using PamhagenSysCtrl.Helpers.Pipeline;
using System.IO;
using System.Windows;

namespace PamhagenSysCtrl.Helpers {
    public class PamhagenPlant : IDisposable {

        protected PamhagenPlc? Plc;

        protected bool IsRunning = true;
        protected Thread? BackgroundThread;

        public event EventHandler<PlantEventArgs>? Update;

        protected bool ActuatorsChanged = false;
        protected PamhagenPlc.ActuatorStates Actuators;
        protected PamhagenPlc.SensorStates Sensors = new(default, default, default, default, [
            FillState.Unknown, FillState.Unknown, FillState.Unknown, FillState.Unknown, FillState.Unknown, FillState.Unknown, FillState.Unknown, FillState.Unknown, FillState.Unknown
            ], default);

        public bool IsValveOpen(int n) => !IsValveClosed(n);
        public bool IsValveClosed(int n) => Sensors.GetDS(n);
        public bool WantValveClosed(int n) => !WantValveOpen(n);
        public bool WantValveOpen(int n) => Actuators.GetV(n);

        public bool AreValvesOpen(params int[] ns) => ns.All(IsValveOpen);
        public bool AreValvesClosed(params int[] ns) => ns.All(IsValveClosed);

        public bool IsA1Selected => Sensors.TroughSelector == 1;
        public bool IsA2Selected => Sensors.TroughSelector == 2;
        public FillState FillLevelA1 => Sensors.FillingLevels.A1;
        public FillState FillLevelA2 => Sensors.FillingLevels.A2;
        public FillState FillLevelPress1 => Sensors.FillingLevels.Press1;
        public FillState FillLevelPress2 => Sensors.FillingLevels.Press2;
        public FillState FillLevelT1 => Sensors.FillingLevelTanks[0];
        public FillState FillLevelT2 => Sensors.FillingLevelTanks[1];
        public FillState FillLevelT3 => Sensors.FillingLevelTanks[2];
        public FillState FillLevelT4 => Sensors.FillingLevelTanks[3];
        public FillState FillLevelT5 => Sensors.FillingLevelTanks[4];
        public FillState FillLevelT6 => Sensors.FillingLevelTanks[5];
        public FillState FillLevelT7 => Sensors.FillingLevelTanks[6];
        public FillState FillLevelT8 => Sensors.FillingLevelTanks[7];
        public FillState FillLevelT9 => Sensors.FillingLevelTanks[8];
        public FillState[] TankFillLevels => Sensors.FillingLevelTanks;
        public double GradationOe => Sensors.GradationOe;
        public MotorState PresseQuerSchnecke => Sensors.PresseQuerSchnecke;
        public bool IsPresseQuerSchneckeActive => PresseQuerSchnecke == MotorState.Forward;

        public bool WantA1Selected => Actuators.GetV(58);
        public bool WantA2Selected => !Actuators.GetV(58);

        public bool IsTroughAugerActive => Actuators.TroughAuger;
        public bool IsReblerActive => Actuators.Rebler;
        public bool IsStirrerA1Active => Actuators.StirrerA1;
        public bool IsStirrerA2Active => Actuators.StirrerA2;
        public bool IsBeltActive => Actuators.Belt;
        public bool IsAuger1Active => Actuators.Auger1;
        public bool IsAuger2Active => Actuators.Auger2;
        public bool IsWasteDisposalActive => IsBeltActive || IsAuger1Active || IsAuger2Active;
        public bool IsGradationPumpActive => Actuators.GradationPump;

        public bool IsMP1Active => Actuators.MP1 == MotorState.Forward || Actuators.MP1 == MotorState.Backward;
        public bool IsMP2Active => Actuators.MP2 == MotorState.Forward || Actuators.MP2 == MotorState.Backward;
        public bool IsP12Active => Actuators.P12 == MotorState.Forward;
        public bool IsP3Active => Actuators.P3 == MotorState.Forward;
        public bool IsP4Active => Actuators.P4 == MotorState.Forward;
        public bool IsP5Active => Actuators.P5 == MotorState.Forward;
        public bool IsP6Active => Actuators.P6 == MotorState.Forward;

        public PamhagenPlant(string portName) {
            Plc = new(portName);
            Update += OnUpdate;
        }

        protected virtual void RaiseUpdateEvent(PlantEventArgs evt) {
            App.MainDispatcher.BeginInvoke(() => Update?.Invoke(this, evt));
        }

        protected static void OnUpdate(object? sender, PlantEventArgs evt) {
            if (sender is not PamhagenPlant p) return;
            if (p.IsPresseQuerSchneckeActive && !p.IsBeltActive) p.StartBelt();
            if (p.IsReblerActive && !p.IsAuger1Active) p.StartAuger1();
            if (p.IsAuger1Active && !p.IsBeltActive) p.StartBelt();
            if (p.IsBeltActive && !p.IsAuger2Active) p.StartAuger2();
            if (p.IsTroughAugerActive && (!p.IsReblerActive || (p.IsA1Selected && p.FillLevelA1 == FillState.Full) || (p.IsA2Selected && p.FillLevelA2 == FillState.Full)))
                p.StopTroughAuger();
            if (p.IsMP1Active && !p.MP1HasClearance) p.StopMP1();
            if (p.IsMP2Active && !p.MP2HasClearance) p.StopMP2();
            if (p.IsP12Active && !p.P12HasClearance) p.StopP12();
            if (p.IsP3Active && !p.P3HasClearance) p.StopP3();
            if (p.IsP4Active && !p.P4HasClearance) p.StopP4();
            if (p.IsP5Active && !p.P5HasClearance) p.StopP5();
            if (p.IsP6Active && !p.P6HasClearance) p.StopP6();
        }

        public async Task StartThread() {
            if (Plc == null) throw new Exception();
            await Plc.TestConnection();
            Actuators = await Plc.ReadOutputs();
            BackgroundThread = new Thread(new ParameterizedThreadStart(BackgroundLoop));
            BackgroundThread.Start();
        }

        public void Dispose() {
            IsRunning = false;
            BackgroundThread?.Join();
            Plc?.Dispose();
            GC.SuppressFinalize(this);
        }

        protected async void BackgroundLoop(object? parameters) {
            while (IsRunning && Plc != null) {
                try {
                    if (ActuatorsChanged) {
                        await Plc.WriteOutputs(Actuators);
                        ActuatorsChanged = false;
                    }
                    Sensors = await Plc.ReadInputs();
                    RaiseUpdateEvent(new());
                } catch (Exception exc) {
                    var str = "Bei der SPS ist ein Fehler aufgetreten:\n\n" + exc.Message;
                    if (exc.InnerException != null) str += "\n\n" + exc.InnerException.Message;
                    MessageBox.Show(str, "SPS-Fehler", MessageBoxButton.OK, MessageBoxImage.Error);
                    if (exc is TimeoutException or IOException) {
                        Plc?.Dispose();
                        Plc = null;
                        IsRunning = false;
                    } else {
                        await Task.Delay(1000);
                    }
                }
            }
            try {
                if (Plc != null)
                    await Plc.WriteOutputs(new() { Valves = Actuators.Valves });
            } catch (Exception exc) {
                var str = "Beim Schließen der Verbindung zur SPS ist ein Fehler aufgetreten:\n\n" + exc.Message;
                if (exc.InnerException != null) str += "\n\n" + exc.InnerException.Message;
                MessageBox.Show(str, "SPS-Fehler", MessageBoxButton.OK, MessageBoxImage.Error);
            }
        }

        public void CommitChanges() {
            ActuatorsChanged = true;
        }

        protected bool HasWTClearanceAA =>
            (AreValvesOpen(12) && AreValvesClosed(15, 16, 20)) ||  // bypass
            (AreValvesOpen(15, 18, 16) && AreValvesClosed(11, 12, 14, 17, 19, 20)) ||  // WT1
            (AreValvesOpen(15, 17, 20) && AreValvesClosed(11, 12, 18, 19, 21)) ||  // WT2
            (AreValvesOpen(15, 18, 19, 20) && AreValvesClosed(11, 12, 14, 16, 17, 21)) ||  // WT1+WT2
            false;
        protected bool HasWTClearanceAB =>
            (AreValvesOpen(15, 18, 14) && AreValvesClosed(11, 12, 13, 16, 17, 19, 21)) ||  // WT1
            (AreValvesOpen(15, 17, 21) && AreValvesClosed(11, 12, 13, 18, 19, 20)) ||  // WT2
            (AreValvesOpen(15, 18, 19, 21) && AreValvesClosed(11, 12, 13, 14, 16, 17, 20)) ||  // WT1+WT2
            false;
        protected bool HasWTClearanceBA =>
            (AreValvesOpen(11, 18, 16) && AreValvesClosed(15, 12, 13, 14, 17, 19, 20)) ||  // WT1
            (AreValvesOpen(11, 17, 20) && AreValvesClosed(15, 12, 13, 18, 19, 21)) ||  // WT2
            (AreValvesOpen(11, 18, 19, 20) && AreValvesClosed(15, 12, 13, 14, 16, 17, 21)) ||  // WT1+WT2
            false;
        protected bool HasWTClearanceBB =>
            (AreValvesOpen(13) && AreValvesClosed(11, 14, 21)) ||  // bypass
            (AreValvesOpen(11, 18, 14) && AreValvesClosed(15, 13, 16, 17, 19, 21)) ||  // WT1
            (AreValvesOpen(11, 17, 21) && AreValvesClosed(15, 13, 18, 19, 20)) ||  // WT2
            (AreValvesOpen(11, 18, 19, 21) && AreValvesClosed(15, 13, 14, 16, 17, 20)) ||  // WT1+WT2
            false;

        protected bool HasT1ClearanceA => AreValvesOpen(22) && AreValvesClosed(24, 26, 28);
        protected bool HasT1ClearanceB => AreValvesOpen(23) && AreValvesClosed(25, 27, 29);
        protected bool HasT2ClearanceA => AreValvesOpen(24) && AreValvesClosed(22, 26, 28);
        protected bool HasT2ClearanceB => AreValvesOpen(25) && AreValvesClosed(23, 27, 29);
        protected bool HasT3ClearanceA => AreValvesOpen(26) && AreValvesClosed(22, 24, 28);
        protected bool HasT3ClearanceB => AreValvesOpen(27) && AreValvesClosed(23, 25, 29);
        protected bool HasT4ClearanceA => AreValvesOpen(28, 30) && AreValvesClosed(22, 24, 26, 32, 34);
        protected bool HasT4ClearanceB => AreValvesOpen(29, 31) && AreValvesClosed(23, 25, 27, 33, 35);
        protected bool HasT5ClearanceA => AreValvesOpen(28, 32) && AreValvesClosed(22, 24, 26, 30, 34);
        protected bool HasT5ClearanceB => AreValvesOpen(29, 33) && AreValvesClosed(23, 25, 27, 31, 35);
        protected bool HasT6ClearanceA => AreValvesOpen(28, 34, 37) && AreValvesClosed(22, 24, 26, 30, 32, 39, 41, 43);
        protected bool HasT6ClearanceB => AreValvesOpen(29, 35, 36) && AreValvesClosed(23, 25, 27, 31, 33, 38, 40, 42);
        protected bool HasT7ClearanceA => AreValvesOpen(28, 34, 39) && AreValvesClosed(22, 24, 26, 30, 32, 37, 41, 43);
        protected bool HasT7ClearanceB => AreValvesOpen(29, 35, 38) && AreValvesClosed(23, 25, 27, 31, 33, 36, 40, 42);
        protected bool HasT8ClearanceA => AreValvesOpen(28, 34, 41) && AreValvesClosed(22, 24, 26, 30, 32, 37, 39, 43);
        protected bool HasT8ClearanceB => AreValvesOpen(29, 35, 40) && AreValvesClosed(23, 25, 27, 31, 33, 36, 38, 42);
        protected bool HasT9ClearanceA => AreValvesOpen(28, 34, 43) && AreValvesClosed(22, 24, 26, 30, 32, 37, 39, 41);
        protected bool HasT9ClearanceB => AreValvesOpen(29, 35, 42) && AreValvesClosed(23, 25, 27, 31, 33, 36, 38, 40);

        protected bool HasClearanceTank1(bool a, bool b) =>
            (a && ((HasWTClearanceAA && HasT1ClearanceA) || (HasWTClearanceAB && HasT1ClearanceB))) ||
            (b && ((HasWTClearanceBA && HasT1ClearanceA) || (HasWTClearanceBB && HasT1ClearanceB)));
        protected bool HasClearanceTank2(bool a, bool b) =>
            (a && ((HasWTClearanceAA && HasT2ClearanceA) || (HasWTClearanceAB && HasT2ClearanceB))) ||
            (b && ((HasWTClearanceBA && HasT2ClearanceA) || (HasWTClearanceBB && HasT2ClearanceB)));
        protected bool HasClearanceTank3(bool a, bool b) =>
            (a && ((HasWTClearanceAA && HasT3ClearanceA) || (HasWTClearanceAB && HasT3ClearanceB))) ||
            (b && ((HasWTClearanceBA && HasT3ClearanceA) || (HasWTClearanceBB && HasT3ClearanceB)));
        protected bool HasClearanceTank4(bool a, bool b) =>
            (a && ((HasWTClearanceAA && HasT4ClearanceA) || (HasWTClearanceAB && HasT4ClearanceB))) ||
            (b && ((HasWTClearanceBA && HasT4ClearanceA) || (HasWTClearanceBB && HasT4ClearanceB)));
        protected bool HasClearanceTank5(bool a, bool b) =>
            (a && ((HasWTClearanceAA && HasT5ClearanceA) || (HasWTClearanceAB && HasT5ClearanceB))) ||
            (b && ((HasWTClearanceBA && HasT5ClearanceA) || (HasWTClearanceBB && HasT5ClearanceB)));
        protected bool HasClearanceTank6(bool a, bool b) =>
            (a && ((HasWTClearanceAA && HasT6ClearanceA) || (HasWTClearanceAB && HasT6ClearanceB))) ||
            (b && ((HasWTClearanceBA && HasT6ClearanceA) || (HasWTClearanceBB && HasT6ClearanceB)));
        protected bool HasClearanceTank7(bool a, bool b) =>
            (a && ((HasWTClearanceAA && HasT7ClearanceA) || (HasWTClearanceAB && HasT7ClearanceB))) ||
            (b && ((HasWTClearanceBA && HasT7ClearanceA) || (HasWTClearanceBB && HasT7ClearanceB)));
        protected bool HasClearanceTank8(bool a, bool b) =>
            (a && ((HasWTClearanceAA && HasT8ClearanceA) || (HasWTClearanceAB && HasT8ClearanceB))) ||
            (b && ((HasWTClearanceBA && HasT8ClearanceA) || (HasWTClearanceBB && HasT8ClearanceB)));
        protected bool HasClearanceTank9(bool a, bool b) =>
            (a && ((HasWTClearanceAA && HasT9ClearanceA) || (HasWTClearanceAB && HasT9ClearanceB))) ||
            (b && ((HasWTClearanceBA && HasT9ClearanceA) || (HasWTClearanceBB && HasT9ClearanceB)));

        public bool MP1HasClearance => FillLevelA1 != FillState.Empty && (
            (MP1HasClearancePress1 && FillLevelPress1 != FillState.Full) ||
            (MP1HasClearancePress2 && FillLevelPress2 != FillState.Full) ||
            (HasClearanceTank1(MP1HasClearanceTanksA, MP1HasClearanceTanksB) && FillLevelT1 != FillState.Full) ||
            (HasClearanceTank2(MP1HasClearanceTanksA, MP1HasClearanceTanksB) && FillLevelT2 != FillState.Full) ||
            (HasClearanceTank3(MP1HasClearanceTanksA, MP1HasClearanceTanksB) && FillLevelT3 != FillState.Full) ||
            (HasClearanceTank4(MP1HasClearanceTanksA, MP1HasClearanceTanksB) && FillLevelT4 != FillState.Full) ||
            (HasClearanceTank5(MP1HasClearanceTanksA, MP1HasClearanceTanksB) && FillLevelT5 != FillState.Full) ||
            (HasClearanceTank6(MP1HasClearanceTanksA, MP1HasClearanceTanksB) && FillLevelT6 != FillState.Full) ||
            (HasClearanceTank7(MP1HasClearanceTanksA, MP1HasClearanceTanksB) && FillLevelT7 != FillState.Full) ||
            (HasClearanceTank8(MP1HasClearanceTanksA, MP1HasClearanceTanksB) && FillLevelT8 != FillState.Full) ||
            (HasClearanceTank9(MP1HasClearanceTanksA, MP1HasClearanceTanksB) && FillLevelT9 != FillState.Full) ||
            false);
        protected bool MP1HasClearancePress1 =>
            (AreValvesOpen(1, 6, 51) && AreValvesClosed(3, 4, 5, 55)) ||
            (AreValvesOpen(4, 8, 52) && AreValvesClosed(1, 2, 7, 56));
        protected bool MP1HasClearancePress2 =>
            (AreValvesOpen(1, 6, 55) && AreValvesClosed(3, 4, 5, 51)) ||
            (AreValvesOpen(4, 8, 56) && AreValvesClosed(1, 2, 7, 52));
        protected bool MP1HasClearanceTanksA => AreValvesOpen(1, 5) && AreValvesClosed(3, 4, 6);
        protected bool MP1HasClearanceTanksB => AreValvesOpen(4, 7, 9) && AreValvesClosed(1, 2, 8, 10);

        public MotorState MP1 {
            get => Actuators.MP1;
            set => Actuators.MP1 = (value != MotorState.Halt && value != MotorState.Forward && value != MotorState.Backward) ? throw new ArgumentException("Invalid state for MP1") : value;
        }

        public bool MP2HasClearance => FillLevelA2 != FillState.Empty && (
              (MP2HasClearancePress1 && FillLevelPress1 != FillState.Full) ||
              (MP2HasClearancePress2 && FillLevelPress2 != FillState.Full) ||
              (HasClearanceTank1(MP2HasClearanceTanksA, MP2HasClearanceTanksB) && FillLevelT1 != FillState.Full) ||
              (HasClearanceTank2(MP2HasClearanceTanksA, MP2HasClearanceTanksB) && FillLevelT2 != FillState.Full) ||
              (HasClearanceTank3(MP2HasClearanceTanksA, MP2HasClearanceTanksB) && FillLevelT3 != FillState.Full) ||
              (HasClearanceTank4(MP2HasClearanceTanksA, MP2HasClearanceTanksB) && FillLevelT4 != FillState.Full) ||
              (HasClearanceTank5(MP2HasClearanceTanksA, MP2HasClearanceTanksB) && FillLevelT5 != FillState.Full) ||
              (HasClearanceTank6(MP2HasClearanceTanksA, MP2HasClearanceTanksB) && FillLevelT6 != FillState.Full) ||
              (HasClearanceTank7(MP2HasClearanceTanksA, MP2HasClearanceTanksB) && FillLevelT7 != FillState.Full) ||
              (HasClearanceTank8(MP2HasClearanceTanksA, MP2HasClearanceTanksB) && FillLevelT8 != FillState.Full) ||
              (HasClearanceTank9(MP2HasClearanceTanksA, MP2HasClearanceTanksB) && FillLevelT9 != FillState.Full) ||
              false);
        protected bool MP2HasClearancePress1 =>
            (AreValvesOpen(2, 8, 52) && AreValvesClosed(3, 4, 7, 56)) ||
            (AreValvesOpen(3, 6, 51) && AreValvesClosed(1, 2, 5, 55));
        protected bool MP2HasClearancePress2 =>
            (AreValvesOpen(2, 8, 56) && AreValvesClosed(3, 4, 7, 52)) ||
            (AreValvesOpen(3, 6, 55) && AreValvesClosed(2, 1, 5, 51));
        protected bool MP2HasClearanceTanksA => AreValvesOpen(3, 5) && AreValvesClosed(1, 2, 6);
        protected bool MP2HasClearanceTanksB => AreValvesOpen(2, 7, 9) && AreValvesClosed(3, 4, 8, 10);

        public MotorState MP2 {
            get => Actuators.MP2;
            set => Actuators.MP2 = (value != MotorState.Halt && value != MotorState.Forward && value != MotorState.Backward) ? throw new ArgumentException("Invalid state for MP2") : value;
        }

        public bool P12HasClearance => (FillLevelT1 != FillState.Empty || FillLevelT2 != FillState.Empty) && (
              (P12HasClearancePress1 && FillLevelPress1 != FillState.Full) ||
              (P12HasClearancePress2 && FillLevelPress2 != FillState.Full) ||
              (HasClearanceTank1(false, P12HasClearanceTanksB) && FillLevelT1 != FillState.Full) ||
              (HasClearanceTank2(false, P12HasClearanceTanksB) && FillLevelT2 != FillState.Full) ||
              (HasClearanceTank3(false, P12HasClearanceTanksB) && FillLevelT3 != FillState.Full) ||
              (HasClearanceTank4(false, P12HasClearanceTanksB) && FillLevelT4 != FillState.Full) ||
              (HasClearanceTank5(false, P12HasClearanceTanksB) && FillLevelT5 != FillState.Full) ||
              (HasClearanceTank6(false, P12HasClearanceTanksB) && FillLevelT6 != FillState.Full) ||
              (HasClearanceTank7(false, P12HasClearanceTanksB) && FillLevelT7 != FillState.Full) ||
              (HasClearanceTank8(false, P12HasClearanceTanksB) && FillLevelT8 != FillState.Full) ||
              (HasClearanceTank9(false, P12HasClearanceTanksB) && FillLevelT9 != FillState.Full) ||
              false);
        protected bool P12HasClearancePress1 => AreValvesOpen(44, 46, 49, 50) && AreValvesClosed(10, 45, 47, 48, 54);
        protected bool P12HasClearancePress2 => AreValvesOpen(44, 46, 49, 54) && AreValvesClosed(10, 45, 47, 48, 50);
        protected bool P12HasClearanceTanksB => AreValvesOpen(44, 10) && AreValvesClosed(9, 45, 46);

        public MotorState P12 {
            get => Actuators.P12;
            set => Actuators.P12 = (value != MotorState.Halt && value != MotorState.Forward) ? throw new ArgumentException("Invalid state for P12") : value;
        }

        public bool P3HasClearance => FillLevelT3 != FillState.Empty && (
              (P3HasClearancePress1 && FillLevelPress1 != FillState.Full) ||
              (P3HasClearancePress2 && FillLevelPress2 != FillState.Full) ||
              (HasClearanceTank1(false, P3HasClearanceTanksB) && FillLevelT1 != FillState.Full) ||
              (HasClearanceTank2(false, P3HasClearanceTanksB) && FillLevelT2 != FillState.Full) ||
              (HasClearanceTank3(false, P3HasClearanceTanksB) && FillLevelT3 != FillState.Full) ||
              (HasClearanceTank4(false, P3HasClearanceTanksB) && FillLevelT4 != FillState.Full) ||
              (HasClearanceTank5(false, P3HasClearanceTanksB) && FillLevelT5 != FillState.Full) ||
              (HasClearanceTank6(false, P3HasClearanceTanksB) && FillLevelT6 != FillState.Full) ||
              (HasClearanceTank7(false, P3HasClearanceTanksB) && FillLevelT7 != FillState.Full) ||
              (HasClearanceTank8(false, P3HasClearanceTanksB) && FillLevelT8 != FillState.Full) ||
              (HasClearanceTank9(false, P3HasClearanceTanksB) && FillLevelT9 != FillState.Full) ||
              false);
        protected bool P3HasClearancePress1 => AreValvesOpen(45, 46, 49, 50) && AreValvesClosed(10, 44, 47, 48, 54);
        protected bool P3HasClearancePress2 => AreValvesOpen(45, 46, 49, 54) && AreValvesClosed(10, 44, 47, 48, 50);
        protected bool P3HasClearanceTanksB => AreValvesOpen(45, 10) && AreValvesClosed(9, 44, 46);

        public MotorState P3 {
            get => Actuators.P3;
            set => Actuators.P3 = (value != MotorState.Halt && value != MotorState.Forward) ? throw new ArgumentException("Invalid state for P3") : value;
        }

        public bool P4HasClearance => FillLevelT4 != FillState.Empty && (
              (P4HasClearancePress1 && FillLevelPress1 != FillState.Full) ||
              (P4HasClearancePress2 && FillLevelPress2 != FillState.Full) ||
              (HasClearanceTank1(false, P4HasClearanceTanksB) && FillLevelT1 != FillState.Full) ||
              (HasClearanceTank2(false, P4HasClearanceTanksB) && FillLevelT2 != FillState.Full) ||
              (HasClearanceTank3(false, P4HasClearanceTanksB) && FillLevelT3 != FillState.Full) ||
              (HasClearanceTank4(false, P4HasClearanceTanksB) && FillLevelT4 != FillState.Full) ||
              (HasClearanceTank5(false, P4HasClearanceTanksB) && FillLevelT5 != FillState.Full) ||
              (HasClearanceTank6(false, P4HasClearanceTanksB) && FillLevelT6 != FillState.Full) ||
              (HasClearanceTank7(false, P4HasClearanceTanksB) && FillLevelT7 != FillState.Full) ||
              (HasClearanceTank8(false, P4HasClearanceTanksB) && FillLevelT8 != FillState.Full) ||
              (HasClearanceTank9(false, P4HasClearanceTanksB) && FillLevelT9 != FillState.Full) ||
              false);
        protected bool P4HasClearancePress1 => AreValvesOpen(47, 49, 50) && AreValvesClosed(46, 48, 54);
        protected bool P4HasClearancePress2 => AreValvesOpen(47, 49, 54) && AreValvesClosed(46, 48, 50);
        protected bool P4HasClearanceTanksB => AreValvesOpen(47, 46, 10) && AreValvesClosed(9, 44, 45, 48, 49);

        public MotorState P4 {
            get => Actuators.P4;
            set => Actuators.P4 = (value != MotorState.Halt && value != MotorState.Forward) ? throw new ArgumentException("Invalid state for P4") : value;
        }

        public bool P5HasClearance => FillLevelT4 != FillState.Empty && (
              (P5HasClearancePress1 && FillLevelPress1 != FillState.Full) ||
              (P5HasClearancePress2 && FillLevelPress2 != FillState.Full) ||
              (HasClearanceTank1(false, P5HasClearanceTanksB) && FillLevelT1 != FillState.Full) ||
              (HasClearanceTank2(false, P5HasClearanceTanksB) && FillLevelT2 != FillState.Full) ||
              (HasClearanceTank3(false, P5HasClearanceTanksB) && FillLevelT3 != FillState.Full) ||
              (HasClearanceTank4(false, P5HasClearanceTanksB) && FillLevelT4 != FillState.Full) ||
              (HasClearanceTank5(false, P5HasClearanceTanksB) && FillLevelT5 != FillState.Full) ||
              (HasClearanceTank6(false, P5HasClearanceTanksB) && FillLevelT6 != FillState.Full) ||
              (HasClearanceTank7(false, P5HasClearanceTanksB) && FillLevelT7 != FillState.Full) ||
              (HasClearanceTank8(false, P5HasClearanceTanksB) && FillLevelT8 != FillState.Full) ||
              (HasClearanceTank9(false, P5HasClearanceTanksB) && FillLevelT9 != FillState.Full) ||
              false);
        protected bool P5HasClearancePress1 => AreValvesOpen(48, 49, 50) && AreValvesClosed(46, 47, 54);
        protected bool P5HasClearancePress2 => AreValvesOpen(48, 49, 54) && AreValvesClosed(46, 47, 50);
        protected bool P5HasClearanceTanksB => AreValvesOpen(48, 46, 10) && AreValvesClosed(9, 44, 45, 47, 49);

        public MotorState P5 {
            get => Actuators.P5;
            set => Actuators.P5 = (value != MotorState.Halt && value != MotorState.Forward) ? throw new ArgumentException("Invalid state for P5") : value;
        }

        public bool P6HasClearance =>
            (IsValveOpen(53) && IsValveClosed(57) && FillLevelPress1 != FillState.Full) ||
            (IsValveOpen(57) && IsValveClosed(53) && FillLevelPress2 != FillState.Full);

        public MotorState P6 {
            get => Actuators.P6;
            set => Actuators.P6 = (value != MotorState.Halt && value != MotorState.Forward) ? throw new ArgumentException("Invalid state for P6") : value;
        }


        public void OpenV(int n) => SetV(n, true);
        public void CloseV(int n) => SetV(n, false);

        protected void SetV(int n, bool val) {
            if (n < 1 || n > 57) throw new ArgumentException("Invalid value for n: 1 <= #V <= 57");
            Actuators.SetV(n, val);

        }

        public void SelectA1() {
            Actuators.SetV(58, true);
            //if (IsReblerActive) Actuators.StirrerA1 = true;
        }

        public void SelectA2() {
            Actuators.SetV(58, false);
            //if (IsReblerActive) Actuators.StirrerA2 = true;
        }

        public void StartTroughAuger() {
            if (!IsReblerActive || !((IsA1Selected && FillLevelA1 != FillState.Full) || (IsA2Selected && FillLevelA2 != FillState.Full)))
                throw new NoClearanceException("Schnecke Auffangwanne hat keine Freigabe");
            Actuators.TroughAuger = true;
        }

        public void StopTroughAuger() {
            Actuators.TroughAuger = false;
        }

        public void StartRebler() {
            Actuators.Rebler = true;
        }

        public void StopRebler() {
            StopTroughAuger();
            Actuators.Rebler = false;
        }

        public void StartStirrerA1() {
            Actuators.StirrerA1 = true;
        }

        public void StopStirrerA1() {
            Actuators.StirrerA1 = false;
        }

        public void StartStirrerA2() {
            Actuators.StirrerA2 = true;
        }

        public void StopStirrerA2() {
            Actuators.StirrerA2 = false;
        }

        public void StartBelt() {
            Actuators.Belt = true;
        }

        public void StopBelt() {
            Actuators.Belt = false;
        }

        public void StartAuger1() {
            Actuators.Auger1 = true;
        }

        public void StopAuger1() {
            Actuators.Auger1 = false;
        }

        public void StartAuger2() {
            Actuators.Auger2 = true;
        }

        public void StopAuger2() {
            Actuators.Auger2 = false;
        }

        public void StartWasteDisposal() {
            StartBelt();
            StartAuger1();
            StartAuger2();
        }

        public void StopWasteDisposal() {
            StopBelt();
            StopAuger1();
            StopAuger2();
        }

        public void StartGradationPump() {
            Actuators.GradationPump = true;
        }

        public void StopGradationPump() {
            Actuators.GradationPump = false;
        }

        public void StartMP1Forward() {
            if (!MP1HasClearance) throw new NoClearanceException("MP1 hat keine Freigabe");
            Actuators.MP1 = MotorState.Forward;
        }

        public void StartMP1Backward() {
            if (!MP1HasClearance) throw new NoClearanceException("MP1 hat keine Freigabe");
            Actuators.MP1 = MotorState.Backward;
        }

        public void StopMP1() {
            Actuators.MP1 = MotorState.Halt;
        }

        public void StartMP2Forward() {
            if (!MP2HasClearance) throw new NoClearanceException("MP2 hat keine Freigabe");
            Actuators.MP2 = MotorState.Forward;
        }

        public void StartMP2Backward() {
            if (!MP2HasClearance) throw new NoClearanceException("MP2 hat keine Freigabe");
            Actuators.MP2 = MotorState.Backward;
        }

        public void StopMP2() {
            Actuators.MP2 = MotorState.Halt;
        }

        public void StartP12() {
            if (!P12HasClearance) throw new NoClearanceException("P1/2 hat keine Freigabe");
            Actuators.P12 = MotorState.Forward;
        }

        public void StopP12() {
            Actuators.P12 = MotorState.Halt;
        }

        public void StartP3() {
            if (!P3HasClearance) throw new NoClearanceException("P3 hat keine Freigabe");
            Actuators.P3 = MotorState.Forward;
        }

        public void StopP3() {
            Actuators.P3 = MotorState.Halt;
        }

        public void StartP4() {
            if (!P4HasClearance) throw new NoClearanceException("P4 hat keine Freigabe");
            Actuators.P4 = MotorState.Forward;
        }

        public void StopP4() {
            Actuators.P4 = MotorState.Halt;
        }

        public void StartP5() {
            if (!P5HasClearance) throw new NoClearanceException("P5 hat keine Freigabe");
            Actuators.P5 = MotorState.Forward;
        }

        public void StopP5() {
            Actuators.P5 = MotorState.Halt;
        }

        public void StartP6() {
            if (!P6HasClearance) throw new NoClearanceException("P6 hat keine Freigabe");
            Actuators.P6 = MotorState.Forward;
        }

        public void StopP6() {
            Actuators.P6 = MotorState.Halt;
        }
    }
}