JET-EFEM/athos/athosRT/Devices/LP/HirataLoadPort.cs

using Aitex.Core.Common;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Device.Unit;
using Aitex.Core.RT.IOCore;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using athosRT.tool;
using Common.DataCenter;
using Common.OP;
using MECF.Framework.Common.Communications;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.IO.Ports;
using System.Linq;
using System.Text;
using System.Text.RegularExpressions;
using System.Threading.Tasks;

namespace athosRT.Devices.LP
{
    //注意要与brooks的lp实现保持一致
    class HirataLoadPort : LoadPortBaseDevice
    {
        private string _lpname = string.Empty;
        private AsyncSerialPort _serial;
        private string _port = string.Empty;
        private object _locker = new object();
        private LinkedList<string> _lstAsciiMsgs = new LinkedList<string>();
        private string _newLine = "\r";//协议的CR
        private byte _newHeader = 0x01;//协议的头 此处为SOH 也可以是SOT等 对着表就OK
        private PeriodicJob lp_thread;//监听收到数据的线程
        private bool _isAsciiMode;
        private bool _isLoaded;
        private LoadPortStateEnum _current = LoadPortStateEnum.Init;

        private readonly int _timeout = 1*60*1000;

        private IoTrigger _lpIsEnable;

        //private DeviceTimer _device_timer;
        
        //关键变量
        /* _isPresent       是否Present
         * _isPlaced        是否Placed
         * _isLoaded        load状态 load后置map后置true
         * IsReady()        是否busy
         * _isMapped        map状态  map后置true
         * _isDocked        dock状态 load后置map后置true
         * IsCarrierEnabled 看sc的厚薄设置*/
        public override bool IsHomed { get; set; }//是否home过 orgn
        public override bool IsLoaded => _isLoaded;
        public override bool IsIdle => fsm.State == (int)LoadPortStateEnum.Idle;
        public bool IsConnected => _serial != null && _serial.IsOpen();//是否建立连接
        public bool IsQueryComplete { get; set; }

        public string ProtrusionState { get; set; }
        public override bool IsReady() => fsm.State == (int)LoadPortStateEnum.Idle|| fsm.State == (int)LoadPortStateEnum.Init;

        private readonly Regex mov_interlock_error = new Regex(@".*MOV:.*\/");//MOV:.../...即是interlock错误发生
        private readonly Regex mov_abs_error = new Regex(@".*ABS:.*");//含有ABS即是MOV执行失败 成功是INF
        private readonly Regex catch_After_param = new Regex(@"(?<=\/)(.+?)(?=\;)");//提取错误
        private readonly Regex catch_command = new Regex(@"(?<=\:)(.+?)(?=[\/,\;])");//提取命令
        private readonly Regex catch_command_type = new Regex(@"(?<=0000)(.+?)(?=\:)");//提取命令类型
        
        public HirataLoadPort(string module, string lpname, string scRoot, RobotBaseDevice robot,IoTrigger[] LPTriggers) : base(module, lpname, robot)
        {
            base.Module = module;
            base.Name = lpname;
            _lpname = lpname;
            _isAsciiMode = true;
            _port = SC.GetStringValue($"LoadPort.{_lpname}.PortName");
            //LOG.Write();
            //_port = "COM12";//
            //参数类型string port, int baudRate, int dataBits, Parity parity, StopBits stopBits,
            _serial = new AsyncSerialPort(_port, 9600, 8, Parity.None, StopBits.One, _newLine, _isAsciiMode);
            _serial.OnDataChanged += OnAsciiDataReceived;//使用ascii类型时的数据变化处理
            _serial.OnBinaryDataChanged += OnBinaryDataChanged;//使用binary类型时的数据变化处理
            _serial.OnErrorHappened += onErrorHappend;
            DoorState = FoupDoorState.Close;
            if (_serial.Open())
            {
                LOG.Write($"{_lpname}连接成功");
            }
            else
            {
                LOG.Write($"{_lpname}连接失败");
            }
            lp_thread = new PeriodicJob(10, OnTimer, $"{_lpname}->OnTimer", true);
            Singleton<WaferManager>.Instance.SubscribeLocation($"{_lpname}", 25);
            Singleton<CarrierManager>.Instance.SubscribeLocation($"{_lpname}");
            for (int index = 0;index < 25;++index)
            {
                Singleton<WaferManager>.Instance.DeleteWafer(ModuleHelper.Converter(_lpname), index);
            }
            //_device_timer = new DeviceTimer();
        }

        protected override void SubscribeDataVariable()
        {
            
        }
        private void OnBinaryDataChanged(byte[] obj)
        {

        }

        /// <summary>
        /// 定时函数 用来监听最新收到的消息 并交给函数处理
        /// </summary>
        /// <returns></returns>
        private bool OnTimer()
        {
            //处理消息
            lock (_locker)
            {
                if (DoorState == FoupDoorState.Open)
                {
                    if (Name == "LP1")
                        DeviceModel.TrigSafetytoSMIF1.SetTrigger(true, out _);
                    if (Name == "LP2")
                        DeviceModel.TrigSafetytoSMIF2.SetTrigger(true, out _);
                }
                else
                {
                    if (Name == "LP1")
                        DeviceModel.TrigSafetytoSMIF1.SetTrigger(false, out _);
                    if (Name == "LP2")
                        DeviceModel.TrigSafetytoSMIF2.SetTrigger(false, out _);
                }

                switch (Name)
                {
                    case "LP1":
                        _isPlaced = DeviceModel.LP1Placement.Value;
                        _isPresent = DeviceModel.LP1Presence.Value;
                        break;
                    case "LP2":
                        _isPlaced = DeviceModel.LP2Placement.Value;
                        _isPresent = DeviceModel.LP2Presence.Value;
                        break;
                }

                //if (_device_timer.IsTimeout())
                //{
                //    _device_timer.Stop();
                //    LogObject.Error(_lpname,$"while {CurrentState} Timeout");
                //    CheckToPostMessage(LoadPortMsg.Error);
                //    return false;
                //}
                //Trace.WriteLine($"{_lpname} state: {CurrentState}");
                if (_isAsciiMode)//按照ascii码处理
                {
                    while (_lstAsciiMsgs.Count > 0)
                    {
                        string value = _lstAsciiMsgs.First.Value;
                        HandleAsciiData(value);
                        _lstAsciiMsgs.RemoveFirst();
                    }
                }
                else
                {
                    //暂时用不上
                    //while (_lstBinsMsgs.Count > 0)
                    //{
                    //    byte[] value2 = _lstBinsMsgs.First.Value;
                    //    _port_HandleBinarayData(value2);
                    //    _lstBinsMsgs.RemoveFirst();
                    //}
                }
            }
            return true;

        }
        

        private void HandleAsciiData(string ReceiveMsg)
        {
            if (string.IsNullOrEmpty(ReceiveMsg))
                return;
            Trace.WriteLine(_lpname+"收到的msg" +ReceiveMsg);
            LogObject.Info(_lpname,"======收到的msg======="+ReceiveMsg+"==============");
            //解析返回的数据
            //收到的数据的头是否为00 不是就按照错误代码打log
            if (ReceiveMsg.Substring(1, 2) != "00")
            {
                /* 
                 * 错误代码
                 * Check sum error
                 * Command error
                 * Interlock
                 * Alarm occurring
                 * Command processing
                 * Mode error
                 * Mapping error
                 */
                string reason = string.Empty;
                switch (ReceiveMsg.Substring(0, 2))
                {
                    case "01":
                        reason = "Check sum error";
                        break;
                    case "02":
                        reason = "Command error";
                        break;
                    case "04":
                        reason = "Interlock";
                        break;
                    case "05":
                        reason = "Alarm occurring";
                        break;
                    case "06":
                        reason = "Command processing";
                        break;
                    case "07":
                        reason = "Mode error";
                        break;
                    case "08":
                        reason = "Mapping error";
                        break;
                    default:
                        reason = "Unknown Error";
                        break;
                }
                //找到的原因
                LogObject.Error(_lpname, $"Received Error Message:{reason}");
            }
            //MOV不能执行的错误
            else if (mov_interlock_error.IsMatch(ReceiveMsg))
            {
                //MOV错误 获取/...;间的数据 Interlock code 表示错误代码
                LogObject.Error(_lpname, $"MOV:{catch_command.Match(ReceiveMsg).Value} received the error:{catch_After_param.Match(ReceiveMsg).Value}");
            }
            //MOV执行后 获取ABS错误
            else if (mov_abs_error.IsMatch(ReceiveMsg))
            {
                //获取/;之间的参数
                string param = string.Empty;
                if (!string.IsNullOrEmpty(catch_After_param.Match(ReceiveMsg).Value))
                    param = catch_After_param.Match(ReceiveMsg).Value;

                if (string.IsNullOrEmpty(param))
                {
                    LogObject.Error(_lpname, $"MOV:{catch_command.Match(ReceiveMsg).Value} failed for the Unknown error");
                }
                else
                {
                    string reason = "";
                    switch (param[0])
                    {
                        case '1':
                            switch (param[1])
                            {
                                case '0': reason = "Clamp time over"; break;
                                case '1': reason = "Unclamp time over"; break;
                                case '2': reason = "Dock time over"; break;
                                case '3': reason = "Undock time over"; break;
                                case '4': reason = "Latch time over"; break;
                                case '5': reason = "Unlatch time over"; break;
                                case '6': reason = "Vacuum time over"; break;
                                case '7': reason = "Vacuum release time over"; break;
                                case '8': reason = "Door open time over"; break;
                                case '9': reason = "Door close time over"; break;
                                case 'A': reason = "Mapping forward time over"; break;
                                case 'B': reason = "Mapping return time over"; break;
                                case 'F': reason = "communication error(3 times of resending)"; break;
                            }
                            break;
                        case '2':
                            switch (param[1])
                            {
                                case '0': reason = "Home return time over"; break;
                                case '1': reason = "Loading time over"; break;
                                case '2': reason = "Unloading time over"; break;
                                case '3': reason = "Positioning time over"; break;
                                case '8': reason = "Door open/close position movement time over"; break;
                                case '9': reason = "Mapping start position movement time over"; break;
                                case 'A': reason = "Mapping end position movement time over"; break;
                                case 'B': reason = "Load position movement time over"; break;
                            }
                            break;
                        case '4':
                            switch (param[1])
                            {
                                case '0': reason = "Mapping data error"; break;
                                case '1': reason = "Mode select error"; break;
                            }
                            break;
                        case '7':
                            switch (param[1])
                            {
                                case '0': reason = "Clamp sensor error"; break;
                                case '1': reason = "Dock sensor error"; break;
                                case '2': reason = "Latch sensor error"; break;
                                case '3': reason = "Door sensor error"; break;
                                case '4': reason = "Mapping sensor error"; break;
                                case '7': reason = "Elevator axis sensor error"; break;
                            }
                            break;
                        case 'A':
                            switch (param[1])
                            {
                                case '0': reason = "Wafer drop"; break;
                                case '1': reason = "Wafer protrusion"; break;
                                case '2': reason = "FOUP mount error"; break;
                                case '3': reason = "FOUP mount error"; break;
                                case '5': reason = "Air pressure drop"; break;
                            }
                            break;
                        case 'B':
                            switch (param[1])
                            {
                                case '0': reason = "Host error"; break;
                            }
                            break;
                        case 'C':
                            switch (param[1])
                            {
                                case '0': reason = "Parameter error"; break;
                            }
                            break;
                        case 'E':
                            switch (param[1])
                            {
                                case '0': reason = "FAN stop alarm"; break;
                                case '3': reason = "Voltage drop"; break;
                            }
                            break;
                        case 'F':
                            switch (param[1])
                            {
                                case 'E': reason = "Dock hand pinch error"; break;
                            }
                            break;
                    }
                    if (string.IsNullOrEmpty(reason))
                    {
                        LogObject.Error(_lpname, $"MOV:{catch_command.Match(ReceiveMsg).Value} failed for the Unknown error {param}");
                    }
                    else
                    {
                        LogObject.Error(_lpname, $"MOV:{catch_command.Match(ReceiveMsg).Value} failed for the error {param}:{reason}");
                    }
                }
                
            }
            else
            {
                //基本没有错误 若有遗漏 继续加else if(条件补充)
                //对事件进行分割 SET GET涉及到wafer mapping MOV涉及到home open clamp等
                OnEventHappend(ReceiveMsg);//接受信息 涉及状态机切换
                return;
                
            }

            //走到这里表示是错误走出 需要发送message给状态机
            CheckToPostMessage(LoadPortMsg.Error);
            IsError = true;
        }


        private void FindErrorReason(string param,out string reason)
        {
            reason = string.Empty;
            switch (param[0])
            {
                case '1':
                    switch (param[1])
                    {
                        case '0': reason = "Clamp time over"; break;
                        case '1': reason = "Unclamp time over"; break;
                        case '2': reason = "Dock time over"; break;
                        case '3': reason = "Undock time over"; break;
                        case '4': reason = "Latch time over"; break;
                        case '5': reason = "Unlatch time over"; break;
                        case '6': reason = "Vacuum time over"; break;
                        case '7': reason = "Vacuum release time over"; break;
                        case '8': reason = "Door open time over"; break;
                        case '9': reason = "Door close time over"; break;
                        case 'A': reason = "Mapping forward time over"; break;
                        case 'B': reason = "Mapping return time over"; break;
                        case 'F': reason = "communication error(3 times of resending)"; break;
                    }
                    break;
                case '2':
                    switch (param[1])
                    {
                        case '0': reason = "Home return time over"; break;
                        case '1': reason = "Loading time over"; break;
                        case '2': reason = "Unloading time over"; break;
                        case '3': reason = "Positioning time over"; break;
                        case '8': reason = "Door open/close position movement time over"; break;
                        case '9': reason = "Mapping start position movement time over"; break;
                        case 'A': reason = "Mapping end position movement time over"; break;
                        case 'B': reason = "Load position movement time over"; break;
                    }
                    break;
                case '4':
                    switch (param[1])
                    {
                        case '0': reason = "Mapping data error"; break;
                        case '1': reason = "Mode select error"; break;
                    }
                    break;
                case '7':
                    switch (param[1])
                    {
                        case '0': reason = "Clamp sensor error"; break;
                        case '1': reason = "Dock sensor error"; break;
                        case '2': reason = "Latch sensor error"; break;
                        case '3': reason = "Door sensor error"; break;
                        case '4': reason = "Mapping sensor error"; break;
                        case '7': reason = "Elevator axis sensor error"; break;
                    }
                    break;
                case 'A':
                    switch (param[1])
                    {
                        case '0': reason = "Wafer drop"; break;
                        case '1': reason = "Wafer protrusion"; break;
                        case '2': reason = "FOUP mount error"; break;
                        case '3': reason = "FOUP mount error"; break;
                        case '5': reason = "Air pressure drop"; break;
                    }
                    break;
                case 'B':
                    switch (param[1])
                    {
                        case '0': reason = "Host error"; break;
                    }
                    break;
                case 'C':
                    switch (param[1])
                    {
                        case '0': reason = "Parameter error"; break;
                    }
                    break;
                case 'E':
                    switch (param[1])
                    {
                        case '0': reason = "FAN stop alarm"; break;
                        case '3': reason = "Voltage drop"; break;
                    }
                    break;
                case 'F':
                    switch (param[1])
                    {
                        case 'E': reason = "Dock hand pinch error"; break;
                    }
                    break;
            }
        }

        //按照返回数据处理 包括mov后的状态机切换 set反馈 get反馈
        private void OnEventHappend(string receiveMsg)
        {
            //首先按照收到的正确数据类型进行分类
            //收到的可能是1、set 2、get 3、mov 4、inf
            string command_type = catch_command_type.Match(receiveMsg).Value;//获取到操作的类型
            string command_name = catch_command.Match(receiveMsg).Value;//获取操作的名称
            switch (command_type)
            {
                case "SET":
                    SetEndAnalysis(command_name);
                    break;//主要是设置 没有太多内容
                case "GET"://涉及mapping state要对返回值序列进行处理
                    string command_parameter = catch_After_param.Match(receiveMsg).Value;
                    GetEndAnalysis(command_name, command_parameter);
                    break;
                case "MOV"://设备回复收到MOV命令
                    MovCanExcute(command_name);
                    break;
                case "INF"://设备回复完成MOV命令 需要对该指令处理并下发msg给状态机
                    MovOPEnd(command_name);
                    break;
                default: break;
            }

        }


        private void SetEndAnalysis(string command_name)
        {
            switch (command_name)
            {
                case "RSET":
                    CheckToPostMessage(LoadPortMsg.ResetComplete);
                    break;
                default:
                    break;
            }
        }

        private void MovCanExcute(string command_name)
        {


        }

        //设备回复完成MOV命令 需要对该指令处理并下发msg给状态机
        private void MovOPEnd(string command_name)
        {
            switch(command_name)
            {
                //home完成
                case "ORGN":
                    CheckToPostMessage(LoadPortMsg.InitComplete);
                    break;
                //Load完成
                case "FPML":
                    SendMessage("GET:MAPR;");//获取扫片的结果
                    break;
                //Unload完成
                case "FPMU":
                    CheckToPostMessage(LoadPortMsg.UnloadComplete);
                    break;
                //Unclamp
                case "FCOP":
                    CheckToPostMessage(LoadPortMsg.MoveComplete, "Unclamp over");
                    break;
                //Clamp
                case "FCCL":
                    CheckToPostMessage(LoadPortMsg.MoveComplete, "Clamp over");
                    break;

            }

        }

        private void GetEndAnalysis(string command_name, string command_parameter)
        {
            switch (command_name)
            {
                case "STAS"://此处涉及LP关键状态变量的获取 对efem中的判断有重要影响
                    OnStasRead(command_parameter);
                    break;
                case "MAPR"://此处涉及扫片的结果转化为wafermanager存储 efem上层会从wafermanager中读取转化 重要！
                    //================判断
                    OnSlotMapRead(command_parameter);
                    if (CurrentState == LoadPortStateEnum.Loading)
                    {
                        CheckToPostMessage(LoadPortMsg.LoadComplete);
                    }
                    break;
            }
        }



        private void OnStasRead(string command_parameter)
        {
            _isLoaded = false;
            switch (command_parameter[6])//Continer Status
            {
                case '0':
                    //_isPlaced = false;
                    //_isPresent = false;
                    break;
                case '1':
                    //_isPlaced = true;
                    //_isPresent = true;
                    break;
                case '2':
                    //_isPlaced = false;
                    //_isPresent = true;
                    break;
            }

            switch (command_parameter[7])//Clamp position
            {
                case '0':
                    ClampState = FoupClampState.Open;
                    break;
                case '1':
                    ClampState = FoupClampState.Close;
                    break;
                case '?':
                    ClampState = FoupClampState.Unknown;
                    break;
            }

            switch (command_parameter[10])//Door positon
            {
                case '0':
                    DoorState = FoupDoorState.Open;
                    if(Module == "LP1")
                        DeviceModel.TrigSafetytoSMIF1.SetTrigger(true,out _);
                    if (Module == "LP2")
                        DeviceModel.TrigSafetytoSMIF2.SetTrigger(true, out _);
                    break;
                case '1':
                    DoorState = FoupDoorState.Close;
                    if (Module == "LP1")
                        DeviceModel.TrigSafetytoSMIF1.SetTrigger(false, out _);
                    if (Module == "LP2")
                        DeviceModel.TrigSafetytoSMIF2.SetTrigger(false, out _);

                    break;
                case '?':
                    DoorState = FoupDoorState.Unknown;
                    if (Module == "LP1")
                        DeviceModel.TrigSafetytoSMIF1.SetTrigger(false, out _);
                    if (Module == "LP2")
                        DeviceModel.TrigSafetytoSMIF2.SetTrigger(false, out _);

                    break;
            }

            switch (command_parameter[11])//Wafer protrusion sensor(2025.4.18 +)
            {
                case '0':
                    ProtrusionState = "Shading";
                    break;
                case '1':
                    ProtrusionState = "Lighting";
                    break;
            }

            switch (command_parameter[13])//Dock positon
            {
                case '0':
                    DockState = FoupDockState.Undocked;
                    break;
                case '1':
                    DockState = FoupDockState.Docked;
                    break;
                case '?':
                    DockState = FoupDockState.Unknown;
                    break;
            }

            if (command_parameter[4]!='0')//状态不是normal
            {
                string reason;
                string param = "";
                param += command_parameter[4];
                param += command_parameter[5];
                FindErrorReason(param, out reason);
                LogObject.Error(_lpname,reason);
                CheckToPostMessage(LoadPortMsg.Error);
            }

        }

        //覆盖原SlotMap函数 slotMap是一串数字 代表wafer的状态
        public override void OnSlotMapRead(string slotMap)
        {
            lock (_locker)
            {
                int error_num = 0;
                //循环所有wafer
                for (int i = 0; i < slotMap.Length; i++)
                {
                    WaferInfo waferInfo = null;
                    LogObject.Info(_lpname,$"Slot:{i}:{slotMap[i]}");
                    switch (slotMap[i])
                    {
                        case '0'://没有wafer delete
                            Singleton<WaferManager>.Instance.DeleteWafer(base.LPModuleName, i);
                            Singleton<CarrierManager>.Instance.UnregisterCarrierWafer(base.Name, i);
                            break;
                        case '1'://有wafer add
                            waferInfo = Singleton<WaferManager>.Instance.CreateWafer(LPModuleName, i, WaferStatus.Normal, WaferSize.WS8);
                            Singleton<CarrierManager>.Instance.RegisterCarrierWafer(base.Name, i, waferInfo);
                            break;
                        case '2'://错误 
                            waferInfo = Singleton<WaferManager>.Instance.CreateWafer(base.LPModuleName, i, WaferStatus.Normal, WaferSize.WS8);
                            Singleton<CarrierManager>.Instance.RegisterCarrierWafer(base.Name, i, waferInfo);
                            error_num++;
                            LogObject.Error(base.Name, $"Slot {i + 1}: occur Crossed");
                            break;
                        case '3':
                            waferInfo = Singleton<WaferManager>.Instance.CreateWafer(base.LPModuleName, i, WaferStatus.Normal, WaferSize.WS8);
                            Singleton<CarrierManager>.Instance.RegisterCarrierWafer(base.Name, i, waferInfo);
                            LogObject.Warning(base.Name, $"Slot {i + 1}: Thickness is too Thick");
                            break;
                        case '4':
                            waferInfo = Singleton<WaferManager>.Instance.CreateWafer(base.LPModuleName, i, WaferStatus.Normal, WaferSize.WS8);
                            Singleton<CarrierManager>.Instance.RegisterCarrierWafer(base.Name, i, waferInfo);
                            LogObject.Warning(base.Name, $"Slot {i + 1}: Thickness is too Thin");
                            break;
                        case '5':
                            waferInfo = Singleton<WaferManager>.Instance.CreateWafer(base.LPModuleName, i, WaferStatus.Normal, WaferSize.WS8);
                            Singleton<CarrierManager>.Instance.RegisterCarrierWafer(base.Name, i, waferInfo);
                            LogObject.Error(base.Name, $"Slot {i + 1}: Position error”");
                            break;
                    }
                }
                if (error_num == 0)
                {
                    base.MapError = false;
                }
                else
                {
                    base.MapError = true;
                }

                _isMapped = true;//十二分重要

                //无所谓的部分
                //SerializableDictionary<string, object> serializableDictionary = new SerializableDictionary<string, object>();
                //serializableDictionary["SlotMap"] = CurrentSlotMapResult;
                //serializableDictionary["PortID"] = base.PortID;
                //serializableDictionary["PORT_CTGRY"] = base.SpecPortName;
                //serializableDictionary["CarrierType"] = SpecCarrierType;
                //serializableDictionary["CarrierIndex"] = InfoPadCarrierIndex;
                //serializableDictionary["InfoPadSensorIndex"] = InfoPadSensorIndex;
                //serializableDictionary["CarrierID"] = base.CarrierId;
                //EV.Notify(EventSlotMapAvailable, serializableDictionary);

                //if (base.LPCallBack != null)
                //{
                //    base.LPCallBack.MappingComplete(_carrierId, CurrentSlotMapResult);
                //}
            }

        }

        public override WaferSize GetCurrentWaferSize()
        {
            return WaferSize.WS8;
        }

        /// <summary>
        /// 用来将接受到的数据按照CR分散为一条 等待OnTimer解析
        /// </summary>
        /// <param name="oneLineMessage"></param>
        private void OnAsciiDataReceived(string oneLineMessage)
        {
            lock (_locker)
            {
                if (string.IsNullOrEmpty(_newLine))//没有CR
                {
                    _lstAsciiMsgs.AddLast(oneLineMessage);//将消息添加到最后
                    return;
                }
                string[] array = oneLineMessage.Split(_newLine.ToCharArray());//按照cr分开通讯数据
                foreach (string text in array)
                {
                    if (!string.IsNullOrEmpty(text))
                    {
                        _lstAsciiMsgs.AddLast(text + _newLine);//存进list中等待处理
                    }
                }
            }
        }

        public bool SendMessage(string message)
        {
            //专注数据的发送 此处对数据进行加校验位、加末位处理
            if (string.IsNullOrEmpty(message))
            {
                LogObject.Warning(_lpname,"试图发送空消息");
                return false;
            }

            if (IsConnected)
            {
                message = "0000" + message;//加上头
                int _hexsum = 0;
                foreach (var _schar in message.ToCharArray())
                {
                    //获取到的是每一个字符 将其转为Hex存入buffers 并累加 用于最后的计算
                    int num = Convert.ToInt32(_schar); // 将字符转换为 ASCII 数值
                    string hex = num.ToString("X"); // 将 ASCII 数值转换为十六进制字符串
                    _hexsum += int.Parse(hex, System.Globalization.NumberStyles.HexNumber); // 将十六进制字符串转换为整数
                }
                string _name = _hexsum.ToString("X");
                //00 + 00 + Message + CSH + CSI + _newLine
                message = message + _name[_name.Length - 2] + _name[_name.Length - 1] + _newLine;
                LogObject.Info(_lpname, " send Message:" + message);
                int raw_length = Encoding.Default.GetBytes(message).Length;
                byte[] raw_buffer = Encoding.Default.GetBytes(message);
                byte[] send_buffer = new byte[raw_length + 1];
                send_buffer[0] = _newHeader;//加SOH
                raw_buffer.CopyTo(send_buffer, 1);//剩下的复制到send_buffer

                if (_serial.Write(send_buffer))
                {
                    //_device_timer.Restart(_timeout);
                    //通过串口发送
                    LogObject.Info(_lpname, "===========发送的msg============" + message);
                    return true;
                }
                else
                {
                    LogObject.Error(_lpname,"Send Message failed.");
                    return false;
                }
            }
            else
            {
                LogObject.Error(_lpname, "尚未建立连接或初始化！");
                return false;
            }
        }

        private void onErrorHappend(string obj)
        {
            LogObject.Error($"{_lpname}", $"Connect Error for:{obj}");
        }

        protected override bool fStartExecute(object[] param)
        {
            //执行逻辑 超时报警 返回错误 返回带参STAS除外都是有错的 ABS执行错误
            try
            {
                switch (param[0].ToString())
                {
                    case "Unclamp":
                        lock (_locker)
                        {
                            SendMessage("MOV:FCOP;");
                        }
                        break;
                    case "Clamp":
                        lock (_locker)
                        {
                            SendMessage("MOV:FCCL;");
                        }
                        break;
                    case "MapWafer":
                        //_serial.Write("");
                        break;
                    case "QueryState":
                        IsQueryComplete = false;
                        lock (_locker)
                        {
                            SendMessage("GET:STAS;");
                        }
                        break;
                    default:
                        break;
                }
                return true;
            }
            catch (Exception ex)
            {
                return false;
            }
        }

        protected override bool fMonitorExecuting(object[] param)
        {
            base.IsBusy = false;
            LogObject.Info(_lpname,$"{param[0].ToString()} excuted over");
            return true;
        }

        protected override bool fStartInit(object[] param)
        {
            //收到消息进入initilizing状态 需要先下发
            //初始化逻辑MOV:ORGN
            IsHomed = false;
            SendMessage("MOV:ORGN;");
            return true;
        }

        protected override bool fCompleteInit(object[] param)
        {
            //一些状态要置为false
            IsHomed = true;
            lock (_locker)
            {
                SendMessage("GET:STAS;");
            }
            return true;
        }

        protected override bool fStartReset(object[] param)
        {
            //SET:RSET
            lock (_locker)
            {
                SendMessage("SET:RSET;");
            }
            return true;
        }

        protected override bool fMonitorReset(object[] param)
        {
            MapError = false;
            IsError = false;
            base.IsBusy = false;
            return true;
        }
        

        protected override bool fStartLoad(object[] param)
        {
            //load操作
            lock (_locker)
            {
                SendMessage("MOV:FPML;");
            }
            return true;
        }

        protected override bool fCompleteLoad(object[] param)
        {
            base.IsBusy = false;
            _isLoaded = true;
            base.DockState = FoupDockState.Docked;
            base.ClampState = FoupClampState.Close;
            base.DoorState = FoupDoorState.Open;
            if (Name == "LP1")
                DeviceModel.TrigSafetytoSMIF1.SetTrigger(true, out _);
            if (Name == "LP2")
                DeviceModel.TrigSafetytoSMIF2.SetTrigger(true, out _);
            return true;
        }

        protected override bool fStartUnload(object[] param)
        {
            lock (_locker)
            {
                SendMessage("MOV:FPMU;");
            }
            return true;
        }

        protected override bool fMonitorUnload(object[] param)
        {
            base.IsBusy = false;
            _isLoaded = false;
            base.DockState = FoupDockState.Undocked;
            base.ClampState = FoupClampState.Close;
            base.DoorState = FoupDoorState.Close;
            if (Name == "LP1")
                DeviceModel.TrigSafetytoSMIF1.SetTrigger(false, out _);
            if (Name == "LP2")
                DeviceModel.TrigSafetytoSMIF2.SetTrigger(false, out _);
            return true;
        }

        protected override bool fStartWrite(object[] param)
        {
            //_serial.Write("");
            return true;
        }

        protected override bool fStartRead(object[] param)
        {
            //MOV:MAPR
            //_serial.Write("MOV:MAPR")
            return true ;
        }

        public override bool IsEnableTransferWafer(out string reason)
        {
            reason = "";
            //Trace.WriteLine("=============================================================");
            //Trace.WriteLine($"时间：{DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss:fff")}");
            //Trace.WriteLine($" LP：{_lpname} State:{State}");
            //Trace.WriteLine($"The state of Present is {_isPresent}.");
            //Trace.WriteLine($"The state of Placed is {_isPlaced }.");
            //Trace.WriteLine($"The state of Ready is {IsReady() }.");
            //Trace.WriteLine($"The state of Mapped is {_isMapped }.");
            //Trace.WriteLine("=============================================================");
            if (_isPresent && _isPlaced && _isLoaded && IsReady() && _isMapped)
            {
                return true;
            }
            else
            {
                reason += $"The State of {_lpname} is {State}. ";
                reason += _isPresent ? $"The state of Present is {_isPresent}." : "";
                reason += _isPlaced  ? $"The state of Placed is {_isPlaced }." : "";
                reason += _isLoaded  ? $"The state of Loaded is {_isLoaded }." : "";
                reason += IsReady()  ? $"The state of Ready is {IsReady() }." : "";
                reason += _isMapped  ? $"The state of Mapped is {_isMapped }." : "";
            }
            return false;
        }

        public override bool IsEnableLoad(out string reason)
        {
            if (!_isPlaced)
            {
                reason = "No carrier placed";
                return false;
            }

            if (_isDocked)
            {
                reason = "Carrier is docked";
                return false;
            }

            if (!IsReady())
            {
                reason = "Not Ready";
                return false;
            }
            //SC的内容 建议直接
            //if (!IsCarrierEnabled)
            //{
            //    reason = "CarrierNotEnabled";
            //    return false;
            //}
            reason = "";
            return true;
        }
        
    }



    public enum HirataCommandType
    {
        SET,
        MOD,
        GET,
        MOV,
        TCH
    }

    public enum HirataCommand
    {
        //SET
        RSET,
        RTRY,
        STPP,
        PASE,
        ABOT,
        RESM,
        TYP1,
        TYP2,
        TYP3,
        TYP4,
        TYP5,
        MAPP,
        MAP1,
        MAP2,
        POSO,

        //GET,
        STAS,
        STA1,
        STA2,
        MDAT,
        MAPR,
        VERN,
        //MAPP,
        //MAP1,
        //MAP2,
        //POSO,
        POSD,
        MDAH,
        MDAP,
        MDTC,
        MDHS,
        MDPS,
        LEST,

        //MOV
        ORGN,
        ABGN,
        FPLD,
        FPML,
        FDOC,
        FDLD,
        FDML,
        FCLD,
        FCML,
        FPUL,
        FPMU,
        FVOF,
        FVUL,
        FUDC,
        FUMD,
        //MAPP,
        RMAP,
        Z_MP ,

    }

}