using Aitex.Core.RT.Device;
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 ExchangeTask : RobotImp, ITask
    {
        public ExchangeTask()
        {
        }
        public bool Execute(out string result, params string[] args)
        {
            string device = DeviceName.Robot;
            IServerModule entity = GetEntity(device);
            ModuleName target = ModuleName.System;
            int slot = 1;

            if (RobotIsSingleArm)   //don't support
            {
                result = PARAM_NG;
                return false;
            }

            if (!ParseMoveTarget(args[0], out target, out slot))
            {
                result = PARAM_NG;
                return false;
            }

            Hand placearm = Hand.Blade2;
            if (!ParseMoveArm(args[1], out placearm))
            {
                result = PARAM_NG;
                return false;
            }
            Hand pickarm = Hand.Blade2;
            if (!ParseMoveArm(args[2], out pickarm))
            {
                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<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<RemovePolicy>(device, out result))
            {
                return false;
            }
            if (!Check<MaintenancePolicy>(device, out result))
            {
                return false;
            }
            if (!Check<LinkPolicy>(device, out result))
            {
                return false;
            }

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

            Robot _device = DEVICE.GetDevice<Robot>(device);
           if (!_device.Exchange(target, slot-1, placearm, out result))
            {
                return false;
            }
            return true;
        }
        public bool? Monitor(out string result, params string[] args)
        {
            result = string.Empty;
            Robot _device = DEVICE.GetDevice<Robot>(DeviceName.Robot);
            if (_device.Error)
            {
                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(DeviceName.Robot, out result);
            }

            if (!_device.Moving)
                return true;

            return null;
        }
    }



}