RunStep.cs
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using System;
using System.Collections.Generic;
using System.Text;
namespace DeviceLib.Model.AGV
{
public enum RunStep
{
/// <summary>
/// 准备开始任务
/// </summary>
None,
//类型：取G、送S、返还R
#region 运输料架任务
DeliverShelf_01_Start,
DeliverShelf_02_CrossDoor,
DeliverShelf_03_CrossDoorSuccess,
DeliverShelf_04_ToTmpPlace,
DeliverShelf_05_ToTmpPlaceSuccess,
DeliverShelf_06_ReadyToDst,
DeliverShelf_07_ToDst,
DeliverShelf_08_CheckAction,
DeliverShelf_09_PickAction,
DeliverShelf_10_PutAction,
DeliverShelf_11_CommLineAction,
DeliverShelf_12_ManualConfirmAction,
DeliverShelf_13_GetShelfFromLiftAction,
DeliverShelf_14_SendShelfToLiftAction,
DeliveryShelf_15_ActionSuccess,
DeliveryShelf_16_CheckNextDst,
DeliverShelf_17_CheckNextStep,
DeliverShelf_18_SendShelf,
DeliverShelf_19_ReturnShelf,
DeliveryShelf_20_End,
#endregion
#region 拾取任务
PickAction_01_ReadyToPick,
PickAction_02_PickTimeout,
PickAction_03_PickSuccess,
#endregion
#region 放下任务
PutAction_01_ReadyToPut,
PutAction_02_PutTimeout,
PutAction_03_PutSuccess,
#endregion
#region 与线体通讯
CommLine_01_ReadyToCommLine,
CommLine_02_Request,
CommLine_03_ResponseWait,
CommLine_04_ResponseAllow,
CommLine_05_ResponseDeny,
CommLine_06_ShelfMoving,
CommLine_07_ShelfMovingTimeOut,
CommLine_08_ShelfMovingSuccess,
#endregion
#region 按钮/接口确认
ManualConfirm_01_ReadyToConfirm,
ManualConfirm_02_WaitConfirm,
ManualConfirm_03_ConfirmTimeOut,
ManualConfirm_04_ConfirmSuccess,
ManualConfirm_05_CheckAction,
ManualConfirm_06_NoAction,
ManualConfirm_07_PickAction,
ManualConfirm_08_PutAction,
#endregion
#region 跨门运输
CrossDoor_01_Start,
CrossDoor_02_CheckSrcDstState,
CrossDoor_03_ToSrcExit,
CrossDoor_04_CheckDoorAction,
#region 两车间门一起开关
CrossDoor_05_DoorTogether,
CrossDoor_06_OpenDoor,
CrossDoor_07_WaitDoorOpenSuccess,
CrossDoor_08_WaitDoorOpenTimeOut,
CrossDoor_09_Cross,
CrossDoor_10_CrossTimeOut,
CrossDoor_11_CrossSuccess,
CrossDoor_12_CloseDoor,
CrossDoor_13_WaitDoorCloseTimeOut,
CrossDoor_14_WaitDoorCloseSuccess,
#endregion
#region 两车间单独开关
CrossDoor_15_DoorIndependent,
CrossDoor_16_OpenSrcDoor,
CrossDoor_17_WaitSrcDoorOpenSuccess,
CrossDoor_18_WaitSrcDoorOpenTimeOut,
CrossDoor_19_ToMidPlaceBtwDoors,
CrossDoor_20_CloseSrcDoor,
CrossDoor_21_WaitSrcDoorCloseSuccess,
CrossDoor_22_WaitSrcDoorCloseTimeOut,
CrossDoor_23_OpenDstDoor,
CrossDoor_24_WaitDstDoorOpenSuccess,
CrossDoor_25_WaitDstDoorOpenTimeOut,
CrossDoor_26_EnterDstDoor,
CrossDoor_27_CloseDstDoor,
CrossDoor_28_WaitDstDoorCloseSuccess,
CrossDoor_29_WaitDstDoorCloseTimeOut,
#endregion
CrossDoor_30_End,
#endregion
#region 待机任务
Standby_01_Start,
Standby_02_CrossDoor,
Standby_03_CrossDoorSuccess,
Standby_04_ToDst,
Standby_05_End,
#endregion
#region 充电任务
Charge_01_Start,
Charge_02_CrossDoor,
Charge_03_CrossDoorSuccess,
Charge_04_ToDst,
Charge_05_Charging,
Charge_06_ChargingError,
Charge_07_ChargingSuccess,
Charge_08_LeaveCharge,
Charge_09_End,
#endregion
#region 临时待机点任务
TmpPlace_01_Start,
TmpPlace_02_CheckIfTmpPlace,
TmpPlace_03_ToDst,
TmpPlace_04_WaitDstIdle,
TmpPlace_05_End,
#endregion
#region 从电梯取料架
GetShelfFromLift_Start,
GetShelfFromLift_ToLift,
GetShelfFromLift_WaitDoorOpen,
GetShelfFromLift_EnterLift,
GetShelfFromLift_PickShelf,
GetShelfFromLift_PickShelfTimeOut,
GetShelfFromLift_PickShelfSuccess,
GetShelfFromLift_LeaveLift,
GetShelfFromLift_CloseLiftDoor,
GetShelfFromLift_CloseRequest,
GetShelfFromLift_End,
#endregion
#region 送料架到电梯
SendShelfToLift_01_Start,
SendShelfToLift_02_ToLift,
SendShelfToLift_03_Request,
SendShelfToLift_04_WaitResponse,
SendShelfToLift_05_ResponseAllow,
SendShelfToLift_06_CallFloor,
SendShelfToLift_07_WaitLiftReach,
SendShelfToLift_08_WaitLiftReachTimeOut,
SendShelfToLift_09_LiftReachSuccess,
SendShelfToLift_10_OpenDoor,
SendShelfToLift_11_WaitDoorOpen,
SendShelfToLift_12_WaitDoorOpenTimeOut,
SendShelfToLift_13_DoorOpenSuccess,
SendShelfToLift_14_CheckStateInLift,
#region 电梯内无料架
SendShelfToLift_15_EnterLift,
SendShelfToLift_16_PutShelf,
SendShelfToLift_17_PutShelfSuccess,
SendShelfToLift_18_LeaveLift,
#endregion
#region 电梯内料架
SendShelfToLift_19_ToTmp1,
SendShelfToLift_20_PutShelfAtTmp1,
SendShelfToLift_21_PutShelfAtTmp1Success,
SendShelfToLift_22_ToLift,
SendShelfToLift_23_EnterLift,
SendShelfToLift_24_PickShelf,
SendShelfToLift_25_PickShelfSuccess,
SendShelfToLift_26_LeaveLift,
SendShelfToLift_27_ToTmp2,
SendShelfToLift_28_PutShelfAtTmp2,
SendShelfToLift_29_PutShelfAtTmp2Success,
SendShelfToLift_30_ToTmp1,
SendShelfToLift_31_PickShelfAtTmp1,
SendShelfToLift_32_PickShelfAtTmp1Success,
SendShelfToLift_33_ToLift,
SendShelfToLift_34_EnterLift,
SendShelfToLift_35_PutShelf,
SendShelfToLift_36_PutShelfSuccess,
SendShelfToLift_37_LeaveLift,
#endregion
SendShelfToLift_38_CloseLiftDoor,
SendShelfToLift_39_CloseRequest,
SendShelfToLift_40_End,
#endregion
#region 去料仓接料
ToStore_01_ToStore,
ToStore_02_RequestLeave,
ToStore_03_EnterAGVOK,
ToStore_04_ReToStore,
ToStore_05_RequestEnter,
ToStore_06_LeaveAGVOK,
ToStore_07_CheckIsNeedToShelfPlace,
ToStore_08_ToShelfPlace,
ToStore_09_ToLine,
ToStore_10_End,
#endregion
#region 去料架接料
//ToShelfPlace_01_ToPlace,
//ToShelfPlace_02_PlaceSoud,
//ToShelfPlace_03_WaitConfirm,
//ToShelfPlace_04_ConfirmOk,
//ToShelfPlace_05_ToLine,
#endregion
#region 去线体
ToLine_01_CheckTarget,
ToLine_01_ToPlace,
ToLine_02_ConfirmProcess,
ToLine_03_CheckNextLine,
ToLine_04_LeaveLine,
ToLine_04_Finish,
ToLine_05_ToTmpPlace,
#endregion
}
}