#pragma once
#include <string>

static const int COM_BUF_LEN = 128; //串口通信buf 的长度

static int SCRIPT_X_RUN_TO_MAPPING_POS_INDEX = 71;
static int SCRIPT_MAPPING_INDEX = 61;
static int SCRIPT_BANK_INDEX = 3;
static int SCRIPT_CASS_START_INDEX = 11;
static int SCRIPT_SLOT_START_INDEX = 21;
static int SCRIPT_X_MOVE_INDEX = 71;

enum DevicePosDefine {
	POS_CASS_LEFT = 1, //开始解键合前料盒
	POS_CASS_CENTER, //解键合成功放回料盒
	POS_CASS_RIGHT, //解键合失败放回料盒
	POS_ALIGN_TOP, //带铁环
	POS_ALIGN_BOTTOM, //盖泽准直器
	POS_PLATFORM,
	POS_SAPARATE,
	POS_CLEANING,

	POS_UPEER_ARM, //带铁环，
	POS_LOWER_ARM, //不带铁环

	//下面是虚拟位置
	POS_ERROR,
	POS_NONE,
};

enum eBankIndex {
	BANK_RING = 0, //上手臂
	BANK_WAFER, //下手臂
};

enum JudgeCassMappingType {
	CASS_MAPPING_TYPE_RING = 0, //另外代表上手臂
	CASS_MAPPING_TYPE_WAFER, //另外代表下手臂
	CASS_MAPPING_TYPE_NONE,
	CASS_MAPPING_TYPE_ERROR
};

enum eTransferType
{
	_Transfer_Null = 0,
	_Transfer_Init,
	_Transfer_Scan,          //料盒扫描
	_Transfer_Grab_Wafer,    //取料
	_Transfer_Arm1ToAlign_Wafer, //准直
	_Transfer_Aligner_Wafer, //准直
	_Transfer_AlignToArm2_Wafer,
	_Transfer_ToPlat_Wafer,  //到平台
	_Transfer_PlatToArm2_Wafer,
	_Transfer_Arm2ToAligner_Wafer,
	_Transfer_Aligner2_Wafer,//平台到准直
	_Transfer_AlignToArm1_Wafer,
	_Transfer_Upper_Wafer,   //上料
	_Transfer_ReadRfd,       //读取Rfd
};

//cmd 的发送类型
enum eRobotCmdSendType
{
	_RobotCmdSendType_SendOnly = 0,//只发送
	_RobotCmdSendType_WaitFeedback,//发送后只等待反馈<
	_RobotCmdSendType_WaitCmdEnd,//等待cmd执行完成(反馈< 加上cmd 相同str)
	_RobotCmdSendType_ImmediateReadFeedback,//立即读取反馈(同步)
};

//发送给robot 的指令类型(顺序无所谓)
enum eRobotCmdType
{
	_RobotCmd_TransferWafer = 0,//传送wafer
	_RobotCmd_ToWaitPos,//移动到等待位置
	_RobotCmd_Org,//重置错误，并且回原点
	_RobotCmd_ResetErr,//重置错误
	_RobotCmd_QueryState,//查询状态
	_RobotCmd_QueryCoord1,//查询轴坐标位置1
	_RobotCmd_QueryCoord2,//查询轴坐标位置2
	_RobotCmd_QueryCoord3,//查询轴坐标位置3
	_RobotCmd_Sevon,//激磁
	_RobotCmd_Arm1VacOff,//arm1放真空
	_RobotCmd_Arm2VacOff,//arm2放真空
	_RobotCmd_Arm1Arm2MergePos,//Arm1和Arm2合并位置
	_RobotCmd_AlignerExt,//准直执行
	_RobotCmd_AlignerOrg,//准直org
	_RobotCmd_AlignerTakeStation,//取料位置
	_RobotCmd_AlignerVacOn,
	_RobotCmd_AlignerVacOff,
	_RobotCmd_AlignerSetPar,//设置角度
	_RobotCmd_Arm1VacOn,//arm1开真空
	_RobotCmd_Arm2VacOn,//arm2开真空
	_RobotCmd_InitSet,//初始化设置
	_RobotCmd_Port1Org,//org
	_RobotCmd_Port2Org,//org
	_RobotCmd_AdsVacOn,//吸附开
	_RobotCmd_AdsVacOff,//吸附关
	_RobotCmd_Arm_Check,//检测手臂是否有片



	_RobotCmd_Init_Align,
	_RobotCmd_Do_align,
	_RObotCmd_Switch_bank,
	_RobotCmd_Check_ARM_EXIST_WAFER,

	_RObotCmd_RotateToWaferIdPos,

	_RobotCmd_RunToCassMappingPoint,
	_RobotCmd_Mapping,
	_RobotCmd_ReadMappingData,

	_RobotCmd_SelectCass,
	_RobotCmd_SelectSlot,
	_RobotCmd_X_Move,
	_RobotCmd_TakeWafer,
};

enum eWaferPosType
{
	_WaferPos_Null = 0,
	_WaferPos_Arm1,
	_WaferPos_Arm2,
	_WaferPos_Cassette,
	_WaferPos_Aligner,
	_WaferPos_HotPlate,
	_WaferPos_WaitPos,
	_WaferPos_Special,
	_WaferPos_AnnealExt,
	_WaferPos_Max,
};

enum eDealWaferType
{
	DEAL_WAFER_TAKE,
	DEAL_WAFER_RETURN,
};



class _declspec(dllexport) CRobotCmdInfo
{
public:
	CRobotCmdInfo()
	{
		m_WaitCmdTime = 1;//等待cmd 时间s
		m_RobotCmdSendType = _RobotCmdSendType_SendOnly;
	};
public:
	eRobotCmdType               m_RobotCmdType;//robot 的指令类型

											   //_RobotCmd_TransferWafer 类型使用的参数
	eWaferPosType               m_FromPos;//移动的起始位置
	eWaferPosType               m_ToPos;//移动的终点位置

	int m_cassIndex;
	int                         m_Slot;//移动wafer 的slot (操作cassette 才需要)

	std::string                 m_armPos;//"up"上手指 "down"下手指
	std::string                 m_SendCmdStr;//指令字符串
	std::string                     m_ErrStr;//错误信息
	std::string                     m_RevStr;//读取的反馈字符串
	int                         m_WaitCmdTime;//等待cmd 时间s

	int LoadportId = 0;

	eRobotCmdSendType           m_RobotCmdSendType;//cmd 的发送类型

	int m_bankIndex = -1;
	eDealWaferType m_dealWaferType; //从料盒取走 还是放回去
};