CyberX8/CyberX8_RT/Modules/RouteManager.cs

using System;
using System.Collections;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Aitex.Core.RT.Fsm;
using Aitex.Core.Common;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using MECF.Framework.Common.Jobs;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using CyberX8_Core;
using Aitex.Core.RT.Log;
using SecsGem.Core.Application;
using CyberX8_RT.Modules.SRD;
using CyberX8_RT.Modules.PUF;
using CyberX8_RT.Modules.Dummy;
using CyberX8_RT.Modules.Loader;
using Aitex.Core.RT.Device;
using CyberX8_RT.Modules.Prewet;
using CyberX8_RT.Modules.Dryer;
using MECF.Framework.Common.ToolLayout;
using CyberX8_RT.Modules.Metal;
using CyberX8_RT.Modules.Rinse;
using MECF.Framework.Common.Routine;
using CyberX8_RT.Dispatch;
using CyberX8_RT.Modules.Reservoir;
using System.IO;
using CyberX8_RT.Modules.Buffer;
using CyberX8_RT.Modules.Transporter;
using CyberX8_RT.Devices.Loader;
using CyberX8_RT.Devices.PUF;
using CyberX8_RT.Devices.SRD;
using MECF.Framework.Common.Alarm;
using System.Diagnostics;
using MECF.Framework.Common.WaferHolder;

namespace CyberX8_RT.Modules
{
    class RouteManager : Entity, IEntity
    {

        public enum MSG
        {
            MoveWafer,
            ReturnWafer,

            HomeUnit,

            PauseAuto,
            ResumeAuto,

            Stop,

            StartCycle,
            StopCycle,

            HOME,
            RESET,
            ABORT,
            ERROR,

            SetAutoMode,
            SetManualMode,

            ResetIdleCleanTime,
            ResetIdlePurgeTime,

            CreateJob,
            PauseJob,
            PauseAllJobs,
            ResumeJob,
            ResumeAllJobs,
            StartJob,
            StopJob,
            AbortJob,
            JobDone,
            CassetteLeave,  //For unload light control off afer job done

            Map,
            ReturnAllWafer,
            TMCycle,
            
            Retry,
            ConfirmComplete,
            ResetWafers,
            FaStartJob,
            FaStopJob,
        }
        #region 属性
        public string Name { get; set; }

        public bool IsAutoMode
        {
            get
            {
                return fsm.State == (int)RtState.AutoRunning || fsm.State == (int)RtState.AutoIdle||fsm.State==(int)RtState.AutoAborting;
            }
        }

        public bool IsFaAutoMode
        {
            get
            {
                return fsm.State == (int)RtState.AutoRunning || fsm.State == (int)RtState.AutoIdle;
            }
        }

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

        public bool IsIdle
        {
            get { return fsm.State == (int)RtState.Idle || fsm.State == (int)RtState.AutoIdle; }
        }
        public bool IsAlarm
        {
            get { return fsm.State == (int)RtState.Error; }
        }

        public bool IsPaused
        {
            get { return _jobCycle.CycleState == RState.Paused; }
        }

        public bool IsRunning
        {
            get
            {
                return !IsInit && !IsAlarm && !IsIdle;
            }
        }
        /// <summary>
        /// 是否AutoRunning
        /// </summary>
        public bool IsAutoRunning
        {
            get { return fsm.State == (int)RtState.AutoRunning||fsm.State==(int)RtState.AutoAborting; }
        }
        /// <summary>
        /// 是否
        /// </summary>
        public bool IsAutoIdle
        {
            get { return fsm.State == (int)RtState.AutoIdle; }
        }
        /// <summary>
        /// EFEM实体
        /// </summary>
        public EfemEntity EFEM { get; }


        public WaferSize WaferSize { get; private set; }
        #endregion

        #region 内部变量
        private string _systemControlIp;
        private ICycle _jobCycle;

        private ModuleHomeAllRoutine _homeAllRoutine;
        private List<ReservoirMetalHomeRoutine> _reservoirMetalRoutines=new List<ReservoirMetalHomeRoutine>();
        /// <summary>
        /// 模块实体字典
        /// </summary>
        private Dictionary<string, IModuleEntity> _moduleEntitiesDic = new Dictionary<string, IModuleEntity>();
        /// <summary>
        /// 模块类型实体字典
        /// </summary>
        private Dictionary<ModuleType, List<IModuleEntity>> _modultTypeEntitiesDic = new Dictionary<ModuleType, List<IModuleEntity>>();
        /// <summary>
        /// Home stopwatch
        /// </summary>
        private Stopwatch _homeStopWatch = new Stopwatch();
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        public RouteManager()
        {
            Name = "System";

            WaferSize = (WaferSize)SC.GetValue<int>("System.WaferSize");

            if (ModuleHelper.IsInstalled(ModuleName.EFEM))
            {
                EFEM = new EfemEntity();
                EFEM.Initialize();
                _moduleEntitiesDic[ModuleName.EFEM.ToString()] = EFEM;
            }
            InitialModuleList(PufItemManager.Instance.InstalledModules, typeof(PUFEntity),ModuleType.PUF);
            InitialModuleList(DummyCasseteItemManager.Instance.InstalledModules, typeof(DummyEntity),ModuleType.Dummy);
            InitialModuleList(LoaderItemManager.Instance.InstalledModules, typeof(LoaderEntity),ModuleType.Loader);
            InitialModuleList(TransporterItemManager.Instance.InstalledModules, typeof(TransporterEntity),ModuleType.Transporter);
            InitialModuleList(BufferItemManager.Instance.InstalledModules, typeof(BufferEntity), ModuleType.Buffer);
            InitialModuleList(PrewetItemManager.Instance.InstalledModules, typeof(PrewetEntity),ModuleType.Prewet);
            InitialModuleList(DryerItemManager.Instance.InstalledModules, typeof(DryerEntity),ModuleType.Dryer);
            InitialModuleList(MetalItemManager.Instance.InstalledModules, typeof(MetalEntity),ModuleType.Metal);
            InitialModuleList(RinseItemManager.Instance.InstalledModules, typeof(RinseEntity),ModuleType.Rinse);
            InitialModuleList(ReservoirItemManager.Instance.InstalledModules,typeof(ReservoirEntity),ModuleType.Reservoir);
            InitialModuleList(SrdItemManager.Instance.InstalledModules, typeof(SRDEntity), ModuleType.SRD);

            fsm = new StateMachine<RouteManager>(Name, (int)RtState.Init, 200);

            SubscribeOperation();
            SubscribeDataVariable();
        }
        /// <summary>
        /// 初始化模块集合
        /// </summary>
        /// <param name="lst"></param>
        /// <param name="entityType"></param>
        private void InitialModuleList(List<string> lst,Type entityType,ModuleType moduleType)
        {
            foreach(string item in lst)
            {
                InitialModule(item, entityType,moduleType);
            }
        }
        /// <summary>
        /// 初始化模块对象
        /// </summary>
        /// <param name="item"></param>
        /// <param name="moduleType"></param>
        private void InitialModule(string item,Type entityType,ModuleType moduleType)
        {
            ModuleName moduleName = (ModuleName)Enum.Parse(typeof(ModuleName), item);
            IModuleEntity moduleEntity= (IModuleEntity)System.Activator.CreateInstance(entityType,moduleName);
            moduleEntity.Initialize();
            _moduleEntitiesDic[item] = moduleEntity;
            List<IModuleEntity> lst = new List<IModuleEntity>();
            if(_modultTypeEntitiesDic.ContainsKey(moduleType))
            {
                lst= _modultTypeEntitiesDic[moduleType];
            }
            else
            {
                _modultTypeEntitiesDic[moduleType] = lst;
            }
            lst.Add(moduleEntity);
        }

        public bool Check(int msg, out string reason, params object[] args)
        {
            if (!fsm.FindTransition(fsm.State, msg))
            {
                reason = String.Format("{0} is in {1} state，can not do {2}", Name, 0, (MSG)msg);
                return false;
            }

            if (msg == (int)MSG.StartCycle)
            {
                if (!IsAutoMode)
                {
                    reason = String.Format("can not do {0}, isn't auto mode.", msg.ToString());
                    return false;
                }
            }
            reason = "";

            return true;
        }
        /// <summary>
        /// 订阅数据
        /// </summary>
        void SubscribeDataVariable()
        {
            DATA.Subscribe("System.SystemControlIp", ()=>_systemControlIp, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe("Rt.Status", () => ((RtState)fsm.State).ToString(), SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe("System.State", () => ((RtState)fsm.State).ToString(), SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe("System.IsAutoMode", () => IsAutoMode, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe("System.IsAutoRunning", () => IsAutoRunning, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe("System.IsIdle", () => IsIdle || IsInit, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe("System.IsAlarm", () => IsAlarm, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe("System.IsBusy", () => IsRunning, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe("System.IsConnectedWithHost", () => CheckSecsGemOnline(Singleton<SecGemApplication>.Instance.ControlState),SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe("System.IsDisconnectWithHost", () => CheckSecsGemOnline(Singleton<SecGemApplication>.Instance.ControlState),SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe("System.EquipmentMode", () => IsAutoMode ? "Auto":"Manual", SubscriptionAttribute.FLAG.IgnoreSaveDB);

            DATA.Subscribe("EquipmentStatus", () =>
            {
                if (IsInit) return 0;
                if (IsIdle) return 1;
                if (IsAlarm) return 3;
                if (IsPaused) return 4;

                return 2;
            }, SubscriptionAttribute.FLAG.IgnoreSaveDB);
        }
        /// <summary>
        /// 订阅操作
        /// </summary>
        void SubscribeOperation()
        {
            OP.Subscribe("ApplySystemControl", ApplySystemControl);
            OP.Subscribe("ReleaseSystemControl", ReleaseSystemControl);
            OP.Subscribe("CreateWafer", InvokeCreateWafer);

            OP.Subscribe("DeleteWafer", InvokeDeleteWafer);


            OP.Subscribe("System.Home", (cmd, args) => CheckToPostMessage((int)MSG.HOME, args));
            DATA.Subscribe("SYSTEM.FsmState", () => (((RtState)fsm.State).ToString()), SubscriptionAttribute.FLAG.IgnoreSaveDB);


            OP.Subscribe("System.ReturnAllWafer", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.ReturnAllWafer, args[0], args[1], args[2], args[3]);
            });
            OP.Subscribe("System.MoveWafer", (string cmd, object[] args) =>
            {
                if (!Enum.TryParse((string)args[0], out ModuleName source))
                {
                    EV.PostWarningLog(Name, $"Parameter source {(string)args[0]} not valid");
                    return false;
                }

                if (!Enum.TryParse((string)args[2], out ModuleName destination))
                {
                    EV.PostWarningLog(Name, $"Parameter destination {(string)args[1]} not valid");
                    return false;
                }

                
                return CheckToPostMessage((int)MSG.MoveWafer,
                    source, (int)args[1],
                    destination, (int)args[3],
                    args[4], args[5],
                    args[6], args[7], (string)args[8]);
            });

            OP.Subscribe("System.HomeAll", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.HOME);
            });
            OP.Subscribe("System.Abort", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.ABORT);
            });

            OP.Subscribe("System.Reset", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.RESET);
            });

            OP.Subscribe("System.SetAutoMode", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.SetAutoMode);
            });
            OP.Subscribe("System.SetManualMode", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.SetManualMode);
            });

            OP.Subscribe("System.CreateJob", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.CreateJob, args[0]);
            });

            OP.Subscribe("System.StartJob", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.StartJob, args[0]);
            });

            OP.Subscribe("System.PauseJob", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.PauseJob, args[0]);
            });

            OP.Subscribe("System.ResumeJob", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.ResumeJob, args[0]);
            });

            OP.Subscribe("System.PauseAllJob", (cmd, args) => { return CheckToPostMessage((int)MSG.PauseAllJobs); }) ;
            OP.Subscribe("System.ResumeAllJob", (cmd, args) => { return CheckToPostMessage((int)MSG.ResumeAllJobs); });

            OP.Subscribe("System.StopJob", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.StopJob, args[0]);
            });

            OP.Subscribe("System.AbortJob", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.AbortJob, args[0]);
            });

            OP.Subscribe(RtOperation.SetConfig.ToString(), (name, args) =>
            {
                string sc_key = args[0] as string;
                if (!string.IsNullOrWhiteSpace(sc_key) && args.Length > 1)
                {
                    SC.SetItemValue(sc_key, args[1]);
                }

                return true;
            });

            OP.Subscribe("System.ResetIdleCleanTime", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.ResetIdleCleanTime, args[0]);
            });

            OP.Subscribe("System.ResetIdlePurgeTime", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.ResetIdlePurgeTime, args[0]);
            });

            OP.Subscribe("System.SetWaferSize", (string cmd, object[] args) =>
            {
                string module = (string)args[0];
                string size = (string)args[1];
                switch (size)
                {
                    case "3":
                        WaferManager.Instance.UpdateWaferSize(ModuleHelper.Converter(module), 0, WaferSize.WS3);
                        break;
                    case "4":
                        WaferManager.Instance.UpdateWaferSize(ModuleHelper.Converter(module), 0, WaferSize.WS4);
                        break;
                    case "6":
                        WaferManager.Instance.UpdateWaferSize(ModuleHelper.Converter(module), 0, WaferSize.WS6);
                        break;
                    default:
                        EV.PostWarningLog("System", $"wafer size {size} not valid");
                        break;
                }

                return true;
            });

            //OP.Subscribe("System.CassetteLeave", (string cmd, object[] args) =>
            //{
            //    return CheckToPostMessage((int)MSG.CassetteLeave);
            //});

            OP.Subscribe("System.Retry", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.Retry, args[0]);
            });
            OP.Subscribe("System.ConfirmComplete", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.ConfirmComplete, args[0]);
            });

            OP.Subscribe("WaferHolder.ResetLayoutWafers", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.ResetWafers, args);
            });

        }
        /// <summary>
        /// 申请系统控制权
        /// </summary>
        /// <param name="cmd"></param>
        /// <param name="args"></param>
        /// <returns></returns>
        private bool ApplySystemControl(string cmd, object[] args)
        {
            if (args[0].ToString() == "")
            {
                LOG.WriteLog(eEvent.WARN_ROUTER, "System", $"Current IP does not allow the application of UI control permissions");
                return false;
            }
            string applyIp = args[0].ToString();
            if (string.IsNullOrEmpty(_systemControlIp))
            {
                _systemControlIp = applyIp;
                LOG.WriteLog(eEvent.EV_ROUTER, "System", $"{_systemControlIp} apply system control success");
                return true;
            }
            else if(_systemControlIp!=applyIp)
            {
                LOG.WriteLog(eEvent.WARN_ROUTER, "System", $"{_systemControlIp} already has system control permission");
                return false;
            }
            return false;
        }
        /// <summary>
        /// 释放系统控制权
        /// </summary>
        /// <param name="cmd"></param>
        /// <param name="args"></param>
        /// <returns></returns>
        private bool ReleaseSystemControl(string cmd, object[] args)
        {
            string releaseIp = args[0].ToString();
            if (_systemControlIp == releaseIp)
            {
                LOG.WriteLog(eEvent.EV_ROUTER, "System", $"{releaseIp} release system control success");
                _systemControlIp = "";
            }
            else
            {
                LOG.WriteLog(eEvent.ERR_ROUTER, "System", $"{releaseIp} is not SystemControlIp");
            }
            return false;
        }

        /// <summary>
        /// 检验Secsgem在线情况
        /// </summary>
        /// <param name="controlState"></param>
        /// <returns></returns>
        private bool CheckSecsGemOnline(SecsGem.Core.EnumData.ControlState controlState)
        {
            if (controlState == SecsGem.Core.EnumData.ControlState.OnlineLocal || controlState == SecsGem.Core.EnumData.ControlState.OnlineRemote)
            {
                return true;
            }
            return false;
        }

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

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

            return true;
        }

        private bool InvokeCreateWafer(string arg1, object[] args)
        {
            ModuleName chamber = ModuleHelper.Converter(args[0].ToString());
            int slot = (int)args[1];
            WaferStatus state = WaferStatus.Normal;

            if (WaferManager.Instance.IsWaferSlotLocationValid(chamber, slot))
            {
                if (WaferManager.Instance.CheckHasWafer(chamber, slot))
                {
                    LOG.Write(eEvent.EV_ROUTER, "System", string.Format("{0} slot {1} already has wafer.create wafer is not valid", chamber, slot));
                }
                else if (WaferManager.Instance.CreateWafer(chamber, slot, state) != null)
                {
                    LOG.Write(eEvent.EV_WAFER_CREATE, ModuleName.System, chamber.ToString(), (slot + 1).ToString(), state.ToString());
                }
            }
            else
            {
                LOG.Write(eEvent.WARN_ROUTER, "System", string.Format("Invalid position，{0}，{1}", chamber.ToString(), slot.ToString()));
                return false;
            }

            return true;
        }
        private bool InvokeDeleteWafer(string arg1, object[] args)
        {
            ModuleName chamber = ModuleHelper.Converter(args[0].ToString());
            int slot = (int)args[1];

            if (WaferManager.Instance.IsWaferSlotLocationValid(chamber, slot))
            {
                if (WaferManager.Instance.CheckHasWafer(chamber, slot))
                {
                    WaferManager.Instance.DeleteWafer(chamber, slot);
                    EV.PostMessage(ModuleName.System.ToString(), EventEnum.WaferDelete, chamber.ToString(), slot + 1);
                }
                else
                {
                    LOG.Write(eEvent.EV_ROUTER, "System", string.Format("No wafer at {0} {1}, delete not valid", chamber.ToString(), slot + 1));
                }
            }
            else
            {
                LOG.Write(eEvent.WARN_ROUTER, "System", string.Format("Invalid position，{0}，{1}", chamber.ToString(), slot.ToString()));
                return false;
            }

            return true;
        }

        private bool InvokeReturnWafer(string arg1, object[] args)
        {
            ModuleName target = ModuleHelper.Converter(args[0].ToString());
            int slot = (int)args[1];
            if (ModuleHelper.IsLoadPort(target))
            {
                LOG.Write(eEvent.WARN_ROUTER, "System", string.Format("Wafer already at LoadPort {0} {1}, return operation is not valid", target.ToString(), slot + 1));
                return false;
            }

            if (!WaferManager.Instance.IsWaferSlotLocationValid(target, slot))
            {
                LOG.Write(eEvent.WARN_ROUTER, "System", string.Format("Invalid position，{0}，{1}", target.ToString(), slot.ToString()));
                return false;
            }

            WaferInfo wafer = WaferManager.Instance.GetWafer(target, slot);
            if (wafer.IsEmpty)
            {
                LOG.Write(eEvent.WARN_ROUTER, "System", string.Format("No wafer at {0} {1}, return operation is not valid", target.ToString(), slot + 1));
                return false;
            }

            return CheckToPostMessage((int)MSG.MoveWafer,
                target, slot,
                (ModuleName)wafer.OriginStation, wafer.OriginSlot,
                false, 0, false, 0, "Blade1");
            
        }

        protected override bool Init()
        {
            _jobCycle = new JobDispatcher();
            Singleton<FaRemoteManager>.Instance.JobCycle = _jobCycle;

            _homeAllRoutine = new ModuleHomeAllRoutine("System");
            
            BuildTransitionTable();
            return true;
        }
       
        private void BuildTransitionTable()
        {
            //Init sequence
            Transition(RtState.Init,            MSG.HOME,               FsmStartHome,               RtState.Initializing);
            Transition(RtState.Idle,            MSG.HOME,               FsmStartHome,               RtState.Initializing);
            Transition(RtState.Error,           MSG.HOME,               FsmStartHome,               RtState.Initializing);



            EnterExitTransition<RtState, FSM_MSG>(RtState.AutoRunning,  FsmEnterAutoRunning,        FSM_MSG.NONE,       FsmExitAutoTransfer);
            EnterExitTransition<RtState, FSM_MSG>(RtState.Transfer,     null,                       FSM_MSG.NONE,       FsmExitTransfer);
            EnterExitTransition<RtState, FSM_MSG>(RtState.ReturnWafer,  null,                       FSM_MSG.NONE,       FsmExitReturnWafer);

            AnyStateTransition(MSG.ERROR,       FsmError,               RtState.Error);


            Transition(RtState.Idle,            FSM_MSG.TIMER,          FsmMonitor,                 RtState.Idle);
            Transition(RtState.Init,            FSM_MSG.TIMER,          FsmMonitor,                 RtState.Init);
            Transition(RtState.Init, MSG.ABORT, FsmAbort, RtState.Init);
            Transition(RtState.Error, MSG.ABORT, FsmAbort, RtState.Init);
            Transition(RtState.Idle, MSG.ABORT, FsmAbort, RtState.Idle);
            Transition(RtState.Initializing, MSG.ABORT, FsmAbort, RtState.Init);

            Transition(RtState.Initializing,    FSM_MSG.TIMER,          FsmMonitorHome,             RtState.Idle);
            Transition(RtState.Initializing,    MSG.ERROR,              FsmError,                   RtState.Error);


            //Auto/manual 
            Transition(RtState.Idle,            MSG.SetAutoMode,        FsmStartAutoTransfer,       RtState.AutoIdle);

            Transition(RtState.AutoAborting, FSM_MSG.TIMER, FsmAutoTransfer, RtState.AutoIdle);
            Transition(RtState.AutoRunning,     FSM_MSG.TIMER,          FsmAutoTransfer,            RtState.AutoIdle);
            Transition(RtState.AutoRunning, MSG.ABORT, FsmAbort, RtState.AutoAborting);
            Transition(RtState.AutoAborting, MSG.SetManualMode, FsmStartAbortingSetManualMode, RtState.Idle);
            //Transition(RtState.AutoRunning,   MSG.SetManualMode,      FsmStartSetManualMode,      RtState.Idle);
            Transition(RtState.AutoRunning,     MSG.JobDone,            FsmJobDone,                 RtState.AutoIdle);
            //Transition(RtState.AutoRunning,   MSG.CassetteLeave,      fCassetteLeave,             RtState.AutoRunning);   //For unload light control off afer job done

            Transition(RtState.AutoRunning,     MSG.CreateJob,          FsmCreateJob,               RtState.AutoRunning);
            Transition(RtState.AutoRunning,     MSG.StartJob,           FsmStartJob,                RtState.AutoRunning);
            Transition(RtState.AutoRunning,     MSG.PauseJob,           FsmPauseJob,                RtState.AutoRunning);
            Transition(RtState.AutoRunning,     MSG.PauseAllJobs,       FsmPauseAllJobs,            RtState.AutoRunning);
            Transition(RtState.AutoRunning,     MSG.ResumeJob,          FsmResumeJob,               RtState.AutoRunning);
            Transition(RtState.AutoRunning,     MSG.ResumeAllJobs,      FsmResumeAllJobs,           RtState.AutoRunning);
            Transition(RtState.AutoRunning,     MSG.StopJob,            FsmStopJob,                 RtState.AutoRunning);
            Transition(RtState.AutoRunning,     MSG.Retry,              FsmRetry,                   RtState.AutoRunning);
            Transition(RtState.AutoRunning,     MSG.ConfirmComplete,    FsmConfirmComplete,         RtState.AutoRunning);

            Transition(RtState.AutoIdle,        FSM_MSG.TIMER,          FsmMonitorAutoIdle,         RtState.AutoIdle);
            Transition(RtState.AutoIdle,        MSG.SetManualMode,      FsmStartSetManualMode,      RtState.Idle);
            Transition(RtState.AutoIdle,        MSG.CreateJob,          FsmCreateJob,               RtState.AutoIdle);
            Transition(RtState.AutoIdle,        MSG.StartJob,           FsmStartJob,                RtState.AutoRunning);
            Transition(RtState.AutoIdle,        MSG.PauseJob,           FsmPauseJob,                RtState.AutoIdle);
            Transition(RtState.AutoIdle,        MSG.PauseAllJobs,       FsmPauseAllJobs,            RtState.AutoIdle);
            Transition(RtState.AutoIdle,        MSG.ResumeJob,          FsmResumeJob,               RtState.AutoIdle);
            Transition(RtState.AutoIdle,        MSG.ResumeAllJobs,      FsmResumeAllJobs,           RtState.AutoIdle);
            Transition(RtState.AutoIdle,        MSG.StopJob,            FsmStopJob,                 RtState.AutoIdle);
            Transition(RtState.AutoIdle,        MSG.FaStartJob,         FsmEnterAutoRunning,        RtState.AutoRunning);
            Transition(RtState.AutoRunning,     MSG.FaStartJob,         FsmEnterAutoRunning,        RtState.AutoRunning);

            Transition(RtState.AutoIdle, MSG.ResetWafers, ResetWafers, RtState.AutoIdle);
            Transition(RtState.Idle, MSG.ResetWafers, ResetWafers, RtState.Idle);
            Transition(RtState.Init, MSG.ResetWafers, ResetWafers, RtState.Init);
        }

        private bool FsmMonitor(object[] objs)
        {
            return true;
        }
        /// <summary>
        /// 检验前置条件
        /// </summary>
        /// <returns></returns>
        private bool CheckPreCondition()
        {
            if (ModuleHelper.IsInstalled(ModuleName.PUF1))
            {
                PufVacuum pufVacuum = DEVICE.GetDevice<PufVacuum>($"{ModuleName.PUF1}.Vacuum");
                if (!pufVacuum.IsChuckAReleased || !pufVacuum.ISChuckBReleased)
                {
                    LOG.WriteLog(eEvent.ERR_AXIS, ModuleName.PUF1.ToString(), "Vacuum is on");
                    return false;
                }
            }

            if (ModuleHelper.IsInstalled(ModuleName.PUF2))
            {
                PufVacuum pufVacuum = DEVICE.GetDevice<PufVacuum>($"{ModuleName.PUF2}.Vacuum");
                if (!pufVacuum.IsChuckAReleased || !pufVacuum.ISChuckBReleased)
                {
                    LOG.WriteLog(eEvent.ERR_AXIS, ModuleName.PUF2.ToString(), "Vacuum is on");
                    return false;
                }
            }

            if (ModuleHelper.IsInstalled(ModuleName.Loader1))
            {
                LoaderSideDevice loaderSideADevice = DEVICE.GetDevice<LoaderSideDevice>($"{ModuleName.Loader1}.SideA");
                LoaderSideDevice loaderSideBDevice = DEVICE.GetDevice<LoaderSideDevice>($"{ModuleName.Loader1}.SideB");
                if (loaderSideADevice.SideData.CRSVacuum || loaderSideBDevice.SideData.CRSVacuum)
                {
                    LOG.WriteLog(eEvent.ERR_AXIS, ModuleName.Loader1.ToString(), "Vacuum is on");
                    return false;
                }
            }

            if (ModuleHelper.IsInstalled(ModuleName.SRD1))
            {
                SrdCommonDevice srdCommonDevice = DEVICE.GetDevice<SrdCommonDevice>($"{ModuleName.SRD1}.Common");
                if (!srdCommonDevice.CommonData.ChuckVacuum)
                {
                    LOG.WriteLog(eEvent.ERR_AXIS, ModuleName.SRD1.ToString(), "Vacuum is on");
                    return false;
                }
            }

            if (ModuleHelper.IsInstalled(ModuleName.SRD2))
            {
                SrdCommonDevice srdCommonDevice = DEVICE.GetDevice<SrdCommonDevice>($"{ModuleName.SRD2}.Common");
                if (!srdCommonDevice.CommonData.ChuckVacuum)
                {
                    LOG.WriteLog(eEvent.ERR_AXIS, ModuleName.SRD2.ToString(), "Vacuum is on");
                    return false;
                }
            }
            return true;
        }
        private bool FsmStartHome(object[] objs)
        {
            if(!CheckPreCondition())
            {
                return false;
            }

            List<string> keys= _moduleEntitiesDic.Keys.ToList();
            foreach(string item in keys)
            {
                if (!NeedSequenceHome(item))
                {
                    IModuleEntity entity = _moduleEntitiesDic[item];
                    if (!entity.IsDisable)
                    {
                        entity.Invoke("HomeAll");
                    }
                }
            }
            _homeAllRoutine.Start();
            _reservoirMetalRoutines.Clear();
            foreach (string item in keys)
            {
                if (Enum.TryParse(item, out ModuleName moduleName))
                {
                    if (ModuleHelper.IsReservoir(moduleName))
                    {
                        IModuleEntity moduleEntity = _moduleEntitiesDic[item];
                        if (!moduleEntity.IsDisable)
                        {
                            ReservoirMetalHomeRoutine reservoirMetalHomeRoutine = new ReservoirMetalHomeRoutine(item);
                            _reservoirMetalRoutines.Add(reservoirMetalHomeRoutine);
                        }
                    }
                }
            }
            foreach (ReservoirMetalHomeRoutine item in _reservoirMetalRoutines)
            {
                item.Start();
            }
            _homeStopWatch.Restart();
            return true;
        }
        /// <summary>
        /// 需要按照顺序Home
        /// </summary>
        /// <returns></returns>
        private bool NeedSequenceHome(string item)
        {
            bool result = item == ModuleName.PUF1.ToString() || item == ModuleName.PUF2.ToString() || item == ModuleName.Loader1.ToString() ||
                item == ModuleName.Transporter2.ToString() || item == ModuleName.Transporter1.ToString();
            if (result)
            {
                return true;
            }
            else
            {
                if(Enum.TryParse(item,out ModuleName moduleName))
                {
                    if (!ModuleHelper.IsMetal(moduleName)&&!ModuleHelper.IsReservoir(moduleName))
                    {
                        return false;
                    }
                }
                return true;
            }
        }

        private bool FsmMonitorHome(object[] objs)
        {
            RState rstate = _homeAllRoutine.Monitor();
            if (_homeStopWatch.ElapsedMilliseconds <= 500)
            {
                return false;
            }
            if(rstate==RState.Failed||rstate==RState.Timeout)
            {
                PostMsg(MSG.ERROR);
                return false;
            }

            List<string> keys = LoadInitializeCheckModuleList();
            int idleCount = 0;
            foreach (string item in keys)
            {
                IModuleEntity ModuleEntity = _moduleEntitiesDic[item];
                
                if(ModuleEntity.IsError)
                {
                    LOG.Write(eEvent.ERR_ROUTER, ModuleName.System, $"{ModuleEntity.Module} home error");
                    PostMsg(MSG.ERROR);
                    return true;
                }
                else if(ModuleEntity.IsIdle)
                {
                    idleCount++;
                }
            }
            int homeCount = 0;
            foreach (ReservoirMetalHomeRoutine item in _reservoirMetalRoutines)
            {
                RState ret= item.Monitor();
                if (ret != RState.Running)
                {
                    homeCount++;
                }
            }
            if (homeCount != _reservoirMetalRoutines.Count)
            {
                return false;
            }
            if (idleCount == keys.Count)
            {
                return true;
            }
            else
            {
                return false;
            }
        }
        /// <summary>
        /// 加载初始化检验模块集合
        /// </summary>
        /// <returns></returns>
        private List<string> LoadInitializeCheckModuleList()
        {
            string checkModuleList = SC.GetStringValue("System.InitializeCheckModuleList");

            List<string> moduleList= checkModuleList.Split(',').ToList();
            List<string> modules = new List<string>();
            foreach (var item in moduleList)
            {
                if(Enum.TryParse(item, out ModuleName moduleName))
                {
                    if (ModuleHelper.IsInstalled(moduleName)) 
                    {
                        modules.Add(item);
                    }
                } 
            }
            return modules;
        }
        private bool FsmEnterAutoRunning(object[] objs)
        {
            return true;
        }

        private bool FsmExitAutoTransfer(object[] objs)
        {
            _jobCycle.Clear();
            return true;
        }

        private bool FsmExitTransfer(object[] objs)
        {
            return true;
        }
        private bool FsmExitReturnWafer(object[] objs)
        {
            return true;
        }

        private bool FsmError(object[] objs)
        {
            return true;
        }

        private bool FsmAbort(object[] objs)
        {
            //_manualTransfer.Clear();
            //_returnWafer.Clear();
            //_jobCycle.Clear();
            AlarmListManager.Instance.ClearAllAlarm();
            return _jobCycle.SystemAbort();
        }
        private bool FsmStartAutoTransfer(object[] objs)
        {
            return _jobCycle.Start(objs) == RState.Running;
        }

        private bool FsmAutoTransfer(object[] objs)
        {
            if (_jobCycle.CheckJobJustDone(out string jobInfo))
            {
                //EV.PostPopDialogMessage(EventLevel.InformationNoDelay, "Job complete", jobInfo);

                LOG.Write(eEvent.EV_ROUTER, ModuleName.System, $"Job complete,{jobInfo}");
            }

            if (_jobCycle.CheckAllJobDone())
            {
                if (!CheckToPostMessage((int)MSG.JobDone))
                    return false;
            }

            RState ret = _jobCycle.Monitor();

            if (ret == RState.Failed)
            {
                if (!CheckToPostMessage((int)MSG.ERROR))
                    return false;
            }

            return ret == RState.End;
        }

        private bool FsmAbortAutoTransfer(object[] objs)
        {
            _jobCycle.Clear();
            return true;
        }

        private bool FsmJobDone(object[] objs)
        {
            return true;
        }

        private bool FsmCreateJob(object[] objs)
        {
            return _jobCycle.CreateJob((Dictionary<string, object>)objs[0],out string reason);
        }

        private bool FsmStartJob(object[] objs)
        {
            return _jobCycle.StartJob((string)objs[0],out string reason);
        }

        private bool FsmPauseJob(object[] objs)
        {
            return _jobCycle.PauseJob((string)objs[0],out string reason);
        }

        private bool FsmResumeJob(object[] objs)
        {
            return _jobCycle.ResumeJob((string)objs[0],out string reason);
        }

        private bool FsmPauseAllJobs(object[] objs)
        {
            return _jobCycle.PauseAllJobs();
        }

        private bool FsmResumeAllJobs(object[] objs)
        {
            return _jobCycle.ResumeAllJobs();
        }

        private bool FsmStopJob(object[] objs)
        {
            return _jobCycle.StopJob((string)objs[0], out string reason);
        }
        /// <summary>
        /// 重试
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        private bool FsmRetry(object[] objs)
        {
            string moduleName = objs[0].ToString();
            IModuleEntity moduleEntity = GetModule<IModuleEntity>(moduleName);
            moduleEntity.Invoke("Retry");
            return true;
        }
        /// <summary>
        /// 重试
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        private bool FsmConfirmComplete(object[] objs)
        {
            string moduleName = objs[0].ToString();
            IModuleEntity moduleEntity = GetModule<IModuleEntity>(moduleName);
            moduleEntity.Invoke("ConfirmComplete");
            return true;
        }


        private bool FsmMonitorAutoIdle(object[] objs)
        {
            RState ret = _jobCycle.Monitor();

            return ret == RState.End;
        }

        private bool FsmStartAbortingSetManualMode(object[] objs)
        {
            return _jobCycle.RemoveAllJob();
        }
        private bool FsmStartSetManualMode(object[] objs)
        {
            if (_jobCycle.HasJobRunning)
            {
                LOG.Write(eEvent.WARN_ROUTER, "System", "Can not change to manual mode, abort running job first");
                return false;
            }

            return true;
        }
        /// <summary>
        /// 重置Wafers
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        private bool ResetWafers(object[] objs)
        {
            return WaferHolderManager.Instance.ResetLayoutWafers();
        }
        /// <summary>
        /// 获取模块对象
        /// </summary>
        /// <typeparam name="T"></typeparam>
        /// <param name="name"></param>
        /// <returns></returns>
        public T GetModule<T>(string name) where T : class, IModuleEntity
        {
            return _moduleEntitiesDic.ContainsKey(name)?_moduleEntitiesDic[name] as T:default(T);
        }
        /// <summary>
        /// 根据模块类型获取模块集合
        /// </summary>
        /// <param name="type"></param>
        /// <returns></returns>
        public List<IModuleEntity> GetModulesByModuleType(ModuleType type)
        {
            return _modultTypeEntitiesDic.ContainsKey(type) ? _modultTypeEntitiesDic[type] : new List<IModuleEntity>();
        }
    }
}