#pragma once
#include "CModule.h"
#include "OneDimMatrix.h"
#include <map>

/*
认为更换吸嘴不重新标定需保存吸嘴对应参数，若认为重新标定，可以不保存多套数据，每个吸嘴对应标定流程：
1、标定旋转中心，将旋转中心保存到吸嘴参数中。
2、CTD标定前从吸嘴处获取旋转中心，并标定得到CTD，保存到吸嘴参数中。
*/

class CNozzleTable :
    public CModule
{
//	struct NozzleParam
//	{
//		CIO* m_pNozzleExistDi = nullptr;//检测吸嘴存在的IO
//		NozzleCalibParam stCalibParam;
//		//XY_DOUBLE_STRUCT stRotCenter = { 0,0 }; //吸嘴对应的旋转中心X
//		//XY_DOUBLE_STRUCT stBHHighCameraToNozzle = { 0,0 };
//		//XY_DOUBLE_STRUCT stBHLowCameraToNozzle = { 0,0 };
//		//bool bIsRotationCalib = false;	//已校准标记
//		//bool bIsHighCTDCalib = false;		//已校准标记	
////		double dRotCenterY = 0;		//吸嘴对应的旋转中心X
////		double dRotCenterX = 0;		//吸嘴对应的旋转中心Y
////
////		double dCameraToNozzleX = 0;	//相机到吸嘴的距离
////		double dCameraToNozzleY = 0;	//相机到吸嘴的距离
////		double dPos = 0;			//吸嘴位置		
//	};

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

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

	virtual LONG AllocateIo(vector<CIO*> vecIo) override;
	virtual LONG AllocateAxis(vector<CAxis*> vecAxis) override;

	void SetYAxis(CAxis* axis) { m_pAxisY = axis; }
	void SetCylDo(CIO* output) { m_pCylDo = output; }
	void SetCylNDi(CIO* input) { m_pCylNDi = input; }
	void SetCylPDi(CIO* input) { m_pCylPDi = input; }
	//void SetNozzleExistDi(int index, CIO* input){   
	//	m_mapNozzleParam[index].m_pNozzleExistDi = input;
	//}

	//LONG GetBHLookUpTempID(int nozzleIndex, int& lookUpTempID);
	//LONG GetBHLowCTDTempID(int nozzleIndex, int& lookUpTempID);
	//LONG SetCTDLookUpTempID(int nozzleIndex, int lookUpTempID);
	//LONG SetBHHighCTDBondTempID(int nozzleIndex, int bondTempID);
	//LONG SetBHLowCTDBondTempID(int nozzleIndex, int bondTempID);
	//LONG GetBHRCalibTempID(int nozzleIndex, int& tempID);
	//LONG SetBHRCalibTempID(int nozzleIndex, int tempID);
	//LONG GetWHCTDNozzleTempID(int nozzleIndex, int& tempID);
	//LONG SetWHCTDNozzleTempID(int nozzleIndex, int tempID);
	//LONG GetBHRotCenter(int index, XY_DOUBLE_STRUCT& center);
	//LONG SetNozzleRotCenter(int index, XY_DOUBLE_STRUCT center);

	//LONG SetBHHighCameraToNozzle(int index, XY_DOUBLE_STRUCT CameraToNozzle);
	//LONG SetBHLowCameraToNozzle(int index, XY_DOUBLE_STRUCT CameraToNozzle);
	//LONG GetBHHighCameraToNozzle(int index, XY_DOUBLE_STRUCT& dis);
	//LONG GetBHLowCameraToNozzle(int index, XY_DOUBLE_STRUCT& dis);
	//LONG SetWHCameraToNozzle(int index, XY_DOUBLE_STRUCT cameraToNozzle);
	//LONG GetWHCameraToNozzle(int index, XY_DOUBLE_STRUCT& cameraToNozzle);

	LONG GetNozzlePos(int index, XY_DOUBLE_STRUCT& position);

	// 更换吸嘴
	LONG CheckNozzleExist(int index, bool exist);//待实现
	LONG MoveToChangePos(bool waitDone = true);
	LONG MoveToWaitPos(bool waitDone = true);
	LONG CylLoadNozzle(bool waitDone = true);
	LONG CylUnLoadNozzle(bool waitDone = true);
	bool CheckCylLoadDone();
	bool CheckCylUnloadDone();
	LONG WaitCylDone();

private:
	//std::map<int, NozzleParam> m_mapNozzleParam;//key为index，value为位置X
	//OneDimMatrix* m_pTipPosMatrix = nullptr;  //吸嘴位置
	CAxis* m_pAxisY = nullptr;
	CIO* m_pCylDo = nullptr;
	CIO* m_pCylNDi = nullptr;//负向
	CIO* m_pCylPDi = nullptr;//正向
	//CIO* m_pNozzleExistDi = nullptr;//检测吸嘴存在的IO

	CMachineCalibration* m_pCalibrationDB = nullptr;

	//参数
	double m_dWaitPosY = 0;
	double m_dChangePosY = 0;

};