Kepler-Release/Venus/Venus_MainPages/ViewModels/EfemViewModel.cs

using Aitex.Sorter.Common;
using ExcelLibrary.BinaryFileFormat;
using MECF.Framework.Common.CommonData;
using MECF.Framework.Common.DataCenter;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.OperationCenter;
using MECF.Framework.Common.Schedulers;
using OpenSEMI.ClientBase;
using OpenSEMI.Ctrlib.Controls;
using Prism.Commands;
using Prism.Mvvm;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Linq;
using System.Threading.Tasks;
using System.Windows.Threading;
using Venus_Core;
using Venus_MainPages.Unity;
using Venus_Themes.CustomControls;
using Venus_Themes.Unity;
using static Venus_Themes.UserControls.EFEM;

namespace Venus_MainPages.ViewModels
{
    public enum EFEMModule
    {
        LLA, LLB,LP1,LP2,LP3,Aligner1
    }
    public enum EFEMBlade
    {
        Blade1, Blade2
    }

    internal class EfemViewModel:BindableBase
    {
        #region 私有字段       
        private bool m_LLAIsInstalled;
        private bool m_LLBIsInstalled;
        private ModuleInfo m_LLAModuleInfo;
        private ModuleInfo m_LLBModuleInfo;
        private ModuleInfo m_LP1ModuleInfo;
        private ModuleInfo m_LP2ModuleInfo;
        private ModuleInfo m_LP3ModuleInfo;
        private ModuleInfo m_EFEMModuleInfo;

        private List<EFEMModule> m_EFEMModules = new List<EFEMModule>();
        private EFEMBlade m_PickSelectedBlade;
        private EFEMBlade m_PlaceSelectedBlade;
        private EFEMBlade m_ExtendSelectedBlade;
        private EFEMBlade m_RetractSelectedBlade;
        private ObservableCollection<int> m_PlaceSoltItemsSource = new ObservableCollection<int>();
        private ObservableCollection<int> m_PickSoltItemsSource = new ObservableCollection<int>();
        private ObservableCollection<int> m_ExtendSoltItemsSource = new ObservableCollection<int>();
        private ObservableCollection<int> m_RetractSoltItemsSource = new ObservableCollection<int>();
        private int m_PickSoltSelectedIndex;
        private int m_PlaceSoltSelectedIndex;
        private int m_ExtendSoltSelectedIndex;
        private int m_RetractSoltSelectedIndex;
        private EFEMModule m_PickSelectedModule;
        private EFEMModule m_PlaceSelectedModule;
        private EFEMModule m_ExtendSelectedModule;
        private EFEMModule m_RetractSelectedModule;

        private WaferInfo m_BladeAWafer;
        private WaferInfo m_BladeBWafer;

        private WaferInfo m_LLAWafer;
        private WaferInfo m_LLBWafer;

        private WaferInfo m_Aligner1Wafer;

        private string m_LP1Status;
        private string m_LP2Status;
        private string m_LP3Status;

        private List<string> m_RtDataKeys=new List<string>();
        private Dictionary<string, object> m_RtDataValues;

        private int m_AlignValue;
        private WaferRobotTAction m_Robot1TAction;
        private WaferRobotXAction m_Robot1XAction;
        private WaferRobotTAction m_Robot2TAction;
        private WaferRobotXAction m_Robot2XAction;
        int arm1oldWaferStatus = 100;
        int arm2oldWaferStatus = 100;
        private RobotPosition m_CurrentRobotPosition;

        #endregion

        #region 属性
        public bool LLAIsInstalled
        {
            get { return m_LLAIsInstalled; }
            set { SetProperty(ref m_LLAIsInstalled, value); }
        }
        public bool LLBIsInstalled
        {
            get { return m_LLBIsInstalled; }
            set { SetProperty(ref m_LLBIsInstalled, value); }
        }
        public ModuleInfo LLAModuleInfo
        {
            get { return m_LLAModuleInfo; }
            set { SetProperty(ref m_LLAModuleInfo, value); }
        }
        public ModuleInfo LLBModuleInfo
        {
            get { return m_LLBModuleInfo; }
            set { SetProperty(ref m_LLBModuleInfo, value); }
        }
        public ModuleInfo LP1ModuleInfo
        {
            get { return m_LP1ModuleInfo; }
            set { SetProperty(ref m_LP1ModuleInfo, value); }
        }
        public ModuleInfo LP2ModuleInfo
        {
            get { return m_LP2ModuleInfo; }
            set { SetProperty(ref m_LP2ModuleInfo, value); }
        }
        public ModuleInfo LP3ModuleInfo
        {
            get { return m_LP3ModuleInfo; }
            set { SetProperty(ref m_LP3ModuleInfo, value); }
        }
        public ModuleInfo EFEMModuleInfo
        {
            get { return m_EFEMModuleInfo; }
            set { SetProperty(ref m_EFEMModuleInfo, value); }
        }
        public List<EFEMModule> EFEMModules
        {
            get { return m_EFEMModules; }
            set { SetProperty(ref m_EFEMModules, value); }
        }
        public EFEMBlade PickSelectedBlade
        {
            get { return m_PickSelectedBlade; }
            set { SetProperty(ref m_PickSelectedBlade, value); }
        }
        public EFEMBlade PlaceSelectedBlade
        {
            get { return m_PlaceSelectedBlade; }
            set { SetProperty(ref m_PlaceSelectedBlade, value); }
        }
        public EFEMBlade ExtendSelectedBlade
        {
            get { return m_ExtendSelectedBlade; }
            set { SetProperty(ref m_ExtendSelectedBlade, value); }
        }
        public EFEMBlade RetractSelectedBlade
        {
            get { return m_RetractSelectedBlade; }
            set { SetProperty(ref m_RetractSelectedBlade, value); }
        }
        public ObservableCollection<int> PickSoltItemsSource
        {
            get { return m_PickSoltItemsSource; }
            set { SetProperty(ref m_PickSoltItemsSource, value); }
        }
        public ObservableCollection<int> PlaceSoltItemsSource
        {
            get { return m_PlaceSoltItemsSource; }
            set { SetProperty(ref m_PlaceSoltItemsSource, value); }
        }
        public ObservableCollection<int> ExtendSoltItemsSource
        {
            get { return m_ExtendSoltItemsSource; }
            set { SetProperty(ref m_ExtendSoltItemsSource, value); }
        }
        public ObservableCollection<int> RetractSoltItemsSource
        {
            get { return m_RetractSoltItemsSource; }
            set { SetProperty(ref m_RetractSoltItemsSource, value); }
        }
        public int PickSoltSelectedIndex
        {
            get { return m_PickSoltSelectedIndex; }
            set { SetProperty(ref m_PickSoltSelectedIndex, value); }
        }
        public int PlaceSoltSelectedIndex
        {
            get { return m_PlaceSoltSelectedIndex; }
            set { SetProperty(ref m_PlaceSoltSelectedIndex, value); }
        }
        public int ExtendSoltSelectedIndex
        {
            get { return m_ExtendSoltSelectedIndex; }
            set { SetProperty(ref m_ExtendSoltSelectedIndex, value); }
        }
        public int RetractSoltSelectedIndex
        {
            get { return m_RetractSoltSelectedIndex; }
            set { SetProperty(ref m_RetractSoltSelectedIndex, value); }
        }
        public EFEMModule PickSelectedModule
        {
            get { return m_PickSelectedModule; }
            set { SetProperty(ref m_PickSelectedModule, value); }
        }
        public EFEMModule PlaceSelectedModule
        {
            get { return m_PlaceSelectedModule; }
            set { SetProperty(ref m_PlaceSelectedModule, value); }
        }
        public EFEMModule ExtendSelectedModule
        {
            get { return m_ExtendSelectedModule; }
            set { SetProperty(ref m_ExtendSelectedModule, value); }
        }
        public EFEMModule RetractSelectedModule
        {
            get { return m_RetractSelectedModule; }
            set { SetProperty(ref m_RetractSelectedModule, value); }
        }
        public WaferInfo BladeAWafer
        {
            get { return m_BladeAWafer; }
            set { SetProperty(ref m_BladeAWafer, value); }
        }
        public WaferInfo BladeBWafer
        {
            get { return m_BladeBWafer; }
            set { SetProperty(ref m_BladeBWafer, value); }
        }
        public WaferInfo Aligner1Wafer
        {
            get { return m_Aligner1Wafer; }
            set { SetProperty(ref m_Aligner1Wafer, value); }
        }
        public WaferInfo LLAWafer
        {
            get { return m_LLAWafer; }
            set { SetProperty(ref m_LLAWafer, value); }
        }
        public WaferInfo LLBWafer
        {
            get { return m_LLBWafer; }
            set { SetProperty(ref m_LLBWafer, value); }
        }
        public string LP1Status
        {
            get { return m_LP1Status; }
            set { SetProperty(ref m_LP1Status, value); }
        }
        public string LP2Status
        {
            get { return m_LP2Status; }
            set { SetProperty(ref m_LP2Status, value); }
        }
        public string LP3Status
        {
            get { return m_LP3Status; }
            set { SetProperty(ref m_LP3Status, value); }
        }
        public Dictionary<string, object> RtDataValues
        {
            get { return m_RtDataValues; }
            set { SetProperty(ref m_RtDataValues, value); }
        }
        public int AlignValue
        {
            get { return m_AlignValue; }
            set { SetProperty(ref m_AlignValue, value); }
        }
        public WaferRobotTAction Robot1TAction
        {
            get { return m_Robot1TAction; }
            set { SetProperty(ref m_Robot1TAction, value); }
        }
        public WaferRobotXAction Robot1XAction
        {
            get { return m_Robot1XAction; }
            set { SetProperty(ref m_Robot1XAction, value); }
        }
        public WaferRobotTAction Robot2TAction
        {
            get { return m_Robot2TAction; }
            set { SetProperty(ref m_Robot2TAction, value); }
        }
        public WaferRobotXAction Robot2XAction
        {
            get { return m_Robot2XAction; }
            set { SetProperty(ref m_Robot2XAction, value); }
        }
        private string m_RobotTarget;

        public string RobotTarget
        {
            get { return m_RobotTarget; }
            set
            {
                SetProperty(ref m_RobotTarget, value);
            }
        }
        public RobotMoveInfo m_robotMoveInfo;
        public RobotMoveInfo RobotMoveInfo
        {
            get { return m_robotMoveInfo; }
            set
            {
                RobotMoveInfoChanged(m_robotMoveInfo, value);
                m_robotMoveInfo = value;
            }
        }
        public RobotPosition CurrentRobotPosition
        {
            get { return m_CurrentRobotPosition; }
            set { SetProperty(ref m_CurrentRobotPosition, value); }
        }
        #endregion

        #region 命令
        private DelegateCommand _ExtendCommand;
        public DelegateCommand ExtendCommand =>
            _ExtendCommand ?? (_ExtendCommand = new DelegateCommand(OnExtend));
        private DelegateCommand _RetractCommand;
        public DelegateCommand RetractCommand =>
            _RetractCommand ?? (_RetractCommand = new DelegateCommand(OnRetract));

        private DelegateCommand<object> _ModuleChangeCommand;
        public DelegateCommand<object> ModuleChangeCommand =>
            _ModuleChangeCommand ?? (_ModuleChangeCommand = new DelegateCommand<object>(OnModuleChange));

        private DelegateCommand _PickCommand;
        public DelegateCommand PickCommand =>
            _PickCommand ?? (_PickCommand = new DelegateCommand(OnPick));

        private DelegateCommand _PlaceCommand;
        public DelegateCommand PlaceCommand =>
            _PlaceCommand ?? (_PlaceCommand = new DelegateCommand(OnPlace));

        private DelegateCommand _HomeAllCommand;
        public DelegateCommand HomeAllCommand =>
            _HomeAllCommand ?? (_HomeAllCommand = new DelegateCommand(OnHomeAll));

        private DelegateCommand _ClearErrorCommand;
        public DelegateCommand ClearErrorCommand =>
            _ClearErrorCommand ?? (_ClearErrorCommand = new DelegateCommand(OnClearError));

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

        private DelegateCommand _Align1HomeCommand;
        public DelegateCommand Align1HomeCommand =>
            _Align1HomeCommand ?? (_Align1HomeCommand = new DelegateCommand(OnAlign1Home));

        private DelegateCommand _Align1UpCommand;
        public DelegateCommand Align1UpCommand =>
            _Align1UpCommand ?? (_Align1UpCommand = new DelegateCommand(OnAlign1Up));
        private DelegateCommand _Align1DownCommand;
        public DelegateCommand Align1DownCommand =>
            _Align1DownCommand ?? (_Align1DownCommand = new DelegateCommand(OnAlign1Down));

        private DelegateCommand _Align1AlignCommand;
        public DelegateCommand Align1AlignCommand =>
            _Align1AlignCommand ?? (_Align1AlignCommand = new DelegateCommand(OnAlign1Align));
        private DelegateCommand _RobotHomeCommand;
        public DelegateCommand RobotHomeCommand =>
            _RobotHomeCommand ?? (_RobotHomeCommand = new DelegateCommand(OnRobotHome));

        private DelegateCommand<object> _LPHomeCommand;
        public DelegateCommand<object> LPHomeCommand =>
            _LPHomeCommand ?? (_LPHomeCommand = new DelegateCommand<object>(OnLPHome));

        private DelegateCommand<object> _LPAbortCommand;
        public DelegateCommand<object> LPAbortCommand =>
            _LPAbortCommand ?? (_LPAbortCommand = new DelegateCommand<object>(OnLPAbort));

        private DelegateCommand<object> _LPResetCommand;
        public DelegateCommand<object> LPResetCommand =>
            _LPResetCommand ?? (_LPResetCommand = new DelegateCommand<object>(OnLPReset));

        private DelegateCommand<object> _LPLoadCommand;
        public DelegateCommand<object> LPLoadCommand =>
            _LPLoadCommand ?? (_LPLoadCommand = new DelegateCommand<object>(OnLPLoad));

        private DelegateCommand<object> _LPUnLoadCommand;
        public DelegateCommand<object> LPUnLoadCommand =>
            _LPUnLoadCommand ?? (_LPUnLoadCommand = new DelegateCommand<object>(OnLPUnLoad));

        private DelegateCommand<object> _LPReadIDCommand;
        public DelegateCommand<object> LPReadIDCommand =>
            _LPReadIDCommand ?? (_LPReadIDCommand = new DelegateCommand<object>(OnLPReadID));

        private DelegateCommand<object> _LPClampCommand;
        public DelegateCommand<object> LPClampCommand =>
            _LPClampCommand ?? (_LPClampCommand = new DelegateCommand<object>(OnLPClamp));

        private DelegateCommand<object> _LPUnClampCommand;
        public DelegateCommand<object> LPUnClampCommand =>
            _LPUnClampCommand ?? (_LPUnClampCommand = new DelegateCommand<object>(OnLPUnClamp));

        private DelegateCommand<object> _LPDockCommand;
        public DelegateCommand<object> LPDockCommand =>
            _LPDockCommand ?? (_LPDockCommand = new DelegateCommand<object>(OnLPDock));

        private DelegateCommand<object> _LPUnDockCommand;
        public DelegateCommand<object> LPUnDockCommand =>
            _LPUnDockCommand ?? (_LPUnDockCommand = new DelegateCommand<object>(OnLPUnDock));

        private DelegateCommand<object> _LPOpenDoorCommand;
        public DelegateCommand<object> LPOpenDoorCommand =>
            _LPOpenDoorCommand ?? (_LPOpenDoorCommand = new DelegateCommand<object>(OnLPOpenDoor));

        private DelegateCommand<object> _LPCloseDoorCommand;
        public DelegateCommand<object> LPCloseDoorCommand =>
            _LPCloseDoorCommand ?? (_LPCloseDoorCommand = new DelegateCommand<object>(OnLPCloseDoor));
        #endregion

        #region 构造函数
        public EfemViewModel()
        {
            string[] allModules = QueryDataClient.Instance.Service.GetConfig($"System.InstalledModules").ToString().Split(',');
            
            LLAIsInstalled = allModules.Contains("LLA");
            LLBIsInstalled = allModules.Contains("LLB");
            DispatcherTimer timer = new DispatcherTimer();
            timer.Interval = TimeSpan.FromSeconds(0.1);
            timer.Tick += Timer_Tick;
            timer.Start();
            EFEMModules.Add(EFEMModule.LLA);
            EFEMModules.Add(EFEMModule.LLB);
            EFEMModules.Add(EFEMModule.LP1);
            EFEMModules.Add(EFEMModule.LP2);
            EFEMModules.Add(EFEMModule.LP3);
            EFEMModules.Add(EFEMModule.Aligner1);
            OnModuleChange("Pick");
            OnModuleChange("Place");

            Init();
            //OnModuleChange("Extend");

            //OnModuleChange("Retract");

            //UIEvents.PMDoorRaiseChangedEvent += UIEvents_PMDoorRaiseChangedEvent;

            //UIEvents.LLTDoorRaiseChangedEvent += UIEvents_LLTDoorRaiseChangedEvent;

            //UIEvents.LLEDoorRaiseChangedEvent += UIEvents_LLEDoorRaiseChangedEvent;

        }
        #endregion

        #region 命令方法
        private void OnModuleChange(object obj)
        {
            var value = obj.ToString();
            switch (value)
            {
                case "Pick":
                     PickSoltItemsSource.Clear();
                    switch (PickSelectedModule)
                    {
                        case EFEMModule.LLA:
                        case EFEMModule.LLB:
                            PickSoltItemsSource.Add(1);
                            PickSoltItemsSource.Add(2);
                            break;
                        case EFEMModule.LP1:
                        case EFEMModule.LP2:
                        case EFEMModule.LP3:

                            for (int i = 1; i < 26; i++)
                            {
                                PickSoltItemsSource.Add(i);
                            }
                            break;

                        default:
                            PickSoltItemsSource.Add(1);
                            break;
                    }
                    PickSoltSelectedIndex = 0;

                    break;

                case "Place":
                    PlaceSoltItemsSource.Clear();
                    switch (PlaceSelectedModule)
                    {
                        case EFEMModule.LLA:
                        case EFEMModule.LLB:
                            PlaceSoltItemsSource.Add(1);
                            PlaceSoltItemsSource.Add(2);
                            break;
                        case EFEMModule.LP1:
                        case EFEMModule.LP2:
                        case EFEMModule.LP3:

                            for (int i = 1; i < 26; i++)
                            {
                                PlaceSoltItemsSource.Add(i);
                            }
                            break;

                        default:
                            PlaceSoltItemsSource.Add(1);
                            break;
                    }
                    PlaceSoltSelectedIndex = 0;
                    break;

                //case "Extend":
                //    ExtendSoltItemsSource.Clear();
                //    switch (ExtendSelectedModule)
                //    {
                //        case EFEMModule.LLA:
                //        case EFEMModule.LLB:
                //            ExtendSoltItemsSource.Add(1);
                //            ExtendSoltItemsSource.Add(2);
                //            break;
                //        case EFEMModule.LP1:
                //        case EFEMModule.LP2:
                //        case EFEMModule.LP3:

                //            for (int i = 1; i < 26; i++)
                //            {
                //                ExtendSoltItemsSource.Add(i);
                //            }
                //            break;

                //        default:
                //            ExtendSoltItemsSource.Add(1);
                //            break;
                //    }
                //    ExtendSoltSelectedIndex = 0;
                //    break;

                //case "Retract":
                //    RetractSoltItemsSource.Clear();
                //    switch (RetractSelectedModule)
                //    {
                //        case EFEMModule.LLA:
                //        case EFEMModule.LLB:
                //            RetractSoltItemsSource.Add(1);
                //            RetractSoltItemsSource.Add(2);
                //            break;
                //        case EFEMModule.LP1:
                //        case EFEMModule.LP2:
                //        case EFEMModule.LP3:

                //            for (int i = 1; i < 26; i++)
                //            {
                //                RetractSoltItemsSource.Add(i);
                //            }
                //            break;

                //        default:
                //            RetractSoltItemsSource.Add(1);
                //            break;
                //    }
                //    RetractSoltSelectedIndex = 0;
                //    break;
            }

        }

        private void OnExtend()
        {
            var moduleName = (ModuleName)Enum.Parse(typeof(ModuleName), PlaceSelectedModule.ToString(), true);
            var selectedHand = (Hand)Enum.Parse(typeof(Hand), PlaceSelectedBlade.ToString(), true);
            InvokeClient.Instance.Service.DoOperation($"EFEM.{RtOperation.Extend}", moduleName, 0, selectedHand);
        }
        private void OnRetract()
        {
            var moduleName = (ModuleName)Enum.Parse(typeof(ModuleName), PlaceSelectedModule.ToString(), true);
            var selectedHand = (Hand)Enum.Parse(typeof(Hand), PlaceSelectedBlade.ToString(), true);
            InvokeClient.Instance.Service.DoOperation($"EFEM.{RtOperation.Retract}", moduleName, 0, selectedHand);
        }
        private void OnPick()
        {
            Queue<MoveItem> moveItems = new Queue<MoveItem>();

            var moduleName = (ModuleName)Enum.Parse(typeof(ModuleName), PickSelectedModule.ToString(), true);
            var selectedHand = (Hand)Enum.Parse(typeof(Hand), PickSelectedBlade.ToString(), true);
            MoveItem moveItem = new MoveItem(moduleName, PickSoltItemsSource[PickSoltSelectedIndex]-1, ModuleName.EfemRobot, 0, selectedHand);
            moveItems.Enqueue(moveItem);

            if (PickSelectedModule == EFEMModule.LLA || PickSelectedModule == EFEMModule.LLB)
            {
                InvokeClient.Instance.Service.DoOperation($"{ModuleName.EfemRobot}.{EfemOperation.Swap}", moveItems);

            }
            else
            { 
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EfemRobot}.{EfemOperation.Pick}", moveItems);
            }
            //if ((int)PickSelectedModule > 3)
            //{
            //    InvokeClient.Instance.Service.DoOperation($"EFEM.{RtOperation.LLPick}", moveItems);
            //}
            //else
            //{
            //    InvokeClient.Instance.Service.DoOperation($"EFEM.{RtOperation.PMPick}", moveItems);
            //}
        }
        private void OnPlace()
        {
            Queue<MoveItem> moveItems = new Queue<MoveItem>();
            var moduleName = (ModuleName)Enum.Parse(typeof(ModuleName), PlaceSelectedModule.ToString(), true);

            var selectedHand = (Hand)Enum.Parse(typeof(Hand), PlaceSelectedBlade.ToString(), true);
            MoveItem moveItem = new MoveItem(ModuleName.EfemRobot, 0, moduleName, PlaceSoltItemsSource[PlaceSoltSelectedIndex]-1, selectedHand);
            moveItems.Enqueue(moveItem);
            //if ((int)PlaceSelectedModule > 3)
            //{
            //    InvokeClient.Instance.Service.DoOperation($"TM.{RtOperation.LLPlace}", moveItems);
            //}
            //else
            //{
            //    InvokeClient.Instance.Service.DoOperation($"TM.{RtOperation.PMPlace}", moveItems);
            //}
            if (PlaceSelectedModule == EFEMModule.LLA || PlaceSelectedModule == EFEMModule.LLB)
            {
                InvokeClient.Instance.Service.DoOperation($"{ModuleName.EfemRobot}.{EfemOperation.Swap}", moveItems);

            }
            else
            { 
                InvokeClient.Instance.Service.DoOperation($"{ModuleName.EfemRobot}.{EfemOperation.Place}", moveItems);

            }

        }
        private void OnHomeAll()
        {
            InvokeClient.Instance.Service.DoOperation($"EFEM.{EfemOperation.Home}");
        }
        private void OnClearError()
        {
            InvokeClient.Instance.Service.DoOperation($"EFEM.{EfemOperation.ClearError}");
        }
        private void OnAbort()
        {
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EfemRobot}.{EfemOperation.Abort}");            
        }
        private void OnAlign1Home()
        {
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.Aligner1}.{EfemOperation.Home}");
        }
        private void OnAlign1Up()
        {
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.Aligner1}.{EfemOperation.Lift}", true);
        }
        private void OnAlign1Down()
        {
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.Aligner1}.{EfemOperation.Lift}", false);
        }
        private void OnAlign1Align()
        { 
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.Aligner1}.{EfemOperation.Align}",0, AlignValue);
        }
        private void OnRobotHome()
        {
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EfemRobot}.{EfemOperation.Home}");
        }
        private void OnLPHome(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.Home");
        }
        private void OnLPAbort(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.Abort");

        }
        private void OnLPReset(object obj)
        {
            //InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.ReSet");

        }
        private void OnLPLoad(object obj)
        { 
            InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.Load");

        }
        private void OnLPUnLoad(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.Unload");

        }
        private void OnLPReadID(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.ReadCarrierId");

        }
        private void OnLPClamp(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.Clamp");

        }
        private void OnLPUnClamp(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.Unclamp");

        }
        private void OnLPDock(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.Dock");

        }
        private void OnLPUnDock(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.Undock");
        }
        private void OnLPOpenDoor(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.OpenDoor");

        }
        private void OnLPCloseDoor(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.CloseDoor");

        }
        #endregion

        #region 私有方法
        private void Timer_Tick(object sender, EventArgs e)
        {
            if (LLAIsInstalled == true)
            {
                LLAWafer = ModuleManager.ModuleInfos["LLA"].WaferManager.Wafers.FirstOrDefault(x => x.WaferStatus != 0);

                LLAModuleInfo = ModuleManager.ModuleInfos["LLA"];
            }
            if (LLBIsInstalled == true)
            {
                LLBWafer = ModuleManager.ModuleInfos["LLB"].WaferManager.Wafers.FirstOrDefault(x => x.WaferStatus != 0);

                LLBModuleInfo = ModuleManager.ModuleInfos["LLB"];
            }
            LP1ModuleInfo = ModuleManager.ModuleInfos["LP1"];
            LP2ModuleInfo = ModuleManager.ModuleInfos["LP2"];
            LP3ModuleInfo = ModuleManager.ModuleInfos["LP3"];
            EFEMModuleInfo = ModuleManager.ModuleInfos["EfemRobot"];
            BladeAWafer = ModuleManager.ModuleInfos["EfemRobot"].WaferManager.Wafers[0];
            BladeBWafer = ModuleManager.ModuleInfos["EfemRobot"].WaferManager.Wafers[1];
            Aligner1Wafer= ModuleManager.ModuleInfos["Aligner1"].WaferManager.Wafers[0];
            RtDataValues = QueryDataClient.Instance.Service.PollData(m_RtDataKeys);
            RobotMoveInfo = (RobotMoveInfo)QueryDataClient.Instance.Service.GetData("EFEM.RobotMoveAction");
        }
        private void Init()
        {
            m_RtDataKeys.Add("LP1.Status");
            m_RtDataKeys.Add("LP2.Status");
            m_RtDataKeys.Add("LP3.Status");

            m_RtDataKeys.Add("LP1.IsLoaded");
            m_RtDataKeys.Add("LP2.IsLoaded");
            m_RtDataKeys.Add("LP3.IsLoaded");

            m_RtDataKeys.Add("LP1.CarrierId");
            m_RtDataKeys.Add("LP2.CarrierId");
            m_RtDataKeys.Add("LP3.CarrierId");

            m_RtDataKeys.Add("LP1.IsClamped");
            m_RtDataKeys.Add("LP2.IsClamped");
            m_RtDataKeys.Add("LP3.IsClamped");

            m_RtDataKeys.Add("LP1.IsDocked");
            m_RtDataKeys.Add("LP2.IsDocked");
            m_RtDataKeys.Add("LP3.IsDocked");

            m_RtDataKeys.Add("TM.LLATSlitDoor.IsClosed");
            m_RtDataKeys.Add("TM.LLBTSlitDoor.IsClosed");

            m_RtDataKeys.Add("TM.LLAESlitDoor.IsClosed");
            m_RtDataKeys.Add("TM.LLBESlitDoor.IsClosed");

            m_RtDataKeys.Add("LP1.CassettePlaced");
            m_RtDataKeys.Add("LP2.CassettePlaced");
            m_RtDataKeys.Add("LP3.CassettePlaced");
        }

        //private void UIEvents_PMDoorRaiseChangedEvent(DoorPara obj)
        //{
        //    InvokeClient.Instance.Service.DoOperation($"{obj?.ModuleName}.SlitDoor.{obj?.IsOpen}");
        //}
        //private void UIEvents_LLTDoorRaiseChangedEvent(DoorPara obj)
        //{
        //    InvokeClient.Instance.Service.DoOperation($"TM.{obj.ModuleName}TSlitDoor.{obj?.IsOpen}");
        //}
        //private void UIEvents_LLEDoorRaiseChangedEvent(DoorPara obj)
        //{
        //    InvokeClient.Instance.Service.DoOperation($"TM.{obj.ModuleName}ESlitDoor.{obj?.IsOpen}");
        //}
        private async void RobotMoveInfoChanged(RobotMoveInfo oldValue, RobotMoveInfo newValue)
        {
            if (oldValue == null || newValue == null)
            {
                return;
            }
            #region pick 和 place LL
            if (oldValue.Action == RobotAction.None && (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 (arm == "ArmA")
                {
                    var robot1Robot1TAction= (WaferRobotTAction)Enum.Parse(typeof(WaferRobotTAction), module, true);
                    await ChangePosition(robot1Robot1TAction);
                    Robot1TAction = robot1Robot1TAction;
                    await Task.Delay(1500);
                    Robot1XAction = WaferRobotXAction.Extend;
                    while ((newValue.Action == RobotAction.Placing && ModuleManager.ModuleInfos["EfemRobot"].WaferManager.Wafers[0].WaferStatus != 0) || (newValue.Action == RobotAction.Picking && ModuleManager.ModuleInfos["EfemRobot"].WaferManager.Wafers[0].WaferStatus == 0))
                    {
                        await Task.Delay(100);
                    }
                    Robot1XAction = WaferRobotXAction.Retract;
                }
                else if (arm == "ArmB")
                {
                    var robot2Robot1TAction = (WaferRobotTAction)Enum.Parse(typeof(WaferRobotTAction), module, true);

                    await ChangePosition(robot2Robot1TAction);
                    Robot2TAction = robot2Robot1TAction;
                    await Task.Delay(1500);
                    Robot2XAction = WaferRobotXAction.Extend;
                    while ((newValue.Action == RobotAction.Placing && ModuleManager.ModuleInfos["EfemRobot"].WaferManager.Wafers[1].WaferStatus != 0) || (newValue.Action == RobotAction.Picking && ModuleManager.ModuleInfos["EfemRobot"].WaferManager.Wafers[1].WaferStatus == 0))
                    {
                        await Task.Delay(100);
                    }
                    Robot2XAction = WaferRobotXAction.Retract;
                }
            }

            #endregion

            #region pick 和 place pm
            if (oldValue.Action == RobotAction.None && 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];
                if (arm == "ArmA")
                {
                    Robot1TAction = (WaferRobotTAction)Enum.Parse(typeof(WaferRobotTAction), module, true);
                    await Task.Delay(1500);
                    Robot1XAction = WaferRobotXAction.Extend;
                }
                else if (arm == "ArmB")
                {
                    Robot2TAction = (WaferRobotTAction)Enum.Parse(typeof(WaferRobotTAction), module, true);
                    await Task.Delay(1500);
                    Robot2XAction = WaferRobotXAction.Extend;
                }

            }
            if (oldValue.Action == RobotAction.None && 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")
                {
                    Robot1XAction = WaferRobotXAction.Retract;
                }
                else if (arm == "ArmB")
                {
                    Robot2XAction = WaferRobotXAction.Retract;
                }

            }
            #endregion
            //arm1oldWaferStatus = ModuleManager.ModuleInfos["TMRobot"].WaferManager.Wafers[0].WaferStatus;
            //arm2oldWaferStatus = ModuleManager.ModuleInfos["TMRobot"].WaferManager.Wafers[1].WaferStatus;
        }
        private async Task ChangePosition(WaferRobotTAction waferRobotTAction)
        {
            //CurrentRobotPosition = RobotPosition.Origin;
            //await Task.Delay(1000);
            if (waferRobotTAction == WaferRobotTAction.LP1)
            {
                CurrentRobotPosition = RobotPosition.Left;
            }
            else if (waferRobotTAction == WaferRobotTAction.LP3)
            {
                CurrentRobotPosition = RobotPosition.Right;
            }
            else if (waferRobotTAction == WaferRobotTAction.LP2)
            {
                CurrentRobotPosition = RobotPosition.Middle;
            }
            else
            { 
                CurrentRobotPosition = RobotPosition.Origin;
            }
            await Task.Delay(600);
        }
        #endregion

    }
}