using Aitex.Core.RT.Device;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using Efem;
using MECF.Framework.Common.Equipment;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;
using System.Threading;

using Efem.Protocol;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
using Aitex.Core.RT.SCCore;

namespace EFEM.RT.Tasks
{
    public class OpenTask : CheckImp, ITask
    {
        public OpenTask()
        {
        }
        public bool Execute(out string result, params string[] args)
        {
            string device = Args2Unit(args.Length > 0 ? args[0] : string.Empty);
            SystemServerModule entity = (SystemServerModule)GetEntity(DeviceName.System);
            if (entity == null)
            {
                result = PARAM_NG;
                return false;
            }

            if (!Check<NoReadyPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<NoInitCompletedPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<NoOriginCompletedPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<VacPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<AirPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<EMSPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<ErrorPolicy>(device, out result))
            {
                return false;
            }
            var LPRobotActionIntervene = SC.GetValue<bool>("System.LPRobotActionIntervene");
            if (LPRobotActionIntervene)
            {
                if (!Check<BusyPolicy>(device, out result))
                {
                    return false;
                }
            }

            if (DeviceDefineManager.Instance.GetValue<bool>("WAFSHEnable") == false && LPRobotActionIntervene && !Check<BusyPolicy>(DeviceName.Robot, out result))
            {
                return false;
            }

            if (!Check<HoldPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<RemovePolicy>(device, out result))
            {
                return false;
            }
            if (!Check<MaintenancePolicy>(device, out result))
            {
                return false;
            }
            if (!Check<LinkPolicy>(device, out result))
            {
                return false;
            }
            if (DeviceDefineManager.Instance.GetValue<bool>("WAFSHEnable") == false && !Check<ArmExtendPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<PowerDownPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<NoPosPolicy>(device, out result))
            {
                return false;
            }

            if (!Check<NoPodPolicy>(device, out result))
            {
                return false;
            }
            if (Check<ClosePolicy>(device, out result))
            {
                return false;
            }

            //if (DeviceDefineManager.Instance.GetValue<bool>("WAFSHEnable")==false)
            //{
            //    result = "This device doesn't support mapping.";
            //    return false;

            //}

            if (!DEVICE.GetDevice<LoadPortBaseDevice>(device).IsMapWaferByLoadPort && DeviceDefineManager.Instance.GetValue<bool>("WAFSHEnable") == false)
            {
                if (!entity.MapWafer(device, out result))
                {
                    return false;
                }
            }
            else
            {
                LoadPortServerModule lpEntity = (LoadPortServerModule)GetEntity(device);
                if (lpEntity == null)
                {
                    result = PARAM_NG;
                    return false;
                }

                //if (!lpEntity.QueryWaferMap(out result))
                if (!lpEntity.Open(out result))
                {
                    return false;
                }
            }

            return true;
        }
        public bool? Monitor(out string result, params string[] args)
        {
            result = string.Empty;
            string device = Args2Unit(args.Length > 0 ? args[0] : string.Empty);

            LoadPortBaseDevice _loadport = DEVICE.GetDevice<LoadPortBaseDevice>(device);
            RobotBaseDevice _robot = DEVICE.GetDevice<RobotBaseDevice>(DeviceName.Robot);
            if (_loadport.CurrentState == LoadPortStateEnum.Error && _loadport.MapError)
            {
                result = "Slot Map Error";
                Singleton<EfemEntity>.Instance.SendMapEvent(_loadport);
                return false;
            }
            if (_loadport.IsError || _robot.IsError)
            {
                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;
                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;

                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 CheckError(device, out result);
            }

            SystemServerModule entity = (SystemServerModule)GetEntity(DeviceName.System);

            if (_loadport.IsReady() && _loadport.IsMapped&& !entity.Busy && _loadport.DockState== FoupDockState.Docked)
            {
                Singleton<EfemEntity>.Instance.SendMapEvent(_loadport);
                //if (_loadport.MapError)
                //    _loadport.OnError("MappingError");
                return true;
            }

            return null;
        }

        public bool Ack(EfemCommandType type, EfemCommand cmd, params string[] args)
        {
            return cmd == EfemCommand.WAFSH;
        }
    }



}