using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using SicModules.Aligners.Routines.Base;
using System.Diagnostics;

namespace SicModules.Aligners.Routines
{
    public class AlignerHomeRoutine : AlignerBaseRoutine
    {
        private enum RoutineStep
        {
            ClearAlignerAlarm,
            ResetVar,
            Home,
            MoveToMeasure,
            CheckWafer,
            TimeDelay1,
        }

        private readonly Stopwatch _swTimer = new Stopwatch();

        public AlignerHomeRoutine()
        {
            Name = "Home";
        }

        public override Result Start(params object[] objs)
        {
            Reset();
            _swTimer.Start();
            Notify("Start");
            return Result.RUN;
        }

        public override Result Monitor()
        {
            try
            {

                // 如果在模拟器模式，并且使用延时模拟寻边器
                if (SC.GetValue<bool>($"System.IsSimulatorMode") && SC.GetValue<bool>("HiWinAligner.UseDelayToSimulate"))
                {
                    TimeDelay((int)RoutineStep.TimeDelay1, 3);
                    return Result.DONE;
                }

                //清除Aligner报警
                AlignerERS((int)RoutineStep.ClearAlignerAlarm, 3);

                //初始化变量值Reset
                ResetVar((int)RoutineStep.ClearAlignerAlarm);

                //三轴回原点
                Home((int)RoutineStep.Home, 20);

                //移动到测量中心
                AlignerMoveToMeasure((int)RoutineStep.MoveToMeasure, 20);

                //检查是否有Wafer
                CheckHaveWafer((int)RoutineStep.CheckWafer, 10);
            }
            catch (RoutineBreakException)
            {
                return Result.RUN;
            }
            catch (RoutineFaildException)
            {
                return Result.FAIL;
            }

            _swTimer.Stop();
            Notify($"Finished ! Elapsed time: {(int)(_swTimer.ElapsedMilliseconds / 1000):F1} s");
            return Result.DONE;
        }


    }
}