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),

    RUN_TO_WAIT_HEIGHT(0x79, "货叉运行至待机高度", RunToWaitHeight.class),

    READY_TAKE_FROM_CONVEYOR_STA(0x7B, "准备从输送线取货", ReadyTakeFromConveyorSta.class),

    READY_RELEASE_FROM_CONVEYOR_STA(0x7C, "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;
    }


}