cmvr-es-cli/cmvr/enums.py

from enum import Enum

class CMVRErrorCode(Enum):
    """错误码定义"""
    CMVR_SUCCESS = 0
    CMVR_CONNECT_FAILED = 1
    CMVR_INVALID_PARAM = 2
    CMVR_RPC_FAILED = 3
    CMVR_NOT_CONNECTED = 4
    CMVR_INTERNAL_ERROR = 5

class DeviceState(Enum):
    """设备状态"""
    STATE_INIT = 0
    STATE_READY = 1
    STATE_RUNNING = 2
    STATE_ERROR = 3
    STATE_ESTOP = 4
    STATE_STOP = 5

class FingerType(Enum):
    """手指类型枚举"""
    PINKY = 0    # 小拇指
    RING = 1     # 无名指
    MIDDLE = 2   # 中指
    INDEX = 3    # 食指
    THUMB = 4    # 大拇指
    PALM = 5     # 掌心

    # 机器人相关枚举定义
class RobotCartesian(Enum):
    """机器人笛卡尔坐标系枚举"""
    X = 0
    Y = 1
    Z = 2
    RX = 3  # 绕X轴旋转
    RY = 4  # 绕Y轴旋转
    RZ = 5  # 绕Z轴旋转

class RobotJointIndexDirection(Enum):
    """机器人关节索引方向枚举"""
    FORWARD = 0
    BACKWARD = 1
    X_POSITIVE = 2    # X轴正向
    X_NEGATIVE = 3    # X轴负向
    Y_POSITIVE = 4    # Y轴正向
    Y_NEGATIVE = 5    # Y轴负向
    Z_POSITIVE = 6    # Z轴正向
    Z_NEGATIVE = 7    # Z轴负向
    ROTATE_X = 8      # 绕X轴旋转
    ROTATE_Y = 9      # 绕Y轴旋转
    ROTATE_Z = 10     # 绕Z轴旋转