using System;
using System.Collections.Generic;
using System.Diagnostics;
using Aitex.Core.Common;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Device.Unit;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Utilities;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Alarms;
using MECF.Framework.Common.Device.Bases;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Event;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;
using FurnaceRT.Equipments.Systems;
using FurnaceRT.Devices;
using Aitex.Core.Util;

namespace FurnaceRT.Equipments.LPs
{
    public class LoadPortReadCarrierId : ModuleRoutine, IRoutine
    {
        enum RoutineStep
        {
            ReadCarrierId,
        }

        private int _timeout = 0;

        private LoadPortModule _lpModule;

        public LoadPortReadCarrierId(LoadPortModule lpModule)
        {
            _lpModule = lpModule;
            Module = lpModule.Module;

            Name = "ReadCarrierId";
        }


        public bool Initalize()
        {
            return true;
        }

        public Result Start(params object[] objs)
        {
            Reset();

            _timeout = SC.GetValue<int>($"LoadPort.{Module}.MotionTimeout");

            Notify($"Start");

            return Result.RUN;
        }

        public void Abort()
        {

        }


        public Result Monitor()
        {
            try
            {
                ReadCarrierId((int)RoutineStep.ReadCarrierId, _timeout);
            }
            catch (RoutineBreakException)
            {
                return Result.RUN;
            }
            catch (RoutineFaildException)
            {
                return Result.FAIL;
            }

            Notify("Finished");
            return Result.DONE;
        }


        public void ReadCarrierId(int id, int timeout)
        {
            Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
            {
                Notify($"Start read carrier id {Module}");

                if (!_lpModule.LPDevice.ReadCarrierID())
                {
                    Stop("ReadCarrierID failed");
                    return false;
                }
                return true;
            }, () =>
            {
                //if (_lp.CurrentState == LoadPortStateEnum.Error && !_lp.IsBusy)
                //    return false;
                //if (_lp.IsReady() && !_lp.ReadCarrierIDError)
                //    return true;
                return true;
            }, timeout * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    Stop(string.Format("failed."));
                    throw (new RoutineFaildException());
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    Stop(string.Format("timeout, can not complete in {0} seconds", timeout));
                    throw (new RoutineFaildException());
                }
                else
                    throw (new RoutineBreakException());
            }
        }
    }
}