#pragma once
//全局类型定义

using namespace std;/*使用标准库的名字空间*/
//STL 标准头文件
#include <set>
#include <vector>
#include <list>
#include <iostream>
#include <fstream>
#include <string>
#include <utility>
#include <map>
#include <deque>
#include <algorithm> 
#include <CString>
//#include <afxwin.h>

//屏蔽编译警告
#pragma warning(disable : 4800)
#pragma warning(disable : 4244)
#pragma warning(disable : 4996)
#pragma warning(disable : 4018)
#pragma warning(disable : 4477)


#define PI	3.14159265358979323846
//#define COORD_EPS 0.001 //坐标误差精度(0.001 表示在坐标比较中,两个点的距离小于1um 就认为是相等)
#define COORD_EPS 0.00001

#define RGB_WHITE RGB(255,255,255)              //白色
#define RGB_BLACK RGB(0,0,0)                         //黑色
#define RGB_GREEN RGB(0,255,0)                     //绿色
#define RGB_GREEN1 RGB(29,241,135)              //绿色

#define RGB_RED RGB(255,0,0)                         //红色
#define RGB_PINK RGB(255,55,120)                    //粉红色
#define RGB_PINK1 RGB(231,61,175)                    //粉红色

#define RGB_YELLOW RGB(255,255,0)              //黄色
#define RGB_BLUE RGB(0,0,255)                       //蓝色
#define RGB_BLUE1 RGB(153,217,234)                       //天蓝色

#define RGB_NODE_BLUE RGB(0,63,255)          //节点蓝色
#define RGB_PURPLE RGB(163,73,164)             //紫色
#define RGB_GRAY RGB(240,240,240)               //灰色
#define RGB_GRAY1 RGB(160,160,160)               //灰色


#define bOPEN   true
#define bCLOSE   false

#define STR_NULL ""
#define STR_INPUT_ERROR "无效指令: "
#define STR_INPUT_SYMBOL '>'

#define MARK_OBJ_CNT   25//载盘上obj 的数量

enum eGlobalVariableType
{
	_GlobalVar_NULL = 0,
	_GlobalVar_Alarm_Robot_StateErr,
	_GlobalVar_Alarm_Robot_OverLoad1,
	_GlobalVar_Alarm_Robot_Crash1,
	_GlobalVar_Alarm_Robot_InsideFANAlarm,
	_GlobalVar_Alarm_Robot_SoftLimitErr,
	_GlobalVar_Alarm_Robot_CassetteStepZero,
	_GlobalVar_Alarm_Robot_CassetteStepOverN,
	_GlobalVar_Alarm_Robot_PointNumberZero,
	_GlobalVar_Alarm_Robot_HostBufferFull,
	_GlobalVar_Alarm_Robot_PositioningTimeOverAx,
	_GlobalVar_Alarm_Robot_IllegalRemoteCommandStr,
	_GlobalVar_Alarm_Robot_CommunicationRetryOver,
	_GlobalVar_Alarm_Robot_ExecutionBufferOver,
	_GlobalVar_Alarm_Robot_IllegalCassetteNo,
	_GlobalVar_Alarm_Robot_ServoDriverAlarmCodeAx,
	_GlobalVar_Alarm_Robot_IllegalGroupNo,
	_GlobalVar_Alarm_Robot_ILError,
	_GlobalVar_Alarm_Robot_ServoSignalOFF,
	_GlobalVar_Alarm_Robot_IllegalCassetteSel,
	_GlobalVar_Alarm_Robot_IllegalStageSel,
	_GlobalVar_Alarm_Robot_WorkExist,
	_GlobalVar_Alarm_Robot_IllegalCassetteOrStageOrPoint,
	_GlobalVar_Alarm_Robot_RetryVacuumMiss1,
	_GlobalVar_Alarm_Robot_IllegalSensor,
	_GlobalVar_Alarm_Robot_CanNotGet,
	_GlobalVar_Alarm_Robot_CanNotPut,
	_GlobalVar_Alarm_Robot_TeachingCombiCheckError,
	_GlobalVar_Alarm_Robot_RetryVacuumMiss2,
	_GlobalVar_Alarm_Robot_DriverNotReady,
	_GlobalVar_Alarm_Robot_MinusStrokeOver,
	_GlobalVar_Alarm_Robot_DiffOver,
	_GlobalVar_Alarm_Robot_EncoderAlarm1,
	_GlobalVar_Alarm_Robot_VelocityOver,
	_GlobalVar_Alarm_Robot_CarryingAlarm,
	_GlobalVar_Alarm_Robot_OverLoad2,
	_GlobalVar_Alarm_Robot_Crash2,
	_GlobalVar_Alarm_Robot_EmergencyStop,
	_GlobalVar_Alarm_Robot_MappingAlarm,
	_GlobalVar_Alarm_Robot_ClampError,
	_GlobalVar_Alarm_Robot_ServoDriverAlarm,
	_GlobalVar_Alarm_Robot_DataAlarmCode,
	_GlobalVar_Alarm_Robot_EncoderAlarm2,
	_GlobalVar_Alarm_Robot_CmdOverTime,
	_GlobalVar_Alarm_Robot_ComPortNotOpen,
	_GlobalVar_Alarm_Robot_CmdNak,



	_GlobalVar_Alarm_LoadPort1_StateCheckError,
	_GlobalVar_Alarm_LoadPort2_StateCheckError,
	_GlobalVar_Alarm_LoadPort1_WaferProtrusion,
	_GlobalVar_Alarm_LoadPort2_WaferProtrusion,
	_GlobalVar_Alarm_LoadPort1_MainAirError,
	_GlobalVar_Alarm_LoadPort2_MainAirError,
	_GlobalVar_Alarm_LoadPort1_ZAxisPositionNG,
	_GlobalVar_Alarm_LoadPort2_ZAxisPositionNG,
	_GlobalVar_Alarm_LoadPort1_YAxisPositionNG,
	_GlobalVar_Alarm_LoadPort2_YAxisPositionNG,
	_GlobalVar_Alarm_LoadPort1_DoorPositionNG,
	_GlobalVar_Alarm_LoadPort2_DoorPositionNG,
	_GlobalVar_Alarm_LoadPort1_MapperArmPositionNG,
	_GlobalVar_Alarm_LoadPort2_MapperArmPositionNG,
	_GlobalVar_Alarm_LoadPort1_MapperZAxisPositionNG,
	_GlobalVar_Alarm_LoadPort2_MapperZAxisPositionNG,
	_GlobalVar_Alarm_LoadPort1_MapperStopperPositionNG,
	_GlobalVar_Alarm_LoadPort2_MapperStopperPositionNG,
	_GlobalVar_Alarm_LoadPort1_MappingEndPositionNG,
	_GlobalVar_Alarm_LoadPort2_MappingEndPositionNG,
	_GlobalVar_Alarm_LoadPort1_FOUPClampOpenError,
	_GlobalVar_Alarm_LoadPort2_FOUPClampOpenError,
	_GlobalVar_Alarm_LoadPort1_FOUPClampCloseError,
	_GlobalVar_Alarm_LoadPort2_FOUPClampCloseError,
	_GlobalVar_Alarm_LoadPort1_LatchKeyOpenError,
	_GlobalVar_Alarm_LoadPort2_LatchKeyOpenError,
	_GlobalVar_Alarm_LoadPort1_LatchKeyCloseError,
	_GlobalVar_Alarm_LoadPort2_LatchKeyCloseError,
	_GlobalVar_Alarm_LoadPort1_VacuumOnError,
	_GlobalVar_Alarm_LoadPort2_VacuumOnError,
	_GlobalVar_Alarm_LoadPort1_VacuumOffError,
	_GlobalVar_Alarm_LoadPort2_VacuumOffError,
	_GlobalVar_Alarm_LoadPort1_FOUPOpenOvertime,
	_GlobalVar_Alarm_LoadPort2_FOUPOpenOvertime,
	_GlobalVar_Alarm_LoadPort1_FOUPCloseOvertime,
	_GlobalVar_Alarm_LoadPort2_FOUPCloseOvertime,
	_GlobalVar_Alarm_LoadPort1_ParallelSignalError,
	_GlobalVar_Alarm_LoadPort2_ParallelSignalError,
	_GlobalVar_Alarm_LoadPort1_FanOperationError,
	_GlobalVar_Alarm_LoadPort2_FanOperationError,
	_GlobalVar_Alarm_LoadPort1_InterlockCircuitFailure,
	_GlobalVar_Alarm_LoadPort2_InterlockCircuitFailure,
	_GlobalVar_Alarm_LoadPort1_CommunicationError,
	_GlobalVar_Alarm_LoadPort2_CommunicationError,
	_GlobalVar_Alarm_LoadPort1_ObstaclesSensorError,
	_GlobalVar_Alarm_LoadPort2_ObstaclesSensorError,
	_GlobalVar_Alarm_LoadPort1_MappingMechanicalError,
	_GlobalVar_Alarm_LoadPort2_MappingMechanicalError,

	_GlobalVar_Alarm_LoadPort1_LoadFailed_RobotRunning,
	_GlobalVar_Alarm_LoadPort2_LoadFailed_RobotRunning,
	_GlobalVar_Alarm_LoadPort1_LoadFailed_E84Running,
	_GlobalVar_Alarm_LoadPort2_LoadFailed_E84Running,
	_GlobalVar_Alarm_Port1E84_ReadIO_Failed,
	_GlobalVar_Alarm_Port2E84_ReadIO_Failed,
	_GlobalVar_Alarm_LoadPort1_LoadFailed_OHTNotLeave,
	_GlobalVar_Alarm_LoadPort2_LoadFailed_OHTNotLeave,
	_GlobalVar_Alarm_LoadPort1_MAPDT_Feedback_Error,
	_GlobalVar_Alarm_LoadPort2_MAPDT_Feedback_Error,
	_GlobalVar_Alarm_LoadPort1_STATE_Feedback_Error,
	_GlobalVar_Alarm_LoadPort2_STATE_Feedback_Error,
	_GlobalVar_Alarm_LoadPort1_UnloadFailed_RobotRunning,
	_GlobalVar_Alarm_LoadPort1_InitialPositionError,
	_GlobalVar_Alarm_LoadPort1_OperationNotStopped,
	_GlobalVar_Alarm_LoadPort1_DoorNotOpened,
	_GlobalVar_Alarm_LoadPort1_DoorNotClosed,
	_GlobalVar_Alarm_LoadPort1_WaferProtrusionSensorOn,


		_GlobalVar_Alarm_Port1E84_CmdOverTime,
		_GlobalVar_Alarm_Port1E84_CmdExtErr,
		_GlobalVar_Alarm_Port1E84_VALID_BreakOff,
		_GlobalVar_Alarm_Port1E84_TP3_OverTime,
		_GlobalVar_Alarm_Port1E84_TP4_OverTime,
		_GlobalVar_Alarm_Port1E84_E84ExecuteError,
		_GlobalVar_Alarm_Port2E84_CmdOverTime,
		_GlobalVar_Alarm_Port2E84_CmdExtErr,
		_GlobalVar_Alarm_Port2E84_VALID_BreakOff,
		_GlobalVar_Alarm_Port2E84_TP3_OverTime,
		_GlobalVar_Alarm_Port2E84_TP4_OverTime,
		_GlobalVar_Alarm_Port2E84_E84ExecuteError,
};

//鼠标工具的类型
enum MOUSE_TOOL
{
    _TOOL_POINT=0,
    _TOOL_RECT,
    _TOOL_LINE,
    _TOOL_PLINE,//多线段
    _TOOL_CIRCLE,
    _TOOL_MOVE,
    _TOOL_MOVE2,//指定基点移动
    _TOOL_ROTATO,
    _TOOL_COPY,
    _TOOL_MEASURE,//测量
    _TOOL_ZOOM,//缩放
    _TOOL_CUT,//修剪
    _TOOL_ADD_NODE,//添加节点
    _TOOL_DEL_NODE,//删除节点
    _TOOL_BREAK_NODE,//打断节点
    _TOOL_MOVE_NODE,//移动节点
    _TOOL_TEXT,//文字
    _TOOL_BARCODE,//条码
    _TOOL_ONE_POINT,//一个点
    _TOOL_STRETCH,//拉伸工具
    _TOOL_PT_MOVE_TO_CCD,//设置特定用途的点
    _TOOL_SET_MARK_PT,//手动指定定位点
};
enum OBJ_TYPE
{
    _TYPE_BASE = 0,
    _TYPE_PLINE,//多线段1
    _TYPE_POINT,//点2
    _TYPE_CIRCLE,//圆3
    _TYPE_COMPOSITE,//一般组合类型4
    _TYPE_TXT,//字符串5
    _TYPE_BARCODE,//条码6
    _TYPE_STR,//string 7
    _TYPE_CHAR,//字符8
    
};
enum X_OR_Y
{
    _X=0,
    _Y,
    _XY,
};

enum CATCH_PT_TYPE//抓取点的类型
{
    _CATCH_NODE = 0,//结点
    _CATCH_INTERSECT,//线段的交点 
    _CATCH_ORTHO,//正交
    _CATCH_CUT_TRACK,//元件切割道交点
};
enum STATUS//鼠标工具的状态值,用于确定每一步做什么事情
{
    _STATUS_1 = 0,
    _STATUS_2,
    _STATUS_3,
    _STATUS_4,
    _STATUS_5,
    _STATUS_6,
    _STATUS_END
};
enum OBJ_OP_TYPR
{
    _OP_MOVE = 0,
    _OP_ROTATO,
    _OP_MIRROR,
    _OP_STRETCH,//拉伸
    _OP_REVERSE,//反转数据点
    _OP_SCALE,//按比例缩放
	_OP_SET,
};

inline bool IsDbEqual(double a,double b)
{
    if((abs(a-b))<COORD_EPS)
        return true;
    else
        return false;
}
//浮点型的xy 组合,单位毫米
class Dbxy
{
    friend bool operator==(const Dbxy &lhs, const Dbxy &rhs);
public:
    Dbxy(double _x,double _y):x(_x),y(_y),w(0){};
	Dbxy(double _x, double _y, double _w) :x(_x), y(_y), w(_w){};
	Dbxy(const Dbxy &lhs) :x(lhs.x), y(lhs.y), w(0) {};
	Dbxy& operator=(const Dbxy &lhs)
	{
		x = lhs.x;
		y = lhs.y;
		w = lhs.w;

		return  *this;
	}
    Dbxy()
    {
         x= y =w=0;
    };
    bool Equal(Dbxy &pt)
    {
         if(IsDbEqual(x,pt.x) && IsDbEqual(y,pt.y))
             return true;
         else
             return false;
    }
    void operator+=(const Dbxy &rhs)
    {
         (*this).x += rhs.x;
         (*this).y += rhs.y;
    }
    void operator-=(const Dbxy &rhs)
    {
         (*this).x -= rhs.x;
         (*this).y -= rhs.y;
    }
	void Reversed(bool bRx = true, bool bRy = true)
	{
		if (bRx) (*this).x *= -1;
		if (bRy) (*this).y *= -1;
	}
 public:
    double x;
    double y;
	double w;
};
inline bool operator==(const Dbxy &lhs, const Dbxy &rhs) 
{ 
    return (IsDbEqual(lhs.x,rhs.x) && IsDbEqual(lhs.y,rhs.y)); 
}

//抓取点的类型
class CCatchPoint :public Dbxy
{
public:
    CCatchPoint(double _x,double _y,CATCH_PT_TYPE type):Dbxy(_x,_y),m_type(type){};
    CCatchPoint()
    {
         Dbxy::Dbxy();
    };
    CATCH_PT_TYPE GetType(){return m_type;};
public:
    CATCH_PT_TYPE m_type;
};

class DbSize
{
public:
    DbSize(double _w,double _h):w(_w),h(_h){};
    DbSize()
    {
         w= h =0;
    };
 public:
    double w;
    double h;
};

class IntXY
{
    friend bool operator==(const IntXY &lhs, const IntXY &rhs);
public:
    IntXY(int _x,int _y):x(_x),y(_y){};
    IntXY()
    {
         x = y =0;
    };
 public:
    int x;
    int y;
};
inline bool operator==(const IntXY &lhs, const IntXY &rhs) 
{ 
    return (lhs.x == rhs.x && lhs.y == rhs.y); 
}

#if 1
class DbRect
{
public:
    DbRect(double _L,double _R,double _T,double _B):L(_L),R(_R),T(_T),B(_B){};
    DbRect(Dbxy pt1,Dbxy pt2){Creat(pt1,pt2);}
    DbRect(Dbxy pt,double size){Creat(pt,size);}//size 是rect 的半径
    DbRect(Dbxy pt,DbSize size)//根据中心点和尺寸来创建
    {
         Creat(pt,size);
    };
    DbRect(){Reset();};
    void Creat(Dbxy pt1,Dbxy pt2);
    void Creat(Dbxy pt,double size);
    void Creat(Dbxy pt,DbSize size);
    void Reset();
    bool IsZero();
    DbSize GetSize();
    Dbxy GetCenterPt();
    Dbxy GetBottomCenterPt();
    double Width();
    double Height();
public:
    double L;
    double R;
    double T;
    double B;
};
inline void DbRect::Reset()
{
    L= B = 0.1;
    R = T = 0;
}
inline void DbRect::Creat(Dbxy pt1,Dbxy pt2)
{
    if(pt1.x < pt2.x)
    {
        L = pt1.x;
        R = pt2.x;
    }
    else
    {
        L = pt2.x;
        R = pt1.x;
    }
    if(pt2.y<pt1.y)
    {
        T = pt1.y;
        B = pt2.y;
    }
    else
    {
        T = pt2.y;
        B = pt1.y;
    }
}
inline void DbRect::Creat(Dbxy pt,double size)
{
        L = pt.x-size;
        R = pt.x+size;
        T = pt.y+size;
        B = pt.y-size;
}
inline void DbRect::Creat(Dbxy pt,DbSize size)
{
    L = pt.x-size.w/2;
    R = pt.x+size.w/2;
    T = pt.y+size.h/2;
    B = pt.y-size.h/2;
}
inline bool DbRect::IsZero()
{
    if(L<R || B<T)
        return false;
    else
        return true;
}
inline Dbxy DbRect::GetCenterPt()
{
     Dbxy pt;
     if(L<=R)
     {
         pt.x = (L+R)/2;
     }
     if(T>=B)
     {
         pt.y = (T+B)/2;
     }
     return pt;
}
inline DbSize DbRect::GetSize()
{
    DbSize size;
    size.w = R - L;
    size.h = T - B;
    if(size.w<0)
        size.w = 0;
    if(size.h<0)
        size.h = 0;
    return size;
}
//底部中心点
inline Dbxy DbRect::GetBottomCenterPt()
{
     Dbxy pt;
     pt.x = (L+R)/2;
     pt.y = B;
     return pt;
}
inline double DbRect::Width()
{
    return R-L;
}
inline double DbRect::Height()
{
    return T-B;
}
#endif

//封装所有对象操作的参数,便于统一发送格式
struct SObjOperatePar{
SObjOperatePar()
{
      MoveX = MoveY = 0;
      Angle = 0;
      OldSize = NewSize = Diff = 0;
      Scale = 1;
}
OBJ_OP_TYPR      OpType;//操作类型
X_OR_Y              xy;//标识xy 方向
Dbxy                 BasePt;//基准点
double               MoveX;//移动量
double               MoveY;
double               Angle;//360 度角
double               OldSize;
double               NewSize;
double               Diff;
double               Scale;//缩放比例
};

typedef pair<CPoint,bool> PointType;

//创建圆的参数
class CCirclePar
{
public:
     CCirclePar(void)
     {
           Radius = 1;
           DEdgeCnt = 32;
           bMerge = true;
           StartAng = 0;
           EndAng = 360;
     }
public:
     Dbxy CenterPt;//圆心
     double Radius;//半径
     int DEdgeCnt;//边数
     bool bMerge;//是否合并
     double StartAng;//起始角度360 度角
     double EndAng;//结束角度
};

//对象位置的参数
class CObjPosPar
{
public:
    CObjPosPar()
    {
         m_Ang =0;
    };
 public:
    Dbxy         m_Offset;//偏移
    double       m_Ang;//角度
};
//晶圆的类型
enum eCspWaferType
{
    _CspWaferType_Null = 0,//未定义
    _CspWaferType_8,//8寸
    _CspWaferType_12,//12寸
};
enum CAlamLightStateType
{
    _AlamLightStateType_NULL=0,
    _AlamLightStateType_Off,//关闭
    _AlamLightStateType_On,//打开
    _AlamLightStateType_Flash,//闪烁
};

//警示灯状态
class CAlamLightState
{
public:
       CAlamLightState(void)
       {
            m_LightRedState = _AlamLightStateType_NULL;//红灯状态
            m_LightYellowState = _AlamLightStateType_NULL;//黄灯状态
            m_LightGreenState = _AlamLightStateType_NULL;//绿灯状态
            m_LightAlamState = _AlamLightStateType_NULL;//蜂鸣器状态
       };
public:
       CAlamLightStateType      m_LightRedState;//红灯状态
       CAlamLightStateType      m_LightYellowState;//黄灯状态
       CAlamLightStateType      m_LightGreenState;//绿灯状态
       CAlamLightStateType      m_LightAlamState;//蜂鸣器状态
};
class CDlgItemStr
{
public:
       CDlgItemStr(void)
       {
             m_ID = 0;
       };
public:
       int                m_ID;//编号
       CString          m_Str;//显示的内容
};

enum AlignDirect {
	AlignTop = 0,
	AlignBottom,
	AlignLeft,
	AlignRight,
	AlignVecticalCenter,    //居中对齐
	AlignHorizonalCenter,
	AlignVecticalArrange,   //排列
	AlignHorizonalArrange,
};

class _declspec(dllexport) CDataPoint
{
public:
	void Stretch(Dbxy &Pt, Dbxy BasePt, double Size, double Diff, X_OR_Y xy);

public:
	Dbxy                  m_pt;//坐标值
	bool                   m_bIsNode;//是否为节点
};

class _declspec(dllexport) CFontSizeScale
{
public:
	CFontSizeScale(void)
	{
		m_SizeScale.x = 1;
		m_SizeScale.y = 1;
		m_CharStr = "A";
	};
public:
	CString                  m_CharStr;//对应的字符(0~9)(A~Z)
	Dbxy                     m_SizeScale;//尺寸的比例
};

//字符转换坐标需要用的结构
typedef struct {
	Dbxy oldBasePt;//中心为拉伸基准点
	double oldSizeWidth; //拉伸前尺寸
	double oldSizeHeight;
	double diff; //旧尺寸和新尺寸之间的差值
}OldCharAttr;