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 1F 电梯到库房
        /// <summary>
        /// 去电梯口
        /// </summary>
        S1F_LiftToStore_01_ToLift,
        /// <summary>
        /// 等待电梯门开
        /// </summary>
        S1F_LiftToStore_02_01_WaitLiftDoorOpen,
        /// <summary>
        /// 
        /// </summary>
        S1F_LiftToStore_02_02_EnterLift,
        /// <summary>
        /// 顶起料车
        /// </summary>
        S1F_LiftToStore_03_PutShelfOn,
        /// <summary>
        /// 离开电梯
        /// </summary>
        S1F_LiftToStore_04_LeaveLift,
        /// <summary>
        /// 关闭电梯门
        /// </summary>
        S1F_LiftToStore_05_CloseLiftDoor,
        /// <summary>
        /// 去库房
        /// </summary>
        S1F_LiftToStore_06_ToStore,
        /// <summary>
        /// 放下料车
        /// </summary>
        S1F_LiftToStore_07_TakeShelfOff,
        #endregion

        #region 1F库房到电梯
        S1F_StoreToLift_01_ToStore,
        S1F_StoreToLift_02_PutShelfOn,
        S1F_StoreToLift_03_ToLift,
        S1F_StoreToLift_04_CheckLiftStatus,

        #region 电梯内有料车
        S1F_StoreToLift_05_01_ToTemp1,
        S1F_StoreToLift_05_02_TakeShelfOffAtTemp1,
        S1F_StoreToLift_05_03_ToLift,
        S1F_StoreToLift_05_04_EnterLift,
        S1F_StoreToLift_05_05_PutShelfOn,
        S1F_StoreToLift_05_06_LeaveLift,
        S1F_StoreToLift_05_07_ToTemp2,
        S1F_StoreToLift_05_08_TakeShelfOffAtTemp2,
        S1F_StoreToLift_05_09_ToTemp1,
        S1F_StoreToLift_05_10_PutTemp1ShelfOn,
        S1F_StoreToLift_05_11_ToLift,
        S1F_StoreToLift_05_12_EnterLift,
        S1F_StoreToLift_05_13_TakeShelfOffAtLift,
        S1F_StoreToLift_05_14_LeaveLift,
        S1F_StoreToLift_05_15_ToTemp2,
        S1F_StoreToLift_05_16_PutTemp2ShelfOn,
        S1F_StoreToLift_05_17_ToStore,
        S1F_StoreToLift_05_18_TakeShelfOff,
        #endregion

        #region 电梯内无料车
        S1F_StoreToLift_06_01_EnterLift,
        S1F_StoreToLift_06_02_TakeShelfOffAtLift,
        S1F_StoreToLift_06_03_LeaveLift,
        #endregion

        #endregion

        #region 电梯到线体 产品分发 最后空料料架返回
        /// <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,
        /// <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,
        /// <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,
        /// <summary>
        /// 电梯内有料车，将待送的料车放到临时点1
        /// </summary>
        SD_LiftToLine_14_02_TakeShelfOffAtTemp1,
        /// <summary>
        /// 电梯内有料车，去电梯口
        /// </summary>
        SD_LiftToLine_14_03_ToLift,
        SD_LiftToLine_14_04_EnterLift,
        /// <summary>
        /// 电梯内有料车，提取电梯内的料车
        /// </summary>
        SD_LiftToLine_14_05_PutLiftShelfOn,
        /// <summary>
        /// 电梯内有料车，离开电梯
        /// </summary>
        SD_LiftToLine_14_06_LeaveLift,
        SD_LiftToLine_14_07_ToTemp2,
        /// <summary>
        /// 电梯内有料车，将电梯内的料车卸到临时点2
        /// </summary>
        SD_LiftToLine_14_08_TakeShelfOffAtTemp2,
        SD_LiftToLine_14_09_ToTemp1,
        /// <summary>
        /// 电梯内有料车，提取临时点1的料车
        /// </summary>
        SD_LiftToLine_14_10_PutTemp1ShelfOn,
        /// <summary>
        /// 电梯内有料车，去电梯口
        /// </summary>
        SD_LiftToLine_14_11_ToLift,
        SD_LiftToLine_14_12_EnterLift,
        /// <summary>
        /// 电梯内有料车，将料车放到电梯内
        /// </summary>
        SD_LiftToLine_14_13_TakeShelfOffAtLift,
        /// <summary>
        /// 电梯内有料车，离开电梯
        /// </summary>
        SD_LiftToLine_14_14_LeaveLift,
        /// <summary>
        /// 电梯内有料车，关闭电梯门
        /// </summary>
        SD_LiftToLine_14_15_CloseLiftDoor,
        SD_LiftToLine_14_16_ToTemp2,
        /// <summary>
        /// 电梯内有料车，将临时点2的料车提取，线体目的地参数填充，准备去线体SD_LiftToLine_06_ToLine
        /// </summary>
        SD_LiftToLine_14_17_PutTemp2ShelfOn,
        #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

        #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,
        /// <summary>
        /// 到达线体，上报位置
        /// </summary>
        SD_LineToLine_04_UpdateLocation,
        /// <summary>
        /// 放下料架
        /// </summary>
        SD_LineToLine_05_TakeShelfOff,
        #endregion

        #region 车间里库房到多线体运送
        /// <summary>
        /// 去取料车位置
        /// </summary>
        SD_StoreToLine_01_ToPickUpPosition,
        /// <summary>
        /// 顶起料车
        /// </summary>
        SD_StoreToLine_02_PutShelfOn,
        /// <summary>
        /// 去线体
        /// </summary>
        SD_StoreToLine_03_ToLine,
        /// <summary>
        /// 到达线体，上报位置
        /// </summary>
        SD_StoreToLine_04_UpdateLocation,
        /// <summary>
        /// 等待确认
        /// </summary>
        SD_StoreToLine_05_WaitConfirm,
        /// <summary>
        /// 检查下一线体
        /// </summary>
        SD_StoreToLine_06_CheckNextLine,
        /// <summary>
        /// 返回至取料位置
        /// </summary>
        SD_StoreToLine_07_BackToPickUpPosition,
        /// <summary>
        /// 放下料车
        /// </summary>
        SD_StoreToLine_08_TakeShelfOff,

        #endregion
        /// <summary>
        /// 结束
        /// </summary>
        END
    }
}