#pragma once
#include "CEquipment.h"
#include "CLoadPort.h"
#include "CAligner.h"
#include "CFliper.h"
#include "CArmTray.h"
#include "Context.h"


namespace SERVO {
    class CEFEM :
        public CEquipment
    {
    public:
        CEFEM();
        virtual ~CEFEM();

    public:
        virtual const char* getClassName();
        virtual void init();
        virtual void term();
        virtual void initPins();
        virtual void initSteps();
        virtual void initSlots();
        virtual void onTimer(UINT nTimerid);
        virtual void serialize(CArchive& ar);
        virtual void getAttributeVector(CAttributeVector& attrubutes);
        virtual int recvIntent(CPin* pPin, CIntent* pIntent);
        virtual void onReceiveLBData(const char* pszData, size_t size);
        virtual int onReceivedJob(int port, CJobDataS* pJobDataS);
        virtual int onSentOutJob(int port, CJobDataS* pJobDataS);
        virtual int onFetchedOutJob(int port, CJobDataB* pJobDataB);
        virtual int onStoredJob(int port, CJobDataB* pJobDataB);
        virtual int getIndexerOperationModeBaseValue();

    public:
        void setContext(CContext* pContext);
        void setPort(unsigned int index, CLoadPort* pPort);
        void setAligner(CAligner* pAligner);
        void setFliper(CFliper* pFliper);
        void setArmTray(unsigned int index, CArmTray* pArmTray);
        int robotCmd(ROBOT_CMD_PARAM& robotCmdParam, ONWRITED onWritedBlock = nullptr);
        int robotCmds(ROBOT_CMD_PARAM* robotCmdParam, unsigned int count, ONWRITED onWritedBlock = nullptr);
        RMDATA& getRobotMonitoringData();

        // ¿ì½Ý·â×°
        int robotSendHome(int seq, ONWRITED onWritedBlock = nullptr);
        int robotSendTransfer(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot, ONWRITED onWritedBlock = nullptr);
        int robotSendMoveToGet(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock = nullptr);
        int robotSendMoveToPut(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock = nullptr);
        int robotSendGet(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock = nullptr);
        int robotSendPut(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock = nullptr);
        int robotSendExchange(int seq, int armNo, int pos, int getSlot, int putSlot, ONWRITED onWritedBlock = nullptr);
        int robotSendCommandClear(int seq, ONWRITED onWritedBlock = nullptr);
        int robotSendBatchGet(int seq, int getPos, int getSlot, ONWRITED onWritedBlock = nullptr);
        int robotSendBatchPut(int seq, int putPos, int putSlot, ONWRITED onWritedBlock = nullptr);
        int robotSendMoveToGetAndHome(int seq, int armNo, int getPos, int getSlot, ONWRITED onWritedBlock = nullptr);
        int robotSendMoveToPutAndHome(int seq, int armNo, int putPos, int putSlot, ONWRITED onWritedBlock = nullptr);
        int robotSendTransferAndHome(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot, ONWRITED onWritedBlock = nullptr);
        int robotSendGetAndPut(int seq, int armNo, int getPos, int getSlot, int putPos, int putSlot, ONWRITED onWritedBlock = nullptr);
        int robotSendPutAndHome(int seq, int armNo, int putPos, int putSlot, ONWRITED onWritedBlock = nullptr);
        void printDebugRobotState();

    private:
        CLoadPort* m_pPort[4];
        CAligner* m_pAligner;
        CFliper* m_pFliper;
        CArmTray* m_pArmTray[2];
        RMDATA m_robotData;
        CContext* m_pActiveContext;
    };
}