FurnaceNTP/Furnace/FurnaceRT/Devices/IoAPC.cs

using Aitex.Common.Util;
using Aitex.Core.Common.DeviceData;
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.Log;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.ParameterCenter;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using FurnaceRT.Equipments.PMs;
using FurnaceRT.Equipments.Systems;
using MECF.Framework.Common.DataCenter;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Event;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Xml;

namespace FurnaceRT.Devices
{
    public class IoAPC : BaseDevice, IDevice
    {
        #region Filed
        private DIAccessor _diP1ZeroOffsetOutRangeAlm;
        private DIAccessor _diP1ZeroAdjOutRangeAlm;
        private DIAccessor _diP1SpanAdjOutRangeAlm;
        private DIAccessor _diP2ZeroOffsetOutRangeAlm;
        private DIAccessor _diP2ZeroAdjOutRangeAlm;
        private DIAccessor _diP2SpanAdjOutRangeAlm;
        private DIAccessor _diP1PressCtrlInterlockAlm;
        private DIAccessor _diP2PressCtrlInterlockAlm;
        private DIAccessor _diValveOpenCtrlInterlockAlm;
        private DIAccessor _diValveHoldCtrlInterlockAlm;
        private DIAccessor _diValveCloseInterlockAlm;
        private DIAccessor _diAutoTeachingInterlockAlm;
        private DIAccessor _diP1DisconnectionAlm;
        private DIAccessor _diP2DisconnectionAlm;
        private DIAccessor _diPumpStopInterlockAlm;
        private DIAccessor _diAutoTeachingErr1Alm;
        private DIAccessor _diAutoTeachingErr2Alm;
        
        private DOAccessor _doVGUnit;
        private DOAccessor _doAoDataReadSysConfig;
        private DOAccessor _doAoDataWriteSysConfig;
        private DOAccessor _doAoDataReadCusConfig;
        private DOAccessor _doAoDataWriteCusConfig;

        private AIAccessor _aiValueSensorInput1;
        private AIAccessor _aiValueSensorInput2;
        private AIAccessor _aiSelectController;
        private AIAccessor _aiPositionActualValue;
        private AIAccessor _aiControlModeStatus;
        private AIAccessor _aiHomeStatus;
        private AIAccessor _aiWarningStatus1;
        private AIAccessor _aiWarningStatus2;
        private AIAccessor _aiWarningStatus3;
        private AIAccessor _aiWarningStatus4;
        private AIAccessor _aiWarningStatus5;
        private AIAccessor _aiWarningStatus6;
        private AIAccessor _aiErrorStatus1;
        private AIAccessor _aiErrorStatus2;
        private AIAccessor _aiErrorStatus3;
        private AIAccessor _aiErrorStatus4;
        private AIAccessor _aiValveStatusThreshold;
        private AIAccessor _aiForbidInterlockOutbreak;
        private AIAccessor _aiSlowVacuumModeSetting;
        private AIAccessor _aiInterlock1;
        private AIAccessor _aiInterlock2;
        private AIAccessor _aiInterlock3;
        private AIAccessor _aiInterlockConstantOfInterlock3;
        private AIAccessor _aiP1SensorOffsetSetting;
        private AIAccessor _aiPosMonOffsetSetting;

        private AOAccessor _aoZeroResetP1;
        private AOAccessor _aoZeroAdjustP1;
        private AOAccessor _aoSpanAdjustP1;
        private AOAccessor _aoZeroResetP2;
        private AOAccessor _aoZeroAdjustP2;
        private AOAccessor _aoSpanAdjustP2;
        private AOAccessor _aoSlowVacuumTargetPressure;
        private AOAccessor _aoValveStatusThreshold;
        private AOAccessor _aoForbidInterlockOutbreak;
        private AOAccessor _aoSlowVacuumModeSetting;
        private AOAccessor _aoInterlock1;
        private AOAccessor _aoInterlock2;
        private AOAccessor _aoInterlock3;
        private AOAccessor _aoInterlockConstantOfInterlock3;
        private AOAccessor _aoP1SensorOffsetSetting;
        private AOAccessor _aoPosMonOffsetSetting;
        private AOAccessor _aoSensorAdjustReset;
        private AOAccessor _aoSlowVacuumRate;
        private AOAccessor _aoSlowVacuumP;
        private AOAccessor _aoSlowVacuumI;
        private AOAccessor _aoSlowVacuumD;
        private AOAccessor _aoSlowVacuumA;
        private AOAccessor _aoControllerModeSelect;
        private AOAccessor _aoSpecifyTargetVacuumPressureControl;
        private AOAccessor _aoSpecifyTargetOpeningForValveOpeningControl;
        private AOAccessor _aoSpecifyControlMode;
        private AOAccessor _aoRangeUpperLimitSensorInput;
        private AOAccessor _aoController1;
        private AOAccessor _aoController1P;
        private AOAccessor _aoController1I;
        private AOAccessor _aoController1D;
        private AOAccessor _aoController1A;
        private AOAccessor _aoController1CH;
        private AOAccessor _aoController1CL;
        private AOAccessor _aoController1Offset;
        private AOAccessor _aoController2;
        private AOAccessor _aoController2P;
        private AOAccessor _aoController2I;
        private AOAccessor _aoController2D;
        private AOAccessor _aoController2A;
        private AOAccessor _aoController2CH;
        private AOAccessor _aoController2CL;
        private AOAccessor _aoController2Offset;
        private AOAccessor _aoController3;
        private AOAccessor _aoController3P;
        private AOAccessor _aoController3I;
        private AOAccessor _aoController3D;
        private AOAccessor _aoController3A;
        private AOAccessor _aoController3CH;
        private AOAccessor _aoController3CL;
        private AOAccessor _aoController3Offset;
        private AOAccessor _aoController4;
        private AOAccessor _aoController4P;
        private AOAccessor _aoController4I;
        private AOAccessor _aoController4D;
        private AOAccessor _aoController4A;
        private AOAccessor _aoController4CH;
        private AOAccessor _aoController4CL;
        private AOAccessor _aoController4Offset;
        private AOAccessor _aoController5;
        private AOAccessor _aoController5P;
        private AOAccessor _aoController5I;
        private AOAccessor _aoController5D;
        private AOAccessor _aoController5A;
        private AOAccessor _aoController5CH;
        private AOAccessor _aoController5CL;
        private AOAccessor _aoController5Offset;
        private AOAccessor _aoController6;
        private AOAccessor _aoController6P;
        private AOAccessor _aoController6I;
        private AOAccessor _aoController6D;
        private AOAccessor _aoController6A;
        private AOAccessor _aoController6CH;
        private AOAccessor _aoController6CL;
        private AOAccessor _aoController6Offset;
        private AOAccessor _aoController7;
        private AOAccessor _aoController7P;
        private AOAccessor _aoController7I;
        private AOAccessor _aoController7D;
        private AOAccessor _aoController7A;
        private AOAccessor _aoController7CH;
        private AOAccessor _aoController7CL;
        private AOAccessor _aoController7Offset;
        private AOAccessor _aoController8;
        private AOAccessor _aoController8P;
        private AOAccessor _aoController8I;
        private AOAccessor _aoController8D;
        private AOAccessor _aoController8A;
        private AOAccessor _aoController8CH;
        private AOAccessor _aoController8CL;
        private AOAccessor _aoController8Offset;
        private AOAccessor _aoController9;
        private AOAccessor _aoController9P;
        private AOAccessor _aoController9I;
        private AOAccessor _aoController9D;
        private AOAccessor _aoController9A;
        private AOAccessor _aoController9CH;
        private AOAccessor _aoController9CL;
        private AOAccessor _aoController9Offset;
        private AOAccessor _aoController10;
        private AOAccessor _aoController10P;
        private AOAccessor _aoController10I;
        private AOAccessor _aoController10D;
        private AOAccessor _aoController10A;
        private AOAccessor _aoController10CH;
        private AOAccessor _aoController10CL;
        private AOAccessor _aoController10Offset;

        private bool _isFloatAioType = false;
        private AITAPCData _deviceData;

        private bool _isWait;
        private float _waitHigh;
        private float _waitLow;
        private Stopwatch _unloadTimer = new Stopwatch();
        private IoValve _valveAV71;
        private R_TRIG _av71OpenTrig = new R_TRIG();
        private Stopwatch _apcSetModeTimer = new Stopwatch();
        private int _apcSetModeTimeOutSec = 5;
        private bool _isInit = false;
        private Stopwatch _initTimer = new Stopwatch();
        #endregion

        #region Property
        public int SelectedControllerFeedback => (int)(_aiSelectController.FloatValue + 0.0001);
        public int ModeFeedback => (int)(_aiControlModeStatus.FloatValue + 0.0001);
        public int ModeSetPoint => (int)(_aoSpecifyControlMode.FloatValue + 0.0001);
        public int HomingStatus => (int)(_aiHomeStatus.FloatValue + 0.0001);
        public bool IsError { get; set; }
        public bool IsNeedWaitComplete { get; set; }
        public string PressureUnit { get; set; }
        private float _basePressure = 0;
        private float _valveStausThreshold;
        public float ValveStatusThreshold
        {
            get
            {
                if(_unloadTimer != null && _unloadTimer.IsRunning && _unloadTimer.ElapsedMilliseconds > 3000)
                {
                    return _aiValveStatusThreshold.FloatValue;
                }

                return _valveStausThreshold;
            }
            set
            {
                _valveStausThreshold = value;
                SC.SetItemValue($"{Module}.{Name}.ValveStatusThreshold", value);
            }
        }
        private float _slowVacuumModeSetting;
        public float SlowVacuumModeSetting
        {
            get
            {
                if (_unloadTimer != null && _unloadTimer.IsRunning && _unloadTimer.ElapsedMilliseconds > 3000)
                {
                    return _aiSlowVacuumModeSetting.FloatValue;
                }

                return _slowVacuumModeSetting;
            }
            set
            {
                _slowVacuumModeSetting = value;
                SC.SetItemValue($"{Module}.{Name}.SlowVacuumModeSetting", value);
            }
        }
        private float interlock1;
        public float Interlock1
        {
            get
            {
                if (_unloadTimer != null && _unloadTimer.IsRunning && _unloadTimer.ElapsedMilliseconds > 3000)
                {
                    return _aiInterlock1.FloatValue;
                }

                return interlock1;
            }
            set
            {
                interlock1 = value;
                SC.SetItemValue($"{Module}.{Name}.Interlock1", value);
            }
        }
        private float interlock2;
        public float Interlock2
        {
            get
            {
                if (_unloadTimer != null && _unloadTimer.IsRunning && _unloadTimer.ElapsedMilliseconds > 3000)
                {
                    return _aiInterlock2.FloatValue;
                }

                return interlock2;
            }
            set
            {
                interlock2 = value;
                SC.SetItemValue($"{Module}.{Name}.Interlock2", value);
            }
        }
        private float interlock3;
        public float Interlock3
        {
            get
            {
                if (_unloadTimer != null && _unloadTimer.IsRunning && _unloadTimer.ElapsedMilliseconds > 3000)
                {
                    return _aiInterlock3.FloatValue;
                }

                return interlock3;
            }
            set
            {
                interlock3 = value;
                SC.SetItemValue($"{Module}.{Name}.Interlock3", value);
            }
        }
        private float _interlockConstantOfInterlock3;
        public float InterlockConstantOfInterlock3
        {
            get
            {
                if (_unloadTimer != null && _unloadTimer.IsRunning && _unloadTimer.ElapsedMilliseconds > 3000)
                {
                    return _aiInterlockConstantOfInterlock3.FloatValue;
                }

                return _interlockConstantOfInterlock3;
            }
            set
            {
                _interlockConstantOfInterlock3 = value;
                SC.SetItemValue($"{Module}.{Name}.InterlockConstantOfInterlock3", value);
            }
        }
        private float _p1SensorOffsetSetting;
        public float P1SensorOffsetSetting
        {
            get
            {
                if (_unloadTimer != null && _unloadTimer.IsRunning && _unloadTimer.ElapsedMilliseconds > 3000)
                {
                    return _aiP1SensorOffsetSetting.FloatValue;
                }

                return _p1SensorOffsetSetting;
            }
            set
            {
                _p1SensorOffsetSetting = value;
                SC.SetItemValue($"{Module}.{Name}.P1SensorOffsetSetting", value);
            }
        }
        private float _posMonOffsetSetting;
        public float PosMonOffsetSetting
        {
            get
            {
                if (_unloadTimer != null && _unloadTimer.IsRunning && _unloadTimer.ElapsedMilliseconds > 3000)
                {
                    return _aiPosMonOffsetSetting.FloatValue;
                }

                return _posMonOffsetSetting;
            }
            set
            {
                _posMonOffsetSetting = value;
                SC.SetItemValue($"{Module}.{Name}.PosMonOffsetSetting", value);
            }
        }
        public AlarmEventItem APCSetModeAlarm { get; set; }
        public AlarmEventItem APCPressure1ToleranceWarning { get; set; }
        public AlarmEventItem APCPressure1ToleranceAlarm { get; set; }
        public AlarmEventItem APCPressure2ToleranceWarning { get; set; }
        public AlarmEventItem APCPressure2ToleranceAlarm { get; set; }
        public AlarmEventItem APCAngleToleranceWarning { get; set; }
        public AlarmEventItem APCAngleToleranceAlarm { get; set; }
        public AITAPCData DeviceData => _deviceData;
        #endregion

        public IoAPC(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");

            _isFloatAioType = !string.IsNullOrEmpty(node.GetAttribute("aioType")) && (node.GetAttribute("aioType") == "float");

            _diP1ZeroOffsetOutRangeAlm = ParseDiNode("diP1ZeroOffsetOutRangeAlm", node, ioModule);
            _diP1ZeroAdjOutRangeAlm = ParseDiNode("diP1ZeroAdjOutRangeAlm", node, ioModule);
            _diP1SpanAdjOutRangeAlm = ParseDiNode("diP1SpanAdjOutRangeAlm", node, ioModule);
            _diP2ZeroOffsetOutRangeAlm = ParseDiNode("diP2ZeroOffsetOutRangeAlm", node, ioModule);
            _diP2ZeroAdjOutRangeAlm = ParseDiNode("diP2ZeroAdjOutRangeAlm", node, ioModule);
            _diP2SpanAdjOutRangeAlm = ParseDiNode("diP2SpanAdjOutRangeAlm", node, ioModule);
            _diP1PressCtrlInterlockAlm = ParseDiNode("diP1PressCtrlInterlockAlm", node, ioModule);
            _diP2PressCtrlInterlockAlm = ParseDiNode("diP2PressCtrlInterlockAlm", node, ioModule);
            _diValveOpenCtrlInterlockAlm = ParseDiNode("diValveOpenCtrlInterlockAlm", node, ioModule);
            _diValveHoldCtrlInterlockAlm = ParseDiNode("diValveHoldCtrlInterlockAlm", node, ioModule);
            _diValveCloseInterlockAlm = ParseDiNode("diValveCloseInterlockAlm", node, ioModule);
            _diAutoTeachingInterlockAlm = ParseDiNode("diAutoTeachingInterlockAlm", node, ioModule);
            _diP1DisconnectionAlm = ParseDiNode("diP1DisconnectionAlm", node, ioModule);
            _diP2DisconnectionAlm = ParseDiNode("diP2DisconnectionAlm", node, ioModule);
            _diPumpStopInterlockAlm = ParseDiNode("diPumpStopInterlockAlm", node, ioModule);
            _diAutoTeachingErr1Alm = ParseDiNode("diAutoTeachingErr1Alm", node, ioModule);
            _diAutoTeachingErr2Alm = ParseDiNode("diAutoTeachingErr2Alm", node, ioModule);
            _doVGUnit = ParseDoNode("doVGUnit", node, ioModule);
            _doAoDataWriteSysConfig = ParseDoNode("doAoDataWriteSysConfig", node, ioModule);
            _doAoDataReadSysConfig = ParseDoNode("doAoDataReadSysConfig", node, ioModule);
            _doAoDataReadCusConfig = ParseDoNode("doAoDataReadCusConfig", node, ioModule);
            _doAoDataWriteCusConfig = ParseDoNode("doAoDataWriteCusConfig", node, ioModule);

            _aiValueSensorInput1 = ParseAiNode("aiValueSensorInput1", node, ioModule);
            _aiValueSensorInput2 = ParseAiNode("aiValueSensorInput2", node, ioModule);
            _aiSelectController = ParseAiNode("aiSelectController", node, ioModule);
            _aiPositionActualValue = ParseAiNode("aiPositionActualValue", node, ioModule);
            _aiControlModeStatus = ParseAiNode("aiControlModeStatus", node, ioModule);
            _aiHomeStatus = ParseAiNode("aiHomeStatus", node, ioModule);
            _aiWarningStatus1 = ParseAiNode("aiWarningStatus1", node, ioModule);
            _aiWarningStatus2 = ParseAiNode("aiWarningStatus2", node, ioModule);
            _aiWarningStatus3 = ParseAiNode("aiWarningStatus3", node, ioModule);
            _aiWarningStatus4 = ParseAiNode("aiWarningStatus4", node, ioModule);
            _aiWarningStatus5 = ParseAiNode("aiWarningStatus5", node, ioModule);
            _aiWarningStatus6 = ParseAiNode("aiWarningStatus6", node, ioModule);
            _aiErrorStatus1 = ParseAiNode("aiErrorStatus1", node, ioModule);
            _aiErrorStatus2 = ParseAiNode("aiErrorStatus2", node, ioModule);
            _aiErrorStatus3 = ParseAiNode("aiErrorStatus3", node, ioModule);
            _aiErrorStatus4 = ParseAiNode("aiErrorStatus4", node, ioModule);
            _aiValveStatusThreshold = ParseAiNode("aiValveStatusThreshold", node, ioModule);
            _aiForbidInterlockOutbreak = ParseAiNode("aiForbidInterlockOutbreak", node, ioModule);
            _aiSlowVacuumModeSetting = ParseAiNode("aiSlowVacuumModeSetting", node, ioModule);
            _aiInterlock1 = ParseAiNode("aiInterlock1", node, ioModule);
            _aiInterlock2 = ParseAiNode("aiInterlock2", node, ioModule);
            _aiInterlock3 = ParseAiNode("aiInterlock3", node, ioModule);
            _aiInterlockConstantOfInterlock3 = ParseAiNode("aiInterlockConstantOfInterlock3", node, ioModule);
            _aiP1SensorOffsetSetting = ParseAiNode("aiP1SensorOffsetSetting", node, ioModule);
            _aiPosMonOffsetSetting = ParseAiNode("aiPosMonOffsetSetting", node, ioModule);

            _aoZeroResetP1 = ParseAoNode("aoZeroResetP1", node, ioModule);
            _aoZeroAdjustP1 = ParseAoNode("aoZeroAdjustP1", node, ioModule);
            _aoSpanAdjustP1 = ParseAoNode("aoSpanAdjustP1", node, ioModule);
            _aoZeroResetP2 = ParseAoNode("aoZeroResetP2", node, ioModule);
            _aoZeroAdjustP2 = ParseAoNode("aoZeroAdjustP2", node, ioModule);
            _aoSpanAdjustP2 = ParseAoNode("aoSpanAdjustP2", node, ioModule);
            _aoSlowVacuumTargetPressure = ParseAoNode("aoSlowVacuumTargetPressure", node, ioModule);
            _aoValveStatusThreshold = ParseAoNode("aoValveStatusThreshold", node, ioModule);
            _aoForbidInterlockOutbreak = ParseAoNode("aoForbidInterlockOutbreak", node, ioModule);
            _aoSlowVacuumModeSetting = ParseAoNode("aoSlowVacuumModeSetting", node, ioModule);
            _aoInterlock1 = ParseAoNode("aoInterlock1", node, ioModule);
            _aoInterlock2 = ParseAoNode("aoInterlock2", node, ioModule);
            _aoInterlock3 = ParseAoNode("aoInterlock3", node, ioModule);
            _aoInterlockConstantOfInterlock3 = ParseAoNode("aoInterlockConstantOfInterlock3", node, ioModule);
            _aoP1SensorOffsetSetting = ParseAoNode("aoP1SensorOffsetSetting", node, ioModule);
            _aoPosMonOffsetSetting = ParseAoNode("aoPosMonOffsetSetting", node, ioModule);
            _aoSensorAdjustReset = ParseAoNode("aoSensorAdjustReset", node, ioModule);
            _aoSlowVacuumRate = ParseAoNode("aoSlowVacuumRate", node, ioModule);
            _aoSlowVacuumP = ParseAoNode("aoSlowVacuumP", node, ioModule);
            _aoSlowVacuumI = ParseAoNode("aoSlowVacuumI", node, ioModule);
            _aoSlowVacuumD = ParseAoNode("aoSlowVacuumD", node, ioModule);
            _aoSlowVacuumA = ParseAoNode("aoSlowVacuumA", node, ioModule);
            _aoControllerModeSelect = ParseAoNode("aoControllerModeSelect", node, ioModule);
            _aoSpecifyTargetVacuumPressureControl = ParseAoNode("aoSpecifyTargetVacuumPressureControl", node, ioModule);
            _aoSpecifyTargetOpeningForValveOpeningControl = ParseAoNode("aoSpecifyTargetOpeningForValveOpeningControl", node, ioModule);
            _aoSpecifyControlMode = ParseAoNode("aoSpecifyControlMode", node, ioModule);
            _aoRangeUpperLimitSensorInput = ParseAoNode("aoRangeUpperLimitSensorInput", node, ioModule);
            _aoController1 = ParseAoNode("aoController1", node, ioModule);
            _aoController1P = ParseAoNode("aoController1P", node, ioModule);
            _aoController1I = ParseAoNode("aoController1I", node, ioModule);
            _aoController1D = ParseAoNode("aoController1D", node, ioModule);
            _aoController1A = ParseAoNode("aoController1A", node, ioModule);
            _aoController1CH = ParseAoNode("aoController1CH", node, ioModule);
            _aoController1CL = ParseAoNode("aoController1CL", node, ioModule);
            _aoController1Offset = ParseAoNode("aoController1Offset", node, ioModule);
            _aoController2 = ParseAoNode("aoController2", node, ioModule);
            _aoController2P = ParseAoNode("aoController2P", node, ioModule);
            _aoController2I = ParseAoNode("aoController2I", node, ioModule);
            _aoController2D = ParseAoNode("aoController2D", node, ioModule);
            _aoController2A = ParseAoNode("aoController2A", node, ioModule);
            _aoController2CH = ParseAoNode("aoController2CH", node, ioModule);
            _aoController2CL = ParseAoNode("aoController2CL", node, ioModule);
            _aoController2Offset = ParseAoNode("aoController2Offset", node, ioModule);
            _aoController3 = ParseAoNode("aoController3", node, ioModule);
            _aoController3P = ParseAoNode("aoController3P", node, ioModule);
            _aoController3I = ParseAoNode("aoController3I", node, ioModule);
            _aoController3D = ParseAoNode("aoController3D", node, ioModule);
            _aoController3A = ParseAoNode("aoController3A", node, ioModule);
            _aoController3CH = ParseAoNode("aoController3CH", node, ioModule);
            _aoController3CL = ParseAoNode("aoController3CL", node, ioModule);
            _aoController3Offset = ParseAoNode("aoController3Offset", node, ioModule);
            _aoController4 = ParseAoNode("aoController4", node, ioModule);
            _aoController4P = ParseAoNode("aoController4P", node, ioModule);
            _aoController4I = ParseAoNode("aoController4I", node, ioModule);
            _aoController4D = ParseAoNode("aoController4D", node, ioModule);
            _aoController4A = ParseAoNode("aoController4A", node, ioModule);
            _aoController4CH = ParseAoNode("aoController4CH", node, ioModule);
            _aoController4CL = ParseAoNode("aoController4CL", node, ioModule);
            _aoController4Offset = ParseAoNode("aoController4Offset", node, ioModule);
            _aoController5 = ParseAoNode("aoController5", node, ioModule);
            _aoController5P = ParseAoNode("aoController5P", node, ioModule);
            _aoController5I = ParseAoNode("aoController5I", node, ioModule);
            _aoController5D = ParseAoNode("aoController5D", node, ioModule);
            _aoController5A = ParseAoNode("aoController5A", node, ioModule);
            _aoController5CH = ParseAoNode("aoController5CH", node, ioModule);
            _aoController5CL = ParseAoNode("aoController5CL", node, ioModule);
            _aoController5Offset = ParseAoNode("aoController5Offset", node, ioModule);
            _aoController6 = ParseAoNode("aoController6", node, ioModule);
            _aoController6P = ParseAoNode("aoController6P", node, ioModule);
            _aoController6I = ParseAoNode("aoController6I", node, ioModule);
            _aoController6D = ParseAoNode("aoController6D", node, ioModule);
            _aoController6A = ParseAoNode("aoController6A", node, ioModule);
            _aoController6CH = ParseAoNode("aoController6CH", node, ioModule);
            _aoController6CL = ParseAoNode("aoController6CL", node, ioModule);
            _aoController6Offset = ParseAoNode("aoController6Offset", node, ioModule);
            _aoController7 = ParseAoNode("aoController7", node, ioModule);
            _aoController7P = ParseAoNode("aoController7P", node, ioModule);
            _aoController7I = ParseAoNode("aoController7I", node, ioModule);
            _aoController7D = ParseAoNode("aoController7D", node, ioModule);
            _aoController7A = ParseAoNode("aoController7A", node, ioModule);
            _aoController7CH = ParseAoNode("aoController7CH", node, ioModule);
            _aoController7CL = ParseAoNode("aoController7CL", node, ioModule);
            _aoController7Offset = ParseAoNode("aoController7Offset", node, ioModule);
            _aoController8 = ParseAoNode("aoController8", node, ioModule);
            _aoController8P = ParseAoNode("aoController8P", node, ioModule);
            _aoController8I = ParseAoNode("aoController8I", node, ioModule);
            _aoController8D = ParseAoNode("aoController8D", node, ioModule);
            _aoController8A = ParseAoNode("aoController8A", node, ioModule);
            _aoController8CH = ParseAoNode("aoController8CH", node, ioModule);
            _aoController8CL = ParseAoNode("aoController8CL", node, ioModule);
            _aoController8Offset = ParseAoNode("aoController8Offset", node, ioModule);
            _aoController9 = ParseAoNode("aoController9", node, ioModule);
            _aoController9P = ParseAoNode("aoController9P", node, ioModule);
            _aoController9I = ParseAoNode("aoController9I", node, ioModule);
            _aoController9D = ParseAoNode("aoController9D", node, ioModule);
            _aoController9A = ParseAoNode("aoController9A", node, ioModule);
            _aoController9CH = ParseAoNode("aoController9CH", node, ioModule);
            _aoController9CL = ParseAoNode("aoController9CL", node, ioModule);
            _aoController9Offset = ParseAoNode("aoController9Offset", node, ioModule);
            _aoController10 = ParseAoNode("aoController10", node, ioModule);
            _aoController10P = ParseAoNode("aoController10P", node, ioModule);
            _aoController10I = ParseAoNode("aoController10I", node, ioModule);
            _aoController10D = ParseAoNode("aoController10D", node, ioModule);
            _aoController10A = ParseAoNode("aoController10A", node, ioModule);
            _aoController10CH = ParseAoNode("aoController10CH", node, ioModule);
            _aoController10CL = ParseAoNode("aoController10CL", node, ioModule);
            _aoController10Offset = ParseAoNode("aoController10Offset", node, ioModule);

            PressureUnit = SC.GetStringValue($"{Module}.{Name}.PressureUnit");
        }
        public bool Initialize()
        {
            if (System.Diagnostics.Debugger.IsAttached)
            {
                var oj = DEVICE.GetDevice<IoAPC>($"{Module}.{Name}");
                foreach (var pi in oj.GetType().GetProperties())
                {
                    if (pi.PropertyType.Name.EndsWith("Accessor"))
                    {
                        var value = pi.GetValue(oj);
                        if (value == null)
                        {
                            LOG.Write($"{Module}.{Name} {pi.Name} is null");
                        }
                    }
                }
            }
            _deviceData = new AITAPCData()
            {
                Module = Module,
                DeviceName = Name,
                DeviceSchematicId = DeviceID,
                DisplayName = Display,
            };
            DATA.Subscribe($"{Module}.{Name}.DeviceData", () => _deviceData);
            DATA.Subscribe($"{Module}.{Name}.Pressure1Feedback", () => _aiValueSensorInput1.FloatValue);
            DATA.Subscribe($"{Module}.{Name}.Pressure2Feedback", () => _aiValueSensorInput2.FloatValue);
            DATA.Subscribe($"{Module}.{Name}.PositionFeedback", () => _aiPositionActualValue.FloatValue);
            DATA.Subscribe($"{Module}.{Name}.PositionSetPoint", () => _deviceData.PositionSetPoint);
            DATA.Subscribe($"{Module}.{Name}.PressureSetPoint", () => _deviceData.PressureSetPoint);
            DATA.Subscribe($"{Module}.{Name}.SlowRateSetPoint", () => _deviceData.SlowRateSetPoint);
            DATA.Subscribe($"{Module}.{Name}.SelectedControllerFeedback", () => SelectedControllerFeedback);
            DATA.Subscribe($"{Module}.{Name}.ModeFeedback", () => ModeFeedback);
            DATA.Subscribe($"{Module}.{Name}.ModeSetPoint", () => ModeSetPoint);
            DATA.Subscribe($"{Module}.{Name}.HomingStatus", () => HomingStatus);
            DATA.Subscribe($"{Module}.{Name}.IsError", () => IsError);
            DATA.Subscribe($"{Module}.{Name}.ValveStatusThreshold", () => ValveStatusThreshold);
            DATA.Subscribe($"{Module}.{Name}.SlowVacuumModeSetting", () => SlowVacuumModeSetting);
            DATA.Subscribe($"{Module}.{Name}.Interlock1", () => Interlock1);
            DATA.Subscribe($"{Module}.{Name}.Interlock2", () => Interlock2);
            DATA.Subscribe($"{Module}.{Name}.Interlock3", () => Interlock3);
            DATA.Subscribe($"{Module}.{Name}.InterlockConstantOfInterlock3", () => InterlockConstantOfInterlock3);
            DATA.Subscribe($"{Module}.{Name}.P1SensorOffsetSetting", () => P1SensorOffsetSetting);
            DATA.Subscribe($"{Module}.{Name}.PosMonOffsetSetting", () => PosMonOffsetSetting);
            //DATA.Subscribe($"{Module}.{Name}.IsSwitch", () => IsSwitch);
            //DATA.Subscribe($"{Module}.{Name}.SetSpeed", () => SetSpeed);
            //DATA.Subscribe($"{Module}.{Name}.MaxSpeed", () => MaxSpeed);
            //DATA.Subscribe($"{Module}.{Name}.IsReset", () => IsReset);
            //DATA.Subscribe($"{Module}.{Name}.ErrorTimer", () => ErrorTimer);
            //DATA.Subscribe($"{Module}.{Name}.CurrentSpeed", () => CurrentSpeed);
            //DATA.Subscribe($"{Module}.{Name}.Voltage", () => Voltage);
            //DATA.Subscribe($"{Module}.{Name}.Current", () => Current);

            OP.Subscribe($"{Module}.{Name}.SetParameters", (string cmd, object[] param) =>
            {
                //command;pidTable;setValue;LowPressWait
                SetParameters(param);
                return true;
            });
            OP.Subscribe($"{Module}.{Name}.SetManualParameters", (string cmd, object[] param) =>
            {
                //command;pidTable;setValue;LowPressWait
                SetManualParameters(param);
                return true;
            });

            OP.Subscribe($"{Module}.{Name}.SetUnit", (string cmd, object[] param) =>
            {
                //command;pidTable;setValue;LowPressWait
                SetUnit(param);
                return true;
            });
            OP.Subscribe($"{Module}.{Name}.SetUpload", (string cmd, object[] param) =>
            {
                SetUpload();
                return true;
            });
            OP.Subscribe($"{Module}.{Name}.SetDownload", (string cmd, object[] param) =>
            {
                SetDownload(param);
                return true;
            });
            OP.Subscribe($"{Module}.{Name}.SetConfig", (string cmd, object[] param) =>
            {
                //command;pidTable;setValue;LowPressWait
                SetConfig(param);
                return true;
            });
            OP.Subscribe($"{Module}.{Name}.SetPID", (string cmd, object[] param) =>
            {
                if (param != null && param.Length > 1)
                {
                    int.TryParse(param[1].ToString(), out int controllerID);
                    SetControllerParameters(param[0].ToString(), controllerID);
                }
                return true;
            });

            ValveStatusThreshold = (float)SC.GetValue<double>($"{Module}.{Name}.ValveStatusThreshold");
            SlowVacuumModeSetting = (float)SC.GetValue<double>($"{Module}.{Name}.SlowVacuumModeSetting");
            Interlock1 = (float)SC.GetValue<double>($"{Module}.{Name}.Interlock1");
            Interlock2 = (float)SC.GetValue<double>($"{Module}.{Name}.Interlock2");
            Interlock3 = (float)SC.GetValue<double>($"{Module}.{Name}.Interlock3");
            InterlockConstantOfInterlock3 = (float)SC.GetValue<double>($"{Module}.{Name}.InterlockConstantOfInterlock3");
            P1SensorOffsetSetting = (float)SC.GetValue<double>($"{Module}.{Name}.P1SensorOffsetSetting");
            PosMonOffsetSetting = (float)SC.GetValue<double>($"{Module}.{Name}.PosMonOffsetSetting");

            return true;
        }
        private void SetUpload()
        {
            _unloadTimer.Restart();
            _doAoDataReadSysConfig.SetPulseValue(true, 3000);
        }
        private void SetDownload(object[] param)
        {
            SetConfig(param);
            if (param != null && param.Length > 7)
            {
                float.TryParse(param[0].ToString(), out float value);
                _aoValveStatusThreshold.FloatValue = value;

                float.TryParse(param[1].ToString(), out value);
                _aoSlowVacuumModeSetting.FloatValue = value;

                float.TryParse(param[2].ToString(), out value);
                _aoInterlock1.FloatValue = value;

                float.TryParse(param[3].ToString(), out value);
                _aoInterlock2.FloatValue = value;

                float.TryParse(param[4].ToString(), out value);
                _aoInterlock3.FloatValue = value;

                float.TryParse(param[5].ToString(), out value);
                _aoInterlockConstantOfInterlock3.FloatValue = value;

                float.TryParse(param[6].ToString(), out value);
                _aoP1SensorOffsetSetting.FloatValue = value;

                float.TryParse(param[7].ToString(), out value);
                _aoPosMonOffsetSetting.FloatValue = value;
            }

            _doAoDataWriteSysConfig.SetPulseValue(true, 3000);
        }
        private void SetConfig(object[] param)
        {
            if(param != null && param.Length > 7)
            {
                float.TryParse(param[0].ToString(), out float value);
                ValveStatusThreshold = value;

                float.TryParse(param[1].ToString(), out value);
                SlowVacuumModeSetting = value;

                float.TryParse(param[2].ToString(), out value);
                Interlock1 = value;

                float.TryParse(param[3].ToString(), out value);
                Interlock2 = value;

                float.TryParse(param[4].ToString(), out value);
                Interlock3= value;

                float.TryParse(param[5].ToString(), out value);
                InterlockConstantOfInterlock3 = value;

                float.TryParse(param[6].ToString(), out value);
                P1SensorOffsetSetting = value;

                float.TryParse(param[7].ToString(), out value);
                PosMonOffsetSetting = value;
            }
        }

        public void Monitor()
        {
            if(!_isInit)
            {
                if (!_initTimer.IsRunning)
                    _initTimer.Start();

                if(_initTimer.ElapsedMilliseconds > 5 * 1000)
                {
                    _initTimer.Stop();
                    _isInit = true;
                    var pidTableName = SC.GetStringValue("PM1.APCPID");
                    int.TryParse(SC.GetStringValue("PM1.APCPIDControllerID"), out int controllerID);
                    SetControllerParameters(pidTableName, controllerID);
                }
            }
            if(_valveAV71 == null)
                _valveAV71 = DEVICE.GetDevice<IoValve>($"{Module}.ValveAV71");

            //if(_valveAV71 != null && Singleton<EquipmentManager>.Instance.Modules.ContainsKey(ModuleName.PM1) &&
            //    !(Singleton<EquipmentManager>.Instance.Modules[ModuleName.PM1] as PMModule).IsProcessing)
            //{
            //    _av71OpenTrig.CLK = _valveAV71.Status;
            //    if (!_valveAV71.Status)
            //    {
            //        if (_aoSpecifyControlMode.FloatValue != (int)PressureControlMode.Close)
            //            _aoSpecifyControlMode.FloatValue = (int)PressureControlMode.Close;
            //        if (_deviceData.ModeSetPoint != (int)PressureControlMode.Close)
            //            _deviceData.ModeSetPoint = (int)PressureControlMode.Close;
            //    }
            //    if(_av71OpenTrig.Q)
            //    {
            //        if (_aoSpecifyControlMode.FloatValue != (int)PressureControlMode.Open)
            //            _aoSpecifyControlMode.FloatValue = (int)PressureControlMode.Open;
            //        if (_deviceData.ModeSetPoint != (int)PressureControlMode.Open)
            //            _deviceData.ModeSetPoint = (int)PressureControlMode.Open;
            //    }
            //}

            if(_apcSetModeTimer.IsRunning && _apcSetModeTimer.ElapsedMilliseconds > _apcSetModeTimeOutSec * 1000)
            {
                APCSetModeAlarm.Set("APC set mode timeout");
            }

            _deviceData.Pressure1Feedback = _aiValueSensorInput1.FloatValue;
            _deviceData.Pressure2Feedback = _aiValueSensorInput2.FloatValue;
            _deviceData.SelectedControllerFeedback = SelectedControllerFeedback;
            _deviceData.PositionFeedback = _aiPositionActualValue.FloatValue;
            _deviceData.ModeFeedback = ModeFeedback;
            _deviceData.HomingStatus = HomingStatus;
            _deviceData.PressureFeedback = GetPressure();

            var hardError1 = _aiErrorStatus1.FloatValue > 0 ? "Active manufacturer Error Details (Device Management)" : "";
            var hardError2 = _aiErrorStatus2.FloatValue > 0 ? "Active manufacturer Error Details(Sensor Input1))" : "";
            var hardError3 = _aiErrorStatus3.FloatValue > 0 ? "Active manufacturer Error Details (Sensor Input2)" : "";
            var hardError4 = _aiErrorStatus4.FloatValue > 0 ? "Active manufacturer Error Details (Valve)" : "";
            if (!string.IsNullOrEmpty(hardError1) || !string.IsNullOrEmpty(hardError2) || !string.IsNullOrEmpty(hardError3) || !string.IsNullOrEmpty(hardError4))
            {
                var status = !string.IsNullOrEmpty(hardError1) ? hardError1 : "";
                status += !string.IsNullOrEmpty(status) ? !string.IsNullOrEmpty(hardError2) ? $"----{hardError2}" : "" : hardError2;
                status += !string.IsNullOrEmpty(status) ? !string.IsNullOrEmpty(hardError3) ? $"----{hardError3}" : "" : hardError3;
                status += !string.IsNullOrEmpty(status) ? !string.IsNullOrEmpty(hardError4) ? $"----{hardError4}" : "" : hardError4;
                _deviceData.HardError = status;
                IsError = true;
            }
            else
            {
                IsError = false;
                _deviceData.HardError = "";
            }

            switch ((int)(_aiHomeStatus.FloatValue + 0.0001))
            {
                case 0:
                    _deviceData.HomeStatusDisplay = "Homing not started";
                    break;
                case 1:
                    _deviceData.HomeStatusDisplay = "Homing interrupted";
                    break;
                case 2:
                    _deviceData.HomeStatusDisplay = "Homing completed-no error";
                    break;
                case 3:
                    _deviceData.HomeStatusDisplay = "Homing completed-error20";
                    break;
                case 4:
                    _deviceData.HomeStatusDisplay = "Homing in progress";
                    break;
                default:
                    _deviceData.HomeStatusDisplay = "";
                    break;
            }
        }
        public void Reset()
        {
            //APCSetModeAlarm.Reset();
        }

        public void SetUnit(object[] param)
        {
            if ((string)param[0] == "Pa")
            {
                _doVGUnit.SetValue(true, out _);
            }
            else
            {
                _doVGUnit.SetValue(false, out _);
            }
        }

        public void Terminate()
        {
            _valveAV71.TurnValve(false, out _);
            _aoSpecifyControlMode.FloatValue = (int)PressureControlMode.Close;
            _deviceData.ModeSetPoint = (int)PressureControlMode.Close;
        }
        private float GetPressure()
        {
            if (_deviceData.ModeFeedback == (int)(PressureControlMode.Press1Control))
                return _aiValueSensorInput1.FloatValue;
            if (_deviceData.ModeFeedback == (int)(PressureControlMode.Press2Control))
                return _aiValueSensorInput2.FloatValue;

            return _aiValueSensorInput2.FloatValue > SC.GetValue<double>("PM1.APC.VG1.PressureScale") ? _aiValueSensorInput2.FloatValue : _aiValueSensorInput1.FloatValue;
        }

        private void SetParameters(object[] param)
        {
            if (param == null || param.Length < 1)
            {
                EV.PostWarningLog(Module, $"Invalid APC set parameter");
                return;
            }
            var paras = param[0].ToString().Split(';');
            if (paras.Length < 11)
            {
                EV.PostWarningLog(Module, $"Invalid APC set parameter");
                return;
            }
            var command = paras[0];
            var pidTables = paras[1].Split(',');
            string pidTableName = "";
            int controllerID = 0;
            _deviceData.CommandSetPoint = command;
            IsNeedWaitComplete = false;

            if (command == "Press" || command == "Press2")
            {
                if (pidTables.Length < 2)
                {
                    pidTableName = SC.GetStringValue("PM1.APCPID");
                    int.TryParse(SC.GetStringValue("PM1.APCPIDControllerID"), out controllerID);
                }
                else
                {
                    pidTableName = string.IsNullOrEmpty(pidTables[0]) ? paras[10] : pidTables[0];
                    int.TryParse(pidTables[1], out controllerID);
                }
            }

            float setValue = 0;
            float.TryParse(paras[2], out float pressreValue);
            float.TryParse(paras[3], out float slowVacSet);
            float.TryParse(paras[4], out float valveAngleSet);
            bool.TryParse(paras[5], out _isWait);
            float.TryParse(paras[6], out _waitLow);
            float.TryParse(paras[7], out _waitHigh);
            var waitUnit = paras[8].ToString();
            float.TryParse(paras[9], out float waitPress);
            var recipePIDTableName = paras[10].ToString();
            var av71 = paras[11].ToString().ToLower();//open,close

            switch (command)
            {
                case "Press":
                case "Press2":
                    setValue = pressreValue;
                    IsNeedWaitComplete = _isWait;
                    break;
                case "Slow Vac":
                    setValue = slowVacSet;
                    break;
                case "Valve Angle":
                    setValue = valveAngleSet;
                    IsNeedWaitComplete = _isWait;
                    if (_waitLow == 0 || _waitHigh == 0)
                        IsNeedWaitComplete = false;//_waitLow,_waitHigh为0不能wait
                    if (waitUnit == "%")
                    {
                        _waitLow = setValue - _waitLow;//角度的要算出范围
                        _waitHigh = setValue + _waitHigh;//角度的要算出范围
                    }
                    if (waitUnit == "%d")
                    {
                        //_waitLow,_waitHigh的设定本身就是范围
                    }
                    break;
                case "WaitPressDown1":
                case "WaitPressDown2":
                case "WaitPressUp1":
                case "WaitPressUp2":
                    setValue = waitPress;
                    IsNeedWaitComplete = true;
                    break;
            }

            _deviceData.SetPoint = setValue;
            _deviceData.PIDTable = $"{controllerID}:{paras[10]}";
            _deviceData.LowPressWaitSetPoint = paras[3];

            if(av71 == "close")
            {
                //av71 close，就设置为close
                _valveAV71.TurnValve(false, out _);
                _aoSpecifyControlMode.FloatValue = (int)PressureControlMode.Close;
                _deviceData.ModeSetPoint = (int)PressureControlMode.Close;
                _apcSetModeTimer.Stop();
            }
            else
            {
                if (_deviceData.Pressure2Feedback >= 10)
                {
                    if (command.ToLower() == "none" || command == "")
                        _apcSetModeTimer.Restart();
                    else
                        _apcSetModeTimer.Stop();
                }
                else
                {
                    _apcSetModeTimer.Stop();
                    if (command.ToLower() == "none" || command == "")
                        command = "Full Open";
                }
                if (command.ToLower() == "none")
                    return;
                SetCommandParameters(command, setValue, pidTableName, controllerID, recipePIDTableName);
            }
        }
        private void SetManualParameters(object[] param)
        {
            if(param == null || param.Length < 1)
            {
                EV.PostWarningLog(Module, $"Invalid APC set parameter");
                return;
            }
            var paras = param[0].ToString().Split(';');
            if(paras.Length < 4)
            {
                EV.PostWarningLog(Module, $"Invalid APC set parameter");
                return;
            }
            var command = paras[0];
            var pidTables = paras[1].Split(',');
            string pidTableName = "";
            int controllerID = 0;
            bool av71 = _valveAV71.Status;
            if (paras.Length > 4)
                bool.TryParse(paras[4], out av71);
            
            //小于 10 torr， full open或者根据设定的模式
            //大于10 torr，5秒内需要设定的模式
            if (av71)
            {
                if (_deviceData.Pressure2Feedback >= 10)
                {
                    if (command.ToLower() == "none" || command == "")
                        _apcSetModeTimer.Restart();
                    else
                        _apcSetModeTimer.Stop();
                }
                else
                {
                    _apcSetModeTimer.Stop();
                    if (command.ToLower() == "none" || command == "")
                        command = "Full Open";
                }
            }
            else
            {
                command = "Full Close";
                _apcSetModeTimer.Stop();
            }
            
            if (command.ToLower() == "none")
                return;

            if (command == "Press" || command == "Press2")
            {
                if (pidTables.Length < 2)
                {
                    pidTableName = SC.GetStringValue("PM1.APCPID");
                    int.TryParse(SC.GetStringValue("PM1.APCPIDControllerID"), out controllerID);
                }
                else
                {
                    pidTableName = pidTables[0];
                    int.TryParse(pidTables[1], out controllerID);
                }
            }
            
            float.TryParse(paras[2], out float setValue);
            _deviceData.SetPoint = setValue;
            _deviceData.CommandSetPoint = command;
            _deviceData.PIDTable = $"{controllerID}:{pidTableName}";
            _deviceData.LowPressWaitSetPoint = paras[3];

            SetCommandParameters(command, setValue, pidTableName, controllerID);
        }
        private void SetCommandParameters(string command, float setValue, string pidTableName, int controllerID, string recipePIDTableName="")
        {
            LOG.Write($"APC command={command}, setpoint={setValue}, Controller ID={controllerID}, PID={pidTableName}");
            switch (command)
            {
                case "Press":
                    _valveAV71.TurnValve(true, out _);
                    _aoSpecifyControlMode.FloatValue = (int)PressureControlMode.Press1Control;
                    _aoSpecifyTargetVacuumPressureControl.FloatValue = setValue;
                    SetControllerParameters(pidTableName, controllerID, recipePIDTableName);
                    _aoControllerModeSelect.FloatValue = controllerID;
                    _deviceData.ModeSetPoint = (int)PressureControlMode.Press1Control;
                    _aoSlowVacuumRate.FloatValue = 0;
                    _aoSlowVacuumTargetPressure.FloatValue = 0;
                    _deviceData.PressureSetPoint = setValue;
                    break;
                case "Press2":
                    _valveAV71.TurnValve(true, out _);
                    _aoSpecifyControlMode.FloatValue = (int)PressureControlMode.Press2Control;
                    _aoSpecifyTargetVacuumPressureControl.FloatValue = setValue;
                    SetControllerParameters(pidTableName, controllerID, recipePIDTableName);
                    _aoControllerModeSelect.FloatValue = controllerID;
                    _deviceData.ModeSetPoint = (int)PressureControlMode.Press2Control;
                    _aoSlowVacuumRate.FloatValue = 0;
                    _aoSlowVacuumTargetPressure.FloatValue = 0;
                    _deviceData.PressureSetPoint = setValue;
                    break;
                case "Slow Vac":
                    _valveAV71.TurnValve(true, out _);
                    _aoSpecifyControlMode.FloatValue = (int)PressureControlMode.SlowVacuum;
                    _aoSlowVacuumRate.FloatValue = setValue;
                    _aoSlowVacuumTargetPressure.FloatValue = 0;
                    _deviceData.ModeSetPoint = (int)PressureControlMode.SlowVacuum;
                    SetSlowVacParameters(pidTableName);
                    _deviceData.SlowRateSetPoint = setValue;
                    break;
                case "Valve Angle":
                    _aoSpecifyControlMode.FloatValue = (int)PressureControlMode.PositionControl;
                    _aoSpecifyTargetOpeningForValveOpeningControl.FloatValue = setValue;
                    _deviceData.ModeSetPoint = (int)PressureControlMode.PositionControl;
                    _deviceData.PositionSetPoint = setValue;
                    _aoSlowVacuumRate.FloatValue = 0;
                    _aoSlowVacuumTargetPressure.FloatValue = 0;
                    break;
                case "Full Open":
                    _valveAV71.TurnValve(true, out _);
                    _aoSpecifyControlMode.FloatValue = (int)PressureControlMode.Open;
                    _deviceData.ModeSetPoint = (int)PressureControlMode.Open;
                    _aoSlowVacuumRate.FloatValue = 0;
                    _aoSlowVacuumTargetPressure.FloatValue = 0;
                    break;
                case "Full Close":
                    _valveAV71.TurnValve(false, out _);
                    _aoSpecifyControlMode.FloatValue = (int)PressureControlMode.Close;
                    _deviceData.ModeSetPoint = (int)PressureControlMode.Close;
                    _aoSlowVacuumRate.FloatValue = 0;
                    _aoSlowVacuumTargetPressure.FloatValue = 0;
                    break;
                case "Hold":
                    _aoSpecifyControlMode.FloatValue = (int)PressureControlMode.Hold;
                    _deviceData.ModeSetPoint = (int)PressureControlMode.Hold;
                    _aoSlowVacuumRate.FloatValue = 0;
                    _aoSlowVacuumTargetPressure.FloatValue = 0;
                    break;
                case "Home":
                    _aoSpecifyControlMode.FloatValue = (int)PressureControlMode.Homing;
                    _deviceData.ModeSetPoint = (int)PressureControlMode.Homing;
                    _aoSlowVacuumRate.FloatValue = 0;
                    _aoSlowVacuumTargetPressure.FloatValue = 0;
                    break;
                case "WaitPressUp1":
                    //wait: sensor 1的压力小于basePressure
                    _basePressure = setValue;
                    _aoSlowVacuumTargetPressure.FloatValue = setValue;
                    break;
                case "WaitPressDown1":
                    //wait: sensor 1的压力大于basePressure
                    _basePressure = setValue;
                    _aoSlowVacuumTargetPressure.FloatValue = setValue;
                    break;
                case "WaitPressUp2":
                    //wait: sensor 2的压力小于basePressure
                    _basePressure = setValue;
                    _aoSlowVacuumTargetPressure.FloatValue = setValue;
                    break;
                case "WaitPressDown2":
                    //wait: sensor 2的压力大于basePressure
                    _basePressure = setValue;
                    _aoSlowVacuumTargetPressure.FloatValue = setValue;
                    break;
                case "Zero Set":
                    //offset cancle
                    break;
                case "Cancel Zero":
                    //cancle Zero Set
                    break;
            }
        }
        private void SetSlowVacParameters(string fileNameAndPath)
        {
            if (string.IsNullOrEmpty(fileNameAndPath))
            {
                fileNameAndPath = SC.GetStringValue("PM1.APCPID");
            }
            if (!File.Exists($"{PathManager.GetParameterDir()}\\{fileNameAndPath}.rcp"))
            {
                fileNameAndPath = SC.GetStringValue("PM1.APCPID");
            }
            var para = fileNameAndPath.Split('\\').ToList().Skip(2);//"Parameter\\APCPID"
            if (para == null)
            {
                EV.PostWarningLog(Module, $"{fileNameAndPath} APC PID name is empty");
                return;
            }
            var fileName = string.Join("\\", para.ToArray());
            var content = ParameterFileManager.Instance.LoadParameter("Parameter\\APCPID", fileName, false);
            if (string.IsNullOrEmpty(content))
            {
                EV.PostWarningLog(Module, $"{fileNameAndPath} APC PID file is empty");
                return;
            }
            var doc = new XmlDocument();
            doc.LoadXml(content);

            XmlNodeList nodeSteps = doc.SelectNodes($"Aitex/TableParameterData");
            if (nodeSteps == null)
            {
                EV.PostWarningLog(Module, $"Invalid APC PID file {fileNameAndPath}");
                return;
            }
            foreach (var step in nodeSteps)
            {
                XmlElement stepNode = step as XmlElement;
                float value = 0;
                var hasSetValue = false;
                foreach (XmlAttribute att in stepNode.Attributes)
                {
                    switch (att.Name.ToUpper())
                    {
                        case "P":
                            float.TryParse(att.Value, out value);
                            _aoSlowVacuumP.FloatValue = value;
                            break;
                        case "I":
                            float.TryParse(att.Value, out value);
                            _aoSlowVacuumI.FloatValue = value;
                            break;
                        case "D":
                            float.TryParse(att.Value, out value);
                            _aoSlowVacuumD.FloatValue = value;
                            break;
                        case "A":
                            float.TryParse(att.Value, out value);
                            _aoSlowVacuumA.FloatValue = value;
                            break;
                    }

                    hasSetValue = true;
                }

                _doAoDataWriteCusConfig.SetPulseValue(true, 3000);

                if (hasSetValue)
                    return;
            }

            if (SC.GetStringValue("PM1.APCPID") != fileNameAndPath)
                SC.SetItemValueFromString("PM1.APCPID", fileNameAndPath);
        }
        private void SetControllerParameters(string fileNameAndPath, int controllerID, string recipePIDTableName = "")
        {
            //var defaultPID = SC.GetStringValue("PM1.APCPID");
            if(string.IsNullOrEmpty(fileNameAndPath))
            {
                fileNameAndPath = SC.GetStringValue("PM1.APCPID");
            }
            if (!File.Exists($"{PathManager.GetParameterDir()}\\{fileNameAndPath}.rcp"))
            {
                fileNameAndPath = SC.GetStringValue("PM1.APCPID");
            }
            var para = fileNameAndPath.Split('\\').ToList().Skip(2);//"Parameter\\APCPID"
            if (para == null)
            {
                EV.PostWarningLog(Module, $"{fileNameAndPath} APC PID name is empty");
                return;
            }
            var fileName = string.Join( "\\", para.ToArray());
            if (!string.IsNullOrEmpty(recipePIDTableName))
                fileName = recipePIDTableName;

            if(controllerID <= 0)
            {
                int.TryParse(SC.GetStringValue("PM1.APCPIDControllerID"), out controllerID);
            }

            _deviceData.PIDTable = $"{controllerID}:{fileName}";
            var content = ParameterFileManager.Instance.LoadParameter("Parameter\\APCPID", fileName, false);
            if (string.IsNullOrEmpty(content))
            {
                EV.PostWarningLog(Module, $"{fileNameAndPath} APC PID file is empty");
                return;
            }
            var doc = new XmlDocument();
            doc.LoadXml(content);

            XmlNodeList nodeSteps = doc.SelectNodes($"Aitex/TableParameterData/Module[@Name='']/Step");
            if (nodeSteps == null)
                nodeSteps = doc.SelectNodes($"Aitex/TableParameterData/Step");
            if(nodeSteps == null)
            {
                EV.PostWarningLog(Module, $"Invalid APC PID file {fileNameAndPath}");
                return;
            }

            Dictionary<int, ControllerParameter> dic = new Dictionary<int, ControllerParameter>();
            float p = 0;
            float i = 0;
            float d = 0;
            float a = 0;
            float ch = 0;
            float cl = 0;
            float offset = 0;
            foreach (var step in nodeSteps)
            {
                XmlElement stepNode = step as XmlElement;
                var parameters = new Dictionary<string, string>();

                foreach (XmlAttribute att in stepNode.Attributes)
                {
                    parameters.Add(att.Name, att.Value);
                }

                int.TryParse(parameters["StepNo"], out int no);
                float.TryParse(parameters["P"], out p);
                float.TryParse(parameters["I"], out i);
                float.TryParse(parameters["D"], out d);
                float.TryParse(parameters["a"], out a);
                float.TryParse(parameters["offset"], out offset);
                float.TryParse(parameters["CH"], out ch);
                float.TryParse(parameters["CL"], out cl);
                if(dic.ContainsKey(no))
                {
                    EV.PostWarningLog(Module, $"Invalid APC PID file {fileNameAndPath}, duplicate no={no}");
                    return;
                }
                dic.Add(no, new ControllerParameter()
                {
                    No = no,
                    Name = parameters["Name"],
                    P = p,
                    I = i,
                    D = d,
                    A = a,
                    Offset = offset,
                    CH = ch,
                    CL = cl,
                });
            }

            if (!dic.ContainsKey(controllerID))
            {
                int.TryParse(SC.GetStringValue("PM1.APCPIDControllerID"), out controllerID);
            }
            if (!dic.ContainsKey(controllerID))
                return;
                
            p = dic[controllerID].P;
            i = dic[controllerID].I;
            d = dic[controllerID].D;
            a = dic[controllerID].A;
            ch = dic[controllerID].CH;
            cl = dic[controllerID].CL;
            offset = dic[controllerID].Offset;
            switch(controllerID)
            {
                case 1:
                    _aoController1P.FloatValue = p;
                    _aoController1I.FloatValue = i;
                    _aoController1D.FloatValue = d;
                    _aoController1A.FloatValue = a;
                    _aoController1CH.FloatValue = ch;
                    _aoController1CL.FloatValue = cl;
                    _aoController1Offset.FloatValue = offset;
                    break;
                case 2:
                    _aoController2P.FloatValue = p;
                    _aoController2I.FloatValue = i;
                    _aoController2D.FloatValue = d;
                    _aoController2A.FloatValue = a;
                    _aoController2CH.FloatValue = ch;
                    _aoController2CL.FloatValue = cl;
                    _aoController2Offset.FloatValue = offset;
                    break;
                case 3:
                    _aoController3P.FloatValue = p;
                    _aoController3I.FloatValue = i;
                    _aoController3D.FloatValue = d;
                    _aoController3A.FloatValue = a;
                    _aoController3CH.FloatValue = ch;
                    _aoController3CL.FloatValue = cl;
                    _aoController3Offset.FloatValue = offset;
                    break;
                case 4:
                    _aoController4P.FloatValue = p;
                    _aoController4I.FloatValue = i;
                    _aoController4D.FloatValue = d;
                    _aoController4A.FloatValue = a;
                    _aoController4CH.FloatValue = ch;
                    _aoController4CL.FloatValue = cl;
                    _aoController4Offset.FloatValue = offset;
                    break;
                case 5:
                    _aoController5P.FloatValue = p;
                    _aoController5I.FloatValue = i;
                    _aoController5D.FloatValue = d;
                    _aoController5A.FloatValue = a;
                    _aoController5CH.FloatValue = ch;
                    _aoController5CL.FloatValue = cl;
                    _aoController5Offset.FloatValue = offset;
                    break;
                case 6:
                    _aoController6P.FloatValue = p;
                    _aoController6I.FloatValue = i;
                    _aoController6D.FloatValue = d;
                    _aoController6A.FloatValue = a;
                    _aoController6CH.FloatValue = ch;
                    _aoController6CL.FloatValue = cl;
                    _aoController6Offset.FloatValue = offset;
                    break;
                case 7:
                    _aoController7P.FloatValue = p;
                    _aoController7I.FloatValue = i;
                    _aoController7D.FloatValue = d;
                    _aoController7A.FloatValue = a;
                    _aoController7CH.FloatValue = ch;
                    _aoController7CL.FloatValue = cl;
                    _aoController7Offset.FloatValue = offset;
                    break;
                case 8:
                    _aoController8P.FloatValue = p;
                    _aoController8I.FloatValue = i;
                    _aoController8D.FloatValue = d;
                    _aoController8A.FloatValue = a;
                    _aoController8CH.FloatValue = ch;
                    _aoController8CL.FloatValue = cl;
                    _aoController8Offset.FloatValue = offset;
                    break;
                case 9:
                    _aoController9P.FloatValue = p;
                    _aoController9I.FloatValue = i;
                    _aoController9D.FloatValue = d;
                    _aoController9A.FloatValue = a;
                    _aoController9CH.FloatValue = ch;
                    _aoController9CL.FloatValue = cl;
                    _aoController9Offset.FloatValue = offset;
                    break;
                case 10:
                    _aoController10P.FloatValue = p;
                    _aoController10I.FloatValue = i;
                    _aoController10D.FloatValue = d;
                    _aoController10A.FloatValue = a;
                    _aoController10CH.FloatValue = ch;
                    _aoController10CL.FloatValue = cl;
                    _aoController10Offset.FloatValue = offset;
                    break;
            }

            _doAoDataWriteCusConfig.SetPulseValue(true, 3000);

            if (SC.GetStringValue("PM1.APCPID") != fileNameAndPath)
                SC.SetItemValueFromString("PM1.APCPID", fileNameAndPath);
            if (SC.GetStringValue("PM1.APCPIDControllerID") != controllerID.ToString())
                SC.SetItemValueFromString("PM1.APCPIDControllerID", controllerID.ToString());
        }
        public bool CheckWaitCondition(out string reason)
        {
            reason = "";
            if(IsNeedWaitComplete)
            {
                var command = _deviceData.CommandSetPoint;
                var setValue = _deviceData.SetPoint;
                switch (command)
                {
                    case "Press":
                        if (_deviceData.ModeSetPoint == _deviceData.ModeFeedback && _deviceData.ModeSetPoint == (int)PressureControlMode.Press1Control &&
                           ((_deviceData.Pressure1Feedback > _deviceData.PressureSetPoint - _waitLow &&
                            _deviceData.Pressure1Feedback < _deviceData.PressureSetPoint + _waitHigh) ||
                            (_waitLow <= 0 && _waitHigh <= 0)))
                        {
                            return true;
                        }
                        else
                        {
                            reason = $"press1 feedback={_deviceData.Pressure1Feedback}, wait condition is ({_deviceData.PressureSetPoint - _waitLow}, {_deviceData.PressureSetPoint + _waitHigh})";
                        }
                        break;
                    case "Press2":
                        if (_deviceData.ModeSetPoint == _deviceData.ModeFeedback && _deviceData.ModeSetPoint == (int)PressureControlMode.Press2Control &&
                          ((_deviceData.Pressure2Feedback > _deviceData.PressureSetPoint - _waitLow &&
                            _deviceData.Pressure2Feedback < _deviceData.PressureSetPoint + _waitHigh )||
                            (_waitLow <= 0 && _waitHigh <= 0)))
                        {
                            return true;
                        }
                        else
                        {
                            reason = $"press2 feedback={_deviceData.Pressure2Feedback}, wait condition is ({_deviceData.PressureSetPoint - _waitLow}, {_deviceData.PressureSetPoint + _waitHigh})";
                        }
                        break;
                    case "Slow Vac":
                        if (_deviceData.ModeSetPoint == _deviceData.ModeFeedback && _deviceData.ModeSetPoint == (int)PressureControlMode.SlowVacuum)
                        {
                            return true;
                        }
                        else
                        {
                            reason = $"slow vac wait";
                        }
                        break;
                    case "Valve Angle":
                        if (_deviceData.ModeSetPoint == _deviceData.ModeFeedback && _deviceData.ModeSetPoint == (int)PressureControlMode.PositionControl &&
                           ((_deviceData.PositionFeedback > _waitLow && _deviceData.PositionFeedback < _waitHigh )||
                           (_waitLow <= 0 && _waitHigh <= 0)))
                        {
                            return true;
                        }
                        else
                        {
                            reason = $"position feedback={_deviceData.PositionFeedback}, wait condition is ({_waitLow}, {_waitHigh})";
                        }
                        break;
                    case "Full Open":
                        if(_deviceData.ModeSetPoint== _deviceData.ModeFeedback && _deviceData.ModeSetPoint == (int)PressureControlMode.Open)
                        {
                            return true;
                        }
                        else
                        {
                            reason = $"full open wait";
                        }
                        break;
                    case "Full Close":
                        if (_deviceData.ModeSetPoint == _deviceData.ModeFeedback && _deviceData.ModeSetPoint == (int)PressureControlMode.Close)
                        {
                            return true;
                        }
                        else
                        {
                            reason = $"full close wait";
                        }
                        break;
                    case "Hold":
                        if (_deviceData.ModeSetPoint == _deviceData.ModeFeedback && _deviceData.ModeSetPoint == (int)PressureControlMode.Hold)
                        {
                            return true;
                        }
                        else
                        {
                            reason = $"hold wait";
                        }
                        break;
                    case "Home":
                        if (_deviceData.ModeSetPoint == _deviceData.ModeFeedback && _deviceData.ModeSetPoint == (int)PressureControlMode.Homing)
                        {
                            return true;
                        }
                        else
                        {
                            reason = $"home wait";
                        }
                        break;
                    case "WaitPressUp1":
                        //wait: sensor 1的压力大于等于basePressure
                        if (_deviceData.Pressure1Feedback >= _basePressure)
                        {
                            return true;
                        }
                        else
                        {
                            reason = $"WaitPressUp1 press1 feedback={_deviceData.Pressure1Feedback} < basePressure={_basePressure}";
                        }
                        break;
                    case "WaitPressDown1":
                        //wait: sensor 1的压力小于等于basePressure
                        if (_deviceData.Pressure1Feedback <= _basePressure)
                        {
                            return true;
                        }
                        else
                        {
                            reason = $"WaitPressDown1 press1 feedback={_deviceData.Pressure1Feedback} > basePressure={_basePressure}";
                        }
                        break;
                    case "WaitPressUp2":
                        //wait: sensor 2的压力大于等于basePressure
                        if (_deviceData.Pressure2Feedback >= _basePressure)
                        {
                            return true;
                        }
                        else
                        {
                            reason = $"WaitPressUp2 press2 feedback={_deviceData.Pressure2Feedback} < basePressure={_basePressure}";
                        }
                        break;
                    case "WaitPressDown2":
                        //wait: sensor 2的压力小于等于basePressure
                        if (_deviceData.Pressure2Feedback <= _basePressure)
                        {
                            return true;
                        }
                        else
                        {
                            reason = $"WaitPressDown2 press2 feedback={_deviceData.Pressure2Feedback} > basePressure={_basePressure}";
                        }
                        break;
                    case "Zero Set":
                        //offset cancle
                        break;
                    case "Cancel Zero":
                        //cancle Zero Set
                        break;
                }

                return false;
            }
            else
            {
                return true;
            }
        }
        struct ControllerParameter
        {
            public int No { get; set; }
            public string Name { get; set; }
            public float P { get; set; }
            public float I { get; set; }
            public float D { get; set; }
            public float A { get; set; }
            public float Offset { get; set; }
            public float CH { get; set; }
            public float CL { get; set; }

        }
    }
}