#

vincentlu

2025-04-02 cedb12de87ac799582eed01f66c2f6b698585a69

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package com.zy.acs.common.enums;
 
import com.zy.acs.common.domain.protocol.IActionBody;
import com.zy.acs.common.domain.protocol.action.*;
 
/**
 * 动作码枚举
 *
 */
public enum AgvActionCmdType {
 
    STRAIGHT_AHEAD_TURNABLE(0x12, "直行前进", StraightAheadTurnableAction.class),
 
    STRAIGHT_AHEAD_UNTURNABLE(0x14, "巷道直行前进", StraightAheadUnturnableAction.class),
 
    STRAIGHT_BACK_TURNABLE(0x15, "直行后退", StraightBackTurnableAction.class),
 
    STRAIGHT_BACK_UNTURNABLE(0x17, "巷道直行后退", StraightBackUnturnableAction.class),
 
    TURN_CORNER(0x20, "转弯", TurnCornerAction.class),
 
    DOCKING_CHARGE(0x30, "对接充电桩", DockingChargeAction.class),
 
    READY_TAKE_FROM_AGV_SITE(0x75, "准备从AGV暂存货位取货", ReadyTakeFromAgvSite.class),
 
    READY_RELEASE_FROM_AGV_SITE(0x76, "准备从AGV暂存货位放货", ReadyReleaseToAgvSite.class),
 
    READY_TAKE_FROM_SHELVES_LOC(0x77, "准备从货架取货", ReadyTakeFromShelvesLoc.class),
 
    READY_RELEASE_FROM_SHELVES_LOC(0x78, "准备往货架放货", ReadyReleaseToShelvesLoc.class),
 
    READY_TAKE_FROM_CONVEYOR_STA(0x79, "准备从输送线取货", ReadyTakeFromConveyorSta.class),
 
    READY_RELEASE_FROM_CONVEYOR_STA(0x7A, "准备往输送线放货", ReadyReleaseToConveyorSta.class),
 
    FINISH_PATH(0xFF, "整个路径结束", FinishPathAction.class),
 
    ;
 
    public int actionCode;
 
    public String desc;
 
    public Class<? extends IActionBody> cls;
 
    AgvActionCmdType(int actionCode, String desc, Class<? extends IActionBody> cls) {
        this.actionCode = actionCode;
        this.desc = desc;
        this.cls = cls;
    }
 
    public static AgvActionCmdType find(Class<? extends IActionBody> cls) {
        for (AgvActionCmdType value : AgvActionCmdType.values()) {
            if (value.cls.equals(cls)) {
                return value;
            }
        }
        return null;
    }
 
 
}