#include "JELOperate.h"



JELOperate::JELOperate()
{
}


JELOperate::~JELOperate()
{
}

bool JELOperate::InitJEL()
{
	m_RobotComm.SetWorkMode(FALSE, 100);
	std::string strCom = std::to_string(m_nBaud) + ",N,8,1";
	m_nPort = 2;
	if (m_RobotComm.Open(m_nPort, (char*)strCom.c_str()))
	{
		//m_RobotComm.SetWnd(gChildPCS_WaferTransfer->GetSafeHwnd());
		m_RobotComm.SetNotify(std::bind(&JELOperate::OnRobotCommRecv, this));

		CRobotCmdInfo RobotCmd;
		RobotCmd.m_RobotCmdType = _RobotCmd_ResetErr;
		SendRobotCmd(RobotCmd);
		Sleep(500);
		RobotCmd.m_RobotCmdType = _RobotCmd_Org;
		RobotCmd.m_WaitCmdTime = 60;
		bool issuccess = SendRobotCmd(RobotCmd);
		if (!issuccess)
		{
			return false;
		}
		/*if (!issuccess)
		{
			CRobotCmdInfo RobotCmd2;
			RobotCmd2.m_RobotCmdType = _RobotCmd_ResetErr;
			SendRobotCmd(RobotCmd2);
			Sleep(500);
			SendRobotCmd(RobotCmd2);
			Sleep(500);
			RobotCmd2.m_RobotCmdType = _RobotCmd_Org;
			bool issuccess = SendRobotCmd(RobotCmd2);
		}*/

		Sleep(500);
		//初始化准直器
		RobotCmd.m_RobotCmdType = _RobotCmd_Init_Align;
		issuccess = SendRobotCmd(RobotCmd);
		if (!issuccess)
		{
			return false;
		}

	}
	else
	{
		return false;
	}
	return true;
}

bool JELOperate::InitAlign()
{
	m_RobotComm.SetWorkMode(FALSE, 100);
	std::string strCom = std::to_string(m_nBaud) + ",N,8,1";
	m_nPort = 2;
	if (m_RobotComm.Open(m_nPort, (char*)strCom.c_str()))
	{
		//初始化准直器
		CRobotCmdInfo RobotCmd;
		RobotCmd.m_RobotCmdType = _RobotCmd_Init_Align;
		return SendRobotCmd(RobotCmd);
	}
	return false;
}

bool JELOperate::SendRobotCmd(CRobotCmdInfo& RobotCmd)
{
	int m_nSlot = 0;
	//取料
	/*CRobotCmdInfo RobotCmd;
	RobotCmd.m_RobotCmdType = _RobotCmd_TransferWafer;
	RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_ImmediateReadFeedback;
	RobotCmd.m_Slot = m_nSlot + 1;
	RobotCmd.m_FromPos = _WaferPos_Cassette;
	RobotCmd.m_ToPos = _WaferPos_Arm1;*/


	eGlobalVariableType AlarmType = _GlobalVar_NULL;
	//if (!m_RobotComm.IsOpen())
	//{
	//	//设置报警信息
	//	RobotCmd.m_ErrStr = "Com Port Not Open";
	//	//return _GlobalVar_Alarm_Robot_ComPortNotOpen;
	//	return false;
	//}
	std::string InfoStr = GetRobotCmdInfoStr(RobotCmd);

	//m_CurRobotCmdType = RobotCmd.m_RobotCmdType;
	//先把串口缓冲数据读取掉
	{
		char Buf[256];
		memset(Buf, 0, 256);
		m_RobotComm.ReadBuf(Buf, 256);
	}
	bool m_IsbJelCommRecv = false;//是否收到串口消息
							 //获取发送指令信息
	RobotJel_GetSendCmd(RobotCmd);

	//设置报警信息
	if (RobotCmd.m_SendCmdStr == "")
	{
		RobotCmd.m_ErrStr = "GetSendCmd Failed";
		//return _GlobalVar_Alarm_Robot_CmdNak;
		return false;
	}
	//robot运动时不能开关foup 门
	/*bool bLoadPortSafetyLock = (m_CurRobotCmdType == _RobotCmd_TransferWafer || m_CurRobotCmdType == _RobotCmd_ToWaitPos || m_CurRobotCmdType == _RobotCmd_Org);
	if (bLoadPortSafetyLock)
	{
		gLogMgr->WriteDebugLog("LoadPortSafety-->Lock");
	}*/
	//发送指令到robot(不会抛出异常)
	AlarmType = RobotJel_SendCmdToRobotExt(RobotCmd);
	/*if (bLoadPortSafetyLock)
	{
		gLogMgr->WriteDebugLog("LoadPortSafety-->Unlock");
	}*/
	//返回非正常状态时读取robot 和aligner的错误信息
	if (AlarmType != _GlobalVar_NULL && RobotCmd.m_RobotCmdSendType == _RobotCmdSendType_WaitCmdEnd)
	{
		CheckRobotErrState(RobotCmd);
		return false;
	}
	return true;
}

std::string JELOperate::GetRobotCmdInfoStr(CRobotCmdInfo &RobotCmd)
{
	std::string InfoStr;
	switch (RobotCmd.m_RobotCmdType)
	{
	case _RobotCmd_TransferWafer:
	case _RobotCmd_ToWaitPos:
	{
		InfoStr = "TransferWafer : ";
		//InfoStr += GetWaferPosTypeStr(RobotCmd.m_FromPos);
		InfoStr += " -> ";
		//InfoStr += GetWaferPosTypeStr(RobotCmd.m_ToPos);
		if (RobotCmd.m_FromPos == _WaferPos_Cassette || RobotCmd.m_ToPos == _WaferPos_Cassette)
		{
			InfoStr += " Slot: ";
			InfoStr +=  std::to_string(RobotCmd.m_Slot);
		}
	}
	break;
	case _RobotCmd_ResetErr:
		InfoStr = "_RobotCmd_ResetErr";
		break;
	case _RobotCmd_Arm1Arm2MergePos:
		InfoStr = "_RobotCmd_Arm1Arm2MergePos";
		break;
	case _RobotCmd_QueryState:
		InfoStr = "_RobotCmd_QueryState";
		break;
	case _RobotCmd_QueryCoord1:
		InfoStr = "_RobotCmd_QueryCoord1";
		break;
	case _RobotCmd_QueryCoord2:
		InfoStr = "_RobotCmd_QueryCoord2";
		break;
	case _RobotCmd_QueryCoord3:
		InfoStr = "_RobotCmd_QueryCoord3";
		break;
	case _RobotCmd_AlignerExt:
		InfoStr = "_RobotCmd_AlignerExt";
		break;
	case _RobotCmd_AlignerOrg:
		InfoStr = "_RobotCmd_AlignerOrg";
		break;
	case _RobotCmd_AlignerVacOn:
		InfoStr = "_RobotCmd_AlignerVacOn";
		break;
	case _RobotCmd_AlignerVacOff:
		InfoStr = "_RobotCmd_AlignerVacOff";
		break;
	case _RobotCmd_AlignerSetPar:
		InfoStr = "_RobotCmd_AlignerSetPar";
		break;
	default:
		break;
	}
	return InfoStr;
}

void JELOperate::RobotJel_GetSendCmd(CRobotCmdInfo &RobotCmd)
{
	int RobotCmdWaitTime = m_nWaitTime;

	if (RobotCmd.m_RobotCmdType == _RobotCmd_RunToCassMappingPoint)
	{
		if (RobotCmd.LoadportId == LOADPORT_LEFT)
		{
			RobotCmd.m_SendCmdStr = "$1G300";
		}
		else if (RobotCmd.LoadportId == LOADPORT_CENTER)
		{
			RobotCmd.m_SendCmdStr = "$1G301";
		}
		else if (RobotCmd.LoadportId == LOADPORT_RIGHT)
		{
			RobotCmd.m_SendCmdStr = "$1G302";
		}
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_ImmediateReadFeedback;//等待完成
		return;
	}

	if (RobotCmd.m_RobotCmdType == _RobotCmd_ReadMappingData)
	{
		RobotCmd.m_SendCmdStr = "$1G35";
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_ImmediateReadFeedback;//等待完成
		return;
	}

	if (RobotCmd.m_RobotCmdType == _RobotCmd_Mapping)
	{
		if (RobotCmd.LoadportId == LOADPORT_LEFT)
		{
			RobotCmd.m_SendCmdStr = "$1G7";
		}
		else if (RobotCmd.LoadportId == LOADPORT_CENTER)
		{
			RobotCmd.m_SendCmdStr = "$1G8";
		}
		else if (RobotCmd.LoadportId == LOADPORT_RIGHT)
		{
			RobotCmd.m_SendCmdStr = "$1G9";
		}
		
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;//等待完成
		RobotCmd.m_WaitCmdTime = RobotCmdWaitTime;
		return;
	}

	if (RobotCmd.m_RobotCmdType == _RobotCmd_Check_ARM_EXIST_WAFER)
	{
		if (RobotCmd.m_armPos == "up")
		{
			RobotCmd.m_SendCmdStr = "$1CS4";
		}
		else if (RobotCmd.m_armPos == "down")
		{
			RobotCmd.m_SendCmdStr = "$1CS8";
		}
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_ImmediateReadFeedback;//等待完成
		RobotCmd.m_WaitCmdTime = RobotCmdWaitTime;
		return;
	}

	if (RobotCmd.m_RobotCmdType == _RObotCmd_RotateToWaferIdPos)
	{
		RobotCmd.m_SendCmdStr = "$1G310";
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;//等待完成
		RobotCmd.m_WaitCmdTime = RobotCmdWaitTime;
	}

	if (RobotCmd.m_RobotCmdType == _RobotCmd_Init_Align)
	{
		RobotCmd.m_SendCmdStr = "$1G299";
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;//等待完成
		RobotCmd.m_WaitCmdTime = RobotCmdWaitTime;
	}
	if (RobotCmd.m_RobotCmdType == _RObotCmd_Switch_bank)
	{
		if (RobotCmd.m_Slot == 1)
		{
			RobotCmd.m_SendCmdStr = "$1G5";
		}
		else 
		{
			RobotCmd.m_SendCmdStr = "$1G4";
		}
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_SendOnly;//等待完成
		RobotCmd.m_WaitCmdTime = RobotCmdWaitTime;
	}

	if (RobotCmd.m_RobotCmdType == _RobotCmd_AlignerOrg)//reset err->org->取料位置
	{
		RobotCmd.m_SendCmdStr = "$1G112";
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_SendOnly;//等待完成
		RobotCmd.m_WaitCmdTime = RobotCmdWaitTime;
	}
	if (RobotCmd.m_RobotCmdType == _RobotCmd_Port1Org)//reset err->org->取料位置
	{
		RobotCmd.m_SendCmdStr = "$1G105";
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;//等待完成
		RobotCmd.m_WaitCmdTime = RobotCmdWaitTime;
	}
	if (RobotCmd.m_RobotCmdType == _RobotCmd_Port2Org)//reset err->org->取料位置
	{
		RobotCmd.m_SendCmdStr = "$1G106";
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;//等待完成
		RobotCmd.m_WaitCmdTime = RobotCmdWaitTime;
	}
	else if (RobotCmd.m_RobotCmdType == _RobotCmd_AlignerExt)//执行准直
	{
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;//等待完成
		RobotCmd.m_WaitCmdTime = 20;
		RobotCmd.m_SendCmdStr = "$1G294";
	}
	else if (RobotCmd.m_RobotCmdType == _RobotCmd_AlignerVacOn)//aligner真空on
	{
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_SendOnly;//只发送
		RobotCmd.m_SendCmdStr = "$2WUC";
	}
	else if (RobotCmd.m_RobotCmdType == _RobotCmd_AlignerVacOff)//aligner真空off
	{
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_SendOnly;//只发送
		RobotCmd.m_SendCmdStr = "$2WDF";
	}
	else if (RobotCmd.m_RobotCmdType == _RobotCmd_AlignerSetPar)//设置aligner角度
	{
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_SendOnly;//只发送
		std::string str = "$2WOP" + std::to_string(m_nAligner);
		RobotCmd.m_SendCmdStr = str;
	}
	else if (RobotCmd.m_RobotCmdType == _RobotCmd_ResetErr)//Robot重置错误
	{
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_SendOnly;//只发送
		RobotCmd.m_SendCmdStr = "$1RD";
	}
	else if (RobotCmd.m_RobotCmdType == _RobotCmd_QueryState)//查询状态
	{
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitFeedback;//发送后只等待反馈<
		RobotCmd.m_SendCmdStr = "$1ER";

	}
	else if (RobotCmd.m_RobotCmdType == _RobotCmd_Org)//ROBOT ORG
	{
		RobotCmd.m_SendCmdStr = "$1G3";
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;//等待完成
		RobotCmd.m_WaitCmdTime = RobotCmdWaitTime;
	}
	else if (RobotCmd.m_RobotCmdType == _RobotCmd_QueryCoord1)//Robot查询坐标
	{
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_ImmediateReadFeedback;//立即读取反馈(同步)
		RobotCmd.m_SendCmdStr = "$16X";
	}
	else if (RobotCmd.m_RobotCmdType == _RobotCmd_QueryCoord2)//Robot查询坐标
	{
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_ImmediateReadFeedback;//立即读取反馈(同步)
		RobotCmd.m_SendCmdStr = "$16R";
	}
	else if (RobotCmd.m_RobotCmdType == _RobotCmd_QueryCoord3)//Robot查询坐标
	{
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_ImmediateReadFeedback;//立即读取反馈(同步)
		RobotCmd.m_SendCmdStr = "$16Y";
	}
	else if (RobotCmd.m_RobotCmdType == _RobotCmd_Arm1VacOff)//Arm1真空off
	{
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_SendOnly;//只发送
		RobotCmd.m_SendCmdStr = "$1DS20";
	}
	else if (RobotCmd.m_RobotCmdType == _RobotCmd_Arm2VacOff)//Arm2真空off
	{
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_SendOnly;//只发送
		RobotCmd.m_SendCmdStr = "$1DS10";
	}
	else if (RobotCmd.m_RobotCmdType == _RobotCmd_Arm1VacOn)//Arm1真空on
	{
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_SendOnly;//只发送
		RobotCmd.m_SendCmdStr = "$1DS21";
	}
	else if (RobotCmd.m_RobotCmdType == _RobotCmd_Arm2VacOn)//Arm2真空on
	{
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_SendOnly;//只发送
		RobotCmd.m_SendCmdStr = "$1DS11";
	}
	else if (RobotCmd.m_RobotCmdType == _RobotCmd_AdsVacOn)
	{
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_SendOnly;//只发送
		RobotCmd.m_SendCmdStr = "$1G91";
	}
	else if (RobotCmd.m_RobotCmdType == _RobotCmd_AdsVacOff)
	{
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_SendOnly;//只发送
		RobotCmd.m_SendCmdStr = "$1G82";
	}
	else if (RobotCmd.m_RobotCmdType == _RobotCmd_InitSet)
	{
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_SendOnly;//只发送
		RobotCmd.m_SendCmdStr = "$1G80";
	}
	else if (RobotCmd.m_RobotCmdType == _RobotCmd_Arm_Check)
	{
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;//只发送
		if (RobotCmd.m_FromPos == _WaferPos_Arm1)
			RobotCmd.m_SendCmdStr = "$1G36";
		else
			RobotCmd.m_SendCmdStr = "$1G37";
	}
	else if (RobotCmd.m_RobotCmdType == _RobotCmd_TransferWafer)//Robot传输指令
	{
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;//等待完成
		RobotCmd.m_WaitCmdTime = RobotCmdWaitTime;
		//上手指取_WaferPos_Cassette
		if (RobotCmd.m_FromPos == _WaferPos_Cassette && RobotCmd.m_ToPos == _WaferPos_Arm1)
		{
			//料盒1取晶圆指令：$1G10->$1G34，料盒2取晶圆指令：$1G80->$1G104
			std::string cmdStr = "$1G";
			int cmdIndex = 0;
			RobotCmd.m_cassIndex == 1 ? cmdIndex = RobotCmd.m_Slot + 9 : cmdIndex = RobotCmd.m_Slot + 79;
			cmdStr += std::to_string(cmdIndex);
			RobotCmd.m_SendCmdStr = cmdStr;
			
		}
		//上手指放_WaferPos_Cassette
		if (RobotCmd.m_FromPos == _WaferPos_Arm1 && RobotCmd.m_ToPos == _WaferPos_Cassette)
		{
			//料盒1放晶圆指令：$1G40->$1G64，料盒2取晶圆指令：$1G110->$1G134
			std::string cmdStr = "$1G";
			int cmdIndex = 0;
			RobotCmd.m_cassIndex == 1 ? cmdIndex = RobotCmd.m_Slot + 39 : cmdIndex = RobotCmd.m_Slot + 109;
			cmdStr += std::to_string(cmdIndex);
			RobotCmd.m_SendCmdStr = cmdStr;
			
		}

		//手指取放Aligner
		if (RobotCmd.m_FromPos == _WaferPos_Arm1 && RobotCmd.m_ToPos == _WaferPos_Aligner)
		{
			RobotCmd.m_SendCmdStr = "$1G291";
		}
		if (RobotCmd.m_FromPos == _WaferPos_Aligner && RobotCmd.m_ToPos == _WaferPos_Arm1)
		{
			RobotCmd.m_SendCmdStr = "$1G290";
		}
		if (RobotCmd.m_FromPos == _WaferPos_Aligner && RobotCmd.m_ToPos == _WaferPos_Arm2)
		{
			RobotCmd.m_SendCmdStr = "$1G292";
		}
		if (RobotCmd.m_FromPos == _WaferPos_Arm2 && RobotCmd.m_ToPos == _WaferPos_Aligner)
		{
			RobotCmd.m_SendCmdStr = "$1G293";
		}
		//手指取放HotPlate
		if (RobotCmd.m_FromPos == _WaferPos_Arm2 && RobotCmd.m_ToPos == _WaferPos_HotPlate)
		{
			RobotCmd.m_SendCmdStr = "$1G298";
		}
		if (RobotCmd.m_FromPos == _WaferPos_HotPlate && RobotCmd.m_ToPos == _WaferPos_Arm2)
		{
			RobotCmd.m_SendCmdStr = "$1G297";
		}
	}
	//移动到等待位置
	else if (RobotCmd.m_RobotCmdType == _RobotCmd_ToWaitPos)
	{
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;//等待完成
		RobotCmd.m_WaitCmdTime = RobotCmdWaitTime;
		//Arm2移动到取aligner 等待位
		if (RobotCmd.m_FromPos == _WaferPos_Aligner && RobotCmd.m_ToPos == _WaferPos_Arm2)
		{
			RobotCmd.m_SendCmdStr = "$1G287";
		}
		//Arm2移动到取preheater 等待位
		if (RobotCmd.m_FromPos == _WaferPos_HotPlate && RobotCmd.m_ToPos == _WaferPos_Arm2)
		{
			RobotCmd.m_SendCmdStr = "$1G289";
		}
	}
	//Arm1和Arm2合并位置
	else if (RobotCmd.m_RobotCmdType == _RobotCmd_Arm1Arm2MergePos)
	{
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;//等待完成
		RobotCmd.m_SendCmdStr = "$1G295";
		RobotCmd.m_WaitCmdTime = 20;
	}
}

eGlobalVariableType JELOperate::RobotJel_SendCmdToRobotExt(CRobotCmdInfo &RobotCmd)
{
	std::string RetStr;
	std::string SendCmd = RobotCmd.m_SendCmdStr;
	//gLogMgr->WriteDebugLog("ROBOT SEND:" + SendCmd);
	bool bOvertime = false;
	std::string ErrMsg;
	{
		int len = SendCmd.length();
		SendCmd += "  ";//增加2 字节来存放<CR><LF>
		char *pStr = (char*)SendCmd.c_str();
		pStr[len++] = 0x0d;//<CR>
		pStr[len++] = 0x0a;//<LF>
		char Buf[COM_BUF_LEN];
		memset(Buf, 0, COM_BUF_LEN);
		memcpy(Buf, pStr, len);
		m_RobotComm.WriteBuf(Buf, len);
		if (RobotCmd.m_RobotCmdSendType == _RobotCmdSendType_SendOnly)//只发送指令
		{
			return _GlobalVar_NULL;
		}
		//立即读取反馈
		if (RobotCmd.m_RobotCmdSendType == _RobotCmdSendType_ImmediateReadFeedback)
		{
			m_armIsExistWafer = false;
			Sleep(1000);
			m_IsbJelCommRecv = false;//重置
			memset(Buf, 0, COM_BUF_LEN);
			m_RobotComm.ReadBuf(Buf, COM_BUF_LEN);
			std::string RetStr(Buf);
		
			//>$10表示有料，>$11表示无料
			int findIndex = 0;
			findIndex = RetStr.find(">$11");
			findIndex >= 0 ? m_armIsExistWafer = true : m_armIsExistWafer = false;

			if (RetStr.find(">") != -1)//反馈">"表示执行中
			{
				RobotCmd.m_RevStr = RetStr;
			}
			else
			{
				ErrMsg = "Read Feed back Err";
			}
		}
		else//异步等待读取
		{
			int WaitDelay = RobotCmd.m_WaitCmdTime * 1000;//总共等待的时间ms
			int CheckDelay = 200;//每次循环延时
			int CurDelay = 0;//当前的总延时
			bOvertime = false;
			ErrMsg = "";
			while (1)
			{
				if (m_IsbJelCommRecv)//收到新的消息时再去读取
				{
					Sleep(CheckDelay);
					m_IsbJelCommRecv = false;//重置
					memset(Buf, 0, COM_BUF_LEN);
					m_RobotComm.ReadBuf(Buf, COM_BUF_LEN);
					std::string RetStr(Buf);
					if (RetStr.find(">") != -1)//反馈">"表示执行中
					{
						//发送后只等待反馈<
						if (RobotCmd.m_RobotCmdSendType == _RobotCmdSendType_WaitFeedback)
						{
							RobotCmd.m_RevStr = RetStr;
							break;
						}
					}
					//RobotCmd.m_RobotCmdSendType == _RobotCmdSendType_WaitCmdEnd
					if (RetStr.find(RobotCmd.m_SendCmdStr) != -1)//反馈发送cmd表示执行结束
					{
						//gLogMgr->WriteDebugLog("REV_STR END");

						break;
					}
					else if (RetStr.find("ERROR") != -1)
					{
						//gLogMgr->WriteDebugLog("REV_STR ERROR");
						ErrMsg = "手臂有片或无片错误";
						break;
					}
				}
				CurDelay += CheckDelay;
				if (CurDelay > WaitDelay)
				{
					bOvertime = true;
					break;
				}
				Sleep(CheckDelay);
			}
		}
	}
	if (bOvertime)//检测超时
	{
		std::string AddInfo;
		AddInfo = "Cmd Over Time:";
		AddInfo += RobotCmd.m_SendCmdStr;
		//设置报警信息
		{
			RobotCmd.m_ErrStr = AddInfo;
			return _GlobalVar_Alarm_Robot_CmdOverTime;
		}
	}
	//ERR:code:Description
	if (ErrMsg != "")//执行错误
	{
		std::string AddInfo = RobotCmd.m_SendCmdStr;
		AddInfo += "Cmd Execute Error:";
		AddInfo += ErrMsg;
		//设置报警信息
		{
			RobotCmd.m_ErrStr = AddInfo;
			return _GlobalVar_Alarm_Robot_StateErr;
		}
	}
	return _GlobalVar_NULL;
}

eGlobalVariableType JELOperate::CheckRobotErrState(CRobotCmdInfo &RobotCmd)
{
	eGlobalVariableType AlarmType = _GlobalVar_NULL;
	{
		CRobotCmdInfo TempCmd;
		TempCmd.m_SendCmdStr = "$1ERLG";//robot 状态
		TempCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitFeedback;
		AlarmType = RobotJel_SendCmdToRobotExt(TempCmd);
	}
	return _GlobalVar_NULL;
}

void JELOperate::OnRobotCommRecv()
{
	m_IsbJelCommRecv = true;//是否收到串口消息
}