WcsFramework/YWGC/FJK/WCS.Entity.Protocol/Robot/RobotEnum.cs

using System;
using System.ComponentModel;

namespace WCS.Entity.Protocol.Protocol.Robot
{
    /// <summary>
    ///     机械手工位状态
    /// </summary>
    [Flags]
    public enum RobotState : ushort
    {
        /// <summary>
        ///     完成取货信号
        /// </summary>
        [Description("完成取货信号")] GetFinish = 1 << 0,

        /// <summary>
        ///     完成放货信号
        /// </summary>
        [Description("完成放货信号")] PutFinish = 1 << 1,

        /// <summary>
        ///     设备故障状态
        /// </summary>
        [Description("设备故障状态")] Alarm = 1 << 2,

        /// <summary>
        ///     当前任务完成
        /// </summary>
        [Description("当前任务完成")] TaskFinish = 1 << 3,

        /// <summary>
        ///     设备上有货
        /// </summary>
        [Description("设备上有货")] Loaded = 1 << 4,

        /// <summary>
        ///     机器人在原位
        /// </summary>
        [Description("机器人在原位")] ForkCenter = 1 << 5,

        /// <summary>
        ///     反馈WCS能否发任务，1:可以发任务 0:不能发任务
        /// </summary>
        [Description("反馈WCS能否发任务，1:可以发任务 0:不能发任务")]
        IssueTask = 1 << 6,

        /// <summary>
        ///     备用s
        /// </summary>
        [Description("备用")] Res = 1 << 7,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] Res1 = 1 << 8,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] Res2 = 1 << 9,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] Res3 = 1 << 10,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] Res4 = 1 << 11,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] Res5 = 1 << 12,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] Res6 = 1 << 13,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] Res7 = 1 << 14,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] Res8 = 1 << 15
    }

    /// <summary>
    ///     机械臂模式
    /// </summary>
    public enum RobotMode : short
    {
        /// <summary>
        ///     自动
        /// </summary>
        [Description("自动")] Automatic = 1,

        /// <summary>
        ///     手动
        /// </summary>
        [Description("手动")] Manua = 2,

        /// <summary>
        ///     报警
        /// </summary>
        [Description("报警")] Alarm = 3
    }

    /// <summary>
    ///     机械臂运行状态
    /// </summary>
    public enum RobotRunStatus : short
    {
        /// <summary>
        ///     空闲
        /// </summary>
        [Description("空闲")] Idle = 1,

        /// <summary>
        ///     入库抓取中
        /// </summary>
        [Description("入库抓取中")] InboundCrawling = 2,

        /// <summary>
        ///     入库放置中
        /// </summary>
        [Description("入库放置中")] InStorage = 3,

        /// <summary>
        ///     出库抓取中
        /// </summary>
        [Description("出库抓取中")] OutBoundCrawling = 4,

        /// <summary>
        ///     出库放置中
        /// </summary>
        [Description("出库放置中")] OutStorage = 5,

        /// <summary>
        ///     维护
        /// </summary>
        [Description("维护")] Maintain = 99
    }

    /// <summary>
    ///     机械臂报警
    /// </summary>
    [Flags]
    public enum RobotAlarm : long
    {
        /// <summary>
        ///     无
        /// </summary>
        [Description("无")] 无 = 0,

        /// <summary>
        ///     入库深度数据错误
        /// </summary>
        [Description("入库深度数据错误")] 入库深度数据错误 = 1L << 0,

        /// <summary>
        ///     出库深度数据错误
        /// </summary>
        [Description("出库深度数据错误")] 出库深度数据错误 = 1L << 1,

        /// <summary>
        ///     出库码垛数据出错
        /// </summary>
        [Description("出库码垛数据出错")] 出库码垛数据出错 = 1L << 2,

        /// <summary>
        ///     入库时检测有料
        /// </summary>
        [Description("入库时检测有料")] 入库时检测有料 = 1L << 3,

        /// <summary>
        ///     入库任务放置数据出错
        /// </summary>
        [Description("入库任务放置数据出错")] 入库任务放置数据出错 = 1L << 4,

        /// <summary>
        ///     出库任务放置数据出错
        /// </summary>
        [Description("出库任务放置数据出错")] 出库任务放置数据出错 = 1L << 5,

        /// <summary>
        ///     夹具1/2压货报警
        /// </summary>
        [Description("夹具1/2压货报警")] 夹具12压货报警 = 1L << 6,

        /// <summary>
        ///     移库任务放置数据出错
        /// </summary>
        [Description("移库任务放置数据出错")] 移库任务放置数据出错 = 1L << 7,

        /// <summary>
        ///     夹具1/2掉料报警
        /// </summary>
        [Description("夹具1/2掉料报警")] 夹具12掉料报警 = 1L << 8,

        /// <summary>
        ///     机器人充磁失败报警
        /// </summary>
        [Description("机器人充磁失败报警")] 机器人充磁失败报警 = 1L << 9,

        /// <summary>
        ///     光栅报警
        /// </summary>
        [Description("光栅报警")] 光栅报警 = 1L << 10,

        /// <summary>
        ///     光栅误触报警
        /// </summary>
        [Description("光栅误触报警")] 光栅误触报警 = 1L << 11,

        /// <summary>
        ///     安全门急停报警（取反）
        /// </summary>
        [Description("安全门急停报警取反")] 安全门急停报警 = 1L << 12,

        /// <summary>
        ///     检查机械臂A4轴报错
        /// </summary>
        [Description("检查机械臂A4轴报错")] 检查机械臂A4轴报错 = 1L << 13,

        /// <summary>
        ///     初始化后检测出夹具接近开关有物料
        /// </summary>
        [Description("初始化后检测出夹具接近开关有物料")] 初始化后检测出夹具接近开关有物料 = 1L << 14,

        /// <summary>
        ///     安全门打开（取反）
        /// </summary>
        [Description("安全门打开（取反）")] 安全门打开 = 1L << 15,

        /// <summary>
        ///     夹取物料5秒后光电未检测到
        /// </summary>
        [Description("夹取物料5秒后光电未检测到")] 夹取物料5秒后光电未检测到 = 1L << 16,

        /// <summary>
        ///     A4轴报错
        /// </summary>
        [Description("A4轴报错")] A4轴报错 = 1L << 17,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] 备用2 = 1L << 18,

        /// <summary>
        ///     提升变频器报警
        /// </summary>
        [Description("提升变频器报警")] 备用3 = 1L << 19,

        /// <summary>
        ///     货叉变频器报警
        /// </summary>
        [Description("货叉变频器报警")] 备用4 = 1L << 20,

        /// <summary>
        ///     提升超速报警
        /// </summary>
        [Description("提升超速报警")] 备用5 = 1L << 21,

        /// <summary>
        ///     风扇灯插座空开
        /// </summary>
        [Description("风扇灯插座空开")] 备用6 = 1L << 22,

        /// <summary>
        ///     触摸屏光通讯激光测距空开
        /// </summary>
        [Description("触摸屏光通讯激光测距空开")] 备用7 = 1L << 23,

        /// <summary>
        ///     行走马达保护器
        /// </summary>
        [Description("行走马达保护器")] 备用8 = 1L << 24,

        /// <summary>
        ///     行走抱闸空开
        /// </summary>
        [Description("行走抱闸空开")] 备用9 = 1L << 25,

        /// <summary>
        ///     起升马达保护器
        /// </summary>
        [Description("起升马达保护器")] 备用10 = 1L << 26,

        /// <summary>
        ///     起升抱闸空开
        /// </summary>
        [Description("起升抱闸空开")] 备用11 = 1L << 27,

        /// <summary>
        ///     货叉马达保护器
        /// </summary>
        [Description("货叉马达保护器")] 备用12 = 1L << 28,

        /// <summary>
        ///     货叉抱闸空开
        /// </summary>
        [Description("货叉抱闸空开")] 备用13 = 1L << 29,

        /// <summary>
        ///     安全门打开
        /// </summary>
        [Description("安全门打开")] 备用14 = 1L << 30,

        /// <summary>
        ///     安全继电器报警
        /// </summary>
        [Description("安全继电器报警")] 备用15 = 1L << 31,

        /// <summary>
        ///     当前货位已禁用
        /// </summary>
        [Description("当前货位已禁用")] 备用16 = 1L << 32,

        /// <summary>
        ///     组态中断报警
        /// </summary>
        [Description("组态中断报警")] 备用17 = 1L << 33,

        /// <summary>
        ///     货物左前超出
        /// </summary>
        [Description("货物左前超出")] 备用18 = 1L << 34,

        /// <summary>
        ///     货物左后超出
        /// </summary>
        [Description("货物左后超出")] 备用19 = 1L << 35,

        /// <summary>
        ///     货物右前超出
        /// </summary>
        [Description("货物右前超出")] 备用20 = 1L << 36,

        /// <summary>
        ///     货物右后超出
        /// </summary>
        [Description("货物右后超出")] 备用21 = 1L << 37,

        /// <summary>
        ///     相序保护
        /// </summary>
        [Description("相序保护")] 备用22 = 1L << 38,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] 备用23 = 1L << 39,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] 备用24 = 1L << 40,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] 备用25 = 1L << 41,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] 备用26 = 1L << 42,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] 备用27 = 1L << 43,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] 备用28 = 1L << 44,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] 备用29 = 1L << 45,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] 备用30 = 1L << 46,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] 备用31 = 1L << 47,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] 备用32 = 1L << 48,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] 备用33 = 1L << 49,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] 备用34 = 1L << 50,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] 备用35 = 1L << 51,

        /// <summary>
        ///     载货台电源空开
        /// </summary>
        [Description("备用")] 备用36 = 1L << 52,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] 备用37 = 1L << 53,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] 备用38 = 1L << 54,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] 备用39 = 1L << 55,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] 备用40 = 1L << 56,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] 备用41 = 1L << 57,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] 备用42 = 1L << 58,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] 备用43 = 1L << 59,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] 备用44 = 1L << 60,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] 备用45 = 1L << 61,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] 备用46 = 1L << 62
    }

    /// <summary>
    ///     机械臂指令
    /// </summary>
    [Flags]
    public enum RobotCmdType : ushort
    {
        /// <summary>
        ///     码垛结束
        /// </summary>
        [Description("码垛结束")] End = 1 >> 0,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] Res7 = 1 >> 1,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] Res8 = 1 >> 2,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] Res9 = 1 >> 3,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] Res10 = 1 >> 4,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] Res11 = 1 >> 5,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] Res12 = 1 >> 6,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] Res13 = 1 >> 7,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] Res14 = 1 >> 8,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] Res = 1 >> 9,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] Res1 = 1 >> 10,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] Res2 = 1 >> 11,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] Res3 = 1 >> 12,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] Res4 = 1 >> 13,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] Res5 = 1 >> 14,

        /// <summary>
        ///     备用
        /// </summary>
        [Description("备用")] Res6 = 1 >> 15
    }
}