// Robot.h: interface for the CRobot class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(AFX_ROBOT_COMM_H__6FE8AE0D_5CAC_43F9_B267_2A5399FA5798__INCLUDED_)
#define AFX_ROBOT_COMM_H__6FE8AE0D_5CAC_43F9_B267_2A5399FA5798__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

#include "Scanner.h"
#include "Utility.h"

#ifdef	BUILD_COMMDLL
#define		COMMDLL_DLLCLASS	__declspec(dllexport)
#else
#define		COMMDLL_DLLCLASS	__declspec(dllimport)
#endif

enum SCAN_RESULT
{
	SCAN_UNKNOWN,
	SCAN_COMPLETE,
	SCAN_IN_PROGRESS,
	SCAN_MOTION_ERROR,
	SCAN_PROTRUDE_WAFER,
	SCAN_CROSS_SLOTTED_WAFER,
};

enum ROBOT_POSITION
{
	T_POSITION,
	R_POSITION,
	Y_POSITION,
	Z_POSITION,
	MAX_ROBOT_POSITION,
};

struct stPosition
{
	double dPos[MAX_ROBOT_POSITION];
};

const CString g_csHEX[] =
{
	"0",
	"1",
	"2",
	"3",
	"4",
	"5",
	"6",
	"7",
	"8",
	"9",
	"A",
	"B",
	"C",
	"D",
	"E",
	"F",
};

class COMMDLL_DLLCLASS CRobotComm : public CScanner, public CMyWait
{
public:
	bool SetAlignAngle(double dAngle);
	bool DisableTrajectoryMode();
	bool EnableTrajectoryMode();
	bool MoveStraight(int nDistance);
	bool SetMoveSpeed(int nSpeed);
	void ResetCommand();
	void Disconnect();//chan 8Dec05
	bool MoveToCustomHome();
	bool OffPrealignVacuum();
	bool OnPrealignVacuum();
	bool OffVacuum();
	bool OnVacuum();
	bool SendCommand();
	bool Send(CString csMsg);//chan 7Dec05
	bool ScanCassetteFast(char cStation, int nOption=1);
	bool Prealign();
	bool SetWaferDiameter(int nDia);
	bool OffRobot();
	bool OnRobot();
	void ResetReplyEvents();
	bool WaitAck();
	void Stop();
	bool HomeAllAxis();
	bool SetInformMode(int nMode);
	void ReceiveComm(const char *cpcBuffer, int nSize);
	bool Input(int nPoint);
	bool Output(int nOutput, int nState);
	bool MoveToPoint(double dT_Position, double dR_Position, double dZ_Position, DWORD dwTimeout);
	bool MoveAbs(char cAxis, double dPosition, DWORD dwTimeout);
	bool MoveRel(char cAxis, double dDistance, DWORD dwTimeout);
	bool MoveToPickup(char cStation, int nSlot, int nOption, DWORD dwTimeout, int nArm=0);
	bool MoveToCoordinates(char cStation, int nSlot, int nOption, DWORD dwTimeout, int nArm=0);
	bool MoveToStartScan(char cStation, int nSlot, int nIndex, DWORD dwTimeout, int nArm=0);
	bool MoveToApproach(char cStation, int nSlot, int nOption, DWORD dwTimeout, int nArm=0);
	bool MoveToStation(char cStation, int nSlot, DWORD dwTimeout, int nArm=0);
	bool PutWafer(char cStation, int nSlot, int nOption, DWORD dwTimeout, int nArm=0);
	bool GetWafer(char cStation, int nSlot, int nOption, DWORD dwTimeout, int nArm=0);

	//read robot status
	bool	CheckOnLine();
	bool	IsPrealignVacuumSensed();
	bool	IsVacuumSensed();
	bool	GetCurrentPosition(char cAxis, double dPos);
	bool	GetCurrentPosition(stPosition Position);
	bool	GetHomeStatus();
	bool	WaitForHomeComplete(DWORD dwTimeout);
	bool	WaitForRobotComplete(DWORD dwTimeout, bool bPrealigner=false);
	bool	WaitForPrealignComplete(DWORD dwTimeout);
	CString ReadStroke(char *cStation);//V1.14 31Jul06
	CString ReadVerticalOffset(char *cStation);//V1.14 31Jul06
	CString ReadCassetteDepth(char *cStation);//V1.14 31Jul06
	CString ReadScannedData(int nOption=0);
	CString GetReceiveData();
	int		WaitForScanningComplete(DWORD dwTimeout);

	CRobotComm();
	virtual ~CRobotComm();

private:
	void UpdateCurrentCommand(CString csCmd);
	int GetIntValue(CString csValue);
	int ConvertHexToInt(CString csHexString);
	void ResetCurrentPosition();
	CString GetCommand();
	void SetCommand(CString csCmd, bool bUpdateCommand=0);
	bool IsCurrentCommand(CString csCmd);
	bool TraceCurrentCommand(CString csCmd, int iCmdLength = 3);//V1.14 31Jul06-compare command only.
	CString GetCurrentCommand();
	bool m_bWaitForTerminator2;
	bool m_bWaitForTerminator3;
	HANDLE m_hAck;
	HANDLE m_hNck;
	HANDLE m_hPrealignComplete;
	HANDLE m_hStopRobot;
	HANDLE m_hRobotComplete;
	HANDLE m_hScanningComplete;
	HANDLE m_hRobotHomeComplete;
	HANDLE m_hReadPositionComplete;
	HANDLE m_hReadVacuumComplete;
	HANDLE m_hReadPrealignVacuumComplete;
	HANDLE m_hStatusReceived;
	HANDLE m_hReadStrokeComplete, m_hReadVerticalOffsetComplete, m_hReadCassetteDepthComplete;//V1.14 31Jul06

	int		m_nScanningResult;

	CString	m_csCurrentCommand;
	bool	m_bCheckPrealignBusy;
	bool	m_bCheckRobotBusy;
	CString m_csScannedData;
	CString m_csCmd;
	CString m_csStrokeData,m_csVerticalOffsetData,m_csCassetteDepthData;//V1.14 31Jul06

	stPosition	m_stPosition;
	bool	m_bVacuumSensed;
	bool	m_bPrealignVacuumSensed;
};

#endif // !defined(AFX_ROBOT_COMM_H__6FE8AE0D_5CAC_43F9_B267_2A5399FA5798__INCLUDED_)