ERROR_0xA03F("A03F", "从站4未就绪"),
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ERROR_0xA040("A040", "从站5未就绪"),
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ERROR_0xA041("A041", "从站6未就绪"),
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//以下是堆垛车的故障码
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ERROR_0x1001("1001", "外部急停按钮触发"),
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ERROR_0x1002("1002", "触摸屏急停按钮触发"),
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ERROR_0x1010("1010", "主流程任务异常:设备目标角度超范围"),
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ERROR_0x1011("1011", "主流程任务异常:路径查询失败"),
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ERROR_0x1012("1012", "主流程任务异常:任务启动前货叉不在中位"),
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ERROR_0x1013("1013", "预留"),
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ERROR_0x1014("1014", "主流程任务异常:旋转后当前角度异常"),
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ERROR_0x1015("1015", "主流程任务异常:提升完成后超定位精度"),
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ERROR_0x1016("1016", "主流程任务异常:行走执行前左轮伺服未就绪"),
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ERROR_0x1017("1017", "主流程任务异常:行走执行前右轮伺服未就绪"),
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ERROR_0x1018("1018", "主流程任务异常:伸叉后货叉定位超精度"),
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ERROR_0x1019("1019", "主流程任务异常:微升降前货叉不在位"),
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ERROR_0x1020("1020", "主流程任务异常:升降前货叉不在中位"),
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ERROR_0x1021("1021", "主流程任务异常:回叉后货叉定位超精度"),
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ERROR_0x1022("1022", "主流程任务异常:设备不在路径起始码上"),
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ERROR_0x1023("1023", "主流程任务异常:取货时左探货无货"),
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ERROR_0x1024("1024", "主流程任务异常:取货时右探货无货"),
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ERROR_0x1025("1025", "主流程任务异常:放货时左探货有货"),
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ERROR_0x1026("1026", "主流程任务异常:放货时右探货有货"),
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ERROR_0x1027("1027", "主流程任务异常:行走完成后超定位精度"),
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ERROR_0x1028("1028", "主流程任务异常:取货前载货台有物"),
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ERROR_0x1029("1029", "主流程任务异常:伸叉后载货台有物"),
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ERROR_0x1030("1030", "主流程任务异常:取货后载货台无物"),
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ERROR_0x1031("1031", "主流程任务异常:放货后载货台有物"),
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ERROR_0x1040("1040", "外形检测异常:左超高报警"),
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ERROR_0x1041("1041", "外形检测异常:右超高报警"),
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ERROR_0x1042("1042", "外形检测异常:前凸出1报警"),
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ERROR_0x1043("1043", "外形检测异常:前凸出2报警"),
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ERROR_0x1044("1044", "外形检测异常:后凸出1报警"),
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ERROR_0x1045("1045", "外形检测异常:后凸出2报警"),
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ERROR_0x1046("1046", "外形检测异常:左超宽1报警"),
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ERROR_0x1047("1047", "外形检测异常:左超宽2报警"),
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ERROR_0x1048("1048", "外形检测异常:右超宽1报警"),
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ERROR_0x1049("1049", "外形检测异常:右超宽2报警"),
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ERROR_0x1050("1050", "预留"),
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ERROR_0x1051("1051", "预留"),
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ERROR_0x1052("1052", "预留"),
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ERROR_0x1060("1060", "行走异常:前防撞触边触发"),
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ERROR_0x1061("1061", "行走异常:后防撞触边触发"),
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ERROR_0x1062("1062", "行走异常:前避障雷达触发"),
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ERROR_0x1063("1063", "行走异常:后避障雷达触发"),
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ERROR_0x1064("1064", "预留"),
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ERROR_0x1190("1190", "陀螺仪故障:长时间值未跳动"),
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;
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public String sign;
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public String desc;
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AgvErrorType(String sign, String desc) {
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this.sign = sign;
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this.desc = desc;
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}
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public static AgvErrorType query(String sign) {
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if (null == sign) {
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return null;
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}
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for (AgvErrorType type : AgvErrorType.values()) {
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if (sign.equalsIgnoreCase(type.sign)) {
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return type;
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}
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}
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return null;
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}
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public String getMsg() {
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return "0x" + this.sign + " - " + this.desc;
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}
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}
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