CyberX8/CyberX8_RT/Modules/Transporter/TransporterEntity.cs

using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.Routine;
using Aitex.Core.Utilities;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.WaferHolder;
using CyberX8_Core;
using CyberX8_RT.Devices.AXIS;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Aitex.Core.Util;
using MECF.Framework.Common.Layout;
using Aitex.Core.RT.SCCore;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.Common.CommonData;
using MECF.Framework.Common.Alarm;
using MECF.Framework.Common.Utilities;
using Aitex.Core.Common;

namespace CyberX8_RT.Modules.Transporter
{
    public class TransporterEntity : Entity, IEntity, IModuleEntity
    {
        #region 常量
        private const string TRNPA = "TRNPA";
        private const string TRNPB = "TRNPB";
        #endregion

        #region 内部变量
        /// <summary>
        /// 是否完成Home
        /// </summary>
        private bool _isHomed;
        /// <summary>
        /// Gantry电机
        /// </summary>
        private JetAxisBase _gantryAxis;
        /// <summary>
        /// Elevator电机
        /// </summary>
        private JetAxisBase _elevatorAxis;
        /// <summary>
        /// 当前Routine
        /// </summary>
        private IRoutine _currentRoutine;
        /// <summary>
        /// 目标Cell(Transfer或pickupMoveto或moveto目标Cell)
        /// </summary>
        private string _targetCell;
        /// <summary>
        /// 源Cell(Transfer或pickupMoveto)
        /// </summary>
        private string _sourceCell;
        #endregion

        #region routine
        private TransporterHomeRoutine _homeAllRoutine;
        private TransporterSwitchOnRoutine _switchOnRoutine;
        private TransporterSwitchOffRoutine _switchOffRoutine;
        private TransporterPositionRoutine _positionRoutine;
        private TransporterGantryPositionRoutine _gantryPositionRoutine;
        private TransporterPickUpFromRoutine _pickUpFromRoutine;
        private TransporterMoveToRoutine _moveToRoutine;
        private TransporterPickDownToRoutine _placeRoutine;
        private TransporterParkRoutine _parkRoutine;
        private TransporterElevatorUpRoutine _elevatorUpRoutine;
        private TransporterElevatorLowRoutine _elevatorLowRoutine;
        private TransporterTransferRoutine _transferRoutine;
        private TransporterPickUpMoveToRoutine _pickUpMoveToRoutine;
        private TransporterPickUpValidateRoutine _pickUpValidateRoutine;
        #endregion

        #region 属性
        public ModuleName Module { get; private set; }
        //初始状态
        public bool IsInit
        {
            get { return fsm.State == (int)TransporterState.Init; }
        }
        /// <summary>
        ///Initialized状态(Safety)
        /// </summary>
        public bool IsInitialized { get { return fsm.State==(int)TransporterState.Initialized; } }

        /// <summary>
        /// Busy状态
        /// </summary>
        public bool IsBusy
        {
            get { return !IsInit && !IsError && !IsIdle; }
        }
        /// <summary>
        /// Idle状态
        /// </summary>
        public bool IsIdle
        {
            get { return fsm.State == (int)TransporterState.Idle; }
        }

        public bool IsAuto { get; } = true;
        /// <summary>
        /// 是否为工程模式
        /// </summary>
        public bool IsEngineering { get; } = false;
        /// <summary>
        /// 是否为产品模式
        /// </summary>
        public bool IsProduction { get; } = true;
        /// <summary>
        /// 错误状态
        /// </summary>
        public bool IsError
        {
            get { return fsm.State == (int)TransporterState.Error; }
        }
        /// <summary>
        /// Home状态
        /// </summary>
        public bool IsHomed
        {
            get { return _isHomed; }
        }
        /// <summary>
        /// 是否禁用
        /// </summary>
        public bool IsDisable { get; internal set; }
        /// <summary>
        /// Grantry是否SwitchOn
        /// </summary>
        public bool IsGantrySwitchOn
        {
            get { return _gantryAxis.IsSwitchOn; }
        }
        /// <summary>
        /// Elevator是否SwitchOn
        /// </summary>
        public bool IsElevatorSwitchOn
        {
            get { return _elevatorAxis.IsSwitchOn; }
        }
        /// <summary>
        /// 当前状态机状态
        /// </summary>
        public int State { get { return fsm.State; } }
        /// <summary>
        /// 目标Cell(Transfer或pickupMoveto或moveto目标Cell)
        /// </summary>
        public string TargetCell { get { return _targetCell; } }
        /// <summary>
        /// 源Cell(Transfer或pickupMoveto)
        /// </summary>
        public string SourceCell { get { return _sourceCell; } }
        /// <summary>
        /// WaferHolder信息
        /// </summary>
        public WaferHolderInfo WaferHolderInfo { get { return WaferHolderManager.Instance.GetWaferHolder(Module.ToString()); } }
        #endregion

        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public TransporterEntity(ModuleName module)
        {
            this.Module = module;
            _elevatorAxis = DEVICE.GetDevice<JetAxisBase>($"{module}.Elevator");
            _gantryAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Gantry");
            WaferManager.Instance.SubscribeLocation(Module, 2);
            InitialFsm();
        }
        /// <summary>
        /// 初始化
        /// </summary>
        /// <returns></returns>
        protected override bool Init()
        {
            InitialOperation();
            InitialDATA();
            InitialRoutine();

            return true;
        }
        /// <summary>
        /// 检验所有电机是否已经完成Home
        /// </summary>
        /// <returns></returns>
        private bool CheckAllAxisIsHomed()
        {
            bool gantryIsHomed = _gantryAxis.CheckAxisIsAreadyHomed();
            if (!gantryIsHomed)
            {
                return false;
            }
            bool elevatorIsHomed = _elevatorAxis.CheckAxisIsAreadyHomed();
            if (!elevatorIsHomed)
            {
                return false;
            }
            bool elevatoeUp = _elevatorAxis.CheckPositionIsInStation(_elevatorAxis.MotionData.MotorPosition, "UP");
            if (!elevatorIsHomed)
            {
                return false;
            }
            if (WaferHolderInfo != null)
            {
                return false;
            }
            return true;
        }
        /// <summary>
        /// 初始化状态机
        /// </summary>
        private void InitialFsm()
        {
            if (CheckAllAxisIsHomed())
            {
                _isHomed = true;
                fsm = new StateMachine<TransporterEntity>(Module.ToString(), (int)TransporterState.Idle, 100);
            }
            else
            {
                fsm = new StateMachine<TransporterEntity>(Module.ToString(), (int)TransporterState.Init, 100);
            }
            fsm.EnableRepeatedMsg(true);

            AnyStateTransition(TransporterMSG.Error, EnterError, TransporterState.Error);
            AnyStateTransition(TransporterMSG.Abort, Abort, TransporterState.Init);
            AnyStateTransition(TransporterMSG.ReturnIdle, NullFunc, TransporterState.Idle);
            AnyStateTransition(TransporterMSG.HomeAll, HomeAll, TransporterState.Homing);
            Transition(TransporterState.Error, TransporterMSG.ResumeError,ResumeError, TransporterState.Init);
            //SwitchOn
            Transition(TransporterState.Init, TransporterMSG.SwitchOn, SwitchOnAll, TransporterState.SwitchOning);
            Transition(TransporterState.Idle, TransporterMSG.SwitchOn, SwitchOnAll, TransporterState.SwitchOning);
            Transition(TransporterState.Error, TransporterMSG.SwitchOn, SwitchOnAll, TransporterState.SwitchOning);
            Transition(TransporterState.SwitchOning, FSM_MSG.TIMER, SwitchOnTimeout, TransporterState.Init);
            //SwitchOff
            Transition(TransporterState.Init, TransporterMSG.SwitchOff, SwitchOffAll, TransporterState.SwitchOffing);
            Transition(TransporterState.Idle, TransporterMSG.SwitchOff, SwitchOffAll, TransporterState.SwitchOffing);
            Transition(TransporterState.Error, TransporterMSG.SwitchOff, SwitchOffAll, TransporterState.SwitchOffing);
            Transition(TransporterState.SwitchOffing, FSM_MSG.TIMER, SwitchOffTimeout, TransporterState.Init);
            // Home
            Transition(TransporterState.Homing, FSM_MSG.TIMER, HomingTimeout, TransporterState.Idle);
            //Gantry Save Move
            Transition(TransporterState.Idle, TransporterMSG.GantrySafeMove, GantrySafeMove, TransporterState.GantrySafeMoving);
            Transition(TransporterState.GantrySafeMoving, FSM_MSG.TIMER, GantrySafeMoveMonitor, TransporterState.Idle);
            //GantryGoToSavedPosition
            Transition(TransporterState.Error, TransporterMSG.GantryGoToSavedPosition, ManualGantryGotoPosition, TransporterState.ErrorGantryPositioning);
            Transition(TransporterState.ErrorGantryPositioning, FSM_MSG.TIMER, ManualGantryGotoPositionTimeout, TransporterState.Error);
            Transition(TransporterState.Idle,TransporterMSG.GantryGoToSavedPosition, ManualGantryGotoPosition, TransporterState.GantryPositioning);
            Transition(TransporterState.GantryPositioning, FSM_MSG.TIMER, ManualGantryGotoPositionTimeout, TransporterState.Idle);
            //Pickup
            Transition(TransporterState.Idle, TransporterMSG.PickUpFrom, PickUp, TransporterState.PickUping);
            Transition(TransporterState.PickUping, FSM_MSG.TIMER, PickUpFromTimeout, TransporterState.Idle);
            //MoveTo
            Transition(TransporterState.Idle, TransporterMSG.MoveTo, MoveTo, TransporterState.MovingTo);
            Transition(TransporterState.MovingTo, FSM_MSG.TIMER, MoveToTimeout, TransporterState.Idle);
            //Place
            Transition(TransporterState.Idle, TransporterMSG.Place, Place, TransporterState.Placing);
            Transition(TransporterState.Placing, FSM_MSG.TIMER, PlaceTimeout, TransporterState.Idle);
            //Park
            Transition(TransporterState.Idle, TransporterMSG.Park, Park, TransporterState.Parking);
            Transition(TransporterState.Parking, FSM_MSG.TIMER, ParkTimeout, TransporterState.Idle);
            //Elevator Up
            Transition(TransporterState.Idle, TransporterMSG.ElevatorUp, ElevatorUp, TransporterState.ElevatorUping);
            Transition(TransporterState.ElevatorUping, FSM_MSG.TIMER, ElevatorUpTimeout, TransporterState.Idle);
            //Elevator Low
            Transition(TransporterState.Idle, TransporterMSG.ElevatorLow, ElevatorLow, TransporterState.ElevatorLowing);
            Transition(TransporterState.ElevatorLowing, FSM_MSG.TIMER, ElevatorLowTimeout, TransporterState.Idle);
            //Transfer
            Transition(TransporterState.Idle, TransporterMSG.Transfer, Transfer, TransporterState.Transfering);
            Transition(TransporterState.Transfering, FSM_MSG.TIMER, TransferTimeout, TransporterState.Idle);
            //PickUpMoveTo
            Transition(TransporterState.Idle, TransporterMSG.PickUpMoveTo, PickUpMoveTo, TransporterState.PickUpMoveToing);
            Transition(TransporterState.PickUpMoveToing, FSM_MSG.TIMER, PickUpMoveToTimeout, TransporterState.PickUpMoveToComplete);
            Transition(TransporterState.PickUpMoveToComplete,TransporterMSG.Place, Place, TransporterState.Placing);
            Transition(TransporterState.Placing, FSM_MSG.TIMER, PlaceTimeout, TransporterState.Idle);
            //PickUpValidate
            Transition(TransporterState.Idle, TransporterMSG.PickUpValidate, PickUpValidate, TransporterState.PickUpValidating);
            Transition(TransporterState.PickUpValidating, FSM_MSG.TIMER, PickUpValidateTimeout, TransporterState.PickUpValidateComplete);
            Transition(TransporterState.PickUpValidateComplete, TransporterMSG.MoveTo, MoveTo, TransporterState.ValidateMoveTo);
            Transition(TransporterState.ValidateMoveTo, FSM_MSG.TIMER, MoveToTimeout, TransporterState.ValidateMoveToComplete);
            Transition(TransporterState.ValidateMoveToComplete, TransporterMSG.Place, Place, TransporterState.Placing);
            //Retry
            Transition(TransporterState.Error, TransporterMSG.Retry, NullFunc, TransporterState.Retrying);
            Transition(TransporterState.Retrying, FSM_MSG.TIMER, TransporterRetry, TransporterState.Retrying);
            Transition(TransporterState.Retrying, TransporterMSG.Transfer, RetryTransfer, TransporterState.Transfering);
            Transition(TransporterState.Retrying, TransporterMSG.PickUpMoveTo, RetryPickUpMoveTo, TransporterState.PickUpMoveToing);
            Transition(TransporterState.Retrying, TransporterMSG.PickUpValidate, RetryPickUpValidate, TransporterState.PickUpValidating);
            Transition(TransporterState.Retrying, TransporterMSG.Place, RetryPlace, TransporterState.Placing);
            Transition(TransporterState.Retrying, TransporterMSG.MoveTo, RetryMoveTo, TransporterState.MovingTo);
            //ConfirmComplete
            Transition(TransporterState.Init, TransporterMSG.ConfirmComplete, ClearModuleAlarm, TransporterState.Init);
            Transition(TransporterState.Idle, TransporterMSG.ConfirmComplete, ClearModuleAlarm, TransporterState.Idle);
            Transition(TransporterState.Error, TransporterMSG.ConfirmComplete, NullFunc, TransporterState.ConfirmCompleting);
            Transition(TransporterState.ConfirmCompleting, FSM_MSG.TIMER, ConfirmComplete, TransporterState.ConfirmCompleting);
            Transition(TransporterState.ConfirmCompleting, TransporterMSG.Transfer, ConfirmTransfer, TransporterState.Idle);
            Transition(TransporterState.ConfirmCompleting, TransporterMSG.PickUpValidate, ConfirmPickupValidate, TransporterState.PickUpValidateComplete);
            Transition(TransporterState.ConfirmCompleting, TransporterMSG.PickUpMoveTo, ConfirmPickupMoveto, TransporterState.PickUpMoveToComplete);
            Transition(TransporterState.ConfirmCompleting, TransporterMSG.Place, ConfirmPlace, TransporterState.Idle); 
            Transition(TransporterState.ConfirmCompleting, TransporterMSG.MoveTo, ConfirmMoveto, TransporterState.ValidateMoveToComplete);

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

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

        }
        /// <summary>
        /// 初始化操作
        /// </summary>
        private void InitialOperation()
        {
            OP.Subscribe($"{Module}.Abort", (cmd, args) => { return CheckToPostMessage<TransporterState, TransporterMSG>(eEvent.ERR_TRANSPORTER, Module.ToString(), (int)TransporterMSG.Abort); });
            OP.Subscribe($"{Module}.ClearError", (cmd, args) => { return CheckToPostMessage<TransporterState, TransporterMSG>(eEvent.ERR_TRANSPORTER, Module.ToString(), (int)TransporterMSG.ResumeError); });
            OP.Subscribe($"{Module}.HomeAll", (cmd, args) => { return CheckToPostMessage<TransporterState,TransporterMSG>(eEvent.ERR_TRANSPORTER,Module.ToString(),(int)TransporterMSG.HomeAll); });
            OP.Subscribe($"{Module}.Gantry.GantryGotoSavedPosition", (cmd, args) => { return CheckToPostMessage<TransporterState, TransporterMSG>(eEvent.ERR_TRANSPORTER, Module.ToString(), (int)TransporterMSG.GantryGoToSavedPosition, "Gantry", args); });
            //OP.Subscribe($"{Module}.Elevator.GotoSavedPosition", (cmd, args) => { return CheckToPostMessage<TransporterState, TransporterMSG>(eEvent.ERR_TRANSPORTER, Module.ToString(), (int)TransporterMSG.GoToSavedPosition, "Elevator", args); }); 
            OP.Subscribe($"{Module}.PickUpFrom", (cmd, args) => { return CheckToPostMessage<TransporterState, TransporterMSG>(eEvent.ERR_TRANSPORTER, Module.ToString(), (int)TransporterMSG.PickUpFrom,args); });
            OP.Subscribe($"{Module}.MoveTo", (cmd, args) => { return CheckToPostMessage<TransporterState, TransporterMSG>(eEvent.ERR_TRANSPORTER, Module.ToString(), (int)TransporterMSG.MoveTo, args); });
            OP.Subscribe($"{Module}.PutDownTo", (cmd, args) => { return CheckToPostMessage<TransporterState, TransporterMSG>(eEvent.ERR_TRANSPORTER, Module.ToString(), (int)TransporterMSG.Place, args); });
            OP.Subscribe($"{Module}.Park", (cmd, args) => { return CheckToPostMessage<TransporterState, TransporterMSG>(eEvent.ERR_TRANSPORTER, Module.ToString(), (int)TransporterMSG.Park, args); });
            OP.Subscribe($"{Module}.ElevatorUp", (cmd, args) => { return CheckToPostMessage<TransporterState, TransporterMSG>(eEvent.ERR_TRANSPORTER, Module.ToString(), (int)TransporterMSG.ElevatorUp, args); });
            OP.Subscribe($"{Module}.ElevatorLow", (cmd, args) => { return CheckToPostMessage<TransporterState, TransporterMSG>(eEvent.ERR_TRANSPORTER, Module.ToString(), (int)TransporterMSG.ElevatorLow, args); });
            OP.Subscribe($"{Module}.SwitchOn", (cmd, args) => { return CheckToPostMessage<TransporterState, TransporterMSG>(eEvent.ERR_TRANSPORTER, Module.ToString(), (int)TransporterMSG.SwitchOn, args); });
            OP.Subscribe($"{Module}.SwitchOff", (cmd, args) => { return CheckToPostMessage<TransporterState, TransporterMSG>(eEvent.ERR_TRANSPORTER, Module.ToString(), (int)TransporterMSG.SwitchOff, args); });
            OP.Subscribe($"{Module}.Transfer", (cmd, args) => { return CheckToPostMessage<TransporterState, TransporterMSG>(eEvent.ERR_TRANSPORTER, Module.ToString(), (int)TransporterMSG.Transfer, args); });
        }
        /// <summary>
        /// 初始化数据
        /// </summary>
        private void InitialDATA()
        {
            InitializeSvid();
            DATA.Subscribe($"{Module}.FsmState", () => ((TransporterState)fsm.State).ToString(), SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.IsHomed", () => _isHomed, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.IsIdle", () => IsIdle, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.IsError", () => IsError, SubscriptionAttribute.FLAG.IgnoreSaveDB);
        }
        /// <summary>
        /// 初始化SVID
        /// </summary>
        private void InitializeSvid()
        {
            DATA.Subscribe($"{Module}.State", () => ((TransporterState)fsm.State).ToString(), SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.LotID", () => WaferHolderInfo?.LotId, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.WSID", () => WaferHolderInfo?.Id, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.LSAID", () => WaferHolderInfo?.CrsAId, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.LSBID", () => WaferHolderInfo?.CrsBId, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.SequenceRecipe", () => WaferHolderInfo?.SequenceId, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.WaferAID", () => WaferHolderInfo?.WaferAId, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.WaferBID", () => WaferHolderInfo?.WaferBId, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{Module}.Task", () => WaferHolderInfo?.CurrentControlJobId, SubscriptionAttribute.FLAG.IgnoreSaveDB);
        }
        /// <summary>
        /// 初始化Routine
        /// </summary>
        private void InitialRoutine()
        {
            _homeAllRoutine = new TransporterHomeRoutine(Module.ToString());
            _switchOnRoutine = new TransporterSwitchOnRoutine(Module.ToString());
            _switchOffRoutine=new TransporterSwitchOffRoutine(Module.ToString());
            
            _positionRoutine = new TransporterPositionRoutine(Module.ToString());
            _gantryPositionRoutine = new TransporterGantryPositionRoutine(Module.ToString());
            _pickUpFromRoutine = new TransporterPickUpFromRoutine(Module.ToString());
            _moveToRoutine=new TransporterMoveToRoutine(Module.ToString());
            _placeRoutine=new TransporterPickDownToRoutine(Module.ToString());
            _parkRoutine=new TransporterParkRoutine(Module.ToString());
            _elevatorUpRoutine=new TransporterElevatorUpRoutine(Module.ToString());
            _elevatorLowRoutine = new TransporterElevatorLowRoutine(Module.ToString());
            _transferRoutine =new TransporterTransferRoutine(Module.ToString());
            _pickUpMoveToRoutine = new TransporterPickUpMoveToRoutine(Module.ToString());
            _pickUpValidateRoutine=new TransporterPickUpValidateRoutine(Module.ToString());
        }
        /// <summary>
        /// 进入Error状态
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool EnterError(object[] param)
        {
            return true;
        }

        /// <summary>
        /// 恢复错误
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool ResumeError(object[] param)
        {
            bool result = CheckAllAxisIsHomed();
            if (result)
            {
                _isHomed = true;
                PostMsg(TransporterMSG.ReturnIdle);
                return false;
            }
            return true;
        }

        #region Abort

        private bool Abort(object parameter)
        {
            bool preHomed = IsHomed;
            _gantryAxis.StopPositionOperation();
            _elevatorAxis.StopPositionOperation();
            if (_currentRoutine != null)
            {
                _currentRoutine.Abort();
                _currentRoutine = null;
            }
            if (preHomed)
            {
                PostMsg(TransporterMSG.ReturnIdle);
                return false;
            }
            return true;
        }
        #endregion

        #region Switch On
        /// <summary>
        /// SwitchAll
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool SwitchOnAll(object[] param)
        {
            return _switchOnRoutine.Start() == RState.Running;
        }
        private bool SwitchOnTimeout(object[] param)
        {
            RState ret = _switchOnRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(TransporterMSG.Error);
                return false;
            }

            bool result = ret == RState.End;
            if (result)
            {
                _isHomed = false;
            }
            return result;
        }
        #endregion

        #region Switch Off
        /// <summary>
        /// SwitchAll
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool SwitchOffAll(object[] param)
        {
            return _switchOffRoutine.Start() == RState.Running;
        }
        private bool SwitchOffTimeout(object[] param)
        {
            RState ret = _switchOffRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(TransporterMSG.Error);
                return false;
            }

            bool result = ret == RState.End;
            if (result)
            {
                _isHomed = false;
            }
            return result;
        }
        #endregion

        #region Home
        /// <summary>
        /// HomeAll
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool HomeAll(object[] param)
        {
            _isHomed = false;
            bool result= _homeAllRoutine.Start() == RState.Running;
            if (result)
            {
                _currentRoutine = _homeAllRoutine;
            }
            return result;
        }
        /// <summary>
        /// Home超时
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool HomingTimeout(object[] param)
        {
            RState ret = _homeAllRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                _currentRoutine = null;
                PostMsg(TransporterMSG.Error);
                _isHomed = false;
                return false;
            }

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

        #region GantrySafeMove
        /// <summary>
        /// Gantry安全移动
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool GantrySafeMove(object[] param)
        {
            double targetPosition=(double)param[0];
            return _gantryAxis.ProfilePositionOperation(targetPosition);
        }
        /// <summary>
        /// Gantry安全移动监控
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool GantrySafeMoveMonitor(object[] param)
        {
            if (_gantryAxis.Status == RState.End)
            {
                return true;
            }
            if (_gantryAxis.Status == RState.Failed || _gantryAxis.Status == RState.Timeout)
            {
                PostMsg(TransporterMSG.Error);
                return false;
            }
            return false;
        }
        #endregion

        #region Manual Gantry GoToPosition
        /// <summary>
        /// Manual Gantry Go to Position
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool ManualGantryGotoPosition(object[] param)
        {
            string axis = param[0].ToString();
            object[] objs = (object[])param[1];
            string position = objs[1].ToString();
            var result = CheckGotoPositionPreCondition(axis, position);
            if (result.result)
            {
                bool posresult = _gantryPositionRoutine.Start(position) == RState.Running;
                if (posresult)
                {
                    _currentRoutine = _positionRoutine;
                }
                return posresult;
            }
            else
            {
                return false;
            }
        }
        /// <summary>
        /// Manual gantry Go to Position Time Out
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool ManualGantryGotoPositionTimeout(object[] param)
        {
            RState ret = _gantryPositionRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(TransporterMSG.Error);
                _currentRoutine = null;
                return false;
            }

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

        /// <summary>
        /// 检验GotoPosition前置条件
        /// </summary>
        /// <param name="axis"></param>
        /// <param name="position"></param>
        /// <returns></returns>
        private (bool result, JetAxisBase axis) CheckGotoPositionPreCondition(string axis, string position)
        {
            switch (axis)
            {
                case "Gantry":
                    return (_gantryAxis.CheckGotoPosition(position), _gantryAxis);
                case "Elevator":
                    return (_elevatorAxis.CheckGotoPosition(position), _elevatorAxis);
                default:
                    return (false, null);
            }
        }
        #endregion

        #region Pick Up
        /// <summary>
        /// Pick Up
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool PickUp(object[] param)
        {
            bool result= _pickUpFromRoutine.Start(param[0]) == RState.Running;
            if(result)
            {
                _currentRoutine = _pickUpFromRoutine;
            }
            return result;
        }
        /// <summary>
        /// PickUpFrom超时
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool PickUpFromTimeout(object[] param)
        {
            RState ret = _pickUpFromRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                _currentRoutine = null;
                PostMsg(TransporterMSG.Error);
                return false;
            }

            bool result= ret == RState.End;
            if(result)
            {
                _currentRoutine = null;
                AlarmListManager.Instance.CheckModuleAlamAndRemove(Module.ToString(), TransporterState.PickUping.ToString());
            }
            return result;
        }
        #endregion

        #region Move To
        /// <summary>
        /// Move To
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool MoveTo(object[] param)
        {
            if (!CheckOtherEntityStatus(param[0].ToString()))
            {
                LOG.WriteLog(eEvent.WARN_TRANSPORTER, Module.ToString(), $"Module Axis meets conflict of other Axis");
                return false;
            }
            bool result= _moveToRoutine.Start(param[0]) == RState.Running;
            if(result)
            {
                _targetCell = param[0].ToString();
                _sourceCell = "";
                _currentRoutine = _moveToRoutine; 
                LOG.WriteLog(eEvent.INFO_TRANSPORTER, Module.ToString(), $"Module Axis move to {_targetCell}");
            }
            return result;
        }
        /// <summary>
        /// Retry Place
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool RetryMoveTo(object[] param)
        {
            int stepIndex = (int)param[0];
            bool result = _moveToRoutine.Retry(stepIndex) == RState.Running;
            if (result)
            {
                _currentRoutine = _moveToRoutine;
                _targetCell = _moveToRoutine.TargetCell;
                LOG.WriteLog(eEvent.INFO_TRANSPORTER, Module.ToString(), $"Module Axis retry moveto {_targetCell}");
            }
            return result;
        }
        /// <summary>
        /// MoveTo超时
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool MoveToTimeout(object[] param)
        {
            RState ret = _moveToRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                _currentRoutine = null;
                if (Singleton<RouteManager>.Instance.IsAutoRunning)
                {
                    AlarmList alarmList = new AlarmList(Module.ToString(), ((TransporterState)fsm.State).ToString(), (int)TransporterMSG.MoveTo,
                    _placeRoutine.ErrorMsg, _placeRoutine.ErrorStep, (int)AlarmType.Error);
                    AlarmListManager.Instance.AddAlarm(alarmList);
                }
                PostMsg(TransporterMSG.Error);
                return false;
            }

            bool result = ret == RState.End;
            if (result)
            {
                _targetCell = "";
                _currentRoutine = null;
                if (!string.IsNullOrEmpty(_sourceCell))
                {
                    _sourceCell = "";
                }
            }
            return result;
        }
        /// <summary>
        /// 确认Place是否完成
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool ConfirmMoveto(object[] param)
        {
            int stepIdex = (int)param[0];
            bool result = _moveToRoutine.CheckCompleteCondition(stepIdex);
            if (!result)
            {
                if (Singleton<RouteManager>.Instance.IsAutoRunning)
                {
                    AlarmList alarmList = new AlarmList(Module.ToString(), ((TransporterState)fsm.State).ToString(), (int)TransporterMSG.MoveTo,
                    _moveToRoutine.ErrorMsg, _moveToRoutine.ErrorStep, (int)AlarmType.Error);
                    AlarmListManager.Instance.AddAlarm(alarmList);
                }
                PostMsg(TransporterMSG.Error);
            }
            else
            {
                _targetCell = "";
                if (Singleton<RouteManager>.Instance.IsAutoRunning)
                {
                    AlarmListManager.Instance.CheckModuleAlamAndRemove(Module.ToString(), TransporterState.MovingTo.ToString());
                }
            }
            return result;
        }
        #endregion

        #region Place
        /// <summary>
        /// Place
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool Place(object[] param)
        {
            _targetCell = "";
            bool result = _placeRoutine.Start(param[0]) == RState.Running;
            if(result)
            {
                _currentRoutine = _placeRoutine;
                _targetCell = param[0].ToString(); 
                LOG.WriteLog(eEvent.INFO_TRANSPORTER, Module.ToString(), $"Module Axis place to {_targetCell}");
            }
            return result;
        }
        /// <summary>
        /// Retry Place
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool RetryPlace(object[] param)
        {            
            int stepIndex = (int)param[0];
            bool result = _placeRoutine.Retry(stepIndex) == RState.Running;
            if (result)
            {
                _currentRoutine = _placeRoutine;
                _targetCell = _placeRoutine.TargetCell;
                LOG.WriteLog(eEvent.INFO_TRANSPORTER, Module.ToString(), $"Module Axis retry place to {_targetCell}");
            }
            return result;
        }
        /// <summary>
        /// Place超时
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool PlaceTimeout(object[] param)
        {
            RState ret = _placeRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                _currentRoutine = null;
                if (Singleton<RouteManager>.Instance.IsAutoRunning)
                {
                    AlarmList alarmList = new AlarmList(Module.ToString(), ((TransporterState)fsm.State).ToString(), (int)TransporterMSG.Place,
                    _placeRoutine.ErrorMsg, _placeRoutine.ErrorStep, (int)AlarmType.Error);
                    AlarmListManager.Instance.AddAlarm(alarmList);
                }
                PostMsg(TransporterMSG.Error);
                return false;
            }

            bool result = ret == RState.End;
            if (result)
            {
                _currentRoutine = null;
                _targetCell = "";
                _sourceCell = "";
                AlarmListManager.Instance.CheckModuleAlamAndRemove(Module.ToString(), TransporterState.Placing.ToString());
            }
            return result;
        }
        /// <summary>
        /// 确认Place是否完成
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool ConfirmPlace(object[] param)
        {
            int stepIdex = (int)param[0];
            bool result = _placeRoutine.CheckCompleteCondition(stepIdex);
            if (!result)
            {
                if (Singleton<RouteManager>.Instance.IsAutoRunning)
                {
                    AlarmList alarmList = new AlarmList(Module.ToString(), ((TransporterState)fsm.State).ToString(), (int)TransporterMSG.Place,
                    _placeRoutine.ErrorMsg, _placeRoutine.ErrorStep, (int)AlarmType.Error);
                    AlarmListManager.Instance.AddAlarm(alarmList);
                }
                PostMsg(TransporterMSG.Error);
            }
            else
            {
                if (Singleton<RouteManager>.Instance.IsAutoRunning)
                {
                    AlarmListManager.Instance.CheckModuleAlamAndRemove(Module.ToString(), TransporterState.Placing.ToString());
                }
            }
            return result;
        }
        #endregion

        #region Park
        /// <summary>
        /// Park
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool Park(object[] param)
        {
            bool result = _parkRoutine.Start() == RState.Running;
            if (result)
            {
                _currentRoutine = _parkRoutine;
            }
            return result;
        }
        /// <summary>
        /// Park超时
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool ParkTimeout(object[] param)
        {
            RState ret = _parkRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                _currentRoutine = null;
                PostMsg(TransporterMSG.Error);
                return false;
            }

            bool result = ret == RState.End;
            if (result)
            {
                _currentRoutine = null;
            }
            return result;
        }
        #endregion

        #region Elevator Up
        /// <summary>
        /// Elevator Up
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool ElevatorUp(object[] param)
        {
            bool result = _elevatorUpRoutine.Start() == RState.Running;
            if (result)
            {
                _currentRoutine = _elevatorUpRoutine;
            }
            return result;
        }
        /// <summary>
        /// Elevator Up超时
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool ElevatorUpTimeout(object[] param)
        {
            RState ret = _elevatorUpRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                _currentRoutine = null;
                PostMsg(TransporterMSG.Error);
                return false;
            }

            bool result = ret == RState.End;
            if (result)
            {
                _currentRoutine = null;
            }
            return result;
        }
        #endregion

        #region Elevator Low
        /// <summary>
        /// Elevator Low
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool ElevatorLow(object[] param)
        {
            bool result= _elevatorLowRoutine.Start() == RState.Running;
            if (result)
            {
                _currentRoutine = _elevatorLowRoutine;
            }
            return result;
        }
        /// <summary>
        /// Elevator Low超时
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool ElevatorLowTimeout(object[] param)
        {
            RState ret = _elevatorLowRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                _currentRoutine = null;
                PostMsg(TransporterMSG.Error);
                return false;
            }

            bool result = ret == RState.End;
            if (result)
            {
                _currentRoutine = null;
            }
            return result;
        }
        #endregion

        #region Transfer
        /// <summary>
        /// Transfer
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool Transfer(object[] param)
        {
            if (!CheckOtherEntityStatus(param[0].ToString()))
            {
                LOG.WriteLog(eEvent.WARN_TRANSPORTER, Module.ToString(), $"Module Axis meets conflict of other Axis from {param[0]}");
                return false;
            }
            if (!CheckOtherEntityStatus(param[1].ToString()))
            {
                LOG.WriteLog(eEvent.WARN_TRANSPORTER, Module.ToString(), $"Module Axis meets conflict of other Axis to {param[1]}");
                return false;
            }
            bool result = _transferRoutine.Start(param) == RState.Running;
            if (result)
            {
                _sourceCell=param[0].ToString();
                _targetCell = param[1].ToString();
                _currentRoutine = _transferRoutine;
                LOG.WriteLog(eEvent.INFO_TRANSPORTER, Module.ToString(), $"Module Axis transfer from {_sourceCell} to {_targetCell}");
            }
            return result;
        }
        /// <summary>
        /// Retry Transfer
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool RetryTransfer(object[] param)
        {
            if (!CheckOtherEntityStatus(_sourceCell))
            {
                LOG.WriteLog(eEvent.WARN_TRANSPORTER, Module.ToString(), $"Module Axis meets conflict of other Axis from {_sourceCell}");
                return false;
            }
            if (!CheckOtherEntityStatus(_targetCell))
            {
                LOG.WriteLog(eEvent.WARN_TRANSPORTER, Module.ToString(), $"Module Axis meets conflict of other Axis to {_targetCell}");
                return false;
            }
            int stepIndex = (int)param[0];
            bool result = _transferRoutine.Retry(stepIndex) == RState.Running;
            if (result)
            {
                _currentRoutine = _transferRoutine;
                _sourceCell=_transferRoutine.SourceCell;
                _targetCell=_transferRoutine.TargetCell; 
                LOG.WriteLog(eEvent.INFO_TRANSPORTER, Module.ToString(), $"Module Axis retry transfer from {_sourceCell} to {_targetCell}");
            }
            return result;
        }
        /// <summary>
        /// Transfer超时
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool TransferTimeout(object[] param)
        {
            RState ret = _transferRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                _currentRoutine = null;
                if (Singleton<RouteManager>.Instance.IsAutoRunning)
                {
                    AlarmList alarmList = new AlarmList(Module.ToString(), ((TransporterState)fsm.State).ToString(), (int)TransporterMSG.Transfer,
                    _transferRoutine.ErrorMsg, _transferRoutine.ErrorStep, (int)AlarmType.Error);
                    AlarmListManager.Instance.AddAlarm(alarmList);
                }
                PostMsg(TransporterMSG.Error);
                return false;
            }

            bool result = ret == RState.End;
            if (result)
            {
                _targetCell = "";
                _sourceCell = "";
                _currentRoutine = null;
                AlarmListManager.Instance.CheckModuleAlamAndRemove(Module.ToString(), TransporterState.Transfering.ToString());
            }
            return result;
        }
        /// <summary>
        /// 确认Transfer是否完成
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool ConfirmTransfer(object[] param)
        {
            int stepIdex = (int)param[0];
            bool result = _transferRoutine.CheckCompleteCondition(stepIdex);
            if (!result)
            {
                if (Singleton<RouteManager>.Instance.IsAutoRunning)
                {
                    AlarmList alarmList = new AlarmList(Module.ToString(), ((TransporterState)fsm.State).ToString(), (int)TransporterMSG.Transfer,
                    _transferRoutine.ErrorMsg, _transferRoutine.ErrorStep, (int)AlarmType.Error);
                    AlarmListManager.Instance.AddAlarm(alarmList);
                }
                PostMsg(TransporterMSG.Error);
            }
            else
            {
                _targetCell = "";
                _sourceCell = "";
                if (Singleton<RouteManager>.Instance.IsAutoRunning)
                {
                    AlarmListManager.Instance.CheckModuleAlamAndRemove(Module.ToString(), TransporterState.Transfering.ToString());
                }
            }
            return result;
        }
        /// <summary>
        /// 检验另一个Axis状态
        /// </summary>
        /// <returns></returns>
        public bool CheckOtherEntityStatus(string targetCell)
        {
            bool positive = false;
            TransporterEntity otherEntity=null;
            string otherModule = "";
            if (Module == ModuleName.Transporter2)
            {
                otherModule = ModuleName.Transporter1.ToString();
                otherEntity = Singleton<RouteManager>.Instance.GetModule<TransporterEntity>(ModuleName.Transporter1.ToString());
                positive = true;
            }
            else
            {
                otherModule = ModuleName.Transporter2.ToString();
                otherEntity = Singleton<RouteManager>.Instance.GetModule<TransporterEntity>(ModuleName.Transporter2.ToString());
            }
            if(otherEntity==null)
            {
                return true;
            }
            if (otherEntity.IsIdle)
            {
                return true;
            }
            if (otherEntity.IsError)
            {
                return false;
            }

            if(otherEntity.State==(int)TransporterState.Transfering||otherEntity.State==(int)TransporterState.PickUpMoveToing
                ||otherEntity.State==(int)TransporterState.MovingTo||otherEntity.State==(int)TransporterState.PickUpValidating
                ||otherEntity.State==(int)TransporterState.PickUpValidateComplete||otherEntity.State==(int)TransporterState.ValidateMoveTo)
            {
                bool conflict= CheckModuleWithOtherModuleConflict(otherEntity,otherModule,positive,targetCell);
                if(conflict)
                {
                    return false;
                }
                else
                {
                    return true;
                }
            }
            else
            {
                return true;
            }
        }
        /// <summary>
        /// 分析目标cell的位置
        /// </summary>
        /// <param name="otherModule"></param>
        /// <param name="targetCell"></param>
        /// <returns></returns>
        private (bool result,double targetPosition) AnalyseTargetCellPosition(string otherModule,string targetCell)
        {
            ProcessLayoutCellItem _cellItem = ProcessLayoutManager.Instance.GetProcessLayoutCellItemByModuleName(targetCell);
            string stationName = targetCell;
            if (_cellItem != null)
            {
                if (targetCell.ToLower() != "loader" && targetCell.ToLower() != "park")
                {
                    stationName = $"Cell{_cellItem.CellId}";
                }
            }
            else
            {
                LOG.WriteLog(eEvent.ERR_TRANSPORTER, Module.ToString(), $"{targetCell} not in layout");
                return (false,0);
            }
            JetAxisBase otherGantryAxis = DEVICE.GetDevice<JetAxisBase>($"{otherModule}.Gantry");
            var result = otherGantryAxis.GetPositionByStation(stationName);
            if(result.success)
            {
                return (true,result.position);
            }
            return (false,0);
        }
        /// <summary>
        /// 检验当前模块与另一个模块是否存在冲突
        /// </summary>
        /// <returns></returns>
        private bool CheckModuleWithOtherModuleConflict(TransporterEntity otherEntity, string otherModule, bool positive, string targetCell)
        {
            int transporterMinimumDistance = SC.GetValue<int>("Transporter.TransporterMinimumDistance");
            double motorPosition = _gantryAxis.MotionData.MotorPosition;
            if (targetCell == ModuleName.Loader1.ToString())
            {
                targetCell = "Loader";
            }
            var result = AnalyseTargetCellPosition(Module.ToString(), targetCell);
            if (!result.result)
            {
                return false;
            }
            double targetPosition = result.targetPosition;
            JetAxisBase otherGantryAxis = DEVICE.GetDevice<JetAxisBase>($"{otherModule}.Gantry");
            if (otherGantryAxis == null)
            {
                return false;
            }
            double otherPosition = otherGantryAxis.MotionData.MotorPosition;
            bool targetConflict = false;
            if (!string.IsNullOrEmpty(otherEntity.TargetCell))
            {
                targetConflict = CheckOtherModuleCellConflict(otherModule, otherEntity.TargetCell, otherPosition, positive, targetPosition, motorPosition);
                if (targetConflict)
                {
                    return true;
                }
            }
            if (!string.IsNullOrEmpty(otherEntity.SourceCell))
            {
                bool conflict = CheckOtherModuleCellConflict(otherModule, otherEntity.SourceCell, otherPosition, positive, targetPosition, motorPosition);
                if (conflict)
                {
                    //另一个Entity已经到达了目标位置
                    if (!string.IsNullOrEmpty(otherEntity.TargetCell) && CheckOtherEntityAlreadyInTargetCell(otherEntity, otherEntity.TargetCell))
                    {
                        return false;
                    }
                }
                return conflict;
            }
            else
            {
                return false;
            }
        }
        /// <summary>
        /// 检验其他TransporterEntity已经到达目标cell
        /// </summary>
        /// <param name="otherEntity"></param>
        /// <param name="targetCell"></param>
        /// <returns></returns>
        private bool CheckOtherEntityAlreadyInTargetCell(TransporterEntity otherEntity,string targetCell)
        {
            //另一个Transporter已经取走了WaferHolder,同时gantry已经到达了目标cell
            if (otherEntity.WaferHolderInfo != null)
            {
                JetAxisBase jetAxisBase = DEVICE.GetDevice<JetAxisBase>($"{otherEntity.Module}.Gantry");
                if (jetAxisBase != null && jetAxisBase.CheckPositionIsInStation(jetAxisBase.MotionData.MotorPosition, targetCell))
                {
                    return true;
                }
            }
            return false;
        }
        /// <summary>
        /// 检验另一个模块Cell是否存在冲突
        /// </summary>
        /// <param name="otherModule"></param>
        /// <param name="cell"></param>
        /// <param name="positive"></param>
        /// <param name="motorPosition"></param>
        /// <param name="targetPosition"></param>
        /// <returns></returns>
        private bool CheckOtherModuleCellConflict(string otherModule, string cell,double otherPosition, bool positive,double targetPosition, double motorPosition)
        {
            int transporterMinimumDistance = SC.GetValue<int>("Transporter.TransporterMinimumDistance");

            var result = AnalyseTargetCellPosition(otherModule, cell);
            if (!result.result)
            {
                return false;
            }
            else
            {
                if (positive)
                {
                    //    if (result.targetPosition - transporterMinimumDistance <= motorPosition)
                    //    {
                    //        return true;
                    //    }
                    if (result.targetPosition - transporterMinimumDistance <= targetPosition)
                    {
                        return true;
                    }
                    if (otherPosition - transporterMinimumDistance <= targetPosition)
                    {
                        return true;
                    }
                    if (result.targetPosition - transporterMinimumDistance <= motorPosition)
                    {
                        return true;
                    }
                    return false;
                }
                else
                {
                    //if (result.targetPosition + transporterMinimumDistance >= motorPosition)
                    //{
                    //    return true;
                    //}
                    if (result.targetPosition + transporterMinimumDistance >= targetPosition)
                    {
                        return true;
                    }
                    if (otherPosition + transporterMinimumDistance >= targetPosition)
                    {
                        return true;
                    }
                    if (result.targetPosition + transporterMinimumDistance >= motorPosition)
                    {
                        return true;
                    }
                    return false;
                }

            }
        }
        #endregion

        #region PickUpMoveTo
        /// <summary>
        /// PickUpMoveTo
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool PickUpMoveTo(object[] param)
        {
            if (!CheckOtherEntityStatus(param[0].ToString()))
            {
                LOG.WriteLog(eEvent.WARN_TRANSPORTER, Module.ToString(), $"Module Axis meets conflict of other Axis from {param[0]}");
                return false;
            }
            if (!CheckOtherEntityStatus(param[1].ToString()))
            {
                LOG.WriteLog(eEvent.WARN_TRANSPORTER, Module.ToString(), $"Module Axis meets conflict of other Axis to {param[1]}");
                return false;
            }
            bool result = _pickUpMoveToRoutine.Start(param) == RState.Running;
            if (result)
            {
                _sourceCell = param[0].ToString();
                _targetCell = param[1].ToString();
                _currentRoutine = _pickUpMoveToRoutine;
                LOG.WriteLog(eEvent.INFO_TRANSPORTER, Module.ToString(), $"Module Axis PickupMoveTo from {_sourceCell} to {_targetCell}");
            }
            return result;
        }
        /// <summary>
        /// Retry PickUpMoveTo
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool RetryPickUpMoveTo(object[] param)
        {
            if (!CheckOtherEntityStatus(_sourceCell))
            {
                LOG.WriteLog(eEvent.WARN_TRANSPORTER, Module.ToString(), $"Module Axis meets conflict of other Axis from {_sourceCell}");
                return false;
            }
            if (!CheckOtherEntityStatus(_targetCell))
            {
                LOG.WriteLog(eEvent.WARN_TRANSPORTER, Module.ToString(), $"Module Axis meets conflict of other Axis to {_targetCell}");
                return false;
            }
            int stepIndex = (int)param[0];
            bool result = _pickUpMoveToRoutine.Retry(stepIndex) == RState.Running;
            if (result)
            {
                _currentRoutine = _pickUpMoveToRoutine;
                _sourceCell = _pickUpMoveToRoutine.SourceCell;
                _targetCell= _pickUpMoveToRoutine.TargetCell;
                LOG.WriteLog(eEvent.INFO_TRANSPORTER, Module.ToString(), $"Module Axis retry PickupMoveTo from {_sourceCell} to {_targetCell}");
            }
            return result;
        }
        /// <summary>
        /// PickUpMoveTo超时
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool PickUpMoveToTimeout(object[] param)
        {
            RState ret = _pickUpMoveToRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                _currentRoutine = null;
                if (Singleton<RouteManager>.Instance.IsAutoRunning)
                {
                    AlarmList alarmList = new AlarmList(Module.ToString(), ((TransporterState)fsm.State).ToString(), (int)TransporterMSG.PickUpMoveTo,
                    _pickUpMoveToRoutine.ErrorMsg, _pickUpMoveToRoutine.ErrorStep, (int)AlarmType.Error);
                    AlarmListManager.Instance.AddAlarm(alarmList);
                }
                PostMsg(TransporterMSG.Error);
                return false;
            }

            bool result = ret == RState.End;
            if (result)
            {
                _targetCell = "";
                _sourceCell = "";
                _currentRoutine = null;
                AlarmListManager.Instance.CheckModuleAlamAndRemove(Module.ToString(), TransporterState.PickUpMoveToing.ToString());
            }
            return result;
        }
        /// <summary>
        /// 确认PickupMoveto是否完成
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool ConfirmPickupMoveto(object[] param)
        {
            int stepIdex = (int)param[0];
            bool result = _pickUpMoveToRoutine.CheckCompleteCondition(stepIdex);
            if (!result)
            {
                if (Singleton<RouteManager>.Instance.IsAutoRunning)
                {
                    AlarmList alarmList = new AlarmList(Module.ToString(), ((TransporterState)fsm.State).ToString(), (int)TransporterMSG.PickUpMoveTo,
                    _pickUpMoveToRoutine.ErrorMsg, _pickUpMoveToRoutine.ErrorStep, (int)AlarmType.Error);
                    AlarmListManager.Instance.AddAlarm(alarmList);
                }
                PostMsg(TransporterMSG.Error);
            }
            else
            {
                _sourceCell = "";
                _targetCell = "";
                if (Singleton<RouteManager>.Instance.IsAutoRunning)
                {
                    AlarmListManager.Instance.CheckModuleAlamAndRemove(Module.ToString(), TransporterState.PickUpMoveToing.ToString());
                }
            }
            return result;
        }
        #endregion


        #region PickUpValidate
        /// <summary>
        /// PickUpValidate
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool PickUpValidate(object[] param)
        {
            if (!CheckOtherEntityStatus(param[0].ToString()))
            {
                LOG.WriteLog(eEvent.WARN_TRANSPORTER, Module.ToString(), $"Module Axis meets conflict of other Axis from {param[0]}");
                return false;
            }
            bool result = _pickUpValidateRoutine.Start(param) == RState.Running;
            if (result)
            {
                _sourceCell = param[0].ToString();
                _currentRoutine = _pickUpValidateRoutine;
                LOG.WriteLog(eEvent.INFO_TRANSPORTER, Module.ToString(), $"Module Axis PickUpValidate from {_sourceCell}");
            }
            return result;
        }
        /// <summary>
        /// Retry PickUpValidate
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool RetryPickUpValidate(object[] param)
        {
            if (!CheckOtherEntityStatus(_sourceCell))
            {
                LOG.WriteLog(eEvent.WARN_TRANSPORTER, Module.ToString(), $"Module Axis meets conflict of other Axis from {_sourceCell}");
                return false;
            }
            int stepIndex = (int)param[0];
            bool result = _pickUpValidateRoutine.Retry(stepIndex) == RState.Running;
            if (result)
            {
                _currentRoutine = _pickUpValidateRoutine;
                _sourceCell = _pickUpValidateRoutine.SourceCell;
                LOG.WriteLog(eEvent.INFO_TRANSPORTER, Module.ToString(), $"Module Axis retry PickupValidate from {_sourceCell}");
            }
            return result;
        }
        /// <summary>
        /// PickUpValidate超时
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool PickUpValidateTimeout(object[] param)
        {
            RState ret = _pickUpValidateRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                _currentRoutine = null;
                if (Singleton<RouteManager>.Instance.IsAutoRunning)
                {
                    AlarmList alarmList = new AlarmList(Module.ToString(), ((TransporterState)fsm.State).ToString(), (int)TransporterMSG.PickUpValidate,
                    _pickUpValidateRoutine.ErrorMsg, _pickUpValidateRoutine.ErrorStep, (int)AlarmType.Error);
                    AlarmListManager.Instance.AddAlarm(alarmList);
                }
                PostMsg(TransporterMSG.Error);
                return false;
            }

            bool result = ret == RState.End;
            if (result)
            {
                _currentRoutine = null;
                AlarmListManager.Instance.CheckModuleAlamAndRemove(Module.ToString(), TransporterState.PickUpValidating.ToString());
                //Routine完成，但transporter却没有WaferHolder，则表示此次取WH失败，transporter返回Idle，便于调度重新选择下一个WaferHolder
                if (WaferHolderInfo == null)
                {
                    PostMsg(TransporterMSG.ReturnIdle);
                    return false;
                }
            }
            return result;
        }
        /// <summary>
        /// 确认PickupValidate是否完成
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool ConfirmPickupValidate(object[] param)
        {
            int stepIdex = (int)param[0];
            bool result = _pickUpValidateRoutine.CheckCompleteCondition(stepIdex);
            if (!result)
            {
                if (Singleton<RouteManager>.Instance.IsAutoRunning)
                {
                    AlarmList alarmList = new AlarmList(Module.ToString(), ((TransporterState)fsm.State).ToString(), (int)TransporterMSG.PickUpValidate,
                    _pickUpValidateRoutine.ErrorMsg, _pickUpValidateRoutine.ErrorStep, (int)AlarmType.Error);
                    AlarmListManager.Instance.AddAlarm(alarmList);
                }
                PostMsg(TransporterMSG.Error);
            }
            else
            {
                _sourceCell = "";
                if (Singleton<RouteManager>.Instance.IsAutoRunning)
                {
                    AlarmListManager.Instance.CheckModuleAlamAndRemove(Module.ToString(), TransporterState.PickUpValidating.ToString());
                }
            }
            return result;
        }
        #endregion

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

        #region ConfirmComplete
        /// <summary>
        /// 确认是否完成
        /// </summary>
        /// <param name="param"></param>
        /// <returns></returns>
        private bool ConfirmComplete(object[] param)
        {
            AlarmList alarmList = AlarmListManager.Instance.GetAlarmListByModule(Module.ToString());
            if (alarmList != null)
            {
                if (alarmList.ModuleState == TransporterState.Transfering.ToString())
                {
                    CheckToPostMessage<TransporterState, TransporterMSG>(eEvent.ERR_TRANSPORTER, Module.ToString(), (int)TransporterMSG.Transfer, alarmList.ModuleStep);
                }
                else if (alarmList.ModuleState == TransporterState.PickUpMoveToing.ToString())
                {
                    CheckToPostMessage<TransporterState, TransporterMSG>(eEvent.ERR_TRANSPORTER, Module.ToString(), (int)TransporterMSG.PickUpMoveTo, alarmList.ModuleStep);
                }
                else if (alarmList.ModuleState == TransporterState.Placing.ToString())
                {
                    CheckToPostMessage<TransporterState, TransporterMSG>(eEvent.ERR_TRANSPORTER, Module.ToString(), (int)TransporterMSG.Place, alarmList.ModuleStep);
                }
                else if (alarmList.ModuleState == TransporterState.MovingTo.ToString())
                {
                    CheckToPostMessage<TransporterState, TransporterMSG>(eEvent.ERR_TRANSPORTER, Module.ToString(), (int)TransporterMSG.MoveTo, alarmList.ModuleStep);
                }
                else
                {
                    PostMsg(TransporterMSG.Error);
                }
            }
            return false;
        }

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

        #region switchWafer
        /// <summary>
        /// 交换Wafer
        /// </summary>
        /// <param name="from"></param>
        /// <param name="to"></param>
        public void SwitchWafer(string from,string to)
        {
            ModuleName fromModuleName = ModuleName.Unknown;
            if (from == "Loader")
            {
                fromModuleName = ModuleName.Loader1;
            }
            else
            {
                fromModuleName = (ModuleName)Enum.Parse(typeof(ModuleName), from);
            }
            ModuleName toModuleName = ModuleName.Unknown;
            if (to == "Loader")
            {
                toModuleName = ModuleName.Loader1;
            }
            else
            {
                toModuleName = (ModuleName)Enum.Parse(typeof(ModuleName), to);
            }
            bool reverse = false;

            JetAxisBase loaderRotation = DEVICE.GetDevice<JetAxisBase>($"{ModuleName.Loader1}.Rotation");
            if (fromModuleName == ModuleName.Loader1)
            {
                if (loaderRotation.CheckPositionInStationIgnoreWaferSize(loaderRotation.MotionData.MotorPosition, TRNPB))
                {
                    reverse = true;
                }
            }
            if (toModuleName == ModuleName.Loader1)
            {
                if (loaderRotation.CheckPositionInStationIgnoreWaferSize(loaderRotation.MotionData.MotorPosition, TRNPB))
                {
                    reverse = true;
                }
            }

            if (WaferManager.Instance.CheckHasWafer(fromModuleName, 0))
            {
                if (!reverse)
                {
                    WaferManager.Instance.WaferMoved(fromModuleName, 0, toModuleName, 0);
                }
                else
                {
                    WaferInfo waferInfo = WaferManager.Instance.GetWafer(fromModuleName, 0);
                    WaferHolderInfo info = WaferHolderManager.Instance.GetWaferHolder(to);
                    info.WaferBId = waferInfo.WaferID;
                    info.WaferBType =(int)waferInfo.WaferType;
                    WaferManager.Instance.WaferMoved(fromModuleName, 0, toModuleName, 1);
                }
            }
            if (WaferManager.Instance.CheckHasWafer(fromModuleName, 1))
            {
                if (!reverse)
                {
                    WaferManager.Instance.WaferMoved(fromModuleName, 1, toModuleName, 1);
                }
                else
                {
                    WaferInfo waferInfo = WaferManager.Instance.GetWafer(fromModuleName, 1);
                    WaferHolderInfo info = WaferHolderManager.Instance.GetWaferHolder(to);
                    info.WaferAId = waferInfo.WaferID;
                    info.WaferAType = (int)waferInfo.WaferType;
                    WaferManager.Instance.WaferMoved(fromModuleName, 1, toModuleName, 0);
                }
            }
            MaterialTrackerManager.Instance.UpdateModuleMaterial(to);
        }
        #endregion
        public bool Check(int msg, out string reason, params object[] args)
        {
            reason = "";
            return false;
        }

        public bool CheckAcked(int msg)
        {
            return false;
        }

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

    public enum TransporterMSG
    {
        HomeAll,            // 0
        SwitchOn,
        SwitchOff,
        Error,
        ResumeError,
        ReturnIdle,
        Abort,
        GantryGoToSavedPosition,
        GoToSavedPosition,
        PickUpFrom,
        MoveTo,
        Place,
        Park,
        ElevatorUp,
        ElevatorLow,
        Transfer,
        PickUpMoveTo,
        PickUpValidate,
        GantrySafeMove,
        Retry,
        ConfirmComplete,
        Flip
    }
}