using MECF.Framework.Common.CommonData;
using MECF.Framework.Common.DataCenter;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.OperationCenter;
using OpenSEMI.ClientBase;
using Prism.Commands;
using Prism.Mvvm;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Venus_Core;
using Venus_Themes.CustomControls;
using System.Windows.Threading;
using Venus_MainPages.Unity;
using Microsoft.VisualBasic;
using ExcelLibrary.BinaryFileFormat;
using MECF.Framework.Common.Schedulers;
using Venus_MainPages.Views;
using System.Windows;
using System.Security.RightsManagement;
using System.Collections.ObjectModel;
using Aitex.Core.Util;
using static Venus_MainPages.ViewModels.VenusDETMViewModel;
using static Venus_Themes.CustomControls.DERobot;
using MECF.Framework.Common.Jobs;
using Aitex.Core.RT.Log;

namespace Venus_MainPages.ViewModels
{
    public class VenusDeOperationOverViewModel : BindableBase
    {
        #region 私有字段
        private ModuleInfo m_VCEAModuleInfo;
        private ModuleInfo m_VCEBModuleInfo;
        private ModuleInfo m_PMAModuleInfo;
        private ModuleInfo m_PMBModuleInfo;
        private ModuleInfo m_PMCModuleInfo;
        private ModuleInfo m_PMDModuleInfo;
        private ModuleInfo m_AlignerModuleInfo;
        private ModuleInfo m_TMModuleInfo;
        public WaferInfo m_PMAWafer;
        public WaferInfo m_PMBWafer;
        public WaferInfo m_PMCWafer;
        public WaferInfo m_PMDWafer;
        public WaferInfo m_RobotUpperWafer;
        public WaferInfo m_RobotLowerWafer;
        public WaferInfo m_PAWafer;
        private DERobotTAction m_Robot1TAction;
        private DERobotXAction m_Robot1XAction;
        private DERobotTAction m_Robot2TAction;
        private DERobotXAction m_Robot2XAction;
        public RobotMoveInfo m_robotMoveInfo;
        private int m_VCEAWaferCount;
        private int m_VCEBWaferCount;
        private bool m_PMAIsInstalled;
        private bool m_PMBIsInstalled;
        private bool m_PMCIsInstalled;
        private bool m_PMDIsInstalled;
        private bool m_VCEAIsInstalled;
        private bool m_VCEBIsInstalled;
        private bool m_VCEADoorIsOpen;
        private bool m_VCEBDoorIsOpen;
        private bool m_PMADoorIsOpen;
        private bool m_PMBDoorIsOpen;
        private bool m_PMCDoorIsOpen;
        private bool m_PMDDoorIsOpen;
        private bool m_VCEAOutDoorIsOpen;
        private bool m_VCEBOutDoorIsOpen;
        private bool m_IsAlignerOnRight;

        private Dictionary<string, object> m_RtDataValues = new Dictionary<string, object>();
        private List<string> m_RtDataKeys = new List<string>();
        private double m_PMAPercent;
        private double m_PMBPercent;
        private double m_PMCPercent;
        private double m_PMDPercent;
        private double m_VCEAPercent;
        private double m_VCEBPercent;
        private int m_PickNum;
        private RecipeResult m_PMARecipeResult;
        private RecipeResult m_PMBRecipeResult;
        private RecipeResult m_PMCRecipeResult;
        private RecipeResult m_PMDRecipeResult;

        private WaferAssociationInfo m_VCEAwaferAssociation;
        private WaferAssociationInfo m_VCEBwaferAssociation;
        private bool loadflag;

        private bool m_TMIsVAC;
        private bool m_VCEAIsVAC;
        private bool m_VCEBIsVAC;
        private string m_PMAChamberLabel;
        private string m_PMBChamberLabel;
        private string m_PMCChamberLabel;
        private string m_PMDChamberLabel;

        private int m_CurrentSlotA;
        private int m_CurrentSlotB;
        private ObservableCollection<int> m_VCEASlots = new ObservableCollection<int>();
        private ObservableCollection<int> m_VCEBSlots = new ObservableCollection<int>();
        #endregion

        #region 属性
        public bool IsAligner1OnRight {
            get => m_IsAlignerOnRight;
            set => SetProperty(ref m_IsAlignerOnRight, value);
        }


        public int CurrentSlotA
        {
            get { return m_CurrentSlotA; } 
            set { SetProperty(ref m_CurrentSlotA, value); }
        }
        public int CurrentSlotB
        {
            get { return m_CurrentSlotB; }
            set { SetProperty(ref m_CurrentSlotB, value); }
        }

        public ObservableCollection<int> VCEASlots
        {
            get { return m_VCEASlots; }
            set { SetProperty(ref m_VCEASlots, value); }
        }
        public ObservableCollection<int> VCEBSlots
        {
            get { return m_VCEBSlots; }
            set { SetProperty(ref m_VCEBSlots, value); }
        }

        public bool TMIsVAC
        {
            get { return m_TMIsVAC; }
            set { SetProperty(ref m_TMIsVAC, value); }
        }
        public bool VCEAIsVAC
        {
            get { return m_VCEAIsVAC; }
            set { SetProperty(ref m_VCEAIsVAC, value); }
        }
        public bool VCEBIsVAC
        {
            get { return m_VCEBIsVAC; }
            set { SetProperty(ref m_VCEBIsVAC, value); }
        }
        public string PMAChamberLabel
        {
            get { return m_PMAChamberLabel; }
            set { SetProperty(ref m_PMAChamberLabel, value); }
        }
        public string PMBChamberLabel
        {
            get { return m_PMBChamberLabel; }
            set { SetProperty(ref m_PMBChamberLabel, value); }
        }
        public string PMCChamberLabel
        {
            get { return m_PMCChamberLabel; }
            set { SetProperty(ref m_PMCChamberLabel, value); }
        }
        public string PMDChamberLabel
        {
            get { return m_PMDChamberLabel; }
            set { SetProperty(ref m_PMDChamberLabel, value); }
        }
        public DERobotTAction Robot1TAction
        {
            get { return m_Robot1TAction; }
            set { SetProperty(ref m_Robot1TAction, value); }
        }
        private DelegateCommand<object> _AbortJobCommand;
        public DelegateCommand<object> AbortJobCommand =>
            _AbortJobCommand ?? (_AbortJobCommand = new DelegateCommand<object>(OnAbortJob));
        public DERobotXAction Robot1XAction
        {
            get { return m_Robot1XAction; }
            set { SetProperty(ref m_Robot1XAction, value); }
        }
        public DERobotTAction Robot2TAction
        {
            get { return m_Robot2TAction; }
            set { SetProperty(ref m_Robot2TAction, value); }
        }
        public DERobotXAction Robot2XAction
        {
            get { return m_Robot2XAction; }
            set { SetProperty(ref m_Robot2XAction, value); }
        }
        public RobotMoveInfo RobotMoveInfo
        {
            get { return m_robotMoveInfo; }
            set
            {
                RobotMoveInfoChanged(m_robotMoveInfo, value);
                SetProperty(ref m_robotMoveInfo, value);
            }
        }
        public RecipeResult PMARecipeResult
        {
            get { return m_PMARecipeResult; }
            set { SetProperty(ref m_PMARecipeResult, value); }
        }

        public RecipeResult PMBRecipeResult
        {
            get { return m_PMBRecipeResult; }
            set { SetProperty(ref m_PMBRecipeResult, value); }
        }
        public RecipeResult PMCRecipeResult
        {
            get { return m_PMCRecipeResult; }
            set { SetProperty(ref m_PMCRecipeResult, value); }
        }
        public RecipeResult PMDRecipeResult
        {
            get { return m_PMDRecipeResult; }
            set { SetProperty(ref m_PMDRecipeResult, value); }
        }
        public double PMAPercent
        {
            get { return m_PMAPercent; }
            set { SetProperty(ref m_PMAPercent, value); }
        }
        public double PMBPercent
        {
            get { return m_PMBPercent; }
            set { SetProperty(ref m_PMBPercent, value); }
        }
        public double PMCPercent
        {
            get { return m_PMCPercent; }
            set { SetProperty(ref m_PMCPercent, value); }
        }
        public double PMDPercent
        {
            get { return m_PMDPercent; }
            set { SetProperty(ref m_PMDPercent, value); }
        }
        public double VCEAPercent
        {
            get { return m_VCEAPercent; }
            set { SetProperty(ref m_VCEAPercent, value); }
        }
        public double VCEBPercent
        {
            get { return m_VCEBPercent; }
            set { SetProperty(ref m_VCEBPercent, value); }
        }
        public int PickNum
        {
            get { return m_PickNum; }
            set { SetProperty(ref m_PickNum, value); }
        }
        public WaferInfo PMAWafer
        {
            get { return m_PMAWafer; }
            set { SetProperty(ref m_PMAWafer, value); }
        }
        public WaferInfo PMBWafer
        {
            get { return m_PMBWafer; }
            set { SetProperty(ref m_PMBWafer, value); }
        }
        public WaferInfo PMCWafer
        {
            get { return m_PMCWafer; }
            set { SetProperty(ref m_PMCWafer, value); }
        }

        public WaferInfo PMDWafer
        {
            get { return m_PMDWafer; }
            set { SetProperty(ref m_PMDWafer, value); }
        }

        public WaferInfo RobotUpperWafer
        {
            get { return m_RobotUpperWafer; }
            set { SetProperty(ref m_RobotUpperWafer, value); }
        }

        public WaferInfo RobotLowerWafer
        {
            get { return m_RobotLowerWafer; }
            set { SetProperty(ref m_RobotLowerWafer, value); }
        }

        public WaferInfo PAWafer
        {
            get { return m_PAWafer; }
            set { SetProperty(ref m_PAWafer, value); }
        }
        public ModuleInfo VCEAModuleInfo
        {
            get { return m_VCEAModuleInfo; }
            set
            {
                SetProperty(ref m_VCEAModuleInfo, value);
            }
        }

        public ModuleInfo VCEBModuleInfo
        {
            get { return m_VCEBModuleInfo; }
            set
            {
                SetProperty(ref m_VCEBModuleInfo, value);
            }
        }

        public ModuleInfo PMAModuleInfo
        {
            get { return m_PMAModuleInfo; }
            set
            {
                SetProperty(ref m_PMAModuleInfo, value);
            }
        }
        public ModuleInfo PMBModuleInfo
        {
            get { return m_PMBModuleInfo; }
            set
            {
                SetProperty(ref m_PMBModuleInfo, value);
            }
        }
        public ModuleInfo PMCModuleInfo
        {
            get { return m_PMCModuleInfo; }
            set
            {
                SetProperty(ref m_PMCModuleInfo, value);
            }
        }

        public ModuleInfo PMDModuleInfo
        {
            get { return m_PMDModuleInfo; }
            set
            {
                SetProperty(ref m_PMDModuleInfo, value);
            }
        }
        public ModuleInfo AlignerModuleInfo
        {
            get { return m_AlignerModuleInfo; }
            set
            {
                SetProperty(ref m_AlignerModuleInfo, value);
            }
        }

        public ModuleInfo TMModuleInfo
        {
            get { return m_TMModuleInfo; }
            set
            {
                SetProperty(ref m_TMModuleInfo, value);
            }
        }
        public bool PMAIsInstalled
        {
            get { return m_PMAIsInstalled; }
            set
            {
                SetProperty(ref m_PMAIsInstalled, value);
            }
        }
        public bool PMBIsInstalled
        {
            get { return m_PMBIsInstalled; }
            set
            {
                SetProperty(ref m_PMBIsInstalled, value);
            }
        }
        public bool PMCIsInstalled
        {
            get { return m_PMCIsInstalled; }
            set
            {
                SetProperty(ref m_PMCIsInstalled, value);
            }
        }
        public bool PMDIsInstalled
        {
            get { return m_PMDIsInstalled; }
            set
            {
                SetProperty(ref m_PMDIsInstalled, value);
            }
        }
        public bool VCEAIsInstalled
        {
            get { return m_VCEAIsInstalled; }
            set
            {
                SetProperty(ref m_VCEAIsInstalled, value);
            }
        }

        public bool VCEBIsInstalled
        {
            get { return m_VCEBIsInstalled; }
            set
            {
                SetProperty(ref m_VCEBIsInstalled, value);
            }
        }

        public bool VCEADoorIsOpen { get => m_VCEADoorIsOpen; set => SetProperty(ref m_VCEADoorIsOpen, value); }
        public bool VCEBDoorIsOpen { get => m_VCEBDoorIsOpen; set => SetProperty(ref m_VCEBDoorIsOpen, value); }
        public bool PMADoorIsOpen { get => m_PMADoorIsOpen; set => SetProperty(ref m_PMADoorIsOpen, value); }
        public bool PMBDoorIsOpen { get => m_PMBDoorIsOpen; set => SetProperty(ref m_PMBDoorIsOpen, value); }
        public bool PMCDoorIsOpen { get => m_PMCDoorIsOpen; set => SetProperty(ref m_PMCDoorIsOpen, value); }
        public bool PMDDoorIsOpen { get => m_PMDDoorIsOpen; set => SetProperty(ref m_PMDDoorIsOpen, value); }
        public bool VCEAOutDoorIsOpen { get => m_VCEAOutDoorIsOpen; set => SetProperty(ref m_VCEAOutDoorIsOpen, value); }
        public bool VCEBOutDoorIsOpen { get => m_VCEBOutDoorIsOpen; set => SetProperty(ref m_VCEBOutDoorIsOpen, value); }

        public int VCEAWaferCount
        {
            get { return m_VCEAWaferCount; }
            set
            {
                SetProperty(ref m_VCEAWaferCount, value);
            }
        }
        public int VCEBWaferCount
        {
            get { return m_VCEBWaferCount; }
            set
            {
                SetProperty(ref m_VCEBWaferCount, value);
            }
        }

        public Dictionary<string, object> RtDataValues
        {
            get { return m_RtDataValues; }
            set { SetProperty(ref m_RtDataValues, value); }
        }

        public WaferAssociationInfo VCEAwaferAssociation
        {
            get { return m_VCEAwaferAssociation; }
            set { SetProperty(ref m_VCEAwaferAssociation, value); }
        }
        public WaferAssociationInfo VCEBwaferAssociation
        {
            get { return m_VCEBwaferAssociation; }
            set { SetProperty(ref m_VCEBwaferAssociation, value); }
        }

        #endregion

        #region 命令
        private DelegateCommand _HomeAll;
        public DelegateCommand HomeAll => _HomeAll ?? (_HomeAll = new DelegateCommand(onHomeAll));
        private DelegateCommand _SetAutoMode;
        public DelegateCommand SetAutoMode => _SetAutoMode ?? (_SetAutoMode = new DelegateCommand(onSetAutoMode));
        private DelegateCommand _SetManualMode;
        public DelegateCommand SetManualMode => _SetManualMode ?? (_SetManualMode = new DelegateCommand(onSetManualMode));

        private DelegateCommand _StartSETMCycle;
        public DelegateCommand StartSETMCycle => _StartSETMCycle ?? (_StartSETMCycle = new DelegateCommand(onStartSETMCycle));

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

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

        private DelegateCommand _StopCycle;
        public DelegateCommand StopCycle => _StopCycle ?? (_StopCycle = new DelegateCommand(onStopCycle));

        private DelegateCommand<object> _VCEHome;
        public DelegateCommand<object> VCEHome => _VCEHome ?? (_VCEHome = new DelegateCommand<object>(vceHome));

        private DelegateCommand<object> _VCEReadMap;
        public DelegateCommand<object> VCEReadMap => _VCEReadMap ?? (_VCEReadMap = new DelegateCommand<object>(vceReadMap));

        private DelegateCommand<object> _VCELoadPrepare;
        public DelegateCommand<object> VCELoadPrepare =>
            _VCELoadPrepare ?? (_VCELoadPrepare = new DelegateCommand<object>(vceLoadPrepare));
        private DelegateCommand<object> __VCELoad;
        public DelegateCommand<object> VCELoad =>
            __VCELoad ?? (__VCELoad = new DelegateCommand<object>(vceLoad));

        private DelegateCommand<object> __VCELoadWithSMIF;
        public DelegateCommand<object> VCELoadWithSMIF =>
            __VCELoadWithSMIF ?? (__VCELoadWithSMIF = new DelegateCommand<object>(vceLoadWithSMIF));
        private DelegateCommand<object> __VCEUnLoadWithSMIF;
        public DelegateCommand<object> VCEUnLoadWithSMIF =>
            __VCEUnLoadWithSMIF ?? (__VCEUnLoadWithSMIF = new DelegateCommand<object>(vceUnLoadWithSMIF));

        private DelegateCommand<object> _VCEUnLoad;
        public DelegateCommand<object> VCEUnLoad =>
            _VCEUnLoad ?? (_VCEUnLoad = new DelegateCommand<object>(vceUnLoad));
        private DelegateCommand _SMIFLoad;
        public DelegateCommand SMIFLoad =>
            _SMIFLoad ?? (_SMIFLoad = new DelegateCommand(smifLoad));
        private DelegateCommand _SMIFULoad;
        public DelegateCommand SMIFULoad =>
            _SMIFULoad ?? (_SMIFULoad = new DelegateCommand(smifUnLoad));

        private DelegateCommand _tmhome;
        public DelegateCommand TmHome =>
            _tmhome ?? (_tmhome = new DelegateCommand(tmhome));
        private DelegateCommand _tmPick;
        public DelegateCommand TmPick =>
            _tmPick ?? (_tmPick = new DelegateCommand(tmpick));
        private DelegateCommand _tmPlace;
        public DelegateCommand TMPlace =>
            _tmPlace ?? (_tmPlace = new DelegateCommand(tmplace));
        //private DelegateCommand _tmSave;
        private DelegateCommand _LoadCommand;
        public DelegateCommand LoadCommand =>
            _LoadCommand ?? (_LoadCommand = new DelegateCommand(OnLoad));
        private DelegateCommand _PauseAllJobCommand;
        public DelegateCommand PauseAllJobCommand =>
            _PauseAllJobCommand ?? (_PauseAllJobCommand = new DelegateCommand(OnPauseAllJob));


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


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


        private DelegateCommand<object> _CreateJobCommand;
        public DelegateCommand<object> CreateJobCommand =>
            _CreateJobCommand ?? (_CreateJobCommand = new DelegateCommand<object>(OnCreateJob));
        private DelegateCommand<object> _SelectAllCommand;
        public DelegateCommand<object> SelectAllCommand =>
            _SelectAllCommand ?? (_SelectAllCommand = new DelegateCommand<object>(OnSelectAll));
        private DelegateCommand<object> _UnSelectAllCommand;
        public DelegateCommand<object> UnSelectAllCommand =>
            _UnSelectAllCommand ?? (_UnSelectAllCommand = new DelegateCommand<object>(OnDeSelectAll));
        private DelegateCommand<object> _ReturnAllWafer;
        public DelegateCommand<object> ReturnAllWafer =>
            _ReturnAllWafer ?? (_ReturnAllWafer = new DelegateCommand<object>(OnReturnAllWafer));


        #endregion

        #region 构造函数
        public VenusDeOperationOverViewModel()
        {
            //页面不刷错的方法 页面中的PM做成List的形式 通过itemsource显示 同时提供各个位置的pm点位 旋转角度
            VCEAWaferCount = 25;
            VCEBWaferCount = 25;
            string[] allModules = QueryDataClient.Instance.Service.GetConfig($"System.InstalledModules").ToString().Split(',');

            PMAIsInstalled = allModules.Contains("PMA");
            PMBIsInstalled = allModules.Contains("PMB");
            PMCIsInstalled = allModules.Contains("PMC");
            PMDIsInstalled = allModules.Contains("PMD");
            VCEAIsInstalled = allModules.Contains("VCEA");
            VCEBIsInstalled = allModules.Contains("VCEB");
            IsAligner1OnRight = true;
            if (PMDIsInstalled == true)
            {
                IsAligner1OnRight = false;
            }
            addDataKeys();
            RtDataValues = QueryDataClient.Instance.Service.PollData(m_RtDataKeys);

            VCEADoorIsOpen = !CommonFunction.GetValue<bool>(RtDataValues, "TM.VCESlitDoorClosed");
            VCEBDoorIsOpen = !CommonFunction.GetValue<bool>(RtDataValues, "TM.VCESlitDoorClosed");
            PMADoorIsOpen = !CommonFunction.GetValue<bool>(RtDataValues,  "TM.PMASlitDoorClosed");
            PMBDoorIsOpen = !CommonFunction.GetValue<bool>(RtDataValues,  "TM.PMBSlitDoorClosed");
            PMCDoorIsOpen = !CommonFunction.GetValue<bool>(RtDataValues,  "TM.PMCSlitDoorClosed");
            PMDDoorIsOpen = !CommonFunction.GetValue<bool>(RtDataValues,  "TM.PMDSlitDoorClosed");
            VCEAOutDoorIsOpen = !CommonFunction.GetValue<bool>(RtDataValues, "VCEA.VCEOutDoorClosed");
            VCEBOutDoorIsOpen = !CommonFunction.GetValue<bool>(RtDataValues, "VCEB.VCEOutDoorClosed");

            for (int i = 26; i >= 1; --i)
            {
                if (i == 26)
                {
                    VCEASlots.Add(0);
                    VCEBSlots.Add(0);
                }
                else
                {
                    VCEASlots.Add(i);
                    VCEBSlots.Add(i);
                }
            }

            loadflag = false;

            DispatcherTimer timer = new DispatcherTimer();
            timer.Interval = TimeSpan.FromSeconds(0.1);
            timer.Tick += Timer_Tick;
            timer.Start();
        }
        #endregion

        #region 命令实现
        private void OnLoad()
        {
            if (!loadflag)
            {
                if (VCEAIsInstalled && VCEAwaferAssociation == null)
                {
                    VCEAwaferAssociation = new WaferAssociationInfo
                    {
                        ModuleData = ModuleManager.ModuleInfos["LP1"]
                    };
                }

                if (VCEBIsInstalled && VCEBwaferAssociation == null)
                {
                    VCEBwaferAssociation = new WaferAssociationInfo
                    {
                        ModuleData = ModuleManager.ModuleInfos["LP2"]
                    };
                }
                loadflag = true;
            }
        }

        private void OnResumeAllJob()
        {
            var t = CommonFunction.GetValue<List<string>>(RtDataValues, "Scheduler.PjNameList");
            if (t == null && t.Count == 0)
            {
                return;
            }
            if (CommonFunction.GetValue<int>(RtDataValues, "EquipmentStatus") == 4)
            {
                t.ForEach(x =>
                {
                    InvokeClient.Instance.Service.DoOperation("System.ResumeJob", x);
                });

            }
            else
            {
                t.ForEach(x =>
                {
                    InvokeClient.Instance.Service.DoOperation("System.PauseJob", x);
                });
            }
        }

        private void OnAbortJob(object obj)
        {
            InvokeClient.Instance.Service.DoOperation("System.AbortJob", obj.ToString());
        }
        private void OnSelectAll(object obj)
        {
            var info = obj as WaferAssociationInfo;

            info.SlotFrom = 1;
            info.SlotTo = 25;
            AssociateSequence(info, true);
        }

        private void OnDeSelectAll(object obj)
        {
            var info = obj as WaferAssociationInfo;

            info.SlotFrom = 1;
            info.SlotTo = 25;
            AssociateSequence(info, false);
        }

        private void OnReturnAllWafer(object obj)
        {
            WaferDialogView dialog = new WaferDialogView()
            {
                Owner = Application.Current.MainWindow,
            };
            dialog.Height = 300;
            dialog.Width = 400;
            double angel = 0;
            double coolingtime = 0;
            string message = "Please Confirm Return Wafer";
            WaferDialogViewModel vm = new WaferDialogViewModel();
            vm.ConfirmText = message;
            dialog.DataContext = vm;
            if (dialog.ShowDialog() == true)
            {
                if ((bool)dialog.AlignFlag == true && !string.IsNullOrEmpty(dialog.Angle))
                {
                    angel = Convert.ToDouble(dialog.Angle);
                }

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

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

        private void OnCreateJob(object obj)
        {
            var info = obj as WaferAssociationInfo;
            List<string> slotSequence = new List<string>();
            info.ModuleData.WaferManager.Wafers.ForEach(key => { slotSequence.Insert(0, key.SequenceName); });

            string jobId = info.LotId.Trim();
            if (string.IsNullOrEmpty(jobId))
                jobId = "CJ_Local_" + info.ModuleData.ModuleID;
            info.LotId = jobId;
            info.JobID = jobId;
            info.JobStatus = "WaitingForStart";
            info.LotIdSaved = true;

            Dictionary<string, object> param = new Dictionary<string, object>()
            {
                {"JobId", jobId},
                {"Module", info.ModuleData.ModuleID},
                {"SlotSequence", slotSequence.ToArray()},
                {"AutoStart", true},
                { "PreCleanRecipeName",info.PreCleanRecipeName},
                { "PostCleanRecipeName",info.PostCleanRecipeName}
            };
            InvokeClient.Instance.Service.DoOperation("System.CreateSEJob", param);
        }

        private void OnSetSequence(object obj)
        {
            var info = obj as WaferInfo;
            bool flag = info.SequenceName != "" ? false : true;
            if (info.ModuleID == "LP1")
            {
                AssociateSequence(VCEAwaferAssociation, flag, info.SlotID);
            }

            if (info.ModuleID == "LP2")
            {
                AssociateSequence(VCEBwaferAssociation, flag, info.SlotID);
            }
        }
        private void OnPauseAllJob()
        {

        }
        private void OnAbortAll()
        {
            ControlJobInfo lp1Cj = CommonFunction.GetValue<ControlJobInfo>(RtDataValues, "LP1.CurrentControlJob");
            UPdateWaferAssociation(VCEAwaferAssociation, lp1Cj);
            ControlJobInfo lp2Cj = CommonFunction.GetValue<ControlJobInfo>(RtDataValues, "LP2.CurrentControlJob");
            UPdateWaferAssociation(VCEBwaferAssociation, lp2Cj);
            InvokeClient.Instance.Service.DoOperation("System.Abort");
        }

        private void AssociateSequence(WaferAssociationInfo info, bool flag, int slot = -1)
        {
            List<WaferInfo> wafers = info.ModuleData.WaferManager.Wafers;

            if (slot >= 0) //by wafer
            {
                int index = wafers.Count - slot - 1;
                if (index < wafers.Count)
                {
                    //has wafer
                    if (flag && !(wafers[index].WaferStatus == 0))
                        wafers[index].SequenceName = info.SequenceName;
                    else
                        wafers[index].SequenceName = string.Empty;
                }
            }
            else //by from-to
            {
                for (int i = info.SlotFrom - 1; i < info.SlotTo; i++)
                {
                    int index = wafers.Count - i - 1;
                    if (index < wafers.Count)
                    {
                        if (flag && !(wafers[index].WaferStatus == 0))
                            wafers[index].SequenceName = info.SequenceName;
                        else
                            wafers[index].SequenceName = string.Empty;
                    }
                }
            }

        }

        private void addDataKeys()
        {
            m_RtDataKeys.Add($"TM.VCEASlitDoorClosed");
            m_RtDataKeys.Add($"TM.VCEBSlitDoorClosed");
            m_RtDataKeys.Add($"TM.PMASlitDoorClosed");
            m_RtDataKeys.Add($"TM.PMBSlitDoorClosed");
            m_RtDataKeys.Add($"TM.PMCSlitDoorClosed");
            m_RtDataKeys.Add($"TM.PMDSlitDoorClosed");
            m_RtDataKeys.Add($"TM.TMPressure.Value");
            m_RtDataKeys.Add($"TM.VCEAPressure.Value");
            m_RtDataKeys.Add($"TM.VCEBPressure.Value");
            m_RtDataKeys.Add($"TM.IsOnline");

            m_RtDataKeys.Add($"VCEA.VCEOutDoorClosed");
            m_RtDataKeys.Add($"VCEA.IsOnline");

            m_RtDataKeys.Add($"LP1.CassettePlaced");
            m_RtDataKeys.Add($"VCEB.VCEOutDoorClosed");
            m_RtDataKeys.Add($"VCEB.IsOnline");

            m_RtDataKeys.Add($"LP2.CassettePlaced");
            m_RtDataKeys.Add($"SEScheduler.CycledWafer");
            m_RtDataKeys.Add($"SEScheduler.CycleSetPoint");
            m_RtDataKeys.Add($"SEScheduler.CycleCount");
            m_RtDataKeys.Add($"SEScheduler.ThroughPut");

            m_RtDataKeys.Add($"PMA.ChamberPressure");
            m_RtDataKeys.Add($"PMA.VentingFlag");
            m_RtDataKeys.Add($"PMA.CurrentRecipeResult");
            m_RtDataKeys.Add($"PMA.IsOnline");
            m_RtDataKeys.Add($"PMB.ChamberPressure");
            m_RtDataKeys.Add($"PMB.VentingFlag");
            m_RtDataKeys.Add($"PMB.CurrentRecipeResult");
            m_RtDataKeys.Add($"PMB.IsOnline");

            m_RtDataKeys.Add($"PMC.ChamberPressure");
            m_RtDataKeys.Add($"PMC.VentingFlag");
            m_RtDataKeys.Add($"PMC.CurrentRecipeResult");
            m_RtDataKeys.Add($"PMC.IsOnline");

            m_RtDataKeys.Add($"PMD.ChamberPressure");
            m_RtDataKeys.Add($"PMD.VentingFlag");
            m_RtDataKeys.Add($"PMD.CurrentRecipeResult");
            m_RtDataKeys.Add($"PMD.IsOnline");

            m_RtDataKeys.Add($"VCEA.CurrentSlot");
            m_RtDataKeys.Add($"VCEB.CurrentSlot");


            m_RtDataKeys.Add($"TM.TMIsATM");
            m_RtDataKeys.Add($"TM.VCEAIsATM");
            m_RtDataKeys.Add($"TM.VCEBIsATM");

            m_RtDataKeys.Add("System.IsAutoMode");
            m_RtDataKeys.Add("System.IsBusy");
            m_RtDataKeys.Add("Scheduler.CycledCount");
            m_RtDataKeys.Add("Scheduler.CycledWafer");
            m_RtDataKeys.Add("Scheduler.CycleSetPoint");
            m_RtDataKeys.Add("Scheduler.Throughput");
            //m_RtDataKeys.Add("EquipmentStatus");
            m_RtDataKeys.Add("Scheduler.PjNameList");
            //if (PMAIsInstalled)
            //{
            //    m_RtDataKeys.Add($"PMA.ChamberPressure");
            //    m_RtDataKeys.Add($"PMA.VentingFlag");
            //    m_RtDataKeys.Add($"PMA.CurrentRecipeResult");
            //}
            //if (PMBIsInstalled)
            //{
            //    m_RtDataKeys.Add($"PMB.ChamberPressure");
            //    m_RtDataKeys.Add($"PMB.VentingFlag");
            //    m_RtDataKeys.Add($"PMB.CurrentRecipeResult");
            //}
            //if (PMCIsInstalled)
            //{
            //    m_RtDataKeys.Add($"PMC.ChamberPressure");
            //    m_RtDataKeys.Add($"PMC.VentingFlag");
            //    m_RtDataKeys.Add($"PMC.CurrentRecipeResult");
            //}

        }

        private void onHomeAll()
        {
            InvokeClient.Instance.Service.DoOperation("System.HomeAll");
        }
        private void onSetAutoMode()
        {
            InvokeClient.Instance.Service.DoOperation("System.SetAutoMode");
        }
        private void onSetManualMode()
        {
            InvokeClient.Instance.Service.DoOperation("System.SetManualMode");
        }
        private void onStopCycle()
        {
            InvokeClient.Instance.Service.DoOperation("System.StopSECycle");
        }
        private void onStartSETMCycle()
        {
            List<string> stations = new List<string>();

            stations.Add("VCEA");
            stations.Add("Aligner1");
            if (PMAIsInstalled)
            {
                stations.Add("PMA");
            }
            if (PMBIsInstalled)
            {
                stations.Add("PMB");
            }
            if (PMCIsInstalled)
            {
                stations.Add("PMC");
            }
            if (PMCIsInstalled)
            {
                stations.Add("PMD");
            }
            stations.Add("VCEA");
            InvokeClient.Instance.Service.DoOperation("System.SETMCycle", stations.ToArray(), 1);
        }

        private void OnStart(object obj)
        {
            var info = obj as WaferAssociationInfo;
            InvokeClient.Instance.Service.DoOperation("System.StartSEJob", info.LotId);
        }
        private void OnStop(object obj)
        {
            var info = obj as WaferAssociationInfo;
            InvokeClient.Instance.Service.DoOperation("System.AbortJob", info.JobID);
        }
        private void OnAbort(object obj)
        {
            var info = obj as WaferAssociationInfo;

            InvokeClient.Instance.Service.DoOperation("System.StopJob", info.JobID);

        }

        private void UPdateWaferAssociation(WaferAssociationInfo info, ControlJobInfo cjInfo)
        {
            if (info == null)
            {
                return;
            }
            if (cjInfo != null)
            {
                info.LotId = cjInfo.Name;
                info.JobID = cjInfo.Name;
                info.JobStatus = cjInfo.State.ToString();
                if (cjInfo.SequenceNameList != null)
                {
                    for (int i = 0; i < cjInfo.SequenceNameList.Length; i++)
                    {
                        info.ModuleData.WaferManager.Wafers[24 - i].SequenceName = cjInfo.SequenceNameList[i];
                    }
                }
                info.PreCleanRecipeName = cjInfo.PreJobClean;
                info.PostCleanRecipeName = cjInfo.PostJobClean;
            }
            else
            {
                if (!string.IsNullOrEmpty(info.JobID))
                {
                    info.LotId = "";
                    info.JobID = "";
                    info.JobStatus = "";
                    info.PreCleanRecipeName = "";
                    info.PostCleanRecipeName = "";
                    AssociateSequence(info, false);
                }
            }
        }

        private void vceHome(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj}.HOME");
        }
        private void vceReadMap(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj}.ReadMap");
        }

        private void vceLoadPrepare(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj}.LoadPrepare");
        }
        private void vceLoad(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj}.SafeLoad");
        }
        private void vceLoadWithSMIF(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj}.LoadWithSMIF");
        }
        private void vceUnLoadWithSMIF(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj}.UnLoadWithSMIF");
        }
        private void vceUnLoad(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj}.SafeUnload");
        }
        private void smifLoad() { }
        private void smifUnLoad() { }

        private void tmhome()
        {
            InvokeClient.Instance.Service.DoOperation("TM.Home");
        }
        private void tmpick()
        {
            ModuleName target = ModuleName.VCE1;
            int slot = PickNum;
            MoveItem moveItem = new MoveItem(target, slot - 1, ModuleName.TMRobot, 0, 0);
            Queue<MoveItem> que = new Queue<MoveItem>();
            que.Enqueue(moveItem);
            InvokeClient.Instance.Service.DoOperation("TM.Pick", que);
        }
        private void tmplace()
        {
            ModuleName target = ModuleName.VCE1;
            int slot = PickNum;
            MoveItem moveItem = new MoveItem(ModuleName.TMRobot, 0, target, slot - 1, 0);
            Queue<MoveItem> que = new Queue<MoveItem>();
            que.Enqueue(moveItem);
            InvokeClient.Instance.Service.DoOperation("TM.Place", que);
        }
        #endregion

        #region 私有方法
        private void Timer_Tick(object sender, EventArgs e)
        {
            try
            {
                RtDataValues = QueryDataClient.Instance.Service.PollData(m_RtDataKeys);

                VCEADoorIsOpen = !CommonFunction.GetValue<bool>(RtDataValues, "TM.VCEASlitDoorClosed");
                VCEBDoorIsOpen = !CommonFunction.GetValue<bool>(RtDataValues, "TM.VCEBSlitDoorClosed");
                PMADoorIsOpen = !CommonFunction.GetValue<bool>(RtDataValues, "TM.PMASlitDoorClosed");
                PMBDoorIsOpen = !CommonFunction.GetValue<bool>(RtDataValues, "TM.PMBSlitDoorClosed");
                PMCDoorIsOpen = !CommonFunction.GetValue<bool>(RtDataValues, "TM.PMCSlitDoorClosed");
                PMDDoorIsOpen = !CommonFunction.GetValue<bool>(RtDataValues, "TM.PMDSlitDoorClosed");
                VCEAOutDoorIsOpen = !CommonFunction.GetValue<bool>(RtDataValues, "VCEA.VCEOutDoorClosed");
                VCEBOutDoorIsOpen = !CommonFunction.GetValue<bool>(RtDataValues, "VCEB.VCEOutDoorClosed");
                VCEAPercent = CommonFunction.GetValue<double>(RtDataValues, "TM.VCEAPressure.Value") * 260 / 750000;
                VCEBPercent = CommonFunction.GetValue<double>(RtDataValues, "TM.VCEBPressure.Value") * 260 / 750000;

                CurrentSlotA = CommonFunction.GetValue<int>(RtDataValues, "VCEA.CurrentSlot");
                CurrentSlotB = CommonFunction.GetValue<int>(RtDataValues, "VCEB.CurrentSlot");

                TMIsVAC = (CommonFunction.GetValue<int>(RtDataValues, "TM.TMPressure.Value") < Convert.ToInt32(QueryDataClient.Instance.Service.GetConfig($"TM.VACTargetPressure")));
                VCEAIsVAC = (CommonFunction.GetValue<int>(RtDataValues, "TM.VCEAPressure.Value") < Convert.ToInt32(QueryDataClient.Instance.Service.GetConfig($"VCEA.VACTargetPressure")));
                VCEBIsVAC = (CommonFunction.GetValue<int>(RtDataValues, "TM.VCEBPressure.Value") < Convert.ToInt32(QueryDataClient.Instance.Service.GetConfig($"VCEB.VACTargetPressure")));
                PMAChamberLabel = QueryDataClient.Instance.Service.GetConfig($"PMA.ChamberLabel").ToString();
                PMBChamberLabel = QueryDataClient.Instance.Service.GetConfig($"PMB.ChamberLabel").ToString();
                PMCChamberLabel = QueryDataClient.Instance.Service.GetConfig($"PMC.ChamberLabel").ToString();
                PMDChamberLabel = QueryDataClient.Instance.Service.GetConfig($"PMD.ChamberLabel").ToString();

                if (PMAIsInstalled == true)
                {
                    PMAModuleInfo = ModuleManager.ModuleInfos["PMA"];
                    PMAWafer = PMAModuleInfo.WaferManager.Wafers[0];
                    PMAPercent = CommonFunction.GetValue<double>(RtDataValues, "PMA.ChamberPressure") * 260 / 750000;
                    PMARecipeResult = CommonFunction.GetValue<RecipeResult>(RtDataValues, "PMA.CurrentRecipeResult");
                }
                if (PMBIsInstalled == true)
                {
                    PMBModuleInfo = ModuleManager.ModuleInfos["PMB"];
                    PMBWafer = PMBModuleInfo.WaferManager.Wafers[0];
                    PMBPercent = CommonFunction.GetValue<double>(RtDataValues, "PMB.ChamberPressure") * 260 / 750000;
                    PMBRecipeResult = CommonFunction.GetValue<RecipeResult>(RtDataValues, "PMB.CurrentRecipeResult");
                }
                if (PMCIsInstalled == true)
                {
                    PMCModuleInfo = ModuleManager.ModuleInfos["PMC"];
                    PMCWafer = PMCModuleInfo.WaferManager.Wafers[0];
                    PMCPercent = CommonFunction.GetValue<double>(RtDataValues, "PMC.ChamberPressure") * 260 / 750000;
                    PMCRecipeResult = CommonFunction.GetValue<RecipeResult>(RtDataValues, "PMC.CurrentRecipeResult");
                }
                if (PMDIsInstalled == true)
                {
                    PMDModuleInfo = ModuleManager.ModuleInfos["PMD"];
                    PMDWafer = PMDModuleInfo.WaferManager.Wafers[0];
                    PMDPercent = CommonFunction.GetValue<double>(RtDataValues, "PMD.ChamberPressure") * 260 / 750000;
                    PMDRecipeResult = CommonFunction.GetValue<RecipeResult>(RtDataValues, "PMD.CurrentRecipeResult");
                }
                if (VCEAIsInstalled == true)
                {
                    VCEAModuleInfo = ModuleManager.ModuleInfos["LP1"];
                    ControlJobInfo lp1Cj = CommonFunction.GetValue<ControlJobInfo>(RtDataValues, "LP1.CurrentControlJob");
                    if (lp1Cj != null)
                        UPdateWaferAssociation(VCEAwaferAssociation, lp1Cj);

                }
                if (VCEBIsInstalled == true)
                {
                    VCEBModuleInfo = ModuleManager.ModuleInfos["LP2"];
                    ControlJobInfo lp2Cj = CommonFunction.GetValue<ControlJobInfo>(RtDataValues, "LP2.CurrentControlJob");
                    if (lp2Cj != null)
                        UPdateWaferAssociation(VCEBwaferAssociation, lp2Cj);

                }
                RobotMoveInfo = (RobotMoveInfo)QueryDataClient.Instance.Service.GetData("TM.RobotMoveAction");

                PAWafer = ModuleManager.ModuleInfos["Aligner1"].WaferManager.Wafers[0];
                TMModuleInfo = ModuleManager.ModuleInfos["TMRobot"];
                RobotUpperWafer = TMModuleInfo.WaferManager.Wafers[0];
                RobotLowerWafer = TMModuleInfo.WaferManager.Wafers[1];
            }
            catch
            {

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

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

            #region Aligner1、VCE Pick、Place
            else if ((oldValue.Action == RobotAction.None || oldValue.ArmTarget != newValue.ArmTarget) && (newValue.Action == RobotAction.Placing || newValue.Action == RobotAction.Picking))
            {
                var TMRobotMoveActionBladeTarget = newValue.BladeTarget;
                if (TMRobotMoveActionBladeTarget != null)
                {
                    RobotTarget = TMRobotMoveActionBladeTarget.ToString();
                }
                else
                {
                    return;
                }
                var values = RobotTarget.Split('.');
                var arm = values[0];
                var module = values[1];
                if (module == "Aligner1")
                {
                    module = IsAligner1OnRight ? "PMD" : "Aligner1";
                }
                var DERobotTAction = (DERobotTAction)Enum.Parse(typeof(DERobotTAction), module, true);
                if (DERobotTAction != Robot1TAction || DERobotTAction != Robot2TAction)
                {
                    Robot1TAction = DERobotTAction;
                    Robot2TAction = DERobotTAction;
                }
                if (arm == "ArmA")
                {
                    await Task.Delay(600);
                    if (module == "VCEA" || module == "VCEB")
                    {
                        Robot1XAction = DERobotXAction.ToVCE;
                        while ((newValue.Action == RobotAction.Placing && ModuleManager.ModuleInfos["TMRobot"].WaferManager.Wafers[0].WaferStatus != 0) || (newValue.Action == RobotAction.Picking && ModuleManager.ModuleInfos["TMRobot"].WaferManager.Wafers[0].WaferStatus == 0))
                        {
                            await Task.Delay(100);
                        }
                        Robot1XAction = DERobotXAction.FromVCE;
                    }
                    else
                    {
                        Robot1XAction = DERobotXAction.Extend;
                        while ((newValue.Action == RobotAction.Placing && ModuleManager.ModuleInfos["TMRobot"].WaferManager.Wafers[0].WaferStatus != 0) || (newValue.Action == RobotAction.Picking && ModuleManager.ModuleInfos["TMRobot"].WaferManager.Wafers[0].WaferStatus == 0))
                        {
                            await Task.Delay(100);
                        }
                        Robot1XAction = DERobotXAction.Retract;
                    }

                }
                else if (arm == "ArmB")
                {
                    await Task.Delay(600);
                    if (module == "VCEA" || module == "VCEB")
                    {
                        Robot2XAction = DERobotXAction.ToVCE2;
                        while ((newValue.Action == RobotAction.Placing && ModuleManager.ModuleInfos["TMRobot"].WaferManager.Wafers[1].WaferStatus != 0) || (newValue.Action == RobotAction.Picking && ModuleManager.ModuleInfos["TMRobot"].WaferManager.Wafers[1].WaferStatus == 0))
                        {
                            await Task.Delay(100);
                        }
                        Robot2XAction = DERobotXAction.FromVCE2;
                    }
                    else
                    {
                        Robot2XAction = DERobotXAction.Extend2;
                        while ((newValue.Action == RobotAction.Placing && ModuleManager.ModuleInfos["TMRobot"].WaferManager.Wafers[1].WaferStatus != 0) || (newValue.Action == RobotAction.Picking && ModuleManager.ModuleInfos["TMRobot"].WaferManager.Wafers[1].WaferStatus == 0))
                        {
                            await Task.Delay(100);
                        }
                        Robot2XAction = DERobotXAction.Retract2;
                    }

                }
            }
            #endregion

            #region PM pick、PM place
            else if ((oldValue.Action == RobotAction.None || oldValue.ArmTarget != newValue.ArmTarget) && newValue.Action == RobotAction.Extending)
            {
                var TMRobotMoveActionBladeTarget = newValue.BladeTarget;
                if (TMRobotMoveActionBladeTarget != null)
                {
                    RobotTarget = TMRobotMoveActionBladeTarget.ToString();
                }
                else
                {
                    return;
                }
                var values = RobotTarget.Split('.');
                var arm = values[0];
                var module = values[1];
                var DERobotTAction = (DERobotTAction)Enum.Parse(typeof(DERobotTAction), module, true);
                if (DERobotTAction != Robot1TAction || DERobotTAction != Robot2TAction)
                {
                    Robot1TAction = DERobotTAction;
                    Robot2TAction = DERobotTAction;
                }
                if (arm == "ArmA")
                {
                    await Task.Delay(600);
                    Robot1XAction = DERobotXAction.Extend;
                }
                else if (arm == "ArmB")
                {
                    await Task.Delay(600);
                    Robot2XAction = DERobotXAction.Extend2;
                }
            }

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

                if (arm == "ArmA")
                {
                    await Task.Delay(100);
                    Robot1XAction = DERobotXAction.Retract;
                }
                else if (arm == "ArmB")
                {
                    await Task.Delay(100);
                    Robot2XAction = DERobotXAction.Retract2;
                }
            }
            #endregion
            #region Home
            else if (oldValue.Action == RobotAction.None && newValue.Action == RobotAction.Homing)
            {
                if (Robot1XAction == DERobotXAction.Extend)
                {
                    Robot1XAction = DERobotXAction.Retract;
                }
                if (Robot2XAction == DERobotXAction.Extend2)
                {
                    Robot2XAction = DERobotXAction.Retract2;
                }
                await Task.Delay(2000);
                if (Robot1TAction != DERobotTAction.T_Origin)
                {
                    Robot1TAction = DERobotTAction.T_Origin;
                }
                if (Robot2TAction != DERobotTAction.T_Origin)
                {
                    Robot2TAction = DERobotTAction.T_Origin;
                }
            }

            #endregion

        }

    }
}