using Aitex.Core.RT.Device;
using Aitex.Core.RT.Routine;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Utilities;
using CyberX8_Core;
using CyberX8_RT.Devices.AXIS;
using CyberX8_RT.Devices.PUF;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using CyberX8_RT.Devices.Safety;
using Aitex.Core.RT.Log;

namespace CyberX8_RT.Modules.PUF
{
    public class PufHomeAllRoutine : ModuleRoutineBase, IRoutine
    {
        private enum PufHomeAllStep
        {
            CheckSafety,
            CheckWafer,
            VerticalHome,
            CheckVerticalHome,
            VerticalPark,
            VerticalParkWait,
            RotationHome,
            CheckRotationHome,
            RotationPark,
            RotationParkWait,
            FlipHome,
            CheckFlipHome,
            FlipSideA,
            FlipSideAWait,
            End
        }
        #region 内部变量
        private JetAxisBase _flipAxis;
        private JetAxisBase _rotationAxis;
        private JetAxisBase _verticalAxis;
        private PUFEntity _pufEntity;
        #endregion
        public PufHomeAllRoutine(ModuleName module,PUFEntity pufEntity) : base(module)
        {
            _flipAxis = DEVICE.GetDevice<JetAxisBase>($"{module}.Flip");
            _rotationAxis = DEVICE.GetDevice<JetAxisBase>($"{module}.Rotation");
            _verticalAxis = DEVICE.GetDevice<JetAxisBase>($"{module}.Vertical");
            _pufEntity = pufEntity;
            Name = "Home";
        }

        public void Abort()
        {
            Runner.Stop("Manual Abort");
        }

        public RState Monitor()
        {
            Runner.Run(PufHomeAllStep.CheckSafety,CheckSafety,_delay_1ms)
                .Run(PufHomeAllStep.CheckWafer, () => { return !_pufEntity.SideAWaferPresent && !_pufEntity.SideBWaferPresent; },NullFun,100)
                .Run(PufHomeAllStep.VerticalHome, VerticalAxisHome, _delay_1ms)
                .WaitWithStopCondition(PufHomeAllStep.CheckVerticalHome, CheckVerticalPositionStatus, CheckVerticalPositionRunStop)
                .Run(PufHomeAllStep.VerticalPark, () => { return _verticalAxis.PositionStation("Park", true); },NullFun,100)
                .WaitWithStopCondition(PufHomeAllStep.VerticalParkWait,CheckVerticalPositionStatus, CheckVerticalPositionRunStop)
                .Run(PufHomeAllStep.RotationHome, RotationAxisHome, _delay_1ms)
                .WaitWithStopCondition(PufHomeAllStep.CheckRotationHome, CheckRotationPositionStatus, CheckRotationPositionRunStop)
                .Run(PufHomeAllStep.RotationPark, () => { return _rotationAxis.PositionStation("Park",true); }, NullFun, 100)
                .WaitWithStopCondition(PufHomeAllStep.RotationParkWait, CheckRotationPositionStatus, CheckRotationPositionRunStop)
                .Run(PufHomeAllStep.FlipHome, FlipAxisHome, _delay_1ms)
                .WaitWithStopCondition(PufHomeAllStep.CheckFlipHome, CheckFlipPositionStatus, CheckFlipPositionRunStop)
                .Run(PufHomeAllStep.FlipSideA, () => { return _flipAxis.PositionStation("SideA", true); }, NullFun, 100)
                .WaitWithStopCondition(PufHomeAllStep.FlipSideAWait, CheckFlipPositionStatus, CheckFlipPositionRunStop)
                .End(PufHomeAllStep.End,NullFun);

            return Runner.Status; 
        }
        /// <summary>
        /// 检验Safety
        /// </summary>
        /// <returns></returns>
        private bool CheckSafety()
        {
            SafetyDevice safetyDevice = DEVICE.GetDevice<SafetyDevice>("Safety");
            if (safetyDevice == null)
            {
                LOG.WriteLog(eEvent.ERR_PUF, Module.ToString(), "Safety device is null");
                return false;
            }
            if (safetyDevice.SafetyData.TwincatState != 8)
            {
                LOG.WriteLog(eEvent.ERR_PUF, Module.ToString(), "Twincat Status is not OP status");
                return false;
            }
            if (safetyDevice.SafetyData.LoaderPufCommErr)
            {
                LOG.WriteLog(eEvent.ERR_PUF, Module.ToString(), "Twincat Puf Communication status is error");
                return false;
            }
            if (safetyDevice.SafetyData.LoaderPufFunctionBlockErr)
            {
                LOG.WriteLog(eEvent.ERR_PUF, Module.ToString(), "Twincat Puf function block status is error");
                return false;
            }
            return true;
        }
        /// <summary>
        /// Flip Home
        /// </summary>
        /// <returns></returns>
        private bool FlipAxisHome()
        {
            return _flipAxis.Home();
        }
        /// <summary>
        /// 检验Flip home状态
        /// </summary>
        /// <returns></returns>
        private bool CheckFlipHome()
        {
            return _flipAxis.IsHomed && _flipAxis.Status == RState.End;
        }
        /// <summary>
        /// 检验Flip移动状态
        /// </summary>
        /// <returns></returns>
        private bool CheckFlipPositionStatus()
        {
            return _flipAxis.Status == RState.End;
        }
        /// <summary>
        /// 检验Flip是否还在运动
        /// </summary>
        /// <returns></returns>
        private bool CheckFlipPositionRunStop()
        {
            return _flipAxis.Status == RState.Failed;
        }
        /// <summary>
        /// rotation home
        /// </summary>
        /// <returns></returns>
        private bool RotationAxisHome()
        {
            return _rotationAxis.Home();
        }
        /// <summary>
        /// rotation Home状态
        /// </summary>
        /// <returns></returns>
        private bool CheckRotationHome()
        {
            return _rotationAxis.IsHomed&&_rotationAxis.Status==RState.End;
        }
        /// <summary>
        /// 检验Rotation移动状态
        /// </summary>
        /// <returns></returns>
        private bool CheckRotationPositionStatus()
        {
            return _rotationAxis.Status == RState.End;
        }
        /// <summary>
        /// 检验Rotation是否还在运动
        /// </summary>
        /// <returns></returns>
        private bool CheckRotationPositionRunStop()
        {
            return _rotationAxis.Status == RState.Failed;
        }
        /// <summary>
        /// Vertical Home
        /// </summary>
        /// <returns></returns>
        private bool VerticalAxisHome()
        {
            return _verticalAxis.Home();
        }
        /// <summary>
        /// 检验Vertical Home状态
        /// </summary>
        /// <returns></returns>
        private bool CheckVerticalHome()
        {
            return _verticalAxis.IsHomed&&_verticalAxis.Status==RState.End;
        }
        /// <summary>
        /// 检验Vertical移动状态
        /// </summary>
        /// <returns></returns>
        private bool CheckVerticalPositionStatus()
        {
            return _verticalAxis.Status == RState.End;
        }
        /// <summary>
        /// 检验Vertical是否还在运动
        /// </summary>
        /// <returns></returns>
        private bool CheckVerticalPositionRunStop()
        {
            return _verticalAxis.Status==RState.Failed;
        }
        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            Runner.Start(Module, Name);
            return RState.Running;
        }
    }
}