using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace DeviceLibrary
{
    
    public enum MoveStep
    {
        Wait,
        WaitErr,
        //回原流程
        H01_HomeReset,
        H02_HomeReset_01,
        H02_HomeReset,
        H03_HomeReset,
        H04_HomeReset,
        H05_HomeReset,
        H06_HomeReset,
        H07_HomeReset,
        H08_HomeReset,
        H09_HomeReset,
        H10_HomeReset,
        H11_HomeReset,
        H12_HomeReset,
        H13_HomeReset,
        H14_HomeReset,
        H15_HomeReset,
        H16_HomeReset,
        HEND_HomeReset,

        
        StringLoad_01,
        StringLoad_01a,
        StringLoad_02,
        StringLoad_02a,
        StringLoad_02b,
        StringLoad_03,
        StringLoad_04,
        StringLoad_05,
        StringLoad_06,
        StringLoad_07,
        StringReadyGet,
        StringReelGet,
        StringReelGetFail,
        StringReelGetFail_02,
        StringReadyPut,
        StringReelPut,
        StringReelPut_01,
        StringReelPut_02,
        StringReelPut_03,
        StringReelPut_04,
        StringOut_01,
        StringOut_02,
        StringOut_03,
        StringOut_Released,
        StringOut_05,
        StringOut_06,
        StringOut_07,

        ReelClamp_01,
        ReelClamp_02,
        ReelClamp_03,
        ReelClamp_04,
        ReelClamp_05,
        ReelClamp_WaitGaugeHeight,
        ReelClamp_GetHeight,
        ReelClamp_06,
        ReelClamp_07,
        ReelClamp_08,
        ReelClamp_09,
        ReelClamp_10,
        ReelClamp_11,
        InWaitServerCallback,
        WaitInStore,
        ReelTaked,
        NGOUT_00,
        NGOUT_01,
        NGOUT_02,
        NGOUT_03,
        NGOUT_04,
        NGOUT_05,
        NGOUT_06,
        NGOUT_07,
        NGOUT_08,
        NGOUT_09,
        NGOUT_10,
        NGOUT_11,
        SingleIn,
        SingleIn_01,
        SingleIn_02,
        SingleInReady,
        SingleInRun,
        SingleInRun_01,
        SingleInRun_02,
        SingleInRun_03,
        SingleInRun_04,
        SingleInRun_05,

        OutBoxPutOn,
        Out01,
        Out02,
        Out03,
        Out04,
        Out05,
        Out06,
        Out07,
        Out08,
        Out09,
        Out10,
        Out11,
        OutReset,

        //放料，准备放料
        PutReel01_Ready,
        //放料：开始移库
        PutReel02_StartM,
        //放料：等待取料完成
        PutReel03_GetReelEnd,
        //放料：等待放料完成
        PutReel04_PutReelEnd, 
        //放料：放料全部结束
        PutReel05_End,

        A01_WaitReel,
        A01_Ready,  //入库
        A02_StartPutOne,
        A03_WaitRee2,
        A04_WaitOneComplate,
        A05_StartPutTwo,
        A06_WaitTwoEnd,
        A07_NextPos,
        StoreIn08,
        StoreIn09,
        A10_LastPos,  //出库
        StoreOut_NGPre,
        StoreOut11,
        StoreOut12,
        StoreOut13,
        StoreOut14,
        StoreOut15,
        StoreOut16,
        StoreOut17,
        StoreOut18,
        StoreOut_WaitMT,

        StoreTS01,
        StoreTS02,
        StoreTS03,
        StoreTS04,
        StoreTS05,
        StoreTS06,
        StoreTS07,
        StoreTS08,
        StoreTS09,
        StoreFIX01,
        StoreFIX02,
        StoreFIX03,
        StoreFIX04,
        StoreFIX05,
        StoreTS10,
        StoreTS11,
        StoreTS12,
        StoreTS13,
        StoreTS14,
        StoreTS15,
        StoreTS16,
        StoreTS17,
        StoreTS_WaitOutProcess,
        StoreTS_Continue,

        //复位：定位气缸下降
        SR01_LocationDown,

        //出料口：AGV检测到小车
        S01_AgvDetect,
        //电机正传
        S02_LineFRun, 
        //料架到位
        //S03_Shelf_Front_Check,
        //等待1秒后停止电机正传，
        S04_WaitTime,
        //定位气缸上升，
        S05_LocationUp, 
        //读取RFID，
        S06_ReadRFID, 
        //料架准备好，可放料，
        S10_ShelfReady,
        //放料中
        S11_PutReel,

        //料架需要离开
        S21_ShelfNeedLeave, 
        //呼叫agv拉料
        S22_WaitAGV,
        //agv到位
        S23_AgvDetect,
        //定位气缸下降
        S24_LocationDown,
        //电机反转
        S25_LineRRun,
        //等待前端料格检测 On变OFF
        S26_ShelfBackHigh,
        //等待前端料格检测 On变OFF
        S27_ShelfBackLow,
        //电机反转延时2秒OFF
        S28_WaitTime,


        //料盘：等待信号检测
        IN01_WaitCheck,

        //料盘：扫码
        IN02_ScanCode,

        //料盘：获取库位号
        IN03_GetPos,


        //料盘：料盘已准备好，等待取料
        IN05_ReelReady,

        //料盘：料盘已拿走
        IN06_ReelLeave,
    }


    public enum AlarmType
    {
        /// <summary>
        /// 没有报警
        /// </summary>
        None = 0,
        /// <summary>
        /// 轴报警
        /// </summary>
        AxisAlarm = 1,
        /// <summary>
        /// 收到急停
        /// </summary>
        SuddenStop = 10,
        /// <summary>
        /// 没有气压信号
        /// </summary>
        //NoAirCheck = 11,
        /// <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 = 20,
        /// <summary>
        /// io信号超时未收到
        /// </summary>
        IoSingleTimeOut = 30,

    }
}