namespace SHARP_CLAS_UI
{
    #region Enum
    public enum TrayTransferSteps
    {
        S0000_WAIT,

        S1000_MOVE_STAY_POSITION_START,
        S1100_PICKER_UP,
        S1110_LIFT_LIMIT_SENSOR_CHECK,
        S1200_MOVE_STAY_POSITION,
        S1205_MOVE_STAY_POSITION_CHECK,
        S1999_MOVE_STAY_POSITION_END,

        S2000_PICK_TRAY_START,
        S2100_PICKER_UP,
        S2110_LIFT_LIMIT_SENSOR_CHECK,
        S2120_HANDLER_POSITION_CHECK,
        S2130_LIFT_IN_SENSOR_CHECK,
        S2200_MOVE_PICK_POSITION,
        S2205_MOVE_PICK_POSITION_CHECK,
        S2300_PICKER_DOWN,
        S2310_VACUUM_ON,
        S2320_ALIGN_TOP_BACKWARD,
        S2330_STACKER_BACKWARD,
        S2340_UNCLAMP,
        S2350_PICKER_UP,
        S2360_VACUUM_CHECK,
        S2370_TRAY_COUNT_SET,
        S2999_PICK_TRAY_END,

        S3000_PLACE_TRAY_START,
        S3100_PICKER_UP,
        S3110_LIFT_LIMIT_SENSOR_CHECK,
        S3120_HANDLER_POSITION_CHECK,
        S3200_MOVE_PLACE_POSITION,
        S3205_MOVE_PLACE_POSITION_CHECK,
        s3300_ALIGN_TOP_BACKWARD,
        s3310_STACKER_BACKWARD,
        s3320_UNCLAMP,
        S3330_PICKER_DOWN,
        S3340_VACUUM_OFF,
        S3350_PICKER_UP,
        S3360_VACUUM_CHECK,
        S3370_TRAY_COUNT_SET,
        S3999_PLACE_TRAY_END,
        
        S4000_PLACE_TRAY_START,
        S4100_PICKER_UP,
        S4110_LIFT_LIMIT_SENSOR_CHECK,
        S4120_HANDLER_POSITION_CHECK,
        S4200_MOVE_PLACE_POSITION,
        S4205_MOVE_PLACE_POSITION_CHECK,
        S4300_ALIGN_TOP_BACKWARD,
        S4310_STACKER_BACKWARD,
        S4320_UNCLAMP,
        S4330_PICKER_DOWN,
        S4340_VACUUM_OFF,
        S4350_PICKER_UP,
        S4360_VACUUM_CHECK,
        S4370_TRAY_COUNT_SET,
        S4999_PLACE_TRAY_END,
    }

    public enum TrayTransferHomeSteps
    {
        S0000_WAIT,
        S1000_STATUS_CHECK,
        S1100_LIFT_LIMIT_SENSOR_CHECK,
        S2000_X_HOME_START,
        S2100_X_HOME_CHECK,
        S3000_MOVE_STAY_POSITION,
        S3100_POSITION_CHECK,
        S9999_END,
    }
    #endregion

    public abstract class TrayTransfer : Unit
    {
        #region Property
        public Axis MotorX
        {
            get
            {
                return _motorX;
            }

            set
            {
                _motorX = value;
            }
        }

        public Picker Picker
        {
            get
            {
                return _picker;
            }

            set
            {
                _picker = value;
            }
        }

        public override bool IsHomeComplete
        {
            get
            {
                return MotorX.PowerOn && MotorX.IsHomed && MotorX.ErrorStop == false && isHomeComplete;
            }
        }

        public override bool IsExist
        {
            get
            {
                return Picker.IsVacuumSensor;
            }
        }
        #endregion

        #region Field
        private Axis _motorX;
        private Picker _picker;
        
        #endregion

        #region Construct
        public TrayTransfer(Equipment equipment, MotorAxis motorX, string unitName) : base(equipment, unitName)
        {
            MotorX = equipment.Board_Control.Motors[motorX];
            Picker = new Picker(equipment);
        }
        #endregion
    }
}