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

namespace Mushiny
{


    /// <summary>
    /// 路径点
    /// </summary>
    public class PathPoint
    {
        /// <summary>
        /// 地址码
        /// </summary>
        public uint LandMark { get; set; }
        /// <summary>
        /// 动作码
        /// </summary>
        public ActionCode Action { get; set; }
        /// <summary>
        /// 属性值
        /// </summary>
        public byte PropVal { get; set; }
        /// <summary>
        /// 动作参数
        /// </summary>
        public List<byte> ActionParam { get; set; }
        /// <summary>
        /// 信息
        /// </summary>
        public string Msg { get; set; }
        /// <summary>
        /// 路径点状态
        /// </summary>
        public PathPointState PointState { get; set; } = PathPointState.None;

        public byte[] ToBytes()
        {
            var bytes = new List<byte>(Common.ConvertToBytes(LandMark))
            {
                (byte)Action,
                PropVal,
            };
            bytes.AddRange(ActionParam?.ToArray());
            return bytes.ToArray();
        }
        /// <summary>
        /// 直行前进
        /// </summary>
        /// <param name="landmark">地址码</param>
        /// <param name="speed">速度挡位：1~5</param>
        /// <param name="distance">直行距离</param>
        /// <returns></returns>
        public static PathPoint GenDirectMove(uint landmark, byte speed, short distance)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.直行前进,
                LandMark = landmark,
                PropVal = speed,
                ActionParam = new List<byte>(Common.ConvertToBytes(distance)),
            };
            pp.Msg = $"{pp.Action},地标={landmark},速度={speed},距离={distance} mm";
            return pp;
        }
        /// <summary>
        /// 跟车直行前进
        /// </summary>
        /// <param name="landmark">地址码</param>
        /// <param name="speed">速度挡位：1~5</param>
        /// <param name="distance">直行距离</param>
        /// <returns></returns>
        public static PathPoint GenFollowDirectMove(uint landmark, byte speed, short distance)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.跟车直行前进,
                LandMark = landmark,
                PropVal = speed,
                ActionParam = new List<byte>(Common.ConvertToBytes(distance)),
            };
            pp.Msg = $"{pp.Action},地标={landmark},速度={speed},距离={distance} mm";
            return pp;
        }
        /// <summary>
        /// 通道直行前进_不允许转弯
        /// </summary>
        /// <param name="landmark">地址码</param>
        /// <param name="speed">速度挡位：1~5</param>
        /// <param name="distance">直行距离</param>
        /// <returns></returns>
        public static PathPoint GenChannelDirectMove(uint landmark, byte speed, short distance)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.通道直行前进_不允许转弯,
                LandMark = landmark,
                PropVal = speed,
                ActionParam = new List<byte>(Common.ConvertToBytes(distance)),
            };
            pp.Msg = $"{pp.Action},地标={landmark},速度={speed},距离={distance} mm";
            return pp;
        }
        /// <summary>
        /// 直行后退
        /// </summary>
        /// <param name="landmark">地址码</param>
        /// <param name="speed">速度挡位：1~5</param>
        /// <param name="distance">直行距离</param>
        /// <returns></returns>
        public static PathPoint GenDirectBackMove(uint landmark, byte speed, short distance)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.直行后退,
                LandMark = landmark,
                PropVal = speed,
                ActionParam = new List<byte>(Common.ConvertToBytes(distance)),
            };
            pp.Msg = $"{pp.Action},地标={landmark},速度={speed},距离={distance} mm";
            return pp;
        }
        /// <summary>
        /// 跟车直行后退
        /// </summary>
        /// <param name="landmark">地址码</param>
        /// <param name="speed">速度挡位：1~5</param>
        /// <param name="distance">直行距离</param>
        /// <returns></returns>
        public static PathPoint GenFollowDirectBackMove(uint landmark, byte speed, short distance)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.跟车直行后退,
                LandMark = landmark,
                PropVal = speed,
                ActionParam = new List<byte>(Common.ConvertToBytes(distance)),
            };
            pp.Msg = $"{pp.Action},地标={landmark},速度={speed},距离={distance} mm";
            return pp;
        }
        /// <summary>
        /// 
        /// </summary>
        /// <param name="landmark"></param>
        /// <param name="speed"></param>
        /// <param name="distance"></param>
        /// <returns></returns>
        public static PathPoint Add(ActionCode actionCode,uint landmark, byte speed, short distance)
        {
            var pp = new PathPoint()
            {
                Action = actionCode,
                LandMark = landmark,
                PropVal = speed,
                ActionParam = new List<byte>(Common.ConvertToBytes(distance)),
            };
            pp.Msg = $"{pp.Action},地标={landmark},速度={speed},距离={distance} mm";
            return pp;
        }
        /// <summary>
        /// 通道直行后退_不允许转弯
        /// </summary>
        /// <param name="landmark">地址码</param>
        /// <param name="speed">速度挡位：1~5</param>
        /// <param name="distance">直行距离</param>
        /// <returns></returns>
        public static PathPoint GenChannelDirectBackMove(uint landmark, byte speed, short distance)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.通道直行后退_不允许转弯,
                LandMark = landmark,
                PropVal = speed,
                ActionParam = new List<byte>(Common.ConvertToBytes(distance)),
            };
            pp.Msg = $"{pp.Action},地标={landmark},速度={speed},距离={distance} mm";
            return pp;
        }
        /// <summary>
        /// 转弯
        /// </summary>
        /// <param name="landmark"></param>
        /// <param name="angle"></param>
        /// <returns></returns>
        public static PathPoint GenTurn(uint landmark, short angle)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.转弯,
                LandMark = landmark,
                ActionParam = new List<byte>(Common.ConvertToBytes(angle)),
            };
            pp.Msg = $"{pp.Action},地标={landmark},角度={angle} °";
            return pp;
        }
        /// <summary>
        /// 进入充电
        /// </summary>
        /// <param name="landmark"></param>
        /// <param name="forbidCalib">禁止校正标志1 表示禁止校正</param>
        /// <param name="distance">后退的距离(mm) 要比实际距离大50mm以上；若为0，则采用默认距离</param>
        /// <returns></returns>
        public static PathPoint GenStartChage(uint landmark, short distance = 0, byte forbidCalib = 0)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.进入充电,
                LandMark = landmark,
                PropVal = forbidCalib,
                ActionParam = new List<byte>(Common.ConvertToBytes(distance)),
            };
            pp.Msg = $"{pp.Action},地标={landmark},禁止校正标志={forbidCalib},后退距离={distance} mm";
            return pp;
        }
        /// <summary>
        /// 退出充电
        /// </summary>
        /// <param name="landmark"></param>
        /// <returns></returns>
        public static PathPoint GenStopChage(uint landmark)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.退出充电,
                LandMark = landmark,
                ActionParam = new List<byte>(Common.ConvertToBytes((short)0))
            };
            pp.Msg = $"{pp.Action},地标={landmark}";
            return pp;
        }
        /// <summary>
        /// 进入取放货设备对接
        /// </summary>
        /// <param name="landmark"></param>
        /// <param name="distance"></param>
        /// <returns></returns>
        public static PathPoint GenStartDockDevice(uint landmark, short distance = 0)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.进入取放货设备对接,
                LandMark = landmark,
                ActionParam = new List<byte>(Common.ConvertToBytes(distance)),
            };
            pp.Msg = $"{pp.Action},地标={landmark},后退距离={distance} mm";
            return pp;
        }
        /// <summary>
        /// 退出取放货设备对接
        /// </summary>
        /// <param name="landmark"></param>
        /// <returns></returns>
        public static PathPoint GenStopDockDevice(uint landmark)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.退出取放货设备对接,
                LandMark = landmark,
                ActionParam = new List<byte>(Common.ConvertToBytes((short)0))
            };
            pp.Msg = $"{pp.Action},地标={landmark}";
            return pp;
        }
        /// <summary>
        /// 进入低功耗状态
        /// </summary>
        /// <param name="landmark"></param>
        /// <returns></returns>
        public static PathPoint GenStartLowPowerState(uint landmark)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.进入低功耗状态,
                LandMark = landmark,
                ActionParam = new List<byte>(Common.ConvertToBytes((short)0))
            };
            pp.Msg = $"{pp.Action},地标={landmark}";
            return pp;
        }
        /// <summary>
        /// 退出低功耗
        /// </summary>
        /// <param name="landmark"></param>
        /// <returns></returns>
        public static PathPoint GenStopLowPowerState(uint landmark)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.退出低功耗状态,
                LandMark = landmark,
                ActionParam = new List<byte>(Common.ConvertToBytes((short)0))
            };
            pp.Msg = $"{pp.Action},地标={landmark}";
            return pp;
        }
        /// <summary>
        /// 清空机器人路径缓存
        /// </summary>
        /// <param name="landmark"></param>
        /// <returns></returns>
        public static PathPoint GenClearPathBuff(uint landmark)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.清空机器人路径缓存,
                LandMark = landmark,
                ActionParam = new List<byte>(Common.ConvertToBytes((short)0))
            };
            pp.Msg = $"{pp.Action},地标={landmark}";
            return pp;
        }
        /// <summary>
        /// 归位扫描
        /// 只要小车登陆包里面“等待料仓信息同步标志”字段为1，就提示用户，让用户点一个 “归位扫描” 的按钮，
        /// 用户点击该按钮后，给小车发这个 0x51 的动作命令（单独的命令），小车会自动执行归位扫描，扫描成功后会自动上报料仓信息包；
        ///只要等到料仓信息包上报上来，WCS就可以给小车分配任务，而不用管是蓝牙触发的归位扫描，还是WCS触发的归位扫描
        /// </summary>
        /// <param name="landmark"></param>
        /// <returns></returns>
        public static PathPoint GenGuiweiscan(uint landmark)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.归位扫描,
                LandMark = landmark,
                ActionParam = new List<byte>(Common.ConvertToBytes((short)0))
            };
            pp.Msg = $"{pp.Action},地标={landmark}";
            return pp;
        }
        /// <summary>
        /// 整车自标定
        /// </summary>
        /// <param name="landmark"></param>
        /// <returns></returns>
        public static PathPoint GenSelfCalib(uint landmark)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.整车自标定,
                LandMark = landmark,
                ActionParam = new List<byte>(Common.ConvertToBytes((short)0))
            };
            pp.Msg = $"{pp.Action},地标={landmark}";
            return pp;
        }
        /// <summary>
        /// 整车自检
        /// </summary>
        /// <param name="landmark"></param>
        /// <returns></returns>
        public static PathPoint GenSelfCheck(uint landmark)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.整车自检,
                LandMark = landmark,
                ActionParam = new List<byte>(Common.ConvertToBytes((short)0))
            };
            pp.Msg = $"{pp.Action},地标={landmark}";
            return pp;
        }
        /// <summary>
        /// 自身复位
        /// </summary>
        /// <param name="landmark"></param>
        /// <returns></returns>
        public static PathPoint GenSelfReset(uint landmark)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.自身复位,
                LandMark = landmark,
                ActionParam = new List<byte>(Common.ConvertToBytes((short)0))
            };
            pp.Msg = $"{pp.Action},地标={landmark}";
            return pp;
        }
        /// <summary>
        /// 摄像头模组复位
        /// </summary>
        /// <param name="landmark"></param>
        /// <returns></returns>
        public static PathPoint GenCameraReset(uint landmark)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.摄像头模组复位,
                LandMark = landmark,
                ActionParam = new List<byte>(Common.ConvertToBytes((short)0))
            };
            pp.Msg = $"{pp.Action},地标={landmark}";
            return pp;
        }
        /// <summary>
        /// 惯导模组复位
        /// </summary>
        /// <param name="landmark"></param>
        /// <returns></returns>
        public static PathPoint GenGuandaoMozuReset(uint landmark)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.惯导模组复位,
                LandMark = landmark,
                ActionParam = new List<byte>(Common.ConvertToBytes((short)0))
            };
            pp.Msg = $"{pp.Action},地标={landmark}";
            return pp;
        }
        /// <summary>
        /// 机构归零
        /// </summary>
        /// <param name="landmark"></param>
        /// <param name="option">归零选择，1~4
        //1:挡杆
        //2:挡杆+伸缩
        //3:挡杆+伸缩+旋转
        //4:挡杆+伸缩+旋转+升降</param>
        /// <returns></returns>
        public static PathPoint GenDeviceReset(uint landmark, byte option = 4)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.机构归零,
                LandMark = landmark,
                PropVal = option,
                ActionParam = new List<byte>(Common.ConvertToBytes((short)0))
            };
            pp.Msg = $"{pp.Action},地标={landmark}";
            return pp;
        }
        /// <summary>
        /// 从本车料仓取货
        /// </summary>
        /// <param name="landmark"></param>
        /// <param name="row">层号</param>
        /// <param name="containerCode">料箱码，12字节</param>
        /// <param name="depth">取货深度，0默认</param>
        /// <param name="containerWidth">料箱宽度，0默认</param>
        /// <returns></returns>
        public static PathPoint GenGetFromBunker(uint landmark, byte row, byte[] containerCode, short depth = 0, ushort containerWidth = 0)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.从本车料仓取货,
                LandMark = landmark,
                PropVal = row,
                ActionParam = new List<byte>(Common.ConvertToBytes((short)0))
            };
            pp.ActionParam.AddRange(Common.ConvertToBytes(depth));
            pp.ActionParam.AddRange(new byte[16]);
            pp.ActionParam.AddRange(containerCode);
            pp.ActionParam.AddRange(Common.ConvertToBytes((ushort)0));
            pp.ActionParam.AddRange(Common.ConvertToBytes(containerWidth));
            pp.Msg = $"{pp.Action},地标={landmark},Row={row},料箱码={System.Text.Encoding.Default.GetString(containerCode)},取货深度={depth},料箱宽度={containerWidth}";
            return pp;
        }
        /// <summary>
        /// 往本车料仓放货
        /// </summary>
        /// <param name="landmark"></param>
        /// <param name="row">层号</param>
        /// <param name="containerCode">料箱码,12字节</param>
        /// <param name="depth">放货深度，0默认</param>
        /// <param name="containerWidth">料箱宽度，0默认</param>
        /// <returns></returns>
        public static PathPoint GenPutToBunker(uint landmark, byte row, byte[] containerCode, short depth = 0, ushort containerWidth = 0)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.往本车料仓放货,
                LandMark = landmark,
                PropVal = row,
                ActionParam = new List<byte>(Common.ConvertToBytes((short)0))
            };
            pp.ActionParam.AddRange(Common.ConvertToBytes(depth));
            pp.ActionParam.AddRange(new byte[16]);
            pp.ActionParam.AddRange(containerCode);
            pp.ActionParam.AddRange(Common.ConvertToBytes((ushort)0));
            pp.ActionParam.AddRange(Common.ConvertToBytes(containerWidth));
            pp.Msg = $"{pp.Action},地标={landmark},Row={row},放货深度={depth},料箱码={System.Text.Encoding.Default.GetString(containerCode)},料箱宽度={containerWidth}";
            return pp;
        }
        /// <summary>
        /// 从货架取货
        /// </summary>
        /// <param name="landmark">地标</param>
        /// <param name="pos">"高4bit:深位，单0 双1
        ///低4bit:方向，左1 右2"
        ///</param>
        /// <param name="shelfCode">货架二维码 16字节</param>
        /// <param name="containerCode">料箱二维码 12字节</param>
        /// <param name="upDownHeight">升降高度</param>
        /// <param name="scanContainerShift">料箱码读码偏移距离</param>
        /// <param name="depth">取货深度</param>
        /// <param name="containerWidth">料箱宽度</param>
        /// <returns></returns>
        public static PathPoint GenGetFromShelves(uint landmark, byte pos, byte[] shelfCode, byte[] containerCode, short upDownHeight, ushort scanContainerShift, short depth = 0, ushort containerWidth = 0)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.从货架取货,
                LandMark = landmark,
                PropVal = pos,
                ActionParam = new List<byte>(Common.ConvertToBytes(upDownHeight))
            };
            pp.ActionParam.AddRange(Common.ConvertToBytes(depth));
            pp.ActionParam.AddRange(shelfCode);
            pp.ActionParam.AddRange(containerCode);
            pp.ActionParam.AddRange(Common.ConvertToBytes(scanContainerShift));
            pp.ActionParam.AddRange(Common.ConvertToBytes(containerWidth));
            pp.Msg = $"{pp.Action},地标={landmark},升降高度={upDownHeight},取货深度={depth},料架码={System.Text.Encoding.Default.GetString(shelfCode)},料箱码={System.Text.Encoding.Default.GetString(containerCode)},料箱码读码偏移={scanContainerShift},料箱宽度={containerWidth}";
            return pp;
        }

        /// <summary>
        /// 往货架放货
        /// </summary>
        /// <param name="landmark">地标</param>
        /// <param name="pos">"高4bit:深位，单0 双1
        ///低4bit:方向，左1 右2"
        ///</param>
        /// <param name="shelfCode">货架二维码 16字节</param>
        /// <param name="containerCode">料箱二维码 12字节</param>
        /// <param name="upDownHeight">升降高度</param>
        /// <param name="scanContainerShift">料箱码读码偏移距离</param>
        /// <param name="depth">放货深度</param>
        /// <param name="containerWidth">料箱宽度</param>
        /// <returns></returns>
        public static PathPoint GenPutToShelves(uint landmark, byte pos, byte[] shelfCode, byte[] containerCode, short upDownHeight, ushort scanContainerShift, short depth = 0, ushort containerWidth = 0)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.往货架放货,
                LandMark = landmark,
                PropVal = pos,
                ActionParam = new List<byte>(Common.ConvertToBytes(upDownHeight))
            };
            pp.ActionParam.AddRange(Common.ConvertToBytes(depth));
            pp.ActionParam.AddRange(shelfCode);
            pp.ActionParam.AddRange(containerCode);
            pp.ActionParam.AddRange(Common.ConvertToBytes(scanContainerShift));
            pp.ActionParam.AddRange(Common.ConvertToBytes(containerWidth));
            pp.Msg = $"{pp.Action},地标={landmark},升降高度={upDownHeight},放货深度={depth},料架码={System.Text.Encoding.Default.GetString(shelfCode)},料箱定位码={Common.BytesTostr(containerCode)},料箱码读码偏移={scanContainerShift},料箱宽度={containerWidth}";
            return pp;
        }
        /// <summary>
        /// 生成取放货
        /// </summary>
        /// <param name="landmark"></param>
        /// <param name="actionCode"></param>
        /// <param name="pos"></param>
        /// <param name="shelfCode"></param>
        /// <param name="containerCode"></param>
        /// <param name="upDownHeight"></param>
        /// <param name="scanContainerShift"></param>
        /// <param name="depth"></param>
        /// <param name="containerWidth"></param>
        /// <returns></returns>
        public static PathPoint GenGetPut(uint landmark,ActionCode actionCode, byte pos, byte[] shelfCode, byte[] containerCode, short upDownHeight, ushort scanContainerShift, short depth = 0, ushort containerWidth = 0)
        {
            var pp = new PathPoint()
            {
                Action = actionCode,
                LandMark = landmark,
                PropVal = pos,
                ActionParam = new List<byte>(Common.ConvertToBytes(upDownHeight))
            };
            pp.ActionParam.AddRange(Common.ConvertToBytes(depth));
            pp.ActionParam.AddRange(shelfCode);
            pp.ActionParam.AddRange(containerCode);
            pp.ActionParam.AddRange(Common.ConvertToBytes(scanContainerShift));
            pp.ActionParam.AddRange(Common.ConvertToBytes(containerWidth));
            pp.Msg = $"{pp.Action},地标={landmark},升降高度={upDownHeight},取/放货深度={depth},料架码={System.Text.Encoding.Default.GetString(shelfCode)},料箱定位码={Common.BytesTostr(containerCode)},料箱码读码偏移={scanContainerShift},料箱宽度={containerWidth}";
            return pp;
        }
        /// <summary>
        /// 准备从本车料仓取货
        /// 取货前的准备动作
        /// </summary>
        /// <param name="landmark"></param>
        /// <param name="row">层号 1~10</param>
        /// <param name="depth">取货深度</param>
        /// <returns></returns>
        public static PathPoint GenReadyToGetFromBunker(uint landmark, byte row,  short depth = 0)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.准备从本车料仓取货,
                LandMark = landmark,
                PropVal = row,
                ActionParam = new List<byte>(Common.ConvertToBytes(depth))
            };
            pp.Msg = $"{pp.Action},地标={landmark},Row={row},取货深度={depth}";
            return pp;
        }
        /// <summary>
        /// 准备往本车料仓放货
        /// 放货前的准备动作
        /// </summary>
        /// <param name="landmark"></param>
        /// <param name="row">层号 1~10</param>
        /// <param name="depth">取货深度</param>
        /// <returns></returns>
        public static PathPoint GenReadyToPutToBunker(uint landmark, byte row, short depth = 0)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.准备往本车料仓放货,
                LandMark = landmark,
                PropVal = row,
                ActionParam = new List<byte>(Common.ConvertToBytes(depth))
            };
            pp.Msg = $"{pp.Action},地标={landmark},Row={row},取货深度={depth}";
            return pp;
        }
        /// <summary>
        /// 准备从货架取货
        /// 取货前的准备动作
        /// </summary>
        /// <param name="landmark"></param>
        /// <param name="dir">方向，左1 右2</param>
        /// <param name="upDownHeight">升降高度</param>
        /// <returns></returns>
        public static PathPoint GenReadyToGetFromShelves(uint landmark, byte dir,short upDownHeight)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.准备从货架取货,
                LandMark = landmark,
                PropVal = dir,
                ActionParam = new List<byte>(Common.ConvertToBytes(upDownHeight))
            };
            pp.Msg = $"{pp.Action},地标={landmark},方向={dir},升降高度={upDownHeight}";
            return pp;
        }
        /// <summary>
        /// 准备往货架放货
        /// 放货前的准备动作
        /// </summary>
        /// <param name="landmark"></param>
        /// <param name="dir">方向，左1 右2</param>
        /// <param name="upDownHeight">升降高度</param>
        /// <returns></returns>
        public static PathPoint GenReadyToPutToShelves(uint landmark, byte dir, short upDownHeight)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.准备往货架放货,
                LandMark = landmark,
                PropVal = dir,
                ActionParam = new List<byte>(Common.ConvertToBytes(upDownHeight))
            };
            pp.Msg = $"{pp.Action},地标={landmark},方向={dir},升降高度={upDownHeight}";
            return pp;
        }
        /// <summary>
        /// 扫描一遍本车料仓并上报
        /// </summary>
        /// <param name="landmark"></param>
        /// <returns></returns>
        public static PathPoint GenScanBunkerAndUpload(uint landmark)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.扫描一遍本车料仓并上报,
                LandMark = landmark,
                ActionParam = new List<byte>(new byte[2])
            };
            pp.Msg = $"{pp.Action},地标={landmark}";
            return pp;
        }

        /// <summary>
        /// 进入扫描货架码和料箱码模式
        /// </summary>
        /// <param name="landmark"></param>
        /// <param name="dir">方向，左1 右2</param>
        /// <param name="upDownHeight">升降高度</param>
        /// <returns></returns>
        public static PathPoint GenScanShelfCodeAndContainerCode(uint landmark, byte dir, short upDownHeight)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.进入扫描货架码和料箱码模式,
                LandMark = landmark,
                PropVal = dir,
                ActionParam = new List<byte>(Common.ConvertToBytes(upDownHeight))
            };
            pp.Msg = $"{pp.Action},地标={landmark},方向={dir},升降高度={upDownHeight}";
            return pp;
        }
        /// <summary>
        /// 退出描货架码和料箱码模式
        /// </summary>
        /// <param name="landmark"></param>
        /// <returns></returns>
        public static PathPoint GenExitScanShelfCodeAndContainerCode(uint landmark)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.退出扫描货架码和料箱码模式,
                LandMark = landmark,
                ActionParam = new List<byte>(new byte[2])
            };
            pp.Msg = $"{pp.Action},地标={landmark}";
            return pp;
        }
        /// <summary>
        /// 单独测试升降
        /// </summary>
        /// <param name="landmark"></param>
        /// <param name="row">层号 1~10
        /// 若为0，则采用后面的参数作为升降高度
        /// </param>
        /// <param name="updownHeight">升降目标高度,0~4000</param>
        /// <returns></returns>
        public static PathPoint GenTestUpdownAxis(uint landmark,byte row,short updownHeight=0)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.单独测试升降,
                LandMark = landmark,
                PropVal=row,
                ActionParam = new List<byte>(Common.ConvertToBytes(updownHeight))
            };
            pp.Msg = $"{pp.Action},地标={landmark},层号={row},升降目标高度={updownHeight}";
            return pp;
        }
        /// <summary>
        /// 单独测试旋转
        /// </summary>
        /// <param name="landmark"></param>
        /// <param name="angle">旋转角度(单位°, -95 ~ +95)</param>
        /// <returns></returns>
        public static PathPoint GenTestMiddleAxis(uint landmark,short angle )
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.单独测试旋转,
                LandMark = landmark,
                ActionParam = new List<byte>(Common.ConvertToBytes(angle))
            };
            pp.Msg = $"{pp.Action},地标={landmark},旋转角度={angle}";
            return pp;
        }
        /// <summary>
        /// 单独测试伸缩
        /// </summary>
        /// <param name="landmark"></param>
        /// <param name="distance">伸缩长度(mm, -450 ~ +450)</param>
        /// <returns></returns>
        public static PathPoint GenTestInoutAxis(uint landmark, short distance)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.单独测试伸缩,
                LandMark = landmark,
                ActionParam = new List<byte>(Common.ConvertToBytes(distance))
            };
            pp.Msg = $"{pp.Action},地标={landmark},伸缩长度={distance}";
            return pp;
        }

        /// <summary>
        /// 单独测试挡杆动作
        /// </summary>
        /// <param name="landmark"></param>
        /// <param name="action">0/1(0表示收起，1表示放下)</param>
        /// <returns></returns>
        public static PathPoint GenTestGeraLeverAxis(uint landmark, short action)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.单独测试挡杆动作,
                LandMark = landmark,
                ActionParam = new List<byte>(Common.ConvertToBytes(action))
            };
            pp.Msg = $"{pp.Action},地标={landmark},动作={action}{(action==0?"收起":"放下")}";
            return pp;
        }
        /// <summary>
        /// 进入调试/演示模式
        /// </summary>
        /// <param name="landmark"></param>
        /// <returns></returns>
        public static PathPoint GenEnterDebugMode(uint landmark)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.进入调试Or演示模式,
                LandMark = landmark,
                ActionParam = new List<byte>(Common.ConvertToBytes((short)0))
            };
            pp.Msg = $"{pp.Action},地标={landmark}";
            return pp;
        }
        /// <summary>
        /// 退出调试/演示模式
        /// </summary>
        /// <param name="landmark"></param>
        /// <returns></returns>
        public static PathPoint GenExitDebugMode(uint landmark)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.退出调试Or演示模式,
                LandMark = landmark,
                ActionParam = new List<byte>(Common.ConvertToBytes((short)0))
            };
            pp.Msg = $"{pp.Action},地标={landmark}";
            return pp;
        }
        /// <summary>
        /// 停到最近二维码
        /// </summary>
        /// <param name="landmark"></param>
        /// <returns></returns>
        public static PathPoint GenStopAtNearLandmark(uint landmark)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.停到最近二维码,
                LandMark = landmark,
                ActionParam = new List<byte>(Common.ConvertToBytes((short)0))
            };
            pp.Msg = $"{pp.Action},地标={landmark}";
            return pp;
        }
        /// <summary>
        /// 所有电机断电
        /// </summary>
        /// <param name="landmark"></param>
        /// <returns></returns>
        public static PathPoint GenPowerOffAllMoter(uint landmark)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.所有电机断电,
                LandMark = landmark,
                ActionParam = new List<byte>(Common.ConvertToBytes((short)0))
            };
            pp.Msg = $"{pp.Action},地标={landmark}";
            return pp;
        }
        /// <summary>
        /// 给某一个电机加锁
        /// </summary>
        /// <param name="landmark"></param>
        /// <returns></returns>
        public static PathPoint GenLockMotor(uint landmark)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.给某一个电机加锁,
                LandMark = landmark,
                ActionParam = new List<byte>(Common.ConvertToBytes((short)0))
            };
            pp.Msg = $"{pp.Action},地标={landmark}";
            return pp;
        }
        /// <summary>
        /// 整个路径结束
        /// </summary>
        /// <param name="landmark"></param>
        /// <returns></returns>
        public static PathPoint GenAllPathEnd(uint landmark)
        {
            var pp = new PathPoint()
            {
                Action = ActionCode.整个路径结束,
                LandMark = landmark,
                ActionParam = new List<byte>(Common.ConvertToBytes((short)0))
            };
            pp.Msg = $"{pp.Action},地标={landmark}";
            return pp;
        }
    }

    public enum PathPointState
    {
        None,
        Finish,
    }
}