#pragma once
#include "JELGlobalDefine.h"
#include "CommMgr.h"
#include "GlobalDefine.h"
class _declspec(dllexport) JELOperate
{
public:
	JELOperate();
	~JELOperate();

public:
	bool InitJEL();
	bool InitAlign();
	bool SendRobotCmd(CRobotCmdInfo& RobotCmd);

	std::string GetRobotCmdInfoStr(CRobotCmdInfo &RobotCmd);
	void RobotJel_GetSendCmd(CRobotCmdInfo &RobotCmd);
	eGlobalVariableType RobotJel_SendCmdToRobotExt(CRobotCmdInfo &RobotCmd);
	eGlobalVariableType CheckRobotErrState(CRobotCmdInfo &RobotCmd);

	void OnRobotCommRecv();


	CCommMgr m_RobotComm;//和机械手通信用的串口对象

	int m_nWaitTime = 60; //最大等待时间为30S
	int m_nAligner = 0; //准直器旋转角度;
	int m_nBaud = 9600; //波特率
	int m_nPort = 2; //串口


	bool m_IsbJelCommRecv = false;

public:
	bool m_armIsExistWafer = false;
};