#include "JelExcecute.h"



JelExcecute::JelExcecute()
{
}


JelExcecute::~JelExcecute()
{
}

bool JelExcecute::InitJelRobot(int serialPort, int baudRate)
{
	m_nPort = serialPort;
	m_nBaud = baudRate;

	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(&JelExcecute::OnRobotCommRecv, this));

		CRobotCmdInfo RobotCmd;
		RobotCmd.m_RobotCmdType = _RobotCmd_ResetErr;
		SendRobotCmd(RobotCmd);
		Sleep(1000);
		RobotCmd.m_RobotCmdType = _RobotCmd_Org;
		RobotCmd.m_WaitCmdTime = 60;
		bool issuccess = SendRobotCmd(RobotCmd);
		if (!issuccess)
		{
			return false;
		}

		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 JelExcecute::SendRobotCmd(CRobotCmdInfo& RobotCmd)
{
	eGlobalVariableType AlarmType = _GlobalVar_NULL;
	{
		//先把串口缓冲数据读取掉
		char Buf[256];
		memset(Buf, 0, 256);
		m_RobotComm.ReadBuf(Buf, 256);
	}
	m_IsbJelCommRecv = false;//是否收到串口消息

	//获取需要执行的指令
	RobotJel_GetSendCmd(RobotCmd);

	AlarmType = RobotJel_SendCmdToRobotExt(RobotCmd);
	if (AlarmType != _GlobalVar_NULL)
	{
		return false;
	}
	
	return true;
}

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

void JelExcecute::RobotJel_GetSendCmd(CRobotCmdInfo& RobotCmd)
{
	RobotCmd.m_WaitCmdTime = m_nWaitTime;


	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;
		RobotCmd.m_WaitCmdTime = m_nWaitTime;
	}
	else if (RobotCmd.m_RobotCmdType == _RobotCmd_ResetErr) //机械手清楚错误$1RD  $2RD是清楚准直器错误
	{
		RobotCmd.m_SendCmdStr = "$1RD";
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_SendOnly;
	}
	else if(RobotCmd.m_RobotCmdType == _RobotCmd_Org)
	{
		RobotCmd.m_SendCmdStr = "$1G2";
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;
	}
	else if (RobotCmd.m_RobotCmdType == _RobotCmd_RunToCassMappingPoint)
	{
		std::string smdStr = "$1G";
		if (RobotCmd.LoadportId == POS_CASS_LEFT)
		{
			smdStr.append(std::to_string(SCRIPT_X_RUN_TO_MAPPING_POS_INDEX + 4 * 0));
		}
		if (RobotCmd.LoadportId == POS_CASS_CENTER)
		{
			smdStr.append(std::to_string(SCRIPT_X_RUN_TO_MAPPING_POS_INDEX + 4 * 1));
		}
		if (RobotCmd.LoadportId == POS_CASS_RIGHT)
		{
			smdStr.append(std::to_string(SCRIPT_X_RUN_TO_MAPPING_POS_INDEX + 4 * 2));
		}
		RobotCmd.m_SendCmdStr = smdStr;
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;//等待完成
	}
	else if (RobotCmd.m_RobotCmdType == _RobotCmd_Mapping)
	{
		std::string smdStr = "$1G";
		if (RobotCmd.LoadportId == POS_CASS_LEFT)
		{
			smdStr.append(std::to_string(SCRIPT_MAPPING_INDEX + 0));
		}
		if (RobotCmd.LoadportId == POS_CASS_CENTER)
		{
			smdStr.append(std::to_string(SCRIPT_MAPPING_INDEX + 1));
		}
		if (RobotCmd.LoadportId == POS_CASS_RIGHT)
		{
			smdStr.append(std::to_string(SCRIPT_MAPPING_INDEX + 2));
		}
		RobotCmd.m_SendCmdStr = smdStr;
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;//等待完成
	}
	else if (RobotCmd.m_RobotCmdType == _RobotCmd_ReadMappingData)
	{
		RobotCmd.m_SendCmdStr = "$1G274";
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_ImmediateReadFeedback;//等待完成
	}
	else if (RobotCmd.m_RobotCmdType == _RObotCmd_Switch_bank)
	{
		std::string cmdStr = "$1G";
		cmdStr.append(std::to_string(SCRIPT_BANK_INDEX + RobotCmd.m_bankIndex));
		RobotCmd.m_SendCmdStr = cmdStr;
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;
	}
	else if (RobotCmd.m_RobotCmdType == _RobotCmd_SelectCass)
	{
		std::string cmdStr = "$1G";
		cmdStr.append(std::to_string(SCRIPT_CASS_START_INDEX + (RobotCmd.m_cassIndex - 1)));
		RobotCmd.m_SendCmdStr = cmdStr;
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;
	}
	else if (RobotCmd.m_RobotCmdType == _RobotCmd_SelectSlot)
	{
		std::string cmdStr = "$1G";
		if (RobotCmd.m_cassIndex <= 3)
		{
			cmdStr.append(std::to_string(SCRIPT_SLOT_START_INDEX + (RobotCmd.m_Slot - 1)));
		}
		else
		{
			cmdStr.append(std::to_string(SCRIPT_SLOT_START_INDEX));
		}
		
		RobotCmd.m_SendCmdStr = cmdStr;
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;
	}
	else if (RobotCmd.m_RobotCmdType == _RobotCmd_X_Move)
	{
		std::string cmdStr = "$1G";
		int xMoveIndex = SCRIPT_X_MOVE_INDEX;
		if (RobotCmd.m_dealWaferType == DEAL_WAFER_TAKE)
		{
			if (RobotCmd.m_bankIndex == BANK_WAFER)
			{
				xMoveIndex = xMoveIndex + 4 * (RobotCmd.m_cassIndex - 1) + 2;
			}
			else if (RobotCmd.m_bankIndex == BANK_RING)
			{
				xMoveIndex = xMoveIndex + 4 * (RobotCmd.m_cassIndex - 1) + 0;
			}
		}
		else if(RobotCmd.m_dealWaferType == DEAL_WAFER_RETURN)
		{
			if (RobotCmd.m_bankIndex == BANK_WAFER)
			{
				xMoveIndex = xMoveIndex + 4 * (RobotCmd.m_cassIndex - 1) + 3;
			}
			else if (RobotCmd.m_bankIndex == BANK_RING)
			{
				xMoveIndex = xMoveIndex + 4 * (RobotCmd.m_cassIndex - 1) + 1;
			}
		}
		
		cmdStr.append(std::to_string(xMoveIndex));
		RobotCmd.m_SendCmdStr = cmdStr;
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;
	}
	else if (RobotCmd.m_RobotCmdType == _RobotCmd_TakeWafer)
	{
		if (RobotCmd.m_dealWaferType == DEAL_WAFER_TAKE)
		{
			if (RobotCmd.m_bankIndex == BANK_WAFER)
			{
				RobotCmd.m_SendCmdStr = "1G52";
			}
			else if (RobotCmd.m_bankIndex == BANK_RING)
			{
				RobotCmd.m_SendCmdStr = "1G50";
			}
		}
		else if (RobotCmd.m_dealWaferType == DEAL_WAFER_RETURN)
		{
			if (RobotCmd.m_bankIndex == BANK_WAFER)
			{
				RobotCmd.m_SendCmdStr = "1G53";
			}
			else if (RobotCmd.m_bankIndex == BANK_RING)
			{
				RobotCmd.m_SendCmdStr = "1G51";
			}
		}
		RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;
	}
}

eGlobalVariableType JelExcecute::RobotJel_SendCmdToRobotExt(CRobotCmdInfo &RobotCmd)
{
	std::string RetStr;
	std::string SendCmd = RobotCmd.m_SendCmdStr;
	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(2000);
			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;
						}
					}
					if (RetStr.find(RobotCmd.m_SendCmdStr) != -1)//反馈发送cmd表示执行结束
					{
						break;
					}
					else if (RetStr.find("ERROR") != -1)
					{
						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;
}