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38 lines
720 B
C++
38 lines
720 B
C++
#pragma once
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#include <string>
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#include "CommMgr.h"
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#include "JelExportDefine.h"
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#include "GlobalDefine.h"
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class _declspec(dllexport) JelExcecute
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{
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public:
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JelExcecute();
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~JelExcecute();
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public:
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bool InitJelRobot(int serialPort, int baudRate);
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bool SendRobotCmd(CRobotCmdInfo& RobotCmd);
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public:
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void OnRobotCommRecv();
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private:
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void RobotJel_GetSendCmd(CRobotCmdInfo& RobotCmd);
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eGlobalVariableType RobotJel_SendCmdToRobotExt(CRobotCmdInfo &RobotCmd);
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private:
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int m_nWaitTime = 60; //最大等待时间为60S
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CCommMgr m_RobotComm;//和机械手通信用的串口对象
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int m_nBaud = 9600; //波特率
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int m_nPort = 2; //串口
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bool m_IsbJelCommRecv = false;//是否收到串口消息
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public:
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bool m_armIsExistWafer = false;
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};
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