//
// Created by gf on 23-7-21.
// 自定义类型
//

#ifndef NAVIGATION_CUSTOM_TYPE_H
#define NAVIGATION_CUSTOM_TYPE_H

#include <map>
//////////////////////////////////////////////////
/// 封装的enum模板类,解决原生enum无法参与位运算问题
template<typename Enum>
class MyEnum {
    using Self = MyEnum<Enum>;
    using EnumType = Enum;
public:
    MyEnum(const MyEnum &other)
            : i(other.i) {

    }

    MyEnum(const Enum &e)
            : i((int) e) {

    }

    MyEnum(const int ival)
            : i(ival) {

    }

    operator int() const {
        return i;
    }

    MyEnum operator|(const MyEnum &another) {
        MyEnum g;
        g.i = another.i | Self::i;
        return g;
    }

    MyEnum operator|(const EnumType f) {
        return *this | MyEnum(f);
    }

    MyEnum operator&(const MyEnum &another) {
        MyEnum g;
        g.i = another.i & Self::i;
        return g;
    }

    MyEnum operator&(const EnumType f) {
        return *this & MyEnum(f);
    }

private:
    int i;
};
//////////////////////////////////////////////////

//////////////////////////////////////////////////
/// MPC返回值
enum MpcError {
    success = 0,
    no_solution = 1,
    failed = 2,
    unknown
};
//////////////////////////////////////////////////

//////////////////////////////////////////////////
/// 基准可选方向
enum Direction {
    eForward = 0x0001,
    eBackward = 0x0002,
    eLeft = 0x0004,
    eRight = 0x0008
};
//////////////////////////////////////////////////

//////////////////////////////////////////////////
/// AGV运动模式(最低1位：0单车，1整车。低2位：0同向，1反向。低3位：0主车在前，1主车在后)
enum ActionMode{
    eSingle = 0x0000,
    eDouble = 0x0001,
    eMainInForward = 0x0000,
    eMainInBackward = 0x0008,
    eChildSameToMain = 0x0000,
    eChildOppositeToMain = 0x0002
};
//using ActionModes = MyEnum<ActionMode>;
//////////////////////////////////////////////////

//////////////////////////////////////////////////
/// AGV指令类型
enum ActionType {
    eReady = 0,
    eStop = 0,
    eRotation = 1,
    eHorizontal = 2,
    eVertical = 3,
    eClampClose = 5,
    eClampHalfOpen = 6,
    eLifterRise = 7,    //提升机构上升
    eLifterDown =8,
    eClampFullyOpen = 9
};
//////////////////////////////////////////////////

//////////////////////////////////////////////////
/// 提升机构运动状态
enum LifterStatus {
    eInvalid = 0,
    eRose = 1,//上升到位
    eDowned = 2//下降到位
};
//////////////////////////////////////////////////

//////////////////////////////////////////////////
/// 并行夹持和提升机构运作
enum eClamLiftActionType{
    eByteCLampClose = 1,
    eByteClampHalfOpen=2,
    eByteClampFullyOpen=4,
    eByteLifterDown=8,
    eByteLifterUp=16
};
//////////////////////////////////////////////////

//////////////////////////////////////////////////
/// plc区域+编号载车板 对应 车位表
enum eRegionId{
    eRegion0 = 0,
    eRegion1 = 1,
    eRegion2,
    eRegion3,
    eRegion4,
    eRegion5,
    eRegion6,
    eRegion7,
    eRegion8,
    eRegion9,
    eRegion10,
    eRegion11
};

enum eCarrierIdInRegionId{
    eCarrier0 = 0,
    eCarrier1 = 1,
    eCarrier2,
    eCarrier3,
    eCarrier4,
    eCarrier5,
    eCarrier6,
    eCarrier7,
    eCarrier8,
    eCarrier9,
    eCarrier10,
    eCarrier11
};

typedef std::pair<short, short > Region_Carry;
typedef std::map<int ,Region_Carry> SpaceNo2Region_Carry;

//////////////////////////////////////////////////

#endif //NAVIGATION_CUSTOM_TYPE_H