CyberX8/CyberX8_RT/Modules/EFEM/EfemEntity.cs

using System;
using System.Diagnostics;
using System.Collections.Generic;
using Aitex.Core.Common;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Utilities;
using Aitex.Core.Util;
using Aitex.Core.RT.Log;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.Common.SubstrateTrackings;
using CyberX8_Core;
using CyberX8_RT;
using CyberX8_RT.Devices;
using CyberX8_RT.Devices.YASKAWA;
using CyberX8_RT.Devices.EFEM;
using CyberX8_RT.Modules.LPs;
using CyberX8_RT.Modules.EFEM;
using System.Reflection;
using CyberX8_RT.Modules.Transporter;
using MECF.Framework.Common.Alarm;
using MECF.Framework.Common.CommonData;
using CyberX8_RT.Modules.Loader;
using Aitex.Core.RT.Routine;
using MECF.Framework.Common.IOCore;
using MECF.Framework.Common.Beckhoff.ModuleIO;

namespace CyberX8_RT.Modules
{
    class EfemEntity : Entity, IEntity, IModuleEntity
    {
        #region 常量
        private const string VACUUM_VALUE = "VacuumValue";
        private const string DOOR_UNLOCK = "DoorUnlock";
        #endregion
        //private int _bigWafer = 0;
        //private int _midWafer = 0;
        //private int _smallWafer = 0;

        private bool _isVacuume = false;

        public enum STATE
        {
            Unknown,            // 0
            Initializing,       // 1
            Idle,               // 2
            Error,              // 3
            Picking,            // 4

            Placing,            // 5
            Aligning,           // 6
            Mapping,            // 7
            Init,               // 8
            Orgshing,           // 9
            Lifting,            // 10
            InitingAL,          // 11
            InitingRB,          // 12
            Extending,          // 13
            Retracting,         // 14
            //SettingLamp,        // 15
            Swapping,
            Gotoing,
            Gripping,
            Ungripping,
            Fliping,
            Vacuuming,
            Retrying,
            ConfirmCompleting,
            ErrorPicking,
            ErrorPlacing,
            RobotCycleing
        }

        public enum MSG
        {
            HomeAll,            // 0
            Pick,               // 1
            Place,              // 2
            Align,              // 3
            ActionDone,         // 4
            MoveCmd,            // 6
            Recover,            // 8
            Goto,               // 9
            Error,              // 10
            Online,             // 11
            CommReady,          // 12
            Lift,               // 13
            HomeAL,             // 14
            HomeRB,             // 15
            Extend,             // 16
            Retract,            // 17
            PMLiftPinUp,        // 18
            PMLiftPinDown,      // 19
            TurnOffBuzzer, 
            Abort,
            GotoMap,
            Map,
			ToInit,
			Cool,
            Swap,
            Grip,
            Ungrip,
            Flip,
            LiftActionDone,
            Offline,
            SetRobotSpeed,
            MapDummy,
            Vacuum,
            CloseBuzzer,
            RobotPowerOn,
            Retry,
            ConfirmComplete,
            BackroundCmd=999,
            Load,
            Unload,
            Dock,
            Undock,
            Clamp,
            Unclamp,
            ReadCarrierId,
            WriteCarrierID,
            ReadTagData,
            WriteTagData,
            RobotCycle
        }

        public enum EfemType
        {
            FutureEfem = 1,
            SunWayEFEM =2
        }
        public bool IsIdle
        {
            get { return fsm.State == (int)STATE.Idle; }
        }

        public bool IsError
        {
            get { return fsm.State == (int)STATE.Error; }
        }

        public bool IsInit
        {
            get { return fsm.State == (int)STATE.Unknown || fsm.State == (int)STATE.Init; }
        }

        public bool IsBusy
        {
            get { return !IsInit && !IsError && !IsIdle; }
        }

        public bool IsAuto { get; } = true;

        /// <summary>
        /// 是否为工程模式
        /// </summary>
        public bool IsEngineering { get; } = false;
        /// <summary>
        /// 是否为产品模式
        /// </summary>
        public bool IsProduction { get; } = true;
        /// <summary>
        /// 模块名称
        /// </summary>
        public ModuleName Module { get; private set; }

        public bool IsHomed
        {
            get { return _isHomed; }
        }
        public bool IsOnline { get; internal set; }

        public bool IsDisable { get; internal set; }

        public RState RobotStatus
        {
            get
            {
                if (_efem.Status != RState.Running)
                {
                    if (_robotWatch.ElapsedMilliseconds < 200)
                        return RState.Running;
                    else
                        return _efem.Status;
                }
                else
                    return RState.Running;
            }
        }

        public bool Check(int msg, out string reason, params object[] args)
        {
            throw new NotImplementedException();
        }


        // Fields
        private readonly string Name;
        private readonly EfemBase _efem;
        private readonly LoadPortModule[] _lpms = new LoadPortModule[3];
        private readonly DummyDevice[] _dummies = new DummyDevice[2];
        private readonly EfemType _efemType;
        public EfemBase EfemDevice => _efem;
        public EfemType EFEMType => _efemType;

        // routine
        private readonly EfemPickRoutine _pickRoutine;
        private readonly EfemPlaceRoutine _placeRoutine;
        private readonly EfemSwapRoutine _swapRoutine;
        private readonly EfemHomeRoutine _homeRoutine;
        private readonly EFEMAlignRoutine _alignRoutine;
        private readonly EfemMapDummyRoutine _mapDummyRoutine;
        private readonly EfemVacuumRoutine _vacuumRoutine;
        private readonly CycleRobotCycleNewRoutine _cycleRobotCycleRoutine;

        private string LiftMessage;

        private Stopwatch _robotWatch = new Stopwatch();
        private R_TRIG _robotIdleTrigger = new R_TRIG();

        private bool _isHomed = false;
        private EfemAutoMessageProcessor _autoMessageProcessor;
        private STATE _errorPreState;
        private IRoutine _currentRoutine;
        private int _currentCycleTimes;
        /// <summary>
        /// 变量是否初始化字典
        /// </summary>
        private Dictionary<string, bool> _variableInitializeDic = new Dictionary<string, bool>();
        /// <summary>
        /// 真空数值
        /// </summary>
        private double _vacuumValue;
        private bool _doorUnlock;
        // Constructor
        public EfemEntity()
        {
            Module = ModuleName.EFEM;

            Name = ModuleName.EFEM.ToString();


            InitFsmMap();

            _efemType = (EfemType)SC.GetValue<int>($"EFEM.EfemType");
            _efem = new SunWayRobot();
            _homeRoutine    = new EfemHomeRoutine(_efem);
            _pickRoutine    = new EfemPickRoutine(_efem);
            _placeRoutine   = new EfemPlaceRoutine(_efem);
            _swapRoutine    = new EfemSwapRoutine(_efem);
            _alignRoutine = new EFEMAlignRoutine(_efem);
            _mapDummyRoutine = new EfemMapDummyRoutine(_efem);
            _vacuumRoutine = new EfemVacuumRoutine(_efem);
            _cycleRobotCycleRoutine =   new CycleRobotCycleNewRoutine(_efem);
            _autoMessageProcessor =new EfemAutoMessageProcessor(_efem);
        }
        public LoadPortModule GetLoadportModule(int lpNumber)
        {
            if (lpNumber < 0|| _lpms.Length<=lpNumber)
            {
                return null;
            }
            return _lpms[lpNumber];
        }

        public DummyDevice GetDummyDevice(int dummyNumber)
        {
            if (dummyNumber < 0||_dummies.Length<=dummyNumber)
            {
                return null;
            }
            return _dummies[dummyNumber];
        }
        
        protected override bool Init()
        {
            _lpms[0] = new LoadPortModule(ModuleName.LP1, _efem);
            _lpms[1] = new LoadPortModule(ModuleName.LP2, _efem);
            _lpms[2] = new LoadPortModule(ModuleName.LP3, _efem);

            _dummies[0] = new DummyDevice(ModuleName.Dummy1);
            _dummies[1] = new DummyDevice(ModuleName.Dummy2);

            _lpms[0].Initialize();
            _lpms[1].Initialize();
            _lpms[2].Initialize();

            BeckhoffIoSubscribeUpdateVariable(VACUUM_VALUE);
            BeckhoffIoSubscribeUpdateVariable(DOOR_UNLOCK);


            OP.Subscribe($"{ModuleName.EFEM}.{EfemOperation.Home}",             (cmd, args) => { PostMsg(MSG.HomeAll); return true; });
            OP.Subscribe($"{ModuleName.EFEM}.{EfemOperation.RobotCycle}",             (cmd, args) => { 
                PostMsg(MSG.RobotCycle,args); return true; });
            OP.Subscribe($"{ModuleName.EFEM}.{EfemOperation.ClearError}",       (cmd, args) => { PostMsg(MSG.Recover); return true; });
            OP.Subscribe($"{ModuleName.EFEM}.{EfemOperation.TurnOffBuzzer}", (cmd, args) => { PostMsg(MSG.CloseBuzzer); return true; });
            OP.Subscribe($"{ModuleName.EFEM}.Online",                           (cmd, args) => 
            {
                PostMsg(MSG.Online, args[0]); return true; 
            });
            OP.Subscribe($"{ModuleName.EfemRobot}.{EfemOperation.Pick}",        (cmd, args) => { CheckToPostMessage<STATE, MSG>(eEvent.ERR_EFEM_COMMON_FAILED,"EFEM",(int)MSG.Pick, args[0]); return true; });
            OP.Subscribe($"{ModuleName.EfemRobot}.{EfemOperation.Place}",       (cmd, args) => { CheckToPostMessage<STATE, MSG>(eEvent.ERR_EFEM_COMMON_FAILED, "EFEM", (int)MSG.Place, args[0]); return true; });
            OP.Subscribe($"{ModuleName.EfemRobot}.{EfemOperation.Swap}",        (cmd, args) => { PostMsg(MSG.Swap, args[0]); return true; });

            OP.Subscribe($"{ModuleName.EfemRobot}.{EfemOperation.DummyMap}",         (cmd, args) => { CheckToPostMessage<STATE, MSG>(eEvent.ERR_EFEM_COMMON_FAILED, "EFEM", (int)MSG.MapDummy); return true; });
            
            OP.Subscribe($"{ModuleName.EfemRobot}.{EfemOperation.Speed}", (cmd, args) => { 
                return _efem.SetRobotSpeed(ModuleName.EfemRobot, (int)args[0]); });
            OP.Subscribe($"{ModuleName.EfemRobot}.{EfemOperation.Vacuum}", (cmd, args) => {
                return _efem.Vacuum(ModuleName.EfemRobot, (bool)args[1]); });
            OP.Subscribe($"{ModuleName.EfemRobot}.{EfemOperation.PowerOn}", (cmd, args) => { 
                return _efem.RobotPowerOn(ModuleName.EfemRobot, (bool)args[0]); });
            
            OP.Subscribe($"{ModuleName.EfemRobot}.{EfemOperation.Abort}",       (cmd, args) => { PostMsg(MSG.Abort); return true; });
            OP.Subscribe($"{ModuleName.EfemRobot}.{EfemOperation.Home}",        (cmd, args) => { PostMsg(MSG.HomeRB); return true; });
            OP.Subscribe($"{ModuleName.EfemRobot}.{EfemOperation.Grip}",        (cmd, args) =>
            {
                bool isGrip = ((string)args[0]).ToLower() == "on";

                PostMsg(isGrip ? MSG.Grip : MSG.Ungrip,  args[1]); 
                
                return true;
            });

            //OP.Subscribe($"{ModuleName.EfemRobot}.{EfemOperation.Flip}", (cmd, args) => { PostMsg(MSG.Flip, args[0]); return true; });

            OP.Subscribe($"{ModuleName.Aligner1}.{EfemOperation.Home}",     (cmd, args) => { PostMsg(MSG.HomeAL, ModuleName.Aligner1); return true; });
            OP.Subscribe($"{ModuleName.Aligner1}.{EfemOperation.Align}",    (cmd, args) => { CheckToPostMessage<STATE,MSG>(eEvent.ERR_EFEM_COMMON_FAILED,ModuleName.EFEM.ToString(),(int)MSG.Align, ModuleName.Aligner1, args[0], args[1]); return true; });            
            //OP.Subscribe($"{ModuleName.Aligner1}.{EfemOperation.Vacuum}",    (cmd, args) => { CheckToPostMessage<STATE,MSG>(eEvent.ERR_EFEM_COMMON_FAILED,ModuleName.EFEM.ToString(),(int)MSG.Vacuum, args); return true; });            
            OP.Subscribe($"{ModuleName.Aligner1}.{EfemOperation.Vacuum}", (cmd, args) => { return VacuumAction(args); });            
            OP.Subscribe($"{Name}.DoorUnlock", (cmd, args) => { return DoorUnlock(args); });

            DATA.Subscribe($"{Name}.FsmState", () => ((STATE)fsm.State).ToString(),SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Name}.FsmPrevState", () => ((STATE)fsm.PrevState).ToString(), SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Name}.FsmLastMessage", GetFsmLastMessage, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Name}.RobotMoveAction", () => (_efem.TMRobotMoveInfo), SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Name}.State", () => ((STATE)fsm.State).ToString(), SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Name}.IsAlarm", () => IsError, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Name}.IsInit", () => IsInit, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Name}.IsIdle", () => IsIdle, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Name}.IsBusy", () => IsBusy, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Name}.IsOnline", () => IsOnline, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Name}.IsHomed", () => _isHomed,  SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Name}.RobotSpeed",()=>IsIdle?SC.GetValue<int>("EFEM.DefaultMoveSpeedInPercent"):0);
            DATA.Subscribe($"{Name}.CurrentRobotCycleTime",()=>_currentCycleTimes, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Name}.VacuumValue",()=>_vacuumValue, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Name}.DoorUnlock", () => _doorUnlock, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            _robotWatch.Restart();
            return true;
        }
        /// <summary>
        /// 订阅IO变量
        /// </summary>
        /// <param name="variable"></param>
        private void BeckhoffIoSubscribeUpdateVariable(string variable)
        {
            _variableInitializeDic[variable] = false;
            IOModuleManager.Instance.SubscribeModuleVariable($"{Module}", variable, UpdateVariableValue);
        }
        /// 更新变量数值
        /// </summary>
        /// <param name="variable"></param>
        /// <param name="value"></param>
        private void UpdateVariableValue(string variable, object value)
        {
            _variableInitializeDic[variable] = true;
            if (variable == VACUUM_VALUE)
            {
                _vacuumValue = (double)value;
            }
            else if (variable == DOOR_UNLOCK)
            {
                _doorUnlock = (bool)value;
            }
        }
        private void InitFsmMap()
        {
            fsm = new StateMachine<EfemEntity>("EFEM", (int)STATE.Unknown, 50);
            fsm.EnableRepeatedMsg(true);

            AnyStateTransition(FSM_MSG.TIMER,               fnMonitor,          FSM_STATE.SAME);
            AnyStateTransition(MSG.TurnOffBuzzer,           fnTurnOffBuzzer,    FSM_STATE.SAME);
            AnyStateTransition(MSG.Error,                   fnError,            STATE.Error);
            AnyStateTransition(MSG.Online,                  fnOnline,           FSM_STATE.SAME);
            AnyStateTransition(MSG.Abort,                   fnAbortRobot,       FSM_STATE.SAME);
            AnyStateTransition(MSG.ToInit,                  fnToInit,           STATE.Init);
            AnyStateTransition(MSG.BackroundCmd,            fnBackroundCommand, FSM_STATE.SAME);
            AnyStateTransition(MSG.CloseBuzzer,          fnCloseBuzzer, FSM_STATE.SAME);
            
            Transition(STATE.Unknown,MSG.CommReady, fnCommReady, STATE.Init);
            //Error
            Transition(STATE.Error, MSG.Recover, fnRecover, STATE.Idle);

            // Home
            Transition(STATE.Unknown,          MSG.HomeAll,            fnHomeAll,          STATE.Initializing);
            Transition(STATE.Init,          MSG.HomeAll,            fnHomeAll,          STATE.Initializing);
            Transition(STATE.Idle,          MSG.HomeAll,            fnHomeAll,          STATE.Initializing);    
            Transition(STATE.Error,         MSG.HomeAll,            fnHomeAll,          STATE.Initializing);
            Transition(STATE.Initializing,  FSM_MSG.TIMER,          fnHomingTimeout,    STATE.Idle);

            // Home Robot
            Transition(STATE.Error, MSG.HomeRB, fnHomeRobot, STATE.InitingRB);
            Transition(STATE.Idle,          MSG.HomeRB,             fnHomeRobot,        STATE.InitingRB);
            Transition(STATE.InitingRB,     FSM_MSG.TIMER,          fnHomingRobotTimeout,    STATE.Idle);

            // Home Aligner
            Transition(STATE.Idle,          MSG.HomeAL,             fnHomeAligner,      STATE.InitingAL);
            Transition(STATE.InitingAL,     FSM_MSG.TIMER,          fnHomingAlignTimeout,    STATE.Idle);

            // Pick wafer
            Transition(STATE.Idle,          MSG.Pick,               FnStartPick,        STATE.Picking);
            Transition(STATE.Picking,       FSM_MSG.TIMER,          FnPickTimeout,      STATE.Idle);
            Transition(STATE.Picking,       MSG.Abort,              FnAbortPick,        STATE.Idle);

            //Robot Cycle
            Transition(STATE.Idle, MSG.RobotCycle, FnStartRobotCycle, STATE.RobotCycleing);
            Transition(STATE.RobotCycleing, FSM_MSG.TIMER, FnRobotCycleTimeout, STATE.Idle);
            Transition(STATE.RobotCycleing, MSG.Abort, FnAbortRobotCycle, STATE.Idle);

            Transition(STATE.Error,         MSG.Pick,               FnErrorStartPick, STATE.ErrorPicking);
            Transition(STATE.ErrorPicking,  FSM_MSG.TIMER,          FnErrorPickTimeout, STATE.Error);
            Transition(STATE.ErrorPicking,  MSG.Abort,              FnErrorAbortPick, STATE.Error);
            // Place wafer
            Transition(STATE.Idle,          MSG.Place,              FnStartPlace,       STATE.Placing);
            Transition(STATE.Placing,       FSM_MSG.TIMER,          FnPlaceTimeout,     STATE.Idle);
            Transition(STATE.Placing,       MSG.Abort,              FnAbortPlace,       STATE.Idle);

            Transition(STATE.Error,         MSG.Place,              FnErrorStartPlace, STATE.ErrorPlacing);
            Transition(STATE.ErrorPlacing,  FSM_MSG.TIMER,          FnErrorPlaceTimeout, STATE.Error);
            Transition(STATE.ErrorPlacing,  MSG.Abort,              FnErrorAbortPlace, STATE.Error);

            // Swap wafer with LL sequence
            Transition(STATE.Idle,          MSG.Swap,               FnStartSwap,        STATE.Swapping);
            Transition(STATE.Swapping,      FSM_MSG.TIMER,          FnSwapTimeout,      STATE.Idle);
            Transition(STATE.Swapping,      MSG.Abort,              FnAbortSwap,        STATE.Idle);

            // Goto
            Transition(STATE.Idle,          MSG.Goto,               fnGoto,             STATE.Gotoing);
            Transition(STATE.Gotoing,       MSG.ActionDone,         fnActionDone,       STATE.Idle);


            // Map
            Transition(STATE.Idle,          MSG.Map,                fnMap,         STATE.Mapping);
            Transition(STATE.Mapping,       MSG.ActionDone,         fnActionDone,       STATE.Idle);

            // Grip
            Transition(STATE.Idle,          MSG.Grip,               fnGrip,             STATE.Gripping);
            Transition(STATE.Gripping,      MSG.ActionDone,         fnActionDone,       STATE.Idle);

            // Ungrip
            Transition(STATE.Idle,          MSG.Ungrip,             fnUngrip,           STATE.Ungripping);
            Transition(STATE.Ungripping,    MSG.ActionDone,         fnActionDone,       STATE.Idle);

            // Aligner
            Transition(STATE.Idle,          MSG.Lift,               fnLift,             STATE.Lifting);
            //Transition(STATE.Lifting,       MSG.LiftActionDone,     fnActionDone,       STATE.Idle);
            Transition(STATE.Lifting,       FSM_MSG.TIMER,          fnLiftTimeout,    STATE.Idle);
            Transition(STATE.Idle,          MSG.Align,              fnAlign,            STATE.Aligning);
            Transition(STATE.Aligning,      FSM_MSG.TIMER,          fnAlignTimeout, STATE.Idle);
            Transition(STATE.Aligning,      MSG.ActionDone,         fnActionDone,       STATE.Idle);

            //MapDummy
            Transition(STATE.Idle, MSG.MapDummy, MapDummy, STATE.Mapping);
            Transition(STATE.Mapping, FSM_MSG.TIMER, MapDummyTimeout, STATE.Idle);

            //Vacuum
            //Transition(STATE.Init, MSG.Vacuum, VacuumAction, STATE.Vacuuming);
            //Transition(STATE.Idle, MSG.Vacuum, VacuumAction, STATE.Vacuuming);
            //Transition(STATE.Error, MSG.Vacuum, VacuumAction, STATE.Vacuuming);
            //Transition(STATE.Vacuuming, FSM_MSG.TIMER, VacuumActionTimeout, STATE.Idle);
            //Retry 
            Transition(STATE.Error, MSG.Retry, NullFunc, STATE.Retrying);
            Transition(STATE.Retrying, FSM_MSG.TIMER, EfemRetry, STATE.Retrying);
            Transition(STATE.Retrying, MSG.Align, RetryAlign, STATE.Aligning);
            Transition(STATE.Retrying, MSG.Pick, RetryPick, STATE.Picking);
            Transition(STATE.Retrying, MSG.Place, RetryPlace, STATE.Placing);

            //ConfirmComplete
            Transition(STATE.Init, MSG.ConfirmComplete, ClearModuleAlarm, STATE.Init);
            Transition(STATE.Idle, MSG.ConfirmComplete, ClearModuleAlarm, STATE.Idle);
            Transition(STATE.Error, MSG.ConfirmComplete, NullFunc, STATE.ConfirmCompleting);
            Transition(STATE.ConfirmCompleting, FSM_MSG.TIMER, ConfirmComplete, STATE.ConfirmCompleting);
            Transition(STATE.ConfirmCompleting, MSG.Align, ConfirmAlign, STATE.Idle);
            Transition(STATE.ConfirmCompleting, MSG.Pick, ConfirmPickup, STATE.Idle);
            Transition(STATE.ConfirmCompleting, MSG.Place, ConfirmPlace, STATE.Idle);

            EnumLoop<STATE>.ForEach((item) => { fsm.MapState((int)item, item.ToString()); });

            EnumLoop<MSG>.ForEach((item) => { fsm.MapMessage((int)item, item.ToString()); });

            Running = true;
        }


        private bool fnCommReady(object[] param)
        {
            return true;
        }
        
        private bool fnCloseBuzzer(object[] param)
        {
            return _efem.CloseBuzzer();
        }
        
        private bool fnHomeAll(object[] param)
        {
            _isHomed = false;
            return _homeRoutine.Start(ModuleName.EFEM) == RState.Running;
        }

        private bool fnHomingTimeout(object[] param)
        {
            _currentRoutine = _homeRoutine;
            RState ret = _homeRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                _currentRoutine = null;
                PostMsg(MSG.Error);
                return false;
            }

            bool result= ret == RState.End;
            if(result)
            {
                _isHomed= true;
                RecoverLPStatus();
                _currentRoutine = null;
            }
            return result;
        }

        private void RecoverLPStatus()
        {
            _lpms[0].PostMsg(LoadPortModule.MSG.EnterIdle);
            _lpms[1].PostMsg(LoadPortModule.MSG.EnterIdle);
            _lpms[2].PostMsg(LoadPortModule.MSG.EnterIdle);
        }

        private bool fnHomeRobot(object[] param)
        {
            return _homeRoutine.Start(ModuleName.EfemRobot) == RState.Running;
        }
        private bool fnHomingRobotTimeout(object[] param)
        {
            _currentRoutine = _homeRoutine;
            RState ret = _homeRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(MSG.Error);
                _currentRoutine = _homeRoutine;
                return false;
            }

            bool result = ret == RState.End;
            if (result)
            {
                _currentRoutine = null;
                AlarmListManager.Instance.CheckModuleAlamAndRemove(Module.ToString(), STATE.Idle.ToString());
            }
            return result;
        }

        private bool fnHomeAligner(object[] param)
        {
            // module
            ModuleName unit = ModuleName.EFEM;
            if (param[0] is string s1)
                unit = ModuleNameString.ToEnum(s1);
            else if (param[0] is ModuleName mod)
                unit = mod;
            else
                throw new ArgumentException("Argument error");

            return _homeRoutine.Start(unit) == RState.Running;
        }

        private bool fnHomingAlignTimeout(object[] param)
        {
            _currentRoutine = _homeRoutine;
            RState ret = _homeRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                _currentRoutine = null;
                PostMsg(MSG.Error);
                return false;
            }

            bool result = ret == RState.End;
            if (result)
            {
                _currentRoutine = null;
                AlarmListManager.Instance.CheckModuleAlamAndRemove(Module.ToString(), STATE.Idle.ToString());
            }
            return result;
        }
        
        private bool fnActionDone(object[] param)
        {
            return false;
        }

        public bool CheckToPostMessage(int msg, params object[] args)
        {
            if (!fsm.FindTransition(fsm.State, msg))
            {
                LOG.Write(eEvent.WARN_EFEM_COMMON_WARN, ModuleName.EFEM, $"{Name} is in {(STATE)fsm.State} state，can not do {(MSG)msg}");
                return false;
            }

            Running = true;
            fsm.PostMsg(msg, args);

            return true;
        }

        private bool fnMonitor(object[] param)
        {
            if (_isVacuume)
            {
                VacuumActionTimeout();
                _isVacuume = false;
            }
            // robot idle check
            _robotIdleTrigger.CLK = _efem.Status != RState.Running;
            if (_robotIdleTrigger.Q)
            {
                _robotWatch.Restart();
                LOG.WriteLog(eEvent.EV_EFEM_ROBOT, Module.ToString(), $"robot status changed to {_efem.Status}");
            }

            _autoMessageProcessor.Monitor();
            return true;
        }
 
        private bool fnOnline(object[] param)
        {
            bool bOnlineFlag = (bool)param[0];

            if (_efem is EfemBase efem)
            {
                efem.SetOnline(bOnlineFlag);
            }
            IsOnline = bOnlineFlag;
            return true;
        }

        private string GetFsmLastMessage()
        {
            int msg = fsm.LastMsg;
            if (msg >= (int)MSG.HomeAll && msg <= (int)MSG.Error)
                return ((MSG)msg).ToString();

            if (msg == (int)FSM_MSG.TIMER)
                return "Timer";

            return msg.ToString();
        }

        private bool fnError(object[] param)
        {
            _errorPreState = (STATE)fsm.State;
            string error = (param != null && param.Length != 0) ? param[0].ToString() : "";
            if (Singleton<RouteManager>.Instance.IsAutoMode)
            {
                int msg = 0;
                if (_errorPreState == STATE.Picking)
                {
                    msg = (int)MSG.Pick;
                }
                else if (_errorPreState == STATE.Aligning)
                {
                    msg = (int)MSG.Align;
                }
                else if (_errorPreState == STATE.Placing)
                {
                    msg = (int)MSG.Place;
                }
                else
                {
                    error = $"{error}\r\n Plase Home Robot back to idle state";
                    return true;
                }
                AlarmList alarmList = new AlarmList(Module.ToString(), ((STATE)fsm.State).ToString(), msg,
                    error, 0, (int)AlarmType.Error);
                AlarmListManager.Instance.AddAlarm(alarmList);
            }
            return true;
        }

        private bool fnToInit(object[] param)
        {
            return true;
        }

        private bool fnRecover(object[] param)
        {
            bool result=_efem.ClearError();
            if (result)
            {
                PostMsg(MSG.ToInit);
            }
            return result;
        }

        private bool fnAbortRobot(object[] param)
        {
            //_efem.ExecuteAction();
            if (_currentRoutine != null)
            {
                _currentRoutine.Abort();
            }
            _efem.Halt();
            return true;
        }


        private bool fnBackroundCommand(object[] param)
        {
            _autoMessageProcessor.SendAutoCommandMessage(param);
            return true;
        }

        private bool fnRobotPowerOn(object[] param)
        {
            return _efem.RobotPowerOn(ModuleName.EfemRobot, (bool)param[0]);
        }

        private bool fnSetLED(object[] param)
        {
            LightType light = (LightType)param[0];
            LightStatus st = (LightStatus)param[1];

            return _efem.SetLamp(light, st);
        }

        private bool fnTurnOffBuzzer(object[] param)
        {
            return false;
        }

        private bool FnStartPick(object[] param)
        {
            return _pickRoutine.Start(param) == RState.Running;
        }

        private bool FnStartRobotCycle(object[] param)
        {
            return _cycleRobotCycleRoutine.Start(param) == RState.Running;
        }

        private bool FnErrorStartPick(object[] param)
        {
            if (!_isHomed)
            {
                LOG.WriteLog(eEvent.ERR_EFEM_ROBOT, Module.ToString(), "EFEM is not homed");
                return false;
            }
            _efem.Reset();
            return _pickRoutine.Start(param) == RState.Running;
        }

        /// <summary>
        /// Retry Pick
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool RetryPick(object[] param)
        {
            int stepIndex = (int)param[0];
            return _pickRoutine.Retry(stepIndex) == RState.Running;
        }

        private bool FnPickTimeout(object[] param)
        {
            _currentRoutine = _pickRoutine;
            RState ret = _pickRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(MSG.Error,_pickRoutine.ErrorMsg);
                _currentRoutine = null;
                return false;
            }

            if (ret == RState.End)
            {
                _currentRoutine = null;
                AlarmListManager.Instance.CheckModuleAlamAndRemove(Module.ToString(), STATE.Picking.ToString());
            }

            return ret == RState.End;
        }

        private bool FnRobotCycleTimeout(object[] param)
        {
            RState ret = _cycleRobotCycleRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(MSG.Error);
                return false;
            }
            _currentCycleTimes = _cycleRobotCycleRoutine.GetCurrentCycle();
            return ret == RState.End;
        }

        private bool FnErrorPickTimeout(object[] param)
        {
            RState ret = _pickRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(MSG.Error, _pickRoutine.ErrorMsg);
                return false;
            }
            return ret == RState.End;
        }

        /// <summary>
        /// 确认Pick是否完成
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool ConfirmPickup(object[] param)
        {
            int stepIdex = (int)param[0];
            bool result = _pickRoutine.CheckCompleteCondition(stepIdex);
            if (!result)
            {
                PostMsg(MSG.Error,_pickRoutine.ErrorMsg);
            }
            else
            {
                if (Singleton<RouteManager>.Instance.IsAutoRunning)
                {
                    AlarmListManager.Instance.CheckModuleAlamAndRemove(Module.ToString(), STATE.Picking.ToString());
                }
            }
            return result;
        }

        private bool FnAbortPick(object[] param)
        {
            _pickRoutine.Abort();
            return true;
        }
        private bool FnAbortRobotCycle(object[] param)
        {
            _cycleRobotCycleRoutine.Abort();
            return true;
        }
        private bool FnErrorAbortPick(object[] param)
        {
            _pickRoutine.Abort();
            return true;
        }
        private bool FnStartPlace(object[] param)
        {
            return _placeRoutine.Start(param) == RState.Running;
        }
        private bool FnErrorStartPlace(object[] param)
        {
            if(!_isHomed)
            {
                LOG.WriteLog(eEvent.ERR_EFEM_ROBOT, Module.ToString(), "EFEM is not homed");
                return false;
            }
            _efem.Reset();
            return _placeRoutine.Start(param) == RState.Running;
        }

        /// <summary>
        /// Retry Place
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool RetryPlace(object[] param)
        {
            int stepIndex = (int)param[0];
            return _placeRoutine.Retry(stepIndex) == RState.Running;
        }

        private bool FnPlaceTimeout(object[] param)
        {
            _currentRoutine = _placeRoutine;
            RState ret = _placeRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                _currentRoutine = null;
                PostMsg(MSG.Error,_placeRoutine.ErrorMsg);
                return false;
            }
            if (ret == RState.End)
            {
                _currentRoutine = null;
                AlarmListManager.Instance.CheckModuleAlamAndRemove(Module.ToString(), STATE.Placing.ToString());
            }
            return ret == RState.End;
        }
        private bool FnErrorPlaceTimeout(object[] param)
        {
            RState ret = _placeRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(MSG.Error, _placeRoutine.ErrorMsg);
                return false;
            }
            return ret == RState.End;
        }
        /// <summary>
        /// 确认Place是否完成
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool ConfirmPlace(object[] param)
        {
            int stepIdex = (int)param[0];
            bool result = _placeRoutine.CheckCompleteCondition(stepIdex);
            if (!result)
            {
                PostMsg(MSG.Error, _placeRoutine.ErrorMsg);
            }
            else
            {
                if (Singleton<RouteManager>.Instance.IsAutoRunning)
                {
                    AlarmListManager.Instance.CheckModuleAlamAndRemove(Module.ToString(), STATE.Picking.ToString());
                }
            }
            return result;
        }
        private bool FnAbortPlace(object[] param)
        {
            _placeRoutine.Abort();
            return true;
        }

        private bool FnErrorAbortPlace(object[] param)
        {
            _placeRoutine.Abort();
            return true;
        }
        private bool FnStartSwap(object[] param)
        {
            return _swapRoutine.Start(param) == RState.Running;
        }

        private bool FnSwapTimeout(object[] param)
        {
            RState ret = _swapRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(MSG.Error);
                return false;
            }

            return ret == RState.End;
        }



        private bool FnAbortSwap(object[] param)
        {
            _swapRoutine.Abort();
            return true;
        }
        private bool fnGoto(object[] param)
        {
            // module
            ModuleName unit = ModuleName.EFEM;
            if (param[0] is string s1)
                unit = ModuleNameString.ToEnum(s1);
            else if (param[0] is ModuleName mod)
                unit = mod;
            else
                throw new ArgumentException("Argument error");

            _efem.Goto(unit, Hand.Blade1);
            return true;
        }

        private bool fnLift(object[] param)
        {
            // module
            ModuleName unit = ModuleName.EFEM;
            if (param[0] is string s1)
                unit = ModuleNameString.ToEnum(s1);
            else if (param[0] is ModuleName mod)
                unit = mod;
            else
                throw new ArgumentException("Argument error");

            bool isUp = true;
            if (param.Length > 1)
            {
                isUp = (bool) param[1];
            }

            if (isUp)
            {
                if (!_efem.SetPinUp(unit))
                    return false;
            }
            else
            {
                if (!_efem.SetPinDown(unit))
                    return false;
            }
            LiftMessage = isUp ? "Up" : "Down";

            return true;
        }
        private bool fnLiftTimeout(object[] param)
        {
            if (LiftMessage == "Up")
            {
                return _efem.LiftIsDown == false && _efem.LiftIsUp == true;
            }
            else if (LiftMessage == "Down")
            { 
                return _efem.LiftIsDown == true && _efem.LiftIsUp == false;

            }
            return false;
        }
        private bool fnAlign(object[] param)
        {
            return _alignRoutine.Start(param) == RState.Running;
        }
        private bool fnAlignTimeout(object[] param)
        {
            _currentRoutine = _alignRoutine;
            RState ret = _alignRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                _currentRoutine = null;
                PostMsg(MSG.Error,_alignRoutine.ErrorMsg);
                return false;
            }

            if (ret == RState.End)
            {
                _currentRoutine = null;
                AlarmListManager.Instance.CheckModuleAlamAndRemove(Module.ToString(), STATE.Aligning.ToString());
            }

            return ret == RState.End;
        }
        /// <summary>
        /// Retry Align
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool RetryAlign(object[] param)
        {
            int stepIndex = (int)param[0];
            return _alignRoutine.Retry(stepIndex) == RState.Running;
        }
        /// <summary>
        /// 确认Align是否完成
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool ConfirmAlign(object[] param)
        {
            int stepIdex = (int)param[0];
            bool result = _alignRoutine.CheckCompleteCondition(stepIdex);
            if (!result)
            {
                PostMsg(MSG.Error, _alignRoutine.ErrorMsg);
            }
            else
            {
                if (Singleton<RouteManager>.Instance.IsAutoRunning)
                {
                    AlarmListManager.Instance.CheckModuleAlamAndRemove(Module.ToString(), STATE.Aligning.ToString());
                }
            }
            return result;
        }

        private bool MapDummyTimeout(object[] param)
        {
            RState ret = _mapDummyRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(MSG.Error);
                return false;
            }
            return ret == RState.End;
        }

        private bool VacuumActionTimeout()
        {
            RState ret = _vacuumRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                LOG.Write(eEvent.ERR_EFEM_COMMON_FAILED, ModuleName.EFEM, "Vacuum");
                return false;
            }
            return ret == RState.End;
        }

        private bool fnMap(object[] param)
        {
            // module
            ModuleName unit = ModuleName.EFEM;
            if (param[0] is string s1)
                unit = ModuleNameString.ToEnum(s1);
            else if (param[0] is ModuleName mod)
                unit = mod;
            else
                throw new ArgumentException("Argument error");

            if (!_efem.Map(unit))
                return false;

            return true;
        }

        private bool MapDummy(object[] param)
        {     
            return _mapDummyRoutine.Start()==RState.Running;
        }

        private bool VacuumAction(object[] param)
        {
            ModuleName vacuumModule = (ModuleName)param[0];
            bool vacuum=(bool)param[1];
            bool result = _vacuumRoutine.Start(vacuumModule, vacuum) == RState.Running;
            if (result)
            {
                _isVacuume = true;
            }
            return result;
        }

        private bool DoorUnlock(object[] param)
        {
            bool unlock = (bool)param[0];
            string ioName = BeckhoffModuleIOManager.Instance.GetIoNameByInnerModuleName($"{Module}.{DOOR_UNLOCK}");
            if (!string.IsNullOrEmpty(ioName))
            {
                return IOModuleManager.Instance.WriteIoValue(ioName, unlock);
            }
            return true;
        }

        private bool fnGrip(object[] param)
        {

            Hand arm = (Hand)Enum.Parse(typeof(Hand), (string)param[0]);

            if (!_efem.Grip(arm, true))
                return false;

            return true;
        }

        public int SendEfemAutoCommand(params object[] args)
        {
            if (CheckToPostMessage((int)MSG.BackroundCmd, args))
                return (int)MSG.BackroundCmd;

            return (int)FSM_MSG.NONE;
        }

        private bool fnUngrip(object[] param)
        {
 
            Hand arm = (Hand)Enum.Parse(typeof(Hand), (string)param[0]);

            if (!_efem.Grip(arm, false))
                return false;

            return true;
        }

        #region EfemRetry
        /// <summary>
        /// Retry
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool EfemRetry(object[] param)
        {
            AlarmList alarmList = AlarmListManager.Instance.GetAlarmListByModule(Module.ToString());
            if (alarmList != null)
            {
                CheckToPostMessage<STATE, MSG>(eEvent.ERR_EFEM_ROBOT, Module.ToString(), alarmList.ModuleCmd,
                    alarmList.ModuleStep);
            }
            return false;
        }
        #endregion

        #region ConfirmComplete
        /// <summary>
        /// 确认是否完成
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool ConfirmComplete(object[] param)
        {
            AlarmList alarmList = AlarmListManager.Instance.GetAlarmListByModule(Module.ToString());
            if (alarmList != null)
            {
                if (alarmList.ModuleState == STATE.Picking.ToString())
                {
                    CheckToPostMessage<STATE, MSG>(eEvent.ERR_EFEM_ROBOT, Module.ToString(), (int)MSG.Pick, alarmList.ModuleStep);
                }
                else if (alarmList.ModuleState == STATE.Placing.ToString())
                {
                    CheckToPostMessage<STATE, MSG>(eEvent.ERR_EFEM_ROBOT, Module.ToString(), (int)MSG.Place, alarmList.ModuleStep);
                }
                else if (alarmList.ModuleState == STATE.Aligning.ToString())
                {
                    CheckToPostMessage<STATE, MSG>(eEvent.ERR_EFEM_ROBOT, Module.ToString(), (int)MSG.Align, alarmList.ModuleStep);
                }
                else
                {
                    PostMsg(PUFSTATE.Error);
                }
            }
            return false;
        }

        /// <summary>
        /// 清除报警
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool ClearModuleAlarm(object[] param)
        {
            AlarmList alarmList = AlarmListManager.Instance.GetAlarmListByModule(Module.ToString());
            if (alarmList != null)
            {
                AlarmListManager.Instance.CheckModuleAlamAndRemove(Module.ToString(), "");
            }
            return true;
        }
        #endregion

        public int Invoke(string function, params object[] args)
        {
            switch (function)
            {
                case "HomeAll":
                    if (IsIdle)
                    {
                        return (int)FSM_MSG.NONE;
                    }
                    if (CheckToPostMessage((int)MSG.HomeAll))
                    {
                        return (int)MSG.HomeAll;
                    }
                    else
                    {
                        return (int)FSM_MSG.NONE;
                    }
                case "Retry":
                    if (CheckToPostMessage<STATE, MSG>(eEvent.ERR_EFEM_ROBOT, Module.ToString(), (int)MSG.Retry, args))
                    {
                        return (int)MSG.Retry;
                    }
                    else
                    {
                        return (int)FSM_MSG.NONE;
                    }
                case "ConfirmComplete":
                    if (CheckToPostMessage<STATE, MSG>(eEvent.ERR_EFEM_ROBOT, Module.ToString(), (int)MSG.ConfirmComplete, args))
                    {
                        return (int)MSG.ConfirmComplete;
                    }
                    else
                    {
                        return (int)FSM_MSG.NONE;
                    }
            }

            return (int)FSM_MSG.NONE;
        }

        public bool CheckAcked(int msg)
        {
            return fsm.CheckExecuted(msg);
        }

        internal void InvokeReset()
        {
            if (fsm.State == (int) STATE.Error)
            {
                PostMsg((int)MSG.Recover);
            }
        }

        public int InvokeAlign(string module,  int reserv,  float time)
        {
            if (CheckToPostMessage((int)MSG.Align, module, reserv, time))
                return (int)MSG.Align;

            return (int)FSM_MSG.NONE;
        }

        public int InvokeLiftDown(string module)
        {
            if (CheckToPostMessage((int)MSG.Lift, module, false))
                return (int)MSG.Lift;

            return (int)FSM_MSG.NONE;
        }

        public int InvokePick(ModuleName source, int slot, Hand hand, WaferSize size)
        {
            if (CheckToPostMessage((int)MSG.Pick, source, slot, hand, size))
                return (int)MSG.Pick;

            return (int)FSM_MSG.NONE;
        }

        public int InvokeGoto(ModuleName source, int slot)
        {
            if (CheckToPostMessage((int)MSG.Goto, source, slot))
                return (int)MSG.Goto;

            return (int)FSM_MSG.NONE;
        }

        public int InvokePlace(ModuleName target, int slot, Hand hand, WaferSize size)
        {
            if (CheckToPostMessage((int)MSG.Place, target, slot, hand, size))
                return (int)MSG.Place;

            return (int)FSM_MSG.NONE;
        }


        public int InvokePickAndPlace(ModuleName targetModule, Hand pickHand, int pickSlot,  Hand placeHand, int placeSlot, WaferSize size)
        {
            if (CheckToPostMessage((int)MSG.Swap, targetModule, pickSlot, pickHand, placeHand, placeSlot, size))
                return (int)MSG.Swap;

            return (int)FSM_MSG.NONE;
        }

        public int InvokeMap(string target )
        {
            if (CheckToPostMessage((int)MSG.Map, target ))
                return (int)MSG.Map;

            return (int)FSM_MSG.NONE;
        }

        public int InvokeFlip(Hand hand)
        {
            if (CheckToPostMessage((int)MSG.Flip, hand))
                return (int)MSG.Flip;

            return (int)FSM_MSG.NONE;
        }

        public bool IsPrepareTransferReady(ModuleName module, EnumTransferType type, int slot)
        {
            //if (type == EnumTransferType.Pick)
            //{
            //    //需要补充：判断LP 放好了，而且已经map过。
            //    return _efem[module].HasCassette && _efem[module].IsMapped;
            //}
            //else if (type == EnumTransferType.Place)
            //{
            //    //需要补充：判断LP 放好了，而且已经map过。
            //    return _efem[module].HasCassette && _efem[module].IsMapped;
            //}

            return false;
        }

        internal bool CheckReadyRunNewJob(ModuleName module)
        {
            //???
            return true;
        }

        internal bool CheckReadyTransfer(ModuleName module)
        {
            //return _efem[module].HasCassette && _efem[module].IsMapped;
            return true;
        }
        internal bool CheckPlaced(ModuleName module)
        {
            //return _efem[module].HasCassette;
            return true;
        }
		
        internal void NoteJobStart(ModuleName module)
        {
            //_efem[module].NoteJobStart();

        }

        internal void NoteJobComplete(ModuleName module)
        {
            //_efem[module].NoteJobComplete();
        }
    }
}