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#include "JelRobotExportManage.h"
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JelRobotExportManage::JelRobotExportManage()
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{
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}
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JelRobotExportManage::~JelRobotExportManage()
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{
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}
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bool JelRobotExportManage::Initjel(int serialPort, int baudRate)
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{
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return m_jelExcecuteObj.InitJelRobot(serialPort, baudRate);
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}
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bool JelRobotExportManage::MappingCass(int inLoadportId, std::vector<char>& outMappingData)
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{
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//bool isSuccess = false;
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//CRobotCmdInfo cmdInfo;
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//cmdInfo.m_RobotCmdType = _RobotCmd_RunToCassMappingPoint;
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//cmdInfo.LoadportId = inLoadportId;
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//isSuccess = m_jelExcecuteObj.SendRobotCmd(cmdInfo);
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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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//CRobotCmdInfo cmdInfo;
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//cmdInfo.m_RobotCmdType = _RobotCmd_Mapping;
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//cmdInfo.LoadportId = inLoadportId;
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//m_jelExcecuteObj.SendRobotCmd(cmdInfo);
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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(1000);
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//CRobotCmdInfo cmdInfo;
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//cmdInfo.m_RobotCmdType = _RobotCmd_ReadMappingData;
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//cmdInfo.LoadportId = inLoadportId;
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//isSuccess = m_jelExcecuteObj.SendRobotCmd(cmdInfo);
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//if (!isSuccess)
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//{
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// return false;
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//}
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////TODO:ÐèÒªÖØжÁÈ¡Êý¾Ý
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//std::string recvStr = cmdInfo.m_RevStr;
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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 };
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return true;
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}
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bool JelRobotExportManage::SwitchBank(int bankIndex)
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{
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bool isSuccess = false;
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CRobotCmdInfo cmdInfo;
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cmdInfo.m_bankIndex = bankIndex;
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cmdInfo.m_RobotCmdType = _RObotCmd_Switch_bank;
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return m_jelExcecuteObj.SendRobotCmd(cmdInfo);
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}
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bool JelRobotExportManage::CheckFinderExistWafer()
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{
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CRobotCmdInfo RobotCmd;
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RobotCmd.m_RobotCmdType = _RobotCmd_Check_ARM_EXIST_WAFER;
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RobotCmd.m_RobotCmdSendType = _RobotCmdSendType_ImmediateReadFeedback;
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RobotCmd.m_armPos = "down";
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m_jelExcecuteObj.SendRobotCmd(RobotCmd);
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return m_jelExcecuteObj.m_armIsExistWafer;
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}
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bool JelRobotExportManage::TakeWafer(JudgeCassMappingType cassType, int cassIndex, int slotIndex, eDealWaferType dealWaferType)
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{
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if (!(cassType == CASS_MAPPING_TYPE_RING || cassType == CASS_MAPPING_TYPE_WAFER))
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{
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return false;
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}
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//Çл»bank
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SwitchBank(cassType);
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//Ñ¡ÔñÁϺÐ
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{
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CRobotCmdInfo cmdInfo;
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cmdInfo.m_cassIndex = cassIndex;
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cmdInfo.m_RobotCmdType = _RobotCmd_SelectCass;
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return m_jelExcecuteObj.SendRobotCmd(cmdInfo);
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}
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//Ñ¡Ôñ²ãÊý
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{
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CRobotCmdInfo cmdInfo;
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cmdInfo.m_Slot = slotIndex;
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cmdInfo.m_RobotCmdType = _RobotCmd_SelectSlot;
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return m_jelExcecuteObj.SendRobotCmd(cmdInfo);
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}
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//Òƶ¯XÖáµ½µÈ´ýλ
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{
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CRobotCmdInfo cmdInfo;
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cmdInfo.m_bankIndex = cassType;
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cmdInfo.m_cassIndex = cassIndex;
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cmdInfo.m_dealWaferType = dealWaferType;
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cmdInfo.m_RobotCmdType = _RobotCmd_X_Move;
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return m_jelExcecuteObj.SendRobotCmd(cmdInfo);
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}
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//ȡƬ»òÕß·ÅƬ
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{
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CRobotCmdInfo cmdInfo;
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cmdInfo.m_bankIndex = cassType;
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cmdInfo.m_dealWaferType = dealWaferType;
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cmdInfo.m_RobotCmdType = _RobotCmd_TakeWafer;
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return m_jelExcecuteObj.SendRobotCmd(cmdInfo);
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}
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}
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