CyberX8/CyberX8_MainPages/ViewModels/OperationOverViewModel.cs

using MECF.Framework.Common.CommonData;
using MECF.Framework.Common.DataCenter;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.OperationCenter;
using OpenSEMI.ClientBase;
using Prism.Commands;
using Prism.Mvvm;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Threading;
using CyberX8_Core;
using CyberX8_MainPages.Unity;
using CyberX8_MainPages.Views;
using CyberX8_Themes.CustomControls;
using CyberX8_Themes.Unity;
using CyberX8_Themes.UserControls;
using Aitex.Core.RT.Log;
using MECF.Framework.Common.Reservior;
using MECF.Framework.Common.ProcessCell;
using MECF.Framework.Common.Utilities;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.Common.Beckhoff.Station;
using MECF.Framework.Common.Layout;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.Device;
using System.Reflection;
using MECF.Framework.Common.Beckhoff.IOAxis;
using MECF.Framework.Common.TwinCat;
using LiveCharts.Wpf;
using MECF.Framework.Common.CommonData.PUF;
using MECF.Framework.Common.Beckhoff.AxisProvider;
using QiHe.CodeLib;
using MECF.Framework.Common.Jobs;


namespace CyberX8_MainPages.ViewModels
{
    public class OperationOverViewModel : BindableBase
    {
        #region 常量
        private const string CURRENT_STATION = "CurrentStation";
        private const string MOTOR_POSITION = "MotorPosition";
        private const string MOTION_DATA = "MotionData";
        private const double LOADER_ROTATION_DIFFER = 90;
        private const double PUF_FLIP_DIFFER = 180;
        #endregion

        #region 私有字段
        private bool _isLp1Unable;
        private bool _isLp2Unable;
        private bool _isLp3Unable;

        private ModuleInfo _LP1ModuleInfo;
        private ModuleInfo _LP2ModuleInfo;

        private ModuleInfo _LP3ModuleInfo;
        private ModuleInfo _EFEMModuleInfo;
        private ModuleInfo _srd1ModuleInfo;
        private ModuleInfo _srd2ModuleInfo;
        private ModuleInfo _puf1ModuleInfo;
        private ModuleInfo _dummy1ModuleInfo;
        private ModuleInfo _dummy2ModuleInfo;

        private ModuleInfo _loaderModuleInfo;
        private WaferRobotTAction m_Robot1TAction;
        private WaferRobotXAction m_Robot1XAction;
        private WaferRobotTAction m_Robot2TAction;
        private WaferRobotXAction m_Robot2XAction;
        private WaferRobotTAction m_Robot3TAction;
        private WaferRobotXAction m_Robot3XAction;
        private WaferRobotTAction m_Robot4TAction;
        private WaferRobotXAction m_Robot4XAction;
        private RobotMoveInfo m_robotMoveInfo;

        private WaferInfo m_srd1Wafer;
        private WaferInfo m_srd2Wafer;
        private WaferInfo m_puf1WaferA;
        private WaferInfo m_puf1WaferB;
        private WaferInfo m_loaderWaferA;
        private WaferInfo m_loaderWaferB;
        private List<string> m_RtDataKeys = new List<string>();
        private Dictionary<string, object> m_RtDataValues;
        private bool m_EFEMIsInstalled;
        private bool m_loaderInstalled;
        private bool m_puf1IsInRobotStation;
        //private bool m_IsPUFChange;
        private WaferInfo m_EFEMBladeAWafer;
        private WaferInfo m_EFEMBladeBWafer;
        private WaferInfo m_Aligner1Wafer;
        private int m_LP1WaferCount;
        private int m_LP2WaferCount;
        private int m_LP3WaferCount;
        private int m_dummy1WaferCount;
        private int m_dummy2WaferCount;

        private int m_CycledWafer;
        private int m_CycleCountDisplay;

        private EFEM.RobotPosition m_CurrentRobotPosition;
        private PufControl.LoaderXLocation m_loaderAXLoaction = PufControl.LoaderXLocation.Parker;
        private PufControl.LoaderXLocation m_loaderBXLoaction = PufControl.LoaderXLocation.Parker;
        
        /// <summary>
        /// Loader的sideA开启状态
        /// </summary>
        private bool m_loaderWaferVisibleA = false;
        /// <summary>
        /// Loader的sideB开启状态
        /// </summary>
        private bool m_loaderWaferVisibleB = false;

        private WaferInfo m_BladeAWafer;
        private WaferInfo m_BladeBWafer;

        private string m_ATMModeIsOn;

        private string m_RouteState;
        /// <summary>
        /// puf1 Rotation ui 水平比例
        /// </summary>
        private double _puf1RotationRatio;
        /// <summary>
        /// 定时器
        /// </summary>
        private DispatcherTimer _timer;
        /// <summary>
        /// 定时器1
        /// </summary>
        private DispatcherTimer _timer1;
        /// <summary>
        /// puf Rotation UI水平距离
        /// </summary>
        private int _pufLayoutRotationDistance;
        /// <summary>
        /// Efem robot UI位置
        /// </summary>
        private int _robotLayoutPosition;
        /// <summary>
        /// Puf1 Rotation实际位置数据
        /// </summary>
        private double _puf1RotationMotorPosition;
        /// <summary>
        /// Puf1 Flip实际位置数据
        /// </summary>
        private double _puf1FlipMotorPosition;
        /// <summary>
        /// Puf1 Flip UI位置
        /// </summary>
        private double _puf1FlipPosition;
        /// <summary>
        /// Puf1 Rotation最左侧的位置
        /// </summary>
        private double _puf1RotationMotorPositionMax;
        /// <summary>
        /// Puf1 Rotation UI对应位置
        /// </summary>
        private double _puf1RotationPosition;
        /// <summary>
        /// Loader1 Rotation UI对应位置
        /// </summary>
        private double _loader1RotationPosition;
        /// <summary>
        /// Puf1 Rotation Axis
        /// </summary>
        private BeckhoffStationAxis _puf1RotationAxis;
        /// <summary>
        /// Puf1 Flip Axis
        /// </summary>
        private BeckhoffStationAxis _puf1FlipAxis;
        /// <summary>
        /// Loader1 Rotation Axis
        /// </summary>
        private BeckhoffStationAxis _loader1RotationAxis;
        /// <summary>
        /// Loader1 TlitA Axis
        /// </summary>
        private BeckhoffStationAxis _loader1TiltAAxis;
        /// <summary>
        /// Loader1 TlitB Axis
        /// </summary>
        private BeckhoffStationAxis _loader1TiltBAxis;
        /// <summary>
        /// Loader1 Rotation实际位置数据
        /// </summary>
        private double _loader1RotationMotorPosition;
        /// <summary>
        /// Loader1 TiltA实际位置数据
        /// </summary>
        private double _loader1TiltAMotorPosition;
        /// <summary>
        /// Loader1 TiltB实际位置数据
        /// </summary>
        private double _loader1TiltBMotorPosition;
        /// <summary>
        /// Loader Rotation位置
        /// </summary>
        private LoaderControl.LoaderRotation m_currentLoaderRotation = LoaderControl.LoaderRotation.Load;
        /// <summary>
        /// Puf1 Flip当前station
        /// </summary>
        private string _puf1FlipCurrentStation;
        /// <summary>
        /// Loader1 TiltA当前station
        /// </summary>
        private string _loaderTiltACurrentStation;
        /// <summary>
        /// Loader1 TiltB当前station
        /// </summary>
        private string _loaderTiltBCurrentStation;
        /// <summary>
        /// 是否存在Job
        /// </summary>
        private bool _isLp1HasNoJob;
        private bool _isLp2HasNoJob;
        private bool _isLp3HasNoJob;
        #endregion

        #region  属性
        public bool IsLP1Unable
        {
            get { return _isLp1Unable; }
            set { SetProperty(ref _isLp1Unable, value); }
        }
        public bool IsLP2Unable
        {
            get { return _isLp2Unable; }
            set { SetProperty(ref _isLp2Unable, value); }
        }
        public bool IsLP3Unable
        {
            get { return _isLp3Unable; }
            set { SetProperty(ref _isLp3Unable, value); }
        }
        public ModuleInfo LP1ModuleInfo
        {
            get { return _LP1ModuleInfo; }
            set { SetProperty(ref _LP1ModuleInfo, value); }
        }

        public ModuleInfo EFEMModuleInfo
        {
            get { return _EFEMModuleInfo; }
            set { SetProperty(ref _EFEMModuleInfo, value); }
        }
        public ModuleInfo LP2ModuleInfo
        {
            get { return _LP2ModuleInfo; }
            set { SetProperty(ref _LP2ModuleInfo, value); }
        }
        public ModuleInfo LP3ModuleInfo
        {
            get { return _LP3ModuleInfo; }
            set { SetProperty(ref _LP3ModuleInfo, value); }
        }

        public ModuleInfo SRD1ModuleInfo
        {
            get { return _srd1ModuleInfo; }
            set { SetProperty(ref _srd1ModuleInfo, value); }
        }

        public ModuleInfo SRD2ModuleInfo
        {
            get { return _srd2ModuleInfo; }
            set { SetProperty(ref _srd2ModuleInfo, value); }
        }
        public ModuleInfo PUF1ModuleInfo
        {
            get { return _puf1ModuleInfo; }
            set { SetProperty(ref _puf1ModuleInfo, value); }
        }
        public ModuleInfo Dummy1ModuleInfo
        {
            get { return _dummy1ModuleInfo; }
            set { SetProperty(ref _dummy1ModuleInfo, value); }
        }
        public ModuleInfo Dummy2ModuleInfo
        {
            get { return _dummy2ModuleInfo; }
            set { SetProperty(ref _dummy2ModuleInfo, value); }
        }
        public ModuleInfo LoaderModuleInfo
        {
            get { return _loaderModuleInfo; }
            set { SetProperty(ref _loaderModuleInfo, value); }
        }
        public WaferRobotTAction Robot1TAction
        {
            get { return m_Robot1TAction; }
            set { SetProperty(ref m_Robot1TAction, value); }
        }
        public WaferRobotXAction Robot1XAction
        {
            get { return m_Robot1XAction; }
            set { SetProperty(ref m_Robot1XAction, value); }
        }
        public WaferRobotTAction Robot2TAction
        {
            get { return m_Robot2TAction; }
            set { SetProperty(ref m_Robot2TAction, value); }
        }
        public WaferRobotXAction Robot2XAction
        {
            get { return m_Robot2XAction; }
            set { SetProperty(ref m_Robot2XAction, value); }
        }

        public WaferRobotTAction Robot3TAction
        {
            get { return m_Robot3TAction; }
            set { SetProperty(ref m_Robot3TAction, value); }
        }
        public WaferRobotXAction Robot3XAction
        {
            get { return m_Robot3XAction; }
            set { SetProperty(ref m_Robot3XAction, value); }
        }
        public WaferRobotTAction Robot4TAction
        {
            get { return m_Robot4TAction; }
            set { SetProperty(ref m_Robot4TAction, value); }
        }
        public WaferRobotXAction Robot4XAction
        {
            get { return m_Robot4XAction; }
            set { SetProperty(ref m_Robot4XAction, value); }
        }

        public RobotMoveInfo RobotMoveInfo
        {
            get { return m_robotMoveInfo; }
            set
            {
                RobotMoveInfoChanged(m_robotMoveInfo, value);
                //m_robotMoveInfo = value;
                SetProperty(ref m_robotMoveInfo, value);
            }
        }
        public Dictionary<string, object> RtDataValues
        {
            get { return m_RtDataValues; }
            set { SetProperty(ref m_RtDataValues, value); }
        }
        public bool EFEMIsInstalled
        {
            get { return m_EFEMIsInstalled; }
            set { SetProperty(ref m_EFEMIsInstalled, value); }
        }
        public WaferInfo EFEMBladeAWafer
        {
            get { return m_EFEMBladeAWafer; }
            set { SetProperty(ref m_EFEMBladeAWafer, value); }
        }
        public WaferInfo EFEMBladeBWafer
        {
            get { return m_EFEMBladeBWafer; }
            set { SetProperty(ref m_EFEMBladeBWafer, value); }
        }
        public bool LoaderIsInstalled
        {
            get { return m_loaderInstalled; }
            set { SetProperty(ref m_loaderInstalled, value); }
        }
        public WaferInfo Aligner1Wafer
        {
            get { return m_Aligner1Wafer; }
            set { SetProperty(ref m_Aligner1Wafer, value); }
        }

        public WaferInfo SRD1Wafer
        {
            get { return m_srd1Wafer; }
            set { SetProperty(ref m_srd1Wafer, value); }
        }

        public WaferInfo SRD2Wafer
        { 
            get { return m_srd2Wafer; }
            set { SetProperty(ref m_srd2Wafer, value); }
        }

        public WaferInfo PUF1WaferA
        {
            get { return m_puf1WaferA; }
            set { SetProperty(ref m_puf1WaferA, value); }
        }
        public WaferInfo PUF1WaferB
        {
            get { return m_puf1WaferB; }
            set { SetProperty(ref m_puf1WaferB, value); }
        }
        public WaferInfo LoaderWaferA
        {
            get { return m_loaderWaferA; }
            set { SetProperty(ref m_loaderWaferA, value); }
        }
        public WaferInfo LoaderWaferB
        {
            get { return m_loaderWaferB; }
            set { SetProperty(ref m_loaderWaferB, value); }
        }
        public int LP1WaferCount
        {
            get { return m_LP1WaferCount; }
            set { SetProperty(ref m_LP1WaferCount, value); }
        }
        public int LP2WaferCount
        {
            get { return m_LP2WaferCount; }
            set { SetProperty(ref m_LP2WaferCount, value); }
        }
        public int LP3WaferCount
        {
            get { return m_LP3WaferCount; }
            set { SetProperty(ref m_LP3WaferCount, value); }
        }
        public int Dummy1WaferCount
        {
            get { return m_dummy1WaferCount; }
            set { SetProperty(ref m_dummy1WaferCount, value); }
        }
        public int Dummy2WaferCount
        {
            get { return m_dummy2WaferCount; }
            set { SetProperty(ref m_dummy2WaferCount, value); }
        }
        public int CycledWafer
        {
            get { return m_CycledWafer; }
            set { SetProperty(ref m_CycledWafer, value); }
        }
        public int CycleCountDisplay
        {
            get { return m_CycleCountDisplay; }
            set { SetProperty(ref m_CycleCountDisplay, value); }
        }
        public RobotMoveInfo m_EfemRobotMoveInfo;
        public RobotMoveInfo EfemRobotMoveInfo
        {
            get { return m_EfemRobotMoveInfo; }
            set
            {
                EFEMRobotMoveInfoChanged(m_EfemRobotMoveInfo, value);
                //m_EfemRobotMoveInfo = value;
                SetProperty(ref m_EfemRobotMoveInfo, value);

            }
        }
        public EFEM.RobotPosition CurrentRobotPosition
        {
            get { return m_CurrentRobotPosition; }
            set { SetProperty(ref m_CurrentRobotPosition, value); }
        }

       
        public PufControl.LoaderXLocation LoaderAXLocation
        {
            get { return m_loaderAXLoaction; }
            set { SetProperty(ref m_loaderAXLoaction, value); }
        }

        public PufControl.LoaderXLocation LoaderBXLocation
        {
            get { return m_loaderBXLoaction; }
            set { SetProperty(ref m_loaderBXLoaction, value); }
        }

        public WaferInfo BladeAWafer
        {
            get { return m_BladeAWafer; }
            set { SetProperty(ref m_BladeAWafer, value); }
        }
        public WaferInfo BladeBWafer
        {
            get { return m_BladeBWafer; }
            set { SetProperty(ref m_BladeBWafer, value); }
        }
        public string ATMModeIsOn
        {
            get { return m_ATMModeIsOn; }
            set { SetProperty(ref m_ATMModeIsOn, value); }
        }
      
        public string RouteState
        {
            get { return m_RouteState; }
            set { SetProperty(ref m_RouteState, value); }
        }
        /// <summary>
        /// Loader的sideA开启状态
        /// </summary>
        public bool LoaderWaferVisibleA
        {
            get { return m_loaderWaferVisibleA; }
            set { SetProperty(ref m_loaderWaferVisibleA, value); }
        }
        /// <summary>
        /// Loader的sideB开启状态
        /// </summary>
        public bool LoaderWaferVisibleB
        {
            get { return m_loaderWaferVisibleB; }
            set { SetProperty(ref m_loaderWaferVisibleB, value); }
        }
        public bool Puf1IsInRobotStation
        {
            get { return m_puf1IsInRobotStation; }
            set { SetProperty(ref m_puf1IsInRobotStation, value); }
        }
        /// <summary>
        /// Puf1 Rotation实际位置数据
        /// </summary>
        public double Puf1RotationMotorPosition
        {
            get { return _puf1RotationMotorPosition; }
            set { SetProperty(ref _puf1RotationMotorPosition, value); }
        }
        /// <summary>
        /// Puf1 Flip实际位置数据
        /// </summary>
        public double Puf1FlipMotorPosition
        {
            get { return _puf1FlipMotorPosition; }
            set { SetProperty(ref _puf1FlipMotorPosition, value); }
        }
        /// <summary>
        /// Puf1 Flip UI位置
        /// </summary>
        public double Puf1FlipPosition
        {
            get { return _puf1FlipPosition; }
            set { SetProperty(ref _puf1FlipPosition, value); }
        }
        /// <summary>
        /// Puf1 Rotation UI对应位置     
        /// </summary>
        public double Puf1RotationPosition
        {
            get { return _puf1RotationPosition; }
            set { SetProperty(ref _puf1RotationPosition, value); }
        }
        /// <summary>
        /// Loader1 Rotation UI对应位置     
        /// </summary>
        public double Loader1RotationPosition
        {
            get { return _loader1RotationPosition; }
            set { SetProperty(ref _loader1RotationPosition, value); }
        }
        /// <summary>
        /// Puf1 Rotation Axis     
        /// </summary>
        public BeckhoffStationAxis Puf1RotationAxis
        {
            get { return _puf1RotationAxis; }
            set { SetProperty(ref _puf1RotationAxis, value); }
        }
        /// <summary>
        /// Puf1 Flip Axis     
        /// </summary>
        public BeckhoffStationAxis Puf1FlipAxis
        {
            get { return _puf1FlipAxis; }
            set { SetProperty(ref _puf1FlipAxis, value); }
        }
        /// <summary>
        /// Loader1 Rotation Axis     
        /// </summary>
        public BeckhoffStationAxis Loader1RotationAxis
        {
            get { return _loader1RotationAxis; }
            set { SetProperty(ref _loader1RotationAxis, value); }
        }
        /// <summary>
        /// Loader1 TiltA Axis     
        /// </summary>
        public BeckhoffStationAxis Loader1TiltAAxis
        {
            get { return _loader1TiltAAxis; }
            set { SetProperty(ref _loader1TiltAAxis, value); }
        }
        /// <summary>
        /// Loader1 TiltB Axis     
        /// </summary>
        public BeckhoffStationAxis Loader1TiltBAxis
        {
            get { return _loader1TiltBAxis; }
            set { SetProperty(ref _loader1TiltBAxis, value); }
        }
        /// <summary>
        /// Loader1 Rotation实际位置数据
        /// </summary>
        public double Loader1RotationMotorPosition
        {
            get { return _loader1RotationMotorPosition; }
            set { SetProperty(ref _loader1RotationMotorPosition, value); }
        }
        /// <summary>
        /// Loader1 TiltA实际位置数据
        /// </summary>
        public double Loader1TiltAMotorPosition
        {
            get { return _loader1TiltAMotorPosition; }
            set { SetProperty(ref _loader1TiltAMotorPosition, value); }
        }
        /// <summary>
        /// Loader1 TiltB实际位置数据
        /// </summary>
        public double Loader1TiltBMotorPosition
        {
            get { return _loader1TiltBMotorPosition; }
            set { SetProperty(ref _loader1TiltBMotorPosition, value); }
        }
        /// <summary>
        /// Loader Rotation位置
        /// </summary>
        public LoaderControl.LoaderRotation CurrentLoaderRotation
        {
            get { return m_currentLoaderRotation; }
            set { SetProperty(ref m_currentLoaderRotation, value); }
        }
        public string LoaderTiltACurrentStation
        {
            get { return _loaderTiltACurrentStation; }
            set { SetProperty(ref _loaderTiltACurrentStation, value); }
        }
        /// <summary>
        /// Loader TiltB当前station
        /// </summary>
        public string LoaderTiltBCurrentStation
        {
            get { return _loaderTiltBCurrentStation; }
            set { SetProperty(ref _loaderTiltBCurrentStation, value); }
        }
        public bool IsLP1HasNoJob
        {
            get { return _isLp1HasNoJob; }
            set { SetProperty(ref _isLp1HasNoJob, value); }
        }
        public bool IsLP2HasNoJob
        {
            get { return _isLp2HasNoJob; }
            set { SetProperty(ref _isLp2HasNoJob, value); }
        }
        public bool IsLP3HasNoJob
        {
            get { return _isLp3HasNoJob; }
            set { SetProperty(ref _isLp3HasNoJob, value); }
        }
        #endregion

        #region 命令


        private DelegateCommand<object> _LoadWaferCommand;
        public DelegateCommand<object> LoadWaferCommand =>
            _LoadWaferCommand ?? (_LoadWaferCommand = new DelegateCommand<object>(OnLoadWafer));

        private DelegateCommand<object> _UnLoadWaferCommand;
        public DelegateCommand<object> UnLoadWaferCommand =>
            _UnLoadWaferCommand ?? (_UnLoadWaferCommand = new DelegateCommand<object>(OnUnLoadWafer));


        private DelegateCommand<object> _StartCommand;
        public DelegateCommand<object> StartCommand =>
            _StartCommand ?? (_StartCommand = new DelegateCommand<object>(OnStart));

        private DelegateCommand<object> _StopCommand;
        public DelegateCommand<object> StopCommand =>
            _StopCommand ?? (_StopCommand = new DelegateCommand<object>(OnStop));

        private DelegateCommand<object> _AbortCommand;
        public DelegateCommand<object> AbortCommand =>
            _AbortCommand ?? (_AbortCommand = new DelegateCommand<object>(OnAbort));


        private DelegateCommand _HomeAllCommand;
        public DelegateCommand HomeAllCommand =>
            _HomeAllCommand ?? (_HomeAllCommand = new DelegateCommand(OnHomeAll));


        private DelegateCommand _ResumeAllJobCommand;
        public DelegateCommand ResumeAllJobCommand =>
            _ResumeAllJobCommand ?? (_ResumeAllJobCommand = new DelegateCommand(OnResumeAllJob));

        private DelegateCommand _AbortAllCommand;
        public DelegateCommand AbortAllCommand =>
            _AbortAllCommand ?? (_AbortAllCommand = new DelegateCommand(OnAbortAll));

        private DelegateCommand _ReturnAllWaferCommand;
        public DelegateCommand ReturnAllWaferCommand =>
            _ReturnAllWaferCommand ?? (_ReturnAllWaferCommand = new DelegateCommand(OnReturnAllWafer));

        private DelegateCommand<object> _SetSequenceCommand;
        public DelegateCommand<object> SetSequenceCommand =>
            _SetSequenceCommand ?? (_SetSequenceCommand = new DelegateCommand<object>(OnSetSequence));

        private DelegateCommand _EnableAutoCommand;
        public DelegateCommand EnableAutoCommand =>
            _EnableAutoCommand ?? (_EnableAutoCommand = new DelegateCommand(OnEnableAuto));

        private DelegateCommand _EnableManualCommand;
        public DelegateCommand EnableManualCommand =>
            _EnableManualCommand ?? (_EnableManualCommand = new DelegateCommand(OnEnableManual));

        private DelegateCommand<object> _GotoSrdViewCommond;
        public DelegateCommand<object> GotoSrdViewCommond =>
            _GotoSrdViewCommond ?? (_GotoSrdViewCommond = new DelegateCommand<object>(GotoSrdViewAction));



        public bool SwitchFlag;
        

        #endregion

        #region 构造函数
        public OperationOverViewModel()
        {
            addDataKeys();

            ATMModeIsOn = Convert.ToBoolean(QueryDataClient.Instance.Service.GetConfig("System.IsATMMode")) == true ? "ATM Mode On" : "ATM Mode Off";

        }

        #endregion

        #region 命令方法
        /// <summary>
        /// 加载数据
        /// </summary>
        public void LoadData(string systemName)
        {
            Dictionary<string, object> allModulesDictionary = QueryDataClient.Instance.Service.PollData(new List<string>() { "System.InstalledModules" });
            if (allModulesDictionary != null)
            {
                List<string> allModules = CommonFunction.GetValue<List<string>>(allModulesDictionary, "System.InstalledModules");
                EFEMIsInstalled = allModules.Contains("EFEM");
                LoaderIsInstalled = allModules.Contains(ModuleName.Loader1.ToString());
            }
            if (_timer == null)
            {
                _timer = new DispatcherTimer();
                _timer.Interval = TimeSpan.FromMilliseconds(100);
                _timer.Tick += Timer_Tick;
            }
            _timer.Start();
            if (_timer1 == null)
            {
                _timer1 = new DispatcherTimer();
                _timer1.Interval = TimeSpan.FromMilliseconds(50);
                _timer1.Tick += Timer1_Tick; 
            }
            _timer1.Start();            

            _pufLayoutRotationDistance = (int)QueryDataClient.Instance.Service.GetConfig("DualPUF.PufLayoutRotationDistance");
            _robotLayoutPosition = (int)QueryDataClient.Instance.Service.GetConfig("DualPUF.RobotLayoutPosition");

            if (!m_RtDataKeys.Contains($"Station.PUF1.Roation"))
            {
                addStationDataKeys();
            }
            
            RtDataValues = QueryDataClient.Instance.Service.PollData(m_RtDataKeys);
            if (RtDataValues != null)
            {
                //目标位置数据获取
                Puf1RotationAxis = CommonFunction.GetValue<BeckhoffStationAxis>(RtDataValues, $"Station.PUF1.Rotation");
                //Puf1Rotation比例尺计算
                var resultRotation = Puf1RotationAxis != null ? CalculateMaxMin(Puf1RotationAxis) : (0, 0);
                double distance = resultRotation.max - resultRotation.min;
                _puf1RotationRatio = distance / _pufLayoutRotationDistance;
                _puf1RotationMotorPositionMax = resultRotation.max;

                       
            }
        }

        
        /// <summary>
        /// 隐藏
        /// </summary>
        public void Hide()
        {
            if (_timer != null)
            {
                _timer.Stop();
            }
            if (_timer1 != null)
            {
                _timer1.Stop();
            }
            

        }
        
        private void OnLoadWafer(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.Load", ModuleManager.ModuleInfos[obj.ToString()].ModuleID);
        }
        private void OnUnLoadWafer(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.Unload", ModuleManager.ModuleInfos[obj.ToString()].ModuleID);
        }
        private void OnStart(object obj)
        {
            var info = obj as WaferAssociationInfo;
            InvokeClient.Instance.Service.DoOperation("System.StartJob", info.LotId);
        }
        private void OnStop(object obj)
        {
            var info = obj as WaferAssociationInfo;
            InvokeClient.Instance.Service.DoOperation("System.PauseJob", info.JobID);
        }
        private void OnAbort(object obj)
        {
            var info = obj as WaferAssociationInfo;

            InvokeClient.Instance.Service.DoOperation("System.ResumeJob", info.JobID);
        }
        private void OnHomeAll()
        {
            InvokeClient.Instance.Service.DoOperation("System.HomeAll");
        }

        private void OnResumeAllJob()
        {
            if (CommonFunction.GetValue<int>(RtDataValues, "EquipmentStatus") == 4)
            {
                InvokeClient.Instance.Service.DoOperation("System.ResumeAllJob");
            }
            else
            {
                InvokeClient.Instance.Service.DoOperation("System.PauseAllJob");
            }
        }
        private void OnAbortAll()
        {
            InvokeClient.Instance.Service.DoOperation("System.Abort");
        }
        private void OnReturnAllWafer()
        {
            //Dialog
            WaferDialogView dialog = new WaferDialogView()
            {
                Owner = Application.Current.MainWindow,
            };
            dialog.Height = 300;
            dialog.Width = 400;
            double angel = 0;
            double coolingtime = 0;
            string message = "Please Confirm Return Wafer";
            WaferDialogViewModel vm = new WaferDialogViewModel();
            vm.ConfirmText = message;
            dialog.DataContext = vm;
            if (dialog.ShowDialog() == true)
            {
                if ((bool)dialog.AlignFlag == true && !string.IsNullOrEmpty(dialog.Angle))
                {
                    angel = Convert.ToDouble(dialog.Angle);
                }

                if ((bool)dialog.CoolingFlag == true && !string.IsNullOrEmpty(dialog.CoolingTime))
                {
                    coolingtime = Convert.ToDouble(dialog.CoolingTime);
                }

                InvokeClient.Instance.Service.DoOperation("System.ReturnAllWafer", dialog.CoolingFlag, coolingtime, dialog.AlignFlag, angel);
            }

        }

        private void OnSetSequence(object obj)
        {
            var info = obj as WaferInfo;
            bool flag = info.SequenceName != "" ? false : true;
        }
        private void OnEnableAuto()
        {
            InvokeClient.Instance.Service.DoOperation("System.SetAutoMode");
        }
        private void OnEnableManual()
        {
            InvokeClient.Instance.Service.DoOperation("System.SetManualMode");
        }

        private void GotoSrdViewAction(object obj)
        {
            CyberX8_Core.GlobalEvents.OnSwitchFixedTabItem("HardWare", "SRD", $"{obj.ToString()}");
        }
        
        #endregion

        #region 私有方法
        /// <summary>
        /// 定时器
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void Timer_Tick(object sender, EventArgs e)
        {

            LP1ModuleInfo = ModuleManager.ModuleInfos["LP1"];
            LP2ModuleInfo = ModuleManager.ModuleInfos["LP2"];
            LP3ModuleInfo = ModuleManager.ModuleInfos["LP3"];
            EFEMModuleInfo = ModuleManager.ModuleInfos["EfemRobot"];
            SRD1ModuleInfo = ModuleManager.ModuleInfos["SRD1"];
            SRD2ModuleInfo = ModuleManager.ModuleInfos["SRD2"];
            PUF1ModuleInfo = ModuleManager.ModuleInfos["PUF1"];
            Dummy1ModuleInfo = ModuleManager.ModuleInfos["Dummy1"];
            Dummy2ModuleInfo = ModuleManager.ModuleInfos["Dummy2"];

            LoaderModuleInfo = ModuleManager.ModuleInfos["Loader1"];

            if (ModuleManager.ModuleInfos["EfemRobot"].WaferManager.Wafers.Count != 0)
            {
                BladeAWafer = ModuleManager.ModuleInfos["EfemRobot"].WaferManager.Wafers[0];
            }

            if (EFEMIsInstalled == true)
            {
                if (ModuleManager.ModuleInfos["EfemRobot"].WaferManager.Wafers.Count != 0)
                {
                    EFEMBladeAWafer = ModuleManager.ModuleInfos["EfemRobot"].WaferManager.Wafers[0];
                }
                if (ModuleManager.ModuleInfos["Aligner1"].WaferManager.Wafers.Count != 0)
                {
                    Aligner1Wafer = ModuleManager.ModuleInfos["Aligner1"].WaferManager.Wafers[0];
                }
            }
            if (SRD1ModuleInfo != null&& SRD1ModuleInfo.WaferManager.Wafers.Count!=0)
            {
                SRD1Wafer = SRD1ModuleInfo.WaferManager.Wafers[0];
            }
            if (SRD2ModuleInfo != null&& SRD2ModuleInfo.WaferManager.Wafers.Count!=0)
            {
                SRD2Wafer = SRD2ModuleInfo.WaferManager.Wafers[0];
            }
            if(PUF1ModuleInfo!=null)
            {
                if (PUF1ModuleInfo.WaferManager.Wafers.Count != 0)
                {
                    PUF1WaferA = PUF1ModuleInfo.WaferManager.Wafers[0];
                }
                if (PUF1ModuleInfo.WaferManager.Wafers.Count != 0)
                {
                    PUF1WaferB = PUF1ModuleInfo.WaferManager.Wafers[1];
                }
            }
            if(LoaderIsInstalled&&LoaderModuleInfo!=null)
            {
                if (LoaderModuleInfo.WaferManager.Wafers.Count != 0)
                {
                    LoaderWaferA = LoaderModuleInfo.WaferManager.Wafers[0];
                }
                if (LoaderModuleInfo.WaferManager.Wafers.Count != 0)
                {
                    LoaderWaferB = LoaderModuleInfo.WaferManager.Wafers[1];
                }
            }
            RobotMoveInfo = (RobotMoveInfo)QueryDataClient.Instance.Service.GetData("TM.RobotMoveAction");
            EfemRobotMoveInfo = (RobotMoveInfo)QueryDataClient.Instance.Service.GetData("EFEM.RobotMoveAction");
            LP1WaferCount = LP1ModuleInfo.WaferManager.Wafers.Where(x => x.WaferStatus != 0).Count();
            LP2WaferCount = LP2ModuleInfo.WaferManager.Wafers.Where(x => x.WaferStatus != 0).Count();
            LP3WaferCount = LP3ModuleInfo.WaferManager.Wafers.Where(x => x.WaferStatus != 0).Count();
            //Dummy1WaferCount = 15;
            Dummy1WaferCount = Dummy1ModuleInfo.WaferManager.Wafers.Where(x => x.WaferStatus != 0).Count();
            Dummy2WaferCount = Dummy2ModuleInfo.WaferManager.Wafers.Where(x => x.WaferStatus != 0).Count();

            RtDataValues = QueryDataClient.Instance.Service.PollData(m_RtDataKeys);

            IsLP1Unable = (bool)QueryDataClient.Instance.Service.GetConfig("EFEM.IsLoadPort1Unable");
            IsLP2Unable = (bool)QueryDataClient.Instance.Service.GetConfig("EFEM.IsLoadPort2Unable");
            IsLP3Unable = (bool)QueryDataClient.Instance.Service.GetConfig("EFEM.IsLoadPort3Unable");

            if (RtDataValues != null)
            {
                Puf1IsInRobotStation = CommonFunction.GetValue<bool>(RtDataValues, "PUF1.IsInRobotStation");

                if (CommonFunction.GetValue<int>(RtDataValues, "EquipmentStatus") == 4)
                {
                    RouteState = "Resume";
                }
                else
                {
                    RouteState = "Pause";
                }
                ControlJobInfo lp1Cj = CommonFunction.GetValue<ControlJobInfo>(RtDataValues, "LP1.CurrentControlJob");
                IsLP1HasNoJob = lp1Cj == null ? true : false;
                ControlJobInfo lp2Cj = CommonFunction.GetValue<ControlJobInfo>(RtDataValues, "LP2.CurrentControlJob");
                IsLP2HasNoJob = lp2Cj == null ? true : false;
                ControlJobInfo lp3Cj = CommonFunction.GetValue<ControlJobInfo>(RtDataValues, "LP3.CurrentControlJob");
                IsLP3HasNoJob = lp3Cj == null ? true : false;
            }
        }

        int count = 0;
        /// <summary>
        /// 定时器1
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void Timer1_Tick(object sender, EventArgs e)
        {
            if (m_RtDataKeys.Count != 0)
            {
                RtDataValues = QueryDataClient.Instance.Service.PollData(m_RtDataKeys);
                if (RtDataValues != null) 
                {                
                    Puf1RotationMotorPosition = CommonFunction.GetValue<double>(RtDataValues, $"PUF1.Rotation.{MOTOR_POSITION}");
                    Loader1TiltAMotorPosition = CommonFunction.GetValue<double>(RtDataValues, $"Loader1.TiltA.{MOTOR_POSITION}");
                    Loader1TiltBMotorPosition = CommonFunction.GetValue<double>(RtDataValues, $"Loader1.TiltB.{MOTOR_POSITION}");
                    Loader1RotationMotorPosition = CommonFunction.GetValue<double>(RtDataValues, $"Loader1.Rotation.{MOTOR_POSITION}");
                    Puf1FlipMotorPosition = CommonFunction.GetValue<double>(RtDataValues, $"PUF1.Flip.{MOTOR_POSITION}");
                    //计算Puf1 Rotation UI位置
                    Puf1RotationPosition = _robotLayoutPosition + (_puf1RotationMotorPositionMax - Puf1RotationMotorPosition) / _puf1RotationRatio;
                    //计Loader Rotation UI位置
                    Loader1RotationPosition = -Loader1RotationMotorPosition - LOADER_ROTATION_DIFFER;
                    //计算Puf1 Flip UI位置                    
                    Puf1FlipPosition = Puf1FlipMotorPosition - PUF_FLIP_DIFFER;
                    //判断Loader1的TiltA水平状态
                    LoaderTiltACurrentStation = CommonFunction.GetCurrentStationLastContent(CommonFunction.GetValue<string>(RtDataValues, $"Loader1.TiltA.{CURRENT_STATION}"), "Loader1.TiltA");
                    if (LoaderTiltACurrentStation == "HORI")
                    {

                        LoaderWaferVisibleA = true;
                    }
                    else if(LoaderTiltACurrentStation == "VERT")
                    {
                        LoaderWaferVisibleA = false;
                    }
                    //判断Loader1的TiltB水平状态
                    LoaderTiltBCurrentStation = CommonFunction.GetCurrentStationLastContent(CommonFunction.GetValue<string>(RtDataValues, $"Loader1.TiltB.{CURRENT_STATION}"), "Loader1.TiltB");
                    if (LoaderTiltBCurrentStation == "HORI")
                    {
                        LoaderWaferVisibleB = true;
                    }
                    else if (LoaderTiltBCurrentStation == "VERT")
                    {
                        LoaderWaferVisibleB = false;
                    }

                }

            }
                       
        }
        
        private async void RobotMoveInfoChanged(RobotMoveInfo oldValue, RobotMoveInfo newValue)
        {
            string RobotTarget;
            if (oldValue == null || newValue == null)
            {
                return;
            }

            #region Rotating
            if ((oldValue.Action == RobotAction.None || oldValue.ArmTarget != newValue.ArmTarget) && (newValue.Action == RobotAction.Rotating))
            {
                var TMRobotMoveActionBladeTarget = newValue.BladeTarget;
                if (TMRobotMoveActionBladeTarget != null)
                {
                    RobotTarget = TMRobotMoveActionBladeTarget.ToString();
                }
                else
                {
                    return;
                }
                var values = RobotTarget.Split('.');
                var arm = values[0];
                var module = values[1];
                if (arm == "ArmA")
                {
                    Robot1TAction = (WaferRobotTAction)Enum.Parse(typeof(WaferRobotTAction), module, true);
                }
                else if (arm == "ArmB")
                {
                    Robot2TAction = (WaferRobotTAction)Enum.Parse(typeof(WaferRobotTAction), module, true);
                }
            }
            #endregion

            #region pick 和 place LL
            else if ((oldValue.Action == RobotAction.None || oldValue.ArmTarget != newValue.ArmTarget) && (newValue.Action == RobotAction.Placing || newValue.Action == RobotAction.Picking))
            {
                var TMRobotMoveActionBladeTarget = newValue.BladeTarget;
                if (TMRobotMoveActionBladeTarget != null)
                {
                    RobotTarget = TMRobotMoveActionBladeTarget.ToString();
                }
                else
                {
                    return;
                }
                var values = RobotTarget.Split('.');
                var arm = values[0];
                var module = values[1];

                if (arm == "ArmA")
                {
                    var waferRobotTAction = (WaferRobotTAction)Enum.Parse(typeof(WaferRobotTAction), module, true);
                    if (waferRobotTAction != Robot1TAction)
                    {
                        Robot1TAction = waferRobotTAction;
                    }
                    else
                    {
                        //await Task.Delay(100);
                    }
                    await Task.Delay(600);

                    //Robot1TAction = (WaferRobotTAction)Enum.Parse(typeof(WaferRobotTAction), module, true);
                    //await Task.Delay(600);
                    Robot1XAction = WaferRobotXAction.Extend;
                    while ((newValue.Action == RobotAction.Placing && ModuleManager.ModuleInfos["TMRobot"].WaferManager.Wafers[0].WaferStatus != 0) || (newValue.Action == RobotAction.Picking && ModuleManager.ModuleInfos["TMRobot"].WaferManager.Wafers[0].WaferStatus == 0))
                    {
                        await Task.Delay(100);
                    }
                    Robot1XAction = WaferRobotXAction.Retract;
                }
                else if (arm == "ArmB")
                {
                    var waferRobotTAction = (WaferRobotTAction)Enum.Parse(typeof(WaferRobotTAction), module, true);
                    if (waferRobotTAction != Robot2TAction)
                    {
                        Robot2TAction = waferRobotTAction;
                    }
                    else
                    {
                        //await Task.Delay(100);
                    }
                    await Task.Delay(600);

                    //Robot2TAction = (WaferRobotTAction)Enum.Parse(typeof(WaferRobotTAction), module, true);
                    //await Task.Delay(600);
                    Robot2XAction = WaferRobotXAction.Extend;
                    while ((newValue.Action == RobotAction.Placing && ModuleManager.ModuleInfos["TMRobot"].WaferManager.Wafers[1].WaferStatus != 0) || (newValue.Action == RobotAction.Picking && ModuleManager.ModuleInfos["TMRobot"].WaferManager.Wafers[1].WaferStatus == 0))
                    {
                        await Task.Delay(100);
                    }
                    Robot2XAction = WaferRobotXAction.Retract;
                }
            }

            #endregion

            #region pick 和 place pm
            else if ((oldValue.Action == RobotAction.None || oldValue.ArmTarget != newValue.ArmTarget) && newValue.Action == RobotAction.Extending)
            {
                var TMRobotMoveActionBladeTarget = newValue.BladeTarget;
                if (TMRobotMoveActionBladeTarget != null)
                {
                    RobotTarget = TMRobotMoveActionBladeTarget.ToString();
                }
                else
                {
                    return;
                }
                var values = RobotTarget.Split('.');
                var arm = values[0];
                var module = values[1];
                if (arm == "ArmA")
                {
                    var waferRobotTAction = (WaferRobotTAction)Enum.Parse(typeof(WaferRobotTAction), module, true);
                    if (waferRobotTAction != Robot1TAction)
                    {
                        Robot1TAction = waferRobotTAction;
                    }
                    else
                    {
                        // await Task.Delay(100);
                    }
                    await Task.Delay(600);

                    Robot1XAction = WaferRobotXAction.Extend;
                }
                else if (arm == "ArmB")
                {
                    var waferRobotTAction = (WaferRobotTAction)Enum.Parse(typeof(WaferRobotTAction), module, true);
                    if (waferRobotTAction != Robot2TAction)
                    {
                        Robot2TAction = waferRobotTAction;
                    }
                    else
                    {
                        // await Task.Delay(100);
                    }
                    await Task.Delay(600);

                    Robot2XAction = WaferRobotXAction.Extend;
                }
            }
            else if ((oldValue.Action == RobotAction.None || oldValue.ArmTarget != newValue.ArmTarget) && newValue.Action == RobotAction.Retracting)
            {
                var TMRobotMoveActionBladeTarget = newValue.BladeTarget;
                if (TMRobotMoveActionBladeTarget != null)
                {
                    RobotTarget = TMRobotMoveActionBladeTarget.ToString();
                }
                else
                {
                    return;
                }
                var values = RobotTarget.Split('.');
                var arm = values[0];
                if (arm == "ArmA")
                {
                    Robot1XAction = WaferRobotXAction.Retract;
                }
                else if (arm == "ArmB")
                {
                    Robot2XAction = WaferRobotXAction.Retract;
                }
            }
            #endregion

            #region Home
            else if (oldValue.Action == RobotAction.None && newValue.Action == RobotAction.Homing)
            {
                if (Robot1XAction == WaferRobotXAction.Extend)
                {
                    Robot1XAction = WaferRobotXAction.Retract;
                }
                if (Robot2XAction == WaferRobotXAction.Extend)
                {
                    Robot2XAction = WaferRobotXAction.Retract;
                }
                await Task.Delay(2000);
                if (Robot1TAction != WaferRobotTAction.T_Origin)
                {
                    Robot1TAction = WaferRobotTAction.T_Origin;
                }
                if (Robot2TAction != WaferRobotTAction.T_Origin)
                {
                    Robot2TAction = WaferRobotTAction.T_Origin;
                }
            }

            #endregion

        }
        private async void EFEMRobotMoveInfoChanged(RobotMoveInfo oldValue, RobotMoveInfo newValue)
        {
            string RobotTarget;
            if (oldValue == null || newValue == null)
            {
                return;
            }
            #region pick 和 place LL

            if ((oldValue.Action == RobotAction.None || oldValue.ArmTarget != newValue.ArmTarget) && (newValue.Action == RobotAction.Placing || newValue.Action == RobotAction.Picking))
            {
                var TMRobotMoveActionBladeTarget = newValue.BladeTarget;
                if (TMRobotMoveActionBladeTarget != null)
                {
                    RobotTarget = TMRobotMoveActionBladeTarget.ToString();
                }
                else
                {
                    return;
                }
                var values = RobotTarget.Split('.');
                var arm = values[0];
                var module = values[1];

                if (arm == "ArmA")
                {
                    var robot3Robot3TAction = (WaferRobotTAction)Enum.Parse(typeof(WaferRobotTAction), module, true);
                    //await Task.Delay(1000);
                    await ChangePosition(robot3Robot3TAction, newValue.Action);
                    if (Robot3TAction != robot3Robot3TAction)
                    {
                        Robot3TAction = robot3Robot3TAction;
                        await Task.Delay(600);
                    }


                    Robot3XAction = WaferRobotXAction.Extend;
                    while ((newValue.Action == RobotAction.Placing && ModuleManager.ModuleInfos["EfemRobot"].WaferManager.Wafers[0].WaferStatus != 0) || (newValue.Action == RobotAction.Picking && ModuleManager.ModuleInfos["EfemRobot"].WaferManager.Wafers[0].WaferStatus == 0))
                    {
                        await Task.Delay(100);
                    }
                    Robot3XAction = WaferRobotXAction.Retract;

                    if(newValue.Action == RobotAction.Placing)
                    {
                        await ChangePosition(WaferRobotTAction.T_Origin, newValue.Action);
                    }
                    
                }
            }

            #endregion

            #region pick 和 place pm
            if (oldValue.Action == RobotAction.None && newValue.Action == RobotAction.Extending)
            {
                var TMRobotMoveActionBladeTarget = newValue.BladeTarget;
                if (TMRobotMoveActionBladeTarget != null)
                {
                    RobotTarget = TMRobotMoveActionBladeTarget.ToString();
                }
                else
                {
                    return;
                }
                var values = RobotTarget.Split('.');
                var arm = values[0];
                var module = values[1];
                if (arm == "ArmA")
                {
                    Robot3TAction = (WaferRobotTAction)Enum.Parse(typeof(WaferRobotTAction), module, true);
                    await Task.Delay(1500);
                    //ChangePosition(Robot3TAction);
                    //await Task.Delay(2000);
                    Robot3XAction = WaferRobotXAction.Extend;
                }
                else if (arm == "ArmB")
                {
                    Robot4TAction = (WaferRobotTAction)Enum.Parse(typeof(WaferRobotTAction), module, true);
                    await Task.Delay(1500);
                    //ChangePosition(Robot4TAction);
                    //await Task.Delay(2000);
                    Robot4XAction = WaferRobotXAction.Extend;
                }

            }
            if (oldValue.Action == RobotAction.None && newValue.Action == RobotAction.Retracting)
            {
                var TMRobotMoveActionBladeTarget = newValue.BladeTarget;
                if (TMRobotMoveActionBladeTarget != null)
                {
                    RobotTarget = TMRobotMoveActionBladeTarget.ToString();
                }
                else
                {
                    return;
                }
                var values = RobotTarget.Split('.');
                var arm = values[0];
                if (arm == "ArmA")
                {

                    Robot3XAction = WaferRobotXAction.Retract;
                    await Task.Delay(3000);
                    //ChangePosition(Robot3TAction);
                    //await Task.Delay(2000);
                }
                else if (arm == "ArmB")
                {
                    Robot4XAction = WaferRobotXAction.Retract;
                    await Task.Delay(3000);
                    //ChangePosition(Robot3TAction);
                    //await Task.Delay(2000);
                }

            }
            #endregion

            #region Home
            else if (oldValue.Action == RobotAction.None && newValue.Action == RobotAction.Homing)
            {
                if (Robot3XAction == WaferRobotXAction.Extend)
                {
                    Robot3XAction = WaferRobotXAction.Retract;
                }
                if (Robot4XAction == WaferRobotXAction.Extend)
                {
                    Robot4XAction = WaferRobotXAction.Retract;
                }
                if (Robot3TAction != WaferRobotTAction.T_Origin)
                {
                    Robot3TAction = WaferRobotTAction.T_Origin;
                }
                if (Robot4TAction != WaferRobotTAction.T_Origin)
                {
                    Robot4TAction = WaferRobotTAction.T_Origin;
                }
                await Task.Delay(1000);
                await ChangePosition(WaferRobotTAction.T_Origin, newValue.Action);

            }

            #endregion

        }

        private void addDataKeys()
        {
            m_RtDataKeys.Add("LP1.IsLoaded");
            m_RtDataKeys.Add("LP2.IsLoaded");
            m_RtDataKeys.Add("LP3.IsLoaded");
            m_RtDataKeys.Add("LP1.CassettePlaced");
            m_RtDataKeys.Add("LP2.CassettePlaced");
            m_RtDataKeys.Add("LP3.CassettePlaced");
            m_RtDataKeys.Add("LP1.CurrentControlJob");
            m_RtDataKeys.Add("LP2.CurrentControlJob");
            m_RtDataKeys.Add("LP3.CurrentControlJob");
            

            m_RtDataKeys.Add("System.IsAutoMode");
            m_RtDataKeys.Add("System.IsBusy");      
            m_RtDataKeys.Add("Scheduler.CycledCount");
            m_RtDataKeys.Add("Scheduler.CycledWafer");
            m_RtDataKeys.Add("Scheduler.CycleSetPoint");
            m_RtDataKeys.Add("Scheduler.Throughput");
            m_RtDataKeys.Add("EquipmentStatus");
            m_RtDataKeys.Add("Scheduler.PjNameList");
            m_RtDataKeys.Add("PUF1.IsInRobotStation");

            m_RtDataKeys.Add("Scheduler.CjNameList");
        }
        private void addStationDataKeys()
        {
            m_RtDataKeys.Add($"Station.PUF1.Rotation"); 
            m_RtDataKeys.Add($"Station.PUF1.Flip"); 
            m_RtDataKeys.Add($"Station.PUF1.Vertical"); 
            m_RtDataKeys.Add($"Station.Loader1.Rotation");
            m_RtDataKeys.Add($"Station.Loader1.TiltA");
            m_RtDataKeys.Add($"Station.Loader1.TiltB");

            m_RtDataKeys.Add($"PUF1.Rotation.{MOTOR_POSITION}");
            m_RtDataKeys.Add($"PUF1.Flip.{MOTOR_POSITION}");
            m_RtDataKeys.Add($"Loader1.Rotation.{MOTOR_POSITION}");
            m_RtDataKeys.Add($"Loader1.TiltA.{MOTOR_POSITION}");
            m_RtDataKeys.Add($"Loader1.TiltB.{MOTOR_POSITION}");
            m_RtDataKeys.Add($"PUF1.Flip.{CURRENT_STATION}");
            m_RtDataKeys.Add($"Loader1.TiltA.{CURRENT_STATION}");
            m_RtDataKeys.Add($"Loader1.TiltB.{CURRENT_STATION}");

            m_RtDataKeys.Add($"PUF1.Rotation.{MOTION_DATA}");

        }
        private bool HasWaferOnSlot(List<WaferInfo> wafers, int index)
        {
            if (wafers[index].WaferStatus == 0)
                return false;

            return true;
        }
        private async Task ChangePosition(WaferRobotTAction waferRobotTAction, RobotAction robotAction)
        {
            await Task.Delay(500);
            int delay = 500;
            if (robotAction == RobotAction.Placing)
            {
                if (waferRobotTAction == WaferRobotTAction.LP1 || waferRobotTAction == WaferRobotTAction.PUF1)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.Left_Place;
                    await Task.Delay(delay);
                }
                else if (waferRobotTAction == WaferRobotTAction.LP3)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.Right_Place;
                    await Task.Delay(delay);
                }
                else if (waferRobotTAction == WaferRobotTAction.LP2 )
                {
                    CurrentRobotPosition = EFEM.RobotPosition.Middle_Place;
                    await Task.Delay(delay);
                }
                else if (waferRobotTAction == WaferRobotTAction.Aligner1)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.Aligner_Place;
                    await Task.Delay(delay);
                }
                else if (waferRobotTAction == WaferRobotTAction.SRD1 || waferRobotTAction == WaferRobotTAction.SRD2)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.SRD_Place;
                }
                else if (waferRobotTAction == WaferRobotTAction.Dummy1 || waferRobotTAction == WaferRobotTAction.Dummy2)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.Dummy_Place;
                }
                else
                {
                    CurrentRobotPosition = EFEM.RobotPosition.Origin;
                    await Task.Delay(delay);
                }
            }
            else
            {
                if (waferRobotTAction == WaferRobotTAction.LP1 || waferRobotTAction == WaferRobotTAction.PUF1)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.Left;
                    await Task.Delay(delay);
                }
                else if (waferRobotTAction == WaferRobotTAction.LP3)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.Right;
                    await Task.Delay(delay);
                }
                else if (waferRobotTAction == WaferRobotTAction.LP2)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.Middle;
                    await Task.Delay(delay);
                }
                else if (waferRobotTAction == WaferRobotTAction.Aligner1)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.Aligner;
                    await Task.Delay(delay);
                }
                else if (waferRobotTAction == WaferRobotTAction.SRD1 || waferRobotTAction == WaferRobotTAction.SRD2)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.SRD;
                }
                else if (waferRobotTAction == WaferRobotTAction.Dummy1 || waferRobotTAction == WaferRobotTAction.Dummy2)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.Dummy;
                }
                else
                {
                    CurrentRobotPosition = EFEM.RobotPosition.Origin;
                    await Task.Delay(delay);
                }
            }
                
        }
        /// <summary>
        /// 计算最大值最小值
        /// </summary>
        /// <param name="Puf1RotationAxis"></param>
        /// <returns></returns>
        private (double max, double min) CalculateMaxMin(BeckhoffStationAxis pufAxis)
        {
            double max = 0;
            double min = 0;
            foreach (Station item in pufAxis.Stations)
            {
                double position = double.Parse(item.Position);
                if (position > max)
                {
                    max = position;
                }
                if (position < min)
                {
                    min = position;
                }
            }
            foreach (Station item in pufAxis.Stations)
            {
                double position = double.Parse(item.Position);
                if (position > max)
                {
                    max = position;
                }
                if (position < min)
                {
                    min = position;
                }
            }
            return (max, min);
        }
        /// <summary>
        /// 判定是否在station位置
        /// </summary>
        private bool JudgeAtStation(double targetPosition, double currentPosition, double tolerance)
        {
            
            if (Math.Abs(currentPosition - targetPosition) <= tolerance)
            {
                return true;
            }
            else
            {
                return false;
            }
        }
        
        #endregion
    }
}