using Aitex.Core.RT.Device;
using athosRT.Devices.EFEM.Task;
using MECF.Framework.Common.Equipment;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace athosRT.Devices.EFEM.ABS
{
    public class ArmExtendPolicy : CheckImp, IPolicy
    {
        public new bool Check(string device, out string reason)
        {
            reason = string.Empty;
            IServerModule entity = GetEntity("Robot");
            RobotBaseDevice device1 = DEVICE.GetDevice<RobotBaseDevice>("Robot");
            //如果robot处于非busy状态 || robot的Blade1/2Target不是device
            if (!entity.Busy || device1.Blade1Target != ModuleHelper.Converter(device) && device1.Blade2Target != ModuleHelper.Converter(device))
            {
                return true;
            }
            else
            {
                reason = "ARMEXTEND";
                return false;
            }
        }
    }
}