using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.IOCore;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using FurnaceRT.Equipments.FIMSs;
using FurnaceRT.Equipments.PMs;
using FurnaceRT.Equipments.Systems;
using FurnaceRT.Equipments.WaferRobots;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Jobs;
using MECF.Framework.Common.SubstrateTrackings;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Xml;
using static FurnaceRT.Equipments.PMs.PMModule;

namespace FurnaceRT.Devices
{
    public class IoFIMS : BaseDevice, IDevice
    {
        private DIAccessor _diLoadComplete;
        private DIAccessor _diUnloadComplete;
        private DIAccessor _diHomeComplete;
        private DIAccessor _diRunning;
        private DIAccessor _diAutoManual;
        private DIAccessor _diUndock;
        private DIAccessor _diDock;
        private DIAccessor _diExist;
        private DIAccessor _diSeal;
        private DIAccessor _diRelease;
        private DIAccessor _diDoorOpen;
        private DIAccessor _diDoorClose;
        private DIAccessor _diLatchOn;
        private DIAccessor _diLatchOff;
        private DIAccessor _diCollisionAvoidanceDown;
        private DIAccessor _diCollisionAvoidanceUp;
        private DIAccessor _diN2PurgeValveClosed;
        private DIAccessor _diN2PurgeValveOpened;
        private DIAccessor _diFOUPVacuumSuckingOK;
        private DIAccessor _diFOUPVacuumSuckingAlarm;
        private DIAccessor _diWaferOnRobot;
        private DIAccessor _diWaferRobotEX1AxisHomePosition;
        private DIAccessor _diWaferRobotEX2AxisHomePosition;

        private DOAccessor _doLoad;
        private DOAccessor _doUnload;
        private DOAccessor _doHome;
        private DOAccessor _doAlarmReset;
        private DOAccessor _doAutoManual;
        private DOAccessor _doUndock;
        private DOAccessor _doDock;
        private DOAccessor _doSeal;
        private DOAccessor _doRelease;
        private DOAccessor _doDoorOpen;
        private DOAccessor _doDoorClose;
        private DOAccessor _doLatch1On;
        private DOAccessor _doLatch2On;
        private DOAccessor _doLatch1Off;
        private DOAccessor _doLatch2Off;
        private DOAccessor _doCollisionAvoidanceDown;
        private DOAccessor _doCollisionAvoidanceUp;
        private DOAccessor _doN2PurgeValveOpen;
        private DOAccessor _doN2PurgeValveClose;
        private DOAccessor _doVaccumValveOpen;
        private DOAccessor _doVaccumValveClose;
        private int resetTime = 500;
        public DeviceStatus DockUndockStatus
        {
            get
            {
                if (_diDock != null && _diUndock != null && _diDock.Value && !_diUndock.Value)
                    return DeviceStatus.Dock;

                if (_diDock != null && _diUndock != null && !_diDock.Value && _diUndock.Value)
                    return DeviceStatus.Undock;

                return DeviceStatus.Unknown;
            }
        }

        public DeviceStatus SealReleaseStatus
        {
            get
            {
                if (_diSeal != null && _diRelease != null && _diSeal.Value && !_diRelease.Value)
                    return DeviceStatus.Seal;

                if (_diSeal != null && _diRelease != null && !_diSeal.Value && _diRelease.Value)
                    return DeviceStatus.Release;

                return DeviceStatus.Unknown;
            }
        }

        public DeviceStatus DoorOpenCloseStatus
        {
            get
            {
                if (_diDoorOpen != null && _diDoorClose != null && _diDoorOpen.Value && !_diDoorClose.Value)
                    return DeviceStatus.Open;

                if (_diDoorOpen != null && _diDoorClose != null && !_diDoorOpen.Value && _diDoorClose.Value)
                    return DeviceStatus.Close;

                return DeviceStatus.Unknown;
            }
        }

        public DeviceStatus LatchOnOffStatus
        {
            get
            {
                if (_diLatchOn != null && _diLatchOff != null && _diLatchOn.Value && !_diLatchOff.Value)
                    return DeviceStatus.On;

                if (_diLatchOn != null && _diLatchOff != null && !_diLatchOn.Value && _diLatchOff.Value)
                    return DeviceStatus.Off;

                return DeviceStatus.Unknown;
            }
        }

        public DeviceStatus CollisionAvoidanceUpDownStatus
        {
            get
            {
                if (_diCollisionAvoidanceUp != null && _diCollisionAvoidanceDown != null &&
                    _diCollisionAvoidanceUp.Value && !_diCollisionAvoidanceDown.Value)
                    return DeviceStatus.Up;

                if (_diCollisionAvoidanceUp != null && _diCollisionAvoidanceDown != null &&
                    !_diCollisionAvoidanceUp.Value && _diCollisionAvoidanceDown.Value)
                    return DeviceStatus.Down;

                return DeviceStatus.Unknown;
            }
        }

        public DeviceStatus N2PurgeValveOpenCloseStatus
        {
            get
            {
                if (_diN2PurgeValveOpened != null && _diN2PurgeValveClosed != null &&
                    _diN2PurgeValveOpened.Value && !_diN2PurgeValveClosed.Value)
                    return DeviceStatus.Open;

                if (_diN2PurgeValveOpened != null && _diN2PurgeValveClosed != null &&
                    !_diN2PurgeValveOpened.Value && _diN2PurgeValveClosed.Value)
                    return DeviceStatus.Close;

                return DeviceStatus.Unknown;
            }
        }

        public DeviceStatus VaccumValveOpenCloseStatus
        {
            get
            {
                if (_doVaccumValveOpen != null && _doVaccumValveClose != null &&
                    _doVaccumValveOpen.Value && !_doVaccumValveClose.Value)
                    return DeviceStatus.Open;

                if (_doVaccumValveOpen != null && _doVaccumValveClose != null &&
                    !_doVaccumValveOpen.Value && _doVaccumValveClose.Value)
                    return DeviceStatus.Close;

                return DeviceStatus.Unknown;
            }
        }

        public bool IsPLCLoadCompleted => _diLoadComplete == null ? false : _diLoadComplete.Value;
        public bool IsPLCUnloadCompleted => _diUnloadComplete == null ? false : _diUnloadComplete.Value;
        public bool IsPLCInitCompleted => _diHomeComplete == null ? false : _diHomeComplete.Value;
        public bool IsRunning => _diRunning == null ? false : _diRunning.Value;
        public bool IsFoupExist => _diExist == null ? false : _diExist.Value;
        public bool IsWaferOnRobot => _diWaferOnRobot == null ? false : _diWaferOnRobot.Value;
        public bool IsWaferRobotEX1AxisHomePosition => _diWaferRobotEX1AxisHomePosition == null ? false : _diWaferRobotEX1AxisHomePosition.Value;
        public bool IsWaferRobotEX2AxisHomePosition => _diWaferRobotEX2AxisHomePosition == null ? false : _diWaferRobotEX2AxisHomePosition.Value;
        public bool IsLoadCompleted { get; set; }
        public bool IsUnloadCompleted { get; set; }
        public bool IsInitCompleted { get; set; }
        public bool IsBusy { get; set; }
        public bool IsPause { get; set; }

        public IoFIMS(string module, XmlElement node, string ioModule = "")
        {
            base.Module = string.IsNullOrEmpty(node.GetAttribute("module")) ? module : node.GetAttribute("module");
            base.Name = node.GetAttribute("id");
            base.Display = node.GetAttribute("display");
            base.DeviceID = node.GetAttribute("schematicId");

            _diLoadComplete = ParseDiNode("diLoadComplete", node, ioModule);
            _diUnloadComplete = ParseDiNode("diUnloadComplete", node, ioModule);
            _diHomeComplete = ParseDiNode("diHomeComplete", node, ioModule);
            _diRunning = ParseDiNode("diRunning", node, ioModule);
            _diAutoManual = ParseDiNode("diAutoManual", node, ioModule);
            _diDock = ParseDiNode("diDock", node, ioModule);
            _diUndock = ParseDiNode("diUndock", node, ioModule);
            _diExist = ParseDiNode("diExist", node, ioModule);
            _diSeal = ParseDiNode("diSeal", node, ioModule);
            _diRelease = ParseDiNode("diRelease", node, ioModule);
            _diDoorOpen = ParseDiNode("diDoorOpen", node, ioModule);
            _diDoorClose = ParseDiNode("diDoorClose", node, ioModule);
            _diLatchOn = ParseDiNode("diLatchOn", node, ioModule);
            _diLatchOff = ParseDiNode("diLatchOff", node, ioModule);
            _diCollisionAvoidanceDown = ParseDiNode("diCollisionAvoidanceDown", node, ioModule);
            _diCollisionAvoidanceUp = ParseDiNode("diCollisionAvoidanceUp", node, ioModule);
            _diN2PurgeValveClosed = ParseDiNode("diN2PurgeValveClosed", node, ioModule);
            _diN2PurgeValveOpened = ParseDiNode("diN2PurgeValveOpened", node, ioModule);
            _diFOUPVacuumSuckingOK = ParseDiNode("diFOUPVacuumSuckingOK", node, ioModule);
            _diFOUPVacuumSuckingAlarm = ParseDiNode("diFOUPVacuumSuckingAlarm", node, ioModule);
            _diWaferOnRobot = ParseDiNode("diWaferOnRobot", node, ioModule);
            _diWaferRobotEX1AxisHomePosition = ParseDiNode("diWaferRobotEX1AxisHomePosition", node, ioModule);
            _diWaferRobotEX2AxisHomePosition = ParseDiNode("diWaferRobotEX2AxisHomePosition", node, ioModule);

            _doLoad = ParseDoNode("doLoad", node, ioModule);
            _doUnload = ParseDoNode("doUnload", node, ioModule);
            _doHome = ParseDoNode("doHome", node, ioModule);
            _doAlarmReset = ParseDoNode("doAlarmReset", node, ioModule);
            _doAutoManual = ParseDoNode("doAutoManual", node, ioModule);
            _doDock = ParseDoNode("doDock", node, ioModule);
            _doUndock = ParseDoNode("doUndock", node, ioModule);
            _doSeal = ParseDoNode("doSeal", node, ioModule);
            _doRelease = ParseDoNode("doRelease", node, ioModule);
            _doDoorOpen = ParseDoNode("doDoorOpen", node, ioModule);
            _doDoorClose = ParseDoNode("doDoorClose", node, ioModule);
            _doLatch1On = ParseDoNode("doLatch1On", node, ioModule);
            _doLatch2On = ParseDoNode("doLatch2On", node, ioModule);
            _doLatch1Off = ParseDoNode("doLatch1Off", node, ioModule);
            _doLatch2Off = ParseDoNode("doLatch2Off", node, ioModule);
            _doCollisionAvoidanceDown = ParseDoNode("doCollisionAvoidanceDown", node, ioModule);
            _doCollisionAvoidanceUp = ParseDoNode("doCollisionAvoidanceUp", node, ioModule);
            _doN2PurgeValveOpen = ParseDoNode("doN2PurgeValveOpen", node, ioModule);
            _doN2PurgeValveClose = ParseDoNode("doN2PurgeValveClose", node, ioModule);
            _doVaccumValveOpen = ParseDoNode("doVaccumValveOpen", node, ioModule);
            _doVaccumValveClose = ParseDoNode("doVaccumValveClose", node, ioModule);
        }
        public bool Initialize()
        {
            DATA.Subscribe($"{Module}.{Name}.DockUndockStatus", () => DockUndockStatus.ToString());
            DATA.Subscribe($"{Module}.{Name}.SealReleaseStatus", () => SealReleaseStatus.ToString());
            DATA.Subscribe($"{Module}.{Name}.DoorOpenCloseStatus", () => DoorOpenCloseStatus.ToString());
            DATA.Subscribe($"{Module}.{Name}.LatchOnOffStatus", () => LatchOnOffStatus.ToString());
            DATA.Subscribe($"{Module}.{Name}.CollisionAvoidanceUpDownStatus", () => CollisionAvoidanceUpDownStatus.ToString());
            DATA.Subscribe($"{Module}.{Name}.N2PurgeValveOpenCloseStatus", () => N2PurgeValveOpenCloseStatus.ToString());
            DATA.Subscribe($"{Module}.{Name}.VaccumValveOpenCloseStatus", () => VaccumValveOpenCloseStatus.ToString());
            DATA.Subscribe($"{Module}.{Name}.UIFoupSensor", () => GetUIFoupSensor(), SubscriptionAttribute.FLAG.IgnoreSaveDB);

            OP.Subscribe($"{Module}.{Name}.SetDockUndock", (string cmd, object[] param) =>
            {
                bool.TryParse(param[0].ToString(), out bool isDock);
                SetDockUndock(isDock);
                return true;
            });

            OP.Subscribe($"{Module}.{Name}.SetSealRelease", (string cmd, object[] param) =>
            {
                bool.TryParse(param[0].ToString(), out bool isSeal);
                SetSealRelease(isSeal);
                return true;
            });

            OP.Subscribe($"{Module}.{Name}.SetDoorOpenClose", (string cmd, object[] param) =>
            {
                bool.TryParse(param[0].ToString(), out bool isOpen);
                SetDoorOpenClose(isOpen);
                return true;
            });

            OP.Subscribe($"{Module}.{Name}.SetLatchOnOff", (string cmd, object[] param) =>
            {
                bool.TryParse(param[0].ToString(), out bool isOn);
                SetLatchOnOff(isOn);
                return true;
            });

            OP.Subscribe($"{Module}.{Name}.SetCollisionAvoidanceUpDown", (string cmd, object[] param) =>
            {
                bool.TryParse(param[0].ToString(), out bool isUp);
                SetCollisionAvoidanceUpDown(isUp);
                return true;
            });

            OP.Subscribe($"{Module}.{Name}.SetN2PurgeValveOpenClose", (string cmd, object[] param) =>
            {
                bool.TryParse(param[0].ToString(), out bool isOpen);
                SetN2PurgeValveOpenClose(isOpen);
                return true;
            });

            OP.Subscribe($"{Module}.{Name}.SetVaccumValveOpen", (string cmd, object[] param) =>
            {
                bool.TryParse(param[0].ToString(), out bool isOpen);
                SetVaccumValveOpen(isOpen);
                return true;
            });

            OP.Subscribe($"{Module}.{Name}.SetAlarmReset", (string cmd, object[] param) =>
            {
                SetAlarmReset();
                return true;
            });

            return true;
        }

        public void Monitor()
        {
            var fimsFoupInfo = CarrierManager.Instance.GetCarrier(Name);

            if (ModuleHelper.IsFIMS(ModuleHelper.Converter(Name)))
            {
                var setValue = GetUIFoupSensor();
                Singleton<EquipmentManager>.Instance.SetUIWaferCount(fimsFoupInfo, ModuleHelper.Converter(Name), out var wafers);
                if (!Singleton<EquipmentManager>.Instance.Modules.ContainsKey(ModuleHelper.Converter(Name)))
                {
                    return;
                }
                var fims = Singleton<EquipmentManager>.Instance.Modules[ModuleHelper.Converter(Name)] as FIMSModule;
                var pm = Singleton<EquipmentManager>.Instance.Modules[ModuleName.PM1] as PMModule;

                if (pm.StringProcessFlowState == ProcessFlowState.End.ToString() && fimsFoupInfo != null && !fimsFoupInfo.IsEmpty && wafers.All(a => a.IsEmpty) && fims != null)
                {
                    var activePjStatus = Singleton<EquipmentManager>.Instance.GetActivePjStatus();
                    if (!string.IsNullOrEmpty(activePjStatus) && activePjStatus == EnumProcessingState.Discharging.ToString())
                    {
                        //等待waferrobot pick 
                        fimsFoupInfo.UICarrierStatusEnum = CarrierStatus.PRCEND;
                    }

                }
                if (setValue)
                {
                    var waferRobot = Singleton<EquipmentManager>.Instance.Modules[ModuleName.WaferRobot] as WaferRobotModule;
                    if (waferRobot != null && waferRobot.IsInitialized)
                    {
                        if (waferRobot.FsmState == (int)WaferRobotModule.STATE.Mapping)
                        {
                            fimsFoupInfo.UICarrierStatusEnum = CarrierStatus.MAPPING;
                        }
                    }
                }
                if (fimsFoupInfo != null && fimsFoupInfo.CarrierType != CarrierType.None)
                {
                    fimsFoupInfo.UICarrierType = fimsFoupInfo.CarrierType.ToString();
                    var pmModule = Singleton<EquipmentManager>.Instance.Modules[ModuleName.PM1] as PMModule;
                    fimsFoupInfo.UICarrierColor = pmModule.GetCarrierUIColor(fimsFoupInfo.UICarrierType, fimsFoupInfo.UICarrierStatusEnum);
                }

                SetVisibility(fimsFoupInfo, setValue);

            }
        }

        public void SetVisibility(CarrierInfo carrierInfo, bool setValue)
        {
            if (carrierInfo == null)
            {
                return;
            }
            carrierInfo.UIExitFoup = setValue;
            carrierInfo.UICarrierColorVisibility = setValue;
            carrierInfo.UICarrierStatusVisibility = setValue;
            carrierInfo.UICarrierTypeVisibility = setValue;
            carrierInfo.UICarrierWaferCountVisibility = setValue;
        }


        public bool GetUIFoupSensor()
        {
            var fimsFoupInfo = CarrierManager.Instance.GetCarrier(Name);

            if (SC.GetValue<bool>("System.IsSimulatorMode"))
            {
                if (fimsFoupInfo != null && !fimsFoupInfo.IsEmpty)
                {
                    return true;
                }
            }
            else
            {
                if (_diExist != null && _diExist.Value && fimsFoupInfo != null && !fimsFoupInfo.IsEmpty)
                {
                    return true;
                }
                return false;
            }
            return false;
        }

        public void Reset()
        {

        }

        public void Terminate()
        {

        }

        private bool SetDockUndock(bool isDock)
        {
            if (isDock)
            {
                _doUndock.SetPulseValue(false, resetTime);
                _doDock.SetPulseValue(true, resetTime);
                //_doUndock.Value = false;
                //_doDock.Value = true;
            }
            else
            {
                _doUndock.SetPulseValue(true, resetTime);
                _doDock.SetPulseValue(false, resetTime);
                //_doDock.Value = false;
                //_doUndock.Value = true;
            }
            return true;
        }

        private bool SetSealRelease(bool isSeal)
        {
            if (isSeal)
            {
                _doRelease.SetPulseValue(false, resetTime);
                _doSeal.SetPulseValue(true, resetTime);

                //_doRelease.Value = false;
                //_doSeal.Value = true;
            }
            else
            {
                _doSeal.SetPulseValue(false, resetTime);
                _doRelease.SetPulseValue(true, resetTime);
                //_doSeal.Value = false;
                //_doRelease.Value = true;
            }
            return true;
        }

        private bool SetDoorOpenClose(bool isOpen)
        {
            if (isOpen)
            {
                _doDoorClose.SetPulseValue(false, resetTime);
                _doDoorOpen.SetPulseValue(true, resetTime);

                //_doDoorClose.Value = false;
                //_doDoorOpen.Value = true;
            }
            else
            {
                _doDoorOpen.SetPulseValue(false, resetTime);
                _doDoorClose.SetPulseValue(true, resetTime);

                //_doDoorOpen.Value = false;
                //_doDoorClose.Value = true;
            }
            return true;
        }

        private bool SetLatchOnOff(bool isOn)
        {
            if (isOn)
            {
                _doLatch1Off.SetPulseValue(false, resetTime);
                _doLatch2Off.SetPulseValue(false, resetTime);
                _doLatch1On.SetPulseValue(true, resetTime);
                _doLatch2On.SetPulseValue(true, resetTime);

                //_doLatch1Off.Value = false;
                //_doLatch2Off.Value = false;
                //_doLatch1On.Value = true;
                //_doLatch2On.Value = true;
            }
            else
            {
                _doLatch1On.SetPulseValue(false, resetTime);
                _doLatch2On.SetPulseValue(false, resetTime);
                _doLatch1Off.SetPulseValue(true, resetTime);
                _doLatch2Off.SetPulseValue(true, resetTime);

                //_doLatch1On.Value = false;
                //_doLatch2On.Value = false;
                //_doLatch1Off.Value = true;
                //_doLatch2Off.Value = true;
            }
            return true;
        }

        private bool SetCollisionAvoidanceUpDown(bool isUp)
        {
            if (isUp)
            {
                _doCollisionAvoidanceDown.SetPulseValue(false, resetTime);
                _doCollisionAvoidanceUp.SetPulseValue(true, resetTime);
             

                //_doCollisionAvoidanceDown.Value = false;
                //_doCollisionAvoidanceUp.Value = true;
            }
            else
            {
                _doCollisionAvoidanceUp.SetPulseValue(false, resetTime);
                _doCollisionAvoidanceDown.SetPulseValue(true, resetTime);

                //_doCollisionAvoidanceUp.Value = false;
                //_doCollisionAvoidanceDown.Value = true;
            }
            return true;
        }

        private bool SetN2PurgeValveOpenClose(bool isOpen)
        {
            if (isOpen)
            {
                _doN2PurgeValveClose.SetPulseValue(false, resetTime);
                _doN2PurgeValveOpen.SetPulseValue(true, resetTime);
                //_doN2PurgeValveClose.Value = false;
                //_doN2PurgeValveOpen.Value = true;
            }
            else
            {
                _doN2PurgeValveOpen.SetPulseValue(false, resetTime);
                _doN2PurgeValveClose.SetPulseValue(true, resetTime);

                //_doN2PurgeValveOpen.Value = false;
                //_doN2PurgeValveClose.Value = true;
            }
            return true;
        }

        private bool SetVaccumValveOpen(bool isOpen)
        {
            if (isOpen)
            {
                _doVaccumValveClose.SetPulseValue(false, resetTime);
                _doVaccumValveOpen.SetPulseValue(true, resetTime);

                //_doVaccumValveClose.Value = false;
                //_doVaccumValveOpen.Value = true;
            }
            else
            {
                _doVaccumValveOpen.SetPulseValue(false, resetTime);
                _doVaccumValveClose.SetPulseValue(true, resetTime);

                //_doVaccumValveOpen.Value = false;
                //_doVaccumValveClose.Value = true;
            }
            return true;
        }

        public void SetAlarmReset()
        {
            _doAlarmReset.SetPulseValue(true, 1000);
        }

        public bool Unload(out string reason)
        {
            reason = "";
            _doLoad.SetValue(false, out reason);
            _doHome.SetValue(false, out reason);
            _doUnload.SetValue(true, out reason);
            return true;
        }
        public bool Load(out string reason)
        {
            reason = "";
            _doUnload.SetValue(false, out reason);
            _doHome.SetValue(false, out reason);
            _doLoad.SetValue(true, out reason);
            return true;
        }
        public bool Init(out string reason)
        {
            reason = "";
            _doLoad.SetValue(false, out reason);
            _doUnload.SetValue(false, out reason);
            _doHome.SetValue(true, out reason);
            return true;
        }
        public bool Stop()
        {
            var reason = "";
            _doLoad.SetValue(false, out reason);
            _doUnload.SetValue(false, out reason);
            _doHome.SetValue(false, out reason);
            return true;
        }

        public void SetPauseResume(bool isPause)
        {
            IsPause = isPause;
        }
    }
}