using System;

namespace SHARP_CLAS_UI
{
    public class AoiStage : AoiStageUnit
    {
        #region Enum
        private enum StageSteps
        {
            S0000_WAIT,

            S9000_SCRAP_START,
            S9100_VACUUM_OFF,
            S9110_DATA_SET,
            S9999_SCRAP_END,
        }
        #endregion

        #region Property
        public bool IsPlaceEnable
        {
            get
            {
                if(IsExist == false && Step == AoiStageSteps.S1200_PANEL_EXIST_CHECK)
                {
                    return true;
                }
                else
                {
                    return false;
                }
            }
        }

        public bool IsPickEnable
        {
            get
            {
                if(IsExist && Step == AoiStageSteps.S3200_PANEL_EMPTY_CHECK)
                {
                    return true;
                }
                else
                {
                    return false;
                }
            }
        }

        public bool IsMeasurementEnable
        {
            get
            {
                if(step == AoiStageSteps.S2100_MEASUREMENT_CHECK)
                {
                    return true;
                }
                else
                {
                    return false;
                }
            }
        }
        
        public bool IsMotorT1LoadPosition
        {
            get
            {
                object value;
                double position;

                if (equipment.Cur_Main_Recipe.tray_info.AOI_Before_CW == En_AOI_CW.CW_0)
                {
                    equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_1_T_0_Position, out value);
                    position = double.Parse($"{value}");
                }
                else if (equipment.Cur_Main_Recipe.tray_info.AOI_Before_CW == En_AOI_CW.CW_90)
                {
                    equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_1_T_90_Position, out value);
                    position = double.Parse($"{value}");
                }
                else
                {
                    equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_1_T_180_Position, out value);
                    position = double.Parse($"{value}");
                }

                return MotorT1.Is_Inposition(position + equipment.Cur_Main_Recipe.vision_info.AOI_Before_Left_T, equipment.Setting.Inposition_Offset);
            }
        }

        public bool IsMotorT2LoadPosition
        {
            get
            {
                object value;
                double position;

                if (equipment.Cur_Main_Recipe.tray_info.AOI_Before_CW == En_AOI_CW.CW_0)
                {
                    equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_2_T_0_Position, out value);
                    position = double.Parse($"{value}");
                }
                else if (equipment.Cur_Main_Recipe.tray_info.AOI_Before_CW == En_AOI_CW.CW_90)
                {
                    equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_2_T_90_Position, out value);
                    position = double.Parse($"{value}");
                }
                else
                {
                    equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_2_T_180_Position, out value);
                    position = double.Parse($"{value}");
                }

                return MotorT2.Is_Inposition(position + equipment.Cur_Main_Recipe.vision_info.AOI_Before_Right_T, equipment.Setting.Inposition_Offset);
            }
        }

        public bool IsMotorT1UnloadPosition
        {
            get
            {
                object value;
                double position;

                if (equipment.Cur_Main_Recipe.tray_info.AOI_After_CW == En_AOI_CW.CW_0)
                {
                    equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_1_T_0_Position, out value);
                    position = double.Parse($"{value}");
                }
                else if (equipment.Cur_Main_Recipe.tray_info.AOI_After_CW == En_AOI_CW.CW_90)
                {
                    equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_1_T_90_Position, out value);
                    position = double.Parse($"{value}");
                }
                else
                {
                    equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_1_T_180_Position, out value);
                    position = double.Parse($"{value}");
                }

                return MotorT1.Is_Inposition(position + equipment.Cur_Main_Recipe.vision_info.AOI_After_Left_T, equipment.Setting.Inposition_Offset);
            }
        }

        public bool IsMotorT2UnloadPosition
        {
            get
            {
                object value;
                double position;

                if (equipment.Cur_Main_Recipe.tray_info.AOI_After_CW == En_AOI_CW.CW_0)
                {
                    equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_2_T_0_Position, out value);
                    position = double.Parse($"{value}");
                }
                else if (equipment.Cur_Main_Recipe.tray_info.AOI_After_CW == En_AOI_CW.CW_90)
                {
                    equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_2_T_90_Position, out value);
                    position = double.Parse($"{value}");
                }
                else
                {
                    equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_2_T_180_Position, out value);
                    position = double.Parse($"{value}");
                }

                return MotorT2.Is_Inposition(position + equipment.Cur_Main_Recipe.vision_info.AOI_After_Right_T, equipment.Setting.Inposition_Offset);
            }
        }

        public double MotorT1LoadPosition
        {
            get
            {
                object value;
                double position;

                if (equipment.Cur_Main_Recipe.tray_info.AOI_Before_CW == En_AOI_CW.CW_0)
                {
                    equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_1_T_0_Position, out value);
                    position = double.Parse($"{value}");
                }
                else if (equipment.Cur_Main_Recipe.tray_info.AOI_Before_CW == En_AOI_CW.CW_90)
                {
                    equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_1_T_90_Position, out value);
                    position = double.Parse($"{value}");
                }
                else
                {
                    equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_1_T_180_Position, out value);
                    position = double.Parse($"{value}");
                }

                return position + equipment.Cur_Main_Recipe.vision_info.AOI_Before_Left_T;
            }
        }

        public double MotorT2LoadPosition
        {
            get
            {
                object value;
                double position;

                if (equipment.Cur_Main_Recipe.tray_info.AOI_Before_CW == En_AOI_CW.CW_0)
                {
                    equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_2_T_0_Position, out value);
                    position = double.Parse($"{value}");
                }
                else if (equipment.Cur_Main_Recipe.tray_info.AOI_Before_CW == En_AOI_CW.CW_90)
                {
                    equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_2_T_90_Position, out value);
                    position = double.Parse($"{value}");
                }
                else
                {
                    equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_2_T_180_Position, out value);
                    position = double.Parse($"{value}");
                }

                return position + equipment.Cur_Main_Recipe.vision_info.AOI_Before_Right_T;
            }
        }

        public double MotorT1UnloadPosition
        {
            get
            {
                object value;
                double position;

                if (equipment.Cur_Main_Recipe.tray_info.AOI_After_CW == En_AOI_CW.CW_0)
                {
                    equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_1_T_0_Position, out value);
                    position = double.Parse($"{value}");
                }
                else if (equipment.Cur_Main_Recipe.tray_info.AOI_After_CW == En_AOI_CW.CW_90)
                {
                    equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_1_T_90_Position, out value);
                    position = double.Parse($"{value}");
                }
                else
                {
                    equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_1_T_180_Position, out value);
                    position = double.Parse($"{value}");
                }

                return position + equipment.Cur_Main_Recipe.vision_info.AOI_After_Left_T;
            }
        }

        public double MotorT2UnloadPosition
        {
            get
            {
                object value;
                double position;

                if (equipment.Cur_Main_Recipe.tray_info.AOI_After_CW == En_AOI_CW.CW_0)
                {
                    equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_2_T_0_Position, out value);
                    position = double.Parse($"{value}");
                }
                else if (equipment.Cur_Main_Recipe.tray_info.AOI_After_CW == En_AOI_CW.CW_90)
                {
                    equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_2_T_90_Position, out value);
                    position = double.Parse($"{value}");
                }
                else
                {
                    equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_2_T_180_Position, out value);
                    position = double.Parse($"{value}");
                }

                return position + equipment.Cur_Main_Recipe.vision_info.AOI_After_Right_T;
            }
        }

        public override bool IsWorkEnd
        {
            get
            {
                if (Step == AoiStageSteps.S0000_WAIT)
                {
                    return true;
                }
                else
                {
                    return false;
                }
            }
        }

        public override bool IsStayPosition
        {
            get
            {
                if (IsMotorT1LoadPosition && IsMotorT2LoadPosition)
                {
                    return true;
                }
                else
                {
                    return false;
                }
            }
        }

        public override Panel_Info Panel1
        {
            get
            {
                return Panel_Info_Manager.Instance.Get_Panel_Info(Panel_Info_Names.AOI_Stage_1);
            }
            set
            {
                Panel_Info_Manager.Instance.Set_Panel_Info(Panel_Info_Names.AOI_Stage_1, value);
            }
        }

        public override Panel_Info Panel2
        {
            get
            {
                return Panel_Info_Manager.Instance.Get_Panel_Info(Panel_Info_Names.AOI_Stage_2);
            }
            set
            {
                Panel_Info_Manager.Instance.Set_Panel_Info(Panel_Info_Names.AOI_Stage_2, value);
            }
        }

        public AoiStageSteps Step
        {
            get
            {
                return step;
            }

            set
            {
                step = value;
            }
        }
        #endregion

        #region Field
        private AoiStageSteps step;
        private AoiStageSteps _oldStep;
        public AoiStageHomeSteps _homeStpe;

        private StageSteps _stage1Step;
        private StageSteps _stage2Step;
        
        public Time_Checker Tact_Move = new Time_Checker();
        #endregion

        #region Construct 
        public AoiStage(Equipment equipment) : base(equipment, MotorAxis.AOI_Stage_T_1, MotorAxis.AOI_Stage_T_2)
        {
            Step = AoiStageSteps.S0000_WAIT;
            _oldStep = AoiStageSteps.S0000_WAIT;

            Stage1.Initialize(OutputData.AOI_Stage_1_Vaccum_On_Sol_Valve, OutputData.AOI_Stage_1_Blow_On_Sol_Valve, InputData.AOI_Stage_1_Vaccum_On_Check, En_Alarm_List.AL_0850_AOI_STAGE_1_VACUUM_ON_CHECK);
            Stage2.Initialize(OutputData.AOI_Stage_2_Vaccum_On_Sol_Valve, OutputData.AOI_Stage_2_Blow_On_Sol_Valve, InputData.AOI_Stage_2_Vaccum_On_Check, En_Alarm_List.AL_0851_AOI_STAGE_2_VACUUM_ON_CHECK);

            pauseDisableList.Add(AoiStageSteps.S1110_POSITION_CHECK);
            pauseDisableList.Add(AoiStageSteps.S3110_POSITION_CHECK);

            MotorT1.Check_Jog_Interlock = Jog_Interlock;
            MotorT1.Check_Move_Interlock = Move_Interlock;
            MotorT2.Check_Jog_Interlock = Jog_Interlock;
            MotorT2.Check_Move_Interlock = Move_Interlock;
        }
        #endregion

        #region Function
        private bool Move_Interlock()
        {
            if (equipment.User.Level != En_User_Level.Master && equipment.Door_Opened)
            {
                return true;
            }

            return false;
        }

        private bool Jog_Interlock(bool positive)
        {
            if (equipment.User.Level != En_User_Level.Master && equipment.Door_Opened)
            {
                return true;
            }

            return false;
        }

        public void Init_Seq()
        {
            Step = AoiStageSteps.S0000_WAIT;
            _homeStpe = AoiStageHomeSteps.S0000_WAIT;

            Tact_Move.Reset();
        }

        public void ExecuteAuto()
        {
            if (Step == AoiStageSteps.S0000_WAIT)
            {
                if(equipment.after.Handler2.Picker1.IsUp == false || equipment.after.Handler2.Picker2.IsUp == false
                    || equipment.after.ReverseStage.IsStayPosition == false)
                {
                    return;
                }

                if (IsExist)
                {
                    if(equipment.Mode.Measurement_Skip || ((Stage1.IsExist == false || Panel1.Measurement_Ack) && (Stage2.IsExist == false || Panel2.Measurement_Ack)))
                    {
                        Step = AoiStageSteps.S3000_PANEL_UNLOAD_START;
                    }
                    else
                    {
                        Step = AoiStageSteps.S2000_MEASUREMENT_START;
                    }
                }
                else
                {
                    Step = AoiStageSteps.S1000_PANEL_LOAD_START;
                }
            }
        }

        public override void MonitoringStatus()
        {
            if (UnitMode == En_Equipment_Mode.Auto || UnitMode == En_Equipment_Mode.Manual)
            {
                if (Stage1.IsWorkEnd && Stage1.VacuumSolOn == true && Stage1.IsVacuumSensor == false)
                {
                    Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0850_AOI_STAGE_1_VACUUM_ON_CHECK);
                }

                if (Stage2.IsWorkEnd && Stage2.VacuumSolOn == true && Stage2.IsVacuumSensor == false)
                {
                    Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0851_AOI_STAGE_2_VACUUM_ON_CHECK);
                }
            }
            
            if (equipment.User.Level != En_User_Level.Master && equipment.Door_Opened)
            {
                if (MotorT1.MotionComplete == false)
                {
                    MotorT1.Move_Stop();
                }

                if (MotorT2.MotionComplete == false)
                {
                    MotorT2.Move_Stop();
                }
            }
        }

        public override void ExecuteStep()
        {
            if (_oldStep != Step)
            {
                sequenceChangedTime.Restart();
                _oldStep = Step;
                WriteSequenceLog(Step.ToString());
            }

            Stage1.ExecuteProcess();
            Stage2.ExecuteProcess();

            Seq_Stage1Step();
            Seq_Stage2Step();

            if (UnitMode == En_Equipment_Mode.Stop)
            {
                Init_Seq();
                isHomeComplete = false;
                return;
            }
            else if (UnitMode == En_Equipment_Mode.Pause)
            {
                sequenceChangedTime.Stop();
                return;
            }
            else if (UnitMode == En_Equipment_Mode.Home)
            {
                if (IsHomeComplete == false)
                {
                    ExecuteHome();
                }

                return;
            }
            if (UnitMode == En_Equipment_Mode.Auto || UnitMode == En_Equipment_Mode.Manual)
            {
                sequenceChangedTime.Start();

                if (equipment.equip_mode == En_Equipment_Mode.Pause)
                {
                    if (pauseDisableList.Contains(Step) == false)
                    {
                        UnitMode = En_Equipment_Mode.Pause;
                        return;
                    }
                }

                if (UnitMode == En_Equipment_Mode.Auto)
                {
                    ExecuteAuto();
                }

                Seq_Load();
                Seq_Measurement();
                Seq_Unload();
            }
        }
        
        public void ExecuteHome()
        {
            switch(_homeStpe)
            {
                case AoiStageHomeSteps.S0000_WAIT:
                    {
                        _homeStpe = AoiStageHomeSteps.S1000_STATUS_CHECK;
                        break;
                    }
                case AoiStageHomeSteps.S1000_STATUS_CHECK:
                    {
                        if (MotorT1.ErrorStop || MotorT2.ErrorStop)
                        {
                            if (MotorT1.ErrorStop)
                            {
                                Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0351_AOI_STAGE_T_1_ERROR_STOP);
                            }

                            if (MotorT2.ErrorStop)
                            {
                                Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0361_AOI_STAGE_T_2_ERROR_STOP);
                            }
                        }
                        else if (!MotorT1.PowerOn || !MotorT2.PowerOn)
                        {
                            if (!MotorT1.PowerOn)
                            {
                                Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0350_AOI_STAGE_T_1_POWER_OFF);
                            }

                            if (!MotorT2.PowerOn)
                            {
                                Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0360_AOI_STAGE_T_2_POWER_OFF);
                            }
                        }
                        else
                        {
                            _homeStpe = AoiStageHomeSteps.S2000_T_HOME_START;
                        }
                        break;
                    }
                case AoiStageHomeSteps.S2000_T_HOME_START:
                    {
                        if (MotorT1.Home())
                        {
                            if (MotorT2.Home())
                            {
                                homeCheckedTime.Restart();
                                _homeStpe = AoiStageHomeSteps.S2100_T_HOME_CHECK;
                            }
                        }
                        break;
                    }
                case AoiStageHomeSteps.S2100_T_HOME_CHECK:
                    {
                        if (homeCheckedTime.Seconds < 1) return;

                        if (!MotorT1.IsHomed || !MotorT2.IsHomed)
                        {
                            if (MotorT1.Homing == false && MotorT1.ErrorStop)
                            {
                                Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0351_AOI_STAGE_T_1_ERROR_STOP);
                            }

                            if (MotorT2.Homing == false && MotorT2.ErrorStop)
                            {
                                Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0361_AOI_STAGE_T_2_ERROR_STOP);
                            }
                        }
                        else
                        {
                            _homeStpe = AoiStageHomeSteps.S3000_MOVE_0_DEG;
                        }
                        break;
                    }
                case AoiStageHomeSteps.S3000_MOVE_0_DEG:
                    {
                        if(Move_T_1_Deg_0_Position())
                        {
                            if (Move_T_2_Deg_0_Position())
                            {
                                homeCheckedTime.Restart();
                                _homeStpe = AoiStageHomeSteps.S3100_POSITION_CHECK;
                            }
                        }
                        break;
                    }
                case AoiStageHomeSteps.S3100_POSITION_CHECK:
                    {
                        if (homeCheckedTime.Seconds < 1) return;

                        if (MotorT1.ErrorStop || MotorT2.ErrorStop)
                        {
                            if (MotorT1.ErrorStop)
                            {
                                Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0351_AOI_STAGE_T_1_ERROR_STOP);
                            }

                            if (MotorT2.ErrorStop)
                            {
                                Alarm_Manager.Instance.Occurred(En_Alarm_List.AL_0361_AOI_STAGE_T_2_ERROR_STOP);
                            }
                        }
                        else if (MotorT1.MotionComplete && MotorT2.MotionComplete)
                        {
                            if (Get_Is_Position_T_1_Deg_0() && Get_Is_Position_T_2_Deg_0())
                            {
                                _homeStpe = AoiStageHomeSteps.S9999_END;
                            }
                            else
                            {
                                if (Get_Is_Position_T_1_Deg_0())
                                {
                                    Interlock_Manager.Add_Interlock_Msg("AOI Stage 1 Home can't run.", "AOI Stage T 1 is not 0 Deg.");
                                }

                                if (Get_Is_Position_T_2_Deg_0())
                                {
                                    Interlock_Manager.Add_Interlock_Msg("AOI Stage 1 Home can't run.", "AOI Stage T 2 is not 0 Deg.");
                                }
                            }
                        }
                        break;
                    }
                case AoiStageHomeSteps.S9999_END:
                    {
                        isHomeComplete = true;
                        _homeStpe = AoiStageHomeSteps.S0000_WAIT;
                        break;
                    }
            }
        }

        public void Seq_Load()
        {
            switch(Step)
            {
                case AoiStageSteps.S1000_PANEL_LOAD_START:
                    {
                        Step = AoiStageSteps.S1100_MOVE_STAY_POSITION;
                        break;
                    }
                case AoiStageSteps.S1100_MOVE_STAY_POSITION:
                    {
                        if(MoveT1LoadPosition() && MoveT2LoadPosition())
                        {
                            Step = AoiStageSteps.S1110_POSITION_CHECK;
                        }
                        break;
                    }
                case AoiStageSteps.S1110_POSITION_CHECK:
                    {
                        if (MotorT1.MotionComplete && MotorT2.MotionComplete)
                        {
                            if (IsMotorT1LoadPosition && IsMotorT2LoadPosition)
                            {
                                Step = AoiStageSteps.S1200_PANEL_EXIST_CHECK;
                            }
                            else
                            {
                                Step = AoiStageSteps.S1100_MOVE_STAY_POSITION;
                            }
                        }
                        break;
                    }
                case AoiStageSteps.S1200_PANEL_EXIST_CHECK:
                    {
                        if (Stage1.IsWorkEnd && Stage2.IsWorkEnd)
                        {
                            if (IsExist)
                            {
                                Step = AoiStageSteps.S1999_PANEL_LOAD_END;
                            }
                        }
                        break;
                    }
                case AoiStageSteps.S1999_PANEL_LOAD_END:
                    {
                        Step = AoiStageSteps.S0000_WAIT;
                        break;
                    }

            }
        }

        public void Seq_Measurement()
        {
            switch (Step)
            {
                case AoiStageSteps.S2000_MEASUREMENT_START:
                    {
                        Step = AoiStageSteps.S2100_MEASUREMENT_CHECK;
                        break;
                    }
                case AoiStageSteps.S2100_MEASUREMENT_CHECK:
                    {
                        if (equipment.Mode.Measurement_Skip || ((Stage1.IsExist == false || Panel1.Measurement_Ack) && (Stage2.IsExist == false || Panel2.Measurement_Ack)))
                        {
                            if (equipment.unloader.Handler1.Step < UnloaderHandler1Steps.S4000_MEASUREMENT_START || UnloaderHandler1Steps.S4999_MEASUREMENT_END < equipment.unloader.Handler1.Step)
                            {
                                Step = AoiStageSteps.S2999_MEASUREMENT_END;
                            }
                        }
                        break;
                    }
                case AoiStageSteps.S2999_MEASUREMENT_END:
                    {
                        Step = AoiStageSteps.S0000_WAIT;
                        break;
                    }
            }
        }

        public void Seq_Unload()
        {
            switch (Step)
            {
                case AoiStageSteps.S3000_PANEL_UNLOAD_START:
                    {
                        Step = AoiStageSteps.S3100_MOVE_UNLOAD_POSITION;
                        break;
                    }
                case AoiStageSteps.S3100_MOVE_UNLOAD_POSITION:
                    {
                        if (MoveT1UnloadPosition() && MoveT2UnloadPosition())
                        {
                            Step = AoiStageSteps.S3110_POSITION_CHECK;
                        }
                        break;
                    }
                case AoiStageSteps.S3110_POSITION_CHECK:
                    {
                        if (MotorT1.MotionComplete && MotorT2.MotionComplete)
                        {
                            if (IsMotorT1UnloadPosition && IsMotorT2UnloadPosition)
                            {
                                Step = AoiStageSteps.S3200_PANEL_EMPTY_CHECK;
                            }
                            else
                            {
                                Step = AoiStageSteps.S3100_MOVE_UNLOAD_POSITION;
                            }
                        }
                        break;
                    }
                case AoiStageSteps.S3200_PANEL_EMPTY_CHECK:
                    {
                        if (Stage1.IsWorkEnd && Stage2.IsWorkEnd)
                        {
                            if (IsExist == false)
                            {
                                Step = AoiStageSteps.S3999_PANEL_UNLOAD_END;
                            }
                        }
                        break;
                    }
                case AoiStageSteps.S3999_PANEL_UNLOAD_END:
                    {
                        Step = AoiStageSteps.S0000_WAIT;
                        break;
                    }
            }
        }
        
        public void Seq_Stage1Step()
        {
            switch (_stage1Step)
            {
                case StageSteps.S9000_SCRAP_START:
                    {
                        _stage1Step = StageSteps.S9100_VACUUM_OFF;
                        break;
                    }
                case StageSteps.S9100_VACUUM_OFF:
                    {
                        if (Stage1.IsWorkEnd)
                        {
                            if (Stage1.VacuumSolOn == false)
                            {
                                _stage1Step = StageSteps.S9110_DATA_SET;
                            }
                            else
                            {
                                Stage1.VacuumOff();
                            }
                        }
                        break;
                    }
                case StageSteps.S9110_DATA_SET:
                    {
                        Panel1 = new Panel_Info();
                        _stage1Step = StageSteps.S9999_SCRAP_END;
                        break;
                    }
                case StageSteps.S9999_SCRAP_END:
                    {
                        _stage1Step = StageSteps.S0000_WAIT;
                        break;
                    }
            }
        }

        public void Seq_Stage2Step()
        {
            switch (_stage2Step)
            {
                case StageSteps.S9000_SCRAP_START:
                    {
                        _stage2Step = StageSteps.S9100_VACUUM_OFF;
                        break;
                    }
                case StageSteps.S9100_VACUUM_OFF:
                    {
                        if (Stage2.IsWorkEnd)
                        {
                            if (Stage2.VacuumSolOn == false)
                            {
                                _stage2Step = StageSteps.S9110_DATA_SET;
                            }
                            else
                            {
                                Stage2.VacuumOff();
                            }
                        }
                        break;
                    }
                case StageSteps.S9110_DATA_SET:
                    {
                        Panel2 = new Panel_Info();
                        _stage2Step = StageSteps.S9999_SCRAP_END;
                        break;
                    }
                case StageSteps.S9999_SCRAP_END:
                    {
                        _stage2Step = StageSteps.S0000_WAIT;
                        break;
                    }
            }
        }

        public bool MoveT1LoadPosition()
        {
            object value;

            double position = MotorT1LoadPosition;

            equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_1_T_0_Velocity, out value);
            var velocity = double.Parse($"{value}");

            return MotorT1.Move_Absolute_Pos(position, velocity);
        }

        public bool MoveT2LoadPosition()
        {
            object value;

            double position = MotorT2LoadPosition;

            equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_2_T_0_Velocity, out value);
            var velocity = double.Parse($"{value}");

            return MotorT2.Move_Absolute_Pos(position, velocity);
        }

        public bool MoveT1UnloadPosition()
        {
            object value;

            double position = MotorT1UnloadPosition;

            equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_1_T_0_Velocity, out value);
            var velocity = double.Parse($"{value}");

            return MotorT1.Move_Absolute_Pos(position, velocity);
        }

        public bool MoveT2UnloadPosition()
        {
            object value;

            double position = MotorT2UnloadPosition;

            equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_2_T_0_Velocity, out value);
            var velocity = double.Parse($"{value}");

            return MotorT2.Move_Absolute_Pos(position, velocity);
        }

        public bool Move_T_1_Deg_0_Position()
        {
            object value;
            double position;
            double velocity;
            equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_1_T_0_Position, out value);
            position = double.Parse($"{value}");
            equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_1_T_0_Velocity, out value);
            velocity = double.Parse($"{value}");

            return MotorT1.Move_Absolute_Pos(position, velocity);
        }

        public bool Move_T_1_Deg_90_Position()
        {
            object value;
            double position;
            double velocity;
            equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_1_T_90_Position, out value);
            position = double.Parse($"{value}");
            equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_1_T_90_Velocity, out value);
            velocity = double.Parse($"{value}");

            return MotorT1.Move_Absolute_Pos(position, velocity);
        }

        public bool Move_T_1_Deg_180_Position()
        {
            object value;
            double position;
            double velocity;
            equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_1_T_180_Position, out value);
            position = double.Parse($"{value}");
            equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_1_T_180_Velocity, out value);
            velocity = double.Parse($"{value}");

            return MotorT1.Move_Absolute_Pos(position, velocity);
        }

        public bool Move_T_2_Deg_0_Position()
        {
            object value;
            double position;
            double velocity;
            equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_2_T_0_Position, out value);
            position = double.Parse($"{value}");
            equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_2_T_0_Velocity, out value);
            velocity = double.Parse($"{value}");

            return MotorT2.Move_Absolute_Pos(position, velocity);
        }

        public bool Move_T_2_Deg_90_Position()
        {
            object value;
            double position;
            double velocity;
            equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_2_T_90_Position, out value);
            position = double.Parse($"{value}");
            equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_2_T_90_Velocity, out value);
            velocity = double.Parse($"{value}");

            return MotorT2.Move_Absolute_Pos(position, velocity);
        }

        public bool Move_T_2_Deg_180_Position()
        {
            object value;
            double position;
            double velocity;
            equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_2_T_180_Position, out value);
            position = double.Parse($"{value}");
            equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_2_T_180_Velocity, out value);
            velocity = double.Parse($"{value}");

            return MotorT2.Move_Absolute_Pos(position, velocity);
        }
        // =============================================================================================
        public bool Get_Is_Position_T_1_Deg_0()
        {
            object value;
            double get_position;

            equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_1_T_0_Position, out value);
            get_position = double.Parse($"{value}");

            return MotorT1.Is_Inposition(get_position, equipment.Setting.Inposition_Offset);
        }

        public bool Get_Is_Position_T_1_Deg_90()
        {
            object value;
            double get_position;

            equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_1_T_90_Position, out value);
            get_position = double.Parse($"{value}");

            return MotorT1.Is_Inposition(get_position, equipment.Setting.Inposition_Offset);
        }

        public bool Get_Is_Position_T_1_Deg_180()
        {
            object value;
            double get_position;

            equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_1_T_180_Position, out value);
            get_position = double.Parse($"{value}");

            return MotorT1.Is_Inposition(get_position, equipment.Setting.Inposition_Offset);
        }
        
        public bool Get_Is_Position_T_2_Deg_0()
        {
            object value;
            double get_position;

            equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_2_T_0_Position, out value);
            get_position = double.Parse($"{value}");

            return MotorT2.Is_Inposition(get_position, equipment.Setting.Inposition_Offset);
        }

        public bool Get_Is_Position_T_2_Deg_90()
        {
            object value;
            double get_position;
            
            equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_2_T_90_Position, out value);
            get_position = double.Parse($"{value}");

            return MotorT2.Is_Inposition(get_position, equipment.Setting.Inposition_Offset);
        }

        public bool Get_Is_Position_T_2_Deg_180()
        {
            object value;
            double get_position;

            equipment.sm.Get_Value(Position_Parameter_Address.AOI_Stage_2_T_180_Position, out value);
            get_position = double.Parse($"{value}");

            return MotorT2.Is_Inposition(get_position, equipment.Setting.Inposition_Offset);
        }
        
        public bool Stage_1_Scrap()
        {
            if (UnitMode == En_Equipment_Mode.Auto || equipment.Auto_Mode)
            {
                Interlock_Manager.Add_Interlock_Msg("AOI_Stage_1 Scrap Can't Start", "Equipment mode is Auto.");
                return false;
            }

            _stage1Step = StageSteps.S9000_SCRAP_START;

            return true;
        }

        public bool Stage_2_Scrap()
        {
            if (UnitMode == En_Equipment_Mode.Auto || equipment.Auto_Mode)
            {
                Interlock_Manager.Add_Interlock_Msg("AOI_Stage_2 Scrap Can't Start", "Equipment mode is Auto.");
                return false;
            }

            _stage2Step = StageSteps.S9000_SCRAP_START;

            return true;
        }
        #endregion
    }
}