package com.example.agvcontroller.protocol;

import com.example.agvcontroller.action.AllResetAction;
import com.example.agvcontroller.action.BackPaddle;
import com.example.agvcontroller.action.CameraResetAction;
import com.example.agvcontroller.action.ForceStopAction;
import com.example.agvcontroller.action.ForceSwitchAction;
import com.example.agvcontroller.action.ForkResetAction;
import com.example.agvcontroller.action.ForwardBackAction;
import com.example.agvcontroller.action.FrontPaddle;
import com.example.agvcontroller.action.GyroResetAction;
import com.example.agvcontroller.action.HandExtendCollect;
import com.example.agvcontroller.action.HandForkRotatopn;
import com.example.agvcontroller.action.HandInAction;
import com.example.agvcontroller.action.HandLift;
import com.example.agvcontroller.action.HandOutAction;
import com.example.agvcontroller.action.LiftResetAction;
import com.example.agvcontroller.action.LoadResetAction;
import com.example.agvcontroller.action.RotatopnLeftRight;
import com.example.agvcontroller.action.SingleSwitchAction;
import com.example.agvcontroller.action.SingleSwitchRunAction;

public enum HandleCmdType {

    HAND_OUT(0x02, "退出手动模式", HandOutAction.class),

    HAND_IN(0x01, "进入手动模式", HandInAction.class),

    FORCE_SWITCH(0x80, "开启/关闭强制", ForceSwitchAction.class),

    SINGLE_SWITCH(0x8C  , "单轴使能", SingleSwitchAction.class),

    SINGLE_SWITCH_RUN(0x8D  , "强制单轴点动", SingleSwitchRunAction.class),

    FORCE_STOP(0xF0, "急停", ForceStopAction.class),

    ALL_RESET(0x60, "整机复位", AllResetAction.class),

    CAMERA_RESET(0x61, "相机复位", CameraResetAction.class),

    GYRO_RESET(0x62, "陀螺仪复位", GyroResetAction.class),

    LOAD_RESET(0x65, "清除路径", LoadResetAction.class),

    FORK_RESET(0x66, "货叉归零", ForkResetAction.class),

    LIFT_RESET(0x68, "升降归零", LiftResetAction.class),

    FORWARD_BACK(0x81, "点动前进（后退）", ForwardBackAction.class),

    ROTATOPN_LEFT_RIGHT(0x82, "点动旋转（底盘）", RotatopnLeftRight.class),

    HAND_LIFT(0x86, "手动控制升降", HandLift.class),

    HAND_FORK_ROTATOPN(0x87, "手动控制货叉旋转", HandForkRotatopn.class),

    HAND_EXTEND_COLLECT(0x88, "手动控制伸缩", HandExtendCollect.class),

    FRONT_PADDLE(0x89, "手动控制前拨杆", FrontPaddle.class),

    BACK_PADDLE(0x8A, "手动控制后拨杆", BackPaddle.class),


    ;

    public int cmdCode;

    public String desc;

    public Class<? extends IActionBody> cls;

    HandleCmdType(int cmdCode, String desc, Class<? extends IActionBody> cls) {
        this.cmdCode = cmdCode;
        this.desc = desc;
        this.cls = cls;
    }

    public static HandleCmdType find(Class<? extends IActionBody> cls) {
        for (HandleCmdType value : HandleCmdType.values()) {
            if (value.cls.equals(cls)) {
                return value;
            }
        }
        return null;
    }

}