using Aitex.Core.Common;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using EFEM.RT.Modules;
using Aitex.Sorter.Common;

using Efem;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;

namespace EFEM.RT.Tasks
{
    public class TransferTask : RobotImp, ITask
    {
        public TransferTask()
        {
        }
        public bool Execute(out string result, params string[] args)
        {
            string device = DeviceName.Robot;
            IServerModule entity = GetEntity(device);
            ModuleName source = ModuleName.System;
            int sourceSlot = 1;

            if (!ParseMoveTarget(args[0], out source, out sourceSlot))
            {
                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;
            }

            ModuleName destination = ModuleName.System;
            int destinationSlot = 1;

            if (!ParseMoveTarget(args[3], out destination, out destinationSlot))
            {
                result = PARAM_NG;
                return false;
            }

            if (ModuleHelper.IsLoadPort(destination))
            {
                OpenStageWithWaferSizeLoadPort lp = DEVICE.GetDevice<OpenStageWithWaferSizeLoadPort>(destination.ToString());
                if (destinationSlot == 1 && lp.WaferSize == WaferSize.WS3)
                {
                    EV.PostWarningLog("EFEM", $"{destination} is 3', slot 1 is disabled");
                    result = PARAM_NG;
                    return false;
                }
            }

            if (ModuleHelper.IsLoadPort(source))
            {
                OpenStageWithWaferSizeLoadPort lp = DEVICE.GetDevice<OpenStageWithWaferSizeLoadPort>(source.ToString());
                if (sourceSlot == 1 && lp.WaferSize == WaferSize.WS3)
                {
                    EV.PostWarningLog("EFEM", $"{source} is 3', slot 1 is disabled");
                    result = PARAM_NG;
                    return false;
                }
            }


            if (ModuleHelper.IsLoadLock(source) && !SC.GetValue<bool>("System.IsLoadLockEnableZMotion"))
            {
                EV.PostWarningLog("Server", $"not support LL z motion, can not TRANS {source}");
                result = PARAM_NG;
                return false;
            }

            if (ModuleHelper.IsLoadLock(destination) && !SC.GetValue<bool>("System.IsLoadLockEnableZMotion"))
            {
                EV.PostWarningLog("Server", $"not support LL z motion, can not TRANS {destination}");
                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 (ModuleHelper.IsLoadPort(source))
            {
                if (!Check<NoWaferMappingCompletedPolicy>(source.ToString(), out result))
                {
                    return false;
                }
            }
            if (ModuleHelper.IsLoadPort(destination))
            {
                if (!Check<NoWaferMappingCompletedPolicy>(destination.ToString(), out result))
                {
                    return false;
                }
            }

            if (!ModuleHelper.IsLoadLock(destination) && !Singleton<WaferManager>.Instance.CheckNoWafer(destination, destinationSlot - 1))
            {
                result = "WAFER";
                return false;
            }

            if (!ModuleHelper.IsLoadLock(source) && !Singleton<WaferManager>.Instance.CheckHasWafer(source, sourceSlot - 1))

            {
                result = "NONWAF";
                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;
            }
            if (!Check<NoWaferMappingCompletedPolicy>(source.ToString(), out result) || !Check<NoWaferMappingCompletedPolicy>(destination.ToString(), out result))
            {
                return false;
            }
            if (!Check<NoPodPolicy>(source.ToString(), out result) || !Check<NoPodPolicy>(destination.ToString(), out result))
            {
                return false;
            }
            if (!Check<ClosePolicy>(source.ToString(), out result) || !Check<ClosePolicy>(destination.ToString(), out result))
            {
                return false;
            }


            //MoveType type = MoveType.Move;
            //MoveOption option =  MoveOption)args[1];
            //Hand blade = (Hand)args[2];
            //ModuleName schamber1 = (ModuleName)args[3];
            //int sslot1 = (int)args[4];
            //ModuleName dchamber1 = (ModuleName)args[5];
            //int dslot1 = (int)args[6];

            //ModuleName schamber2 = (ModuleName)args[3];
            //int sslot2 = (int)args[4];
            //ModuleName dchamber2 = (ModuleName)args[5];
            //int dslot2 = (int)args[6];

            //if (type != MoveType.Move)
            //{
            //    schamber2 = (ModuleName)args[7];
            //    sslot2 = (int)args[8];
            //    dchamber2 = (ModuleName)args[9];
            //    dslot2 = (int)args[10];
            //}

            object[] parameters = new object[7];
            parameters[0] = MoveType.Move;
            parameters[1] = MoveOption.None;
            parameters[2] = pickarm;
            parameters[3] = source;
            parameters[4] = sourceSlot - 1;
            parameters[5] = destination;
            parameters[6] = destinationSlot - 1;
            Singleton<RouteManager>.Instance.InvokeMoveWafer("MoveWafer", parameters);

            return true;
        }
        public bool? Monitor(out string result, params string[] args)
        {
            result = string.Empty;
            RobotBaseDevice _device = DEVICE.GetDevice<RobotBaseDevice>(DeviceName.Robot);


            if (Singleton<RouteManager>.Instance.GetTaskState("MoveWafer") == Result.FAIL)
            {
                result = "MoveFailed";

                return false;
            }

            if (_device.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(DeviceName.Robot, out result);
            }

            if (Singleton<RouteManager>.Instance.Running && !Singleton<RouteManager>.Instance.IsRunning)
                return true;

            return null;
        }
    }



}