Kepler-Release/Venus/Venus_RT/Modules/VCE/VceEntity.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.SCCore;
using Aitex.Core.Util;
using Aitex.Core.Utilities;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.ModuleLibrary.VceModules;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Reflection;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;
using System.Windows;
using Venus_Core;
using Venus_RT.Devices;
using Venus_RT.Devices.SMIF;
using Venus_RT.Devices.TM;
using Venus_RT.Devices.VCE;
using Venus_RT.Modules.PMs;
using Venus_RT.Modules.TM;
using Venus_RT.Modules.TM.VenusEntity;

namespace Venus_RT.Modules.VCE
{
    #region 状态和消息

    public enum VceMSG
    {
        Home,
        Error,
        DoorOpen,
        DoorClose,
        Map,
        ReadMap,
        Load,
        UnLoad,
        LoadPrepare,
        LoadWithSMIF,
        UnLoadWithSMIF,
        Reset,
        Goto,
        GotoLP,
        CheckStatus,
        SafeLoad,
        SafeUnload,
        Pump,
        Vent,
        LeakCheck,
        Abort,
        None,
        ClearError
    }
    #endregion

    public static class VCE2LP
    {
        public static Dictionary<ModuleName, ModuleName> dVce2LP = new Dictionary<ModuleName, ModuleName>()
        {
            {ModuleName.LP1,ModuleName.VCEA},
            {ModuleName.LP2,ModuleName.VCEB},
        };

        public static Dictionary<ModuleName, ModuleName> sVce2LP = new Dictionary<ModuleName, ModuleName>()
        {
            {ModuleName.LP1,ModuleName.VCE1},
        };


        public static Dictionary<ModuleName, ModuleName> LP2Vce = new Dictionary<ModuleName, ModuleName>();

        public static ModuleName QueryLP2VCE(ModuleName lpname)
        {
            switch (RtInstance.ConfigType)
            {
                case ConfigType.VenusSE:
                    if (sVce2LP.ContainsKey(lpname))
                    {
                        return sVce2LP[lpname];
                    }
                    else
                        return ModuleName.System;
                case ConfigType.VenusDE:
                    if (dVce2LP.ContainsKey(lpname))
                    {
                        return dVce2LP[lpname];
                    }
                    else
                        return ModuleName.System;
                default:
                    return ModuleName.System;
            }
        }
    }
    public class VceEntity : Entity, IEntity, IModuleEntity
    {
        private ModuleName _modulename;
        private readonly VCEModuleBase _vce;
        private readonly ISMIF _smif;
        private bool _CassetteArrive;
        private bool _IsOnline = false;

        public bool IsOnline => _IsOnline;
        public bool IsIdle => fsm.State == (int)VceSTATE.Idle;

        public bool IsInit => fsm.State == (int)VceSTATE.Init || fsm.State == (int)VceSTATE.Unknown;

        public bool IsBusy => !IsInit && !IsError && !IsIdle;

        public bool IsError => fsm.State == (int)VceSTATE.Error;

        public bool VCEOutDoorClosed => !_vce.OutDoorIsOpen;
        public bool CassetteArrive => _CassetteArrive;

        public int CurrentSlot => _vce.CurrentSlot;
        public int MoveSlot => moveSlot;

        

        public VCEModuleBase VCEDevice => _vce;

        //public int CurrentSlot => currentSlot;
        private int targetSlot = -1;
        private int moveSlot = -1;
        private VCEHomeRoutine _homeRoutine;
        private LoadRoutine _loadRoutine;
        private LoadPrepareRoutine _prepareRoutine;
        private UnloadRoutine _unloadRoutine;
        private LoadWithSMIFRoutine _loadwithSMIFRoutine;
        private UnloadWithSMIFRoutine _unloadwithSMIFRoutine;

        private readonly SEMFPumpRoutine _pumpRoutine;
        private readonly SEMFVentRoutine _ventRoutine;
        private readonly SEMFLeakCheckRoutine _leakcheckRoutine;
        
        
        public VceEntity(ModuleName moduleName)
        {
            _modulename = moduleName;
            _vce = new HongHuVce(25, _modulename);
            _smif = new FortrendPLUS500(_modulename);

            _homeRoutine = new VCEHomeRoutine(_modulename, _vce);
            _loadRoutine = new LoadRoutine(_modulename, _vce);
            _unloadRoutine = new UnloadRoutine(_modulename, _vce);
            _loadwithSMIFRoutine = new LoadWithSMIFRoutine(_modulename, _vce, _smif);
            _unloadwithSMIFRoutine = new UnloadWithSMIFRoutine(_modulename, _vce, _smif);


            if (moduleName == ModuleName.VCE1)
            {
                _pumpRoutine = new SEMFPumpRoutine(DEVICE.GetDevice<HongHuTM>("TM"), _modulename);
                _ventRoutine = new SEMFVentRoutine(DEVICE.GetDevice<HongHuTM>("TM"), _modulename);
                _leakcheckRoutine = new SEMFLeakCheckRoutine(DEVICE.GetDevice<HongHuTM>("TM"),_modulename);
                _prepareRoutine = new LoadPrepareRoutine(_modulename, _vce, DEVICE.GetDevice<HongHuTM>("TM"));
            }
            else
            {
                _pumpRoutine = new SEMFPumpRoutine(DEVICE.GetDevice<HongHuDETM>("TM"), _modulename);
                _ventRoutine = new SEMFVentRoutine(DEVICE.GetDevice<HongHuDETM>("TM"), _modulename);
                _leakcheckRoutine = new SEMFLeakCheckRoutine(DEVICE.GetDevice<HongHuDETM>("TM"), _modulename);
                _prepareRoutine = new LoadPrepareRoutine(_modulename, _vce, DEVICE.GetDevice<HongHuDETM>("TM"));
            }
            InitFsmMap();
        }

        protected override bool Init()
        {
            DATA.Subscribe($"{_modulename}.VCEOutDoorClosed", () => !VCEOutDoorClosed);
            DATA.Subscribe($"{_modulename}.CurrentSlot", () => CurrentSlot);

            DATA.Subscribe($"{_modulename}.FsmState", () => ((VceSTATE)fsm.State).ToString());
            DATA.Subscribe($"{_modulename}.CassetteArrive", () => CassetteArrive);
            DATA.Subscribe($"{_modulename}.IsOnline", () => IsOnline, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{_modulename}.IsOffline", () => !IsOnline, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe($"{_modulename}.IsAlarm", () => IsError, SubscriptionAttribute.FLAG.IgnoreSaveDB);

            OP.Subscribe($"{_modulename}.HOME", (cmd, args) => { PostMsg(VceMSG.Home); return true; });
            OP.Subscribe($"{_modulename}.DoorOpen", (cmd, args) => { PostMsg(VceMSG.DoorOpen); return true; });
            OP.Subscribe($"{_modulename}.DoorClose", (cmd, args) => { PostMsg(VceMSG.DoorClose); return true; });
            OP.Subscribe($"{_modulename}.Map", (cmd, args) => { PostMsg(VceMSG.Map); return true; });
            OP.Subscribe($"{_modulename}.ReadMap", (cmd, args) => { PostMsg(VceMSG.ReadMap); return true; });
            OP.Subscribe($"{_modulename}.Load", (cmd, args) => { PostMsg(VceMSG.Load); return true; });
            OP.Subscribe($"{_modulename}.UnLoad", (cmd, args) => { PostMsg(VceMSG.UnLoad); return true; });
            OP.Subscribe($"{_modulename}.Reset", (cmd, args) => { PostMsg(VceMSG.Reset); return true; });
            OP.Subscribe($"{_modulename}.Goto", (cmd, args) => { PostMsg(VceMSG.Goto, args[0]); return true; });
            OP.Subscribe($"{_modulename}.GotoLP", (cmd, args) => { PostMsg(VceMSG.GotoLP); return true; });
            OP.Subscribe($"{_modulename}.Abort", (cmd, args) => { PostMsg(VceMSG.Abort); return true; });
            OP.Subscribe($"{_modulename}.PumpDown", (cmd, args) => { PostMsg(VceMSG.Pump); return true; });
            OP.Subscribe($"{_modulename}.Vent", (cmd, args) => { PostMsg(VceMSG.Vent); return true; });
            OP.Subscribe($"{_modulename}.LeakCheck", (cmd, args) => { PostMsg(VceMSG.LeakCheck); return true; });

            OP.Subscribe($"{_modulename}.ClearError", (cmd, args) => { PostMsg(VceMSG.ClearError); return true; });
            OP.Subscribe($"{_modulename}.LoadPrepare", (cmd, args) => { PostMsg(VceMSG.LoadPrepare); return true; });
            OP.Subscribe($"{_modulename}.SafeLoad", (cmd, args) => { PostMsg(VceMSG.SafeLoad); return true; });
            OP.Subscribe($"{_modulename}.SafeUnload", (cmd, args) => { PostMsg(VceMSG.SafeUnload); return true; });
            OP.Subscribe($"{_modulename}.LoadWithSMIF", (cmd, args) => { PostMsg(VceMSG.LoadWithSMIF); return true; });
            OP.Subscribe($"{_modulename}.UnLoadWithSMIF", (cmd, args) => { PostMsg(VceMSG.UnLoadWithSMIF); return true; });
            OP.Subscribe($"{_modulename}.Online", (cmd, args) =>
            {
                if (IsIdle)
                    _IsOnline = true;
                else
                    LOG.Write(eEvent.WARN_TM, _modulename, $"cannot Set Online as {_modulename} is not idle");

                return true;
            });
            OP.Subscribe($"{_modulename}.Offline", (cmd, args) =>
            {
                _IsOnline = false;
                return true;
            });

            return true;
        }

        /// <summary>
        /// 定义状态机的迁移表
        /// </summary>
        private void InitFsmMap()
        {
            fsm = new StateMachine<VceEntity>(_modulename.ToString(), (int)VceSTATE.Init, 50);
            fsm.EnableRepeatedMsg(true);

            AnyStateTransition(VceMSG.Error, fnError, VceSTATE.Error);
            //AnyStateTransition(VceMSG.Abort, fnAbort, VceSTATE.Init);
            AnyStateTransition(VceMSG.Home, fnStartHome, VceSTATE.Homing);
            AnyStateTransition(VceMSG.DoorOpen, fnStartOpenDoor, VceSTATE.DoorOpenning);
            //HOME init->homing idle->homing
            Transition(VceSTATE.Init, VceMSG.Home, fnStartHome, VceSTATE.Homing);
            Transition(VceSTATE.Idle, VceMSG.Home, fnStartHome, VceSTATE.Homing);
            Transition(VceSTATE.Error, VceMSG.Home, fnStartHome, VceSTATE.Homing);
            Transition(VceSTATE.Homing, FSM_MSG.TIMER, fnHomeTimeout, VceSTATE.Idle);
            Transition(VceSTATE.Homing, VceMSG.Abort, fnAbort, VceSTATE.Init);

            //clear Error
            Transition(VceSTATE.Error, VceMSG.ClearError, fnStartClearError,VceSTATE.ClearError);
            Transition(VceSTATE.ClearError, FSM_MSG.TIMER, fnClearErrorTimeout, VceSTATE.Idle);

            //Open Door 开门
            Transition(VceSTATE.Idle, VceMSG.DoorOpen, fnStartOpenDoor, VceSTATE.DoorOpenning);
            Transition(VceSTATE.DoorOpenning, FSM_MSG.TIMER, fnOpenDoorTimeout, VceSTATE.Idle);
            Transition(VceSTATE.DoorOpenning, VceMSG.Abort, fnAbort, VceSTATE.Idle);
            //Close Door 关门
            Transition(VceSTATE.Idle, VceMSG.DoorClose, fnStartCloseDoor, VceSTATE.DoorClosing);
            Transition(VceSTATE.DoorClosing, FSM_MSG.TIMER, fnCloseDoorTimeout, VceSTATE.Idle);
            Transition(VceSTATE.DoorClosing, VceMSG.Abort, fnAbort, VceSTATE.Idle);

            //Map 扫片
            Transition(VceSTATE.Idle, VceMSG.Map, fnStartMapping, VceSTATE.Mapping);
            Transition(VceSTATE.Mapping, FSM_MSG.TIMER, fnMappingTimeout, VceSTATE.Idle);
            Transition(VceSTATE.Mapping, VceMSG.Abort, fnAbort, VceSTATE.Idle);

            //Load 取cassette
            Transition(VceSTATE.Idle, VceMSG.Load, fnStartLoading, VceSTATE.Loading);
            Transition(VceSTATE.Loading, FSM_MSG.TIMER, fnLoadingTimeout, VceSTATE.Idle);
            Transition(VceSTATE.Loading, VceMSG.Abort, fnAbort, VceSTATE.Idle);

            //UnLoad 放cassette
            Transition(VceSTATE.Idle, VceMSG.UnLoad, fnStartUnLoading, VceSTATE.UnLoading);
            Transition(VceSTATE.UnLoading, FSM_MSG.TIMER, fnUnLoadingTimeout, VceSTATE.Idle);
            Transition(VceSTATE.UnLoading, VceMSG.Abort, fnAbort, VceSTATE.Idle);

            //Goto 指定槽对准窗口
            Transition(VceSTATE.Idle, VceMSG.Goto, fnStartGoto, VceSTATE.Goting);
            Transition(VceSTATE.Goting, FSM_MSG.TIMER, fnGotingTimeout, VceSTATE.Idle);
            Transition(VceSTATE.Goting, VceMSG.Abort, fnAbort, VceSTATE.Idle);

            //ReadMap
            Transition(VceSTATE.Idle, VceMSG.ReadMap, fnStartReadingMap, VceSTATE.ReadingMap);
            Transition(VceSTATE.ReadingMap, FSM_MSG.TIMER, fnReadingMapTimeout, VceSTATE.Idle);
            Transition(VceSTATE.ReadingMap, VceMSG.Abort, fnAbort, VceSTATE.Idle);

            //Load Prepare
            Transition(VceSTATE.Idle, VceMSG.LoadPrepare, fnStartLoadPrepare, VceSTATE.LoadPreparing);
            Transition(VceSTATE.LoadPreparing, FSM_MSG.TIMER, fnLoadingPrepareTimeout, VceSTATE.Idle);
            Transition(VceSTATE.LoadPreparing, VceMSG.Abort, fnLoadingPrepareAbort, VceSTATE.Idle);

            //Safe Load
            Transition(VceSTATE.Idle, VceMSG.SafeLoad, fnStartSafeLoad, VceSTATE.SafeLoading);
            Transition(VceSTATE.SafeLoading, FSM_MSG.TIMER, fnSafeLoadTimeout, VceSTATE.Idle);
            Transition(VceSTATE.SafeLoading, VceMSG.Abort, fnSafeLoadAbort, VceSTATE.Idle);

            //LoadWithSMIF => LoadPrepare & SMIF Load & Load
            Transition(VceSTATE.Idle, VceMSG.LoadWithSMIF, fnStartLoadWithSMIF, VceSTATE.LoadingWithSMIF);
            Transition(VceSTATE.LoadingWithSMIF, FSM_MSG.TIMER, fnLoadWithSMIFTimeout, VceSTATE.Idle);
            Transition(VceSTATE.LoadingWithSMIF, VceMSG.Abort, fnLoadWithSMIFAbort, VceSTATE.Idle);

            //Safe UnLoad
            Transition(VceSTATE.Idle, VceMSG.SafeUnload, fnStartSafeUnLoad, VceSTATE.SafeUnloading);
            Transition(VceSTATE.SafeUnloading, FSM_MSG.TIMER, fnSafeUnLoadTimeout, VceSTATE.Idle);
            Transition(VceSTATE.SafeUnloading, VceMSG.Abort, fnSafeUnLoadAbort, VceSTATE.Idle);

            //UnLoad With SMIF => UnLoad with smif
            Transition(VceSTATE.Idle, VceMSG.UnLoadWithSMIF, fnStartUnLoadWithSMIF, VceSTATE.UnLoadingWithSMIF);
            Transition(VceSTATE.UnLoadingWithSMIF, FSM_MSG.TIMER, fnUnLoadWithSMIFTimeout, VceSTATE.Idle);
            Transition(VceSTATE.UnLoadingWithSMIF, VceMSG.Abort, fnUnLoadWithSMIFAbort, VceSTATE.Idle);

            //Goto LP
            Transition(VceSTATE.Idle, VceMSG.GotoLP, fnStartGotoLP, VceSTATE.GotingLP);
            Transition(VceSTATE.GotingLP, FSM_MSG.TIMER, fnGotoLPTimeout, VceSTATE.Idle);
            Transition(VceSTATE.GotingLP, VceMSG.Abort, fnAbort, VceSTATE.Idle);

            //CheckStatus
            Transition(VceSTATE.Idle, VceMSG.CheckStatus, fnStartCheckStatus, VceSTATE.CheckStatus);
            Transition(VceSTATE.CheckStatus, FSM_MSG.TIMER, fnCheckStatusTimeout, VceSTATE.Idle);
            Transition(VceSTATE.CheckStatus, VceMSG.Abort, fnAbort, VceSTATE.Idle);

            //Pump
            Transition(VceSTATE.Idle, VceMSG.Pump, fnStartPump, VceSTATE.Pumping);
            Transition(VceSTATE.Pumping, FSM_MSG.TIMER, fnPumpTimeout, VceSTATE.Idle);
            Transition(VceSTATE.Pumping, VceMSG.Abort, fnAbortPump, VceSTATE.Idle);

            //Vent
            Transition(VceSTATE.Idle, VceMSG.Vent, fnStartVent, VceSTATE.Venting);
            Transition(VceSTATE.Venting, FSM_MSG.TIMER, fnVentTimeout, VceSTATE.Idle);
            Transition(VceSTATE.Venting, VceMSG.Abort, fnAbortVent, VceSTATE.Idle);


            //LeakCheck
            Transition(VceSTATE.Idle, VceMSG.LeakCheck, FnStartLeakCheck, VceSTATE.LeakChecking);
            Transition(VceSTATE.LeakChecking, FSM_MSG.TIMER, FnLeakCheckTimeout, VceSTATE.Idle);
            Transition(VceSTATE.LeakChecking, VceMSG.Abort, FnAbortLeakCheck, VceSTATE.Idle);

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

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

            Running = true;
        }

        private bool fnAbortVent(object[] param)
        {
            _ventRoutine.Abort();
            return true;
        }

        private bool fnVentTimeout(object[] param)
        {
            RState ret = _ventRoutine.Monitor();
            if (ret == RState.Timeout || ret == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }
            return ret == RState.End;
        }

        private bool fnStartVent(object[] param)
        {
            return _ventRoutine.Start(param) == RState.Running;
        }

        private bool FnStartLeakCheck(object[] param)
        {
            return _leakcheckRoutine.Start(param) == RState.Running;
        }
        private bool FnLeakCheckTimeout(object[] param)
        {
            RState ret = _leakcheckRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(VceMSG.Error);
                return false;
            }

            return ret == RState.End;
        }

        private bool FnAbortLeakCheck(object[] param)
        {
            _leakcheckRoutine.Abort();
            return true;
        }

        private bool fnAbortPump(object[] param)
        {
            _pumpRoutine.Abort();
            return true;
        }

        private bool fnPumpTimeout(object[] param)
        {
            RState ret = _pumpRoutine.Monitor();
            if (ret == RState.Timeout || ret == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }
            return ret == RState.End;
        }

        private bool fnStartPump(object[] param)
        {
            return _pumpRoutine.Start(param) == RState.Running;
        }

        private bool fnGotoLPTimeout(object[] param)
        {
            if (_vce.Status == RState.Timeout || _vce.Status == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }
            if (_vce.Status == RState.End)
            {
                moveSlot = -1;
            }
            return _vce.Status == RState.End;
        }

        private bool fnStartCheckStatus(object[] param)
        {
            return _vce.CheckStatus();
        }

        private bool fnCheckStatusTimeout(object[] param)
        {
            if (_vce.Status == RState.Timeout || _vce.Status == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }

            return _vce.Status == RState.End;
        }

        private bool fnStartGotoLP(object[] param)
        {
            if (!Singleton<RouteManager>.Instance.seTM.VCECanMove(_modulename))
            {
                LOG.Write(eEvent.ERR_VCE_COMMON_Failed, _modulename, $"{_modulename} cannot move as {_modulename}SlitDoor is Open and Robot not extend sensor is off!");
                PostMsg(VceMSG.Error);
                return false;
            }
            else
            {
                if (_vce.GotoLP())
                {
                    targetSlot = -1;
                    return true;
                }
                else
                    return false;
            }
            

        }

        private bool fnSafeUnLoadAbort(object[] param)
        {
            _unloadRoutine.Abort();
            return true;
        }
        private bool fnSafeUnLoadTimeout(object[] param)
        {
            RState ret = _unloadRoutine.Monitor();
            if (ret == RState.Timeout || ret == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }

            if (ret == RState.End)
            {
                _CassetteArrive = false;
                WaferManager.Instance.DeleteWafer(_modulename, 0, 25);
            }

            return ret == RState.End;
        }

        private bool fnStartClearError(object[] param)
        {
            if (_vce.ClearError())
            {
                return true;
            }
            else
                return false;
        }

        private bool fnClearErrorTimeout(object[] param)
        {
            if (_vce.Status == RState.Timeout || _vce.Status == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }
            return _vce.Status == RState.End;
        }

        private bool fnStartSafeUnLoad(object[] param)
        {
            if (!Singleton<RouteManager>.Instance.seTM.VCECanMove(_modulename))
            {
                LOG.Write(eEvent.ERR_VCE_COMMON_Failed, _modulename, $"{_modulename} cannot move as {_modulename}SlitDoor is Open and Robot not extend sensor is off!");
                PostMsg(VceMSG.Error);
                return false;
            }
            else
                return _unloadRoutine.Start(param) == RState.Running;
        }

        private bool fnSafeLoadTimeout(object[] param)
        {
            RState ret = _loadRoutine.Monitor();
            if (ret == RState.Timeout || ret == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }
            if (ret == RState.End)
            {
                _CassetteArrive = true;
            }

            return ret == RState.End;
        }

        private bool fnStartLoadWithSMIF(object[] param)
        {
            if (!Singleton<RouteManager>.Instance.seTM.VCECanMove(_modulename))
            {
                LOG.Write(eEvent.ERR_VCE_COMMON_Failed, _modulename, $"{_modulename} cannot move as {_modulename}SlitDoor is Open and Robot not extend sensor is off!");
                PostMsg(VceMSG.Error);
                return false;
            }
            else
                return _loadwithSMIFRoutine.Start(param) == RState.Running;
        }

        private bool fnLoadWithSMIFAbort(object[] param)
        {
            _loadwithSMIFRoutine.Abort();
            return true;
        }

        private bool fnLoadWithSMIFTimeout(object[] param)
        {
            RState ret = _loadwithSMIFRoutine.Monitor();
            if (ret == RState.Timeout || ret == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }

            if (ret == RState.End)
            {
                _CassetteArrive = true;
            }

            return ret == RState.End;
        }

        private bool fnStartUnLoadWithSMIF(object[] param)
        {
            if (!Singleton<RouteManager>.Instance.seTM.VCECanMove(_modulename))
            {
                LOG.Write(eEvent.ERR_VCE_COMMON_Failed, _modulename, $"{_modulename} cannot move as {_modulename}SlitDoor is Open and Robot not extend sensor is off!");
                PostMsg(VceMSG.Error);
                return false;
            }
            else
                return _unloadwithSMIFRoutine.Start(param) == RState.Running;
        }

        private bool fnUnLoadWithSMIFAbort(object[] param)
        {
            _unloadwithSMIFRoutine.Abort();
            return true;
        }

        private bool fnUnLoadWithSMIFTimeout(object[] param)
        {
            RState ret = _unloadwithSMIFRoutine.Monitor();
            if (ret == RState.Timeout || ret == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }

            if (ret == RState.End)
            {
                _CassetteArrive = false;
                WaferManager.Instance.DeleteWafer(_modulename, 0, 25);
            }
            return ret == RState.End;
        }

        private bool fnStartSafeLoad(object[] param)
        {
            if (!Singleton<RouteManager>.Instance.seTM.VCECanMove(_modulename))
            {
                LOG.Write(eEvent.ERR_VCE_COMMON_Failed, _modulename, $"{_modulename} cannot move as {_modulename}SlitDoor is Open and Robot not extend sensor is off!");
                PostMsg(VceMSG.Error);
                return false;
            }
            else
                return _loadRoutine.Start(param) == RState.Running;
        }

        private bool fnSafeLoadAbort(object[] param)
        {
            _loadRoutine.Abort();
            return true;
        }

        private bool fnLoadingPrepareAbort(object[] param)
        {
            _prepareRoutine.Abort();
            return true;
        }

        private bool fnLoadingPrepareTimeout(object[] param)
        {
            RState ret = _prepareRoutine.Monitor();
            if (ret == RState.Timeout || ret == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }
            return ret == RState.End;
        }

        private bool fnStartLoadPrepare(object[] param)
        {
            if (!Singleton<RouteManager>.Instance.seTM.VCECanMove(_modulename))
            {
                LOG.Write(eEvent.ERR_VCE_COMMON_Failed, _modulename, $"{_modulename} cannot move as {_modulename}SlitDoor is Open and Robot not extend sensor is off!");
                PostMsg(VceMSG.Error);
                return false;
            }
            else
                return _prepareRoutine.Start(param) == RState.Running;
        }

        private bool fnReadingMapTimeout(object[] param)
        {
            if (_vce.Status == RState.Timeout || _vce.Status == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }

            return _vce.Status == RState.End;
        }

        private bool fnStartReadingMap(object[] param)
        {
            return _vce.ReadMap();
        }

        //急停
        private bool fnAbort(object[] param)
        {
            return true;
        }
        //升降到槽位
        private bool fnStartGoto(object[] param)
        {
            if (!Singleton<RouteManager>.Instance.seTM.VCECanMove(_modulename))
            {
                LOG.Write(eEvent.ERR_VCE_COMMON_Failed, _modulename, $"{_modulename} cannot move as {_modulename}SlitDoor is Open and Robot not extend sensor is off!");
                PostMsg(VceMSG.Error);
                return false;
            }
            else
            {
                if (_vce.Goto(Convert.ToInt32(param[0].ToString())))
                {
                    targetSlot = Convert.ToInt32(param[0]);
                    return true;
                }
                else
                 return false; 
            }
            
        }

        private bool fnGotingTimeout(object[] param)
        {
            if (_vce.Status == RState.Timeout || _vce.Status == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }
            if (_vce.Status == RState.End)
            {
                moveSlot = targetSlot;
            }
            return _vce.Status == RState.End;
        }

        private bool fnError(object[] param)
        {
            return true;
        }

        private bool fnStartHome(object[] param)
        {
            if (!Singleton<RouteManager>.Instance.seTM.VCECanMove(_modulename))
            {
                LOG.Write(eEvent.ERR_VCE_COMMON_Failed,_modulename,$"{_modulename} cannot move as {_modulename}SlitDoor is Open and Robot not extend sensor is off!");
                PostMsg(VceMSG.Error);
                return false;
            }
            else
                return _homeRoutine.Start(param) == RState.Running;
        }

        private bool fnHomeTimeout(object[] param)
        {
            RState ret = _homeRoutine.Monitor();
            if (ret == RState.Timeout || ret == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }
            if (ret == RState.End)
            {
                moveSlot = -1;
            }

            return ret == RState.End;
        }

        private bool fnStartOpenDoor(object[] param)
        {
            //卡压差
            if (Singleton<RouteManager>.Instance.seTM.VCEIsATM(_modulename) && 
                Singleton<RouteManager>.Instance.seTM.VCEPressure(_modulename) >= SC.GetValue<int>($"{_modulename}.OutDoorOpenPressure"))
            {
                //卡状态
                if (IsIdle || IsError && _vce.IsDashWaferError)
                    return _vce.OpenDoor();
                else
                {
                    LOG.Write(eEvent.WARN_VCE_COMMON_WARN,_modulename,$"Current Status is {(VceSTATE)fsm.State} && not Dash Wafer Error Cannot Open Door.");
                    return false;
                }
            }
            else
            {
                LOG.Write(eEvent.ERR_VCE_COMMON_Failed, _modulename, $"{_modulename} is not ATM or Pressure not arrive {SC.GetValue<int>($"{_modulename}.OutDoorOpenPressure")}");
                return false;
            }
        }


        private bool fnOpenDoorTimeout(object[] param)
        {
            if (_vce.Status == RState.Timeout || _vce.Status == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }

            return _vce.Status == RState.End;
        }

        private bool fnStartCloseDoor(object[] param)
        {
            return _vce.CloseDoor();
        }

        private bool fnCloseDoorTimeout(object[] param)
        {
            if (_vce.Status == RState.Timeout || _vce.Status == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }

            return _vce.Status == RState.End;
        }

        private bool fnStartMapping(object[] param)
        {
            if (!Singleton<RouteManager>.Instance.seTM.VCECanMove(_modulename))
            {
                LOG.Write(eEvent.ERR_VCE_COMMON_Failed, _modulename, $"{_modulename} cannot move as {_modulename}SlitDoor is Open and Robot not extend sensor is off!");
                PostMsg(VceMSG.Error);
                return false;
            }
            else
                return _vce.Map();
        }

        private bool fnMappingTimeout(object[] param)
        {
            if(_vce.Status == RState.Timeout || _vce.Status == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }

            return _vce.Status == RState.End;
        }

        private bool fnStartLoading(object[] param)
        {
            if (!Singleton<RouteManager>.Instance.seTM.VCECanMove(_modulename))
            {
                LOG.Write(eEvent.ERR_VCE_COMMON_Failed, _modulename, $"{_modulename} cannot move as {_modulename}SlitDoor is Open and Robot not extend sensor is off!");
                PostMsg(VceMSG.Error);
                return false;
            }
            else
                return _vce.Load();
        }

        private bool fnLoadingTimeout(object[] param)
        {
            if (_vce.Status == RState.Timeout || _vce.Status == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }

            return _vce.Status == RState.End;
        }

        private bool fnStartUnLoading(object[] param)
        {
            if (!Singleton<RouteManager>.Instance.seTM.VCECanMove(_modulename))
            {
                LOG.Write(eEvent.ERR_VCE_COMMON_Failed, _modulename, $"{_modulename} cannot move as {_modulename}SlitDoor is Open and Robot not extend sensor is off!");
                PostMsg(VceMSG.Error);
                return false;
            }
            else
                return _vce.UnLoad();
        }

        private bool fnUnLoadingTimeout(object[] param)
        {
            if (_vce.Status == RState.Timeout || _vce.Status == RState.Failed)
            {
                PostMsg(VceMSG.Error);
                return false;
            }

            return _vce.Status == RState.End;
        }

        public bool Check(int msg, out string reason, params object[] args)
        {
            reason = "";
            return true;
        }

        public int Invoke(string function, params object[] args)
        {
            switch (function)
            {
                case "Home":
                    CheckToPostMessage((int)VceMSG.Home);
                    return (int)VceMSG.Home;
            }
            return (int)VceMSG.None;
        }

        public bool CheckToPostMessage(int msg, params object[] args)
        {
            if (!fsm.FindTransition(fsm.State, msg))
            {
                LOG.Write(eEvent.WARN_FSM_WARN, _modulename, $"{_modulename} is in {(VceSTATE)fsm.State} state，can not do {(VceMSG)msg}");
                return false;
            }

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

            return true;
        }

        public bool CheckAcked(int msg)
        {
            return fsm.CheckExecuted(msg);
        }

        public bool IsPrepareTransferReady(ModuleName module, EnumTransferType transferType, int slot)
        {
            return false;
        }
    }
}