using Aitex.Core.RT.Device;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using Aitex.Sorter.RT.EFEMs.Servers;
using MECF.Framework.Common.Equipment;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;

namespace Aitex.Sorter.RT.EFEMs.Tasks
{
    public class SetClampTask : RobotImp, ITask
    {
        public SetClampTask()
        {
            HasInfoMessage = false;
        }

        public bool Execute(out string result, params string[] args)
        {
            if (args.Length < 2)
            {
                result = PARAM_NG;
                return false;
            }
            string device = DeviceName.Robot;
            if (args[1].StartsWith("ALIGN"))
                device = DeviceName.Aligner;


            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<EMSPolicy>(device, out result))
            {
                return false;
            }

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

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

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

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

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

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

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

            bool isGrip = false;
            if (args[0] == "ON")
            {
                isGrip = true;
            }
            else if (args[0] == "OFF")
            {
                isGrip = false;
            }
            else
            {
                result = PARAM_NG;
                return false;
            }

            if (args[1].StartsWith("ARM"))
            {
                Hand arm = Hand.Blade2;
 
                if (!ParseMoveArm(args[1], out arm) || arm == Hand.Both)
                {
                    result = PARAM_NG;
                    return false;
                }

                if (isGrip)
                {
                    if (!Singleton<EfemEntity>.Instance.EfemDevice.Grip(ModuleName.Robot, arm, out result))
                    {
                        return false;
                    }
                }
                else
                {
                    if (!Singleton<EfemEntity>.Instance.EfemDevice.Release(ModuleName.Robot, arm, out result))
                    {
                        return false;
                    }
 
                }
            }
            else if (args[1].StartsWith("ALIGN"))
            {
                AlignerServerModule serverAligner = (AlignerServerModule)GetEntity(device);
                if (serverAligner != null)
                {
                    if (isGrip)
                    {
                        if (!serverAligner.Grip(out result))
                        {
                            return false;
                        }
                    }
                    else
                    {
                        if (!serverAligner.Release(out result))
                        {
                            return false;
                        }
                    }
                }

            }
            else
            {
                result = PARAM_NG;
                return false;
            }

            return true;
        }

        public bool? Monitor(out string result, params string[] args)
        {
            result = "";
            string device = DeviceName.Robot;
            if (args[1].StartsWith("ALIGN"))
                device = DeviceName.Aligner;

            if (args[1].StartsWith("ARM"))
            {

                Hand arm = Hand.Blade2;

                if (!ParseMoveArm(args[1], out arm) || arm == Hand.Both)
                {
                    result = PARAM_NG;
                    return false;
                }

                Robot robot = DEVICE.GetDevice<Robot>(device);

                if (robot.Error)
                {
                    return false;
                }

                if (!robot.Moving)
                {
                    //if (arm == Hand.Blade1)
                    //    result = robot.StateBlade1Gripped ? "ON" : "OFF";
                    //else if (arm == Hand.Blade2)
                    //    result = robot.StateBlade2Gripped ? "ON" : "OFF";
                    return true;
                }

            }
            else if (args[1].StartsWith("ALIGN"))
            {
                AlignerServerModule serverAligner = (AlignerServerModule)GetEntity(device);
                if (serverAligner != null)
                {
                    if (serverAligner.Error)
                    {
                        return false;
                    }

                    if (!serverAligner.Moving)
                    {

                        return true;
                    }
                }
                else
                {
                    return true;
                }

            }
            else
            {
                return true;
            }


            return null;
        }
    }

    public class GetClampTask : RobotImp, ITask
    {
        public GetClampTask()
        {
        }
        public bool Execute(out string result, params string[] args)
        {
            if (args.Length < 1)
            {
                result = PARAM_NG;
                return false;
            }

            string device = DeviceName.Robot;
            if (args[0].StartsWith("ALIGN"))
                device = DeviceName.Aligner;

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

            if (args[0].StartsWith("ARM"))
            {
                Hand arm = Hand.Blade2;
                Robot robot = DEVICE.GetDevice<Robot>(device);

                if (!ParseMoveArm(args[0], out arm) || arm == Hand.Both)
                {
                    result = PARAM_NG;
                    return false;
                }

                if (!robot.QueryState(out result))
                {
                    return false;
                }

            }
            else if (args[0].StartsWith("ALIGN"))
            {
                ///??? to be done
            }
            else
            {
                result = PARAM_NG;
                return false;
            }

            return true;
        }

        public bool? Monitor(out string result, params string[] args)
        {
            result = string.Empty;

            string device = DeviceName.Robot;
            if (args[0].StartsWith("ALIGN"))
                device = DeviceName.Aligner;
            if (args[0].StartsWith("ARM"))
            {

                Hand arm = Hand.Blade2;

                if (!ParseMoveArm(args[0], out arm) || arm == Hand.Both)
                {
                    result = PARAM_NG;
                    return false;
                }

                Robot robot = DEVICE.GetDevice<Robot>(device);

                if (robot.Error)
                {
                    return false;
                }

                if (!robot.Moving)
                {
                    if (arm == Hand.Blade1)
                        result = robot.StateBlade1Gripped ? "ON" : "OFF";
                    else if (arm == Hand.Blade2)
                        result = robot.StateBlade2Gripped ? "ON" : "OFF";
                    return true;
                }

            }
            else if (args[0].StartsWith("ALIGN"))
            {
                AlignerServerModule serverAligner = (AlignerServerModule)GetEntity(device);
                if (serverAligner != null)
                {
                    if (serverAligner.Error)
                    {
                        return false;
                    }

                    if (!serverAligner.Moving)
                    {
                        result = serverAligner.IsGripped ? "ON" : "OFF";
                        return true;
                    }
                }
                else
                {
                    return true;
                }

            }
            else
            {
                return true;

            }


            return null;
        }
    }
}