FurnaceELK/Furnace/FurnaceRT/Equipments/Jobs/ReturnAllWafer.cs

using Aitex.Common.Util;
using Aitex.Core.Common;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using FurnaceRT.Devices;
using FurnaceRT.Equipments.Boats;
using FurnaceRT.Equipments.CarrierRobots;
using FurnaceRT.Equipments.FIMSs;
using FurnaceRT.Equipments.PMs;
using FurnaceRT.Equipments.Schedulers;
using FurnaceRT.Equipments.Systems;
using FurnaceRT.Equipments.WaferRobots;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.Common.SubstrateTrackings;
using System;
using System.Collections.Generic;

namespace FurnaceRT.Equipments.Jobs
{
    public class ReturnAllWafer : SchedulerModuleFactory, IRoutine
    {
        private const string LogSource = "System";
        private Dictionary<int, WaferType> _boatSlotWafers = new Dictionary<int, WaferType>();
        private List<int> _sideDummySlots = new List<int>();
        private List<int> _extraDummySlots = new List<int>();
        private List<int> _productSlots = new List<int>();
        private List<int> _monitor1Slots = new List<int>();
        private List<int> _monitor2Slots = new List<int>();

        private PMModule _pmModule;
        public ReturnAllWafer()
        {
            InitModule();
        }

        public Result Start(params object[] objs)
        {
            Clear();

            //if (!(Singleton<EquipmentManager>.Instance.Modules[ModuleName.CarrierRobot] as CarrierRobotModule).CheckCassetteRobotRetractPosition())
            //{
            //    Singleton<EquipmentManager>.Instance.ReturnAllWaferJobStartFailedWarning.Description = "Cassette Robot not at home position";
            //    Singleton<EquipmentManager>.Instance.ReturnAllWaferJobStartFailedWarning.Set();
            //    return Result.FAIL;
            //}
            //if (!(Singleton<EquipmentManager>.Instance.Modules[ModuleName.WaferRobot] as WaferRobotModule).WaferRobotDevice.IsRetract)
            //{
            //    Singleton<EquipmentManager>.Instance.ReturnAllWaferJobStartFailedWarning.Description = "Wafer Robot not at home position";
            //    Singleton<EquipmentManager>.Instance.ReturnAllWaferJobStartFailedWarning.Set();
            //    return Result.FAIL;
            //}
            if (!(Singleton<EquipmentManager>.Instance.Modules[ModuleName.Boat] as BoatModule).IsBoatElevatorAtHomePosition)
            {
                Singleton<EquipmentManager>.Instance.ReturnAllWaferJobStartFailedWarning.Set("Boat Z Axis not at home position");
                return Result.FAIL;
            }
            if (!(Singleton<EquipmentManager>.Instance.Modules[ModuleName.Boat] as BoatModule).IsBoatRotationAtHomePosition)
            {
                Singleton<EquipmentManager>.Instance.ReturnAllWaferJobStartFailedWarning.Set("Boat R Axis not at home position");
                return Result.FAIL;
            }
            var waferRobotWafers = WaferManager.Instance.GetWafers(_waferRobot.Module);
            foreach (var wafer in waferRobotWafers)
            {
                if (wafer == null || wafer.IsEmpty)
                    continue;

                //wafer robot上的wafer必须全部能够return
                if (!CheckWaferCouldBeReturn(wafer))
                {
                    Singleton<EquipmentManager>.Instance.ReturnAllWaferJobStartFailedWarning.Set($"Wafer {(ModuleName)wafer.Station}.{wafer.Slot + 1} can not return, origin {(ModuleName)wafer.OriginStation}.{wafer.OriginSlot + 1} is not available");
                    return Result.FAIL;
                }
            }

            var pmWafers = WaferManager.Instance.GetWafers(_pm1.Module);
            foreach (var wafer in pmWafers)
            {
                if (wafer == null || wafer.IsEmpty)
                    continue;

                //boat上的wafer可以有不能return
                if (!CheckWaferCouldBeReturn(wafer))
                {
                    Singleton<EquipmentManager>.Instance.ReturnAllWaferJobStartFailedWarning.Set($"Wafer {(ModuleName)wafer.Station}.{wafer.Slot + 1} can not return, origin {(ModuleName)wafer.OriginStation}.{wafer.OriginSlot + 1} is not available");
                }
            }

            Init();

            return Result.RUN;
        }
        public void ResetTask(ModuleName module)
        {
            if (module == _waferRobot.Module)
                _waferRobot.ResetTask();
            if (module == _carrierRobot.Module)
                _carrierRobot.ResetTask();
        }
        private void Clear()
        {
            _carrierRobot.ResetTask();
            _waferRobot.ResetTask();
        }

        private void Init()
        {
            _boatSlotWafers.Clear();
            _sideDummySlots.Clear();
            _extraDummySlots.Clear();
            _productSlots.Clear();
            _monitor1Slots.Clear();
            _monitor2Slots.Clear();

            //M-->P-->ED-->SD 
            for (int i = 0; i < SC.GetValue<int>($"Boat.SlotCount"); i++)
            {
                if (!WaferManager.Instance.CheckHasWafer(_pm1.Module, i))
                    continue;

                var wafer = WaferManager.Instance.GetWafer(_pm1.Module, i);
                if (wafer == null || wafer.IsEmpty)
                    continue;
                if (!CheckWaferCouldBeReturn(wafer))
                    continue;

                switch (wafer.WaferType)
                {
                    case WaferType.SD:
                        _sideDummySlots.Add(i);
                        break;
                    case WaferType.ED:
                        _extraDummySlots.Add(i);
                        break;
                    case WaferType.P:
                        _productSlots.Add(i);
                        break;
                    case WaferType.M1:
                        _monitor1Slots.Add(i);
                        break;
                    case WaferType.M2:
                        _monitor2Slots.Add(i);
                        break;
                }
            }

            if (SC.GetStringValue("System.ChargingOrderToBoat") == "FromTopToBottom")
            {
                //升序，return wafer和charge顺序相反
            }
            else
            {
                _productSlots.Sort((x, y) => -x.CompareTo(y));//降序
                _monitor1Slots.Sort((x, y) => -x.CompareTo(y));//降序
                _monitor2Slots.Sort((x, y) => -x.CompareTo(y));//降序
                _extraDummySlots.Sort((x, y) => -x.CompareTo(y));//降序
                _sideDummySlots.Sort((x, y) => -x.CompareTo(y));//降序
            }

        }

        public Result Monitor()
        {
            MonitorCassetteRobotTask();

            MonitorWaferRobotTask();

            MonitorFIMSTask();

            if (MonitorTaskDone())
            {
                return Result.DONE;
            }

            return Result.RUN;
        }

        public bool MonitorTaskDone()
        {
            if (!_carrierRobot.IsAvailable)
                return false;
            if (!_waferRobot.IsAvailable)
                return false;

            if (CarrierManager.Instance.CheckHasCarrier(_carrierRobot.Module, 0))
            {
                return false;
            }

            var waferRobotWafers = WaferManager.Instance.GetWafers(_waferRobot.Module);
            foreach (var wafer in waferRobotWafers)
            {
                if (!wafer.IsEmpty)
                    return false;
            }

            var pmWafers = WaferManager.Instance.GetWafers(_pm1.Module);
            foreach (var wafer in pmWafers)
            {
                if (!wafer.IsEmpty)
                {
                    if (CheckWaferCouldBeReturn(wafer))
                    {
                        return false;
                    }
                }
            }

            foreach (var st in _lstFIMSs)
            {
                if (!st.IsOnline)
                    continue;
                if (CarrierManager.Instance.CheckHasCarrier(st.Module, 0))
                {
                    return false;
                }
            }

            return true;
        }
        private bool CheckWaferCouldBeReturn(WaferInfo wafer)
        {
            if (wafer != null && !wafer.IsEmpty)
            {
                return ModuleHelper.IsStocker((ModuleName)wafer.OriginStation)
                        && SC.ContainsItem($"System.SetUp.Is{(ModuleName)wafer.OriginStation}Installed")
                        && SC.GetValue<bool>($"System.SetUp.Is{(ModuleName)wafer.OriginStation}Installed")
                        && WaferManager.Instance.CheckNoWafer((ModuleName)wafer.OriginStation, wafer.OriginSlot);
            }

            return false;
        }
        private void MonitorFIMSTask()
        {
            //load
            bool haveLoadingFims = false;
            foreach (var st in _lstFIMSs)
            {
                if ((Singleton<EquipmentManager>.Instance.Modules[st.Module] as FIMSModule).IsLoading)
                {
                    haveLoadingFims = true;
                    break;
                }
            }

            //load
            foreach (var st in _lstFIMSs)
            {
                if (!st.IsAvailable || haveLoadingFims || !CarrierManager.Instance.CheckHasCarrier(st.Module, 0))
                    continue;

                var fimsDevice = DEVICE.GetDevice<IoFIMS>($"PM1.{st.Module}");
                var carrier = CarrierManager.Instance.GetCarrier(st.Module, 0);
                if (carrier != null)
                {
                    if (!CheckCarrierCanPickFromFIMSInDischarge(carrier.InternalModuleName) && !fimsDevice.IsLoadCompleted && st.Load())
                    {
                        return;
                    }
                }
            }

            //unload
            //先判断满片的情况，满片的先unload
            foreach (var st in _lstFIMSs)
            {
                if (!st.IsAvailable || !CarrierManager.Instance.CheckHasCarrier(st.Module, 0))
                    continue;

                var fimsDevice = DEVICE.GetDevice<IoFIMS>($"PM1.{st.Module}");
                var carrier = CarrierManager.Instance.GetCarrier(st.Module, 0);
                if (carrier != null)
                {
                    if (!CheckCarrierHasEmptySlot(st.Module) && !fimsDevice.IsUnloadCompleted  && st.Unload())
                    {
                        return;
                    }
                }
            }

            if (!_waferRobot.IsAvailable)
                return;

            foreach (var st in _lstFIMSs)
            {
                if (!st.IsAvailable || !CarrierManager.Instance.CheckHasCarrier(st.Module, 0))
                    continue;

                var fimsDevice = DEVICE.GetDevice<IoFIMS>($"PM1.{st.Module}");
                var carrier = CarrierManager.Instance.GetCarrier(st.Module, 0);
                if (carrier != null)
                {
                    if (CheckCarrierCanPickFromFIMSInDischarge(carrier.InternalModuleName) && !fimsDevice.IsUnloadCompleted && st.Unload())
                    {
                        return;
                    }
                }
            }
        }
        private void MonitorCassetteRobotTask()
        {
            if (!_carrierRobot.IsAvailable)
                return;

            //cassette robot is idle, release all the target 
            foreach (var stocker in _lstTotlaStockers)
            {
                if (stocker.IsWaitTransfer(ModuleName.CarrierRobot))
                {
                    stocker.StopWaitTransfer(ModuleName.CarrierRobot);
                }
            }

            foreach (var stage in _lstFIMSs)
            {
                if (stage.IsWaitTransfer(ModuleName.CarrierRobot))
                {
                    stage.StopWaitTransfer(ModuleName.CarrierRobot);
                }
            }

            DischargingOrderBySort(SC.GetStringValue("System.ChargingOrderBySort"));

            if (!_carrierRobot.IsAvailable)
                return;

            MonitorCassetteRobotStageTask();
        }
        private void DischargingOrderBySort(string order)
        {
            switch (order)
            {
                case "ED,P,M":
                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.M1, _monitor1Slots);
                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.M2, _monitor2Slots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.P, _productSlots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.ED, _extraDummySlots);
                    break;
                case "ED,M,P":
                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.P, _productSlots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.M1, _monitor1Slots);
                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.M2, _monitor2Slots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.ED, _extraDummySlots);
                    break;
                case "P,ED,M":
                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.M1, _monitor1Slots);
                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.M2, _monitor2Slots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.ED, _extraDummySlots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.P, _productSlots);
                    break;
                case "P,M,ED":
                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.ED, _extraDummySlots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.M1, _monitor1Slots);
                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.M2, _monitor2Slots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.P, _productSlots);
                    break;
                case "M,P,ED":
                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.ED, _extraDummySlots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.P, _productSlots);

                    if (!_carrierRobot.IsAvailable)
                        return;
                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.M1, _monitor1Slots);
                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.M2, _monitor2Slots);
                    break;
                case "M,ED,P":
                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.P, _productSlots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.ED, _extraDummySlots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.M1, _monitor1Slots);
                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.M2, _monitor2Slots);
                    break;
                default:
                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.M1, _monitor1Slots);
                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.M2, _monitor2Slots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.P, _productSlots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.ED, _extraDummySlots);
                    break;
            }
            if (!_carrierRobot.IsAvailable)
                return;

            MonitorCassetteRobotStockerTaskInDischarge(_lstSideDummyStocker, WaferType.SD, _sideDummySlots);
        }
        private void MonitorCassetteRobotStockerTaskInDischarge(List<SchedulerStocker> targetStockers, WaferType targetWaferType, List<int> waferSlots)
        {
            if (!_carrierRobot.IsAvailable)
                return;

            var targetCarrierType = (CarrierType)(Enum.Parse(typeof(CarrierType), targetWaferType.ToString()));
            //pick
            if (CarrierManager.Instance.CheckNoCarrier(ModuleName.CarrierRobot, 0) && waferSlots.Count > 0)
            {
                bool needPickSdCassette = false;
                int sdWaferCount = GetWaferCountRelatedToWaferRobot(targetWaferType, true);

                needPickSdCassette = sdWaferCount > 0;
                var sdStockerModule = GetModuleNameForNextWafer(targetWaferType);

                if (needPickSdCassette && sdStockerModule != ModuleName.System)
                {
                    SchedulerStocker sdStocker = null;
                    foreach (var sd in targetStockers)
                    {
                        if (!CarrierManager.Instance.CheckHasCarrier(sd.Module, 0) ||
                            CarrierManager.Instance.GetCarrier(sd.Module, 0).CarrierType != targetCarrierType)
                            continue;

                        if (sd.Module == sdStockerModule &&
                            CheckCarrierHasEmptySlot(sd.Module))
                        {
                            sdStocker = sd;
                            break;
                        }
                    }

                    SchedulerFIMS fims = null;
                    foreach (var st in _lstFIMSs)
                    {
                        if (!st.IsAvailable)
                            continue;
                        if (CarrierManager.Instance.CheckNoCarrier(st.Module, 0))
                        {
                            fims = st;
                            break;
                        }
                    }

                    if (sdStocker != null && fims != null)
                    {
                        if (_carrierRobot.Pick(sdStocker.Module, 0, Hand.Blade1))
                        {
                            sdStocker.WaitTransfer(ModuleName.CarrierRobot);
                            return;
                        }
                    }
                }
            }

            if (!_carrierRobot.IsAvailable)
                return;
            if (!_waferRobot.IsAvailable)
                return;

            //place
            var carrier = CarrierManager.Instance.GetCarrier(ModuleName.CarrierRobot, 0);
            if (carrier != null && !carrier.IsEmpty && carrier.CarrierType == targetCarrierType)
            {
                if (!CheckModuleHasWaferInWaferRobotAndPM(carrier.InternalModuleName) || !CheckCarrierHasEmptySlot(ModuleName.CarrierRobot))
                {
                    SchedulerStocker sdStocker = null;
                    foreach (var sd in targetStockers)
                    {
                        if (CarrierManager.Instance.CheckNoCarrier(sd.Module, 0) && sd.Module == carrier.InternalModuleName)
                        {
                            sdStocker = sd;
                            break;
                        }
                    }

                    if (sdStocker != null)
                    {
                        if (_carrierRobot.Place(sdStocker.Module, 0, Hand.Blade1))
                        {
                            sdStocker.WaitTransfer(ModuleName.CarrierRobot);
                            return;
                        }
                    }
                }
            }
        }
        private ModuleName GetModuleNameForNextWafer(WaferType waferType)
        {
            ModuleName module = ModuleName.System;
            bool hasEmptyFims = false;
            foreach (var fims in _lstFIMSs)
            {
                if (CarrierManager.Instance.CheckNoCarrier(fims.Module, 0))
                {
                    hasEmptyFims = true;
                    break;
                }
            }
            if (!hasEmptyFims)
                return module;

            if (WaferManager.Instance.CheckHasWafer(ModuleName.WaferRobot, 0))
            {
                module = (ModuleName)WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 0).OriginStation;
            }
            else if (WaferManager.Instance.CheckHasWafer(ModuleName.WaferRobot, 1))
            {
                module = (ModuleName)WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 1).OriginStation;
            }
            else if (WaferManager.Instance.CheckHasWafer(ModuleName.WaferRobot, 2))
            {
                module = (ModuleName)WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 2).OriginStation;
            }
            else if (WaferManager.Instance.CheckHasWafer(ModuleName.WaferRobot, 3))
            {
                module = (ModuleName)WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 3).OriginStation;
            }
            else if (WaferManager.Instance.CheckHasWafer(ModuleName.WaferRobot, 4))
            {
                module = (ModuleName)WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 4).OriginStation;
            }
            else
            {
                if (SC.GetStringValue("System.ChargingOrderToBoat") == "FromTopToBottom")
                {
                    for (int i = 0; i < SC.GetValue<int>($"Boat.SlotCount"); i++)
                    {
                        if (!WaferManager.Instance.CheckHasWafer(_pm1.Module, i))
                            continue;

                        var wafer = WaferManager.Instance.GetWafer(_pm1.Module, i);
                        if (wafer == null || wafer.IsEmpty)
                            continue;

                        if (wafer.WaferType == waferType)
                        {
                            module = (ModuleName)WaferManager.Instance.GetWafer(_pm1.Module, i).OriginStation;
                            break;
                        }
                    }
                }
                else
                {
                    for (int i = SC.GetValue<int>($"Boat.SlotCount") - 1; i >= 0; i--)
                    {
                        if (!WaferManager.Instance.CheckHasWafer(_pm1.Module, i))
                            continue;

                        var wafer = WaferManager.Instance.GetWafer(_pm1.Module, i);
                        if (wafer == null || wafer.IsEmpty)
                            continue;

                        if (wafer.WaferType == waferType)
                        {
                            module = (ModuleName)WaferManager.Instance.GetWafer(_pm1.Module, i).OriginStation;
                            break;
                        }
                    }
                }
            }

            //下一片要放回的cassette已经在fims上
            bool isCarrierAlreadyPicked = false;
            foreach (var fims in _lstFIMSs)
            {
                if (!CarrierManager.Instance.CheckHasCarrier(fims.Module, 0))
                    continue;
                var carrier = CarrierManager.Instance.GetCarrier(fims.Module);
                if (carrier != null && carrier.InternalModuleName == module)
                {
                    isCarrierAlreadyPicked = true;
                }
            }

            if (CarrierManager.Instance.CheckHasCarrier(ModuleName.CarrierRobot, 0))
            {
                var carrier = CarrierManager.Instance.GetCarrier(ModuleName.CarrierRobot);
                if (carrier != null && carrier.InternalModuleName == module)
                {
                    isCarrierAlreadyPicked = true;
                }
            }

            if (isCarrierAlreadyPicked)
            {
                if (SC.GetStringValue("System.ChargingOrderToBoat") == "FromTopToBottom")
                {
                    for (int i = 0; i < SC.GetValue<int>($"Boat.SlotCount"); i++)
                    {
                        if (!WaferManager.Instance.CheckHasWafer(_pm1.Module, i))
                            continue;

                        var wafer = WaferManager.Instance.GetWafer(_pm1.Module, i);
                        if (wafer == null || wafer.IsEmpty)
                            continue;

                        if (wafer.WaferType == waferType && (ModuleName)WaferManager.Instance.GetWafer(_pm1.Module, i).OriginStation != module)
                        {
                            module = (ModuleName)WaferManager.Instance.GetWafer(_pm1.Module, i).OriginStation;
                            break;
                        }
                    }
                }
                else
                {
                    for (int i = SC.GetValue<int>($"Boat.SlotCount") - 1; i >= 0; i--)
                    {
                        if (!WaferManager.Instance.CheckHasWafer(_pm1.Module, i))
                            continue;

                        var wafer = WaferManager.Instance.GetWafer(_pm1.Module, i);
                        if (wafer == null || wafer.IsEmpty)
                            continue;

                        if (wafer.WaferType == waferType && (ModuleName)WaferManager.Instance.GetWafer(_pm1.Module, i).OriginStation != module)
                        {
                            module = (ModuleName)WaferManager.Instance.GetWafer(_pm1.Module, i).OriginStation;
                            break;
                        }
                    }
                }
            }

            return module;
        }
        private void MonitorCassetteRobotStockerTask()
        {
            if (!_carrierRobot.IsAvailable)
                return;

            //pick
            if (CarrierManager.Instance.CheckNoCarrier(ModuleName.CarrierRobot, 0) && WaferManager.Instance.CheckHasWafer(ModuleName.WaferRobot, 2))
            {
                var stockerModule = (ModuleName)WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 2).OriginStation;

                if (stockerModule != ModuleName.System)
                {
                    SchedulerStocker mStocker = null;
                    foreach (var m in _lstTotlaStockers)
                    {
                        bool hasCarrier = CarrierManager.Instance.CheckHasCarrier(m.Module, 0);
                        bool hasEmptySlot = CheckCarrierHasEmptySlot(m.Module);
                        //if (CarrierManager.Instance.CheckHasCarrier(m.Module, 0) && m.Module == stockerModule && CheckCarrierHasEmptySlot(m.Module))
                        if (hasCarrier && m.Module == stockerModule && hasEmptySlot)
                        {
                            mStocker = m;
                            break;
                        }
                    }

                    SchedulerFIMS stage = null;
                    foreach (var st in _lstFIMSs)
                    {
                        if (!st.IsAvailable)
                            continue;
                        if (CarrierManager.Instance.CheckNoCarrier(st.Module, 0))
                        {
                            stage = st;
                            break;
                        }
                    }

                    if (mStocker != null && stage != null)
                    {
                        if (_carrierRobot.Pick(mStocker.Module, 0, Hand.Blade1))
                        {
                            mStocker.WaitTransfer(ModuleName.CarrierRobot);
                        }
                    }
                }
            }

            if (!_carrierRobot.IsAvailable)
                return;

            //place
            var carrier = CarrierManager.Instance.GetCarrier(ModuleName.CarrierRobot, 0);
            if (carrier != null && !carrier.IsEmpty)
            {
                if (!CheckModuleHasWaferInWaferRobotAndPM(carrier.InternalModuleName) || !CheckCarrierHasEmptySlot(ModuleName.CarrierRobot))
                {
                    SchedulerStocker stocker = null;
                    foreach (var m in _lstTotlaStockers)
                    {
                        if (CarrierManager.Instance.CheckNoCarrier(m.Module, 0) && m.Module == carrier.InternalModuleName)
                        {
                            stocker = m;
                            break;
                        }
                    }

                    if (stocker != null)
                    {
                        if (_carrierRobot.Place(stocker.Module, 0, Hand.Blade1))
                        {
                            stocker.WaitTransfer(ModuleName.CarrierRobot);
                        }
                    }
                }
            }
        }

        private void MonitorCassetteRobotStageTask()
        {
            if (!_carrierRobot.IsAvailable)
                return;

            //pick
            var carrier = CarrierManager.Instance.GetCarrier(ModuleName.CarrierRobot, 0);
            if (carrier != null && carrier.IsEmpty)
            {
                SchedulerFIMS stage = null;
                foreach (var st in _lstFIMSs)
                {
                    if (!st.IsAvailable)
                        continue;
                    if (!_waferRobot.IsAvailable)
                        continue;
                    if (CarrierManager.Instance.CheckHasCarrier(st.Module, 0))
                    {
                        carrier = CarrierManager.Instance.GetCarrier(st.Module, 0);
                        if (carrier != null)
                        {
                            if (!CheckCarrierHasEmptySlot(st.Module))
                            {
                                stage = st;
                                break;
                            }

                            //GetWaferSlotsAndWaferType(carrier, out List<int> slots, out WaferType waferType);

                            //if (slots != null && !CheckModuleHasWaferInWaferRobotAndPM(carrier.InternalModuleName))
                            if (!CheckModuleHasWaferInWaferRobotAndPM(carrier.InternalModuleName))
                            {
                                stage = st;
                                break;
                            }
                        }
                    }
                }

                if (stage != null)
                {
                    if (_carrierRobot.Pick(stage.Module, 0, Hand.Blade1))
                    {
                        stage.WaitTransfer(ModuleName.CarrierRobot);
                    }
                }
            }

            if (!_carrierRobot.IsAvailable)
                return;

            //place
            carrier = CarrierManager.Instance.GetCarrier(ModuleName.CarrierRobot, 0);
            if (carrier != null && !carrier.IsEmpty)
            {
                SchedulerFIMS stage = null;
                foreach (var st in _lstFIMSs)
                {
                    if (!st.IsAvailable)
                        continue;
                    if (CarrierManager.Instance.CheckNoCarrier(st.Module, 0))
                    {
                        GetWaferSlotsAndWaferType(carrier, out List<int> slots, out WaferType waferType);

                        if (slots != null && GetWaferCountRelatedToWaferRobot(waferType, false) > 0 && CheckModuleHasWaferInWaferRobotAndPM(carrier.InternalModuleName))
                        {
                            stage = st;
                            break;
                        }
                    }
                }

                if (stage != null)
                {
                    if (_carrierRobot.Place(stage.Module, 0, Hand.Blade1))
                    {
                        stage.WaitTransfer(ModuleName.CarrierRobot);
                    }
                }
            }
        }

        private void MonitorWaferRobotTask()
        {
            if (!_waferRobot.IsAvailable)
                return;
            foreach (var stage in _lstFIMSs)
            {
                if (stage.IsWaitTransfer(ModuleName.WaferRobot))
                {
                    stage.StopWaitTransfer(ModuleName.WaferRobot);
                }
            }

            if (_pm1.IsWaitTransfer(ModuleName.WaferRobot))
            {
                _pm1.StopWaitTransfer(ModuleName.WaferRobot);
            }

            MonitorWaferRobotFIMSTask();

            if (!_waferRobot.IsAvailable)
                return;

            MonitorWaferRobotPMTask();
        }

        private void MonitorWaferRobotFIMSTask()
        {
            if (!_waferRobot.IsAvailable)
                return;

            //place
            if (WaferManager.Instance.CheckHasWafer(ModuleName.WaferRobot, 2))
            {
                SchedulerFIMS stage = null;
                var waferInRobot = WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 2);
                foreach (var st in _lstFIMSs)
                {
                    if (!st.IsAvailable)
                        continue;
                    if (!CarrierManager.Instance.CheckHasCarrier(st.Module, 0))
                        continue;

                    var carrier = CarrierManager.Instance.GetCarrier(st.Module, 0);
                    if (carrier == null || carrier.IsEmpty)
                        continue;

                    if ((ModuleName)waferInRobot.OriginStation != carrier.InternalModuleName)
                        continue;

                    // check FIMS
                    var fimsDevice = DEVICE.GetDevice<IoFIMS>($"PM1.{st.Module}");
                    if (!fimsDevice.IsLoadCompleted)
                        continue;

                    bool hasEmptySlot = false;
                    var wafers = WaferManager.Instance.GetWafers(st.Module);
                    if (wafers != null)
                    {
                        foreach (var wafer in wafers)
                        {
                            if (wafer == null)
                                continue;
                            if (wafer.IsEmpty)
                            {
                                hasEmptySlot = true;
                                break;
                            }
                        }
                    }

                    if (hasEmptySlot)
                    {
                        stage = st;
                        break;
                    }
                }

                if (stage != null)
                {
                    Hand placeBlade = Hand.Blade1;
                    int placeSlot = waferInRobot.OriginSlot;
                    if (WaferManager.Instance.CheckHasWafer(ModuleName.WaferRobot, 0) &&
                        WaferManager.Instance.CheckHasWafer(ModuleName.WaferRobot, 1) &&
                        WaferManager.Instance.CheckHasWafer(ModuleName.WaferRobot, 3) &&
                        WaferManager.Instance.CheckHasWafer(ModuleName.WaferRobot, 4) &&
                        WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 0).OriginStation == WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 1).OriginStation &&
                        WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 1).OriginStation == WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 2).OriginStation &&
                        WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 2).OriginStation == WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 3).OriginStation &&
                        WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 3).OriginStation == WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 4).OriginStation)
                    {
                        var tempPlaceSlot = WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 0).OriginSlot;
                        if (tempPlaceSlot + 4 < SC.GetValue<int>("System.CassetteSlotCount"))
                        {
                            if (WaferManager.Instance.CheckNoWafer(stage.Module, tempPlaceSlot + 1) &&
                                WaferManager.Instance.CheckNoWafer(stage.Module, tempPlaceSlot + 2) &&
                                WaferManager.Instance.CheckNoWafer(stage.Module, tempPlaceSlot + 3) &&
                                WaferManager.Instance.CheckNoWafer(stage.Module, tempPlaceSlot + 4))
                            {
                                placeBlade = Hand.Both;
                                placeSlot = tempPlaceSlot;
                            }
                        }
                    }

                    if (placeSlot != -1 && _waferRobot.Place(stage.Module, placeSlot, placeBlade))
                    {
                        stage.WaitTransfer(ModuleName.WaferRobot);
                    }
                }
            }
        }
        private void MonitorWaferRobotPMTask()
        {
            if (!_waferRobot.IsAvailable)
                return;

            var pmModule = Singleton<EquipmentManager>.Instance.Modules[ModuleName.PM1] as PMModule;
            if (pmModule == null)
                return;

            var stageStockerModeleName = ModuleName.System;
            foreach (var st in _lstFIMSs)
            {
                if (!st.IsAvailable)
                    continue;
                if (!CarrierManager.Instance.CheckHasCarrier(st.Module, 0))
                    continue;

                var carrier = CarrierManager.Instance.GetCarrier(st.Module, 0);
                if (carrier == null || carrier.IsEmpty)
                    continue;

                bool hasEmptySlot = false;
                var wafers = WaferManager.Instance.GetWafers(st.Module);
                if (wafers != null)
                {
                    foreach (var item in wafers)
                    {
                        if (item == null)
                            continue;
                        if (item.IsEmpty)
                        {
                            hasEmptySlot = true;
                            break;
                        }
                    }
                }

                if (hasEmptySlot)
                {
                    stageStockerModeleName = carrier.InternalModuleName;
                    break;
                }
            }

            //pick
            var wafer = WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 2);
            List<int> targetWaferSlots = GetWaferSlots();
            if (wafer != null && wafer.IsEmpty && targetWaferSlots != null)
            {
                Hand pickBlade = Hand.Blade1;
                int pickSlot = -1;

                for (int i = 0; i < targetWaferSlots.Count; i++)
                {
                    var targetWafer = WaferManager.Instance.GetWafer(_pm1.Module, targetWaferSlots[i]);
                    if (targetWafer == null || targetWafer.IsEmpty || !CheckWaferCouldBeReturn(targetWafer))
                        continue;

                    //先取stage上有空slot的carrier对应的wafer
                    if (stageStockerModeleName != ModuleName.System && (ModuleName)targetWafer.OriginStation != stageStockerModeleName)
                        continue;

                    pickSlot = targetWaferSlots[i];
                    if (i + 4 < targetWaferSlots.Count && Math.Abs(targetWaferSlots[i] - targetWaferSlots[i + 4]) == 4)
                    {
                        if (WaferManager.Instance.CheckHasWafer(_pm1.Module, targetWaferSlots[i + 1]) &&
                            WaferManager.Instance.CheckHasWafer(_pm1.Module, targetWaferSlots[i + 2]) &&
                            WaferManager.Instance.CheckHasWafer(_pm1.Module, targetWaferSlots[i + 3]) &&
                            WaferManager.Instance.CheckHasWafer(_pm1.Module, targetWaferSlots[i + 4]) &&
                            SC.GetValue<bool>($"{_waferRobot.Module}.IsSupport5Wafer"))
                        {
                            bool isFromTopToBottom = SC.GetStringValue("System.ChargingOrderToBoat") == "FromTopToBottom";
                            var wafer0 = WaferManager.Instance.GetWafer(_pm1.Module, targetWaferSlots[i + (isFromTopToBottom ? 4 : 0)]);
                            var wafer1 = WaferManager.Instance.GetWafer(_pm1.Module, targetWaferSlots[i + (isFromTopToBottom ? 3 : 1)]);
                            var wafer2 = WaferManager.Instance.GetWafer(_pm1.Module, targetWaferSlots[i + 2]);
                            var wafer3 = WaferManager.Instance.GetWafer(_pm1.Module, targetWaferSlots[i + (isFromTopToBottom ? 1 : 3)]);
                            var wafer4 = WaferManager.Instance.GetWafer(_pm1.Module, targetWaferSlots[i + (isFromTopToBottom ? 0 : 4)]);
                            if (WaferManager.Instance.CheckNoWafer(ModuleName.WaferRobot, 0) &&
                                WaferManager.Instance.CheckNoWafer(ModuleName.WaferRobot, 1) &&
                                WaferManager.Instance.CheckNoWafer(ModuleName.WaferRobot, 3) &&
                                WaferManager.Instance.CheckNoWafer(ModuleName.WaferRobot, 4) &&
                                wafer0.OriginStation == wafer1.OriginStation &&
                                wafer0.OriginStation == wafer2.OriginStation &&
                                wafer0.OriginStation == wafer3.OriginStation &&
                                wafer0.OriginStation == wafer4.OriginStation &&
                                Math.Abs(wafer1.OriginSlot - wafer2.OriginSlot) == 1 &&
                                Math.Abs(wafer2.OriginSlot - wafer3.OriginSlot) == 1 &&
                                Math.Abs(wafer0.OriginSlot - wafer4.OriginSlot) == 4 &&
                                Math.Abs(wafer0.OriginSlot - wafer3.OriginSlot) == 3 &&
                                Math.Abs(wafer0.OriginSlot - wafer2.OriginSlot) == 2 &&
                                Math.Abs(wafer0.OriginSlot - wafer1.OriginSlot) == 1)
                            {
                                pickBlade = Hand.Both;
                                pickSlot = wafer4.Slot;
                            }
                        }
                    }

                    break;
                }

                if (pmModule.CheckReadyForTransfer(_waferRobot.Module, pickBlade, pickSlot, EnumTransferType.Pick, out string reason) &&
                    pickSlot != -1 && _waferRobot.Pick(_pm1.Module, pickSlot, pickBlade))
                {
                    _pm1.WaitTransfer(ModuleName.WaferRobot);
                }
            }
        }
        private List<int> GetWaferSlots()
        {
            List<int> slots = null;

            switch (SC.GetStringValue("System.ChargingOrderBySort"))
            {
                case "ED,P,M":
                    if (CheckWaferSlotsHasWafer(_monitor1Slots))
                        return _monitor1Slots;
                    if (CheckWaferSlotsHasWafer(_monitor2Slots))
                        return _monitor2Slots;

                    if (CheckWaferSlotsHasWafer(_productSlots))
                        return _productSlots;

                    if (CheckWaferSlotsHasWafer(_extraDummySlots))
                        return _extraDummySlots;
                    break;
                case "ED,M,P":
                    if (CheckWaferSlotsHasWafer(_productSlots))
                        return _productSlots;

                    if (CheckWaferSlotsHasWafer(_monitor1Slots))
                        return _monitor1Slots;
                    if (CheckWaferSlotsHasWafer(_monitor2Slots))
                        return _monitor2Slots;

                    if (CheckWaferSlotsHasWafer(_extraDummySlots))
                        return _extraDummySlots;
                    break;
                case "P,ED,M":
                    if (CheckWaferSlotsHasWafer(_monitor1Slots))
                        return _monitor1Slots;
                    if (CheckWaferSlotsHasWafer(_monitor2Slots))
                        return _monitor2Slots;

                    if (CheckWaferSlotsHasWafer(_extraDummySlots))
                        return _extraDummySlots;

                    if (CheckWaferSlotsHasWafer(_productSlots))
                        return _productSlots;
                    break;
                case "P,M,ED":
                    if (CheckWaferSlotsHasWafer(_extraDummySlots))
                        return _extraDummySlots;

                    if (CheckWaferSlotsHasWafer(_monitor1Slots))
                        return _monitor1Slots;
                    if (CheckWaferSlotsHasWafer(_monitor2Slots))
                        return _monitor2Slots;

                    if (CheckWaferSlotsHasWafer(_productSlots))
                        return _productSlots;
                    break;
                case "M,P,ED":
                    if (CheckWaferSlotsHasWafer(_extraDummySlots))
                        return _extraDummySlots;

                    if (CheckWaferSlotsHasWafer(_productSlots))
                        return _productSlots;

                    if (CheckWaferSlotsHasWafer(_monitor1Slots))
                        return _monitor1Slots;
                    if (CheckWaferSlotsHasWafer(_monitor2Slots))
                        return _monitor2Slots;
                    break;
                case "M,ED,P":
                    if (CheckWaferSlotsHasWafer(_productSlots))
                        return _productSlots;

                    if (CheckWaferSlotsHasWafer(_extraDummySlots))
                        return _extraDummySlots;

                    if (CheckWaferSlotsHasWafer(_monitor1Slots))
                        return _monitor1Slots;
                    if (CheckWaferSlotsHasWafer(_monitor2Slots))
                        return _monitor2Slots;
                    break;
                default:
                    if (CheckWaferSlotsHasWafer(_monitor1Slots))
                        return _monitor1Slots;
                    if (CheckWaferSlotsHasWafer(_monitor2Slots))
                        return _monitor2Slots;

                    if (CheckWaferSlotsHasWafer(_productSlots))
                        return _productSlots;

                    if (CheckWaferSlotsHasWafer(_extraDummySlots))
                        return _extraDummySlots;
                    break;
            }

            foreach (var slot in _sideDummySlots)
            {
                if (WaferManager.Instance.CheckHasWafer(_pm1.Module, slot))
                {
                    return _sideDummySlots;
                }
            }

            return slots;
        }
        private void GetWaferSlotsAndWaferType(CarrierInfo carrier, out List<int> slots, out WaferType waferType)
        {
            slots = null;
            waferType = WaferType.None;
            if (carrier != null && !carrier.IsEmpty)
            {
                switch (carrier.CarrierType)
                {
                    case CarrierType.SD:
                        slots = _sideDummySlots;
                        waferType = WaferType.SD;
                        break;
                    case CarrierType.ED:
                        slots = _extraDummySlots;
                        waferType = WaferType.ED;
                        break;
                    case CarrierType.M1:
                        slots = _monitor1Slots;
                        waferType = WaferType.M1;
                        break;
                    case CarrierType.M2:
                        slots = _monitor2Slots;
                        waferType = WaferType.M2;
                        break;
                    case CarrierType.P:
                        slots = _productSlots;
                        waferType = WaferType.P;
                        break;
                }
            }
        }
        private bool CheckWaferSlotsHasWafer(List<int> slots)
        {
            foreach (var slot in slots)
            {
                if (WaferManager.Instance.CheckHasWafer(_pm1.Module, slot))
                {
                    return true;
                }
            }

            return false;
        }

        private bool CheckModuleHasWaferInWaferRobotAndPM(ModuleName module)
        {
            bool isHaveWafer = false;
            for (int i = 0; i < SC.GetValue<int>($"Boat.SlotCount"); i++)
            {
                if (!WaferManager.Instance.CheckHasWafer(_pm1.Module, i))
                    continue;

                var wafer = WaferManager.Instance.GetWafer(_pm1.Module, i);
                if (wafer == null || wafer.IsEmpty)
                    continue;

                if (wafer.OriginStation == (int)module)
                {
                    isHaveWafer = true;
                    break;
                }
            }

            for (int i = 0; i < SC.GetValue<int>("WaferRobot.SlotCount"); i++)
            {
                if (!WaferManager.Instance.CheckHasWafer(ModuleName.WaferRobot, i))
                    continue;

                var wafer = WaferManager.Instance.GetWafer(ModuleName.WaferRobot, i);
                if (wafer == null || wafer.IsEmpty)
                    continue;

                if (wafer.OriginStation == (int)module)
                {
                    isHaveWafer = true;
                    break;
                }
            }

            return isHaveWafer;
        }

        private int GetWaferCountRelatedToWaferRobot(WaferType waferType, bool subtractionStage = true)
        {
            int count = 0;

            for (int i = 0; i < 5; i++)
            {
                var wafer = WaferManager.Instance.GetWafer(ModuleName.WaferRobot, i);
                if (!wafer.IsEmpty && wafer.WaferType == waferType)
                    count++;
            }

            for (int i = 0; i < SC.GetValue<int>($"Boat.SlotCount"); i++)
            {
                var wafer = WaferManager.Instance.GetWafer(_pm1.Module, i);
                if (!wafer.IsEmpty && wafer.WaferType == waferType)
                    count++;
            }

            if (subtractionStage)
            {
                foreach (var stage in _lstFIMSs)
                {
                    if (CarrierManager.Instance.CheckNoCarrier(stage.Module, 0))
                        continue;
                    var wafers = WaferManager.Instance.GetWafers(stage.Module);
                    foreach (var wafer in wafers)
                    {
                        if (!wafer.IsEmpty && wafer.WaferType == waferType)
                            count--;
                    }
                }
            }

            return count < 0 ? 0 : count;
        }
        private bool CheckCarrierHasEmptySlot(ModuleName module)
        {
            bool hasEmpty = false;
            var wafers = WaferManager.Instance.GetWafers(module);
            if (wafers != null)
            {
                foreach (var wafer in wafers)
                {
                    if (wafer.IsEmpty)
                    {
                        hasEmpty = true;
                        break;
                    }
                }
            }
            return hasEmpty;
        }

        private bool CheckCarrierHasWaferInPM(ModuleName module)
        {
            bool isHaveWafer = false;
            for (int i = 0; i < SC.GetValue<int>($"Boat.SlotCount"); i++)
            {
                if (!WaferManager.Instance.CheckHasWafer(_pm1.Module, i))
                    continue;

                var wafer = WaferManager.Instance.GetWafer(_pm1.Module, i);
                if (wafer == null || wafer.IsEmpty)
                    continue;

                if (wafer.OriginStation == (int)module)
                {
                    isHaveWafer = true;
                    break;
                }
            }

            return isHaveWafer;
        }

        private bool CheckCarrierHasWaferInWaferRobot(ModuleName module)
        {
            bool isHaveWafer = false;
            for (int i = 0; i < 5; i++)
            {
                var wafer = WaferManager.Instance.GetWafer(ModuleName.WaferRobot, i);
                if (wafer.OriginStation == (int)module)
                {
                    isHaveWafer = true;
                    break;
                };
            }

            return isHaveWafer;
        }
        private bool CheckCarrierNoHasEmptySlot(ModuleName module)
        {
            bool noHasEmpty = true;
            var wafers = WaferManager.Instance.GetWafers(module);
            if (wafers != null)
            {
                foreach (var wafer in wafers)
                {
                    if (!wafer.IsEmpty)
                    {
                        noHasEmpty = false;
                        break;
                    }
                }
            }
            return noHasEmpty;
        }
        private bool CheckCarrierCanPickFromFIMSInDischarge(ModuleName fimsCarrierModule)
        {
            List<ModuleName> robotModules = new List<ModuleName>();
            for (int i = 0; i < WaferManager.Instance.GetWafers(ModuleName.WaferRobot).Length; i++)
            {
                var wafer = WaferManager.Instance.GetWafer(ModuleName.WaferRobot, i);
                if (wafer == null || wafer.IsEmpty)
                    continue;

                if (!robotModules.Contains((ModuleName)wafer.OriginStation))
                    robotModules.Add((ModuleName)wafer.OriginStation);
            }

            if (robotModules.Contains(fimsCarrierModule))
                return false;

            List<ModuleName> pmModules = new List<ModuleName>();
            for (int i = 0; i < WaferManager.Instance.GetWafers(_pm1.Module).Length; i++)
            {
                var wafer = WaferManager.Instance.GetWafer(_pm1.Module, i);
                if (wafer == null || wafer.IsEmpty)
                    continue;

                if (!pmModules.Contains((ModuleName)wafer.OriginStation))
                    pmModules.Add((ModuleName)wafer.OriginStation);

                if (pmModules.Count == _lstFIMSs.Count)
                    break;
            }

            if (pmModules.Contains(fimsCarrierModule))
                return false;

            return true;
        }
        public void Abort()
        {
        }
    }
}