#pragma once
#define C_PR_STRATEGY_EXPORTS
#include "CPrStrategy.h"
#include "CModule.h"
#include "CCameraBase.h"
#include "CXYCalib.h"
#include "CRCalib.h"
#include "CLookUpCalib.h"
#include "CNozzleTable.h"
#include "CBondMatrix.h"
#include "CForceControl.h"
#include "CBondHead.h"
using namespace ns_db;
/*
1、固晶头:有高倍相机、低倍相机、上视相机
2、包括固晶、点胶、超声
3、注意所有位置为相机位置，需转换为绑头位置
4、执行动作函数，外面调用判断返回值是"停止"，要自行调用回初始位
*/

class  __declspec(dllexport) CEutecticHead :
	public CBondHead
{

public:
	CEutecticHead(MODULE_LIST eModuleType);
	~CEutecticHead();

	virtual void SetHighCamera(CCameraBase* camera)override { m_pHighCamera = camera; }

	CXYCalib* GetHighCameraCalib() { return m_pHighXYCalib; }
	CCTDCalib* GetHighCTDCalib() { return m_pHighCTDCalib; }
	LONG CreateTemplate_HighCamera(SEARCH_OUT eResultSelect, UINT & iTemplateId);
	LONG CreateTemplate_LowCamera(SEARCH_OUT eResultSelect, UINT& iTemplateId);

	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) override;
	virtual void SetBondHTestIndex(int index) override;
	virtual LONG PickHighTest() override;//调用之前先SetIndex
	virtual LONG AllBondHighTest() override;
	virtual LONG BongHighTest() override;
	virtual LONG VacuumOn(long lDelay) override;		//真空开
	virtual LONG VacuumOff(long lDelay) override;		//真空关,吹汽延时，ms 
	virtual LONG StrongOn() override;		//强吹开
	virtual LONG StrongOff() override;		//强吹关

	//更换吸嘴
	//virtual LONG ChangeNozzle(int nozzleIndex)override;
	//virtual LONG UnLoadNozzle()override;
	//virtual LONG LoadNozzle(int nozzleIndex)override;
	//virtual LONG CheckDieExistStatus(bool& bExist)override;

	LONG CameraCTDCalib(int calibID);


	//吸嘴取晶,若返回值错误，需要自行调用回安全位置
	virtual LONG MoveToGrabPos(bool waitDone = true)override;
	//拍照，取晶，并上行到上视拍照位，主要用于自动流程
	virtual LONG PickDie(int index)override;
	//移动到拾取位，未拍照
	//virtual LONG MoveToPickPos()override;
	//中转台拍照，返回拍照结果，拍照结果仅用于拾取偏移，不存储
	virtual LONG PickGrab(int index, X_Y_ANGLE_STRUCT& result)override;
	//得到拍照结果后补偿，将数据进行转换
	virtual LONG PickDieDown(int index, X_Y_ANGLE_STRUCT result)override;
	virtual LONG PickUpToGrabPos()override;
	virtual LONG PickDieUp(bool waitDone = true)override;//上行到安全位置

	//上视拍照
	virtual LONG XYZToLookUpGrabPos()override;
	//移动到上视拍照位，拍照结果放到结构体中
	virtual LONG LookUpGrab(int index,X_Y_ANGLE_STRUCT& result)override;

	//吸嘴固晶
	virtual LONG PlaceDie(int index, X_Y_ANGLE_STRUCT lookUpOffsetPixel)override;
	virtual LONG MoveToBondPos(int index)override;//修改为BondGrabPos
	//返回的拍照结果为物理单位
	virtual LONG BondGrab(int index, X_Y_ANGLE_STRUCT& result)override;
	virtual LONG ToBondPos_AddOffset(int index, X_Y_ANGLE_STRUCT bondOffset, X_Y_ANGLE_STRUCT lookUpOffset,
		bool waitDone = true)override;//传入物理位置
	virtual LONG BondDieDown(int index)override;//传入物理位置
	virtual LONG BondDieUp(bool waitDone = true)override;

//	virtual LONG FindForce(double endPos)override;		//用于自动流程
//	virtual LONG UpdateForce(double dForce)override;		//切换力的大小

	//标定
	virtual LONG HighCameraCTDCalib() override;

private:

	CCameraBase* m_pHighCamera = nullptr;

	CXYCalib* m_pHighXYCalib = nullptr;
	CCTDCalib* m_pHighCTDCalib = nullptr;
};