using AmrControl.ADS;
using System.Runtime.InteropServices;

namespace AmrControl.Dto
{
    /// <summary>
    /// JGR小车和充电桩的调试命令
    /// </summary>
    public class JgrDebugDto
    {
        //JGR类型  0:仓储车 , 1:运输车, 2:充电器
        public byte Type;
        //出厂编号,最大29个字母的长度
        public string SN;
        /// <summary>
        /// 命令代码
        /// </summary>
        public JgrCmdCode CmdCode;
        /// <summary>
        /// 命令参数
        /// </summary>
        public Dictionary<string,string> Parameters;


        public JgrDebugDto()
        {
            Parameters = new Dictionary<string, string>();
            CmdCode = JgrCmdCode.Default;
        }
    }
    /// <summary>
    /// 查找空闲车辆
    /// </summary>
    public class FindFreeCarDto
    {
        /// <summary>
        /// 工站编号
        /// </summary>
        public string stanCode { set; get; }
    }

        /// <summary>
        /// jgr的命令代码
        /// </summary>
        public enum JgrCmdCode : int
    {
        /// <summary>
        /// 默认，实际上这条命令什么都没干
        /// </summary>
        Default= 0,
        /// <summary>
        /// 小车系统重启
        /// </summary>
        Restart = 1,
        /// <summary>
        /// 设置电源
        /// </summary>
        SetPower = 2,
        /// <summary>
        /// 设置终点
        /// </summary>
        SetEndPoint = 3,
        /// <summary>
        /// 移动到设置的终点
        /// </summary>
        StartMove = 4,
        /// <summary>
        /// 正常中止，停在前进方向最近的一格上
        /// </summary>
        StopNormal = 5,
        /// <summary>
        /// 急停，最短距离停下
        /// </summary>
        StopEmergency = 6,
        /// <summary>
        /// 前进方向移动到下一格
        /// </summary>
        MoveForward = 7,
        /// <summary>
        /// 后退一格
        /// </summary>
        MoveBack = 8,
        /// <summary>
        /// 前进方向左侧移动一格
        /// </summary>
        MoveLeft = 9,
        /// <summary>
        /// 前进方向右侧移动一格
        /// </summary>
        MoveRight = 10,
        /// <summary>
        /// 车轮置顶
        /// </summary>
        SetWheelTop = 11,
        /// <summary>
        /// 车轮置底
        /// </summary>
        SetWheelBottom = 12,
        /// <summary>
        /// 车轮置在中间，四轮着地
        /// </summary>
        SetWheelMiddle= 13,
        /// <summary>
        /// 吊篮提起
        /// </summary>
        BasketUp = 14,
        /// <summary>
        /// 吊篮放下
        /// </summary>
        BasketDown = 15,
        /// <summary>
        /// 吊篮停止运动
        /// </summary>
        BasketStopMoving = 16,
        /// <summary>
        /// 吊篮夹子张开
        /// </summary>
        GripperOpen = 17,
        /// <summary>
        /// 吊篮夹子闭合
        /// </summary>
        GripperClose = 18,
        /// <summary>
        /// 开始充电
        /// </summary>
        StartCharging = 19,
        /// <summary>
        /// 停止充电
        /// </summary>
        StopCharging = 20,
        /// <summary>
        /// 调试模式
        /// </summary>
        DebugModel = 21,
        /// <summary>
        /// 正常模式
        /// </summary>
        NormalModel = 22,
        /// <summary>
        /// 电机通电
        /// </summary>
        MonitorPowerOn = 23,
        /// <summary>
        /// 电机断电
        /// </summary>
        MonitorPowerOff = 24
    }
}