Kepler-Release/Venus/Venus_RT/Modules/RouteManager.cs

using System;
using System.Collections;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Aitex.Core.RT.Fsm;
using Aitex.Core.Common;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using MECF.Framework.Common.Jobs;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using Venus_Core;
using Venus_RT.Modules.PMs;
using Aitex.Core.RT.Log;
using Venus_RT.Modules.VCE;
using Venus_RT.Devices.PreAligner;
using Venus_RT.Modules.TM.VenusEntity;
using SecsGem.Core.Application;
using Aitex.Core.RT.RecipeCenter;
using System.Reflection;
using Venus_RT.Modules.LPs;
using System.Runtime.InteropServices;
using Venus_RT.Devices.EFEM;
using Venus_RT.Modules.Schedulers;

namespace Venus_RT.Modules
{
    class RouteManager : Entity, IEntity, IEquipmentCommand
    {

        public enum MSG
        {
            MoveWafer,
            ReturnWafer,

            HomeUnit,

            PauseAuto,
            ResumeAuto,

            Stop,

            StartCycle,
            StopCycle,

            HOME,
            RESET,
            ABORT,
            ERROR,

            SetAutoMode,
            SetManualMode,

            ResetIdleCleanTime,
            ResetIdlePurgeTime,

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

            Map,
            ReturnAllWafer,
            TMCycle,

            SETMCycle,
            StopSECycle,
            CreateSEJob,
            StartSEJob,
            AbortSEJob,
            SEMoveWafer,
            SEReturnWafer,
            SEAbort,
        }

        public PMEntity PMA { get; private set; }
        public PMEntity PMB { get; private set; }
        public PMEntity PMC { get; private set; }
        public PMEntity PMD { get; private set; }

        public TMEntity TM { get; private set; }

        public LLEntity LLA { get; private set; }

        public LLEntity LLB { get; private set; }

        public EfemEntity EFEM { get; private set; }

        public VceEntity VCE { get; private set; }
        public VceEntity VCEA { get; private set; }
        public VceEntity VCEB { get; private set; }

        public SETMEntity seTM { get; private set; }



        public string Name { get; set; }

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

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

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

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

        public bool IsEntityError
        {
            get
            {
                return (EFEM?.IsError ?? false)
                       || (PMA?.IsError ?? false)
                       || (PMB?.IsError ?? false)
                       || (PMC?.IsError ?? false)
                       || (PMD?.IsError ?? false);
            }
        }

        public bool IsRunning
        {
            get
            {
                return !IsInit && !IsAlarm && !IsIdle;
            }
        }

        public static bool IsATMMode
        {
            get
            {
                if (_isATMMode == -1)
                {
                    _isATMMode = SC.GetValue<bool>("System.IsATMMode") ? 1 : 0;
                }

                return _isATMMode == 1;
            }
        }

        public SequenceLLInOutPath LLInOutPath => _AutoCycle.LLInOutPath;

        private TMCycle _TMCycle;
        private ICycle _AutoCycle;
        private ManualTransfer _manualTransfer;
        private SETMCycle _seTMCycle;
        private SEManualTransfer _setransfer;
        private SEReturnWafer _sereturnWafer;

        private bool _isWaitUnload;
        private static int _isATMMode = -1;

        public RouteManager()
        {
            Name = "System";

            if (ModuleHelper.IsInstalled(ModuleName.PMA))
                PMA = new PMEntity(ModuleName.PMA);

            if (ModuleHelper.IsInstalled(ModuleName.PMB))
                PMB = new PMEntity(ModuleName.PMB);

            if (ModuleHelper.IsInstalled(ModuleName.PMC))
                PMC = new PMEntity(ModuleName.PMC);

            if (ModuleHelper.IsInstalled(ModuleName.PMD))
                PMD = new PMEntity(ModuleName.PMD);

            if (ModuleHelper.IsInstalled(ModuleName.TM))
                TM = new TMEntity();

            if (ModuleHelper.IsInstalled(ModuleName.LLA))
                LLA = new LLEntity(ModuleName.LLA);

            if (ModuleHelper.IsInstalled(ModuleName.LLB))
                LLB = new LLEntity(ModuleName.LLB);

            if (ModuleHelper.IsInstalled(ModuleName.EFEM))
                EFEM = new EfemEntity();

            if (ModuleHelper.IsInstalled(ModuleName.VCE1))
            {
                //临时加 后改为配置项
                VCE = new VceEntity(ModuleName.VCE1);
            }
            if (ModuleHelper.IsInstalled(ModuleName.VCEA))
            {
                //临时加 后改为配置项
                VCEA = new VceEntity(ModuleName.VCEA);
            }
            if (ModuleHelper.IsInstalled(ModuleName.VCEB))
            {
                //临时加 后改为配置项
                VCEB = new VceEntity(ModuleName.VCEB);
            }
            if (ModuleHelper.IsInstalled(ModuleName.SETM))
            {
                seTM = new SETMEntity(ModuleName.SETM) ;
            }
            else if (ModuleHelper.IsInstalled(ModuleName.DETM))
            {
                seTM = new SETMEntity(ModuleName.DETM);
            }




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

            SubscribeOperation();
            SubscribeDataVariable();
        }

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

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

            return true;
        }

        void SubscribeDataVariable()
        {
            DATA.Subscribe("Rt.Status", () => ((RtState)fsm.State).ToString(), SubscriptionAttribute.FLAG.IgnoreSaveDB);

            DATA.Subscribe(ModuleName.System.ToString(), "AlarmEvent", EV.GetAlarmEvent, SubscriptionAttribute.FLAG.IgnoreSaveDB);

            DATA.Subscribe("System.IsAutoMode", () => IsAutoMode, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe("System.IsIdle", () => IsIdle || IsInit, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe("System.IsAlarm", () => IsAlarm || IsEntityError, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe("System.IsBusy", () => IsRunning, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            DATA.Subscribe("System.IsWaitUnload", () => _isWaitUnload && IsAutoMode, SubscriptionAttribute.FLAG.IgnoreSaveDB);
            //DATA.Subscribe("System.IsConnectedWithHost", () => Singleton<SecGemApplication>.Instance., SubscriptionAttribute.FLAG.IgnoreSaveDB);

            DATA.Subscribe("EquipmentMode", () => IsAutoMode ? 0 : 1, SubscriptionAttribute.FLAG.IgnoreSaveDB);

            DATA.Subscribe("EquipmentStatus", () =>
            {
                //"0 = Uninit
                //1 = Idle
                //2 = Running
                //3 = Error
                //4 = Pause
                //"
                if (IsInit) return 0;
                if (IsIdle) return 1;
                if (IsAlarm) return 3;
                if (IsPaused) return 4;

                return 2;
            }, SubscriptionAttribute.FLAG.IgnoreSaveDB);
        }

        void SubscribeOperation()
        {
            OP.Subscribe("CreateWafer", InvokeCreateWafer);

            OP.Subscribe("DeleteWafer", InvokeDeleteWafer);


            OP.Subscribe("System.Home", (cmd, args) => CheckToPostMessage((int)MSG.HOME, args));
            OP.Subscribe("TMCycle.Start", (cmd, args) => CheckToPostMessage((int)MSG.TMCycle, args));
            OP.Subscribe("TMCycle.Abort", (cmd, args) => CheckToPostMessage((int)MSG.StopCycle, args));

            OP.Subscribe("System.StopSECycle", (cmd, args) => CheckToPostMessage((int)MSG.StopSECycle, args));

            DATA.Subscribe("SYSTEM.FsmState", () => (((RtState)fsm.State).ToString()));
            DATA.Subscribe("TMCycle.CycleIndex", () => (_TMCycle?.CycleIndex));

            OP.Subscribe("ReturnWafer", InvokeReturnWafer);

            OP.Subscribe("System.ReturnAllWafer", (string cmd, object[] args) =>
            {

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

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

                if (seTM != null && (VCE != null || VCEA != null || VCEB != null))
                    return CheckToPostMessage((int)MSG.SEMoveWafer,
                        source, (int)args[1],
                        destination, (int)args[3],
                        args[4], args[5],
                        args[6], args[7], (string)args[8]);
                else
                    return CheckToPostMessage((int)MSG.MoveWafer,
                        source, (int)args[1],
                        destination, (int)args[3],
                        args[4], args[5],
                        args[6], args[7], (string)args[8]);
            });

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

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

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

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

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

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

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

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

            OP.Subscribe("System.AbortJob", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.AbortJob, args[0]);
            });
            OP.Subscribe("SE.AbortJob", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.AbortSEJob, args[0]);
            });
            OP.Subscribe("LP1.Map", (string cmd, object[] args) =>
            {
                if (IsAutoMode)
                {
                    return CheckToPostMessage((int)MSG.Map, ModuleName.LP1.ToString());
                }

                return EFEM.InvokeMap(ModuleName.LP1.ToString()) != (int)FSM_MSG.NONE;
            });


            OP.Subscribe("LP2.Map", (string cmd, object[] args) =>
            {
                if (IsAutoMode)
                {
                    return CheckToPostMessage((int)MSG.Map, ModuleName.LP2.ToString());
                }

                return EFEM.InvokeMap(ModuleName.LP2.ToString()) != (int)FSM_MSG.NONE;
            });

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

                return true;
            });

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

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

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

                return true;
            });

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

            OP.Subscribe("System.IsModuleInstalled", (string cmd, object[] args) =>
            {
                return ModuleHelper.IsInstalled((ModuleName)args[0]);
            });
            OP.Subscribe("System.SETMCycle", (cmd, args) => CheckToPostMessage((int)MSG.SETMCycle, args));
            OP.Subscribe("System.CreateSEJob", (cmd, args) => CheckToPostMessage((int)MSG.CreateJob, args));
            OP.Subscribe("System.StartSEJob", (cmd, args) => CheckToPostMessage((int)MSG.StartJob, args));
            OP.Subscribe("System.ReturnAllSEWafer", (cmd, args) => CheckToPostMessage((int)MSG.ReturnAllWafer, args));
            OP.Subscribe("System.SEAbort", (cmd, args) => CheckToPostMessage((int)MSG.ABORT, args));
        }

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

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

            return true;
        }

        public bool InvokeAbort(object[] args)
        {
            return CheckToPostMessage((int)MSG.ABORT, args);
        }

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

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

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

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

            return true;
        }

        private bool InvokeReturnWafer(string arg1, object[] args)
        {
            ModuleName target = ModuleHelper.Converter(args[0].ToString());
            int slot = (int)args[1];
            if (seTM != null && (VCE != null || VCEA != null || VCEB != null))
            {
                if (ModuleHelper.IsVCE(target))
                {
                    LOG.Write(eEvent.WARN_ROUTER, "System", string.Format("Wafer already at vce {0} {1}, return operation is not valid", target.ToString(), slot + 1));
                    return false;
                }
                WaferInfo wafer = WaferManager.Instance.GetWafer(target, slot);
                if (wafer.IsEmpty)
                {
                    LOG.Write(eEvent.WARN_ROUTER, "System", string.Format("No wafer at {0} {1}, return operation is not valid", target.ToString(), slot + 1));
                    return false;
                }
                return CheckToPostMessage((int)MSG.SEMoveWafer,
                        target, slot,
                        (ModuleName)wafer.OriginStation, wafer.OriginSlot,
                        false, 0, false, 0, "Blade1");
            }
            else
            {
                if (ModuleHelper.IsLoadPort(target))
                {
                    LOG.Write(eEvent.WARN_ROUTER, "System", string.Format("Wafer already at LoadPort {0} {1}, return operation is not valid", target.ToString(), slot + 1));
                    return false;
                }

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

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

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

        }

        public PMEntity GetPM(ModuleName mod)
        {
            if (ModuleHelper.IsInstalled(mod))
            {
                switch (mod)
                {
                    case ModuleName.PMA:
                        return PMA;
                    case ModuleName.PMB:
                        return PMB;
                    case ModuleName.PMC:
                        return PMC;
                    case ModuleName.PMD:
                        return PMD;
                }
            }

            return null;
        }

        public LLEntity GetLL(ModuleName mod)
        {
            if (ModuleHelper.IsInstalled(mod))
            {
                switch (mod)
                {
                    case ModuleName.LLA:
                        return LLA;
                    case ModuleName.LLB:
                        return LLB;
                }
            }

            return null;
        }

        public VceEntity GetVCE(ModuleName mod)
        {
            if (ModuleHelper.IsInstalled(mod))
            {
                switch (mod)
                {
                    case ModuleName.VCE1:
                        return VCE;
                    case ModuleName.VCEA:
                        return VCEA;
                    case ModuleName.VCEB:
                        return VCEB;
                }
            }

            return null;
        }

        public TMEntity GetTM()
        {
            return TM;
        }

        protected override bool Init()
        {
            PMA?.Initialize();
            PMB?.Initialize();
            PMC?.Initialize();
            PMD?.Initialize();
            LLA?.Initialize();
            LLB?.Initialize();

            EFEM?.Initialize();
            VCE?.Initialize();
            VCEA?.Initialize();
            VCEB?.Initialize();


            if(RtInstance.ConfigType == ConfigType.VenusSE || RtInstance.ConfigType == ConfigType.VenusDE)
            {
                seTM?.Initialize();
                _seTMCycle = new SETMCycle(ModuleName.SETM);
                _setransfer = new SEManualTransfer();
                _sereturnWafer = new SEReturnWafer(_setransfer);
                _AutoCycle = new VenusDispatcher(); 
            }
            else
            {
                TM?.Initialize();
                _TMCycle = new TMCycle();
                _manualTransfer = new ManualTransfer();
                _AutoCycle = new SystemDispatcher();
            }

            BuildTransitionTable();
            return true;
        }

        private void BuildTransitionTable()
        {
            //Init sequence
            Transition(RtState.Init, MSG.HOME, FsmStartHome, RtState.Initializing);
            Transition(RtState.Idle, MSG.HOME, FsmStartHome, RtState.Initializing);
            Transition(RtState.Error, MSG.HOME, FsmStartHome, RtState.Initializing);

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

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

            Transition(RtState.Idle, FSM_MSG.TIMER, FsmMonitor, RtState.Idle);
            Transition(RtState.Init, FSM_MSG.TIMER, FsmMonitor, RtState.Init);

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


            // TM  Cycle
            Transition(RtState.Idle, MSG.TMCycle, FsmStartTMCycle, RtState.TMCycle);
            Transition(RtState.TMCycle, FSM_MSG.TIMER, FsmMonitorTMCycle, RtState.Idle);
            Transition(RtState.TMCycle, MSG.StopCycle, FsmStopTMCycle, RtState.Idle);

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

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

            Transition(RtState.AutoRunning, MSG.CreateJob, FsmCreateJob, RtState.AutoRunning);
            Transition(RtState.AutoRunning, MSG.StartJob, FsmStartJob, RtState.AutoRunning);
            Transition(RtState.AutoRunning, MSG.PauseJob, FsmPauseJob, RtState.AutoRunning);
            Transition(RtState.AutoRunning, MSG.ResumeJob, FsmResumeJob, RtState.AutoRunning);
            Transition(RtState.AutoRunning, MSG.StopJob, FsmStopJob, RtState.AutoRunning);
            Transition(RtState.AutoRunning, MSG.AbortJob, FsmAbortJob, RtState.AutoRunning);

            Transition(RtState.AutoRunning, MSG.MoveWafer, FsmAutoReturnWafer, RtState.AutoRunning);

            Transition(RtState.AutoRunning, MSG.Map, FsmMap, RtState.AutoRunning);

            Transition(RtState.AutoRunning, MSG.ResetIdleCleanTime, FsmResetIdleCleanTime, RtState.AutoRunning);
            Transition(RtState.AutoRunning, MSG.ResetIdlePurgeTime, FsmResetIdlePurgeTime, RtState.AutoRunning);

            Transition(RtState.AutoIdle, FSM_MSG.TIMER, FsmMonitorAutoIdle, RtState.AutoIdle);
            Transition(RtState.AutoIdle, MSG.SetManualMode, FsmStartSetManualMode, RtState.Idle);
            Transition(RtState.AutoIdle, MSG.CreateJob, FsmCreateJob, RtState.AutoIdle);
            Transition(RtState.AutoIdle, MSG.StartJob, FsmStartJob, RtState.AutoRunning);
            Transition(RtState.AutoIdle, MSG.PauseJob, FsmPauseJob, RtState.AutoIdle);
            Transition(RtState.AutoIdle, MSG.ResumeJob, FsmResumeJob, RtState.AutoIdle);
            Transition(RtState.AutoIdle, MSG.StopJob, FsmStopJob, RtState.AutoIdle);
            Transition(RtState.AutoIdle, MSG.AbortJob, FsmAbortJob, RtState.AutoIdle);
            Transition(RtState.AutoIdle, MSG.Map, FsmMap, RtState.AutoIdle);

            //Transfer 
            Transition(RtState.Idle, MSG.MoveWafer, FsmStartTransfer, RtState.Transfer);
            Transition(RtState.Transfer, FSM_MSG.TIMER, FsmMonitorTransfer, RtState.Idle);
            Transition(RtState.Transfer, MSG.ABORT, FsmAbort, RtState.Idle);

            //Return Wafer 
            Transition(RtState.Idle, MSG.ReturnAllWafer, FsmStartReturnWafer, RtState.ReturnWafer);
            Transition(RtState.ReturnWafer, FSM_MSG.TIMER, FsmMonitorReturnWafer, RtState.Idle);
            Transition(RtState.ReturnWafer, MSG.ABORT, FsmAbort, RtState.Idle);

            // SETM  Cycle
            Transition(RtState.Idle, MSG.SETMCycle, FsmStartSETMCycle, RtState.SETMCycle);
            Transition(RtState.SETMCycle, FSM_MSG.TIMER, FsmMonitorSETMCycle, RtState.Idle);
            Transition(RtState.SETMCycle, MSG.SEAbort, SEAbort, RtState.Idle);
            Transition(RtState.SETMCycle, MSG.AbortSEJob, SEAbortJob, RtState.Idle);
            // SETM CreateCycle                                                                     
            Transition(RtState.Idle, MSG.CreateSEJob, FsmStartCreateSEJob, RtState.Idle);
            // SETM StartCycle                                                                      
            Transition(RtState.Idle, MSG.StartSEJob, FsmStartSEJob, RtState.SERunning);
            Transition(RtState.SERunning, FSM_MSG.TIMER, FsmSEJobMonitor, RtState.Idle);
            Transition(RtState.SERunning, MSG.SEAbort, SEAbort, RtState.Idle);
            Transition(RtState.SERunning, MSG.AbortSEJob, SEAbortJob, RtState.Idle);
            Transition(RtState.Idle, MSG.AbortSEJob, SEAbortJob, RtState.Idle);
            // SE Transfer
            Transition(RtState.Idle, MSG.SEMoveWafer, FsmStartSEMoveWafer, RtState.SETransfer);
            Transition(RtState.SETransfer, FSM_MSG.TIMER, FsmMonitorSEMoveWafer, RtState.Idle);
            Transition(RtState.SETransfer, MSG.ABORT, SEAbort, RtState.Idle);
            // SE ReturnWafer
            Transition(RtState.Idle, MSG.SEReturnWafer, FsmStartSEReturnWafer, RtState.SEReturnWafer);
            Transition(RtState.SEReturnWafer, FSM_MSG.TIMER, FsmMonitorSEReturnWafer, RtState.Idle);
            Transition(RtState.SEReturnWafer, MSG.SEAbort, SEAbort, RtState.Idle);
        }

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

        private bool FsmStartHome(object[] objs)
        {
            TM?.Invoke("Home");
            EFEM?.Invoke("Home");
            seTM?.Invoke("Home");
            VCE?.Invoke("Home");
            VCEA?.Invoke("Home");
            VCEB?.Invoke("Home");

            foreach (var mod in ModuleHelper.InstalledModules)
            {
                if (ModuleHelper.IsPm(mod))
                {
                    if (GetPM(mod).IsInclude)
                    {
                        GetPM(mod).Invoke("Home");
                    }
                }
                else if (ModuleHelper.IsLoadLock(mod))
                {
                    if (GetLL(mod).IsInclude)
                    {
                        GetLL(mod).Invoke("Home");
                    }
                }
            }

            return true;
        }

        private bool FsmMonitorHome(object[] objs)
        {
            ModuleName notReadyModule = ModuleName.System;
            foreach (var mod in ModuleHelper.InstalledModules)
            {
                if ((ModuleHelper.IsPm(mod) && GetPM(mod).IsInclude && !GetPM(mod).IsIdle) ||
                    (ModuleHelper.IsLoadLock(mod) && GetLL(mod).IsInclude && !GetLL(mod).IsIdle) ||
                    (ModuleHelper.IsTM(mod) && !GetTM().IsIdle) ||
                    (ModuleHelper.IsVCE(mod) && !GetVCE(mod).IsIdle) ||
                    (ModuleHelper.IsEFEM(mod) && !EFEM.IsIdle) ||
                    (ModuleHelper.isSETM(mod) && !seTM.IsIdle))
                {
                    notReadyModule = mod;
                    break;
                }
            }

            if (notReadyModule != ModuleName.System)
            {
                if (fsm.ElapsedTime > 100 * 1000)
                {
                    LOG.Write(eEvent.ERR_ROUTER, ModuleName.System, $"{notReadyModule} home timeout");
                    PostMsg(MSG.ERROR);
                    return true;
                }
                else
                    return false;
            }

            return true;
        }


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

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

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

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

        private bool FsmAbort(object[] objs)
        {
            _manualTransfer?.Clear();
            _setransfer?.Abort();
            _AutoCycle.Clear();
            return true;
        }


        private bool FsmStartTMCycle(object[] objs)
        {
            return _TMCycle.Start(objs) == RState.Running;
        }

        private bool FsmMonitorTMCycle(object[] objs)
        {
            RState ret = _TMCycle.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(MSG.ERROR);
                return false;
            }

            return ret == RState.End;
        }
        private bool FsmStopTMCycle(object[] objs)
        {
            _TMCycle.Abort();
            return true;
        }

        private bool FsmStartAutoTransfer(object[] objs)
        {
            return _AutoCycle.Start(objs) == RState.Running;
        }

        private bool FsmAutoTransfer(object[] objs)
        {
            RState ret = _AutoCycle.Monitor();

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

            if (_AutoCycle.CheckJobJustDone(out string jobInfo))
            {
                EV.PostPopDialogMessage(EventLevel.InformationNoDelay, "Job complete", jobInfo);
            }

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

            //_isWaitUnload = (bool)DATA.Poll("LP1.NotifyJobDone") || (bool)DATA.Poll("LP2.NotifyJobDone");

            return ret == RState.End;
        }

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

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

        private bool FsmCreateJob(object[] objs)
        {
            Dictionary<string, object> obj = (Dictionary<string, object>)objs[0];
            var moduleName = (ModuleName)Enum.Parse(typeof(ModuleName), obj["Module"].ToString());
            if ((Singleton<TransferModule>.Instance.GetScheduler(moduleName) as SchedulerLoadPort).IsLoaded)
            {
                return _AutoCycle.CreateJob(obj, out var reason);
            }
            else
            {
                LOG.Write(eEvent.WARN_ROUTER, ModuleName.System, $"{obj["Module"]} is unload,can not create job");
                return false;
            }
        }

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

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

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

        private bool FsmStopJob(object[] objs)
        {
            _AutoCycle.StopJob((string)objs[0], out var reason);

            return true;
        }

        private bool FsmAbortJob(object[] objs)
        {
            _AutoCycle.AbortJob((string)objs[0], out var reason);
            return true;
        }

        private bool FsmStartTransfer(object[] objs)
        {
            return _manualTransfer.Start(objs) == RState.Running;
        }

        private bool FsmMonitorTransfer(object[] objs)
        {
            RState ret = _manualTransfer.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(MSG.ERROR);
                return false;
            }

            return ret == RState.End;
        }

        private bool FsmStartReturnWafer(object[] objs)
        {
            //return _returnWafer.Start(objs) == RState.Running;
            return _AutoCycle.CheckManualReturnWafer() == RState.Running;
        }

        private bool FsmMonitorReturnWafer(object[] objs)
        {
            //RState ret = _returnWafer.Monitor();
            RState ret = _AutoCycle.ReturnAllWafers();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(MSG.ERROR);
                return false;
            }

            return ret == RState.End;
        }

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

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

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

        private bool FsmAutoReturnWafer(object[] objs)
        {
            return _AutoCycle.ManualReturnWafer(objs);
        }

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

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

            //_isWaitUnload = (bool)DATA.Poll("LP1.NotifyJobDone") || (bool)DATA.Poll("LP2.NotifyJobDone");

            _debugRoutine();

            return ret == RState.End;
        }

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

            return true;
        }
        private void _debugRoutine()
        {
            int flag = 0;
            // Test Home routine
            if (flag == 1)
            {
                PostMsg(MSG.HOME);
            }
            else if (flag == 2)
            {
                PostMsg(MSG.TMCycle);
            }
            else if (flag == 3)
            {
                PostMsg(MSG.SetAutoMode);
            }
            else if (flag == 4)
            {
                PostMsg(MSG.ReturnAllWafer);
            }
            else if (flag == 5)
            {
                PostMsg(MSG.StartJob, "CJ_Local_LP1");
            }
        }
        private bool FsmStartSETMCycle(object[] objs)
        {
            //return _seTMCycle.Start(objs) == RState.Running;
            return _AutoCycle.Start(objs) == RState.Running;
        }

        private bool FsmMonitorSETMCycle(object[] objs)
        {
            RState ret = _AutoCycle.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(MSG.ERROR);
                return false;
            }

            return ret == RState.End;
        }
        private bool FsmStopSETMCycle(object[] objs)
        {
            _AutoCycle.Abort();
            return true;
        }

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

        private bool FsmStartSEJob(object[] objs)
        {
            //return _seTMCycle.StartJob(objs[0].ToString()) == RState.Running;
            return _AutoCycle.StartJob(objs[0].ToString(), out string reason);   
        }

        private bool FsmSEJobMonitor(object[] objs)
        {
            RState ret = _AutoCycle.Monitor();
            return ret == RState.End;
        }

        private bool FsmStartSEMoveWafer(object[] objs)
        {
            return _setransfer.Start(objs) == RState.Running;
        }

        private bool FsmMonitorSEMoveWafer(object[] objs)
        {
            RState ret = _setransfer.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(MSG.ERROR);
                return false;
            }
            return ret == RState.End;
        }

        private bool FsmStartSEReturnWafer(object[] objs)
        {
            return _sereturnWafer.Start(objs) == RState.Running;
        }

        private bool FsmMonitorSEReturnWafer(object[] objs)
        {
            RState ret = _sereturnWafer.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(MSG.ERROR);
                return false;
            }
            return ret == RState.End;
        }
        private bool SEAbortJob(object[] objs)
        {
            _AutoCycle.AbortJob((string)objs[0], out var reason);
            return true;
        }
        private bool SEAbort(object[] objs)
        {
            //_seTMCycle.Abort();
            _setransfer.Abort();
            _sereturnWafer.Abort();
            seTM.CheckToPostMessage((int)SETMEntity.MSG.Abort);
            return true;
        }

        #region Fa接口
        /// <summary>
        /// 接口指令
        /// </summary>
        /// <param name="command"></param>
        /// <param name="paras"></param>
        /// <param name="reason"></param>
        /// <returns></returns>
        public bool ExcuteCommand(string command, object[] paras, out string reason)
        {
            reason = "";
            switch (command)
            {
                case "PP-SELECT":
                    return FaCreateJob(paras, out reason);
                case "StartJob":
                    return FaStartJob(paras[0].ToString(), out reason);
                case "StopJob":
                    return FaStopJob(paras[0].ToString(), out reason);
                case "AbortJob":
                    return FaAbortob(paras[0].ToString(), out reason);
                case "PauseJob":
                    return FaPauseJob(paras[0].ToString(), out reason);
                case "ResumeJob":
                    return FaResumeJob(paras[0].ToString(), out reason);
                case "Load":
                    return FaLoad(paras[0].ToString(), out reason);
                case "Unload":
                    return FaUnLoad(paras[0].ToString(), out reason);
                case "ReadID":
                    return FaReadId(paras[0].ToString(), out reason);

            }
            return true;
        }
        /// <summary>
        /// Fa创建任务
        /// </summary>
        /// <param name="paras"></param>
        /// <param name="reason"></param>
        /// <returns></returns>
        private bool FaCreateJob(object[] paras, out string reason)
        {
            if (!CheckAuto())
            {
                reason = "System is not in Auto,cannot create job";
                return false;
            }
            else
            {
                Dictionary<string, object> createParams = new Dictionary<string, object>();
                createParams["Module"] = $"LP{paras[0]}";
                createParams["JobId"] = paras[1].ToString();
                createParams["SlotSequence"] = (string[])paras[3];
                createParams["AutoStart"] = true;
                if (paras.Length >= 5)
                {
                    createParams["PreCleanRecipeName"] = paras[4].ToString();
                }
                if (paras.Length >= 6)
                {
                    createParams["PostCleabRecipeName"] = paras[5].ToString();
                }
                return _AutoCycle.CreateJob(createParams, out reason);
            }
        }
        /// <summary>
        /// Fa启动任务
        /// </summary>
        /// <param name="jobName"></param>
        /// <param name="reason"></param>
        /// <returns></returns>
        private bool FaStartJob(string jobName, out string reason)
        {
            return _AutoCycle.StartJob(jobName, out reason);
        }
        /// <summary>
        /// Fa停止任务
        /// </summary>
        /// <param name="jobName"></param>
        /// <param name="reason"></param>
        /// <returns></returns>
        private bool FaStopJob(string jobName, out string reason)
        {
            return _AutoCycle.StopJob(jobName, out reason);
        }
        /// <summary>
        /// Fa中止任务
        /// </summary>
        /// <param name="jobName"></param>
        /// <param name="reason"></param>
        /// <returns></returns>
        private bool FaAbortob(string jobName, out string reason)
        {
            return _AutoCycle.AbortJob(jobName, out reason);
        }
        /// <summary>
        /// Fa暂停任务
        /// </summary>
        /// <param name="jobName"></param>
        /// <param name="reason"></param>
        /// <returns></returns>
        private bool FaPauseJob(string jobName, out string reason)
        {
            return _AutoCycle.PauseJob(jobName, out reason);
        }
        /// <summary>
        /// Fa恢复任务
        /// </summary>
        /// <param name="jobName"></param>
        /// <param name="reason"></param>
        /// <returns></returns>
        private bool FaResumeJob(string jobName, out string reason)
        {
            return _AutoCycle.ResumeJob(jobName, out reason);
        }
        /// <summary>
        /// Fa Load
        /// </summary>
        /// <param name="lp"></param>
        /// <returns></returns>
        private bool FaLoad(string lp, out string reason)
        {
            reason = "";
            Loadport loadport = FaGetLoadPort(lp, out reason);
            if (loadport != null)
            {
                loadport.Load();
                return true;
            }
            else
            {
                return false;
            }
        }
        /// <summary>
        /// 获取LoadPort对象
        /// </summary>
        /// <param name="lp"></param>
        /// <param name="reason"></param>
        /// <returns></returns>
        private Loadport FaGetLoadPort(string lp, out string reason)
        {
            reason = "";
            if (int.TryParse(lp, out var lpValue))
            {
                LoadPortModule loadPortModule = EFEM.GetLoadportModule(lpValue);
                if (loadPortModule != null)
                {
                    if (loadPortModule.LPDevice.HasCassette)
                    {
                        return loadPortModule.LPDevice;
                    }
                    else
                    {
                        reason = $"LP{lpValue} not found carrier, can not load";
                        return null;
                    }
                }
                else
                {
                    reason = $"LP{lp} is null";
                    return null;
                }
            }
            else
            {
                reason = $"{lp} is invalid data";
                return null;
            }
        }
        /// <summary>
        /// 读取Id
        /// </summary>
        /// <param name="lp"></param>
        /// <returns></returns>
        private bool FaReadId(string lp, out string reason)
        {
            reason = "";
            Loadport loadport = FaGetLoadPort(lp, out reason);
            if (loadport != null)
            {
                loadport.ReadCarrierID();
                return true;
            }
            else
            {
                return false;
            }
        }
        /// <summary>
        /// Fa Unload
        /// </summary>
        /// <param name="lp"></param>
        /// <returns></returns>
        private bool FaUnLoad(string lp, out string reason)
        {
            reason = "";
            Loadport loadport = FaGetLoadPort(lp, out reason);
            if (loadport != null)
            {
                loadport.Unload();
                return true;
            }
            else
            {
                return false;
            }
        }
        /// <summary>
        /// 获取所有Sequence
        /// </summary>
        /// <returns></returns>
        public string[] GetSequenceList()
        {
            return RecipeFileManager.Instance.GetSequenceNameList().ToArray();
        }

        public string GetSequenceBody(string ppid)
        {
            return RecipeFileManager.Instance.GetSequence(ppid, false);
        }

        public List<string> GetFormatedSequence(string ppid)
        {
            return null;
        }

        public bool deleteSequence(string ppid)
        {
            return true;
        }

        public bool UpdateSequence(string ppid, string body)
        {
            return true;
        }

        public void ShowTerminalMessage(string message)
        {
        }

        public bool CreateProcessJob(string processJobId, string sequenceName, string carrierId, out string reason)
        {
            reason = "";
            return true;
        }

        public void UpdateProcessJobCarrierSlot(string processJobId, string moduleName, List<int> slots)
        {
        }

        public void CreateControlJob(string controlJobId, string carrierId, List<string> processJobs)
        {
        }

        public bool CheckCreateControlJobCondition(List<string> modules, out string reason)
        {
            reason = "";
            return true;
        }

        public bool StartControlJob(string controlJob)
        {
            return true;
        }

        public bool StopControlJob(string controlJob)
        {
            return true;
        }

        public bool AbortControlJob(string controlJob)
        {
            return true;
        }

        public bool PauseControlJob(string controlJob)
        {
            return true;
        }

        public bool ResumeControlJob(string controlJob)
        {
            return true;
        }

        public bool CheckAuto()
        {
            return fsm.State == (int)RtState.AutoIdle;
        }

        public void UpdateControlJobModule(string controlJobId, string moduleName)
        {
        }
        #endregion
    }
}