FurnaceELK/Furnace/FurnaceRT/Devices/IoLP.cs

using Aitex.Core.Common;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Device.Unit;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.IOCore;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using FabConnect.SecsGemInterface.Common.ToolModel;
using FurnaceRT.Equipments.PMs;
using FurnaceRT.Equipments.Systems;
using log4net.Repository.Hierarchy;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.CarrierIdReaders.CarrierIDReaderBase;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.TDK;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Xml;
using static Aitex.Core.RT.Device.Unit.IOE84Passive;

namespace FurnaceRT.Devices
{
    public class IoLP : BaseDevice, IDevice, ILoadPort
    {
        private DIAccessor _diLeftClamp;
        private DIAccessor _diRightClamp;
        private DIAccessor _diLeftRelease;
        private DIAccessor _diRightRelease;
        private DIAccessor _diInPosition1;
        private DIAccessor _diInPosition2;
        private DIAccessor _diInPosition3;
        private DIAccessor _diDetect;

        private DOAccessor _doClamp;
        private DOAccessor _doRelease;
        private DOAccessor _doPresenceLight;
        private DOAccessor _doPlacementLight;
        private DOAccessor _doLoadLight;
        private DOAccessor _doUnloadLight;
        private DOAccessor _doManualLight;

        private IoSensor _foupPresentSensor;
        private bool _isSimulatorMode;
        private string _previousAccessMode = "";
        public bool IsFoupPresent
        {
            get
            {
                if (_isSimulatorMode)
                    return CarrierManager.Instance.CheckHasCarrier(LPModuleName.ToString(), 0);
                if (_diInPosition1 != null && _diInPosition2 != null && _diInPosition3 != null && _doPresenceLight != null)
                {
                    //  _doPresenceLight.Value = _diInPosition1.Value && _diInPosition2.Value && _diInPosition3.Value;
                    _doPlacementLight.Value = _diInPosition1.Value && _diInPosition2.Value && _diInPosition3.Value;
                }
                if (_diInPosition1 != null && _diInPosition2 != null && _diInPosition3 != null && _diDetect != null && _doPlacementLight != null)
                {
                    //  _doPlacementLight.Value = _diDetect.Value && _diInPosition1.Value && _diInPosition2.Value && _diInPosition3.Value;
                    _doPresenceLight.Value = _diDetect.Value;
                }
                if (_diInPosition1 != null && _diInPosition2 != null && _diInPosition3 != null && _diDetect != null)
                    return _diInPosition1.Value && _diInPosition2.Value && _diInPosition3.Value && _diDetect.Value;

                return false;
            }
        }

        public DeviceStatus Status
        {
            get
            {
                if (_diLeftClamp != null && _diRightClamp != null && _diLeftRelease != null && _diRightRelease != null &&
                    _diLeftClamp.Value && _diRightClamp.Value && !_diLeftRelease.Value && !_diRightRelease.Value)
                    return DeviceStatus.Clamp;

                if (_diLeftClamp != null && _diRightClamp != null && _diLeftRelease != null && _diRightRelease != null &&
                    !_diLeftClamp.Value && !_diRightClamp.Value && _diLeftRelease.Value && _diRightRelease.Value)
                    return DeviceStatus.Release;

                return DeviceStatus.Unknown;
            }
        }
        public bool IsLoadCompleted { get; set; }
        public bool IsUnloadCompleted { get; set; }
        public bool IsInitCompleted { get; set; }
        public IoLP(string module, XmlElement node, string ioModule = "")
        {
            base.Module = string.IsNullOrEmpty(node.GetAttribute("module")) ? module : node.GetAttribute("module");
            base.Name = node.GetAttribute("id");
            base.Display = node.GetAttribute("display");
            base.DeviceID = node.GetAttribute("schematicId");
            LPModuleName = (ModuleName)Enum.Parse(typeof(ModuleName), Name);

            _diLeftClamp = ParseDiNode("diLeftClamp", node, ioModule);
            _diRightClamp = ParseDiNode("diRightClamp", node, ioModule);
            _diLeftRelease = ParseDiNode("diLeftRelease", node, ioModule);
            _diRightRelease = ParseDiNode("diRightRelease", node, ioModule);
            _diInPosition1 = ParseDiNode("diInPosition1", node, ioModule);
            _diInPosition2 = ParseDiNode("diInPosition2", node, ioModule);
            _diInPosition3 = ParseDiNode("diInPosition3", node, ioModule);
            _diDetect = ParseDiNode("diDetect", node, ioModule);

            _doClamp = ParseDoNode("doClamp", node, ioModule);
            _doRelease = ParseDoNode("doRelease", node, ioModule);
            _doPresenceLight = ParseDoNode("doPresence", node, ioModule);
            _doPlacementLight = ParseDoNode("doPlacement", node, ioModule);
            _doLoadLight = ParseDoNode("doLoad", node, ioModule);
            _doUnloadLight = ParseDoNode("doUnload", node, ioModule);
            _doManualLight = ParseDoNode("doManual", node, ioModule);
        }
        public bool Initialize()
        {
            _isSimulatorMode = SC.GetValue<bool>("System.IsSimulatorMode");

            DATA.Subscribe($"{Module}.{Name}.UIFoupSensor", () => GetUIFoupSensor(), SubscriptionAttribute.FLAG.IgnoreSaveDB);

            var foupSensorID = Name == "LP1" ? "17" : "18";
            if (SC.GetStringValue("LoadPort.LoadPortPosition") == "Upper")
            {
                foupSensorID += "A";
            }
            _foupPresentSensor = DEVICE.GetDevice<IoSensor>($"System.SensorStation{foupSensorID}Presence");

            OP.Subscribe($"{Module}.{Name}.SetClamp", (string cmd, object[] param) =>
            {
                Clamp(out string reason);
                return true;
            });

            OP.Subscribe($"{Module}.{Name}.SetRelease", (string cmd, object[] param) =>
            {
                Unclamp(out string reason);
                return true;
            });

            SubscribeDataVariable();
            SubscribeAlarm();
            return true;
        }

        public void Monitor()
        {
            var accessMode = DATA.Poll($"{Name}.AccessMode");
            if (accessMode != null)
            {
                if (accessMode.ToString().ToUpper() == "AUTO")
                {
                    //auto时候，默认是夹紧状态
                    if (!_doClamp.Value && _previousAccessMode != accessMode.ToString())
                    {
                        Clamp(out _);
                    }
                }

                if (accessMode.ToString().ToUpper() == "MANUAL")
                {
                    ///1.manual模式，如果没有foup，不夹紧
                    //2.manual模式，如果有foup，同时有load job，要夹紧，取走之后，不夹紧
                    if (!IsFoupPresent && _doRelease != null && !_doRelease.Value && _previousAccessMode != accessMode.ToString())
                    {
                        Unclamp(out _);
                    }
                }

                _previousAccessMode = accessMode.ToString();
            }

            if (ModuleHelper.IsLoadPort(ModuleHelper.Converter(Name)))
            {
                var lpFoupInfo = CarrierManager.Instance.GetCarrier(Name);

                SetVisibility(lpFoupInfo, !lpFoupInfo.IsEmpty);
                Singleton<EquipmentManager>.Instance.SetUIWaferCount(lpFoupInfo, ModuleHelper.Converter(Name), out var wafers);
            }
        }

        public bool GetUIFoupSensor()
        {
            var foupInfo = CarrierManager.Instance.GetCarrier(Name);

            if (SC.GetValue<bool>("System.IsSimulatorMode"))
            {

                if (foupInfo != null && !foupInfo.IsEmpty)
                {
                    return true;
                }
            }
            else
            {
                if (IsFoupPresent && foupInfo != null && !foupInfo.IsEmpty)
                {
                    return true;
                }
            }
            return false;
        }

        public void SetVisibility(CarrierInfo carrierInfo, bool setValue)
        {
            if (carrierInfo == null)
            {
                return;
            }
            carrierInfo.UIExitFoup = setValue;
            carrierInfo.UICarrierColorVisibility = setValue;
            carrierInfo.UICarrierStatusVisibility = setValue;
            carrierInfo.UICarrierTypeVisibility = setValue;
            carrierInfo.UICarrierWaferCountVisibility = setValue;
            carrierInfo.UICarrierType = carrierInfo.CarrierType.ToString();
            var contianPM1 = Singleton<EquipmentManager>.Instance.Modules.ContainsKey(ModuleName.PM1);
            if (contianPM1 && !string.IsNullOrEmpty(carrierInfo.UICarrierType))
            {
                var pmModule = Singleton<EquipmentManager>.Instance.Modules[ModuleName.PM1] as PMModule;

                carrierInfo.UICarrierColor = pmModule.GetCarrierUIColor(carrierInfo.UICarrierType, carrierInfo.UICarrierStatusEnum);

            }
        }


        public void Reset()
        {

        }

        public void Terminate()
        {

        }
        //private bool SetExtend(out string reason, int time, object[] param)
        //{
        //    reason = "";
        //    if (param == null || param.Length == 0)
        //    {
        //        reason = "invalid parameter";
        //        return false;
        //    }
        //    bool.TryParse(param[0].ToString(), out bool isExtend);

        //    return SetExtend(isExtend, out reason);
        //}
        //public bool SetExtend(bool isExtend, out string reason)
        //{
        //    return _doExtend.SetValue(isExtend, out reason) && _doRetract.SetValue(!isExtend, out reason);
        //}
        #region ILoadPort
        public IndicatorState IndicatiorLoad { get; set; }
        public IndicatorState IndicatiorUnload { get; set; }
        public IndicatorState IndicatiorPresence { get; set; }
        public IndicatorState IndicatorAlarm { get; set; }
        public IndicatorState IndicatiorPlacement { get; set; }
        public IndicatorState IndicatiorOpAccess { get; set; }
        public IndicatorState IndicatiorAccessAuto { get; set; }
        public IndicatorState IndicatiorAccessManual { get; set; }
        public IndicatorState IndicatiorStatus1 { get; set; }
        public IndicatorState IndicatiorStatus2 { get; set; }
        public IndicatorState IndicatiorManualMode { get; set; }
        public IndicatorState IndicatiorClampUnclamp { get; set; }
        public IndicatorState IndicatiorDockUndock { get; set; }

        public static Dictionary<IndicatorType, Indicator> LoadPortIndicatorLightMap =
            new Dictionary<IndicatorType, Indicator>()
            {
                {IndicatorType.Load, Indicator.LOAD},
                {IndicatorType.Unload, Indicator.UNLOAD},
                {IndicatorType.AccessAuto, Indicator.ACCESSAUTO },
                {IndicatorType.AccessManual, Indicator.ACCESSMANUL},
                {IndicatorType.Alarm, Indicator.ALARM},
                {IndicatorType.Presence, Indicator.PRESENCE},
                {IndicatorType.Placement, Indicator.PLACEMENT},
                {IndicatorType.Status1, Indicator.RESERVE1},
                {IndicatorType.Status2, Indicator.RESERVE2},
            };
        public virtual DeviceState State
        {
            get
            {
                if (MapError || ReadCarrierIDError)
                {
                    return DeviceState.Error;
                }

                return DeviceState.Unknown;
            }
        }
        public bool IsPresent
        {
            get { return _isPresent; }
        }
        public bool IsPlacement
        {
            get { return _isPlaced; }
        }
        public bool IsMapped
        {
            get { return _isMapped; }
        }
        public virtual bool IsError { get; set; }
        public virtual string ErrorCode { get; set; } = "";
        public bool MapError { get; protected set; }
        public bool ReadCarrierIDError { get; set; }
        public IndicatorState[] IndicatorStateFeedback { get; set; }
        public virtual FoupClampState ClampState { get; set; }
        public virtual FoupDockState DockState { get; set; }
        public virtual FoupDoorState DoorState { get; set; }
        public virtual FoupDoorPostionEnum DoorPosition { get; set; }
        public virtual bool IsVacuumON { get; set; }
        public virtual CasstleType CasstleType { get; set; }
        public string SlotMap
        {
            get { return GetSlotMap(); }
        }
        public string CarrierId
        {
            get { return _carrierId; }
        }
        public string LPLotID
        {
            get { return _lplotID; }
        }

        public RD_TRIG PresentTrig
        {
            get { return _presentTrig; }
        }

        public RD_TRIG PlacedtTrig
        {
            get { return _placetTrig; }
        }

        public RD_TRIG AccessSwPressedTrig
        {
            get { return _accessSwPressedTrig; }
        }

        public RD_TRIG ClampedTrig
        {
            get { return _clampTrig; }
        }

        public RD_TRIG DockTrig
        {
            get { return _dockTrig; }
        }

        public RD_TRIG DoorTrig
        {
            get { return _doorTrig; }
        }

        protected virtual bool _isPresent { get; set; }
        protected virtual bool _isPlaced { get; set; }
        protected bool _isDocked { get => DockState == FoupDockState.Docked; }
        public string InfoPadCarrierType { get; set; }
        protected bool _isAccessSwPressed;
        protected string _carrierId = string.Empty;
        protected string _rfid;
        protected string _lplotID;

        protected bool _isMapped;
        private readonly RD_TRIG _presentTrig = new RD_TRIG();
        private readonly RD_TRIG _placetTrig = new RD_TRIG();
        private readonly RD_TRIG _accessSwPressedTrig = new RD_TRIG();
        private readonly RD_TRIG _clampTrig = new RD_TRIG();
        private readonly RD_TRIG _dockTrig = new RD_TRIG();
        private readonly RD_TRIG _doorTrig = new RD_TRIG();

        public R_TRIG TrigWaferProtrude = new R_TRIG();
        public int PortID
        {
            get => (int)LPModuleName;
        }

        protected string EventCarrierArrived = "CARRIER_ARRIVED";
        protected string EventCarrierIdRead = "CARRIER_ID_READ";
        protected string EventCarrierIdReadFailed = "CARRIER_ID_READ_FAILED";
        protected string EventCarrierIdWrite = "CARRIER_ID_WRITE";
        protected string EventCarrierIdWriteFailed = "CARRIER_ID_WRITE_FAILED";
        protected string EventSlotMapAvailable = "SLOT_MAP_AVAILABLE";
        protected string EventCarrierRemoved = "CARRIER_REMOVED";
        protected string EventCarrierUnloaded = "CARRIER_UNLOADED";
        protected string EventCarrierLoaded = "CARRIER_LOADED";
        protected string EventLPHomed = "LP_HOMED";

        //protected string PORT_ID = "PORT_ID";
        //protected string CAR_ID = "CAR_ID";
        //protected string SLOT_MAP = "SLOT_MAP";
        //protected string PORT_CTGRY = "PORT_CTGRY";
        //protected string RF_ID = "RF_ID";
        //protected string PORT_CARRIER_TYPE = "PORT_CARRIER_TYPE";

        private string EventRfIdRead = "RF_ID_READ";
        private string EventRfIdReadFailed = "RF_ID_READ_FAILED";
        private string EventRfIdWrite = "RF_ID_WRITE";
        private string EventRfIdWriteFailed = "RF_ID_WRITE_FAILED";

        public string AlarmLoadPortError { get => LPModuleName.ToString() + "Error"; }
        public string AlarmLoadPortCommunicationError { get => LPModuleName.ToString() + "CommunicationError"; }
        public string AlarmLoadPortWaferProtrusion { get => LPModuleName.ToString() + "WaferProtrusion"; }
        public string AlarmLoadPortLoadTimeOut { get => LPModuleName.ToString() + "LoadTimeOut"; }
        public string AlarmLoadPortLoadFailed { get => LPModuleName.ToString() + "LoadFailed"; }
        public string AlarmLoadPortUnloadTimeOut { get => LPModuleName.ToString() + "UnloadTimeOut"; }
        public string AlarmLoadPortUnloadFailed { get => LPModuleName.ToString() + "UnloadFailed"; }
        public string AlarmLoadPortMappingError { get => LPModuleName.ToString() + "MappingError"; }
        public string AlarmLoadPortMappingTimeout { get => LPModuleName.ToString() + "MappingTimeout"; }
        public string AlarmCarrierIDReadError { get => LPModuleName.ToString() + "CarrierIDReadFail"; }
        public string AlarmCarrierIDWriteError { get => LPModuleName.ToString() + "CarrierIDWriteFail"; }

        public string AlarmLoadPortHomeFailed { get => LPModuleName.ToString() + "HomeFailed"; }
        public string AlarmLoadPortHomeTimeout { get => LPModuleName.ToString() + "HomeTimeout"; }

        public string AlarmLoadE84TP1Timeout { get => LPModuleName.ToString() + "E84LoadTP1TimeOut"; }
        public string AlarmLoadE84TP2Timeout { get => LPModuleName.ToString() + "E84LoadTP2TimeOut"; }
        public string AlarmLoadE84TP3Timeout { get => LPModuleName.ToString() + "E84LoadTP3TimeOut"; }
        public string AlarmLoadE84TP4Timeout { get => LPModuleName.ToString() + "E84LoadTP4TimeOut"; }
        public string AlarmLoadE84TP5Timeout { get => LPModuleName.ToString() + "E84LoadTP5TimeOut"; }
        public string AlarmLoadE84TP6Timeout { get => LPModuleName.ToString() + "E84LoadTP6TimeOut"; }

        public string AlarmUnloadE84TP1Timeout { get => LPModuleName.ToString() + "E84UnloadTP1TimeOut"; }
        public string AlarmUnloadE84TP2Timeout { get => LPModuleName.ToString() + "E84UnloadTP2TimeOut"; }
        public string AlarmUnloadE84TP3Timeout { get => LPModuleName.ToString() + "E84UnloadTP3TimeOut"; }
        public string AlarmUnloadE84TP4Timeout { get => LPModuleName.ToString() + "E84UnloadTP4TimeOut"; }
        public string AlarmUnloadE84TP5Timeout { get => LPModuleName.ToString() + "E84UnloadTP5TimeOut"; }
        public string AlarmUnloadE84TP6Timeout { get => LPModuleName.ToString() + "E84UnloadTP6TimeOut"; }

        public string AlarmLoadPortMapCrossedWafer => LPModuleName.ToString() + "MapCrossedWafer";
        public string AlarmLoadPortMapDoubleWafer => LPModuleName.ToString() + "MapDoubleWafer";
        public string AlarmLoadPortMapUnknownWafer => LPModuleName.ToString() + "MapUnknownWafer";
        public string AlarmLoadPortCarrierIDIndexConfigError => LPModuleName.ToString() + "LoadPortCarrierIDIndexConfigError";

        private IE87CallBack _lpcallback = null;
        public IE87CallBack LPCallBack
        {
            get { return _lpcallback; }
            set { _lpcallback = value; }
        }
        private IE84CallBack _lpE84Callback = null;
        public IE84CallBack LPE84Callback
        {
            get { return _lpE84Callback; }
            set
            {
                _lpE84Callback = value;
                _lpE84Callback.OnE84ActiveSignalChange += _lpE84Callback_OnE84ActiveSignalChange;
                _lpE84Callback.OnE84PassiveSignalChange += _lpE84Callback_OnE84PassiveSignalChange;

                _lpE84Callback.OnE84HandOffComplete += _lpE84Callback_OnE84HandOffComplete;
                _lpE84Callback.OnE84HandOffStart += _lpE84Callback_OnE84HandOffStart;
                _lpE84Callback.OnE84HandOffTimeout += _lpE84Callback_OnE84HandOffTimeout;
            }
        }
        private ICarrierIDReader _carrierIDReadercallback = null;
        public ICarrierIDReader CarrierIDReaderCallBack
        {
            get { return _carrierIDReadercallback; }
            set { _carrierIDReadercallback = value; }
        }

        public virtual CIDReaderBaseDevice CurrentReader
        {
            get;
            set;
        }
        public virtual CIDReaderBaseDevice[] CIDReaders
        {
            get;
            set;
        }
        public virtual bool IsBypassCarrierIDReader
        {
            get
            {
                return SC.ContainsItem($"LoadPort.{LPModuleName}.BypassCarrierIDReader") ?
                        SC.GetValue<bool>($"LoadPort.{LPModuleName}.BypassCarrierIDReader") : false;

            }
        }

        public virtual bool IsAutoDetectCarrierType
        {
            get
            {
                return SC.ContainsItem($"LoadPort.{LPModuleName}.AutoDetectCarrierType") ?
                        SC.GetValue<bool>($"LoadPort.{LPModuleName}.AutoDetectCarrierType") : true;
            }
        }
        public virtual bool IsAutoReadCarrierID
        {
            get
            {
                return SC.ContainsItem($"LoadPort.{LPModuleName}.EnableAutoCarrierIdRead") ?
                        SC.GetValue<bool>($"LoadPort.{LPModuleName}.EnableAutoCarrierIdRead") : true;
            }
        }
        public virtual LoadportCassetteState CassetteState
        {
            get;
            set;
        }
        public virtual int ValidSlotsNumber
        {
            get => 25;
        }
        public ModuleName LPModuleName { get; protected set; }
        public WaferSize Size
        {
            get; set;
        } = WaferSize.WS12;

        public virtual WaferSize GetCurrentWaferSize()
        {
            return Size;
        }
        public virtual bool IsVerifyPreDefineWaferCount
        {
            get => false;
        }
        public virtual int PreDefineWaferCount
        {
            get; set;
        }
        public virtual int InfoPadCarrierIndex { get; set; }
        public string SpecPortName { get; set; } = string.Empty;
        public virtual string SpecCarrierType
        {
            get; set;

        } = "";
        public virtual string SpecCarrierInformation
        {
            get
            {
                if (_isPresent)
                    return "Index:" + InfoPadCarrierIndex.ToString() + "\r\n"
                    + "Type:" + SpecCarrierType + "\r\n"
                    + "Size:" + GetCurrentWaferSize().ToString() +
                    (IsVerifyPreDefineWaferCount ? ("\r\n" + "Pre-Count:" + PreDefineWaferCount.ToString()) : "");
                return "";
            }
        }
        public bool IsAccessSwPressed
        {
            get { return _isAccessSwPressed; }
        }

        private void SubscribeDataVariable()
        {
            DoorState = FoupDoorState.Unknown;
            WaferManager.Instance.SubscribeLocation(LPModuleName, 25);

            CarrierManager.Instance.SubscribeLocation(LPModuleName.ToString());

            DATA.Subscribe(Name, "IsPresent", () => IsFoupPresent);
            DATA.Subscribe(Name, "IsPlaced", () => _isPlaced);
            DATA.Subscribe(Name, "IsClamped", () => ClampState == FoupClampState.Close);
            DATA.Subscribe(Name, "IsDocked", () => DockState == FoupDockState.Docked);
            DATA.Subscribe(Name, "IsDoorOpen", () => DoorState == FoupDoorState.Open);
            DATA.Subscribe(Name, "IsAccessSwPressed", () => IsAccessSwPressed);
            //DATA.Subscribe(Name, "CarrierId", () => _carrierId);
            DATA.Subscribe(Name, "LPLotID", () => _lplotID);
            DATA.Subscribe(Name, "IsMapped", () => _isMapped);
            DATA.Subscribe(Name, "IsAutoDetectCarrierType", () => IsAutoDetectCarrierType);

            //DATA.Subscribe($"{Name}.LoadportState", () => Status.ToString());
            //DATA.Subscribe($"{Name}.Status", () => "");

            //DATA.Subscribe($"{Name}.LoadportBusy", () =>  );
            DATA.Subscribe($"{Name}.LoadportError", () => ErrorCode);
            DATA.Subscribe($"{Name}.CassetteState", () => CassetteState);
            DATA.Subscribe($"{Name}.FoupClampState", () => ClampState);
            DATA.Subscribe($"{Name}.FoupDockState", () => DockState);
            DATA.Subscribe($"{Name}.FoupDoorState", () => DoorState);
            DATA.Subscribe($"{Name}.FoupDoorPosition", () => DoorPosition);

            DATA.Subscribe($"{Name}.SlotMap", () => SlotMap);
            DATA.Subscribe($"{Name}.IndicatiorLoad", () => IndicatiorLoad);
            DATA.Subscribe($"{Name}.IndicatiorUnload", () => IndicatiorUnload);
            DATA.Subscribe($"{Name}.IndicatiorPresence", () => IndicatiorPresence);
            DATA.Subscribe($"{Name}.IndicatiorPlacement", () => IndicatiorPlacement);
            DATA.Subscribe($"{Name}.IndicatiorAlarm", () => IndicatorAlarm);
            DATA.Subscribe($"{Name}.IndicatiorAccessAuto", () => IndicatiorAccessAuto);
            DATA.Subscribe($"{Name}.IndicatiorAccessManual", () => IndicatiorAccessManual);
            DATA.Subscribe($"{Name}.IndicatiorOpAccess", () => IndicatiorOpAccess);
            DATA.Subscribe($"{Name}.IndicatiorStatus1", () => IndicatiorStatus1);
            DATA.Subscribe($"{Name}.IndicatiorStatus2", () => IndicatiorStatus2);

            DATA.Subscribe($"{Name}.CasstleType", () => (int)CasstleType);
            DATA.Subscribe($"{Name}.InfoPadCarrierType", () => SpecCarrierType);
            DATA.Subscribe($"{Name}.InfoPadCarrierTypeInformation", () => SpecCarrierInformation);


            DATA.Subscribe($"{Name}.InfoPadCarrierIndex", () => InfoPadCarrierIndex);
            DATA.Subscribe($"{Name}.CarrierWaferSize", () => GetCurrentWaferSize().ToString());
            DATA.Subscribe($"{Name}.PreDefineWaferCount", () => PreDefineWaferCount);
            DATA.Subscribe($"{Name}.IsVerifyPreDefineWaferCount", () => IsVerifyPreDefineWaferCount);

            EV.Subscribe(new EventItem("Event", EventCarrierArrived, "Carrier arrived"));
            EV.Subscribe(new EventItem("Event", EventCarrierRemoved, "Carrier removed"));
            EV.Subscribe(new EventItem("Event", EventCarrierIdRead, "Carrier ID read"));
            EV.Subscribe(new EventItem("Event", EventCarrierIdReadFailed, "Carrier ID read failed"));
            EV.Subscribe(new EventItem("Event", EventCarrierIdWrite, "Carrier ID write"));
            EV.Subscribe(new EventItem("Event", EventCarrierIdWriteFailed, "Carrier ID write failed"));
            EV.Subscribe(new EventItem("Event", EventSlotMapAvailable, "Slot map available"));
            EV.Subscribe(new EventItem("Event", EventCarrierUnloaded, "Carrier unloaded"));
            EV.Subscribe(new EventItem("Event", EventCarrierLoaded, "Carrier loaded"));
            EV.Subscribe(new EventItem("Event", EventRfIdRead, "Carrier RFID read"));
            EV.Subscribe(new EventItem("Event", EventRfIdReadFailed, "Carrier RFID read failed"));
            EV.Subscribe(new EventItem("Event", EventRfIdWrite, "Carrier RFID write"));
            EV.Subscribe(new EventItem("Event", EventRfIdWriteFailed, "Carrier RFID write failed"));


            SubscribeAlarm();
            IndicatorStateFeedback = new IndicatorState[20];

            if (_lpE84Callback != null)
            {
                _lpE84Callback.OnE84ActiveSignalChange += _lpE84Callback_OnE84ActiveSignalChange;
                _lpE84Callback.OnE84PassiveSignalChange += _lpE84Callback_OnE84PassiveSignalChange;

                _lpE84Callback.OnE84HandOffComplete += _lpE84Callback_OnE84HandOffComplete;
                _lpE84Callback.OnE84HandOffStart += _lpE84Callback_OnE84HandOffStart;
                _lpE84Callback.OnE84HandOffTimeout += _lpE84Callback_OnE84HandOffTimeout;
            }
        }
        private void SubscribeAlarm()
        {
            EV.Subscribe(new EventItem("Alarm", AlarmLoadPortError, $"Load Port {Name} occurred error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", AlarmLoadPortCommunicationError, $"Load Port {Name}error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", AlarmLoadPortWaferProtrusion, $"Load Port {Name} wafer protrusion error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", AlarmLoadPortLoadTimeOut, $"Load Port {Name} load timeout.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", AlarmLoadPortLoadFailed, $"Load Port {Name} load failed.", EventLevel.Alarm, EventType.EventUI_Notify));


            EV.Subscribe(new EventItem("Alarm", AlarmLoadPortUnloadTimeOut, $"Load Port {Name} unload timeout.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", AlarmLoadPortUnloadFailed, $"Load Port {Name} unload failed.", EventLevel.Alarm, EventType.EventUI_Notify));

            EV.Subscribe(new EventItem("Alarm", AlarmLoadPortMappingError, $"Load Port {Name} mapping error.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", AlarmLoadPortMappingTimeout, $"Load Port {Name} mapping Timeout.", EventLevel.Alarm, EventType.EventUI_Notify));

            EV.Subscribe(new EventItem("Alarm", AlarmCarrierIDReadError, $"Load Port {Name} occurred error when read carrier ID.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", AlarmCarrierIDWriteError, $"Load Port {Name} occurred error when write carrierID.", EventLevel.Alarm, EventType.EventUI_Notify));

            EV.Subscribe(new EventItem("Alarm", AlarmLoadPortMapCrossedWafer, $"Load Port {Name} mapped crossed wafer.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", AlarmLoadPortMapDoubleWafer, $"Load Port {Name} mapped double wafer.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", AlarmLoadPortMapUnknownWafer, $"Load Port {Name} mapped unknown wafer.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", AlarmLoadPortCarrierIDIndexConfigError, $"Load Port {Name} carrierID reader configuration is invalid.", EventLevel.Alarm, EventType.EventUI_Notify));

            EV.Subscribe(new EventItem("Alarm", AlarmLoadPortHomeFailed, $"Load Port {Name} occurred error when home.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", AlarmLoadPortHomeTimeout, $"Load Port {Name} home timeout.", EventLevel.Alarm, EventType.EventUI_Notify));

            EV.Subscribe(new EventItem("Alarm", AlarmLoadE84TP1Timeout, $"Load Port {Name} occurred TP1 timeout during loading foup.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", AlarmLoadE84TP2Timeout, $"Load Port {Name} occurred TP2 timeout during loading foup.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", AlarmLoadE84TP3Timeout, $"Load Port {Name} occurred TP3 timeout during loading foup.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", AlarmLoadE84TP4Timeout, $"Load Port {Name} occurred TP4 timeout during loading foup.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", AlarmLoadE84TP5Timeout, $"Load Port {Name} occurred TP5 timeout during loading foup.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", AlarmLoadE84TP6Timeout, $"Load Port {Name} occurred TP6 timeout during loading foup.", EventLevel.Alarm, EventType.EventUI_Notify));

            EV.Subscribe(new EventItem("Alarm", AlarmUnloadE84TP1Timeout, $"Load Port {Name} occurred TP1 timeout during unloading foup.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", AlarmUnloadE84TP2Timeout, $"Load Port {Name} occurred TP2 timeout during unloading foup.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", AlarmUnloadE84TP3Timeout, $"Load Port {Name} occurred TP3 timeout during unloading foup.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", AlarmUnloadE84TP4Timeout, $"Load Port {Name} occurred TP4 timeout during unloading foup.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", AlarmUnloadE84TP5Timeout, $"Load Port {Name} occurred TP5 timeout during unloading foup.", EventLevel.Alarm, EventType.EventUI_Notify));
            EV.Subscribe(new EventItem("Alarm", AlarmUnloadE84TP6Timeout, $"Load Port {Name} occurred TP6 timeout during unloading foup.", EventLevel.Alarm, EventType.EventUI_Notify));
        }
        private void _lpE84Callback_OnE84PassiveSignalChange(E84SignalID arg2, bool arg3)
        {
        }

        private void _lpE84Callback_OnE84HandOffTimeout(IOE84Passive.E84Timeout _timeout, string LoadorUnload)
        {
            if (LoadorUnload == "Load")
            {
                switch (_timeout)
                {
                    case IOE84Passive.E84Timeout.TP1:
                        EV.Notify(AlarmLoadE84TP1Timeout);
                        //OnError(AlarmLoadE84TP1Timeout);
                        break;
                    case IOE84Passive.E84Timeout.TP2:
                        EV.Notify(AlarmLoadE84TP2Timeout);
                        //OnError(AlarmLoadE84TP2Timeout);
                        break;
                    case IOE84Passive.E84Timeout.TP3:
                        EV.Notify(AlarmLoadE84TP3Timeout);
                        //OnError(AlarmLoadE84TP3Timeout);
                        break;
                    case IOE84Passive.E84Timeout.TP4:
                        EV.Notify(AlarmLoadE84TP4Timeout);
                        //OnError(AlarmLoadE84TP4Timeout);
                        break;
                    case IOE84Passive.E84Timeout.TP5:
                        EV.Notify(AlarmLoadE84TP5Timeout);
                        //OnError(AlarmLoadE84TP5Timeout);
                        break;
                    default:
                        break;
                }
            }
            if (LoadorUnload == "Unload")
            {
                switch (_timeout)
                {
                    case IOE84Passive.E84Timeout.TP1:
                        EV.Notify(AlarmUnloadE84TP1Timeout);
                        //OnError(AlarmUnloadE84TP1Timeout);
                        break;
                    case IOE84Passive.E84Timeout.TP2:
                        EV.Notify(AlarmUnloadE84TP2Timeout);
                        //OnError(AlarmUnloadE84TP2Timeout);
                        break;
                    case IOE84Passive.E84Timeout.TP3:
                        EV.Notify(AlarmUnloadE84TP3Timeout);
                        //OnError(AlarmUnloadE84TP3Timeout);
                        break;
                    case IOE84Passive.E84Timeout.TP4:
                        EV.Notify(AlarmUnloadE84TP4Timeout);
                        //OnError(AlarmUnloadE84TP4Timeout);
                        break;
                    case IOE84Passive.E84Timeout.TP5:
                        EV.Notify(AlarmUnloadE84TP5Timeout);
                        //OnError(AlarmUnloadE84TP5Timeout);
                        break;
                    default:
                        break;
                }
            }
        }
        public void OnE84HandOffStart(bool isload)
        {
            if (_lpcallback != null) _lpcallback.OnE84HandoffStart(isload);
        }
        public void OnE84HandOffComplete(bool isload)
        {
            if (_lpcallback != null) _lpcallback.OnE84HandoffComplete(isload);
        }
        private void _lpE84Callback_OnE84HandOffStart(string arg2)
        {
            OnE84HandOffStart(arg2 == "Load");
        }

        private void _lpE84Callback_OnE84HandOffComplete(string arg2)
        {
            OnE84HandOffComplete(arg2 == "Load");
        }

        private void _lpE84Callback_OnE84ActiveSignalChange(E84SignalID arg2, bool arg3)
        {
            ;
        }
        public virtual void OnSlotMapRead(string _slotMap)
        {
            if (_slotMap.Length != ValidSlotsNumber)
            {
                EV.PostAlarmLog("LoadPort", "Mapping Data Error.");
            }

            for (int i = 0; i < _slotMap.Length; i++)
            {
                // No wafer: "0", Wafer: "1", Crossed:"2", Undefined: "?", Overlapping wafers: "W"
                WaferInfo wafer = null;
                switch (_slotMap[i])
                {
                    case '0':
                        WaferManager.Instance.DeleteWafer(LPModuleName, i);
                        CarrierManager.Instance.UnregisterCarrierWafer(Name, i);
                        break;
                    case '1':
                        wafer = WaferManager.Instance.CreateWafer(LPModuleName, i, WaferStatus.Normal);
                        WaferManager.Instance.UpdateWaferSize(LPModuleName, i, GetCurrentWaferSize());
                        CarrierManager.Instance.RegisterCarrierWafer(Name, i, wafer);
                        break;
                    case '2':
                        wafer = WaferManager.Instance.CreateWafer(LPModuleName, i, WaferStatus.Crossed);
                        WaferManager.Instance.UpdateWaferSize(LPModuleName, i, GetCurrentWaferSize());
                        CarrierManager.Instance.RegisterCarrierWafer(Name, i, wafer);
                        EV.Notify(AlarmLoadPortMapCrossedWafer);
                        EV.PostInfoLog("LoadPort", $"{LPModuleName} map crossed wafer on carrier:{_carrierId},slot:{i + 1}.");
                        break;
                    case 'W':
                        wafer = WaferManager.Instance.CreateWafer(LPModuleName, i, WaferStatus.Double);
                        WaferManager.Instance.UpdateWaferSize(LPModuleName, i, GetCurrentWaferSize());
                        CarrierManager.Instance.RegisterCarrierWafer(Name, i, wafer);
                        EV.Notify(AlarmLoadPortMapDoubleWafer);
                        EV.PostInfoLog("LoadPort", $"{LPModuleName} map double wafer on carrier:{_carrierId},slot:{i + 1}.");
                        break;
                    case '?':
                        wafer = WaferManager.Instance.CreateWafer(LPModuleName, i, WaferStatus.Unknown);
                        WaferManager.Instance.UpdateWaferSize(LPModuleName, i, GetCurrentWaferSize());
                        CarrierManager.Instance.RegisterCarrierWafer(Name, i, wafer);
                        EV.PostInfoLog("LoadPort", $"{LPModuleName} map unknown wafer on carrier:{_carrierId},slot:{i + 1}.");
                        break;
                }
            }
            SerializableDictionary<string, object> dvid = new SerializableDictionary<string, object>();

            dvid["SlotMap"] = _slotMap;
            dvid["PortID"] = PortID;
            dvid["PORT_CTGRY"] = SpecPortName;
            dvid["CarrierType"] = SpecCarrierType;
            dvid["CarrierID"] = CarrierId;

            EV.Notify(EventSlotMapAvailable, dvid);
            if (_slotMap.Contains("2"))
            {
                MapError = true;
                EV.Notify(AlarmLoadPortMappingError);
            }
            if (_slotMap.Contains("W"))
            {
                MapError = true;
                EV.Notify(AlarmLoadPortMappingError);
            }
            if (_slotMap.Contains("?"))
            {
                MapError = true;
                EV.Notify(AlarmLoadPortMappingError);
            }

            if (LPCallBack != null)
                LPCallBack.MappingComplete(_carrierId, _slotMap);

            _isMapped = true;
        }
        private string GetSlotMap()
        {
            WaferInfo[] wafers = WaferManager.Instance.GetWafers(ModuleHelper.Converter(Name));
            string slot = "";
            for (int i = 0; i < 25; i++)
            {
                slot += wafers[i].IsEmpty ? "0" : "1";
            }

            return slot;
        }
        public void ProceedSetCarrierID(string cid)
        {
            _carrierId = cid;
            CarrierManager.Instance.UpdateCarrierId(Name, cid);
        }
        public virtual bool SetE84Available(out string reason)
        {
            if (_lpE84Callback != null)
            {
                _lpE84Callback.SetHoAutoControl(false);
                _lpE84Callback.SetHoAvailable(true);
            }
            reason = "";
            return true;
        }
        public virtual bool SetE84Unavailable(out string reason)
        {
            if (_lpE84Callback != null)
            {
                _lpE84Callback.SetHoAutoControl(false);
                _lpE84Callback.SetHoAvailable(false);
            }
            reason = "";
            return true;
        }
        public virtual bool SetIndicator(IndicatorType light, IndicatorState state)
        {
            return true;
        }
        public virtual bool Unload(out string reason)
        {
            reason = "";
            //_doUnloadFoup.SetValue(true, out reason);
            //_doLoadFoup.SetValue(false, out reason);
            //_doInit.SetValue(false, out reason);
            return true;
        }
        public bool Load(out string reason)
        {
            reason = "";
            //_doUnloadFoup.SetValue(false, out reason);
            //_doLoadFoup.SetValue(true, out reason);
            //_doInit.SetValue(false, out reason);
            return true;
        }
        public bool Init(out string reason)
        {
            reason = "";
            //_doUnloadFoup.SetValue(false, out reason);
            //_doLoadFoup.SetValue(false, out reason);
            //_doInit.SetValue(true, out reason);
            return true;
        }
        public bool Stop()
        {
            var reason = "";
            //_doLoadFoup.SetValue(false, out reason);
            //_doUnloadFoup.SetValue(false, out reason);
            //_doInit.SetValue(false, out reason);
            return true;
        }
        public virtual bool FALoad(out string reason)
        {
            reason = "";
            //_doLoadFoup.SetValue(true, out reason);
            return true;
        }

        public virtual bool WriteRfid(string cid, int startpage, int length, out string reason)
        {
            reason = "";
            return true;
        }

        public virtual bool ReadRfId(out string reason)
        {
            reason = "";
            return true;
        }

        public virtual bool FAUnload(out string reason)
        {
            reason = "";
            //_doUnloadFoup.SetValue(true, out reason);
            return true;
        }
        public virtual bool Unclamp(out string reason)
        {
            reason = "";
            _doClamp?.SetValue(false, out reason);
            _doRelease?.SetValue(true, out reason);
            return true;
        }

        public virtual bool Clamp(out string reason)
        {
            reason = "";
            _doClamp?.SetValue(true, out reason);
            _doRelease?.SetValue(false, out reason);
            return true;
        }

        public virtual bool ReadCarrierID()
        {
            int offset = SC.ContainsItem($"LoadPort.{LPModuleName}.StartPage") ?
                SC.GetValue<int>($"LoadPort.{LPModuleName}.StartPage") : 0;
            int length = SC.ContainsItem($"LoadPort.{LPModuleName}.DataReadSize") ?
                SC.GetValue<int>($"LoadPort.{LPModuleName}.DataReadSize") : 16;

            if (SC.ContainsItem($"CarrierInfo.{LPModuleName}CIDReaderIndex{InfoPadCarrierIndex}"))
            {
                int cidindex = SC.GetValue<int>($"CarrierInfo.{LPModuleName}CIDReaderIndex{InfoPadCarrierIndex}");

                if (CIDReaders != null && CIDReaders.Length > cidindex)
                    _carrierIDReadercallback = CIDReaders[cidindex];
                else
                {
                    return true;
                }

            }
            if (_carrierIDReadercallback != null)
            {
                if (SC.ContainsItem("CarrierID.CarrierIdReaderProtocolType") && SC.GetStringValue("CarrierID.CarrierIdReaderProtocolType") == "1:N")
                    return _carrierIDReadercallback.ReadCarrierID(offset, length, int.Parse(Name.ToString().Replace("LP", "")));
                return _carrierIDReadercallback.ReadCarrierID(offset, length);
            }
            return false;
        }
        #endregion
    }
}