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

namespace DeviceLibrary.bean
{
    public enum RunStep
    {
        /// <summary>
        /// 等待
        /// </summary>
        NONE,
        #region 通用步骤

        #endregion

        #region 充电任务
        /// <summary>
        /// 等待AGV到达充电位
        /// </summary>
        CHARGE_WAIT_REACH_CHARGE,
        /// <summary>
        /// 等待充电完成
        /// </summary>
        CHARGE_WAIT_CHARGE_OK,
        #endregion
        #region 待机任务
        /// <summary>
        /// 等待AGV到达待机位
        /// </summary>
        STANDBY_WAIT_REACH_STANDBY,
        #endregion

        #region 料架返回 电梯到线体
        ShelfBack_LiftToStore_01_ToStandby,
        /// <summary>
        /// 去电梯口
        /// </summary>
        ShelfBack_LiftToStore_01_ToLift,
        /// <summary>
        /// 等待电梯门开
        /// </summary>
        ShelfBack_LiftToStore_02_01_WaitLiftDoorOpen,
        /// <summary>
        /// 
        /// </summary>
        ShelfBack_LiftToStore_02_02_EnterLift,
        /// <summary>
        /// 顶起料车
        /// </summary>
        ShelfBack_LiftToStore_03_PutShelfOn,
        /// <summary>
        /// 离开电梯
        /// </summary>
        ShelfBack_LiftToStore_04_LeaveLift,
        /// <summary>
        /// 关闭电梯门
        /// </summary>
        ShelfBack_LiftToStore_05_CloseLiftDoor,
        ShelfBack_LiftToStore_06_CrossDoor,
        /// <summary>
        /// 去库房
        /// </summary>
        ShelfBack_LiftToStore_06_ToStore,
        /// <summary>
        /// 放下料车
        /// </summary>
        ShelfBack_LiftToStore_07_TakeShelfOff,
        ShelfBack_LiftToStore_07_CrossDoor,
        #endregion

        #region 线体到电梯
        LineToLift_00_CrossDoor,
        LineToLift_01_ToLine,
        LineToLift_02_PutShelfOn,
        LineToLift_02_CrossDoor,
        LineToLift_ToSteelSrc,
        LineToLift_PlaySound,
        LineToLift_WaitConfirm,
        LineToLift_03_ToLift,
        LineToLift_04_CheckLiftStatus,
        LineToLift_ToStandby,
        #region 电梯内有料车
        LineToLift_05_01_ToTemp1,
        LineToLift_05_01_ToStandby,
        LineToLift_05_02_TakeShelfOffAtTemp1,
        LineToLift_05_03_ToLift,
        LineToLift_05_04_EnterLift,
        LineToLift_05_05_PutShelfOn,
        LineToLift_05_06_LeaveLift,
        LineToLift_05_07_ToTemp2,
        LineToLift_05_08_TakeShelfOffAtTemp2,
        LineToLift_05_09_ReToTmp1,
        LineToLift_05_10_PutShelfOn,
        LineToLift_05_11_ToLift,
        LineToLift_05_12_EnterLift,
        LineToLift_05_13_TakeShelfOffAtLift,
        LineToLift_05_14_LeaveLift,
        LineToLift_05_15_CloseDoor,
        LineToLift_05_16_ToTmp2,
        LineToLift_05_17_PutShelfOn,
        LineToLift_05_18_ToStore,
        LineToLift_05_19_TakeShelfOff,
        LineToLift_05_20_BackToLift,

        LineToLift_05_10_ToTemp1,
        LineToLift_05_11_PutTemp1ShelfOn,
        LineToLift_05_12_ToLift,
        LineToLift_05_13_ToShelfPlace,
        LineToLift_05_14_TakeShelfOff,
        #endregion

        #region 电梯内无料车
        LineToLift_06_01_EnterLift,
        LineToLift_06_02_TakeShelfOffAtLift,
        LineToLift_06_03_LeaveLift,
        #endregion

        #endregion

        #region 电梯到线体 产品分发 最后空料料架返回
        SD_LiftToLine_00_ToStandby,
        /// <summary>
        /// 去电梯口
        /// </summary>
        SD_LiftToLine_01_ToLift,
        /// <summary>
        /// 等待电梯门开
        /// </summary>
        SD_LiftToLine_02_WaitLiftDoorOpen,
        /// <summary>
        /// 到电梯取料点
        /// </summary>
        SD_LiftToLine_03_EnterLift,
        /// <summary>
        /// 顶起料车
        /// </summary>
        SD_LiftToLine_04_PutShelfOn,
        /// <summary>
        /// 离开电梯
        /// </summary>
        SD_LiftToLine_05_LeaveLift,
        /// <summary>
        /// 关闭电梯门
        /// </summary>
        SD_LiftToLine_06_CloseLiftDoor,
        /// <summary>
        /// 去线体
        /// </summary>
        SD_LiftToLine_07_ToLine,
        SD_LiftToLine_07_CrossDoor,
        SD_LiftToLine_07_CrossTwoDoor,
        /// <summary>
        /// 到达线体，上报位置
        /// </summary>
        SD_LiftToLine_08_UpdateLocation,
        /// <summary>
        /// 等待线体确认
        /// </summary>
        SD_LiftToLine_09_WaitConfirm,
        /// <summary>
        /// 检查是否有下一个线体
        /// </summary>
        SD_LiftToLine_10_CheckNextLine,
        /// <summary>
        /// 线体运行结束，返回电梯
        /// </summary>
        SD_LiftToLine_11_BackToLift,
        SD_LiftToLine_11_ToStandby,
        SD_LiftToLine_11_CrossTwoDoor,
        SD_LiftToLine_11_CrossTDoor,
        /// <summary>
        /// 等待电梯门开启
        /// </summary>
        SD_LiftToLine_12_WaitDoorOpen,
        /// <summary>
        /// 检查电梯状态
        /// </summary>
        SD_LiftToLine_13_CheckLiftStatus,

        #region 电梯内有料车
        SD_LiftToLine_14_01_ToTemp1,
        SD_LiftToLine_14_02_WaitLiftIdle,
        SD_LiftToLine_14_03_RequestLift,
        #endregion

        #region 电梯内无料车
        SD_LiftToLine_14_01_EnterLift,
        /// <summary>
        /// 电梯内无料车，将车上料车放到电梯内
        /// </summary>
        SD_LiftToLine_14_02_TakeShelfOffAtLift,
        /// <summary>
        /// 离开电梯
        /// </summary>
        SD_LiftToLine_14_03_LeaveLift,
        /// <summary>
        /// 关闭电梯门，任务结束
        /// </summary>
        SD_LiftToLine_14_04_CloseLiftDoor,
        #endregion
        SD_LiftToLine_15_ToSteelShelfOff,
        /// <summary>
        /// 料车无需返回，直接结束
        /// </summary>
        SD_LiftToLine_16_TakeShelfOff,
        SD_LiftToLine_16_CrossTwoDoor,
        SD_LiftToLine_16_CrossTDoor,
        SD_LiftToLine_17_Dock,
        SD_LiftToLine_18_CheckState,
        SD_LiftToLine_19_TakeOff,
        SD_LiftToLine_20_WaitShelfLeave,
        SD_LiftToLine_21_PutOn,
        #endregion

        #region 钢网--电梯到线体
        /// <summary>
        /// 去电梯口
        /// </summary>
        Steel_LiftToLine_01_ToLift,
        /// <summary>
        /// 等待电梯门开
        /// </summary>
        Steel_LiftToLine_02_WaitLiftDoorOpen,
        /// <summary>
        /// 到电梯取料点
        /// </summary>
        Steel_LiftToLine_03_EnterLift,
        /// <summary>
        /// 顶起料车
        /// </summary>
        Steel_LiftToLine_04_PutShelfOn,
        /// <summary>
        /// 离开电梯
        /// </summary>
        Steel_LiftToLine_05_LeaveLift,
        /// <summary>
        /// 关闭电梯门
        /// </summary>
        Steel_LiftToLine_06_CloseLiftDoor,

        /// <summary>
        /// 去线体
        /// </summary>
        Steel_LiftToLine_07_ToLine,
        /// <summary>
        /// 到达线体，上报位置
        /// </summary>
        Steel_LiftToLine_08_UpdateLocation,
        /// <summary>
        /// 等待线体确认
        /// </summary>
        Steel_LiftToLine_09_WaitConfirm,
        /// <summary>
        /// 检查是否有下一个线体
        /// </summary>
        Steel_LiftToLine_10_CheckNextLine,
        /// <summary>
        /// 出库分发结束，去放架子处
        /// </summary>
        Steel_LiftToLine_11_ToShelfPlace,
        /// <summary>
        /// 卸下料架,出库分发结束
        /// </summary>
        Steel_LiftToLine_12_TakeShelfOff,

        Steel_LiftToLine_13_ToLiku,
        Steel_LiftToLine_14_Dock,
        Steel_LiftToLine_15_CheckState,
        Steel_LiftToLine_16_TakeOff,
        Steel_LiftToLine_17_WaitShelfLeave,
        Steel_LiftToLine_18_PutOn,

        /// <summary>
        /// 线体运行结束，返回电梯
        /// </summary>
        Steel_LiftToLine_19_BackToLift,
        Steel_LiftToLine_19_ToStandby,
        Steel_LiftToLine_20_Request,
        /// <summary>
        /// 等待电梯门开启
        /// </summary>
        Steel_LiftToLine_21_WaitDoorOpen,
        /// <summary>
        /// 检查电梯状态
        /// </summary>
        Steel_LiftToLine_22_CheckLiftStatus,

        #region 电梯内有料车
        Steel_LiftToLine_23_01_ToTemp1,
        Steel_LiftToLine_23_02_WaitLiftIdle,
        Steel_LiftToLine_23_03_RequestLift,
        #endregion

        #region 电梯内无料车
        Steel_LiftToLine_24_01_EnterLift,
        /// <summary>
        /// 电梯内无料车，将车上料车放到电梯内
        /// </summary>
        Steel_LiftToLine_24_02_TakeShelfOffAtLift,
        /// <summary>
        /// 离开电梯
        /// </summary>
        Steel_LiftToLine_24_03_LeaveLift,
        /// <summary>
        /// 关闭电梯门，任务结束
        /// </summary>
        Steel_LiftToLine_24_04_CloseLiftDoor,
        #endregion

        #endregion

        #region 车间里线体到线体运送，到目的地卸料车
        /// <summary>
        /// 去取料车位置
        /// </summary>
        SD_LineToLine_01_ToPickUpPosition,
        /// <summary>
        /// 顶起料车
        /// </summary>
        SD_LineToLine_02_PutShelfOn,
        /// <summary>
        /// 去线体
        /// </summary>
        SD_LineToLine_03_ToLine,
        SD_LineToLine_04_PlaySound,
        /// <summary>
        /// 等待确认
        /// </summary>
        SD_LineToLine_04_WaitConfirm,
        /// <summary>
        /// 返回起点
        /// </summary>
        SD_LineToLine_05_BackToSrcLine,
        /// <summary>
        /// 放下料架
        /// </summary>
        SD_LineToLine_06_TakeShelfOff,
        #endregion

        #region 同车间单线体到多线体运送
        /// <summary>
        /// 去取料车位置
        /// </summary>
        SD_Line_OneToMany_01_ToPickUpPosition,
        /// <summary>
        /// 顶起料车
        /// </summary>
        SD_Line_OneToMany_02_PutShelfOn,
        /// <summary>
        /// 去线体
        /// </summary>
        SD_Line_OneToMany_03_ToLine,
        /// <summary>
        /// 到达线体，上报位置
        /// </summary>
        SD_Line_OneToMany_04_UpdateLocation,
        /// <summary>
        /// 等待确认
        /// </summary>
        SD_Line_OneToMany_05_WaitConfirm,
        /// <summary>
        /// 检查下一线体
        /// </summary>
        SD_Line_OneToMany_06_CheckNextLine,
        /// <summary>
        /// 返回至取料位置
        /// </summary>
        SD_Line_OneToMany_07_BackToPickUpPosition,
        /// <summary>
        /// 放下料车
        /// </summary>
        SD_Line_OnToMany_08_TakeShelfOff,

        #endregion

        #region 1F 成品空料架从D2到C1
        S1F_LiftD2ToLiftC1_00_ToStandby,
        /// <summary>
        /// 去电梯口
        /// </summary>
        S1F_LiftD2ToLiftC1_01_ToLiftD2,
        /// <summary>
        /// 等待电梯门开
        /// </summary>
        S1F_LiftD2ToLiftC1_02_WaitDoorOpen,
        /// <summary>
        /// 
        /// </summary>
        S1F_LiftD2ToLiftC1_03_EnterLift,
        /// <summary>
        /// 顶起料车
        /// </summary>
        S1F_LiftD2ToLiftC1_04_PutShelfOn,
        /// <summary>
        /// 离开电梯
        /// </summary>
        S1F_LiftD2ToLiftC1_05_LeaveLift,
        /// <summary>
        /// 关闭电梯门
        /// </summary>
        S1F_LiftD2ToLiftC1_06_CloseLiftDoor,
        S1F_LiftD2ToLiftC1_07_ToStandby,
        S1F_LiftD2ToLiftC1_07_ToLiftC1,
        S1F_LiftD2ToLiftC1_08_CheckC1Status,

        #region 电梯内无料车
        S1F_LiftD2ToLiftC1_09_EnterLift,
        S1F_LiftD2ToLiftC1_10_TakeShelfOffAtLift,
        S1F_LiftD2ToLiftC1_11_LeaveLift,
        #endregion

        #region 电梯内有料车
        S1F_LiftD2ToLiftC1_12_ToTemp1,
        S1F_LiftD2ToLiftC1_12_ToStandby,
        S1F_LiftD2ToLiftC1_13_TakeShelfOffAtTemp1,
        S1F_LiftD2ToLiftC1_14_ToLift,
        S1F_LiftD2ToLiftC1_15_EnterLift,
        S1F_LiftD2ToLiftC1_16_PutShelfOn,
        S1F_LiftD2ToLiftC1_17_LeaveLift,

        #region 库房料车
        S1F_LiftD2ToLiftC1_18_CloseDoor,
        S1F_LiftD2ToLiftC1_19_01_ToStore,
        S1F_LiftD2ToLiftC1_19_02_TakeShelfOff,
        S1F_LiftD2ToLiftC1_19_03_ToTemp1,
        S1F_LiftD2ToLiftC1_19_04_PutTemp1ShelfOn,
        S1F_LiftD2ToLiftC1_19_05_ToLift,
        S1F_LiftD2ToLiftC1_19_05_ToStandby,
        #endregion

        #region 空成品料车
        S1F_LiftD2ToLiftC1_20_01_ToTemp2,
        S1F_LiftD2ToLiftC1_20_02_TakeShelfOff,
        S1F_LiftD2ToLiftC1_20_03_ToTemp1,
        S1F_LiftD2ToLiftC1_20_04_PutShelfOn,
        S1F_LiftD2ToLiftC1_20_05_ToLiftC1,
        S1F_LiftD2ToLiftC1_20_06_EnterLiftC1,
        S1F_LiftD2ToLiftC1_20_07_TakeShelfOff,
        S1F_LiftD2ToLiftC1_20_08_LeaveLiftC1,
        S1F_LiftD2ToLiftC1_20_09_CloseDoor,
        S1F_LiftD2ToLiftC1_20_10_ToTemp2,
        S1F_LiftD2ToLiftC1_20_11_TakeShelfOn,
        S1F_LiftD2ToLiftC1_20_12_Switch,
        #endregion

        #endregion


        #endregion
        #region 1F 成品入库从C1到D2
        S1F_LiftC1ToLiftD2_Buff,
        S1F_LiftC1ToLiftD2_ToLine,
        S1F_LiftC1ToLiftD2_PutShelf,
        S1F_LiftC1ToLiftD2_00_ToStandby,
        /// <summary>
        /// 去电梯口
        /// </summary>
        S1F_LiftC1ToLiftD2_01_ToLiftC1,
        /// <summary>
        /// 等待电梯门开
        /// </summary>
        S1F_LiftC1ToLiftD2_02_WaitDoorOpen,
        /// <summary>
        /// 
        /// </summary>
        S1F_LiftC1ToLiftD2_03_EnterLift,
        /// <summary>
        /// 顶起料车
        /// </summary>
        S1F_LiftC1ToLiftD2_04_PutShelfOn,
        /// <summary>
        /// 离开电梯
        /// </summary>
        S1F_LiftC1ToLiftD2_05_LeaveLift,
        /// <summary>
        /// 关闭电梯门
        /// </summary>
        S1F_LiftC1ToLiftD2_06_CloseLiftDoor,
        S1F_LiftC1ToLiftD2_07_ToLiftD2,
        S1F_LiftC1ToLiftD2_ToStandby,
        S1F_LiftC1ToLiftD2_08_CheckD2Status,

        #region 电梯内无料车
        S1F_LiftC1ToLiftD2_09_EnterLift,
        S1F_LiftC1ToLiftD2_10_TakeShelfOffAtLift,
        S1F_LiftC1ToLiftD2_11_LeaveLift,
        #endregion
        #region 电梯内有料车
        S1F_LiftC1ToLiftD2_12_ToStandby,
        S1F_LiftC1ToLiftD2_13_ToShelfBuff,
        S1F_LiftC1ToLiftD2_14_TakeShelfOff,
        S1F_LiftC1ToLiftD2_14_ToLift,
        S1F_LiftC1ToLiftD2_15_EnterLift,
        S1F_LiftC1ToLiftD2_16_PutShelfOn,
        S1F_LiftC1ToLiftD2_17_LeaveLift,

        #region 库房料车
        S1F_LiftC1ToLiftD2_18_CloseDoor,
        S1F_LiftC1ToLiftD2_19_01_ToStore,
        S1F_LiftC1ToLiftD2_19_02_TakeShelfOff,
        S1F_LiftC1ToLiftD2_19_03_ToTemp1,
        S1F_LiftC1ToLiftD2_19_04_PutTemp1ShelfOn,
        S1F_LiftC1ToLiftD2_19_05_ToLift,
        #endregion

        #region 空成品料车
        S1F_LiftC1ToLiftD2_20_01_ToTemp2,
        S1F_LiftC1ToLiftD2_20_02_TakeShelfOff,
        S1F_LiftC1ToLiftD2_20_03_ToTemp1,
        S1F_LiftC1ToLiftD2_20_04_PutShelfOn,
        S1F_LiftC1ToLiftD2_20_05_ToLiftC1,
        S1F_LiftC1ToLiftD2_20_06_EnterLiftC1,
        S1F_LiftC1ToLiftD2_20_07_TakeShelfOff,
        S1F_LiftC1ToLiftD2_20_08_LeaveLiftC1,
        S1F_LiftC1ToLiftD2_20_09_CloseDoor,
        S1F_LiftC1ToLiftD2_20_10_ToTemp2,
        S1F_LiftC1ToLiftD2_20_11_TakeShelfOn,
        S1F_LiftC1ToLiftD2_20_12_Switch,
        #endregion

        #endregion



        #endregion

        #region 电梯口料架交换
        /// <summary>
        /// 料架交换：去临时点1
        /// </summary>
        Switch_01_ToTmp1,
        /// <summary>
        /// 料架交换：在临时点1卸下料架
        /// </summary>
        Switch_02_TakeShelfOffAtTmp1,
        /// <summary>
        /// 料架交换：去电梯
        /// </summary>
        Switch_03_ToLift,
        /// <summary>
        /// 料架交换：进入电梯
        /// </summary>
        Switch_04_EnterLift,
        /// <summary>
        /// 料架交换：拾取电梯内的料架
        /// </summary>
        Switch_05_PutLiftShelfOn,
        /// <summary>
        /// 料架交换：离开电梯
        /// </summary>
        Switch_06_LeaveLift,
        /// <summary>
        /// 料架交换：去临时点2
        /// </summary>
        Switch_07_ToTmp2,
        /// <summary>
        /// 料架交换：在临时点2卸下料车
        /// </summary>
        Switch_08_TakeShelfOffAtTpm2,
        /// <summary>
        /// 料架交换：去临时点1
        /// </summary>
        Switch_09_ReToTmp1,
        /// <summary>
        /// 料架交换：在临时点1拾取料架
        /// </summary>
        Switch_10_PutShelfOnAtTmp1,
        /// <summary>
        /// 料架交换：去电梯
        /// </summary>
        Switch_11_ToLift,
        /// <summary>
        /// 料架交换：进入电梯
        /// </summary>
        Switch_12_EnterLift,
        /// <summary>
        /// 料架交换：在电梯放下料车
        /// </summary>
        Switch_13_TakeLiftShelfOff,
        /// <summary>
        /// 料架交换：离开电梯
        /// </summary>
        Switch_14_LeaveLift,
        /// <summary>
        /// 料架交换：关门,并更新送料信息
        /// </summary>
        Switch_15_CloseDoor,
        Switch_15_WaitDoorClose,
        /// <summary>
        /// 料架交换：去临时点2
        /// </summary>
        Switch_16_ReToTmp2,
        /// <summary>
        /// 料架交换：在临时点2拾取料架
        /// </summary>
        Switch_17_PutShelfOnAtTmp2,
        /// <summary>
        /// 根据当前状态送料
        /// </summary>
        Switch_18_SendShelf,
        /// <summary>
        /// 根据当前状态返还料架
        /// </summary>
        Switch_19_ReturnShelf,
        #endregion
        #region 过门任务
        CrossDoor_01_ToCurDoor,
        CrossDoor_02_OpenCurDoor,
        CrossDoor_03_Enter,
        CrossDoor_04_CloseCurDoor,
        CrossDoor_05_OpenAntherDoor,
        CrossDoor_06_LeaveDoor,
        CrossDoor_07_CloseAntherDoor,
        CrossDoor_08_Finish,
        #endregion
        /// <summary>
        /// 结束
        /// </summary>
        END
    }
}