You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
38 lines
804 B
C++
38 lines
804 B
C++
#pragma once
|
|
#include "JELGlobalDefine.h"
|
|
#include "CommMgr.h"
|
|
#include "GlobalDefine.h"
|
|
class _declspec(dllexport) JELOperate
|
|
{
|
|
public:
|
|
JELOperate();
|
|
~JELOperate();
|
|
|
|
public:
|
|
bool InitJEL();
|
|
bool InitAlign();
|
|
bool SendRobotCmd(CRobotCmdInfo& RobotCmd);
|
|
|
|
std::string GetRobotCmdInfoStr(CRobotCmdInfo &RobotCmd);
|
|
void RobotJel_GetSendCmd(CRobotCmdInfo &RobotCmd);
|
|
eGlobalVariableType RobotJel_SendCmdToRobotExt(CRobotCmdInfo &RobotCmd);
|
|
eGlobalVariableType CheckRobotErrState(CRobotCmdInfo &RobotCmd);
|
|
|
|
void OnRobotCommRecv();
|
|
|
|
|
|
CCommMgr m_RobotComm;//和机械手通信用的串口对象
|
|
|
|
int m_nWaitTime = 60; //最大等待时间为30S
|
|
int m_nAligner = 0; //准直器旋转角度;
|
|
int m_nBaud = 9600; //波特率
|
|
int m_nPort = 2; //串口
|
|
|
|
|
|
bool m_IsbJelCommRecv = false;
|
|
|
|
public:
|
|
bool m_armIsExistWafer = false;
|
|
};
|
|
|