FurnaceELK/FrameworkLocal/RTEquipmentLibrary/HardwareUnits/Robots/HRC100Robots/GM201LVPRobot/GM201LVPRobot.cs

using Aitex.Core.Common;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Device.Unit;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using MECF.Framework.Common.CommonData;
using MECF.Framework.Common.Communications;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading;
using EventType = Aitex.Core.RT.Event.EventType;

namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.HRC100Robots.GM201LVPRobot
{
    public class YaskawaRobotMessage : AsciiMessage
    {
        public int UNo { get; set; }
        public int SeqNo { get; set; }
        public string Status { get; set; }
        public string Ackcd { get; set; }
        public string Command { get; set; }
        public string[] Data { get; set; }
        public string ErrorCode { get; set; }
        public string EvNo { get; set; }
        public string EvDate { get; set; }
        public string EvData { get; set; }

    }
    public class GM201LVPRobot : RobotBaseDevice, IConnection
    {
        //public int UnitNumber
        //{
        //    get; private set;
        //}
        private bool isSimulatorMode;
        private string _scRoot;
        private bool _isError;
        public GM201LVPTokenGenerator SeqnoGenerator { get; private set; }
        public bool IsEnableSeqNo { get; private set; }
        public bool IsEnableCheckSum { get; private set; }
        public int CurrentSeqNo { get; set; }

        public string PortName;
        private string _address;
        private bool _enableLog;
        private GM201LVPRobotConnection _connection;
        private R_TRIG _trigError = new R_TRIG();

        private R_TRIG _trigCommunicationError = new R_TRIG();
        private R_TRIG _trigRetryConnect = new R_TRIG();
        public string Address => _address;
        private PeriodicJob _thread;
        private object _locker = new object();
        private LinkedList<HandlerBase> _lstHandlers = new LinkedList<HandlerBase>();
        private LinkedList<HandlerBase> _lstMonitorHandler = new LinkedList<HandlerBase>();
        private IoSensor _diRobotReady = null;  //Normal ON
        private IoSensor _diRobotBlade1WaferOn = null;   //Off when wafer present
        private IoSensor _diRobotBlade2WaferOn = null;
        private IoSensor _diRobotError = null; //Normal ON
        private IoSensor _diTPinUse = null;

        private IoTrigger _doRobotHold = null; // Normal ON
        public ModuleName CurrentInteractiveModule { get; private set; }
        public bool IsConnected => throw new NotImplementedException();

        public float CurrentThetaPosition { get; private set; }
        public float CurrentExtensionPosition { get; private set; }
        public float CurrentArm1Position { get; private set; }
        public float CurrentArm2Position { get; private set; }
        public float CurrentZPosition { get; private set; }

        public float CommandThetaPosition { get; private set; }
        public float CommandExtensionPosition { get; private set; }
        public float CommandArm1Position { get; private set; }
        public float CommandArm2Position { get; private set; }
        public float CommandZPosition { get; private set; }
        public int SpeedLevel { get; private set; }
        public int SpeedLevelSetting => SC.GetValue<int>($"{Name}.RobotSpeed");

        public string ReadMemorySpec { get; private set; }
        public string ReadTransferStation { get; private set; }
        public int ReadSlotNumber { get; private set; }
        public string ReadArmPosture { get; private set; }
        public RobotArmEnum ReadBladeNo { get; private set; }
        public GM201LVPPositonEnum ReadPositionType { get; private set; }
        public float ReadThetaPosition { get; private set; }
        public float ReadExtensionPosition { get; private set; }
        public float ReadArm1Position { get; private set; }
        public float ReadArm2Position { get; private set; }
        public float ReadZPosition { get; private set; }
        public Dictionary<string, string> ReadStationItemValues { get; private set; } = new Dictionary<string, string>();
        public Dictionary<string, string> ReadStationItemContents { get; private set; } = new Dictionary<string, string>();

        public string ReadParameterType { get; private set; }
        public string ReadParameterNo { get; private set; }
        public string ReadParameterValue { get; private set; }

        public bool IsManipulatorBatteryLow { get; private set; }
        public bool IsCommandExecutionReady { get; private set; }
        public bool IsServoON { get; private set; }
        public bool IsErrorOccurred { get; private set; }
        public bool IsControllerBatteryLow { get; private set; }

        public bool IsCheckInterlockWaferPresenceOnBlade1 { get; private set; }

        public bool IsCheckInterlockWaferPresenceOnBlade2 { get; private set; }
        public bool IsCheckInterlockWaferPresenceOnBlade3 { get; private set; }
        public bool IsCheckInterlockWaferPresenceOnBlade4 { get; private set; }
        public bool IsCheckInterlockWaferPresenceOnBlade5 { get; private set; }

        public string RobotSoftwareVersion { get; private set; }

        public string ReadMappingTransferStation { get; private set; }
        public int ReadMappingSlotNumbers { get; private set; }
        public string ReadSlotMap { get; private set; }
        public MaterialType _MaterialType { get; set; }

        private int _timeLimitPick => SC.GetValue<int>($"{Name}.PickTimeout");
        private int _timeLimitPlace => SC.GetValue<int>($"{Name}.PlaceTimeout");
        private int _timeLimitHome => SC.GetValue<int>($"{Name}.HomeTimeout");
        private int _timeLimitMotion => SC.GetValue<int>($"{Name}.MotionTimeout");

        public Dictionary<string, float> ReadMappingCalibrationResult { get; private set; }
        public Dictionary<string, string> ReadRobotParameterResult { get; private set; } = new Dictionary<string, string>();

        public enum MaterialType
        {
            Carrier,
            Wafer
        }
        private Dictionary<string, string> _moduleAssociateStationDic;
        public override Dictionary<string, string> ModuleAssociateStationDic
        {
            get
            {
                return _moduleAssociateStationDic;
            }
            set
            {
                _moduleAssociateStationDic = value;
            }
        }
        private Dictionary<string, string> _moduleAssociateHandDic;
        public Dictionary<string, string> ModuleAssociateHandDic
        {
            get
            {
                return _moduleAssociateHandDic;
            }
            set
            {
                _moduleAssociateHandDic = value;
            }
        }
        private IoAlarmSignal _tpStatus = null;
        public GM201LVPRobot(string module, string name, string scRoot, MaterialType material, IoSensor[] dis, IoTrigger[] dos) : base(module, name)
        {
            Module = module;
            Name = name;
            _MaterialType = material;
            isSimulatorMode = SC.ContainsItem("System.IsSimulatorMode") ? SC.GetValue<bool>("System.IsSimulatorMode") : false;
            _scRoot = scRoot;
            _address = SC.GetStringValue($"{Name}.Address");
            _enableLog = SC.GetValue<bool>($"{Name}.EnableLogMessage");
            //UnitNumber = SC.GetValue<int>($"{_scRoot}.{Name}.UnitNumber");

            //IsEnableCheckSum = SC.GetValue<bool>($"{_scRoot}.{Name}.EnableCheckSum");
            //IsEnableSeqNo = SC.GetValue<bool>($"{_scRoot}.{Name}.EnableSeqNo");
            //SpeedLevelSetting = SC.GetValue<int>($"{Name}.SpeedLevel");
            _connection = new GM201LVPRobotConnection(this, _address);
            _connection.EnableLog(_enableLog);
            //SeqnoGenerator = new GM201LVPTokenGenerator($"{_scRoot}.{Name}.CommunicationToken");


            if (dis != null && dis.Length >= 5)
            {
                _diRobotReady = dis[0];
                _diRobotBlade1WaferOn = dis[1];
                _diRobotBlade2WaferOn = dis[2];
                _diRobotError = dis[3];
                _diTPinUse = dis[4];
                _diRobotError.OnSignalChanged += _diRobotError_OnSignalChanged;
                _diTPinUse.OnSignalChanged += _diTPinUse_OnSignalChanged;
            }
            if (dos != null && dos.Length >= 1)
            {
                _doRobotHold = dos[0];
            }


            ConnectionManager.Instance.Subscribe($"{Name}", _connection);
            _thread = new PeriodicJob(10, OnTimer, $"{Module}.{Name} MonitorHandler", true);
            ReadStationItemContents.Add("00", "Upward offset");
            ReadStationItemContents.Add("01", "Downward offset");
            ReadStationItemContents.Add("02", "Grip position offset");
            ReadStationItemContents.Add("06", "G2/P3 offset in the extending direction");
            ReadStationItemContents.Add("08", "Put downward offset");
            ReadStationItemContents.Add("70", "Get operation Movet_grip function yes/no");
            ReadStationItemContents.Add("71", "Get operation rising pattern");
            ReadStationItemContents.Add("80", "Put operation Move_grip function yes/no");
            ReadStationItemContents.Add("81", "Put operation dropping pattern");
            ReadStationItemContents.Add("50", "Slot Numbers");
            ReadStationItemContents.Add("30", "Slot pitch(Left elbow,Blade1)");
            ReadStationItemContents.Add("31", "Slot pitch(Left elbow,Blade2)");
            ReadStationItemContents.Add("32", "Slot pitch(Right elbow,Blade1)");
            ReadStationItemContents.Add("33", "Slot pitch(Right elbow,Blade2)");

            if (Name == "CarrierRobot")
            {
                _tpStatus = DEVICE.GetDevice<IoAlarmSignal>($"PM1.AlarmSignaFOUPRobotTPStatusWarning");
            }
            else
            {
                _tpStatus = DEVICE.GetDevice<IoAlarmSignal>($"PM1.AlarmSignaWaferRobotTPStatusWarning");
            }


            ResetPropertiesAndResponses();
            RegisterSpecialData();
            RegisterAlarm();



        }
        protected override void SubscribeWaferLocation()
        {

        }


        private void RegisterAlarm()
        {

            EV.Subscribe(new EventItem("Alarm", $"{Name}Error040", $"{Name} Robot Occurred Error:机械手在 TP 模式中，命令被拒绝。", "机械手在 TP 模式中，命令被拒绝。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error041", $"{Name} Robot Occurred Error:机械手在空模式中，命令被拒绝。", "机械手在空模式中，命令被拒绝。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error055", $"{Name} Robot Occurred Error:设定无法访问的工位。", "指定了不可访问的工位类型。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error057", $"{Name} Robot Occurred Error:运动失败。", "伺服电机执行运动程序失败。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error070", $"{Name} Robot Occurred Error:位置未记录完整。", "命令被拒绝，因为此工位没有示教，未记录位置信息。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error072", $"{Name} Robot Occurred Error:层数超限。", "机械手运行位置已超出工位层数上限。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error073", $"{Name} Robot Occurred Error:禁止轴动作。", "当前轴动作可能会导致碰撞。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*00", $"{Name} Robot Occurred Error:伺服报警。", "控制器判断驱动器有报警。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*01", $"{Name} Robot Occurred Error:伺服警告。", "控制器判断驱动器警告。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*02", $"{Name} Robot Occurred Error:伺服驱动器参数错误1", "伺服单元的参数有误差。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*03", $"{Name} Robot Occurred Error:主回路错误。", "主电路的检测数据有错误。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*04", $"{Name} Robot Occurred Error:伺服驱动器参数错误2。", "伺服参数异常。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*05", $"{Name} Robot Occurred Error:结合误差1。", "连接不支持的设备。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*07", $"{Name} Robot Occurred Error:结合误差2。", "编码器类型不匹配。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*08", $"{Name} Robot Occurred Error:伺服驱动器参数错误3。", "伺服参数异常。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*10", $"{Name} Robot Occurred Error:溢出电流。", "过电流。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*30", $"{Name} Robot Occurred Error:检测到再生错误。", "检测再生电路错误。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*32", $"{Name} Robot Occurred Error:再生过载。", "发生再生过载。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*33", $"{Name} Robot Occurred Error:主电路电源接线错误。", "电源接线不正确。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*40", $"{Name} Robot Occurred Error:过电压。", "驱动器电压过高。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*41", $"{Name} Robot Occurred Error:欠电压。", "驱动器电压过底。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*50", $"{Name} Robot Occurred Error:碰撞检出警报。", "检测到了碰撞发生。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*51", $"{Name} Robot Occurred Error:电机超速。", "电机转速过高。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*52", $"{Name} Robot Occurred Error:振动报警。", "电机转速出现异常振荡。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*55", $"{Name} Robot Occurred Error:伺服驱动器参数错误4。", "伺服参数异常。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*71", $"{Name} Robot Occurred Error:瞬时过载(电机)。", "电机被施加了很大程度上超过额定值的转矩。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*72", $"{Name} Robot Occurred Error:连续过载(电机)。", "一个大大超过额定值的转矩被连续施加。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*73", $"{Name} Robot Occurred Error:动态制动过载。", "超过动态制动电阻容量。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*74", $"{Name} Robot Occurred Error:浪涌限流电阻过载。", "主电路电源经常被打开和关闭。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*7A", $"{Name} Robot Occurred Error:控制器风机停止。", "控制器风扇停止运行。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*7B", $"{Name} Robot Occurred Error:温度传感器电路错误。", "温度传感器电路错误。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*81", $"{Name} Robot Occurred Error:绝对编码器备份错误。", "绝对编码器电池被移除过，位置数据被清除。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*82", $"{Name} Robot Occurred Error:绝对编码器校验错误", "编码器内存的校验和结果有错误。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*83", $"{Name} Robot Occurred Error:绝对编码器的电池电压低。", "绝对值编码器备用电池电压低。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*84", $"{Name} Robot Occurred Error:编码器数据误差。", "编码器内部数据错误。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*85", $"{Name} Robot Occurred Error:编码器速度过快。", "通电时编码器高速旋转。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*86", $"{Name} Robot Occurred Error:编码器过热。", "编码器过热。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*B3", $"{Name} Robot Occurred Error:电流检测错误。", "电流检测电路错误。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*B6", $"{Name} Robot Occurred Error:伺服 M-III 通信错误。", "MECHATROLINK 通信出现错误。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*BF", $"{Name} Robot Occurred Error:系统报警。", "伺服单元内部程序错误。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*C1", $"{Name} Robot Occurred Error:电机失控。", "伺服电机失控。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*C2", $"{Name} Robot Occurred Error:相位信息不匹配。", "相位信息不匹配。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*C5", $"{Name} Robot Occurred Error:极性检测失败。", "极性检测错误。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*C8", $"{Name} Robot Occurred Error:编码器复位错误。", "多回合数据未正确清除或设置。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*C9", $"{Name} Robot Occurred Error:编码器通信错误。", "编码器与伺服单元通信错误。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*CA", $"{Name} Robot Occurred Error:编码器参数错误1。", "编码器中的参数已损坏。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*CB", $"{Name} Robot Occurred Error:编码器参数错误2。", "与编码器通信的内容不正确。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*CC", $"{Name} Robot Occurred Error:编码器参数错误3。", "编码器与驱动器数据不一致。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*D0", $"{Name} Robot Occurred Error:位置偏差错误。", "位置偏差脉冲超过设定值。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*D3", $"{Name} Robot Occurred Error:位置数据溢出。", "反馈数据超过+1,879,048,192。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*D8", $"{Name} Robot Occurred Error:转矩检测异常。", "检测到异常转矩。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*E0", $"{Name} Robot Occurred Error:伺服 M-III 通信错误 2。", "MECHATROLINK 与伺服单元通信时发生同步错误。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*E4", $"{Name} Robot Occurred Error:伺服 M-III 通信错误 3。", "MECHATROLINK 通信设置不正确。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*E5", $"{Name} Robot Occurred Error:伺服 M-III 通信错误 4。", "MECHATROLINK 与伺服单元通信时发生同步错误。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*E6", $"{Name} Robot Occurred Error:伺服 M-III 通信错误 5。", "MECHATROLINK 通信出现错误。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*ED", $"{Name} Robot Occurred Error:伺服 M-III 通信错误 6。", "MECHATROLINK 通信出现错误。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error*F1", $"{Name} Robot Occurred Error:相位损失。", "电源缺相。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorE*E", $"{Name} Robot Occurred Error:通信错误（内部控制器）。", "控制器内部通信故障。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error930", $"{Name} Robot Occurred Error:未定义的命令收到。", "从主机接收到未定义的命令。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error940", $"{Name} Robot Occurred Error:消息参数错误。", "从主机接收的命令附加的参数无效。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error950", $"{Name} Robot Occurred Error:机械手在运动中，命令被拒绝。", "命令被拒绝，控制器正在执行一个运动命令。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error970", $"{Name} Robot Occurred Error:分隔符错误。", "没有分隔符。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error971", $"{Name} Robot Occurred Error:结束符错误。", "结束符不正确。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}Error972", $"{Name} Robot Occurred Error:指令长度错误。", "指令长度不正确。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorA10", $"{Name} Robot Occurred Error:外部急停。", "I/O 启用外部紧急停止(EXESP)功能。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorA20", $"{Name} Robot Occurred Error:T.P 紧急停。", "教学挂件上的急停按钮被按下。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorA30", $"{Name} Robot Occurred Error:急停。", "主机发出紧急停止命令。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorA31", $"{Name} Robot Occurred Error:碰撞检出。", "机械手发生碰撞。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorA45", $"{Name} Robot Occurred Error:单元风扇1错误。", "主机风扇1故障。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorA47", $"{Name} Robot Occurred Error:机械手风扇1错误。", "机械手风扇故障。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorA4F", $"{Name} Robot Occurred Error:控制器电池报警。", "控制器内存备用电池电量不足。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorA60", $"{Name} Robot Occurred Error:F47 连续错误。", "重新检测到供电电压下降。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAE0", $"{Name} Robot Occurred Error:主机模式切换错误。", "模式切换到“HOST”，同时从示教器控制。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAE1", $"{Name} Robot Occurred Error:教模式切换错误。", "在主机控制下切换为“TEACH”模式。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAE8", $"{Name} Robot Occurred Error:伺服使能开关错误。", "示教器操作时松开使能开关。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAF0", $"{Name} Robot Occurred Error:互锁故障1。", "检测到安全模块错误。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAF1", $"{Name} Robot Occurred Error:互锁故障2。", "检测到安全模块错误。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAF2", $"{Name} Robot Occurred Error:互锁故障3。", "检测到安全模块错误。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAF3", $"{Name} Robot Occurred Error:互锁故障4。", "检测到安全模块错误。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAF4", $"{Name} Robot Occurred Error:互锁故障5。", "检测到安全模块错误。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAF5", $"{Name} Robot Occurred Error:互锁故障6。", "检测到安全模块错误。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAF6", $"{Name} Robot Occurred Error:互锁故障7。", "检测到安全模块错误。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAF8", $"{Name} Robot Occurred Error:互锁故障8。", "检测到安全模块错误。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAF9", $"{Name} Robot Occurred Error:互锁故障9。", "检测到安全模块错误。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAFA", $"{Name} Robot Occurred Error:互锁故障10。", "检测到安全模块错误。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAFB", $"{Name} Robot Occurred Error:互锁故障11。", "检测到安全模块错误。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorAFC", $"{Name} Robot Occurred Error:互锁故障12。", "检测到安全模块错误。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB20", $"{Name} Robot Occurred Error:轴1正(+)方向软件限位检测1。", "正方向超过Axis-1运动范围。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB21", $"{Name} Robot Occurred Error:轴2正(+)方向软件限位检测1。", "正方向超过Axis-3运动范围。."));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB22", $"{Name} Robot Occurred Error:轴3正(+)方向软件限位检测1。", "正方向超过Axis-3运动范围。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB23", $"{Name} Robot Occurred Error:轴4正(+)方向软件限位检测1。", "正方向超过Axis-4运动范围。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB24", $"{Name} Robot Occurred Error:轴5正(+)方向软件限位检测1。", "正方向超过Axis-5运动范围。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB25", $"{Name} Robot Occurred Error:轴6正(+)方向软件限位检测1。", "正方向超过Axis-6运动范围。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB28", $"{Name} Robot Occurred Error:轴1正(+)方向限位检测。", "正方向超过Axis-1运动范围。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB29", $"{Name} Robot Occurred Error:轴2正(+)方向限位检测。", "正方向超过Axis-2运动范围。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB2A", $"{Name} Robot Occurred Error:轴3正(+)方向限位检测。", "正方向超过Axis-3运动范围。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB2B", $"{Name} Robot Occurred Error:轴4正(+)方向限位检测。", "正方向超过Axis-4运动范围。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB2C", $"{Name} Robot Occurred Error:轴5正(+)方向限位检测。", "正方向超过Axis-5运动范围。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB2D", $"{Name} Robot Occurred Error:轴6正(+)方向限位检测。", "正方向超过Axis-6运动范围。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB30", $"{Name} Robot Occurred Error:轴1负(-)方向软件限位检测1。", "负方向超过Axis-1运动范围。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB31", $"{Name} Robot Occurred Error:轴2负(-)方向软件限位检测1。", "负方向超过Axis-2运动范围。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB32", $"{Name} Robot Occurred Error:轴3负(-)方向软件限位检测1。", "负方向超过Axis-3运动范围。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB33", $"{Name} Robot Occurred Error:轴4负(-)方向软件限位检测1。", "负方向超过Axis-4运动范围。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB34", $"{Name} Robot Occurred Error:轴5负(-)方向软件限位检测1。", "负方向超过Axis-5运动范围。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB35", $"{Name} Robot Occurred Error:轴6负(-)方向软件限位检测1。", "负方向超过Axis-6运动范围。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB38", $"{Name} Robot Occurred Error:轴1负(-)方向限位检测。", "负方向超过Axis-1运动范围。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB39", $"{Name} Robot Occurred Error:轴2负(-)方向限位检测。", "负方向超过Axis-2运动范围。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB3A", $"{Name} Robot Occurred Error:轴3负(-)方向限位检测。", "负方向超过Axis-3运动范围。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB3B", $"{Name} Robot Occurred Error:轴4负(-)方向限位检测。", "负方向超过Axis-4运动范围。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB3C", $"{Name} Robot Occurred Error:轴5负(-)方向限位检测。", "负方向超过Axis-5运动范围。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB3D", $"{Name} Robot Occurred Error:轴6负(-)方向限位检测。", "负方向超过Axis-6运动范围。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB88", $"{Name} Robot Occurred Error:手爪传感器ON超时错误1。", "取片时手爪传感器1没有在规定时间内ON。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB89", $"{Name} Robot Occurred Error:手爪传感器ON超时错误2。", "取片时手爪传感器2没有在规定时间内ON。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB8A", $"{Name} Robot Occurred Error:手爪传感器OFF超时错误1。", "放片时手爪传感器1没有在规定时间内OFF。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorB8B", $"{Name} Robot Occurred Error:手爪传感器OFF超时错误2。", "放片时手爪传感器2没有在规定时间内OFF。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorBA8", $"{Name} Robot Occurred Error:手爪传感器OFF状态错误1。", "取片时手爪传感器1状态应该为OFF但当前状态未符合。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorBA9", $"{Name} Robot Occurred Error:手爪传感器OFF状态错误2。", "取片时手爪传感器2状态应该为OFF但当前状态未符合。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorBAA", $"{Name} Robot Occurred Error:手爪传感器ON状态错误1。", "放片时手爪传感器1状态应该为ON但当前状态未符合。"));
            EV.Subscribe(new EventItem("Alarm", $"{Name}ErrorBAB", $"{Name} Robot Occurred Error:手爪传感器ON状态错误2。", "放片时手爪传感器 2 状态应该为 ON 但当前状态未符合。"));
        }

        public void NotifyAlarmByErrorCode(string errorcode)
        {
            EV.Notify($"{Name}Error{errorcode}");
        }
        private void _diTPinUse_OnSignalChanged(IoSensor arg1, bool arg2)
        {
            SetMaintenanceMode(!arg1.Value);
        }

        private void _diRobotError_OnSignalChanged(IoSensor arg1, bool arg2)
        {
            if (arg1.Value == false)
            {
                lock (_locker)
                {
                    _lstHandlers.AddLast(new GM201LVPRobotReadHandler(this, "RSTS"));
                }
                OnError("RobotError");
            }
        }

        private void ResetPropertiesAndResponses()
        {

        }

        private void RegisterSpecialData()
        {
            if(Name != "CarrierRobot")
            {
                DATA.Subscribe($"{Name}.CurrentArm1Position", () => CurrentArm1Position);
                DATA.Subscribe($"{Name}.CurrentArm2Position", () => CurrentArm2Position);
                DATA.Subscribe($"{Name}.CurrentZPosition", () => CurrentZPosition);
                DATA.Subscribe($"{Name}.IsWaferPresenceOnBlade2", () => IsWaferPresenceOnBlade2);
                DATA.Subscribe($"{Name}.IsWaferPresenceOnBlade3", () => IsWaferPresenceOnBlade3);
                DATA.Subscribe($"{Name}.IsWaferPresenceOnBlade4", () => IsWaferPresenceOnBlade4);
                DATA.Subscribe($"{Name}.IsWaferPresenceOnBlade5", () => IsWaferPresenceOnBlade5);
            }

            DATA.Subscribe($"{Name}.TPStatus", () => _tpStatus != null&& _tpStatus.Value);
            DATA.Subscribe($"{Name}.CurrentExtensionPosition", () => CurrentExtensionPosition);
            DATA.Subscribe($"{Name}.CurrentThetaPosition", () => CurrentThetaPosition);

            DATA.Subscribe($"{Name}.IsManipulatorBatteryLow", () => IsManipulatorBatteryLow);
            DATA.Subscribe($"{Name}.IsCommandExecutionReady", () => IsCommandExecutionReady);
            DATA.Subscribe($"{Name}.IsServoON", () => IsServoON);
            DATA.Subscribe($"{Name}.IsErrorOccurred", () => IsErrorOccurred);
            DATA.Subscribe($"{Name}.IsControllerBatteryLow", () => IsControllerBatteryLow);
            DATA.Subscribe($"{Name}.IsWaferPresenceOnBlade1", () => IsWaferPresenceOnBlade1);

            DATA.Subscribe($"{Name}.MappingResult", () => ReadSlotMap);
            DATA.Subscribe($"{Name}.ReadRobotParameterResultDict", () => ReadRobotParameterResult);

            DATA.Subscribe($"{Name}.ErrorCode", () => ErrorCode);


            DATA.Subscribe($"{Name}.RobotSpeed", () => SpeedLevelSetting.ToString());

            OP.Subscribe($"{Name}.SetSpeed", InvokeSetSpeed);

        }

        private bool OnTimer()
        {
            try
            {
                _connection.MonitorTimeout();
                if (!_connection.IsConnected || _connection.IsCommunicationError)
                {
                    lock (_locker)
                    {
                        _lstHandlers.Clear();
                        _lstMonitorHandler.Clear();
                    }

                    _trigRetryConnect.CLK = !_connection.IsConnected;
                    if (_trigRetryConnect.Q)
                    {
                        if (!_connection.Connect())
                        {
                            EV.PostAlarmLog(RobotModuleName.ToString(), $"Can not connect with {_connection.Address}, {Name}");
                        }
                        else
                        {
                            //_lstHandler.AddLast(new RobotHirataR4QueryPinHandler(this, _deviceAddress));
                            //_lstHandler.AddLast(new RobotHirataR4SetCommModeHandler(this, _deviceAddress, EnumRfPowerCommunicationMode.Host));
                        }
                    }
                    return true;
                }

                HandlerBase handler = null;

                lock (_locker)
                {
                    if (!_connection.IsBusy)
                    {
                        if (_lstHandlers.Count > 0)
                        {
                            handler = _lstHandlers.First.Value;
                            _connection.Execute(handler);
                            _lstHandlers.RemoveFirst();
                        }
                        else
                        {
                            if (_lstMonitorHandler.Count > 0)
                            {

                                handler = _lstMonitorHandler.First.Value;
                                _connection.Execute(handler);
                                _lstMonitorHandler.RemoveFirst();
                            }

                        }
                    }
                    else
                    {
                        _connection.MonitorTimeout();

                        _trigCommunicationError.CLK = _connection.IsCommunicationError;
                        if (_trigCommunicationError.Q)
                        {
                            _lstHandlers.Clear();
                            _lstMonitorHandler.Clear();
                            //EV.PostAlarmLog(RobotModuleName.ToString(), $"{Module}.{Name} communication error, {_connection.LastCommunicationError}");
                            OnError($"{Name} communication error, {_connection.LastCommunicationError}");
                            //_trigActionDone.CLK = true;
                        }
                    }
                }

            }

            catch (Exception ex)
            {
                LOG.Write(ex);
            }

            return true;
        }

        public bool Connect()
        {
            return _connection.Connect();
        }

        public bool Disconnect()
        {
            return _connection.Disconnect();
        }

        public override bool IsReady()
        {
            //if (_diRobotReady!=null && !_diRobotReady.Value) 
            //    return false;
            if (_diRobotError != null && !_diRobotError.Value)
                return false;
            if (_diTPinUse != null && !_diTPinUse.Value)
                return false;
            return RobotState == RobotStateEnum.Idle && !IsBusy && !_connection.IsBusy && _lstHandlers.Count == 0 && !_connection.IsCommunicationError && _connection.IsConnected;
        }
        public override bool IsReady(out string reason)
        {
            reason = "";
            //if (_diRobotReady!=null && !_diRobotReady.Value) 
            //    return false;
            if (_diRobotError != null && !_diRobotError.Value)
                return false;
            if (_diTPinUse != null && !_diTPinUse.Value)
                return false;
            var ret = RobotState == RobotStateEnum.Idle && !IsBusy && !_connection.IsBusy && _lstHandlers.Count == 0 && !_connection.IsCommunicationError && _connection.IsConnected;
            if (!ret)
            {
                if (RobotState != RobotStateEnum.Idle)
                    reason = "RobotState != RobotStateEnum.Idle";
                if (IsBusy)
                    reason = "IsBusy";
                if (_lstHandlers.Count != 0)
                    reason = "_lstHandlers.Count != 0";
                if (_connection.IsCommunicationError)
                    reason = "_connection.IsCommunicationError";
                if (!_connection.IsConnected)
                    reason = "!_connection.IsConnected";
            }
            return ret;
        }

        public bool ParseReadData(string _command, string[] rdata)
        {
            try
            {
                if (_command == "RSTS")
                {
                    return ((rdata.Length == 3 || rdata.Length == 2) && ParseRSTSStatus(rdata));
                }
                if (_command == "RSLV")      //Read the speed level
                {
                    return (rdata.Length == 3 && ParseSpeedLevel(rdata[2]));
                }
                if (_command == "RPOS")   //Reference current postion
                {
                    return (rdata.Length > 1 && ParsePositionData(rdata));

                }
                if (_command == "RSTP")   //Reference registered position, read the save postion for station
                {
                    if (rdata.Length == 5)
                    {
                        return ParsePositionAxisDataV2(rdata);
                    }
                    if (rdata.Length ==7)
                    {
                        return ParsePositionAxisData(rdata);
                    }
                    // return (rdata.Length > 6 && ParseRegisteredPositionData(rdata));
                   
                }
                if (_command == "RSTR")   //Reference station item value
                {
                    return (rdata.Length == 4 && ParseStationData(rdata));
                }
                if (_command == "RPRM")  //Reference the parameter values of the specified unit
                {
                    return (rdata.Length == 3 && ParseParameterData(rdata));
                }
                if (_command == "RMSK")  //Reference the interlock information
                {
                    return (rdata.Length == 1 && ParseInterlockInfo(rdata));

                }
                if (_command == "RVER")  //Reference the software version
                {
                    return (rdata.Length == 2 && ParseSoftwareVersion(rdata));
                }
                if (_command == "RMAP")  //Reference the slot map
                {
                    return (rdata.Length > 2 && ParseSlotMap(rdata));
                }
                if (_command == "RMPD")  //reference the mapping data
                {
                    return (rdata.Length > 1 && ParseMappingData(rdata));
                }
                if (_command == "RMCA")   // Reference the mapping calibration result
                {
                    return (rdata.Length > 1 && ParseMappingCalibrationResult(rdata));
                }
                if (_command == "RERR")   // Request ERR
                {
                    return (rdata.Length > 2 && ParseERR(rdata));
                }

                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return true;
            }
        }

        public bool ParseRSTSStatus(string[] status)
        {
            try
            {
                if (status.Length > 2)
                {
                    //wafer robot
                    int intstatus = Convert.ToInt16(status[2].Substring(5, 2), 16);
                    IsWaferPresenceOnBlade5 = (((intstatus >> 4) & 0x1) == 0x1);
                    IsWaferPresenceOnBlade4 = (((intstatus >> 3) & 0x1) == 0x1);
                    IsWaferPresenceOnBlade3 = (((intstatus >> 2) & 0x1) == 0x1);
                    IsWaferPresenceOnBlade2 = (((intstatus >> 1) & 0x1) == 0x1);
                    IsWaferPresenceOnBlade1 = (((intstatus >> 0) & 0x1) == 0x1);
                }
                else
                {
                    //foup robot
                    int intstatus = Convert.ToInt16(status[1].Substring(5, 2), 16);
                    IsWaferPresenceOnBlade5 = (((intstatus >> 4) & 0x1) == 0x1);
                    IsWaferPresenceOnBlade4 = (((intstatus >> 3) & 0x1) == 0x1);
                    IsWaferPresenceOnBlade3 = (((intstatus >> 2) & 0x1) == 0x1);
                    IsWaferPresenceOnBlade2 = (((intstatus >> 1) & 0x1) == 0x1);
                    IsWaferPresenceOnBlade1 = (((intstatus >> 0) & 0x1) == 0x1);
                }

                return true;

            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return true;
            }
        }

        public bool ParseSpeedLevel(string speedlevel)
        {
            try
            {
                int level = Convert.ToInt32(speedlevel);
                if (level < 1 || level > 100) return false;
                SpeedLevel = level;
                return true;

            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }

        public bool ParsePositionData(string[] pdata)
        {
            try
            {
                if (pdata[1] == "R" || pdata[1] == "F")
                {
                    CommandZPosition = Convert.ToSingle(pdata[1]) / 1000;
                    CommandThetaPosition = Convert.ToSingle(pdata[2]) / 1000;
                    CommandExtensionPosition = Convert.ToSingle(pdata[3]) / 1000;
                    return true;
                }

                return false;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        } 
        public bool ParsePositionAxisData(string[] pdata)
        {
            try
            {
                ReadMemorySpec = pdata[0];
                ReadTransferStation = pdata[1];
                if (ReadStationItemValues.ContainsKey(pdata[2]))
                    ReadStationItemValues.Remove(pdata[2]);
                ReadStationItemValues.Add(pdata[2], pdata[3]);

                if (ReadRobotParameterResult.ContainsKey(ReadTransferStation))
                {
                    ReadRobotParameterResult[ReadTransferStation] = $"{pdata[2]},{pdata[3]},{pdata[4]},{pdata[5]},{pdata[6]}";
                }
                else
                {
                    ReadRobotParameterResult.Add(ReadTransferStation, $"{pdata[2]},{pdata[3]},{pdata[4]},{pdata[5]},{pdata[6]}");
                }
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }
        public bool ParsePositionAxisDataV2(string[] pdata)
        {
            try
            {
                ReadMemorySpec = pdata[0];
                ReadTransferStation = pdata[1];
                if (ReadStationItemValues.ContainsKey(pdata[2]))
                    ReadStationItemValues.Remove(pdata[2]);
                ReadStationItemValues.Add(pdata[2], pdata[3]);

                if (ReadRobotParameterResult.ContainsKey(ReadTransferStation))
                {
                    ReadRobotParameterResult[ReadTransferStation] = $"{pdata[2]},{pdata[3]},{pdata[4]}";
                }
                else
                {
                    ReadRobotParameterResult.Add(ReadTransferStation, $"{pdata[2]},{pdata[3]},{pdata[4]}");
                }
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }
        public bool ParseRegisteredPositionData(string[] pdata)
        {
            try
            {
                ReadMemorySpec = pdata[0];
                ReadTransferStation = pdata[1];
                ReadSlotNumber = Convert.ToInt16(pdata[2]);
                ReadArmPosture = pdata[3];
                ReadBladeNo = (RobotArmEnum)(Convert.ToInt16(pdata[4]) - 1);
                if (pdata[5] == "S")
                    ReadPositionType = GM201LVPPositonEnum.RegisteredPosition;
                if (pdata[5] == "R")
                    ReadPositionType = GM201LVPPositonEnum.ReadyPosition;
                if (pdata[5] == "M")
                    ReadPositionType = GM201LVPPositonEnum.IntermediatePosition;
                if (pdata[5] == "B")
                    ReadPositionType = GM201LVPPositonEnum.MappingStartPosition;
                if (pdata[5] == "E")
                    ReadPositionType = GM201LVPPositonEnum.MappingFinishPosition;
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }

        public bool ParseStationData(string[] pdata)
        {
            try
            {
                ReadMemorySpec = pdata[0];
                ReadTransferStation = pdata[1];
                if (ReadStationItemValues.ContainsKey(pdata[2]))
                    ReadStationItemValues.Remove(pdata[2]);
                ReadStationItemValues.Add(pdata[2], pdata[3]);

                if (ReadRobotParameterResult.ContainsKey(ReadTransferStation))
                {
                    ReadRobotParameterResult[ReadTransferStation] = $"{pdata[2]},{pdata[3]}";
                }
                else
                {
                    ReadRobotParameterResult.Add(ReadTransferStation, $"{pdata[2]},{pdata[3]}");
                }
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }
        public bool ParseParameterData(string[] pdata)
        {
            try
            {
                ReadParameterType = pdata[0];
                ReadParameterNo = pdata[1];
                ReadParameterValue = pdata[2];
                if (ReadRobotParameterResult.ContainsKey(ReadParameterNo))
                {
                    ReadRobotParameterResult[ReadParameterNo] = ReadParameterValue;
                }
                else
                {
                    ReadRobotParameterResult.Add(ReadParameterNo, ReadParameterValue);
                }
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }
        public bool ParseInterlockInfo(string[] pdata)
        {
            try
            {
                int intdata = Convert.ToInt16(pdata[1]);
                IsCheckInterlockWaferPresenceOnBlade1 = (intdata & 0x1) == 0;
                IsCheckInterlockWaferPresenceOnBlade2 = (intdata & 0x2) == 0;
                IsCheckInterlockWaferPresenceOnBlade3 = (intdata & 0x4) == 0;
                IsCheckInterlockWaferPresenceOnBlade4 = (intdata & 0x8) == 0;
                IsCheckInterlockWaferPresenceOnBlade5 = (intdata & 0x16) == 0;

                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }
        public bool ParseSoftwareVersion(string[] pdata)
        {
            try
            {
                //RobotSystemVersion = pdata[0];
                RobotSoftwareVersion = pdata[1];
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }
        public bool ParseERR(string[] pdata)
        {
            try
            {
                var index = pdata[1];
                var code = pdata[2];
                if (code != "000")
                {
                    EV.Notify($"{Name}Error{code}");
                    LOG.Write($"{Name} Error {index} {code}");
                    _isError = true;
                }
                else
                {
                    _isError = false;
                }

                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }
        public bool ParseSlotMap(string[] pdata)
        {
            try
            {
                ReadMappingTransferStation = pdata[1];
                ReadMappingSlotNumbers = pdata[2].Length - 1;
                StringBuilder sb = new StringBuilder();
                for (int i = 1; i < pdata[2].Length; i++)
                {
                    string value = pdata[2][i].ToString();
                    switch (value)
                    {
                        case "0":
                            sb.Append("0");
                            break;
                        case "1":
                            sb.Append("1");
                            break;
                        case "C":
                            sb.Append("C");
                            break;
                        case "D":
                            sb.Append("D");
                            break;
                    }
                }
                SlotMap = ReadSlotMap = sb.ToString();
                NotifySlotMapResult(CurrentInteractiveModule, ReadSlotMap);
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }

        public bool ParseMappingData(string[] pdata)
        {
            try
            {
                ReadMappingTransferStation = pdata[0];

                List<string> lstupdata = new List<string>();
                List<string> lstdowndata = new List<string>();
                for (int i = 0; i < (pdata.Length - 1) / 2; i++)
                {
                    lstupdata.Add(pdata[2 * i + 1].Remove(0, 3));
                    lstdowndata.Add(pdata[2 * i + 2]);
                }
                ReadMappingDownData = lstdowndata.ToArray();
                ReadMappingUpData = lstupdata.ToArray();
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }
        public bool ParseMappingCalibrationResult(string[] pdata)
        {
            try
            {
                ReadMappingTransferStation = pdata[0];
                ReadMappingCalibrationResult.Clear();
                ReadMappingCalibrationResult.Add("LowestLaySlotPosition", Convert.ToInt32(pdata[1]) / 1000);
                ReadMappingCalibrationResult.Add("HighestLaySlotPosition", Convert.ToInt32(pdata[2]) / 1000);
                ReadMappingCalibrationResult.Add("WaferWidth", Convert.ToInt32(pdata[3]) / 1000);
                ReadMappingCalibrationResult.Add("ThreshhholdValueofDoubleInsertion", Convert.ToInt32(pdata[4]) / 1000);
                ReadMappingCalibrationResult.Add("ThreshhholdValueofSlantingInsertion1", Convert.ToInt32(pdata[5]) / 1000);
                ReadMappingCalibrationResult.Add("ThreshhholdValueofSlantingInsertion2", Convert.ToInt32(pdata[6]) / 1000);
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }


        protected override bool fClear(object[] param)
        {
            if (!_connection.IsConnected)
            {
                EV.PostAlarmLog(RobotModuleName.ToString(), $"{RobotModuleName} clear failed for not connect with {_connection.Address}");
                return false;
            }
            lock (_locker)
            {
                _lstHandlers.Clear();
                _connection.ForceClear();
                //_lstHandlers.AddLast(new GM201LVPRobotMotionHandler(this, "CCLR", "E"));
                string strpara = "1,1,N";
                _lstHandlers.AddLast(new GM201LVPRobotMotionHandler(this, "INIT", strpara));
                _lstHandlers.AddLast(new GM201LVPRobotReadHandler(this, "RSTS"));
            }
            return true;
        }

        protected override bool fStartReadData(object[] param)
        {
            if (!_connection.IsConnected)
            {
                EV.PostAlarmLog(RobotModuleName.ToString(), $"{RobotModuleName} read data failed for not connect with {_connection.Address}");
                return false;
            }
            if (param.Length < 1) return false;
            string readcommand = param[0].ToString();
            switch (readcommand)
            {
                case "CurrentStatus":
                    lock (_locker)
                    {
                        _lstHandlers.AddLast(new GM201LVPRobotReadHandler(this, "RSTS"));
                        //_lstHandlers.AddLast(new GM201LVPRobotReadHandler(this, "RPOS", "F"));
                        //_lstHandlers.AddLast(new GM201LVPRobotReadHandler(this, "RPOS", "R"));
                    }
                    break;
                case "CurrentRobotParameters":
                    lock (_locker)
                    {
                        var parameters = param[1].ToString().Split(';').ToList();
                        foreach (var item in parameters)
                        {
                            _lstMonitorHandler.AddLast(new GM201LVPRobotReadHandler(this, "RPRM", item));
                        }
                    }
                    break;
                case "CurrentRobotPositionConfig":
                    lock (_locker)
                    {
                        var parameters = param[1].ToString().Split(';').ToList();
                        foreach (var item in parameters)
                        {
                            _lstMonitorHandler.AddLast(new GM201LVPRobotReadHandler(this, "RSTR", item));
                        }
                    }
                    break;
                case "CurrentRobotPositionAxis":
                    lock (_locker)
                    {
                        var parameters = param[1].ToString().Split(';').ToList();
                        foreach (var item in parameters)
                        {
                            _lstMonitorHandler.AddLast(new GM201LVPRobotReadHandler(this, "RSTP", item));
                        }
                    }
                    break;
                default:
                    break;
            }
            return true;
        }
        protected override bool fMonitorReadData(object[] param)
        {
            IsBusy = false;
            return _lstHandlers.Count == 0 && !_connection.IsBusy;
        }
        private void ExecuteHandler(HandlerBase handler)
        {
            _connection.Execute(handler);
        }
        private string Checksum(byte[] bytes)
        {
            int sum = 0;
            foreach (byte code in bytes)
            {
                sum += code;
            }
            string hex = String.Format("{0:X2}", sum % 256);
            return hex;
        }
        private Stopwatch _timerActionMonitor = new Stopwatch();

        protected override bool fStartSetParameters(object[] param)
        {
            if (!_connection.IsConnected)
            {
                EV.PostAlarmLog(RobotModuleName.ToString(), $"{RobotModuleName} set parameter failed for not connect with {_connection.Address}");
                return false;
            }
            try
            {
                string strParameter;
                string setcommand = param[0].ToString();
                switch (setcommand)
                {
                    case "SetSpeed":   // SSPD Set the motion speed
                        int speedLevel = Convert.ToInt32(param[1]);

                        if (speedLevel > 100) speedLevel = 100;
                        if (speedLevel < 1) speedLevel = 1;
                        lock (_locker)
                        {
                            _lstHandlers.AddLast(new GM201LVPRobotSetHandler(this, "SSLV", $"1,{SpeedLevelSetting.ToString("D3")}"));
                        }
                        break;
                    case "SetParameter":   // SPRM

                        lock (_locker)
                        {
                            var data = param[1].ToString().Split(';').ToList();
                            foreach (var item in data)
                            {
                                if (!string.IsNullOrEmpty(item))
                                {
                                    _lstMonitorHandler.AddLast(new GM201LVPRobotSetHandler(this, "SPRM", item));
                                }

                            }
                        }
                        break;
                    case "SetPositionConfig":   //SSTR,C01,000,00000000025

                        lock (_locker)
                        {
                            var data = param[1].ToString().Split(';').ToList();
                            foreach (var item in data)
                            {
                                if (!string.IsNullOrEmpty(item))
                                {
                                    _lstMonitorHandler.AddLast(new GM201LVPRobotSetHandler(this, "SSTR", item));
                                }

                            }
                        }
                        break;
                    case "SetPositionAxis":   //SABS,C01,00000100000,00000090000,00000000000,00000450000,00000010000

                        lock (_locker)
                        {
                            var data = param[1].ToString().Split(';').ToList();
                            foreach (var item in data)
                            {
                                if (!string.IsNullOrEmpty(item))
                                {
                                    _lstMonitorHandler.AddLast(new GM201LVPRobotSetHandler(this, "SABS", item));
                                }

                            }
                        }
                        break;
                    case "EnableInterLock": //SMSK
                        int smskValid = Convert.ToInt16(param[1].ToString());
                        lock (_locker)
                        {
                            _lstHandlers.AddLast(new GM201LVPRobotSetHandler(this, "SPRM", smskValid.ToString("D4")));
                        }
                        break;


                }
                _timerActionMonitor.Restart();
            }
            catch (Exception)
            {
                string reason = "";
                if (param != null)
                {
                    foreach (var para in param)
                    {
                        reason += para.ToString() + ",";
                    }
                }
                EV.PostAlarmLog(Name, "Set command parameter invalid:" + reason);
                return false;
            }
            return true;
        }

        protected override bool fMonitorSetParamter(object[] param)
        {
            IsBusy = false;
            if (_timerActionMonitor.IsRunning && _timerActionMonitor.Elapsed > TimeSpan.FromSeconds(_timeLimitMotion))
            {
                _timerActionMonitor.Stop();
                OnError("SetParameterTimeOut");
                return true;
            }
            if (_lstHandlers.Count == 0 && !_connection.IsBusy)
            {
                //EV.PostInfoLog(Name, "SetParameter complete");
                return true;
            }
            return false;
        }
        protected override bool fStartTransferWafer(object[] param)
        {
            return false;
        }

        protected override bool fStartUnGrip(object[] param)
        {
            if (!_connection.IsConnected)
            {
                EV.PostAlarmLog(RobotModuleName.ToString(), $"{RobotModuleName} ungrip failed for not connect with {_connection.Address}");
                return false;
            }
            lock (_locker)
            {
                RobotArmEnum arm = (RobotArmEnum)param[0];
                string strpara = (arm == RobotArmEnum.Both ? "F" : ((int)arm + 1).ToString()) + ",0,0";
                _lstHandlers.AddLast(new GM201LVPRobotMotionHandler(this, "CSOL", strpara));
            }
            _timerActionMonitor.Restart();
            return true;
        }

        protected override bool fMonitorUnGrip(object[] param)
        {
            IsBusy = false;
            if (_timerActionMonitor.IsRunning && _timerActionMonitor.Elapsed > TimeSpan.FromSeconds(_timeLimitMotion))
            {
                _timerActionMonitor.Stop();
                OnError("UngripTimeOut");
                return true;
            }
            if (_lstHandlers.Count == 0 && !_connection.IsBusy)
            {
                //EV.PostInfoLog(Name, "Ungrip complete");
                return true;
            }
            return false;
        }


        protected override bool fStartGrip(object[] param)
        {
            if (!_connection.IsConnected)
            {
                EV.PostAlarmLog(RobotModuleName.ToString(), $"{RobotModuleName} grip failed for not connect with {_connection.Address}");
                return false;
            }
            lock (_locker)
            {
                RobotArmEnum arm = (RobotArmEnum)param[0];
                string strpara = (arm == RobotArmEnum.Both ? "F" : ((int)arm + 1).ToString()) + ",1,0";
                _lstHandlers.AddLast(new GM201LVPRobotMotionHandler(this, "CSOL", strpara));
            }
            return true;
        }

        protected override bool fMonitorGrip(object[] param)
        {
            IsBusy = false;
            if (_timerActionMonitor.IsRunning && _timerActionMonitor.Elapsed > TimeSpan.FromSeconds(_timeLimitMotion))
            {
                _timerActionMonitor.Stop();
                OnError("GripTimeOut");
                return true;
            }
            if (_lstHandlers.Count == 0 && !_connection.IsBusy)
            {
                //EV.PostInfoLog(Name, "Grip complete");
                return true;
            }
            return false;
        }


        protected override bool fStartInit(object[] param)
        {
            if (!_connection.IsConnected)
            {
                EV.PostAlarmLog(RobotModuleName.ToString(), $"{RobotModuleName} init failed for not connect with {_connection.Address}");
                return false;
            }
            lock (_locker)
            {
                if (_doRobotHold != null)
                {
                    _doRobotHold.SetTrigger(true, out _);
                    Thread.Sleep(100);
                }
                //ExecuteHandler(new GM201LVPRobotReadHandler(this, "RERR", "001"));
                if (_isError)
                {
                    string strparaReset = "1,1,N";
                    _lstHandlers.AddLast(new GM201LVPRobotMotionHandler(this, "INIT", strparaReset));
                    _isError = false;
                }

                string strpara = "1,1,G";
                _lstHandlers.AddLast(new GM201LVPRobotMotionHandler(this, "INIT", strpara));
                if (SpeedLevelSetting >= 1 && SpeedLevelSetting <= 100)
                    _lstHandlers.AddLast(new GM201LVPRobotSetHandler(this, "SSLV", $"1,{SpeedLevelSetting.ToString("D3")}"));
                _lstHandlers.AddLast(new GM201LVPRobotReadHandler(this, "RSTS"));

            }
            _timerActionMonitor.Restart();
            return true;
        }
        protected override bool fMonitorInit(object[] param)
        {
            IsBusy = false;
            if (_timerActionMonitor.IsRunning && _timerActionMonitor.Elapsed > TimeSpan.FromSeconds(_timeLimitHome))
            {
                _timerActionMonitor.Stop();
                OnError("InitTimeOut");
                return true;
            }
            if (_lstHandlers.Count == 0 && !_connection.IsBusy)
            {
                BladeTarget = ModuleName.System;
                Blade1Target = ModuleName.System;
                Blade2Target = ModuleName.System;

                CmdTarget = ModuleName.System;
                MoveInfo = new RobotMoveInfo()
                {
                    Action = RobotAction.Moving,
                    ArmTarget = CmdRobotArm == RobotArmEnum.Lower ? RobotArm.ArmA : RobotArm.ArmB,
                    BladeTarget = BuildBladeTarget(),
                };

                //EV.PostInfoLog(Name, "Init complete");
                return true;
            }
            return false;
        }
        protected override bool fStartHome(object[] param)
        {
            if (!_connection.IsConnected)
            {
                EV.PostAlarmLog(RobotModuleName.ToString(), $"{RobotModuleName} init failed for not connect with {_connection.Address}");
                return false;
            }
            lock (_locker)
            {
                if (_doRobotHold != null)
                {
                    _doRobotHold.SetTrigger(true, out _);
                    Thread.Sleep(100);
                }

                //ExecuteHandler(new GM201LVPRobotReadHandler(this, "RERR", "001"));
                if (_isError)
                {
                    string strparaReset = "1,1,N";
                    _lstHandlers.AddLast(new GM201LVPRobotMotionHandler(this, "INIT", strparaReset));
                    _isError = false;
                }

                string strpara = "1,1,G";
                _lstHandlers.AddLast(new GM201LVPRobotMotionHandler(this, "INIT", strpara, _timeLimitHome));
                if (SpeedLevelSetting >= 1 && SpeedLevelSetting <= 100)
                    _lstHandlers.AddLast(new GM201LVPRobotSetHandler(this, "SSLV", $"1,{SpeedLevelSetting.ToString("D3")}"));
                _lstHandlers.AddLast(new GM201LVPRobotReadHandler(this, "RSTS"));

            }
            _timerActionMonitor.Restart();
            return true;
        }

        protected override bool fMonitorHome(object[] param)
        {
            IsBusy = false;
            if (_timerActionMonitor.IsRunning && _timerActionMonitor.Elapsed > TimeSpan.FromSeconds(_timeLimitHome))
            {
                _timerActionMonitor.Stop();
                OnError("HomeTimeOut");
                return true;
            }
            if (_lstHandlers.Count == 0 && !_connection.IsBusy)
            {
                BladeTarget = ModuleName.System;
                Blade1Target = ModuleName.System;
                Blade2Target = ModuleName.System;

                CmdTarget = ModuleName.System;
                MoveInfo = new RobotMoveInfo()
                {
                    Action = RobotAction.Moving,
                    ArmTarget = CmdRobotArm == RobotArmEnum.Lower ? RobotArm.ArmA : RobotArm.ArmB,
                    BladeTarget = BuildBladeTarget(),
                };
                //EV.PostInfoLog(Name, "Home complete");
                return true;
            }
            return false;
        }

        protected override bool fStartGoTo(object[] param)
        {
            if (!_connection.IsConnected)
            {
                EV.PostAlarmLog(RobotModuleName.ToString(), $"{RobotModuleName} move failed for not connect with {_connection.Address}");
                return false;
            }
            try
            {
                RobotArmEnum arm = (RobotArmEnum)param[0];
                ModuleName module = (ModuleName)Enum.Parse(typeof(ModuleName), param[1].ToString());
                BladeTarget = module;
                Blade1Target = module;
                Blade2Target = module;
                int slot = (int)param[2] + 1;
                //RobotPostionEnum postype = (RobotPostionEnum)param[3];
                RobotPostionEnum postype = (RobotPostionEnum)Enum.Parse(typeof(RobotPostionEnum), param[3].ToString());
                string strpara = string.Empty;

                //bool isFromOriginal = (bool)param[8];
                //bool isJumpToNextMotion = (bool)param[9];

                //if ((int)postype >= 0 && (int)postype < 10)
                //{
                //    strpara = "G";
                //}
                //if ((int)postype >= 10 && (int)postype < 20)
                //{
                //    strpara = "P";
                //}
                //if ((int)postype >= 20 && (int)postype < 30)
                //{
                //    strpara = "E";
                //}

                string trsSt = GetStationsName(module);

                if (string.IsNullOrEmpty(trsSt))
                {
                    LOG.Write("invalid transfer paramter");
                    return false;
                }

                string TrsPnt = string.Empty;
                if (postype == RobotPostionEnum.PickReady)
                {
                    TrsPnt = "G";
                }

                if (postype == RobotPostionEnum.PlaceReady)
                {
                    TrsPnt = "P";
                }
                //strCmd = "MTCH";

                if (_MaterialType == MaterialType.Wafer)
                {
                    int bladeNo = (arm == RobotArmEnum.Blade1 || arm == RobotArmEnum.Lower) ? 4 : 31;
                    strpara += $"{TrsPnt},{trsSt},{slot:D3},{bladeNo:D3}";
                }
                else if (_MaterialType == MaterialType.Carrier)
                {
                    //strpara = $"{TrsPnt},{trsSt},001,000";
                    string strHand = GetHandsName(module);
                    if (string.IsNullOrEmpty(strHand))
                    {
                        LOG.Write("Invalid Paramter.");
                        return false;
                    }
                    strpara = $"{TrsPnt},{trsSt},001,{strHand},001";
                }
                lock (_locker)
                {
                    {
                        _lstHandlers.AddLast(new GM201LVPRobotMotionHandler(this, "MTCH", strpara));
                        _lstHandlers.AddLast(new GM201LVPRobotReadHandler(this, "RSTS"));
                    }
                }
                _timerActionMonitor.Restart();
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }
        protected override bool fMonitorGoTo(object[] param)
        {
            if (_timerActionMonitor.IsRunning && _timerActionMonitor.Elapsed > TimeSpan.FromSeconds(_timeLimitMotion))
            {
                _timerActionMonitor.Stop();
                OnError("GotoTimeOut");
                return true;
            }

            if (_lstHandlers.Count != 0 || _connection.IsBusy) return false;

            IsBusy = false;

            return true;
        }

        protected override bool fGoToComplete(object[] param)
        {
            try
            {
                if (_lstHandlers.Count > 0) return false;
                RobotArmEnum arm = (RobotArmEnum)CurrentParamter[0];
                ModuleName sourcemodule = (ModuleName)Enum.Parse(typeof(ModuleName), CurrentParamter[1].ToString());
                int SourceslotIndex = (int)CurrentParamter[2];
                RobotPostionEnum postype = (RobotPostionEnum)CurrentParamter[3];
                //bool isFromOriginal = (bool)CurrentParamter[8];
                //bool isJumpToNextMotion = (bool)CurrentParamter[9];
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
            }

            return base.fGoToComplete(param);
        }
        protected override bool fStop(object[] param)
        {
            lock (_locker)
            {
                if (_doRobotHold != null)
                    _doRobotHold.SetTrigger(false, out _);
                _lstHandlers.Clear();
                _connection.ForceClear();
                //ExecuteHandler(new GM201LVPRobotMotionHandler(this, "CSTP", "E"));
            }
            return true; ;
        }
        protected override bool fMonitorStop(object[] param)
        {
            return true;
        }
        protected override bool fStartMove(object[] param)
        {
            if (!_connection.IsConnected)
            {
                EV.PostAlarmLog(RobotModuleName.ToString(), $"{RobotModuleName} move failed for not connect with {_connection.Address}");
                return false;
            }
            try
            {
                string strCmd = param[0].ToString();
                string strpara = string.Empty;

                for (int i = 1; i < param.Length; i++)
                {
                    if (i == 1)
                        strpara += param[i].ToString();
                    else
                        strpara += "," + param[i].ToString();
                }
                lock (_locker)
                {
                    _lstHandlers.AddLast(new GM201LVPRobotMotionHandler(this, strCmd, strpara));
                    _lstHandlers.AddLast(new GM201LVPRobotReadHandler(this, "RPOS", "F"));
                }
                _timerActionMonitor.Restart();
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }

        private string GetStationsName(ModuleName chamber)
        {
            if (!_moduleAssociateStationDic.ContainsKey(chamber.ToString()))
            {
                LOG.Error($"not define teach position {chamber}");
                return "";
            }

            var moduleIndex = _moduleAssociateStationDic[chamber.ToString()];

            return moduleIndex.ToString();
        }

        private string GetHandsName(ModuleName chamber)
        {
            if (!_moduleAssociateHandDic.ContainsKey(chamber.ToString()))
            {
                LOG.Error($"not define teach position {chamber}");
                return "";
            }

            var moduleIndex = _moduleAssociateHandDic[chamber.ToString()];

            return moduleIndex.ToString();
        }
        private int GetSlotsNumber(ModuleName module)
        {
            try
            {
                if (ModuleHelper.IsLoadPort(module))
                {
                    return DEVICE.GetDevice<LoadPortBaseDevice>(module.ToString()).ValidSlotsNumber;

                }
                return SC.GetValue<int>($"CarrierInfo.{module}SlotsNumber");
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return -1;
            }
        }
        private bool _isNeedMappignData
        {
            get
            {
                if (SC.ContainsItem($"Robot.{RobotModuleName}.NeedReadMapData"))
                    return SC.GetValue<bool>($"Robot.{RobotModuleName}.NeedReadMapData");
                return true;
            }
        }
        protected override bool fStartMapWafer(object[] param)
        {
            if (!_connection.IsConnected)
            {
                EV.PostAlarmLog(RobotModuleName.ToString(), $"{RobotModuleName} map failed for not connect with {_connection.Address}");
                return false;
            }
            try
            {
                ReadSlotMap = "";
                //RobotArmEnum pickarm = (RobotArmEnum)param[0];
                ModuleName module = (ModuleName)Enum.Parse(typeof(ModuleName), param[0].ToString());
                BladeTarget = module;
                Blade1Target = module;
                Blade2Target = module;
                //int slotsNumber = GetSlotsNumber(module);
                //if (slotsNumber == -1)
                //{
                //    LOG.Write("Invalid mapping paramter slots number");
                //    return false;
                //}
                string TrsSt = GetStationsName(module);
                if (string.IsNullOrEmpty(TrsSt))
                {
                    LOG.Write("Invalid Paramter.");
                    return false;
                }
                string strpara = $"{TrsSt},1";
                lock (_locker)
                {
                    CurrentInteractiveModule = module;
                    _lstHandlers.AddLast(new GM201LVPRobotMotionHandler(this, "MMAP", strpara, _timeLimitMotion));
                    //if (_isNeedMappignData)
                    //    _lstHandlers.AddLast(new GM201LVPRobotReadHandler(this, "RMPD", $"{GetStationsName(module)},025"));
                    _lstHandlers.AddLast(new GM201LVPRobotReadHandler(this, "RMAP", $"{GetStationsName(module)}"));
                }
                _timerActionMonitor.Restart();
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }
        protected override bool fMonitorMap(object[] param)
        {
            if (_timerActionMonitor.IsRunning && _timerActionMonitor.Elapsed > TimeSpan.FromSeconds(_timeLimitMotion))
            {
                _timerActionMonitor.Stop();
                OnError("PlaceTimeOut");
                return true;
            }

            if (_lstHandlers.Count != 0 || _connection.IsBusy) return false;

            IsBusy = false;

            BladeTarget = ModuleName.System;
            Blade1Target = ModuleName.System;
            Blade2Target = ModuleName.System;

            CmdTarget = ModuleName.System;
            MoveInfo = new RobotMoveInfo()
            {
                Action = RobotAction.Moving,
                ArmTarget = CmdRobotArm == RobotArmEnum.Lower ? RobotArm.ArmA : RobotArm.ArmB,
                BladeTarget = BuildBladeTarget(),
            };

            return true;
        }


        protected override bool fStartSwapWafer(object[] param)
        {
            if (!_connection.IsConnected)
            {
                EV.PostAlarmLog(RobotModuleName.ToString(), $"{RobotModuleName} move failed for not connect with {_connection.Address}");
                return false;
            }
            try
            {
                RobotArmEnum arm = (RobotArmEnum)param[0];
                ModuleName module = (ModuleName)Enum.Parse(typeof(ModuleName), param[1].ToString());
                BladeTarget = module;
                Blade1Target = module;
                Blade2Target = module;
                if (ModuleHelper.IsLoadPort(module))
                {
                    var lp = DEVICE.GetDevice<LoadPortBaseDevice>(module.ToString());
                    if (lp != null)
                        lp.NoteTransferStart();
                }

                int slot = (int)param[2] + 1;
                float x = 0, y = 0, z = 0, w = 0;
                if (param.Length > 3)
                {
                    x = (float)param[3];
                    y = (float)param[4];
                    z = (float)param[5];
                    w = (float)param[6];
                }
                int intXvalue = (int)(x * 1000);
                int intYvalue = (int)(y * 1000);
                int intZvalue = (int)(z * 1000);
                int intWvalue = (int)(w * 1000);
                string TrsSt = GetStationsName(module);
                if (string.IsNullOrEmpty(TrsSt))
                {
                    LOG.Write("Invalid Paramter.");
                    return false;
                }
                string strpara = $"E,{TrsSt},{slot:D2},A,{(arm == RobotArmEnum.Both ? "F" : ((int)arm + 1).ToString())},P4";
                if (x != 0 || y != 0 || z != 0)
                {
                    strpara += $",{intXvalue:D8},{intYvalue:D8},{intZvalue:D8}";
                }
                if (w != 0)
                {
                    strpara += $",{intWvalue:D8}";
                }
                lock (_locker)
                {
                    if (_lstHandlers.Count == 0 && !_connection.IsBusy)
                    {
                        ExecuteHandler(new GM201LVPRobotMotionHandler(this, "MTRS", strpara, _timeLimitMotion));
                    }
                    else
                    {
                        _lstHandlers.AddLast(new GM201LVPRobotMotionHandler(this, "MTRS", strpara));
                    }
                }
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }
        protected override bool fSwapComplete(object[] param)
        {
            RobotArmEnum arm = (RobotArmEnum)CurrentParamter[0];
            ModuleName sourcemodule;
            if (!Enum.TryParse(CurrentParamter[1].ToString(), out sourcemodule)) return false;
            int Sourceslotindex;
            if (!int.TryParse(CurrentParamter[2].ToString(), out Sourceslotindex)) return false;
            int delayCount = 0;
            if (arm == RobotArmEnum.Lower)
            {
                //WaferManager.Instance.WaferMoved(sourcemodule, Sourceslotindex, RobotModuleName, 0);
                //WaferManager.Instance.WaferMoved(RobotModuleName, 1, sourcemodule, Sourceslotindex);

                while (!isSimulatorMode && !(GetWaferState(RobotArmEnum.Lower) == RobotArmWaferStateEnum.Present
                        && GetWaferState(RobotArmEnum.Upper) == RobotArmWaferStateEnum.Absent))
                {
                    delayCount++;
                    Thread.Sleep(50);
                    LOG.Write($"{RobotModuleName} delay {delayCount} time to detect wafer");
                    if (delayCount > 100)
                    {
                        OnError("Wafer detect error");
                        return true;
                    }
                }
                WaferManager.Instance.WaferMoved(sourcemodule, Sourceslotindex, RobotModuleName, 0);
                WaferManager.Instance.WaferMoved(RobotModuleName, 1, sourcemodule, Sourceslotindex);

            }
            if (arm == RobotArmEnum.Upper)
            {
                //WaferManager.Instance.WaferMoved(sourcemodule, Sourceslotindex, RobotModuleName, 1);
                //WaferManager.Instance.WaferMoved(RobotModuleName, 0, sourcemodule, Sourceslotindex);
                delayCount = 0;
                while (!isSimulatorMode && !(GetWaferState(RobotArmEnum.Upper) == RobotArmWaferStateEnum.Present &&
                    GetWaferState(RobotArmEnum.Lower) == RobotArmWaferStateEnum.Absent))
                {
                    delayCount++;
                    Thread.Sleep(50);
                    LOG.Write($"{RobotModuleName} delay {delayCount} time to detect wafer");
                    if (delayCount > 100)
                    {
                        OnError("Wafer detect error");
                        return true;
                    }
                }
                WaferManager.Instance.WaferMoved(sourcemodule, Sourceslotindex, RobotModuleName, 1);
                WaferManager.Instance.WaferMoved(RobotModuleName, 0, sourcemodule, Sourceslotindex);

            }
            return base.fSwapComplete(param);
        }


        protected override bool fStartPlaceWafer(object[] param)
        {
            if (!_connection.IsConnected)
            {
                EV.PostAlarmLog(RobotModuleName.ToString(), $"{RobotModuleName} place failed for not connect with {_connection.Address}");
                return false;
            }
            try
            {
                RobotArmEnum arm = (RobotArmEnum)param[0];
                ModuleName module = (ModuleName)Enum.Parse(typeof(ModuleName), param[1].ToString());
                if (ModuleHelper.IsLoadPort(module))
                {
                    var lp = DEVICE.GetDevice<LoadPortBaseDevice>(module.ToString());
                    if (lp != null)
                        lp.NoteTransferStart();
                }
                BladeTarget = module;
                Blade1Target = module;
                Blade2Target = module;
                int slot = (int)param[2] + 1;

                string TrsSt = GetStationsName(module);
                if (string.IsNullOrEmpty(TrsSt))
                {
                    LOG.Write("Invalid Parameter.");
                    return false;
                }

                string strpara = "";
                if (_MaterialType == MaterialType.Wafer)
                {
                    int bladeNo = (arm == RobotArmEnum.Blade1 || arm == RobotArmEnum.Lower) ? 4 : 31;
                    strpara = $"P,{TrsSt},{slot:D3},{bladeNo:D3}";
                }
                else if (_MaterialType == MaterialType.Carrier)
                {
                    string strHand = GetHandsName(module);
                    if (string.IsNullOrEmpty(strHand))
                    {
                        LOG.Write("Invalid Paramter.");
                        return false;
                    }
                    strpara = $"P,{TrsSt},001,{strHand}";
                }

                lock (_locker)
                {
                    {
                        _lstHandlers.AddLast(new GM201LVPRobotMotionHandler(this, "MTRS", strpara, _timeLimitPlace));
                        _lstHandlers.AddLast(new GM201LVPRobotReadHandler(this, "RSTS"));
                    }
                }

                CmdTarget = module;
                MoveInfo = new RobotMoveInfo()
                {
                    Action = RobotAction.Moving,
                    ArmTarget = CmdRobotArm == RobotArmEnum.Lower ? RobotArm.ArmA : RobotArm.ArmB,
                    BladeTarget = BuildBladeTarget(),
                };

                _timerActionMonitor.Restart();
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }


        protected override bool fMonitorPlace(object[] param)
        {
            IsBusy = false;
            if (_timerActionMonitor.IsRunning && _timerActionMonitor.Elapsed > TimeSpan.FromSeconds(_timeLimitPlace))
            {
                _timerActionMonitor.Stop();
                OnError("PlaceTimeOut");
                return true;
            }
            if (_lstHandlers.Count == 0 && !_connection.IsBusy)
            {
                _timerActionMonitor.Stop();
                //EV.PostInfoLog(Name, "Place complete");

                fPlaceComplete(param);

                BladeTarget = ModuleName.System;
                Blade1Target = ModuleName.System;
                Blade2Target = ModuleName.System;

                CmdTarget = ModuleName.System;
                MoveInfo = new RobotMoveInfo()
                {
                    Action = RobotAction.Moving,
                    ArmTarget = CmdRobotArm == RobotArmEnum.Lower ? RobotArm.ArmA : RobotArm.ArmB,
                    BladeTarget = BuildBladeTarget(),
                };
                return true;
            }
            return false;
        }


        protected override bool fPlaceComplete(object[] param)
        {
            if (_isError)
            {
                OnError("RobotError");
                return true;
            }
            if (_lstHandlers.Count > 0) return false;
            RobotArmEnum arm = (RobotArmEnum)CurrentParamter[0];
            ModuleName sourcemodule;
            if (!Enum.TryParse(CurrentParamter[1].ToString(), out sourcemodule)) return false;
            int Sourceslotindex;
            if (!int.TryParse(CurrentParamter[2].ToString(), out Sourceslotindex)) return false;
            int delayCount = 0;
            if (arm == RobotArmEnum.Lower || arm == RobotArmEnum.Blade1)
            {
                //WaferManager.Instance.WaferMoved(RobotModuleName, 0, sourcemodule, Sourceslotindex);
                while (!isSimulatorMode && GetWaferState(arm) != RobotArmWaferStateEnum.Absent)
                {
                    delayCount++;
                    Thread.Sleep(50);
                    LOG.Write($"{RobotModuleName} delay {delayCount} time to detect wafer");
                    if (delayCount > 100)
                    {
                        OnError("Wafer detect error");
                        return true;
                    }
                }
                if (_MaterialType == MaterialType.Wafer)
                {
                    WaferManager.Instance.WaferMoved(RobotModuleName, 2, sourcemodule, Sourceslotindex);
                }
                else if (_MaterialType == MaterialType.Carrier)
                {
                    if (CarrierManager.Instance.CheckHasCarrier(RobotModuleName.ToString(), 0))
                    {
                        CarrierManager.Instance.CarrierMoved(RobotModuleName.ToString(), sourcemodule.ToString(), true);
                        for (int i = 0; i < WaferManager.Instance.GetWafers(RobotModuleName).Length; i++)
                        {
                            if (WaferManager.Instance.CheckHasWafer(RobotModuleName, i))
                                WaferManager.Instance.WaferMoved(RobotModuleName, i, sourcemodule, i, false);
                        }
                    }
                }

            }
            if (arm == RobotArmEnum.Upper || arm == RobotArmEnum.Blade2)
            {
                //WaferManager.Instance.WaferMoved(RobotModuleName, 1, sourcemodule, Sourceslotindex);
                delayCount = 0;
                while (!isSimulatorMode && GetWaferState(arm) != RobotArmWaferStateEnum.Absent)
                {
                    delayCount++;
                    Thread.Sleep(50);
                    LOG.Write($"{RobotModuleName} delay {delayCount} time to detect wafer");
                    if (delayCount > 100)
                    {
                        OnError("Wafer detect error");
                        return true;
                    }
                }
                WaferManager.Instance.WaferMoved(RobotModuleName, 1, sourcemodule, Sourceslotindex);

            }
            if (arm == RobotArmEnum.Both)
            {
                //WaferManager.Instance.WaferMoved(RobotModuleName, 0, sourcemodule, Sourceslotindex);
                //WaferManager.Instance.WaferMoved(RobotModuleName, 1, sourcemodule, Sourceslotindex);
                while (!isSimulatorMode && GetWaferState(arm) != RobotArmWaferStateEnum.Absent)
                {
                    delayCount++;
                    Thread.Sleep(50);
                    LOG.Write($"{RobotModuleName} delay {delayCount} time to detect wafer");
                    if (delayCount > 100)
                    {
                        OnError("Wafer detect error");
                        return true;
                    }
                }
                WaferManager.Instance.WaferMoved(RobotModuleName, 0, sourcemodule, Sourceslotindex);
                WaferManager.Instance.WaferMoved(RobotModuleName, 1, sourcemodule, Sourceslotindex + 1);
                WaferManager.Instance.WaferMoved(RobotModuleName, 2, sourcemodule, Sourceslotindex + 2);
                WaferManager.Instance.WaferMoved(RobotModuleName, 3, sourcemodule, Sourceslotindex + 3);
                WaferManager.Instance.WaferMoved(RobotModuleName, 4, sourcemodule, Sourceslotindex + 4);
            }


            return base.fPlaceComplete(param);
        }

        protected override bool fStartPickWafer(object[] param)
        {
            if (!_connection.IsConnected)
            {
                EV.PostAlarmLog(RobotModuleName.ToString(), $"{RobotModuleName} move failed for not connect with {_connection.Address}");
                return false;
            }
            try
            {
                RobotArmEnum arm = (RobotArmEnum)param[0];
                ModuleName module = (ModuleName)Enum.Parse(typeof(ModuleName), param[1].ToString());
                if (ModuleHelper.IsLoadPort(module))
                {
                    var lp = DEVICE.GetDevice<LoadPortBaseDevice>(module.ToString());
                    if (lp != null)
                        lp.NoteTransferStart();
                }
                BladeTarget = module;
                Blade1Target = module;
                Blade2Target = module;
                int slot = (int)param[2] + 1;

                string TrsSt = GetStationsName(module);
                if (string.IsNullOrEmpty(TrsSt))
                {
                    LOG.Write("Invalid Paramter.");
                    return false;
                }
                string strpara = "";
                if (_MaterialType == MaterialType.Wafer)
                {
                    int bladeNo = (arm == RobotArmEnum.Blade1 || arm == RobotArmEnum.Lower) ? 4 : 31;
                    strpara = $"G,{TrsSt},{slot:D3},{bladeNo:D3}";
                }
                else if (_MaterialType == MaterialType.Carrier)
                {
                    string strHand = GetHandsName(module);
                    if (string.IsNullOrEmpty(strHand))
                    {
                        LOG.Write("Invalid Paramter.");
                        return false;
                    }
                    strpara = $"G,{TrsSt},001,{strHand}";
                }

                lock (_locker)
                {
                    _lstHandlers.AddLast(new GM201LVPRobotMotionHandler(this, "MTRS", strpara, _timeLimitPick));
                    _lstHandlers.AddLast(new GM201LVPRobotReadHandler(this, "RSTS"));

                }

                CmdTarget = module;
                MoveInfo = new RobotMoveInfo()
                {
                    Action = RobotAction.Moving,
                    ArmTarget = CmdRobotArm == RobotArmEnum.Lower ? RobotArm.ArmA : RobotArm.ArmB,
                    BladeTarget = BuildBladeTarget(),
                };
                _timerActionMonitor.Restart();
                return true;
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                return false;
            }
        }

        protected override bool fMonitorPick(object[] param)
        {
            IsBusy = false;
            if (_timerActionMonitor.IsRunning && _timerActionMonitor.Elapsed > TimeSpan.FromSeconds(_timeLimitPick))
            {
                _timerActionMonitor.Stop();
                OnError("PickTimeOut");
                return true;
            }
            if (_lstHandlers.Count == 0 && !_connection.IsBusy)
            {
                _timerActionMonitor.Stop();
                //EV.PostInfoLog(Name, "Pick complete");

                fPickComplete(param);

                BladeTarget = ModuleName.System;
                Blade1Target = ModuleName.System;
                Blade2Target = ModuleName.System;

                CmdTarget = ModuleName.System;
                MoveInfo = new RobotMoveInfo()
                {
                    Action = RobotAction.Moving,
                    ArmTarget = CmdRobotArm == RobotArmEnum.Lower ? RobotArm.ArmA : RobotArm.ArmB,
                    BladeTarget = BuildBladeTarget(),
                };

                return true;
            }
            return false;
        }


        protected override bool fPickComplete(object[] param)
        {
            if(_isError)
            {
                OnError("RobotError");
                return true;
            }
            RobotArmEnum arm = (RobotArmEnum)CurrentParamter[0];
            ModuleName module = (ModuleName)Enum.Parse(typeof(ModuleName), CurrentParamter[1].ToString());
            ModuleName sourcemodule;
            if (!Enum.TryParse(CurrentParamter[1].ToString(), out sourcemodule)) return false;
            int SourceslotIndex;
            if (!int.TryParse(CurrentParamter[2].ToString(), out SourceslotIndex)) return false;
            int delayCount = 0;
            if (arm == RobotArmEnum.Lower || arm == RobotArmEnum.Blade1)
            {
                //WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex, RobotModuleName, 0);
                while (!isSimulatorMode && GetWaferState(arm) != RobotArmWaferStateEnum.Present)
                {
                    delayCount++;
                    LOG.Write($"{RobotModuleName} delay {delayCount} time to detect wafer");
                    Thread.Sleep(50);
                    if (delayCount > 100)
                    {
                        OnError("Wafer detect error");
                        return true;
                    }
                }
                if (_MaterialType == MaterialType.Wafer)
                {
                    WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex, RobotModuleName, 2);
                }
                else if (_MaterialType == MaterialType.Carrier)
                {
                    if (CarrierManager.Instance.CheckHasCarrier(sourcemodule.ToString(), 0))
                    {
                        CarrierManager.Instance.CarrierMoved(sourcemodule.ToString(), RobotModuleName.ToString(), true);
                        for (int i = 0; i < WaferManager.Instance.GetWafers(sourcemodule).Length; i++)
                        {
                            if (WaferManager.Instance.CheckHasWafer(sourcemodule, i))
                                WaferManager.Instance.WaferMoved(sourcemodule, i, RobotModuleName, i, false);
                        }
                    }
                }
            }
            if (arm == RobotArmEnum.Upper || arm == RobotArmEnum.Blade2)
            {
                //WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex, RobotModuleName, 1);
                while (!isSimulatorMode && GetWaferState(arm) != RobotArmWaferStateEnum.Present)
                {
                    delayCount++;
                    LOG.Write($"{RobotModuleName} delay {delayCount} time to detect wafer");
                    Thread.Sleep(50);
                    if (delayCount > 100)
                    {
                        OnError("Wafer detect error");
                        return true;
                    }
                }
                WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex, RobotModuleName, 1);

            }
            if (arm == RobotArmEnum.Both)
            {
                //WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex, RobotModuleName, 0);
                //WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex, RobotModuleName, 1);
                while (!isSimulatorMode && GetWaferState(arm) != RobotArmWaferStateEnum.Present)
                {
                    delayCount++;
                    LOG.Write($"{RobotModuleName} delay {delayCount} time to detect wafer");
                    Thread.Sleep(50);
                    if (delayCount > 100)
                    {
                        OnError("Wafer detect error");
                        return true;
                    }
                }
                WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex, RobotModuleName, 0);
                WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex + 1, RobotModuleName, 1);
                WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex + 2, RobotModuleName, 2);
                WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex + 3, RobotModuleName, 3);
                WaferManager.Instance.WaferMoved(sourcemodule, SourceslotIndex + 4, RobotModuleName, 4);

            }
            return base.fPickComplete(param);
        }


        protected override bool fResetToReady(object[] param)
        {
            if (_doRobotHold != null)
                _doRobotHold.SetTrigger(true, out _);
            return true;
        }

        protected override bool fReset(object[] param)
        {
            if (!_connection.IsConnected)
            {
                _address = SC.GetStringValue($"{Name}.Address");
                _enableLog = SC.GetValue<bool>($"{Name}.EnableLogMessage");
                _connection = new GM201LVPRobotConnection(this, _address);
                _connection.EnableLog(_enableLog);
                _connection.Connect();
            }

            var alarmSignaRobotAlarm = DEVICE.GetDevice<IoAlarmSignal>($"PM1.AlarmSignaFOUPRobotAlarm");
            if(Name == "WaferRobot")
                alarmSignaRobotAlarm = DEVICE.GetDevice<IoAlarmSignal>($"PM1.AlarmSignaWaferRobotAlarm");
            if (_isError || (alarmSignaRobotAlarm != null && alarmSignaRobotAlarm.Value))
            {
                lock (_locker)
                {
                    string strpara = "1,1,N";
                    _lstHandlers.AddLast(new GM201LVPRobotMotionHandler(this, "INIT", strpara));
                }

                _isError = false;

                return true;
            }
            lock (_locker)
            {
                if (_doRobotHold != null)
                    _doRobotHold.SetTrigger(true, out _);
                _lstHandlers.Clear();
                _connection.ForceClear();
                //_lstHandlers.AddLast(new GM201LVPRobotMotionHandler(this, "CCLR", "E", _timeLimitMotion));
                //string strpara = "1,1,N";
                //_lstHandlers.AddLast(new GM201LVPRobotMotionHandler(this, "INIT", strpara));
                //string strpara = "1,0,N";
                //_lstHandlers.AddLast(new GM201LVPRobotMotionHandler(this, "INIT", strpara, _timeLimitMotion));
                //_lstHandlers.AddLast(new GM201LVPRobotReadHandler(this, "RSTS"));
                _timerActionMonitor.Restart();
            }
            return true;
        }

        protected override bool fMonitorReset(object[] param)
        {
            IsBusy = false;
            if (_timerActionMonitor.IsRunning && _timerActionMonitor.Elapsed > TimeSpan.FromSeconds(_timeLimitMotion))
            {
                _timerActionMonitor.Stop();
                OnError("ResetTimeOut");
                return true;
            }
            if (_lstHandlers.Count == 0 && !_connection.IsBusy)
            {
                return true;
            }
            return false;
        }

        protected override bool fError(object[] param)
        {
            return true;
        }

        protected override bool fStartExtendForPick(object[] param)
        {
            return false;
        }

        protected override bool fStartExtendForPlace(object[] param)
        {
            return false;
        }

        protected override bool fStartRetractFromPick(object[] param)
        {
            return false;
        }

        protected override bool fStartRetractFromPlace(object[] param)
        {
            return false;
        }
        public void CheckWaferPresentAndGrip()
        {
            if (GetWaferState(RobotArmEnum.Lower) == RobotArmWaferStateEnum.Present)
            {
                if (WaferManager.Instance.CheckNoWafer(RobotModuleName, 0))
                {
                    EV.PostWarningLog($"{RobotModuleName}", $"System detec wafer on lower arm, will create wafer automatically.");
                    WaferManager.Instance.CreateWafer(RobotModuleName, 0, WaferStatus.Normal);
                }
            }
            if (GetWaferState(RobotArmEnum.Lower) == RobotArmWaferStateEnum.Absent)
            {
                _lstHandlers.AddLast(new GM201LVPRobotMotionHandler(this, "CSOL", "1,0,0"));
                if (WaferManager.Instance.CheckHasWafer(RobotModuleName, 0))
                {
                    EV.PostWarningLog($"{RobotModuleName}", $"System didn't detect wafer on lower arm, but it has record.");
                }
            }
            if (GetWaferState(RobotArmEnum.Upper) == RobotArmWaferStateEnum.Present)
            {
                if (WaferManager.Instance.CheckNoWafer(RobotModuleName, 1))
                {
                    EV.PostWarningLog($"{RobotModuleName}", $"System detect wafer on upper arm, will create wafer automatically.");
                    WaferManager.Instance.CreateWafer(RobotModuleName, 1, WaferStatus.Normal);
                }
            }
            if (GetWaferState(RobotArmEnum.Upper) == RobotArmWaferStateEnum.Absent)
            {
                _lstHandlers.AddLast(new GM201LVPRobotMotionHandler(this, "CSOL", "2,0,0"));
                if (WaferManager.Instance.CheckHasWafer(RobotModuleName, 1))
                {
                    EV.PostWarningLog($"{RobotModuleName}", $"System didn't detect wafer on upper arm, but it has record.");
                }
            }
        }
        public override RobotArmWaferStateEnum GetWaferState(RobotArmEnum arm)
        {
            if (arm == RobotArmEnum.Lower || arm == RobotArmEnum.Blade1)
            {
                if (_diRobotBlade1WaferOn != null)
                {
                    if (_diRobotBlade1WaferOn.Value) return RobotArmWaferStateEnum.Absent;
                    else return RobotArmWaferStateEnum.Present;
                }

                var waferPresenceOnBlade1 = _MaterialType == MaterialType.Wafer ? IsWaferPresenceOnBlade3 : IsWaferPresenceOnBlade1;

                return waferPresenceOnBlade1 ? RobotArmWaferStateEnum.Present : RobotArmWaferStateEnum.Absent;
            }
            if (arm == RobotArmEnum.Upper || arm == RobotArmEnum.Blade2)
            {
                if (_diRobotBlade2WaferOn != null)
                {
                    if (_diRobotBlade2WaferOn.Value) return RobotArmWaferStateEnum.Absent;
                    else return RobotArmWaferStateEnum.Present;
                }
                return IsWaferPresenceOnBlade2 ? RobotArmWaferStateEnum.Present : RobotArmWaferStateEnum.Absent;
            }
            if (arm == RobotArmEnum.Both)
            {
                if (_diRobotBlade1WaferOn != null && _diRobotBlade2WaferOn != null)
                {
                    if (_diRobotBlade2WaferOn.Value && _diRobotBlade1WaferOn.Value)
                        return RobotArmWaferStateEnum.Absent;
                    else if (!_diRobotBlade2WaferOn.Value && !_diRobotBlade1WaferOn.Value)
                        return RobotArmWaferStateEnum.Present;
                    else return RobotArmWaferStateEnum.Unknown;
                }

                if (IsWaferPresenceOnBlade1 && IsWaferPresenceOnBlade2 && IsWaferPresenceOnBlade3 && IsWaferPresenceOnBlade4 && IsWaferPresenceOnBlade5)
                {
                    return RobotArmWaferStateEnum.Present;
                }
                if ((!IsWaferPresenceOnBlade1) && !IsWaferPresenceOnBlade2 && !IsWaferPresenceOnBlade3 && !IsWaferPresenceOnBlade4 && !IsWaferPresenceOnBlade5)
                {
                    return RobotArmWaferStateEnum.Absent;
                }

            }
            return RobotArmWaferStateEnum.Unknown;
        }

        public override void NoteError(string errortext)
        {
            _isError = true;
            if(!string.IsNullOrEmpty(errortext))
                OnError(errortext);

            //lock (_locker)
            {
                _lstHandlers.Clear();
                _connection.ForceClear();
                if(_tpStatus != null && _tpStatus.Value)
                {
                    //true是TP状态
                    //TP状态，不需要发
                }
                else
                {
                    _lstHandlers.AddLast(new GM201LVPRobotReadHandler(this, "RERR", "001"));
                }
            }
        }
        //public void SenACK()
        //{
        //    _connection.SendAck();
        //}

        public override bool OnActionDone(object[] param)
        {

            return true;
        }

        public override void Terminate()
        {
            _thread.Stop();
            if (!SC.ContainsItem($"{Name}.CloseConnectionOnShutDown") || SC.GetValue<bool>($"{Name}.CloseConnectionOnShutDown"))
            {
                LOG.Write("Close connection for" + RobotModuleName.ToString());
                _connection.Disconnect();
            }
            base.Terminate();
        }
        private string BuildBladeTarget()
        {
            return (CmdRobotArm == RobotArmEnum.Upper ? "ArmB" : "ArmA") + "." + CmdTarget;
        }
        public override void SetPauseResume(bool isPause)
        {
            _connection.SendMessage($"{(isPause ? "CSTP,H" : "CRSM")}\r");
            if (_connection.ActiveHandler != null)
            {
                if (isPause)
                {
                    _connection.ActiveHandler.TimerAck?.Stop();
                    _connection.ActiveHandler.TimerComplete?.Stop();
                }
                else
                {
                    _connection.ActiveHandler.TimerAck?.Start();
                    _connection.ActiveHandler.TimerComplete?.Start();
                }
            }
        }
        public void NotePause(bool isPause)
        {
            IsPause = isPause;
        }
    }

    public class GM201LVPTokenGenerator
    {
        private int _last = 0;
        List<int> _pool = new List<int>();

        SCConfigItem scToken = null;
        public int CurrentToken => _last;

        public GM201LVPTokenGenerator(string scName)
        {
            scToken = SC.GetConfigItem(scName);
            if (scToken == null)

                _last = scToken.IntValue;

            Random r = new Random();
            _last = r.Next() % 20;
        }


        public int create()
        {
            int first = _last;
            int token = first;

            do
            {
                token = (token + 1) % 100;

                if (_pool.Contains(token))
                    continue;

                _pool.Add(token);
                _last = token;

                scToken.IntValue = _last;
                return _last;
            } while (token != first);

            throw (new ExcuteFailedException("Get token failed,pool is full"));
        }
        public void release(int token)
        {
            _pool.Remove(token);
        }


        public void release()
        {
            _last = 0;
            _pool.Clear();
        }
    }
    public enum GM201LVPPositonEnum
    {
        RegisteredPosition,
        ReadyPosition,
        IntermediatePosition,
        MappingStartPosition,
        MappingFinishPosition,
    }
}