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

using Aitex.Common.Util;
using Aitex.Core.Common;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using FurnaceRT.Equipments.CarrierRobots;
using FurnaceRT.Equipments.PMs.RecipeExecutions;
using FurnaceRT.Equipments.Schedulers;
using FurnaceRT.Equipments.Systems;
using FurnaceRT.Equipments.WaferRobots;
using MECF.Framework.Common.Jobs;
using FurnaceRT.Equipments.LPs;
using FurnaceRT.Equipments.Stockers;
using Aitex.Core.RT.Log;
using FurnaceRT.Equipments.FIMSs;
using Aitex.Core.RT.DataCenter;
using FurnaceRT.Devices;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.PMs;
using FurnaceRT.Equipments.PMs;
using MECF.Framework.Common.Tolerance;
using MECF.Framework.Common.CommonData.SorterDefines;

namespace FurnaceRT.Equipments.Jobs
{
    public class TransferJob : SchedulerModuleFactory
    {
        private List<TransferJobInfo> _lstTransferJobs = new List<TransferJobInfo>();

        private SchedulerFACallback _faCallback;
        private SchedulerDBCallback _dbCallback;
        private const string LogSource = "System";
        private LoadPortModule _lp1Module;
        private LoadPortModule _lp2Module;
        public bool HasJobRunning
        {
            get { return _lstTransferJobs.Count > 0; }
        }
        public TransferJob()
        {
            _faCallback = new SchedulerFACallback();
            _dbCallback = new SchedulerDBCallback();
            InitModule();

            _lp1Module = Singleton<EquipmentManager>.Instance.Modules.ContainsKey(ModuleName.LP1) ?
                Singleton<EquipmentManager>.Instance.Modules[ModuleName.LP1] as LoadPortModule : null;
            _lp2Module = Singleton<EquipmentManager>.Instance.Modules.ContainsKey(ModuleName.LP2) ?
                Singleton<EquipmentManager>.Instance.Modules[ModuleName.LP2] as LoadPortModule : null;

            DATA.Subscribe($"Scheduler.TransferJobList", () =>
            {
                return _lstTransferJobs;
            });
            DATA.Subscribe($"Scheduler.CurrentTransferJob", () =>
            {
                var pj = _lstTransferJobs.Find(x => x.State == EnumTransferJobState.Active);

                return pj;
            });
            DATA.Subscribe($"Scheduler.OccupyStockers", () =>
            {
                return GetOccupyStockers();
            });
        }
        public void ResetTask(ModuleName module)
        {
            if (module == _waferRobot.Module)
                _waferRobot.ResetTask();
            if (module == _carrierRobot.Module)
                _carrierRobot.ResetTask();
        }
        public void Clear()
        {
            _carrierRobot.ResetTask();
            _waferRobot.ResetTask();

            foreach (var lp in _lstLPs)
            {
                lp.ResetTask();
            }

            foreach (var fims in _lstFIMSs)
            {
                fims.ResetTask();
            }

            _lstTransferJobs.Clear();
        }

        #region Job Management
        public Result CreateJob(params object[] objs)
        {
            if (objs == null || objs.Length == 0)
            {
                Singleton<EquipmentManager>.Instance.TransferJobStartFailedWarning.Set("Parameter not valid");
                return Result.FAIL;
            }
            var param = (Dictionary<string, object>)objs[0];
            if (param == null)
            {
                Singleton<EquipmentManager>.Instance.TransferJobStartFailedWarning.Set("Parameter not valid");
                return Result.FAIL;
            }

            var content = "";
            foreach (var key in param.Keys)
            {
                content += $"{key}-{param[key]}#";
            }
            LOG.Write($"Transfer Job: {content}");

            var waferTypeString = param.ContainsKey("WaferType") ? (string)param["WaferType"] : "";
            var transferTypeString = (string)param["TransferType"];

            TransferJobInfo tj = new TransferJobInfo();
            tj.CreateTime = DateTime.Now;
            tj.BatchName = param.ContainsKey("Batch") ? (string)param["Batch"] : "";
            tj.CarrierType = (CarrierType)Enum.Parse(typeof(CarrierType), waferTypeString);
            tj.Type = (EnumTransferJobType)Enum.Parse(typeof(EnumTransferJobType), transferTypeString);
            tj.State = EnumTransferJobState.Created;
            tj.CarrierParas = new List<CarrierPara>();
            tj.FimsCheckOxDensityDict = new Dictionary<string, Tuple<FilterChecker, double>>();

            List<string> carrierIdLst = new List<string>();
            List<ModuleName> moduleLst = new List<ModuleName>();
            foreach (var module in Singleton<EquipmentManager>.Instance.Modules.Keys)
            {
                if ((Singleton<EquipmentManager>.Instance.Modules[module] is StockerModule) ||
                    (Singleton<EquipmentManager>.Instance.Modules[module] is FIMSModule))
                {
                    if (CarrierManager.Instance.HasCarrier(module.ToString()))
                    {
                        var carrier = CarrierManager.Instance.GetCarrier(module.ToString());
                        carrierIdLst.Add(carrier.CarrierId);
                        moduleLst.Add(carrier.InternalModuleName);
                    }
                }
            }

            if (param.ContainsKey("CarrierPara"))
            {
                if (tj.Type == EnumTransferJobType.Loading)
                {
                    //Stocker1,P_00000036,25,Exist,1111111111111111111111111,LP1;Stocker2,P_00000037,25,Exist,1111111111111111111111111,LP2
                    var paras = param["CarrierPara"].ToString().Split(';');
                    if (paras != null && paras.Length > 0)
                    {
                        foreach (var item in paras)
                        {
                            var arry = item.Split(',');
                            if (arry != null && arry.Length == 6)
                            {
                                CarrierPara carrierPara = new CarrierPara()
                                {
                                    Stocker = ModuleHelper.Converter(arry[0]),
                                    CarrierID = arry[1],
                                    //WaferCount = int.Parse(arry[2]),
                                    IsCompareWithSlotMap = arry[3].ToLower() == "exist",
                                    SlotMap = arry[4],
                                    TargetPort = ModuleHelper.Converter(arry[5]),
                                    CarrierType = tj.CarrierType,
                                };
                                if (carrierIdLst.Any(x => x == carrierPara.CarrierID) || moduleLst.Any(x => x == carrierPara.Stocker))
                                {
                                    Singleton<EquipmentManager>.Instance.LoadCassetteJobStartFailedWarning.Set($"Carrier ID ={carrierPara.CarrierID} of {carrierPara.Stocker} is already exist");
                                    return Result.FAIL;
                                }

                                if (CarrierManager.Instance.HasCarrier($"{carrierPara.Stocker}"))
                                {
                                    Singleton<EquipmentManager>.Instance.LoadCassetteJobStartFailedWarning.Set($"Carrier of {carrierPara.Stocker} is already exist in stocker");
                                    return Result.FAIL;
                                }

                                if (!SC.GetValue<bool>("System.IsSimulatorMode"))
                                {
                                    var stockerModule = Singleton<EquipmentManager>.Instance.Modules[carrierPara.Stocker] as StockerModule;
                                    if (stockerModule != null && stockerModule.IsFoupPresent)
                                    {
                                        Singleton<EquipmentManager>.Instance.LoadCassetteJobStartFailedWarning.Set($"Cassette of {carrierPara.Stocker} is already exist in stocker");
                                        return Result.FAIL;
                                    }
                                }

                                tj.CarrierParas.Add(carrierPara);

                                carrierIdLst.Add(arry[1]);
                                moduleLst.Add(carrierPara.Stocker);
                            }
                        }
                    }
                }
                else
                {
                    //Stocker1,LP1;Stocker2,LP2
                    var paras = param["CarrierPara"].ToString().Split(';');
                    if (paras != null && paras.Length > 0)
                    {
                        foreach (var item in paras)
                        {
                            var arry = item.Split(',');
                            CarrierPara carrierPara = null;
                            if (arry != null && arry.Length >= 2)
                            {
                                //两个参数是Unload,6个参数是Load Process Unload
                                carrierPara = new CarrierPara()
                                {
                                    Stocker = ModuleHelper.Converter(arry[0]),
                                    TargetPort = arry.Length == 6 ? ModuleHelper.Converter(arry[5]) : ModuleHelper.Converter(arry[1]),
                                };

                                if (arry.Length != 6)
                                {
                                    if (!CarrierManager.Instance.HasCarrier($"{carrierPara.Stocker}"))
                                    {
                                        Singleton<EquipmentManager>.Instance.UnloadCassetteJobStartFailedWarning.Set($"Carrier of {carrierPara.Stocker} is not exist in stocker");
                                        return Result.FAIL;
                                    }

                                    if (CarrierManager.Instance.GetCarrier($"{carrierPara.Stocker}", 0).InternalModuleName != carrierPara.Stocker)
                                    {
                                        Singleton<EquipmentManager>.Instance.UnloadCassetteJobStartFailedWarning.Set($"Carrier of {carrierPara.Stocker} is not match stocker module name {CarrierManager.Instance.GetCarrier($"{carrierPara.Stocker}", 0).InternalModuleName}");
                                        return Result.FAIL;
                                    }

                                    if (!SC.GetValue<bool>("System.IsSimulatorMode"))
                                    {
                                        var stockerModule = Singleton<EquipmentManager>.Instance.Modules[carrierPara.Stocker] as StockerModule;
                                        if (stockerModule != null && !stockerModule.IsFoupPresent)
                                        {
                                            Singleton<EquipmentManager>.Instance.LoadCassetteJobStartFailedWarning.Set($"Cassette of {carrierPara.Stocker} is not exist in stocker");
                                            return Result.FAIL;
                                        }
                                    }
                                }
                            }
                            if (carrierPara != null)
                            {
                                carrierPara.CarrierID = CarrierManager.Instance.GetCarrier($"{carrierPara.Stocker}").CarrierId;
                                tj.CarrierParas.Add(carrierPara);
                            }
                        }
                    }
                }

            }


            _lstTransferJobs.Add(tj);

            var pm = (Singleton<EquipmentManager>.Instance.Modules[ModuleName.PM1] as PMModule);

            foreach (var item in _lstFIMSs)
            {
                if (!tj.FimsCheckOxDensityDict.ContainsKey(item.Module.ToString()))
                {
                    tj.FimsCheckOxDensityDict.Add(item.Module.ToString(), Tuple.Create(new FilterChecker(), pm.GetFoupEnterLAO2CheckSV()));
                }
            }
            return Result.RUN;
        }
        internal void AbortJob(string jobName)
        {
            var tj = _lstTransferJobs.Find(x => x.Name == jobName);
            if (tj == null)
            {
                EV.PostWarningLog(LogSource, $"stop job rejected, not found job with id {jobName}");
                return;
            }

            tj.State = EnumTransferJobState.Aborting;
        }
        internal void CancelUnloadingJob(string port, string CarrierId)
        {
            var tj = _lstTransferJobs.Find(x => x.State == EnumTransferJobState.Active);
            if (tj == null)
            {
                EV.PostWarningLog(LogSource, $"cancel unloading job rejected, not found job with CarrierId {CarrierId}");
                return;
            }

            var carrierPara = tj.CarrierParas.Find(x => x.TargetPort.ToString() == port && x.CarrierID == CarrierId);
            if (carrierPara != null)
                tj.CarrierParas.Remove(carrierPara);
        }
        internal bool StartJob(string jobName)
        {
            return true;
        }
        #endregion Job Management

        public Result Monitor()
        {
            TransferJobInfo tjActive = _lstTransferJobs.Find(x => x.State == EnumTransferJobState.Active);
            if (tjActive != null)
            {
                MonitorModuleTasks();
            }

            MonitorJobTasks();

            UpdateLoadPortLotIDList();

            return Result.RUN;
        }
        public bool CheckAllJobDone()
        {
            foreach (var tj in _lstTransferJobs)
            {
                if (tj.State == EnumTransferJobState.Created ||
                    tj.State == EnumTransferJobState.Active)
                    return false;
            }

            return true;
        }
        private void UpdateLoadPortLotIDList()
        {
            TransferJobInfo tjActive = _lstTransferJobs.Find(x => x.State == EnumTransferJobState.Active);
            if (tjActive != null && tjActive.CarrierParas != null)
            {
                if (_lp1Module != null)
                {
                    _lp1Module.CurrentLotId = "";
                }

                if (_lp2Module != null)
                {
                    _lp2Module.CurrentLotId = "";
                }

                List<string> lp1WaitLotId = new List<string>();
                List<string> lp2WaitLotId = new List<string>();
                foreach (var item in tjActive.CarrierParas)
                {
                    if ((tjActive.Type == EnumTransferJobType.Loading && !item.IsLoaded) ||
                        (tjActive.Type == EnumTransferJobType.Unloading && !item.IsUnloaded))
                    {
                        var lpModule = Singleton<EquipmentManager>.Instance.Modules[item.TargetPort] as LoadPortModule;
                        if (lpModule != null && item.TargetPort == ModuleName.LP1 && string.IsNullOrEmpty(lpModule.CurrentLotId))
                        {
                            _lp1Module.CurrentLotId = item.CarrierID;
                        }
                        if (lpModule != null && item.TargetPort == ModuleName.LP2 && string.IsNullOrEmpty(lpModule.CurrentLotId))
                        {
                            _lp2Module.CurrentLotId = item.CarrierID;
                        }

                        if (item.TargetPort == ModuleName.LP1)
                        {
                            lp1WaitLotId.Add(item.CarrierID);
                        }
                        if (item.TargetPort == ModuleName.LP2)
                        {
                            lp2WaitLotId.Add(item.CarrierID);
                        }
                    }
                }
                if (_lp1Module != null)
                {
                    _lp1Module.WaitLotId = lp1WaitLotId;
                }

                if (_lp2Module != null)
                {
                    _lp2Module.WaitLotId = lp2WaitLotId;
                }
            }
            else
            {
                if (_lp1Module != null)
                {
                    _lp1Module.CurrentLotId = "";
                    if (_lp1Module.WaitLotId == null || _lp1Module.WaitLotId.Any())
                        _lp1Module.WaitLotId = new List<string>();
                }

                if (_lp2Module != null)
                {
                    _lp2Module.CurrentLotId = "";
                    if (_lp2Module.WaitLotId == null || _lp2Module.WaitLotId.Any())
                        _lp2Module.WaitLotId = new List<string>();
                }
            }
        }

        #region Module task
        public Result MonitorModuleTasks()
        {
            MonitorLPClampInLoadingTask();

            MonitorCarrierRobotTask();

            MonitorWaferRobotTask();

            MonitorLPTask();

            MonitorFIMSTask();

            return Result.RUN;
        }
        private void MonitorLPClampInLoadingTask()
        {
            if (!_lstTransferJobs.Any())
                return;

            var tj = _lstTransferJobs.Find(x => x.State == EnumTransferJobState.Active);
            if (tj == null || tj.CarrierParas == null)
                return;

            if (tj.Type == EnumTransferJobType.Loading)
            {
                foreach (var lp in _lstLPs)
                {
                    if (!lp.IsAvailable)
                        continue;

                    if (!tj.CarrierParas.Any(x => x.TargetPort == lp.Module && !x.IsLoaded))
                        continue;

                    var lpModule = Singleton<EquipmentManager>.Instance.Modules[lp.Module] as LoadPortModule;
                    if (lpModule.LPDevice.IsFoupPresent)
                    {
                        //FOUP放上去之后，先上锁
                        if (!lpModule.IsClamp && lpModule.LPDevice.Clamp(out _))
                        {
                            return;
                        }
                    }
                }
            }
        }
        private void MonitorLPTask()
        {
            if (!_lstTransferJobs.Any())
                return;

            var tj = _lstTransferJobs.Find(x => x.State == EnumTransferJobState.Active);
            if (tj == null || tj.CarrierParas == null)
                return;

            if (tj.Type == EnumTransferJobType.Loading)
            {
                foreach (var lp in _lstLPs)
                {
                    if (!lp.IsAvailable)
                        continue;

                    if (!tj.CarrierParas.Any(x => x.TargetPort == lp.Module && !x.IsLoaded))
                        continue;

                    var lpModule = Singleton<EquipmentManager>.Instance.Modules[lp.Module] as LoadPortModule;
                    if (lpModule.LPDevice.IsFoupPresent)
                    {
                        //FOUP放上去之后，先上锁
                        if (!lpModule.IsClamp && lpModule.LPDevice.Clamp(out _))
                        {
                            return;
                        }
                    }
                    else
                    {
                        //空的，先松开锁
                        if (!lpModule.IsReleased && lpModule.LPDevice.Unclamp(out _))
                        {
                            return;
                        }
                    }
                }
            }
            else if (tj.Type == EnumTransferJobType.Unloading)
            {
                foreach (var lp in _lstLPs)
                {
                    if (!lp.IsAvailable)
                        continue;

                    if (!tj.CarrierParas.Any(x => x.TargetPort == lp.Module && !x.IsLoaded))
                        continue;

                    var lpModule = Singleton<EquipmentManager>.Instance.Modules[lp.Module] as LoadPortModule;
                    if (lpModule.LPDevice.IsFoupPresent)
                    {
                        if (!lpModule.IsReleased && lpModule.LPDevice.Unclamp(out _))
                        {
                            return;
                        }
                    }
                    else
                    {
                        //空的，先松开锁
                        if (!lpModule.IsReleased && lpModule.LPDevice.Unclamp(out _))
                        {
                            return;
                        }
                    }
                }
            }
        }
        private void MonitorFIMSTask()
        {
            var pm = (Singleton<EquipmentManager>.Instance.Modules[ModuleName.PM1] as PMModule);

            if (!_lstTransferJobs.Any() || SC.GetValue<bool>("WaferRobot.BypassFIMSMap"))
                return;

            var tj = _lstTransferJobs.Find(x => x.State == EnumTransferJobState.Active);
            if (tj == null || tj.CarrierParas == null)
                return;

            if (tj.Type == EnumTransferJobType.Loading)
            {
                var hasNotMappedCarrier = false;
                var robotCarrier = CarrierManager.Instance.GetCarrier(ModuleName.CarrierRobot, 0);
                if (robotCarrier != null && !robotCarrier.IsEmpty && !robotCarrier.IsMapped)
                {
                    if (tj.CarrierParas.Any(x => x.Stocker == robotCarrier.InternalModuleName && x.IsLoaded))
                    {
                        hasNotMappedCarrier = true;
                    }
                }
                foreach (var item in tj.CarrierParas)
                {
                    var carrier = CarrierManager.Instance.GetCarrier(item.Stocker, 0);

                    if (carrier == null || carrier.IsEmpty || carrier.IsMapped)
                        continue;

                    if (item.IsLoaded)
                    {
                        hasNotMappedCarrier = true;
                        break;
                    }
                }

                bool haveLoadingFims = false;
                foreach (var fims in _lstFIMSs)
                {
                    if ((Singleton<EquipmentManager>.Instance.Modules[fims.Module] as FIMSModule).IsLoading)
                    {
                        haveLoadingFims = true;
                        break;
                    }
                }

                foreach (var fims in _lstFIMSs)
                {
                    if (!fims.IsAvailable)
                        continue;
                    var fimsDevice = DEVICE.GetDevice<IoFIMS>($"PM1.{fims.Module}");
                    if (CarrierManager.Instance.CheckNoCarrier(fims.Module, 0))
                    {
                        if (hasNotMappedCarrier && fimsDevice.IsWaferRobotEX1AxisHomePosition && fimsDevice.IsWaferRobotEX2AxisHomePosition &&
                            !fimsDevice.IsUnloadCompleted && fims.Unload())
                        {
                            return;
                        }
                    }
                    else
                    {
                        var carrier = CarrierManager.Instance.GetCarrier(fims.Module, 0);
                        if (carrier == null || carrier.IsEmpty)
                            continue;
                        if (tj.CarrierParas.Any(x => x.Stocker == carrier.InternalModuleName && x.IsLoaded))
                        {
                            if (carrier.IsMapped && fimsDevice.IsWaferRobotEX1AxisHomePosition && fimsDevice.IsWaferRobotEX2AxisHomePosition &&
                                !fimsDevice.IsUnloadCompleted)
                            {
                                if (fims.Unload())
                                {
                                    return;
                                }
                            }
                            if (!haveLoadingFims && !carrier.IsMapped && !fimsDevice.IsLoadCompleted)
                            {
                                var foupEnterFIMSN2purgeConfig = pm.GetFoupEnterFIMSN2purgeConfig();
                                var foupEnterLAO2CheckSV = pm.GetFoupEnterLAO2CheckSV();
                                var lACurrectN2purgeMode = pm.GetLACurrectN2purgeMode();

                                var CheckFimsIsNeedOxygenPressure = pm.CheckFimsIsNeedOxygenPressure(foupEnterFIMSN2purgeConfig, "", out var isCheckO2, false);
                                if (isCheckO2)
                                {
                                    tj.FimsCheckOxDensityDict[fims.Module.ToString()].Item1.CheckInterval = 1;
                                    tj.FimsCheckOxDensityDict[fims.Module.ToString()].Item1.Monitor(pm.GetN2PurgeUnder20PPMStatus(foupEnterLAO2CheckSV));
                                    if (tj.FimsCheckOxDensityDict[fims.Module.ToString()].Item1.Trig)
                                    {
                                        if (fims.Load(CheckFimsIsNeedOxygenPressure, N2PurgeModeEnum.FoupEnter.ToString()))
                                        {
                                            tj.FimsCheckOxDensityDict[fims.Module.ToString()].Item1.Restart();
                                            LOG.Info($"FIMS={fims.Module} , FIMS N2PurgeConfig={foupEnterFIMSN2purgeConfig},Currect N2Purge={lACurrectN2purgeMode},Limit O2 Data={foupEnterLAO2CheckSV},transferJob Load,wait FoupEnter 。a");
                                            return;
                                        }
                                    }

                                }
                                else
                                {
                                    if (fims.Load(CheckFimsIsNeedOxygenPressure, N2PurgeModeEnum.FoupEnter.ToString()))
                                    {
                                        LOG.Info($"FIMS={fims.Module} , FIMS N2PurgeConfig={foupEnterFIMSN2purgeConfig},Currect N2Purge={lACurrectN2purgeMode},Limit O2 Data={foupEnterLAO2CheckSV},transferJob Load, direct FoupEnter 。b");
                                        return;
                                    }
                                }

                            }
                        }
                    }
                }
            }
            else if (tj.Type == EnumTransferJobType.Unloading)
            {
                //do nothing
            }
        }
        private void MonitorWaferRobotTask()
        {
            if (!_waferRobot.IsAvailable)
                return;

            //wafer robot is idle, release all the target 
            foreach (var fims in _lstFIMSs)
            {
                if (fims.IsWaitTransfer(ModuleName.WaferRobot))
                {
                    fims.StopWaitTransfer(ModuleName.WaferRobot);
                }
            }

            MonitorWaferRobotFIMSTask();
        }
        private void MonitorWaferRobotFIMSTask()
        {
            if (!_waferRobot.IsAvailable || !_lstTransferJobs.Any())
                return;

            var tj = _lstTransferJobs.Find(x => x.State == EnumTransferJobState.Active);
            if (tj == null || tj.CarrierParas == null)
                return;

            foreach (var fims in _lstFIMSs)
            {
                if (!fims.IsAvailable)
                    continue;

                if (!CarrierManager.Instance.CheckHasCarrier(fims.Module, 0))
                    continue;

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

                var carrier = CarrierManager.Instance.GetCarrier(fims.Module, 0);
                if (carrier == null || carrier.IsEmpty || carrier.IsMapped || SC.GetValue<bool>("WaferRobot.BypassFIMSMap"))
                    continue;

                if (tj.CarrierParas.Any(x => x.Stocker == carrier.InternalModuleName))
                {
                    var carrierPara = tj.CarrierParas.FirstOrDefault(x => x.Stocker == carrier.InternalModuleName);
                    if (carrierPara != null && _waferRobot.Map(fims.Module, carrierPara.WaferCount, carrierPara.SlotMap, carrierPara.IsCompareWithSlotMap, true, Hand.Blade1))
                    {
                        fims.WaitTransfer(ModuleName.WaferRobot);
                    }
                }
            }
        }

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

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

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

            foreach (var lp in _lstLPs)
            {
                if (lp.IsWaitTransfer(ModuleName.CarrierRobot))
                {
                    lp.StopWaitTransfer(ModuleName.CarrierRobot);
                }
            }

            MonitorCarrierRobotFIMSTask();

            if (!_carrierRobot.IsAvailable)
                return;

            MonitorCarrierRobotStockerTask();

            if (!_carrierRobot.IsAvailable)
                return;

            MonitorCarrierRobotLPTask();

            if (!_carrierRobot.IsAvailable)
                return;

            //MonitorCarrierGotoTask();
        }
        private void MonitorCarrierGotoTask()
        {
            if (!_carrierRobot.IsAvailable || !_lstTransferJobs.Any())
                return;

            var tj = _lstTransferJobs.Find(x => x.State == EnumTransferJobState.Active);
            if (tj == null || tj.CarrierParas == null)
                return;

            if (tj.Type == EnumTransferJobType.Loading)
            {
                if (CarrierManager.Instance.CheckNoCarrier(ModuleName.CarrierRobot, 0))
                {
                    foreach (var lp in _lstLPs)
                    {
                        if (!tj.CarrierParas.Any(x => x.TargetPort == lp.Module && !x.IsLoaded))
                            continue;

                        var lpDevice = DEVICE.GetDevice<IoLP>($"PM1.{lp.Module}");
                        if (lpDevice.IsFoupPresent)
                        {
                            if (!lpDevice.IsLoadCompleted && _carrierRobot.PreviousTarget != lp.Module && _carrierRobot.Goto(lp.Module, 0, Hand.Blade1, true))
                            {
                                return;
                            }
                        }
                    }

                    if (!SC.GetValue<bool>("WaferRobot.BypassFIMSMap"))
                    {
                        foreach (var fims in _lstFIMSs)
                        {
                            if (CarrierManager.Instance.CheckHasCarrier(fims.Module, 0))
                            {
                                var carrier1 = CarrierManager.Instance.GetCarrier(fims.Module, 0);
                                if (carrier1 != null && !carrier1.IsMapped)
                                {
                                    if (tj.CarrierParas.Any(x => x.Stocker == carrier1.InternalModuleName) && _carrierRobot.PreviousTarget != fims.Module &&
                                        _carrierRobot.Goto(fims.Module, 0, Hand.Blade1, true))
                                    {
                                        return;
                                    }
                                }
                            }
                        }
                    }
                }
                else
                {
                    //goto fims 放
                    if (!SC.GetValue<bool>("WaferRobot.BypassFIMSMap"))
                    {
                        foreach (var fims in _lstFIMSs)
                        {
                            if (!fims.IsAvailable)
                                continue;
                            if (CarrierManager.Instance.CheckNoCarrier(fims.Module, 0))
                            {
                                var robotCarrier = CarrierManager.Instance.GetCarrier(ModuleName.CarrierRobot, 0);
                                if (robotCarrier != null && !robotCarrier.IsMapped && tj.CarrierParas.Any(x => x.Stocker == robotCarrier.InternalModuleName))
                                {
                                    if (_carrierRobot.PreviousTarget != fims.Module && _carrierRobot.Goto(fims.Module, 0, Hand.Blade1, false))
                                    {
                                        return;
                                    }
                                }
                            }
                        }
                    }
                }
            }
            else if (tj.Type == EnumTransferJobType.Unloading)
            {
                if (CarrierManager.Instance.CheckHasCarrier(ModuleName.CarrierRobot, 0))
                {
                    foreach (var lp in _lstLPs)
                    {
                        if (!CarrierManager.Instance.CheckHasCarrier(lp.Module, 0))
                            continue;

                        var robotCarrier = CarrierManager.Instance.GetCarrier(ModuleName.CarrierRobot, 0);
                        var para = tj.CarrierParas.FirstOrDefault(x => x.Stocker == robotCarrier.InternalModuleName);
                        if (para == null || para.TargetPort != lp.Module)
                            continue;

                        var lpDevice = DEVICE.GetDevice<IoLP>($"PM1.{lp.Module}");
                        if (!lpDevice.IsFoupPresent)
                        {
                            if (!lpDevice.IsLoadCompleted && _carrierRobot.PreviousTarget != lp.Module && _carrierRobot.Goto(lp.Module, 0, Hand.Blade1, false))
                            {
                                lp.WaitTransfer(ModuleName.CarrierRobot);
                                return;
                            }
                        }
                    }
                }
            }
        }
        private void MonitorCarrierRobotStockerTask()
        {
            if (!_carrierRobot.IsAvailable || !_lstTransferJobs.Any())
                return;

            var tj = _lstTransferJobs.Find(x => x.State == EnumTransferJobState.Active);
            if (tj == null || tj.CarrierParas == null)
                return;

            //pick
            var carrier = CarrierManager.Instance.GetCarrier(ModuleName.CarrierRobot, 0);
            if (carrier != null && carrier.IsEmpty)
            {
                SchedulerStocker stocker = null;
                foreach (var st in _lstTotlaStockers)
                {
                    if (!st.IsAvailable || !st.IsReadyForPick(ModuleName.CarrierRobot, 0))
                        continue;
                    if (CarrierManager.Instance.CheckHasCarrier(st.Module, 0))
                    {
                        carrier = CarrierManager.Instance.GetCarrier(st.Module, 0);
                        if (tj.Type == EnumTransferJobType.Loading)
                        {
                            //没有map，FIMS具备map条件时
                            if (carrier != null && !carrier.IsMapped &&
                                _lstFIMSs.Any(x => x.IsAvailable && x.IsReadyForPlace(ModuleName.CarrierRobot, 0)) &&
                                !SC.GetValue<bool>("WaferRobot.BypassFIMSMap"))
                            {
                                if (tj.CarrierParas.Any(x => x.Stocker == carrier.InternalModuleName))
                                {
                                    stocker = st;
                                    break;
                                }
                            }
                        }
                        else
                        {
                            if (tj.CarrierParas.Any(x => x.Stocker == carrier.InternalModuleName))
                            {
                                stocker = st;
                                break;
                            }
                        }

                    }
                }

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

            if (!_carrierRobot.IsAvailable || tj.Type != EnumTransferJobType.Loading)
                return;

            //place
            carrier = CarrierManager.Instance.GetCarrier(ModuleName.CarrierRobot, 0);

            if (carrier != null && !carrier.IsEmpty &&
                tj.CarrierParas.Any(x => x.Stocker == carrier.InternalModuleName))
            {
                var carrierPara = tj.CarrierParas.FirstOrDefault(x => x.Stocker == carrier.InternalModuleName);
                SchedulerStocker stocker = null;
                foreach (var st in _lstTotlaStockers)
                {
                    if (!st.IsAvailable || !st.IsReadyForPlace(ModuleName.CarrierRobot, 0))
                        continue;
                    if (st.Module != carrier.InternalModuleName)
                        continue;
                    if (CarrierManager.Instance.CheckNoCarrier(st.Module, 0))
                    {
                        stocker = st;
                        break;
                    }
                }

                //map正常完成或者FIMS不具备map条件
                if (stocker != null && ((carrier.IsMapped && carrier.IsMapOK) ||
                    SC.GetValue<bool>("WaferRobot.BypassFIMSMap") ||
                    !_lstFIMSs.Any(x => x.IsOnline && CarrierManager.Instance.CheckNoCarrier(x.Module, 0))))
                {
                    if (_carrierRobot.Place(stocker.Module, 0, Hand.Blade1))
                    {
                        stocker.WaitTransfer(ModuleName.CarrierRobot);
                        return;
                    }
                }
            }
        }
        private void MonitorCarrierRobotLPTask()
        {
            if (!_carrierRobot.IsAvailable || !_lstTransferJobs.Any())
                return;

            var tj = _lstTransferJobs.Find(x => x.State == EnumTransferJobState.Active);
            if (tj == null || tj.CarrierParas == null)
                return;

            if (tj.Type == EnumTransferJobType.Loading)
            {
                if (CarrierManager.Instance.CheckNoCarrier(ModuleName.CarrierRobot, 0))
                {
                    foreach (var lp in _lstLPs)
                    {
                        if (!lp.IsAvailable)
                            continue;

                        if (!tj.CarrierParas.Any(x => x.TargetPort == lp.Module && !x.IsLoaded))
                            continue;

                        var lpDevice = DEVICE.GetDevice<IoLP>($"PM1.{lp.Module}");
                        if (lp.IsReadyForPick(_carrierRobot.Module, 0) && (lpDevice.IsLoadCompleted || lpDevice.IsUnloadCompleted))
                        {
                            var carrierPara = tj.CarrierParas.First(x => x.TargetPort == lp.Module && !x.IsLoaded);
                            if (carrierPara != null && _carrierRobot.Load(lp.Module, 0, Hand.Blade1, carrierPara.Stocker, carrierPara.CarrierType, carrierPara.CarrierID, carrierPara))
                            {
                                lp.WaitTransfer(ModuleName.CarrierRobot);
                                return;
                            }
                        }
                    }
                }
            }
            else
            {
                var carrier = CarrierManager.Instance.GetCarrier(ModuleName.CarrierRobot, 0);
                if (carrier != null && !carrier.IsEmpty)
                {
                    foreach (var lp in _lstLPs)
                    {
                        if (!lp.IsAvailable || !CarrierManager.Instance.CheckNoCarrier(lp.Module, 0))
                            continue;

                        var para = tj.CarrierParas.FirstOrDefault(x => x.Stocker == carrier.InternalModuleName);
                        if (para == null || para.TargetPort != lp.Module)
                            continue;

                        var lpDevice = DEVICE.GetDevice<IoLP>($"PM1.{lp.Module}");
                        if (lp.IsReadyForPlace(_carrierRobot.Module, 0) && lpDevice.IsLoadCompleted || lpDevice.IsUnloadCompleted)
                        {
                            if (_carrierRobot.Unload(lp.Module, 0, Hand.Blade1, para))
                            {
                                lp.WaitTransfer(ModuleName.CarrierRobot);
                                return;
                            }
                        }
                    }
                }
            }
        }
        private void MonitorCarrierRobotFIMSTask()
        {
            if (!_carrierRobot.IsAvailable)
                return;

            var tj = _lstTransferJobs.Find(x => x.State == EnumTransferJobState.Active);
            if (tj == null || tj.CarrierParas == null || tj.Type != EnumTransferJobType.Loading)
                return;

            //pick
            var carrier = CarrierManager.Instance.GetCarrier(ModuleName.CarrierRobot, 0);
            if (carrier != null && carrier.IsEmpty)
            {
                SchedulerFIMS fims = null;
                foreach (var st in _lstFIMSs)
                {
                    if (!st.IsAvailable || !st.IsReadyForPick(ModuleName.CarrierRobot, 0))
                        continue;
                    if (CarrierManager.Instance.CheckHasCarrier(st.Module, 0))
                    {
                        carrier = CarrierManager.Instance.GetCarrier(st.Module, 0);
                        var fimsDevice = DEVICE.GetDevice<IoFIMS>($"PM1.{st.Module}");
                        if (carrier != null && carrier.IsMapped && carrier.IsMapOK &&
                            fimsDevice.IsUnloadCompleted && !SC.GetValue<bool>("WaferRobot.BypassFIMSMap"))
                        {
                            if (tj.CarrierParas.Any(x => x.Stocker == carrier.InternalModuleName))
                            {
                                fims = st;
                                break;
                            }
                        }
                    }
                }

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

            if (!_carrierRobot.IsAvailable)
                return;

            //place
            carrier = CarrierManager.Instance.GetCarrier(ModuleName.CarrierRobot, 0);
            if (carrier != null && !carrier.IsEmpty && !carrier.IsMapped &&
                tj.CarrierParas.Any(x => x.Stocker == carrier.InternalModuleName) &&
                !SC.GetValue<bool>("WaferRobot.BypassFIMSMap"))
            {
                SchedulerFIMS fims = null;
                foreach (var st in _lstFIMSs)
                {
                    if (!st.IsAvailable || !st.IsReadyForPlace(ModuleName.CarrierRobot, 0))
                        continue;
                    var fimsDevice = DEVICE.GetDevice<IoFIMS>($"PM1.{st.Module}");
                    if (CarrierManager.Instance.CheckNoCarrier(st.Module, 0) && fimsDevice.IsUnloadCompleted)
                    {
                        fims = st;
                        break;
                    }
                }

                if (fims != null)
                {
                    if (_carrierRobot.Place(fims.Module, 0, Hand.Blade1))
                    {
                        fims.WaitTransfer(ModuleName.CarrierRobot);
                        return;
                    }
                }
            }
        }
        public List<CarrierPara> GetTransferJobStockers()
        {
            if (!_lstTransferJobs.Any())
                return null;

            var tj = _lstTransferJobs.Find(x => x.State == EnumTransferJobState.Active);
            if (tj == null || tj.CarrierParas == null)
                return null;
            return tj.CarrierParas;
        }
        #endregion
        #region Job task
        public Result MonitorJobTasks()
        {
            UpdateTransferJobStatus();

            StartNewJob();

            return Result.RUN;
        }
        private void UpdateTransferJobStatus()
        {
            if (!_lstTransferJobs.Any())
                return;

            if (!_carrierRobot.IsAvailable)
                return;

            List<TransferJobInfo> removeJobLst = new List<TransferJobInfo>();
            foreach (var tj in _lstTransferJobs)
            {
                if (tj == null || tj.CarrierParas == null)
                    continue;

                bool isComplete = true;

                if (tj.Type == EnumTransferJobType.Loading)
                {
                    foreach (var item in tj.CarrierParas)
                    {
                        if (!CarrierManager.Instance.CheckHasCarrier(item.Stocker, 0))
                        {
                            isComplete = false;
                            continue;
                        }

                        var carrier = CarrierManager.Instance.GetCarrier(item.Stocker, 0);
                        if (carrier != null && (carrier.IsEmpty || (!carrier.IsMapped && !SC.GetValue<bool>("WaferRobot.BypassFIMSMap")) || !item.IsLoaded))
                        {
                            isComplete = false;
                            continue;
                        }
                        if (carrier != null)
                        {
                            if (carrier.IsEmpty || (!carrier.IsMapped && !SC.GetValue<bool>("WaferRobot.BypassFIMSMap")) || !item.IsLoaded)
                            {
                                isComplete = false;
                                continue;
                            }
                            else
                            {
                                if (!item.HasTrigEvent)
                                {
                                    Task.Delay(1000).ContinueWith(x =>
                                    {
                                        _faCallback.CarrierInEnd(item.Stocker);
                                    });
                                    item.HasTrigEvent = true;
                                }
                            }

                        }
                    }
                }
                else
                {
                    foreach (var item in tj.CarrierParas)
                    {
                        if (!item.IsUnloaded)
                            continue;

                        if (!item.HasTrigEvent)
                        {
                            foreach (var lp in _lstLPs)
                            {
                                if (item.TargetPort == lp.Module)
                                {
                                    var carrier = CarrierManager.Instance.GetCarrier(item.TargetPort, 0);

                                    if (carrier != null && !carrier.IsEmpty)
                                    {
                                        //_faCallback.CarrierOutEnd(carrier);
                                        item.HasTrigEvent = true;
                                        break;
                                    }
                                }
                            }
                        }
                    }
                    foreach (var lp in _lstLPs)
                    {
                        if (tj.CarrierParas.Any(x => x.TargetPort == lp.Module))
                        {
                            if (CarrierManager.Instance.CheckHasCarrier(lp.Module, 0))
                            {
                                isComplete = false;
                                continue;
                            }
                        }
                    }
                    if (tj.CarrierParas.Any(x => !x.IsUnloaded))
                    {
                        isComplete = false;
                        continue;
                    }
                }

                if (isComplete)
                {
                    tj.State = EnumTransferJobState.Complete;
                    removeJobLst.Add(tj);
                    string stocker = "";
                    tj.CarrierParas.ForEach(x => stocker += $"{x.Stocker}-");
                    LOG.Write($"Scheduler:{stocker} {tj.Type} change to complete");

                    if (tj.Type == EnumTransferJobType.Loading)
                    {
                        List<ModuleName> unloadLPs = new List<ModuleName>();
                        foreach (var item in tj.CarrierParas)
                        {
                            if (!unloadLPs.Contains(item.TargetPort) &&
                                !_lstTransferJobs.Any(x => (x.State == EnumTransferJobState.Created || x.State == EnumTransferJobState.Active) &&
                                x.CarrierParas.Any(ca => ca.TargetPort == item.TargetPort)))
                                unloadLPs.Add(item.TargetPort);
                        }

                        //foreach (var lp in unloadLPs)
                        //{
                        //    (Singleton<EquipmentManager>.Instance.Modules[lp] as LoadPortModule).InvokeUnload();
                        //    LOG.Write($"Scheduler:{lp} start unload");
                        //}
                    }
                }
            }

            foreach (var item in removeJobLst)
            {
                _lstTransferJobs.Remove(item);
            }
        }
        private void StartNewJob()
        {
            if (!_lstTransferJobs.Any() || !_carrierRobot.IsAvailable)
                return;

            //没有在process的stocker时，以时间先后为准
            var processingStockers = Singleton<EquipmentManager>.Instance.GetProcessingStockers();
            if (processingStockers != null)
            {
                //有在process的stocker时，以时间先后和所有stokcer都不在process为准
                foreach (var tj in _lstTransferJobs)
                {
                    if (tj == null || tj.CarrierParas == null)
                        continue;

                    bool hasStokcerInProcessing = false;
                    foreach (var item in tj.CarrierParas)
                    {
                        if (processingStockers.Any(x => x.Item1 == item.Stocker.ToString()))
                        {
                            hasStokcerInProcessing = true;
                            break;
                        }
                    }

                    if (!hasStokcerInProcessing)
                    {
                        break;
                    }
                }
            }

            var tjActives = GetFirstCreatedTransferJob(EnumTransferJobType.Loading);
            if (tjActives.Any())
            {
                foreach (var tjActive in tjActives)
                {
                    if (tjActive != null && tjActive.State == EnumTransferJobState.Created && tjActive.Type == EnumTransferJobType.Loading)
                    {
                        bool isStockerReady = true;
                        foreach (var stocker in _lstTotlaStockers)
                        {
                            if (CarrierManager.Instance.CheckHasCarrier(stocker.Module, 0))
                            {
                                var carrier = CarrierManager.Instance.GetCarrier(stocker.Module, 0);
                                if (carrier != null && tjActive.CarrierParas.Any(x => x.Stocker == carrier.InternalModuleName))
                                    isStockerReady = false;
                            }
                        }

                        if (CarrierManager.Instance.CheckHasCarrier(_carrierRobot.Module, 0))
                        {
                            var carrier = CarrierManager.Instance.GetCarrier(_carrierRobot.Module, 0);
                            if (carrier != null && tjActive.CarrierParas.Any(x => x.Stocker == carrier.InternalModuleName))
                                isStockerReady = false;
                        }

                        foreach (var fims in _lstFIMSs)
                        {
                            if (CarrierManager.Instance.CheckHasCarrier(fims.Module, 0))
                            {
                                var carrier = CarrierManager.Instance.GetCarrier(fims.Module, 0);
                                if (carrier != null && tjActive.CarrierParas.Any(x => x.Stocker == carrier.InternalModuleName))
                                    isStockerReady = false;
                            }
                        }

                        if (isStockerReady)
                        {
                            //transfer job开始
                            tjActive.State = EnumTransferJobState.Active;
                        }

                        if (tjActive.State == EnumTransferJobState.Active)
                        {
                            foreach (var lp in _lstLPs)
                            {
                                if (!lp.IsAvailable)
                                    continue;

                                if (!tjActive.CarrierParas.Any(x => x.TargetPort == lp.Module))
                                    continue;

                                var lpDevice = DEVICE.GetDevice<IoLP>($"PM1.{lp.Module}");
                            }
                        }
                    }
                }
            }

            tjActives = GetFirstCreatedTransferJob(EnumTransferJobType.Unloading);
            if (tjActives.Any())
            {
                foreach (var tjActive in tjActives)
                {
                    if (tjActive != null && tjActive.State == EnumTransferJobState.Created && tjActive.Type == EnumTransferJobType.Unloading)
                    {
                        bool isStockerReady = true;
                        var allPJStockers = Singleton<EquipmentManager>.Instance.GetAllPJStockers();
                        foreach (var item in tjActive.CarrierParas)
                        {
                            if (CarrierManager.Instance.CheckNoCarrier(item.Stocker, 0))
                            {
                                isStockerReady = false;
                                continue;
                            }


                            if (allPJStockers != null && allPJStockers.Any(x => x.Item1 == item.Stocker.ToString()))
                            {
                                isStockerReady = false;
                                continue;
                            }

                            var carrier = CarrierManager.Instance.GetCarrier(item.Stocker, 0);
                            if (carrier != null && item.Stocker != carrier.InternalModuleName)
                                isStockerReady = false;
                        }

                        if (isStockerReady)
                        {
                            //transfer job开始
                            tjActive.State = EnumTransferJobState.Active;
                        }

                        if (tjActive.State == EnumTransferJobState.Active)
                        {
                            foreach (var lp in _lstLPs)
                            {
                                if (!lp.IsAvailable)
                                    continue;

                                if (!tjActive.CarrierParas.Any(x => x.TargetPort == lp.Module))
                                    continue;
                            }
                        }
                    }
                }
            }
        }
        internal List<TransferJobInfo> GetFirstCreatedTransferJob(EnumTransferJobType type)
        {
            DateTime dtMin = DateTime.MaxValue;
            List<TransferJobInfo> currentTj = new List<TransferJobInfo>();
            var lpNumber = 2;
            List<ModuleName> occupyLPs = new List<ModuleName>();
            foreach (var tj in _lstTransferJobs)
            {
                if (tj == null || tj.State == EnumTransferJobState.Active || tj.State == EnumTransferJobState.Complete || tj.Type != type)
                {
                    continue;
                }

                if (occupyLPs.Count == lpNumber)
                    break;

                currentTj.Add(tj);
                foreach (var para in tj.CarrierParas)
                {
                    if (type == EnumTransferJobType.Loading && !para.IsLoaded && !occupyLPs.Any(x => x == para.TargetPort))
                        occupyLPs.Add(para.TargetPort);
                    if (type == EnumTransferJobType.Unloading && !para.IsUnloaded && !occupyLPs.Any(x => x == para.TargetPort))
                        occupyLPs.Add(para.TargetPort);
                }
            }

            return currentTj;
        }
        public List<string> GetOccupyStockers()
        {
            var occupyStockers = new List<string>();
            var checkModuleLst = new List<ModuleName>();
            checkModuleLst.Add(ModuleName.CarrierRobot);
            foreach (var fims in _lstFIMSs)
            {
                if (fims == null)
                    continue;

                checkModuleLst.Add(fims.Module);
            }
            foreach (var stocker in _lstTotlaStockers)
            {
                if (stocker == null)
                    continue;

                checkModuleLst.Add(stocker.Module);
            }
            foreach (var module in checkModuleLst)
            {
                var carrier = CarrierManager.Instance.GetCarrier(module, 0);
                if (carrier == null || carrier.IsEmpty)
                    continue;

                occupyStockers.Add(carrier.InternalModuleName.ToString());
            }
            var loadCarrierParas = new List<CarrierPara>();
            if (_lstTransferJobs.Any())
            {
                foreach (var tj in _lstTransferJobs)
                {
                    if (tj == null || tj.Type != EnumTransferJobType.Loading)
                        continue;

                    loadCarrierParas.AddRange(tj.CarrierParas);
                }
            }

            if (loadCarrierParas != null && loadCarrierParas.Any())
            {
                foreach (var para in loadCarrierParas)
                {
                    occupyStockers.Add(para.Stocker.ToString());
                }
            }

            return occupyStockers;
        }
        #endregion
    }
}