#include "JELManager.h"



JELManager::JELManager()
{
}


JELManager::~JELManager()
{
}

bool JELManager::InitJEL()
{
	return m_JELObj.InitJEL();
}

bool JELManager::InitAlign()
{
	return m_JELObj.InitAlign();
}

bool JELManager::TakeOutWafer(int cassIndex, int waferIndex)
{
	if (CheckFinderExistWafer())
	{
		return false;
	}

	CRobotCmdInfo RobotCmd;
	RobotCmd.m_RobotCmdType = _RobotCmd_TransferWafer;
	RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;
	RobotCmd.m_cassIndex = cassIndex;
	RobotCmd.m_Slot = waferIndex;
	RobotCmd.m_FromPos = _WaferPos_Cassette;
	RobotCmd.m_ToPos = _WaferPos_Arm1;

	return m_JELObj.SendRobotCmd(RobotCmd);
}

bool JELManager::ToAlign(int cassIndex, int waferIndex)
{
	//到准直
	m_JELObj.InitAlign();
	CRobotCmdInfo RobotCmd;
	RobotCmd.m_RobotCmdType = _RobotCmd_TransferWafer;
	RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;
	RobotCmd.m_cassIndex = cassIndex;
	RobotCmd.m_Slot = waferIndex;
	RobotCmd.m_FromPos = _WaferPos_Arm1;
	RobotCmd.m_ToPos = _WaferPos_Aligner;
	return m_JELObj.SendRobotCmd(RobotCmd);
}

bool JELManager::DOAlign(int cassIndex, int waferIndex)
{
	//执行准直
	CRobotCmdInfo RobotCmd;
	RobotCmd.m_RobotCmdType = _RobotCmd_AlignerExt;
	RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;
	RobotCmd.m_cassIndex = cassIndex;
	RobotCmd.m_Slot = waferIndex;
	RobotCmd.m_FromPos = _WaferPos_Aligner;
	RobotCmd.m_ToPos = _WaferPos_Aligner;
	bool isSuccess = m_JELObj.SendRobotCmd(RobotCmd);
	if (!isSuccess)
	{
		m_JELObj.InitAlign();
	}
	return isSuccess;
}

bool JELManager::AlignmentWafer(int cassIndex, int waferIndex)
{
	bool isFlag = false;
	{
		//到准直
		CRobotCmdInfo RobotCmd;
		RobotCmd.m_RobotCmdType = _RobotCmd_TransferWafer;
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;
		RobotCmd.m_cassIndex = cassIndex;
		RobotCmd.m_Slot = waferIndex;
		RobotCmd.m_FromPos = _WaferPos_Arm1;
		RobotCmd.m_ToPos = _WaferPos_Aligner;
		isFlag = m_JELObj.SendRobotCmd(RobotCmd);
		if (!isFlag)
		{
			return false;
		}
	}
	
	{
		//执行准直
		CRobotCmdInfo RobotCmd;
		RobotCmd.m_RobotCmdType = _RobotCmd_AlignerExt;
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;
		RobotCmd.m_cassIndex = cassIndex;
		RobotCmd.m_Slot = waferIndex;
		RobotCmd.m_FromPos = _WaferPos_Aligner;
		RobotCmd.m_ToPos = _WaferPos_Aligner;
		return m_JELObj.SendRobotCmd(RobotCmd);
	}
	
}

bool JELManager::AlignToArm(int cassIndex, int waferIndex)
{
	//从准直器取料到手臂2
	CRobotCmdInfo RobotCmd;
	RobotCmd.m_RobotCmdType = _RobotCmd_TransferWafer;
	RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;
	RobotCmd.m_cassIndex = cassIndex;
	RobotCmd.m_Slot = waferIndex;
	RobotCmd.m_FromPos = _WaferPos_Aligner;
	RobotCmd.m_ToPos = _WaferPos_Arm2;
	return m_JELObj.SendRobotCmd(RobotCmd);
}

bool JELManager::ArmToWorkPlat(int cassIndex, int waferIndex)
{
	//手臂2放料到平台
	CRobotCmdInfo RobotCmd;
	RobotCmd.m_RobotCmdType = _RobotCmd_TransferWafer;
	RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;
	RobotCmd.m_cassIndex = cassIndex;
	RobotCmd.m_Slot = waferIndex;
	RobotCmd.m_FromPos = _WaferPos_Arm2;
	RobotCmd.m_ToPos = _WaferPos_HotPlate;
	return m_JELObj.SendRobotCmd(RobotCmd);
}

bool JELManager::PutWaferOnWorkbench(int cassIndex, int waferIndex)
{
	bool isFlag = false;

	{
		//从准直器取料到手臂2
		CRobotCmdInfo RobotCmd;
		RobotCmd.m_RobotCmdType = _RobotCmd_TransferWafer;
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;
		RobotCmd.m_cassIndex = cassIndex;
		RobotCmd.m_Slot = waferIndex;
		RobotCmd.m_FromPos = _WaferPos_Aligner;
		RobotCmd.m_ToPos = _WaferPos_Arm2;
		isFlag = m_JELObj.SendRobotCmd(RobotCmd);
		if (!isFlag)
		{
			return false;
		}
	}
	
	{
		//手臂2放料到平台
		CRobotCmdInfo RobotCmd;
		RobotCmd.m_RobotCmdType = _RobotCmd_TransferWafer;
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;
		RobotCmd.m_cassIndex = cassIndex;
		RobotCmd.m_Slot = waferIndex;
		RobotCmd.m_FromPos = _WaferPos_Arm2;
		RobotCmd.m_ToPos = _WaferPos_HotPlate;
		return m_JELObj.SendRobotCmd(RobotCmd);
	}
}

bool JELManager::PlatformToTwoArm2(int cassIndex, int waferIndex)
{
	CRobotCmdInfo RobotCmd;
	RobotCmd.m_RobotCmdType = _RobotCmd_TransferWafer;
	RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;
	RobotCmd.m_cassIndex = cassIndex;
	RobotCmd.m_Slot = waferIndex;
	RobotCmd.m_FromPos = _WaferPos_HotPlate;
	RobotCmd.m_ToPos = _WaferPos_Arm2;
	return m_JELObj.SendRobotCmd(RobotCmd);
}

bool JELManager::TwoArm2ToAlign(int cassIndex, int waferIndex)
{
	m_JELObj.InitAlign();

	CRobotCmdInfo RobotCmd;
	RobotCmd.m_RobotCmdType = _RobotCmd_TransferWafer;
	RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;
	RobotCmd.m_cassIndex = cassIndex;
	RobotCmd.m_Slot = waferIndex;
	RobotCmd.m_FromPos = _WaferPos_Arm2;
	RobotCmd.m_ToPos = _WaferPos_Aligner;
	return m_JELObj.SendRobotCmd(RobotCmd);
}

bool JELManager::AlignToArm1(int cassIndex, int waferIndex)
{
	CRobotCmdInfo RobotCmd;
	RobotCmd.m_RobotCmdType = _RobotCmd_TransferWafer;
	RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;
	RobotCmd.m_cassIndex = cassIndex;
	RobotCmd.m_Slot = waferIndex;
	RobotCmd.m_FromPos = _WaferPos_Aligner;
	RobotCmd.m_ToPos = _WaferPos_Arm1;
	return m_JELObj.SendRobotCmd(RobotCmd);
}

bool JELManager::Arm1ToCass(int cassIndex, int waferIndex)
{
	CRobotCmdInfo RobotCmd;
	RobotCmd.m_RobotCmdType = _RobotCmd_TransferWafer;
	RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;
	RobotCmd.m_cassIndex = cassIndex;
	RobotCmd.m_Slot = waferIndex;
	RobotCmd.m_FromPos = _WaferPos_Arm1;
	RobotCmd.m_ToPos = _WaferPos_Cassette;
	return m_JELObj.SendRobotCmd(RobotCmd);
}

bool JELManager::RotateToWaferIdPos(int cassIndex, int waferIndex)
{
	CRobotCmdInfo RobotCmd;
	RobotCmd.m_RobotCmdType = _RObotCmd_RotateToWaferIdPos;
	RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;
	RobotCmd.m_cassIndex = cassIndex;
	RobotCmd.m_Slot = waferIndex;
	RobotCmd.m_FromPos;
	RobotCmd.m_ToPos;
	return m_JELObj.SendRobotCmd(RobotCmd);
}

void JELManager::switchBank(int layerNum)
{
	int bankIndex = 0;
	layerNum == 25 ? bankIndex = 0 : bankIndex = 1;
	CRobotCmdInfo RobotCmd;
	RobotCmd.m_RobotCmdType = _RObotCmd_Switch_bank;
	RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_SendOnly;
	RobotCmd.m_Slot = bankIndex;
	m_JELObj.SendRobotCmd(RobotCmd);
	Sleep(1500);
}

bool JELManager::CheckFinderExistWafer()
{
	return false;
}

bool JELManager::JudgeJelArmIsExistWafer(int armType)
{
	CRobotCmdInfo RobotCmd;
	RobotCmd.m_RobotCmdType = _RobotCmd_Check_ARM_EXIST_WAFER;
	RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_ImmediateReadFeedback;
	armType == 1 ? RobotCmd.m_armPos = "up" : RobotCmd.m_armPos = "down";
	m_JELObj.SendRobotCmd(RobotCmd);
	return m_JELObj.m_armIsExistWafer;
}

void JELManager::CommonSwitchBank(int bak)
{
	CRobotCmdInfo RobotCmd;
	RobotCmd.m_RobotCmdType = _RObotCmd_Switch_bank;
	RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_SendOnly;
	RobotCmd.m_Slot = bak;
	m_JELObj.SendRobotCmd(RobotCmd);
	Sleep(1500);
}

bool JELManager::RunToMappingCassPoint(int loadPortId)
{
	CRobotCmdInfo RobotCmd;
	RobotCmd.m_RobotCmdType = _RobotCmd_RunToCassMappingPoint;
	RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;
	RobotCmd.LoadportId = loadPortId;
	return m_JELObj.SendRobotCmd(RobotCmd);
}

bool JELManager::JELMapping(int loadPortId, int bakNum)
{
	CommonSwitchBank(bakNum);

	bool isOk = RunToMappingCassPoint(loadPortId);
	if (!isOk)
	{
		return false;
	}

	CRobotCmdInfo RobotCmd;
	RobotCmd.m_RobotCmdType = _RobotCmd_Mapping;
	RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;
	RobotCmd.LoadportId = loadPortId;
	return m_JELObj.SendRobotCmd(RobotCmd);
}

bool JELManager::JELReadMappingData(std::vector<char>& MappingData)
{
	CRobotCmdInfo RobotCmd;
	RobotCmd.m_RobotCmdType = _RobotCmd_ReadMappingData;
	RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_ImmediateReadFeedback;
	bool isSuccess = m_JELObj.SendRobotCmd(RobotCmd);

	std::string recvMappingData = RobotCmd.m_RevStr;
	//TODO:解析返回数据
	return isSuccess;
}