package com.zy.acs.common.enums;

import com.zy.acs.common.domain.protocol.ICommandBody;
import com.zy.acs.common.domain.protocol.command.*;

/**
 *
 *
 */
public enum AgvCommandType {

    SHUTDOWN(0x00, "停止", ShutdownCommand.class),

    START_UP(0x01, "启动", StartupCommand.class),

    ENTER_STANDBY_MODE(0x40, "进入待机模式", EnterStandbyModeCommand.class),

    EXIT_STANDBY_MODE(0x41, "退出待机模式", ExitStandbyModeCommand.class),

    MACHINE_RESET(0x60, "整机复位", MachineResetCommand.class),

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

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

    CLEAR_PATH(0x65, "清空机器人缓存的所有路径", ClearPathCommand.class),

    RETURN_ZERO_FORK(0x66, "货叉归零", ReturnZeroForkCommand.class),

    RETURN_ZERO_LIFT(0x68, "升降归零", ReturnZeroLiftCommand.class),

    QUERY_AGV_TEMP_BOX(0x7D, "扫描AGV暂存料箱并上报", QueryAgvTempBoxCommand.class),

    ENTER_SCAN_MODE(0x7E, "进入扫描货架码和料箱码模式", EnterScanModeCommand.class),

    EXIT_SCAN_MODE(0x7F, "退出描货架码和料箱码模式", ExitScanModeCommand.class),

    ENTER_MANUAL_MODE(0x80, "进入手动模式", EnterManualModeCommand.class),

    MANUAL_LIFT(0x81, "手动控制升降", ManualLiftCommand.class),

    MANUAL_ROTATE(0x82, "手动控制旋转", ManualRotateCommand.class),

    MANUAL_TELESCOPIC(0x83, "手动控制伸缩", ManualTelescopicCommand.class),

    MANUAL_LEVER_OF_FRONT(0x84, "手动控制前拨杆", ManualLeverOfFrontCommand.class),

    MANUAL_LEVER_OF_BACK(0x85, "手动控制后拨杆", ManualLeverOfBackCommand.class),

    EXIT_MANUAL_MODE(0x8F, "退出手动模式", ExitManualModeCommand.class),

    URGENT_STOP(0xF0, "紧急停车", UrgentStopCommand.class),

    OUTAGE_POWER_ALL(0xF2, "所有电机断电", OutagePowerAllCommand.class),

    LOC_ONE_OF_MOTOR(0xF3, "给某一个电机加锁", LockOneOfMotorCommand.class),

    ;

    public int commandCode;

    public String desc;

    public Class<? extends ICommandBody> cls;

    AgvCommandType(int commandCode, String desc, Class<? extends ICommandBody> cls) {
        this.commandCode = commandCode;
        this.desc = desc;
        this.cls = cls;
    }

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


}