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#include "JelExcecute.h"
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JelExcecute::JelExcecute()
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{
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}
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JelExcecute::~JelExcecute()
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{
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}
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bool JelExcecute::InitJelRobot(int serialPort, int baudRate)
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{
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m_nPort = serialPort;
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m_nBaud = baudRate;
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m_RobotComm.SetWorkMode(FALSE, 100);
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std::string strCom = std::to_string(m_nBaud) + ",N,8,1";
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m_nPort = 2;
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if (m_RobotComm.Open(m_nPort, (char*)strCom.c_str()))
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{
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//m_RobotComm.SetWnd(gChildPCS_WaferTransfer->GetSafeHwnd());
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m_RobotComm.SetNotify(std::bind(&JelExcecute::OnRobotCommRecv, this));
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CRobotCmdInfo RobotCmd;
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RobotCmd.m_RobotCmdType = _RobotCmd_ResetErr;
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SendRobotCmd(RobotCmd);
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Sleep(1000);
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RobotCmd.m_RobotCmdType = _RobotCmd_Org;
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RobotCmd.m_WaitCmdTime = 60;
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bool issuccess = SendRobotCmd(RobotCmd);
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if (!issuccess)
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{
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return false;
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}
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Sleep(500);
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//初始化准直器
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RobotCmd.m_RobotCmdType = _RobotCmd_Init_Align;
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issuccess = SendRobotCmd(RobotCmd);
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if (!issuccess)
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{
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return false;
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}
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}
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else
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{
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return false;
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}
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return true;
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}
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bool JelExcecute::SendRobotCmd(CRobotCmdInfo& RobotCmd)
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{
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eGlobalVariableType AlarmType = _GlobalVar_NULL;
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{
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//先把串口缓冲数据读取掉
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char Buf[256];
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memset(Buf, 0, 256);
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m_RobotComm.ReadBuf(Buf, 256);
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}
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m_IsbJelCommRecv = false;//是否收到串口消息
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//获取需要执行的指令
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RobotJel_GetSendCmd(RobotCmd);
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AlarmType = RobotJel_SendCmdToRobotExt(RobotCmd);
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if (AlarmType != _GlobalVar_NULL)
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{
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return false;
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}
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return true;
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}
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void JelExcecute::OnRobotCommRecv()
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{
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m_IsbJelCommRecv = true;//是否收到串口消息
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}
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void JelExcecute::RobotJel_GetSendCmd(CRobotCmdInfo& RobotCmd)
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{
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RobotCmd.m_WaitCmdTime = m_nWaitTime;
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if (RobotCmd.m_RobotCmdType == _RobotCmd_Check_ARM_EXIST_WAFER)
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{
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if (RobotCmd.m_armPos == "up")
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{
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RobotCmd.m_SendCmdStr = "$1CS4";
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}
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else if (RobotCmd.m_armPos == "down")
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{
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RobotCmd.m_SendCmdStr = "$1CS8";
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}
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RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_ImmediateReadFeedback;
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RobotCmd.m_WaitCmdTime = m_nWaitTime;
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}
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else if (RobotCmd.m_RobotCmdType == _RobotCmd_ResetErr) //机械手清楚错误$1RD $2RD是清楚准直器错误
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{
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RobotCmd.m_SendCmdStr = "$1RD";
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RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_SendOnly;
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}
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else if(RobotCmd.m_RobotCmdType == _RobotCmd_Org)
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{
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RobotCmd.m_SendCmdStr = "$1G2";
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RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;
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}
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else if (RobotCmd.m_RobotCmdType == _RobotCmd_RunToCassMappingPoint)
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{
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std::string smdStr = "$1G";
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if (RobotCmd.LoadportId == POS_CASS_LEFT)
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{
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smdStr.append(std::to_string(SCRIPT_X_RUN_TO_MAPPING_POS_INDEX + 4 * 0));
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}
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if (RobotCmd.LoadportId == POS_CASS_CENTER)
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{
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smdStr.append(std::to_string(SCRIPT_X_RUN_TO_MAPPING_POS_INDEX + 4 * 1));
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}
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if (RobotCmd.LoadportId == POS_CASS_RIGHT)
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{
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smdStr.append(std::to_string(SCRIPT_X_RUN_TO_MAPPING_POS_INDEX + 4 * 2));
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}
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RobotCmd.m_SendCmdStr = smdStr;
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RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;//等待完成
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}
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else if (RobotCmd.m_RobotCmdType == _RobotCmd_Mapping)
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{
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std::string smdStr = "$1G";
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if (RobotCmd.LoadportId == POS_CASS_LEFT)
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{
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smdStr.append(std::to_string(SCRIPT_MAPPING_INDEX + 0));
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}
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if (RobotCmd.LoadportId == POS_CASS_CENTER)
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{
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smdStr.append(std::to_string(SCRIPT_MAPPING_INDEX + 1));
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}
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if (RobotCmd.LoadportId == POS_CASS_RIGHT)
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{
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smdStr.append(std::to_string(SCRIPT_MAPPING_INDEX + 2));
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}
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RobotCmd.m_SendCmdStr = smdStr;
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RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;//等待完成
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}
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else if (RobotCmd.m_RobotCmdType == _RobotCmd_ReadMappingData)
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{
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RobotCmd.m_SendCmdStr = "$1G274";
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RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_ImmediateReadFeedback;//等待完成
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}
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else if (RobotCmd.m_RobotCmdType == _RObotCmd_Switch_bank)
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{
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std::string cmdStr = "$1G";
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cmdStr.append(std::to_string(SCRIPT_BANK_INDEX + RobotCmd.m_bankIndex));
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RobotCmd.m_SendCmdStr = cmdStr;
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RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;
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}
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else if (RobotCmd.m_RobotCmdType == _RobotCmd_SelectCass)
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{
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std::string cmdStr = "$1G";
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cmdStr.append(std::to_string(SCRIPT_CASS_START_INDEX + (RobotCmd.m_cassIndex - 1)));
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RobotCmd.m_SendCmdStr = cmdStr;
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RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;
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}
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else if (RobotCmd.m_RobotCmdType == _RobotCmd_SelectSlot)
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{
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std::string cmdStr = "$1G";
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if (RobotCmd.m_cassIndex <= 3)
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{
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cmdStr.append(std::to_string(SCRIPT_SLOT_START_INDEX + (RobotCmd.m_Slot - 1)));
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}
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else
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{
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cmdStr.append(std::to_string(SCRIPT_SLOT_START_INDEX));
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}
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RobotCmd.m_SendCmdStr = cmdStr;
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RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;
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}
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else if (RobotCmd.m_RobotCmdType == _RobotCmd_X_Move)
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{
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std::string cmdStr = "$1G";
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int xMoveIndex = SCRIPT_X_MOVE_INDEX;
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if (RobotCmd.m_dealWaferType == DEAL_WAFER_TAKE)
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{
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if (RobotCmd.m_bankIndex == BANK_WAFER)
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{
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xMoveIndex = xMoveIndex + 4 * (RobotCmd.m_cassIndex - 1) + 2;
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}
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else if (RobotCmd.m_bankIndex == BANK_RING)
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{
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xMoveIndex = xMoveIndex + 4 * (RobotCmd.m_cassIndex - 1) + 0;
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}
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}
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else if(RobotCmd.m_dealWaferType == DEAL_WAFER_RETURN)
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{
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if (RobotCmd.m_bankIndex == BANK_WAFER)
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{
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xMoveIndex = xMoveIndex + 4 * (RobotCmd.m_cassIndex - 1) + 3;
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}
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else if (RobotCmd.m_bankIndex == BANK_RING)
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{
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xMoveIndex = xMoveIndex + 4 * (RobotCmd.m_cassIndex - 1) + 1;
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}
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}
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cmdStr.append(std::to_string(xMoveIndex));
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RobotCmd.m_SendCmdStr = cmdStr;
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RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;
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}
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else if (RobotCmd.m_RobotCmdType == _RobotCmd_TakeWafer)
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{
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if (RobotCmd.m_dealWaferType == DEAL_WAFER_TAKE)
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{
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if (RobotCmd.m_bankIndex == BANK_WAFER)
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{
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RobotCmd.m_SendCmdStr = "1G52";
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}
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else if (RobotCmd.m_bankIndex == BANK_RING)
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{
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RobotCmd.m_SendCmdStr = "1G50";
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}
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}
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else if (RobotCmd.m_dealWaferType == DEAL_WAFER_RETURN)
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{
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if (RobotCmd.m_bankIndex == BANK_WAFER)
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{
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RobotCmd.m_SendCmdStr = "1G53";
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}
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else if (RobotCmd.m_bankIndex == BANK_RING)
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{
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RobotCmd.m_SendCmdStr = "1G51";
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}
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}
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RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_WaitCmdEnd;
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}
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}
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eGlobalVariableType JelExcecute::RobotJel_SendCmdToRobotExt(CRobotCmdInfo &RobotCmd)
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{
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std::string RetStr;
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std::string SendCmd = RobotCmd.m_SendCmdStr;
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bool bOvertime = false;
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std::string ErrMsg;
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{
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int len = SendCmd.length();
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SendCmd += " ";//增加2 字节来存放<CR><LF>
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char *pStr = (char*)SendCmd.c_str();
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pStr[len++] = 0x0d;//<CR>
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pStr[len++] = 0x0a;//<LF>
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char Buf[COM_BUF_LEN];
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memset(Buf, 0, COM_BUF_LEN);
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memcpy(Buf, pStr, len);
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m_RobotComm.WriteBuf(Buf, len);
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if (RobotCmd.m_RobotCmdSendType == _RobotCmdSendType_SendOnly)//只发送指令
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{
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return _GlobalVar_NULL;
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}
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//立即读取反馈
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if (RobotCmd.m_RobotCmdSendType == _RobotCmdSendType_ImmediateReadFeedback)
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{
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m_armIsExistWafer = false;
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Sleep(2000);
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m_IsbJelCommRecv = false;//重置
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memset(Buf, 0, COM_BUF_LEN);
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m_RobotComm.ReadBuf(Buf, COM_BUF_LEN);
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std::string RetStr(Buf);
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//>$10表示有料，>$11表示无料
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int findIndex = 0;
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findIndex = RetStr.find(">$11");
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findIndex >= 0 ? m_armIsExistWafer = true : m_armIsExistWafer = false;
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if (RetStr.find(">") != -1)//反馈">"表示执行中
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{
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RobotCmd.m_RevStr = RetStr;
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}
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else
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{
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ErrMsg = "Read Feed back Err";
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}
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}
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else//异步等待读取
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{
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int WaitDelay = RobotCmd.m_WaitCmdTime * 1000;//总共等待的时间ms
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int CheckDelay = 200;//每次循环延时
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int CurDelay = 0;//当前的总延时
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bOvertime = false;
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ErrMsg = "";
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while (1)
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{
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if (m_IsbJelCommRecv)//收到新的消息时再去读取
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{
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Sleep(CheckDelay);
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m_IsbJelCommRecv = false;//重置
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memset(Buf, 0, COM_BUF_LEN);
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m_RobotComm.ReadBuf(Buf, COM_BUF_LEN);
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std::string RetStr(Buf);
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if (RetStr.find(">") != -1)//反馈">"表示执行中
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{
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//发送后只等待反馈<
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if (RobotCmd.m_RobotCmdSendType == _RobotCmdSendType_WaitFeedback)
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{
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RobotCmd.m_RevStr = RetStr;
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break;
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}
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}
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if (RetStr.find(RobotCmd.m_SendCmdStr) != -1)//反馈发送cmd表示执行结束
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{
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break;
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}
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else if (RetStr.find("ERROR") != -1)
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{
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ErrMsg = "手臂有片或无片错误";
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break;
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}
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}
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CurDelay += CheckDelay;
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if (CurDelay > WaitDelay)
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{
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bOvertime = true;
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break;
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}
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Sleep(CheckDelay);
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}
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}
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}
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if (bOvertime)//检测超时
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{
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std::string AddInfo;
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AddInfo = "Cmd Over Time:";
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AddInfo += RobotCmd.m_SendCmdStr;
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//设置报警信息
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{
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RobotCmd.m_ErrStr = AddInfo;
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return _GlobalVar_Alarm_Robot_CmdOverTime;
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}
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}
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//ERR:code:Description
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if (ErrMsg != "")//执行错误
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{
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std::string AddInfo = RobotCmd.m_SendCmdStr;
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AddInfo += "Cmd Execute Error:";
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AddInfo += ErrMsg;
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//设置报警信息
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{
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RobotCmd.m_ErrStr = AddInfo;
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return _GlobalVar_Alarm_Robot_StateErr;
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}
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}
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return _GlobalVar_NULL;
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}
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