using Aitex.Core.RT.Device;
using Aitex.Core.Util;
using Aitex.Sorter.Common;

using Efem;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;

namespace EFEM.RT.Tasks
{
    public class HoldTask : CheckImp, ITask
    {
        public HoldTask()
        {
        }
        public bool Execute(out string result, params string[] args)
        {
            string device = DeviceName.Robot;

            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<EMSPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<ErrorPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<NoMovingPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<HoldPolicy>(device, out result))
            {
                return false;
            }
            if (!Check<MaintenancePolicy>(device, out result))
            {
                return false;
            }
            if (!Check<PowerDownPolicy>(device, out result))
            {
                return false;
            }
            
            RobotBaseDevice robot = DEVICE.GetDevice<RobotBaseDevice>(device);
            if (!robot.IsBusy)
            {
                result = "NOTINMOTION";
                return false;
            }
            if (!robot.Stop( ))
            {
                return false;
            }
            Singleton<EfemEntity>.Instance.SetSystemHold();
            return true;
        }

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

            RobotBaseDevice robot = DEVICE.GetDevice<RobotBaseDevice>(device);
 
            if (robot.IsError)
            {
                return false;
            }

            if (robot.IsReady())
            {
                return true;
            }

            return null;
        }
    }

}