using Aitex.Core.RT.Device;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using athosRT.Devices.EFEM.ABS;
using athosRT.Modules;
using athosRT.tool;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using EV = athosRT.tool.EV;

namespace athosRT.Devices.EFEM.Task
{
    public class PickTask : CheckImp, ITask
    {
        public bool Execute(out string result, params string[] args)
        {
            string str = "Robot";
            this.GetEntity(str);
            ModuleName target = ModuleName.System;
            int slot = 1;
            if (!this.ParseMoveTarget(args[0], out target, out slot))
            {
                result = "PARAM_NG";
                return false;
            }
            Hand arm = Hand.Blade2;
            if (!this.ParseMoveArm(args[1], out arm))
            {
                EV.PostWarningLog("Server", args[1] + " not valid arm parameter");
                result = "PARAM_NG";
                return false;
            }
            if (ModuleHelper.IsLoadLock(target) && !SC.GetValue<bool>("System.IsLoadLockEnableZMotion"))
            {
                EV.PostWarningLog("Server", string.Format("not support LL z motion, can not LOAD {0}", (object)target));
                result = "PARAM_NG";
                return false;
            }
            if (!this.MultiWaferSize)
                ;
            if (!this.Check<NoReadyPolicy>(str, out result) || !this.Check<NoInitCompletedPolicy>(str, out result) || !this.Check<NoOriginCompletedPolicy>(str, out result) || !this.Check<VacPolicy>(str, out result) || !this.Check<EMSPolicy>(str, out result) || !this.Check<ErrorPolicy>(str, out result))
                return false;
            if (!this.Check<BusyPolicy>(str, out result))
            {
                LogObject.Warning("PickTask","PickTask " + str + " Busy");
                return false;
            }
            if (!this.Check<ClosePolicy>(str, out result) || !this.Check<NoWaferMappingCompletedPolicy>(str, out result) || !this.Check<NoPodPolicy>(str, out result))
                return false;
            if (!ModuleHelper.IsLoadLock(target) && !Singleton<WaferManager>.Instance.CheckHasWafer(target, slot - 1))
            {
                result = "NONWAF";
                return false;
            }
            if (ModuleHelper.IsLoadPort(target) && !this.Check<ErrorPolicy>(target.ToString(), out result))
                return false;
            switch (arm)
            {
                case Hand.Blade1:
                    if (!Singleton<WaferManager>.Instance.CheckNoWafer(ModuleName.Robot, 0))
                    {
                        result = "WAFER";
                        return false;
                    }
                    break;
                case Hand.Blade2:
                    if (!Singleton<WaferManager>.Instance.CheckNoWafer(ModuleName.Robot, 1))
                    {
                        result = "WAFER";
                        return false;
                    }
                    break;
                default:
                    if (!Singleton<WaferManager>.Instance.CheckNoWafer(ModuleName.Robot, 0))
                    {
                        result = "WAFER";
                        return false;
                    }
                    if (!Singleton<WaferManager>.Instance.CheckNoWafer(ModuleName.Robot, 1))
                    {
                        result = "WAFER";
                        return false;
                    }
                    break;
            }
            if (!this.Check<HoldPolicy>(str, out result) || !this.Check<RemovePolicy>(str, out result) || !this.Check<MaintenancePolicy>(str, out result) || !this.Check<LinkPolicy>(str, out result) || !this.Check<PowerDownPolicy>(str, out result))
                return false;
            if (!Singleton<RouteManager1>.Instance.IsIdle)
            {
                LogObject.Warning("PickTask", "PickTask RouteManager is Busy");
                result = "BUSY";
                return false;
            }
            this._token = Singleton<RouteManager1>.Instance.Invoke("Pick", new object[3]
            {
        (object) target.ToString(),
        (object) (slot - 1),
        (object) arm
            });
            return true;
        }

        public bool? Monitor(out string result, params string[] args)
        {
            result = string.Empty;
            RobotBaseDevice device = DEVICE.GetDevice<RobotBaseDevice>("Robot");
            if (device.IsError)
            {
                this.flag1 = ErrorCheckList1.VAC | ErrorCheckList1.AIR | ErrorCheckList1.STALL | ErrorCheckList1.LIMIT | ErrorCheckList1.SENSOR | ErrorCheckList1.POSITION | ErrorCheckList1.EMS | ErrorCheckList1.COMM | ErrorCheckList1.COMM2 | ErrorCheckList1.VACON | ErrorCheckList1.VACOFF | ErrorCheckList1.CLAMPON | ErrorCheckList1.CLAMPOF;
                this.flag2 = ErrorCheckList2.RRTWAF | ErrorCheckList2.CRSWAF | ErrorCheckList2.THICKWAF | ErrorCheckList2.THINWAF | ErrorCheckList2.DBLWAF | ErrorCheckList2.BAOWAF | ErrorCheckList2.COMMAND | ErrorCheckList2.PODNG | ErrorCheckList2.PODMISMATCH | ErrorCheckList2.VAC_S | ErrorCheckList2.CLAMP_S | ErrorCheckList2.SAFTY | ErrorCheckList2.LOCKNG | ErrorCheckList2.UNLOCKNG | ErrorCheckList2.L_KEY_LK | ErrorCheckList2.L_KEY_UL;
                this.flag3 = ErrorCheckList3.MAP_S | ErrorCheckList3.MAP_S1 | ErrorCheckList3.MAP_S2 | ErrorCheckList3.WAFLOST | ErrorCheckList3.ALIGNNG | ErrorCheckList3.DRIVER | ErrorCheckList3.DRPOWERDOWN | ErrorCheckList3.HARDWARE | ErrorCheckList3.INTERNAL | ErrorCheckList3.E84_TIMEOUTx | ErrorCheckList3.E84_CS_VALID | ErrorCheckList3.READFAIL;
                return new bool?(this.CheckError("Robot", out result));
            }
            return Singleton<RouteManager1>.Instance.IsIdle && device.IsReady() && Singleton<RouteManager1>.Instance.CheckAcked(this._token) ? new bool?(true) : new bool?();
        }
    }
}