#include "JelRobotExportManage.h"

JelRobotExportManage::JelRobotExportManage()
{
}

JelRobotExportManage::~JelRobotExportManage()
{
}

bool JelRobotExportManage::Initjel(int serialPort, int baudRate)
{
	return m_jelExcecuteObj.InitJelRobot(serialPort, baudRate);
}

bool JelRobotExportManage::MappingCass(int inLoadportId, std::vector<char>& outMappingData)
{
	//bool isSuccess = false;
	//CRobotCmdInfo cmdInfo;
	//cmdInfo.m_RobotCmdType = _RobotCmd_RunToCassMappingPoint;
	//cmdInfo.LoadportId = inLoadportId;
	//isSuccess = m_jelExcecuteObj.SendRobotCmd(cmdInfo);
	//if (!isSuccess)
	//{
	//	return false;
	//}
	//Sleep(500);

	//CRobotCmdInfo cmdInfo;
	//cmdInfo.m_RobotCmdType = _RobotCmd_Mapping;
	//cmdInfo.LoadportId = inLoadportId;
	//m_jelExcecuteObj.SendRobotCmd(cmdInfo);
	//if (!isSuccess)
	//{
	//	return false;
	//}
	//Sleep(1000);

	//CRobotCmdInfo cmdInfo;
	//cmdInfo.m_RobotCmdType = _RobotCmd_ReadMappingData;
	//cmdInfo.LoadportId = inLoadportId;
	//isSuccess = m_jelExcecuteObj.SendRobotCmd(cmdInfo);
	//if (!isSuccess)
	//{
	//	return false;
	//}
	////TODO:需要重新读取数据
	//std::string recvStr = cmdInfo.m_RevStr;
	outMappingData = { 1,0,1,1,1, 1,1,1,1,1, 1,1,1,1,1, 1,1,1,1,1, 0,1,1,1,1 };
	return true;
}

bool JelRobotExportManage::SwitchBank(int bankIndex)
{
	bool isSuccess = false;
	CRobotCmdInfo cmdInfo;
	cmdInfo.m_bankIndex = bankIndex;
	cmdInfo.m_RobotCmdType = _RObotCmd_Switch_bank;
	return m_jelExcecuteObj.SendRobotCmd(cmdInfo);
}

bool JelRobotExportManage::CheckFinderExistWafer()
{
	CRobotCmdInfo RobotCmd;
	RobotCmd.m_RobotCmdType = _RobotCmd_Check_ARM_EXIST_WAFER;
	RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_ImmediateReadFeedback;
	RobotCmd.m_armPos = "down";
	m_jelExcecuteObj.SendRobotCmd(RobotCmd);
	return m_jelExcecuteObj.m_armIsExistWafer;
}

bool JelRobotExportManage::TakeWafer(JudgeCassMappingType cassType, int cassIndex, int slotIndex, eDealWaferType dealWaferType)
{
	if (!(cassType == CASS_MAPPING_TYPE_RING || cassType == CASS_MAPPING_TYPE_WAFER))
	{
		return false;
	}
	//切换bank
	SwitchBank(cassType);

	//选择料盒
	{
		CRobotCmdInfo cmdInfo;
		cmdInfo.m_cassIndex = cassIndex;
		cmdInfo.m_RobotCmdType = _RobotCmd_SelectCass;
		return m_jelExcecuteObj.SendRobotCmd(cmdInfo);
	}
	//选择层数
	{
		CRobotCmdInfo cmdInfo;
		cmdInfo.m_Slot = slotIndex;
		cmdInfo.m_RobotCmdType = _RobotCmd_SelectSlot;
		return m_jelExcecuteObj.SendRobotCmd(cmdInfo);
	}
	//移动X轴到等待位
	{
		CRobotCmdInfo cmdInfo;
		cmdInfo.m_bankIndex = cassType;
		cmdInfo.m_cassIndex = cassIndex;
		cmdInfo.m_dealWaferType = dealWaferType;
		cmdInfo.m_RobotCmdType = _RobotCmd_X_Move;
		return m_jelExcecuteObj.SendRobotCmd(cmdInfo);
	}
	//取片或者放片
	{
		CRobotCmdInfo cmdInfo;
		cmdInfo.m_bankIndex = cassType;
		cmdInfo.m_dealWaferType = dealWaferType;
		cmdInfo.m_RobotCmdType = _RobotCmd_TakeWafer;
		return m_jelExcecuteObj.SendRobotCmd(cmdInfo);
	}
}