using log4net;
using OnlineStore.Common;
using OnlineStore.DeviceLibrary;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.IO;
using System.IO.Ports;
using System.Linq;
using System.Text;
 
using System.Windows.Forms;

namespace OnlineStore.DeviceLibrary
{
    
    /// <summary>
    ///0= 等待启动/已经停止，1=初始化完成， 2=正常运行中，3=可以进行新的处理，4=忙碌，重置
    /// </summary>
    public enum RobotRunStatus
    {
        /// <summary>
        /// 等待启动/已经停止
        /// </summary>
        Wait = 0,
        /// <summary>
        ///  初始化 ，原点返回状态中,只有流水线使用
        /// </summary>
        HomeMoving = 1,

        /// <summary>
        /// 设备正在重置中，请稍后
        /// </summary>
        Reset = 2, 
        /// <summary>
        /// 正常运行中，可以进行新的处理
        /// </summary>
        Runing = 3,

        /// <summary>
        /// 正在忙碌中，请稍后
        /// </summary>
        Busy = 4,

    }

    public enum StepEnum
    {
        /// <summary>
        /// 无操作，等待状态
        /// </summary>
        Wait = 0,

        #region 入料模块复位 1000 开始


        /// <summary>
        /// 入料模块复位:  准备开始复位
        /// </summary>
        IR01_Wait = 1001,
        /// <summary>
        /// 入料模块复位:  进出轴回原点
        /// </summary>
        IR02_InoutHome,
        /// <summary>
        /// 入料模块复位:  进出轴到待机点
        /// </summary>
        IR03_InoutToP1,
        /// <summary>
        /// 入料模块复位:  升降轴原点返回，批量轴回原点
        /// </summary>
        IR04_UpdownAxisHome,
        /// <summary>
        /// 入料模块复位：升降轴到P1
        /// </summary>
        IR05_UpdownToP1,
        /// <summary>
        /// 入料模块复位:  旋转轴原点返回
        /// </summary>
        IR06_MiddleAxisHome,
        /// <summary>
        /// 入料模块复位:  升降轴，旋转轴到待机点
        /// </summary>
        IR07_MiddleToP1,
        /// <summary>
        /// 入料模块复位:  夹紧气缸放松
        /// </summary>
        IR08_Clamping_Relax,
        /// <summary>
        /// 入料模块复位:  等待批量轴复位结束
        /// </summary>
        IR09_WaitBatchMove,

        #endregion

        #region 入料模块取料 1100 开始
        /// <summary>
        /// 入料模块取放料：进出轴回到待机点
        /// </summary>
        IW01_InoutToP1 = 1101,
        /// <summary>
        /// 入料模块取放料：升降轴到待机点P1
        /// </summary>
        IW02_UpdownToP1,
        /// <summary>
        /// 入料模块取放料：旋转轴到取料位置P2,
        /// </summary>
        IW03_MiddleToP2,

        /// <summary>
        /// 入料模块取放料：重试
        /// </summary>
        IW04_ReTry,
        /// <summary>
        /// 入料模块取放料：升降轴下降到P2
        /// </summary>
        IW05_UpdownToP2,
        /// <summary>
        /// 入料模块取放料：夹料气缸夹紧
        /// </summary>
        IW06_Clamping_Work,
        /// <summary>
        /// 入料模块取放料：升降轴到待机点P1
        /// </summary>
        IW07_UpdownToP1,
        /// <summary>
        /// 入料模块取放料：等待伺服检测信号消失
        /// </summary>
        IW08_WaitAxisCheck,
        /// <summary>
        /// 入料模块取放料：进出轴返回P1
        /// </summary>
        IW09_InoutToP1,
        /// <summary>
        /// 入料模块取放料：测宽度，记录条码高度宽度，开始下一盘预扫码
        /// </summary>
        IW10_SaveSize,
        /// <summary>
        /// 入料模块取放料：根据条码获取目标位置
        /// </summary>
        IW11_GetTargetPosition,


        /// <summary>
        /// 放料到XRay：开始放料盘到XRay门口，旋转轴到P3
        /// </summary>
        IW21_MiddleToP3,
        /// <summary>
        /// 放料到XRay： 升降轴到P3
        /// </summary>
        IW22_UpdownToP3,
        /// <summary>
        /// 放料到XRay：进出轴到P3
        /// </summary>
        IW23_InoutToP3,

        /// <summary>
        /// 放料到XRay:等待XRay可放料
        /// </summary>
        IW24_WaitCanPut,



        /// <summary>
        /// 放料到工位：开始放料盘到XRay门口，旋转轴到P4
        /// </summary>
        IW31_MIddleToP4,
        /// <summary>
        /// 放料到工位：,升降轴到P4
        /// </summary>
        IW32_UpdownToP4,
        /// <summary>
        /// 放料到工位：进出轴到P4
        /// </summary>
        IW33_InoutToP4,




        /// <summary>
        /// 放料：夹料气缸放松
        /// </summary>
        IW41_Clamping_Relax,
        /// <summary>
        /// 放料完成：进出轴返回P1
        /// </summary>
        IW42_InoutToP1,
        /// <summary>
        /// 放料完成：升降轴旋转轴返回P1
        /// </summary>
        IW43_UpdownToP1,
        /// <summary>
        /// 放料完成：旋转轴直接返回P2
        /// </summary>
        IW44_MiddleToP2,

        /// <summary>
        /// 放料完成：旋转轴直接返回P2
        /// </summary>
        IW50_InOutToP2,
        IW51_Clamping_Relax,
        IW52_InOutToP1,
        IW53_ResetFinish,
        #endregion

        #region 入料模块批量轴开始复位 1500 开始

        /// <summary>
        /// 入料模块复位：
        /// </summary>
        IBR01_LocationDown = 1501,
        /// <summary>
        /// 入料模块复位：若前段末端信号不一致，转动链条3秒
        /// </summary>
        IBR02_LineRun,
        /// <summary>
        /// 入料模块复位：批量轴原点返回
        /// </summary>
        IBR03_BatchHome,

        /// <summary>
        /// 入料模块复位：等待100后再回待机点
        /// </summary>
        IBR04_WaitTime,
        /// <summary>
        /// 入料模块复位：批量轴到待机点P1
        /// </summary>
        IBR05_BatchToP1,


        #endregion


        #region 入料模块批量轴开始入料 1600 开始
        /// <summary>
        /// 料串入料：准备取料
        /// </summary>
        IB01_Wait = 1601,
        /// <summary>
        /// 料串入料：批量轴到待机点P1,顶升气缸下降
        /// </summary>
        IB02_BatchAxisToP1,
        ///// <summary>
        ///// 料串入料：顶升气缸下降
        ///// </summary>
        //IB03_LocationDown,
        /// <summary>
        /// 料串入料：链条开始转动
        /// </summary>
        IB04_LineStart,
        /// <summary>
        /// 料串入料：等待料串稳定
        /// </summary>
        IB05_WaitTime,
        /// <summary>
        /// 料串入料：定位气缸上升
        /// </summary>
        IB06_LocationUp,
        /// <summary>
        /// 料串入料：上料轴开始慢速上升到P3点，等待检测到料盘
        /// </summary>
        IB07_AxisUpMove,
        /// <summary>
        /// 料串入料：判断是否有料盘
        /// </summary>
        IB08_CheckHasTray,
        /// <summary>
        /// 料串入料：扫码
        /// </summary>
        IB09_ScanCode,
        /// <summary>
        /// 料串入料：扫码结束，等待取料机构拿料
        /// </summary>
        IB10_ScanOK,
        /// <summary>
        /// 料串入料：当前托盘已离开
        /// </summary>
        IB11_TrayLeave,

        /// <summary>
        /// 料串入料：料盘已拿走，批量轴到P3,侧高度
        /// </summary>
        IB12_BatchAxisToP3,

        /// <summary>
        /// 料串入料：记录高度，判断是否还有料盘
        /// </summary>
        IB13_SaveHight,

        /// <summary>
        /// 入料结束：入料完成，批量轴下降到P1
        /// </summary>
        IB21_BatchToP1,

        /// <summary>
        /// 入料结束：顶升气缸下降
        /// </summary>
        IB22_LocationDown,
        /// <summary>
        /// 入料结束：通知agv来拉料串
        /// </summary>
        IB23_ShelfOut,
        #endregion


        #region XRay模块复位 2000 开始
        /// <summary>
        /// XRay复位：关闭X光机， 
        /// </summary>
        XR01_CloseXLock = 2001,
        /// <summary>
        /// XRay复位： 左侧们打开，右侧门打开，挡停不动作
        /// </summary>
        XR02_DoorOpen,
        /// <summary>
        /// XRay复位:  皮带转动3秒
        /// </summary>
        XR03_LineRun,
        /// <summary>
        /// XRay复位: 皮带停止转动 
        /// </summary>
        XR04_LineStop,
        /// <summary>
        /// XRay复位: 左右门关闭，挡停下降 
        /// </summary>
        XR05_DoorClose,

        #endregion


        #region  XRay模块开始工作 2100 开始
        /// <summary>
        /// XRay点料：检测到XRay入口有料，扫描区域无料
        /// </summary>
        XW01_WaitInReel = 2101,
        /// <summary>
        /// XRay点料：左侧门打开，
        /// </summary>
        XW02_InDoorOpen,
        ///// <summary>
        ///// XRay点料：挡停下降
        ///// </summary>
        //XW03_StopCylinderDown,
        /// <summary>
        /// XRay点料：入口和中间皮带线转动
        /// </summary>
        XW04_InLineRun,
        /// <summary>
        /// XRay点料：等待扫描区域信号检测
        /// </summary>
        XW05_WaitMCheck,
        /// <summary>
        /// XRay点料：再转动3秒钟
        /// </summary>
        XW06_WaitTime,
        /// <summary>
        /// XRay点料：停止入口皮带线，中间皮带线
        /// </summary>
        XW07_InLineStop,
        /// <summary>
        /// XRay点料：左侧门关闭，右侧门关闭，准备开始点料
        /// </summary>
        XW08_DoorClose,


        /// <summary>
        /// XRay点料：开始点料，等待可以打开X射线
        /// </summary>
        XW11_StartCount,
        /// <summary>
        /// XRay点料：StartX射线
        /// </summary>
        XW12_XRayStart,
        /// <summary>
        /// XRay点料：获取X射线 图片
        /// </summary>
        XW13_GetXRayImage,

        /// <summary>
        /// XRay点料：StopX射线
        /// </summary>
        XW14_XRayStop,
        /// <summary>
        /// XRay点料：获取点料结果
        /// </summary>
        XW15_GetResult, 

        /// <summary>
        /// XRay点料：点料结束
        /// </summary>
        XW16_EndCount,




        /// <summary>
        /// XRay点料：等待出口无料盘
        /// </summary>
        XW21_WaitOutNoReel,
        /// <summary>
        /// XRay点料：右侧门打开，挡停放行
        /// </summary>
        XW22_OutDoorOpen,
        /// <summary>
        /// XRay点料：中间皮带线，出口皮带线转动
        /// </summary>
        XW23_OutLineRun,
        /// <summary>
        /// XRay点料：等待出口皮带线检测到料盘
        /// </summary>
        XW24_WaitOutCheck,
        /// <summary>
        /// XRay点料：再转动3秒
        /// </summary>
        XW25_WaitTime,
        /// <summary>
        /// XRay点料：中间皮带线，出口皮带线停止
        /// </summary>
        XW26_OutLineStop,
        /// <summary>
        /// XRay点料：出口门关闭，挡停下降
        /// </summary>
        XW27_OutDoorClose,
        /// <summary>
        /// XRay点料：料盘处理结束
        /// </summary>
        XW28_EndPro,


        #endregion


        #region 出料模块复位 3000 开始


        //复位顺序
        //取料Z轴
        //  取料X轴

        //  贴标Z轴
        //  贴标Y轴
        //  贴标X轴
        //  贴标R轴

        //取料Z，贴标Z回原点，批量轴开始回原点
        //

        #region 取料模块复位3000开始

        /// <summary>
        /// 取料模块复位:  取料Z轴回原点
        /// </summary>
        OMR01_MoveZHome = 3001,
        /// <summary>
        /// 取料模块复位:  取料Z轴到P1
        /// </summary>
        OMR02_MoveZToP1,
        /// <summary>
        /// 取料模块复位:  取料X轴回原点
        /// </summary>
        OMR03_MoveXHome,
        /// <summary>
        /// 取料模块复位:  取料X轴到P1
        /// </summary>
        OMR04_MoveXToP1,
        /// <summary>
        /// 取料模块复位：取料气缸放松
        /// </summary>
        OMR05_TakeT_Clamping_Relax,
        #endregion


        #region 贴标模块复位3100开始
        /// <summary>
        /// 贴标模块复位:  贴标Z轴回原点
        /// </summary>
        OLR01_LabelZHome = 3101,
        /// <summary>
        /// 贴标模块复位:  贴标Z轴到P1
        /// </summary>
        OLR02_LabelZToP1,
        /// <summary>
        /// 贴标模块复位:  贴标Y轴回原点
        /// </summary>
        OLR03_LabelYHome,
        /// <summary>
        /// 贴标模块复位:  贴标Y轴到P1
        /// </summary>
        OLR04_LabelYToP1,
        /// <summary>
        /// 贴标模块复位:  贴标X轴回原点
        /// </summary>
        OLR05_LabelXHome,
        /// <summary>
        /// 贴标模块复位:  贴标X轴到P1
        /// </summary>
        OLR06_LabelXToP1,
        /// <summary>
        /// 贴标模块复位:  贴标R轴回原点
        /// </summary>
        OLR07_LabelRHome,
        /// <summary>
        /// 贴标模块复位:  贴标R轴到待机点
        /// </summary>
        OLR08_LabelRToP1,
        #endregion

        #region 料串批量轴模块复位 3200开始

        /// <summary>
        /// 出料模块复位:  阻挡气缸上升
        /// </summary>
        OBR01_StopUp = 3201,
        /// <summary>
        /// 出料模块复位:  入口顶升下降，工位定位下降，
        /// </summary>
        OBR02_CylinderBack,
        /// <summary>
        /// 出料模块复位:   链条先转动3秒钟
        /// </summary>
        OBR03_LineRun,

        /// <summary>
        /// 出料模块复位:  批量轴原点返回 
        /// </summary>
        OBR04_BatchAxisHome,
        /// <summary>
        /// 出料模块复位:  批量轴运动到P2点 
        /// </summary>
        OBR05_BatchAxisToP2,
        /// <summary>
        /// 出料模块复位:  工位定位下降 
        /// </summary>
        OBR06_LocationDown,
        /// <summary>
        /// 出料模块复位:  托盘定位气缸后退 
        /// </summary>
        OBR07_FixedCylinderBack,
        /// <summary>
        /// 出料模块复位:  提升伺服在上升到P1点 
        /// </summary>
        OBR08_BatchAxisToP1,
        #endregion


        #endregion


        #region 出料模块取料 3500 开始
        /// <summary>
        /// 取料:  检测到Xray出口有料，且皮带线停止转动
        /// </summary>
        OT01_WaitCheck = 3501,
        /// <summary>
        /// 取料:  取料Z轴到P1
        /// </summary>
        OT02_MoveZToP1,
        /// <summary>
        /// 取料:  取料X轴到P2，
        /// </summary>
        OT03_MoveXToP2,

        ///// <summary>
        ///// 取料:  判断是否需要拍照，
        ///// </summary>
        //OT04_CheckNeedImage,

        /// <summary>
        /// 取料:  拍照并开始识别
        /// </summary>
        OT05_GetImage,

        /// <summary>
        /// 取料:  取料X轴运动到P2
        /// </summary>
        OT06_MoveXToP2,
        /// <summary>
        /// 取料:  取料Z轴到P2
        /// </summary>
        OT07_MoveZToP2,
        /// <summary>
        /// 取料:  取料气缸夹紧
        /// </summary>
        OT08_Clamping_Work,
        OT08_2_Wait_Out_TrayCheck,
        OT08_3_Wait_Out_TrayCheck,
        /// <summary>
        /// 取料:  取料Z轴返回P1
        /// </summary>
        OT09_MoveZToP1,


        /// <summary>
        /// 取料:  取料完成，等待料串可放料
        /// </summary>
        OT11_WaitShelfOk,
        /// <summary>
        /// 取料:  料串可放料，取料X轴移动到P3，提升轴下降指定高度
        /// </summary>
        OT12_MoveXToP3,
        /// <summary>
        /// 取料:  取料Z轴下降到P3
        /// </summary>
        OT13_MoveZToP3,
        /// <summary>
        /// 取料:  取料气缸放松
        /// </summary>
        OT14_a_Clamping_Clamp,
        /// <summary>
        /// 取料:  取料气缸放松
        /// </summary>
        OT14_b_Clamping_Relax,
        /// <summary>
        /// 取料:  取料气缸放松
        /// </summary>
        OT14_Clamping_Relax,
        /// <summary>
        /// 取料:  取料Z轴回到P1
        /// </summary>
        OT15_MoveZToP1,
        /// <summary>
        /// 取料:  取料X轴回到P1
        /// </summary>
        OT16_MoveXToP2,

        /// <summary>
        /// 取料:  NG料，取料X轴到P1
        /// </summary>
        OT21_NG_MoveXToP1,
        /// <summary>
        /// 取料:  NG料，NG气缸前进
        /// </summary>
        OT22_NG_NGForward,
        /// <summary>
        /// 取料:  NG料，取料气缸放松
        /// </summary>
        OT23_NG_Clamping_Relax,

        /// <summary>
        /// 取料:  等待料盘到达NG位
        /// </summary>
        OT24_WaitInNG,

        /// <summary>
        /// 取料:  NG料，NG气缸后退
        /// </summary>
        OT25_NG_NGBack,


        #endregion


        #region 贴标处理 3600 开始

        //贴标气缸后退，取码停止输出，
        //取码气缸前进
        //打印标签
        //等待 贴标机打码OK信号
        //取码气缸后退
        //    贴标YXR都到待机点P1
        //Z轴到取标签点P2
        //标签吸盘取码
        //等待吸盘信号到位
        //Z轴到P1点
        //等待取料机构返回待机点并且空闲
        //XY轴移动到P3点
        //R轴到P3点
        //判断大小盘：贴标气缸前进
        //Z轴到P3点
        //放标签
        //Z轴返回P1
        //贴标气缸后退
        //XYR返回待机点P1
        //
        //


        /// <summary>
        /// 贴标:  贴标气缸后退，吸盘停止输出，贴标Z轴到待机点P1,取码气缸前进
        /// </summary>
        OL01_Paste_Back = 3601,
        ///// <summary>
        ///// 贴标:  取码气缸前进，贴标XYR都到待机点P2
        ///// </summary>
        //OL02_TakeForward,
        /// <summary>
        /// 贴标:  打印标签，
        /// </summary>
        OL03_PrintLabel,
        ///// <summary>
        ///// 贴标:  等待 贴标机打码OK信号
        ///// </summary>
        //OL04_PrintOk,
        /// <summary>
        /// 贴标:  取码气缸后退
        /// </summary>
        OL05_TakeBack,
        ///// <summary>
        ///// 贴标:  贴标XYR都到待机点P2
        ///// </summary>
        //OL06_XYRToP2,
        /// <summary>
        /// 贴标:  Z轴到取标签点P2
        /// </summary>
        OL06_ZToP2,
        /// <summary>
        /// 贴标:  标签吸盘取码
        /// </summary>
        OL07_Nozzle_Work,
        ///// <summary>
        ///// 贴标:  等待吸盘信号到位
        ///// </summary>
        //OL09_WaitGetLabel,
   
        /// <summary>
        /// 贴标:  Z轴到P1点
        /// </summary>
        OL08_ZToP1,
        /// <summary>
        /// 贴标:  取标签完成，Y轴回到待机点P1
        /// </summary>
        OL09_YToP1,
        /// <summary>
        /// 贴标:  等待取料机构返回待机点并且空闲
        /// </summary>
        OL10_WaitCanLabel,
        /// <summary>
        /// 贴标:  XY轴移动到P3点
        /// </summary>
        OL11_XYToP3,
        /// <summary>
        /// 贴标:  Z轴先走到旋转点P4
        /// </summary>
        OL12_ZToP4,

        /// <summary>
        /// 贴标:  R轴到P3点
        /// </summary>
        OL13_RToP3,
        /// <summary>
        /// 贴标:  大盘：贴标气缸前进
        /// </summary>
        OL14_PasteForward,
        /// <summary>
        /// 贴标:  Z轴到P3点
        /// </summary>
        OL15_ZToP3,
        /// <summary>
        /// 贴标:  放标签
        /// </summary>
        OL16_Nozzle_Stop,
        /// <summary>
        /// 贴标:  Z轴返回P1
        /// </summary>
        OL17_ZToP1,
        /// <summary>
        /// 贴标:  贴标气缸后退
        /// </summary>
        OL18_LableBack,
        /// <summary>
        /// 贴标:  XYR返回待机点P1
        /// </summary>
        OL19_XYRBackToP2,
        OL20_LableCancel,
        OL21_LableCancel2,
        #endregion

        #region 出料模块料串处理 3701 开始
        /// <summary>
        /// 出料料串：升降盘不在后退端，提升伺服到P2
        /// </summary>
        OS_01_BatchAxisToP2 = 3701,
        /// <summary>
        /// 出料料串：升降盘定位气缸后退
        /// </summary>
        OS_02_TrayL_After,
        /// <summary>
        /// 出料料串：定位气缸下降
        /// </summary>
        OS_03_LocationDown,

        /// <summary>
        /// 出料料串：提升轴移动到高处待机点P1
        /// </summary>
        OS_04_BatchAxisToP1,
        /// <summary>
        /// 出料料串，等待空料串入料口有信号
        /// </summary>
        OS_05_WaitECheck,
        /// <summary>
        /// 出料料串：空料串，接料线体，入口顶升上升
        /// </summary>
        OS_06_TopUp,

        /// <summary>
        /// 出料料串：空料串阻挡下降，横移电机运转
        /// </summary>
        OS_07_SWLineRun,
        /// <summary>
        /// 出料料串：等待入料线进口信号亮
        /// </summary>
        OS_08_WLineInCheck,
        /// <summary>
        /// 出料料串：空料串阻挡上升，等待1000毫秒料串到达接料线体
        /// </summary>
        OS_09_WaitInWLine,
        /// <summary>
        /// 出料料串：空料串阻挡上升，顶升下降，线体停止转动，
        /// </summary>
        OS_10_TopDown,

        /// <summary>
        /// 出料料串：接料线体工位阻挡上升，接料线体转动，等待工位检测信号，
        /// </summary>
        OS_11_WLineRun,

        /// <summary>
        /// 出料料串：工位检测信号亮，，在转动3000ms，
        /// </summary>
        OS_12_WorkCheck,
        /// <summary>
        /// 出料料串：接料线体停止转动，
        /// </summary>
        OS_13_StopLineRun,
        /// <summary>
        /// 出料料串：工位定位气缸上升，
        /// </summary>
        OS_14_WLocationUp,
        /// <summary>
        /// 出料料串：提升轴下降到P2，
        /// </summary>
        OS_15_BatchAxisToP2,
        /// <summary>
        /// 出料料串：托盘定位前进2000，
        /// </summary>
        OS_16_WTrayLForward,

        /// <summary>
        /// 出料料串：托盘定位后退
        /// </summary>
        OS_17_WTrayLBack,
        /// <summary>
        /// 出料料串：图片定位再次前进
        /// </summary>
        OS_18_WTrayLForward2,

        /// <summary>
        /// 出料料串：批量轴匀速到P3点，
        /// </summary>
        OS_19_BatchAxisToP3,

        /// <summary>
        /// 出料料串：料串准备完成，
        /// </summary>
        OS_20_ShelfReady,
       
        /// <summary>
        /// 放料：批量轴下降指定高度，
        /// </summary>
        OS_21_BatchDownH,

        /// <summary>
        /// 放料：等待料盘放入料串，
        /// </summary>
        OS_22_WaitTray,
        /// <summary>
        /// 放料：等待料盘放入料串，
        /// </summary>
        OS_23_TrayOK,
        /// <summary>
        /// 放料：批量轴匀速到P3或信号亮，
        /// </summary>
        OS_24_BatchToP3,
        /// <summary>
        /// 放料：等待贴标，
        /// </summary>
        OS_25_WaitLabel,
        /// <summary>
        /// 放料：贴标完成
        /// </summary>
        OS_26_LabelOk,




        /// <summary>
        /// 送出料串：开始送出料串，
        /// </summary>
        OS_31_ShendShelfOut,


        /// <summary>
        /// 送出料串：批量轴下降到P2，
        /// </summary>
        OS_32_BatchToP2,


        /// <summary>
        /// 送出料串：托盘定位气缸后退，
        /// </summary>
        OS_33_TrayFixedBack,

        /// <summary>
        /// 送出料串：定位气缸下降，
        /// </summary>
        OS_34_LocationDown,
        /// <summary>
        /// 送出料串：批量轴到P1，
        /// </summary>
        OS_35_BatchAxisToP1,

        /// <summary>
        /// 送出料串：等待出口无料串
        /// </summary>
        OS_36_WaitOutNoShelf,

        /// <summary>
        /// 送出料串：出口阻挡上升
        /// </summary>
        OS_37_OutStopUp,

        /// <summary>
        /// 送出料串：链条正转到出口有检测信号
        /// </summary>
        OS_38_LineRun,


        #endregion

        SafeStop
    }

    public enum AlarmType
    {
        /// <summary>
        /// 没有报警，数字越大报警级别越大
        /// </summary>
        None = 0,

        /// <summary>
        /// io信号超时未收到
        /// </summary>
        IoSingleTimeOut = 10,
        /// <summary>
        /// 轴报警
        /// </summary>
        AxisAlarm = 1000, 
        /// <summary>
        /// 轴运动错误，没有达到指定脉冲，但是io判断已停止运动
        /// </summary>
        AxisMoveError = 1001,
        /// <summary>
        /// 没有气压信号
        /// </summary>
        NoAirCheck = 9999,
        /// <summary>
        /// 收到急停
        /// </summary>
        SuddenStop = 10000,

    }
}