using System;

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

        S1000_PANEL_LOAD_START,
        S1100_HANDLER1_POSITION_CHECK,
        S1110_HANDLER2_POSITION_CHECK,
        S1200_MOVE_Z_UP_POSITION,
        S1205_Z_POSITION_CHECK,
        S1210_MOVE_R_DEG_180,
        S1215_R_POSITION_CHECK,
        S1220_MOVE_Z_DOWN,
        S1225_Z_POSITION_CHECK,
        S1230_PANEL_EXIST_CHECK,
        S1999_PANEL_LOAD_END,

        S2000_PANEL_UNLOAD_START,
        S2100_HANDLER1_POSITION_CHECK,
        S2110_HANDLER2_POSITION_CHECK,
        S2200_MOVE_Z_UP,
        S2205_Z_POSITION_CHECK,
        S2210_MOVE_R_DEG_0,
        S2215_R_POSITION_CHECK,
        S2220_MOVE_Z_DOWN,
        S2225_Z_POSITION_CHECK,
        S2300_PLACE_START,
        S2310_PLACE_WAIT,
        S2999_PANEL_UNLOAD_END,
    }

    public enum UnloaderReverseStageSteps
    {
        S0000_WAIT,

        S1000_PICK_AOI_STAGE_START,
        S1100_HANDLER_1_POSITION_CHECK,
        S1110_HANDLER_2_POSITION_CHECK,
        S1200_MOVE_Z_UP_POSITION,
        S1205_Z_POSITION_CHECK,
        S1210_MOVE_R_DEG_0,
        S1215_R_POSITION_CHECK,
        S1220_MOVE_Z_DOWN,
        S1225_Z_POSITION_CHECK,
        S1300_PICK_START,
        S1310_PICK_WAIT,
        S1999_PICK_AOI_STAGE_END,

        S2000_PANEL_UNLOAD_START,
        S2100_STAY_POSITION_CHECK,
        S2110_HANDLER_1_POSITION_CHECK,
        S2120_HANDLER_2_POSITION_CHECK,
        S2200_MOVE_Z_UP_POSITION,
        S2205_Z_POSITION_CHECK,
        S2210_MOVE_R_DEG_180,
        S2215_R_POSITION_CHECK,
        S2220_MOVE_Z_DOWN,
        S2225_Z_POSITION_CHECK,
        S2230_PANEL_EXIST_CHECK,
        S2999_PANEL_UNLOAD_END,
    }

    public enum ReverseStageHomeSteps
    {
        S0000_WAIT,
        S1000_STATUS_CHECK,
        S2000_Z_HOME_START,
        S2100_Z_HOME_CHECK,
        S2200_R_HOME_START,
        S2300_R_HOME_CHECK,
        S3000_R_MOVE_180_DEG,
        S3100_R_POSITION_CHECK,
        S3200_Z_MOVE_DOWN_POSITION,
        S3300_Z_POSITION_CHECK,
        S9999_END,
    }
    #endregion
    public abstract class ReverseStage : Unit
    {
        #region Property
        public Axis MotorZ1
        {
            get
            {
                return _motorZ1;
            }

            set
            {
                _motorZ1 = value;
            }
        }

        public Axis MotorR1
        {
            get
            {
                return _motorR1;
            }

            set
            {
                _motorR1 = value;
            }
        }

        public Axis MotorZ2
        {
            get
            {
                return _motorZ2;
            }

            set
            {
                _motorZ2 = value;
            }
        }

        public Axis MotorR2
        {
            get
            {
                return _motorR2;
            }

            set
            {
                _motorR2 = value;
            }
        }

        public VacuumStageCh1 Stage1
        {
            get
            {
                return _stage1;
            }

            set
            {
                _stage1 = value;
            }
        }

        public VacuumStageCh1 Stage2
        {
            get
            {
                return _stage2;
            }

            set
            {
                _stage2 = value;
            }
        }

        public abstract Panel_Info Panel1
        {
            get;
            set;
        }

        public abstract Panel_Info Panel2
        {
            get;
            set;
        }

        public override bool IsHomeComplete
        {
            get
            {
                if(isHomeComplete && MotorZ1.IsHomed && MotorR1.IsHomed && MotorZ2.IsHomed && MotorR2.IsHomed)
                {
                    return true;
                }
                else
                {
                    return false;
                }
            }
        }

        public override bool IsExist
        {
            get
            {
                if(Stage1.IsExist || Stage2.IsExist)
                {
                    return true;
                }
                else
                {
                    return false;
                }
            }
        }
        #endregion

        #region Field
        private Axis _motorZ1;
        private Axis _motorR1;
        private Axis _motorZ2;
        private Axis _motorR2;
        private VacuumStageCh1 _stage1;
        private VacuumStageCh1 _stage2;
        #endregion

        #region Construct
        public ReverseStage(Equipment equipment, MotorAxis motorZ1, MotorAxis motorR1, MotorAxis motorZ2, MotorAxis motorR2, string unitName) : base(equipment, unitName)
        {
            MotorZ1 = equipment.Board_Control.Motors[motorZ1];
            MotorR1 = equipment.Board_Control.Motors[motorR1];
            MotorZ2 = equipment.Board_Control.Motors[motorZ2];
            MotorR2 = equipment.Board_Control.Motors[motorR2];
            Stage1 = new VacuumStageCh1(equipment);
            Stage2 = new VacuumStageCh1(equipment);
        }
        #endregion
    }
}