#pragma once
#include "CModule.h"
#include "CForceControl.h"
#include "CLookUpCalib.h"
#include "CRCalib.h"
#include "CXYCalib.h"
#include "CNozzleTable.h"
#include "CTemperature.h"
#include "CBondHead.h"

/*
超声头：和固晶头相比，固晶时，需加热，控制超声IO
*/

class __declspec(dllexport) CUltraHead :
    public CBondHead
{
public:
    CUltraHead(MODULE_LIST eModuleType);
    ~CUltraHead();

    void SetUltraDo(CIO* output) { m_pUltraIO = output; }
    LONG AllocateIo(vector<CIO*> vecIo);

    virtual void SetDataChangFunction() override;
    virtual LONG SetParam() override;
    virtual LONG GetParam() override;
//    virtual LONG ToHome() override;
//    virtual LONG ToSafePosition() override;
    virtual LONG InitResource() override;
    virtual void DataChangNotice(string strDbName, string strTableName) override;

    virtual void SetPickHTestIndex(int index);
    virtual void SetBondHTestIndex(int index);
    virtual LONG PickHighTest();//调用之前先SetIndex
    virtual LONG AllBondHighTest();
    virtual LONG BongHighTest();
    //virtual LONG VacuumOn();		//真空开
    //virtual LONG VacuumOff();		//真空关
    //virtual LONG StrongOn();		//强吹开
    //virtual LONG StrongOff();		//强吹关
    virtual LONG UltraOn(int iUltraValue);			//超声开
    virtual LONG UltraOff();		//超声关
  

    //上视拍照
    LONG XYZToLookUpGrabPos();
    LONG LookUpGrab(int index,X_Y_ANGLE_STRUCT& result);//移动到上视拍照位，拍照结果放到结构体中
    //吸嘴固晶
    LONG PlaceDie(int index, X_Y_ANGLE_STRUCT lookUpOffsetPixel);
    LONG MoveToBondPos(int index);
    LONG BondGrab(int index, X_Y_ANGLE_STRUCT& result); //返回的拍照结果为物理单位
    LONG ToBondPos_AddOffset(int index, X_Y_ANGLE_STRUCT bondOffset, X_Y_ANGLE_STRUCT lookUpOffset, bool waitDone = true);//传入物理位置
    LONG BondDieDown(int index);//传入物理位置
    LONG BondDieUp(bool waitDone = true);

    LONG CreateTemplate_LowCamera(SEARCH_OUT eResultSelect, UINT& iTemplateId);
    LONG SearchTemplate(UINT iTemplateId, X_Y_ANGLE_STRUCT& stOffset);
    //LONG MoveTo(double x,double y, double z);
private:
    CIO* m_pUltraIO = nullptr;
 
    //超声值
    int m_nUltraValue = 0x0; //超声值
    long m_lUltraDelay = 1000; //超声延时 ms
    //温控器
    LONG WaitTemprature(double dMinTempelature, double dMaxTempelature, long lTimeOut);
    bool m_BnormallyOpen = false; //是否常开
    double m_nBondTempelature = 0;  //固晶温度
    double m_nPreTempelature = 0;  //预备温度
    std::string m_sTemperatureCtrlPort = "192.168.1.10";
    int m_nAddress = 0x5;
    Temperature_Ctltype m_nTemCtrlType = GLTC;
    CTemperature* m_pTempCtrl = nullptr;
};