Kepler-Release/Venus/Venus_RT/Modules/PMs/PMEntity.cs

using System;
using System.Collections.Generic;
using System.Threading;
using System.Diagnostics;
using System.Linq;
using Aitex.Core.Common;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using MECF.Framework.Common.DataCenter;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.Common.SubstrateTrackings;
using Venus_Core;
using Venus_RT.Devices;
using Venus_RT.Modules;
using Venus_RT.Modules.PMs;
using MECF.Framework.Common.Routine;


namespace Venus_RT.Modules.PMs
{
    public class RecipeRunningInfo
    {
        public Guid InnerId { get; set; }

        public RecipeHead Head { get; set; }
        public List<RecipeStep> RecipeStepList { get; set; }

        public string RecipeName { get; set; }

        public DateTime BeginTime { get; set; }
        public DateTime EndTime { get; set; }

        public int StepNumber { get; set; }
        public string StepName { get; set; }

        public double StepTime { get; set; }
        public double StepElapseTime { get; set; }

        public double TotalTime { get; set; }
        public double TotalElapseTime { get; set; }
    }

    public class PMEntity : Entity, IModuleEntity
    {
        public enum MSG
        {
            Home,
            Transfer,
            PrepareTransfer,
            PostTransfer,
            Reset,
            Abort,
            Error,
            LaunchPump,
            LaunchTurboPump,
            Pump,
            Vent,
            PumpLoadLock,
            VentLoadLock,
            PurgeLoadLock,
            LoadLockLeakCheck,
            CyclePurge,
            GasLinePurge,
            Heat,
            TransferHandoff,
            StartTransfer,
            LeakCheck,
            GasLeakCheck,
            MoveLiftPin,
            MoveGuidePin,

            LLPlace,
            LLPick,

            Process,
            RunRecipe,
            PostProcess,
            RecipeSkipStep,
            RecipeUpdate,
            RecipeResume,
            RecipePause,
            RecipeAbort,
            PreProcess,
            AutoMode,
            ManualMode,
            LockLid,

            Online,
            Offline,
            GasFlow,
            StopGasFlow,
            RfPower,
            MaxMsg
        }

        private readonly JetPM _chamber;

        public ModuleName Module { get; }
        public Action<bool, bool> TransferPrepared;

        private readonly PMHomeRoutine              _home;
        private readonly StartDryPumpRoutine        _startDryPumpRoutine;
        private readonly StartTurboPumpRoutine      _startTurboPumpRoutine;
        private readonly VentRoutine                _ventRoutine;
        private readonly PumpDownRoutine            _pumpRoutine;
        private readonly LoadLockVentRoutine        _ventLoadLockRoutine;
        private readonly LoadLockPumpRoutine        _pumpLoadLockRoutine;
        private readonly LoadLockPurgeRoutine       _purgeLoadLockRoutine;
        private readonly LoadLockLeakCheckRoutine   _loadLockLeakCheckRoutine;
        private readonly PMPurgeRoutine             _purgeRoutine;
        private readonly PMGaslinePurgeRoutine      _gaslinePurgeRoutine;
        private readonly PMLeakCheckRoutine         _leakCheckRoutine;
        private readonly GasBoxLeakCheckRoutine     _gasBoxLeakCheckRoutine;
        private readonly LLPlaceRoutine             _llPlaceRoutine;
        private readonly LLPickRoutine              _llPickRoutine;
        private readonly PMProcessRoutine           _processRoutine;
        private readonly GasFlowRoutine             _gasFlowRoutine;
        private readonly RFPowerSwitchRoutine       _rfPowerRoutine;

        public bool IsIdle
        {
            get { return fsm.State == (int)PMState.Idle; }
        }

        public bool IsError
        {
            get { return fsm.State == (int)PMState.Error; }
        }

        public bool IsInit
        {
            get { return fsm.State == (int)PMState.Init; }
        }
        public bool IsBusy
        {
            get { return !IsInit && !IsError && !IsIdle; }
        }

        public bool IsProcessing
        {
            get { return fsm.State == (int)PMState.PreProcess || fsm.State == (int)PMState.Processing || fsm.State == (int)PMState.PostProcess; }
        }

        public bool Check(int msg, out string reason, object[] objs)
        {
            reason = "";
            return true;
        }
        // 
        private bool CheckToPostMessage(int msg, params object[] args)
        {
            if (!fsm.FindTransition(fsm.State, msg))
            {
                EV.PostWarningLog(Module.ToString(), $"{Module} is in { (PMState)fsm.State} state，can not do {(MSG)msg}");
                return false;
            }

            fsm.PostMsg(msg, args);

            return true;
        }

        public int Invoke(string function, params object[] args)
        {
            switch (function)
            {
                case "Home":
                    CheckToPostMessage((int)MSG.Home);
                    return (int)MSG.Home;
            }

            return (int)FSM_MSG.NONE;
        }

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

        public PMEntity(ModuleName module)
        {
            Module                  = module;
            _chamber                = DEVICE.GetDevice<JetPM>(Module.ToString());
            _home                   = new PMHomeRoutine(_chamber);
            _startDryPumpRoutine    = new StartDryPumpRoutine(_chamber);
            _startTurboPumpRoutine  = new StartTurboPumpRoutine(_chamber);
            _ventRoutine            = new VentRoutine(_chamber);
            _pumpRoutine            = new PumpDownRoutine(_chamber);
            _ventLoadLockRoutine    = new LoadLockVentRoutine(_chamber);
            _pumpLoadLockRoutine    = new LoadLockPumpRoutine(_chamber);
            _purgeLoadLockRoutine   = new LoadLockPurgeRoutine(_chamber);
            _loadLockLeakCheckRoutine = new LoadLockLeakCheckRoutine(_chamber);
            _purgeRoutine           = new PMPurgeRoutine(_chamber);
            _gaslinePurgeRoutine    = new PMGaslinePurgeRoutine(_chamber);
            _leakCheckRoutine       = new PMLeakCheckRoutine(_chamber);
            _gasBoxLeakCheckRoutine = new GasBoxLeakCheckRoutine(_chamber);
            _llPlaceRoutine         = new LLPlaceRoutine(_chamber);
            _llPickRoutine          = new LLPickRoutine(_chamber, _ventLoadLockRoutine);
            _processRoutine         = new PMProcessRoutine(_chamber, _pumpRoutine);
            _gasFlowRoutine = new GasFlowRoutine(_chamber);
            _rfPowerRoutine = new RFPowerSwitchRoutine(_chamber, true);

            fsm                     = new StateMachine<PMEntity>(Module.ToString(), (int)PMState.Init, 50);

            //Idle
            EnterExitTransition((int)PMState.Idle, FnIdle,          (int)FSM_MSG.NONE,          null);
            EnterExitTransition<PMState, FSM_MSG>(PMState.Error,    fEnterError,                FSM_MSG.NONE,   null);


            //Home
            //EnterExitTransition((int)PMState.Homing, FnEnterHome, (int)FSM_MSG.NONE, FnExitHome);

            AnyStateTransition(MSG.Error,       FnError,            PMState.Error);

            Transition(PMState.Init,            FSM_MSG.TIMER,      FnTimeout,                  PMState.Init);
            Transition(PMState.Init,            MSG.Home,           FnStartHome,                PMState.Homing);
            Transition(PMState.Error,           MSG.Home,           FnStartHome,                PMState.Homing);
            Transition(PMState.Idle,            MSG.Home,           FnStartHome,                PMState.Homing);
            Transition(PMState.Homing,          FSM_MSG.TIMER,      FnMonitorHome,              PMState.Idle);

            Transition(PMState.Idle,            FSM_MSG.TIMER,      FnIdleTimeout,              PMState.Idle);
            Transition(PMState.Error,           FSM_MSG.TIMER,      FnErrorTimeout,             PMState.Error);

            //Launch DryPump sequence
            Transition(PMState.Idle,            MSG.LaunchPump,     FnLaunchPump,               PMState.LaunchingPump);
            Transition(PMState.LaunchingPump,   FSM_MSG.TIMER,      FnLaunchPumpTimeout,        PMState.Idle);
            Transition(PMState.LaunchingPump,   MSG.Abort,          FnAbortStartPumping,        PMState.Idle);

            //Launch TurboPump sequence
            Transition(PMState.Idle, MSG.LaunchTurboPump, FnLaunchTurboPump, PMState.LaunchingTurboPump);
            Transition(PMState.LaunchingTurboPump, FSM_MSG.TIMER, FnLaunchTurboPumpTimeout, PMState.Idle);
            Transition(PMState.LaunchingTurboPump, MSG.Abort, FnAbortStartTurboPumping, PMState.Idle);

            //vent sequence
            Transition(PMState.Idle,            MSG.Vent,           FnStartVent,                PMState.Venting);
            Transition(PMState.Pumping,         MSG.Vent,           FnVentToPumping,            PMState.Venting);
            Transition(PMState.Venting,         FSM_MSG.TIMER,      FnVentTimeout,              PMState.Idle);
            Transition(PMState.Venting,         MSG.Abort,          FnAbortVent,                PMState.Idle);

            //Pump sequence
            Transition(PMState.Idle,            MSG.Pump,           FnStartPumpDown,            PMState.Pumping);
            Transition(PMState.Venting,         MSG.Pump,           FnVentToPumping,            PMState.Pumping);
            Transition(PMState.Pumping,         FSM_MSG.TIMER,      FnPumpDownTimeout,          PMState.Idle);
            Transition(PMState.Pumping,         MSG.Abort,          FnAbortPumping,             PMState.Idle);

            //Pump Loadlock sequence
            Transition(PMState.Idle,            MSG.PumpLoadLock,   FnStartPumpDownLoadLock,    PMState.PumpingLoadLock);
            Transition(PMState.VentingLoadLock, MSG.PumpLoadLock,   FnVentLoadLockToPumpingLoadLock, PMState.PumpingLoadLock);
            Transition(PMState.PumpingLoadLock, FSM_MSG.TIMER,      FnPumpDownLoadLockTimeout,  PMState.Idle);
            Transition(PMState.PumpingLoadLock, MSG.Abort,          FnAbortPumpingLoadLock,     PMState.Idle);

            //Vent Loadlock sequence
            Transition(PMState.Idle,            MSG.VentLoadLock,   FnStartVentLoadlock,        PMState.VentingLoadLock);
            Transition(PMState.PumpingLoadLock, MSG.VentLoadLock,   FnPumpingLoadLockToVentLoadLock, PMState.VentingLoadLock);
            Transition(PMState.VentingLoadLock, FSM_MSG.TIMER,      FnVentLoadLockTimeout,      PMState.Idle);
            Transition(PMState.VentingLoadLock, MSG.Abort,          FnAbortVentLoadLock,        PMState.Idle);

            // Purge LoadLock sequence
            Transition(PMState.Idle,            MSG.PurgeLoadLock,  FnStartPurgeLoadlock,       PMState.PurgingLoadLock);
            Transition(PMState.PurgingLoadLock, FSM_MSG.TIMER,      FnPurgeLoadLockTimeout,     PMState.Idle);
            Transition(PMState.PurgingLoadLock, MSG.Abort,          FnAbortPurgeLoadLock,       PMState.Idle);

            //LoadLock Leak check sequence
            Transition(PMState.Idle,                MSG.LoadLockLeakCheck,  FnStartLoadLockLeakCheck,       PMState.LoadLockLeakCheck);
            Transition(PMState.LoadLockLeakCheck,   FSM_MSG.TIMER,          FnLoadLockLeakCheckTimeout,     PMState.Idle);
            Transition(PMState.LoadLockLeakCheck,   MSG.Abort,              FnAbortLoadLockLeakCheck,       PMState.Idle);

            // PM Purge sequence
            Transition(PMState.Idle,            MSG.CyclePurge,         FnStartPurge,           PMState.Purging);
            Transition(PMState.Purging,         FSM_MSG.TIMER,          FnPurgeTimeout,         PMState.Idle);
            Transition(PMState.Purging,         MSG.Abort,              FnAbortPurge,           PMState.Idle);

            // PM GasLine Purge sequence
            Transition(PMState.Idle,            MSG.GasLinePurge,   FnStartGasLinePurge,        PMState.GasLinePurge);
            Transition(PMState.GasLinePurge,    FSM_MSG.TIMER,      FnGasLinePurgeTimeout,      PMState.Idle);
            Transition(PMState.GasLinePurge,    MSG.Abort,          FnAbortGasLinePurge,        PMState.Idle);

            //PM Leak check sequence
            Transition(PMState.Idle,            MSG.LeakCheck,      FnStartPMLeakCheck,         PMState.LeakCheck);
            Transition(PMState.LeakCheck,       FSM_MSG.TIMER,      FnPMLeakCheckTimeout,       PMState.Idle);
            Transition(PMState.LeakCheck,       MSG.Abort,          FnAbortPMLeakCheck,         PMState.Idle);

            //PM Leak check sequence
            Transition(PMState.Idle,                MSG.GasLeakCheck,   FnStartGasBoxLeakCheck,     PMState.GasBoxLeakCheck);
            Transition(PMState.GasBoxLeakCheck,     FSM_MSG.TIMER,      FnGasBoxLeakCheckTimeout,   PMState.Idle);
            Transition(PMState.GasBoxLeakCheck,     MSG.Abort,          FnAbortGasBoxLeakCheck,     PMState.Idle);


            // PlaceWafer from LoadLock Arm sequence
            Transition(PMState.Idle,            MSG.LLPlace,        FnStartLLPlace,             PMState.LLPlacing);
            Transition(PMState.LLPlacing,       FSM_MSG.TIMER,      FnLLPlaceTimeout,           PMState.Idle);
            Transition(PMState.LLPlacing,       MSG.Abort,          FnAbortLLPlace,             PMState.Idle);

            // PickWafer to LoadLock Arm sequence
            Transition(PMState.Idle,            MSG.LLPick,         FnStartLLPick,              PMState.LLPicking);
            Transition(PMState.LLPicking,       FSM_MSG.TIMER,      FnLLPickTimeout,            PMState.Idle);
            Transition(PMState.LLPicking,       MSG.Abort,          FnAbortLLPick,              PMState.Idle);

            // Process
            Transition(PMState.Idle,            MSG.RunRecipe,      FnRunRecipe,                PMState.Processing);
            Transition(PMState.Processing,      FSM_MSG.TIMER,      FnProcessTimeout,           PMState.Idle);
            Transition(PMState.Processing,      MSG.Abort,          FnAbortProcess,             PMState.Idle);

            // Gas Flow sequence
            Transition(PMState.Idle,            MSG.GasFlow,        FnStartGasFlow,             PMState.GasFlowing);
            Transition(PMState.GasFlowing,      MSG.GasFlow,        FnStartGasFlow,             PMState.GasFlowing);
            Transition(PMState.GasFlowing,      FSM_MSG.TIMER,      FnGasFlowTimeout,           PMState.Idle);
            Transition(PMState.GasFlowing,      MSG.StopGasFlow,    FnStopGasFlow,              PMState.Idle);
            Transition(PMState.GasFlowing,      MSG.Abort,          FnAbortGasFlow,             PMState.Idle);

            //RF Power sequence
            Transition(PMState.Idle,            MSG.RfPower,        FnStartRfPower,             PMState.RfPowering);
            Transition(PMState.GasFlowing,      MSG.RfPower,        FnStartRfPower,             PMState.RfPowering);
            Transition(PMState.RfPowering,      FSM_MSG.TIMER,      FnRfPowerTimeout,           PMState.Idle);
            Transition(PMState.RfPowering,      MSG.Abort,          FnAbortRfPower,             PMState.Idle);

            Running = true;

            WaferManager.Instance.SubscribeLocation(ModuleName.PMA, 1);
            WaferManager.Instance.SubscribeLocation(ModuleName.LLA, 1);
        }

        private bool FnIdle(object[] objs)
        {
            Running = false;
            return true;
        }

        private bool fEnterError(object[] objs)
        {

            return true;
        }
        private bool FnError(object[] objs)
        {
            Running = false;

            if (((PMState)fsm.State == PMState.Processing) || ((PMState)fsm.State == PMState.PreProcess)
                || ((PMState)fsm.State == PMState.Homing) || ((PMState)fsm.State == PMState.LoadProcessRecipe))
                return false;

            if (IsProcessing)
            {
                WaferManager.Instance.UpdateWaferProcessStatus(Module, 0, EnumWaferProcessStatus.Failed);
            }

            return true;
        }

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

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

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

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

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

            return ret == RState.End;
        }

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

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

            return ret == RState.End;
        }

        private bool FnAbortStartPumping(object[] param)
        {
            _startDryPumpRoutine.Abort();
            return true;
        }
        private bool FnLaunchTurboPump(object[] param)
        {
            return _startTurboPumpRoutine.Start() == RState.Running;
        }

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

            return ret == RState.End;
        }

        private bool FnAbortStartTurboPumping(object[] param)
        {
            _startTurboPumpRoutine.Abort();
            return true;
        }

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

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

            return ret == RState.End;
        }

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

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

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

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

            return ret == RState.End;
        }

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

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

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

            return ret == RState.End;
        }

        private bool FnVentLoadLockToPumpingLoadLock(object[] param)
        {
            _ventLoadLockRoutine.Abort();
            return FnStartPumpDownLoadLock(param);
        }

        private bool FnAbortVentLoadLock(object[] param)
        {
            _ventLoadLockRoutine.Abort();
            return true;
        }

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

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

            return ret == RState.End;
        }

        private bool FnPumpingToVent(object[] param)
        {
            _pumpRoutine.Abort();
            return FnStartVent(param);
        }

        private bool FnPumpingLoadLockToVentLoadLock(object[] param)
        {
            _pumpLoadLockRoutine.Abort();
            return FnStartVentLoadlock(param);
        }

        private bool FnAbortPumpingLoadLock(object[] param)
        {
            _pumpLoadLockRoutine.Abort();
            return true;
        }
        private bool FnStartPurgeLoadlock(object[] param)
        {
            return _purgeLoadLockRoutine.Start() == RState.Running;
        }

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

            return ret == RState.End;
        }

        private bool FnAbortPurgeLoadLock(object[] param)
        {
            _purgeLoadLockRoutine.Abort();
            return true;
        }

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

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

            return ret == RState.End;
        }

        private bool FnAbortLoadLockLeakCheck(object[] param)
        {
            _loadLockLeakCheckRoutine.Abort();
            return true;
        }

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

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

            return ret == RState.End;
        }

        private bool FnAbortPurge(object[] param)
        {
            _purgeRoutine.Abort();
            return true;
        }

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

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

            return ret == RState.End;
        }
        private bool FnAbortGasLinePurge(object[] param)
        {
            _gaslinePurgeRoutine.Abort();
            return true;
        }

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

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

            return ret == RState.End;
        }

        private bool FnAbortPMLeakCheck(object[] param)
        {
            _leakCheckRoutine.Abort();
            return true;
        }

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

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

            return ret == RState.End;
        }

        private bool FnAbortGasBoxLeakCheck(object[] param)
        {
            _gasBoxLeakCheckRoutine.Abort();
            return true;
        }

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

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

            return ret == RState.End;
        }

        private bool FnAbortLLPlace(object[] param)
        {
            _llPlaceRoutine.Abort();
            return true;
        }

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

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

            return ret == RState.End;
        }

        private bool FnAbortLLPick(object[] param)
        {
            _llPickRoutine.Abort();
            return true;
        }

        private bool FnRunRecipe(object[] param)
        {
            return _processRoutine.Start(param) == RState.Running;
        }
        private bool FnProcessTimeout(object[] param)
        {
            RState ret = _processRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(MSG.Error);
                return false;
            }

            return ret == RState.End;
        }
        private bool FnAbortProcess(object[] param)
        {
            _processRoutine.Abort();
            return true;
        }

        private bool FnStartGasFlow(object[] param)
        {
            return _gasFlowRoutine.Start(param) == RState.Running;
        }
        private bool FnGasFlowTimeout(object[] param)
        {
            RState ret = _gasFlowRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(MSG.Error);
                return false;
            }

            return ret == RState.End;
        }

        private bool FnStopGasFlow(object[] param)
        {
            _gasFlowRoutine.Abort();
            return true;
        }

        private bool FnAbortGasFlow(object[] param)
        {
            _gasFlowRoutine.Abort();
            return true;
        }


        private bool FnStartRfPower(object[] param)
        {
            return _rfPowerRoutine.Start(param) == RState.Running;
        }
        private bool FnRfPowerTimeout(object[] param)
        {
            RState ret = _rfPowerRoutine.Monitor();
            if (ret == RState.Failed || ret == RState.Timeout)
            {
                PostMsg(MSG.Error);
                return false;
            }

            return ret == RState.End;
        }

        private bool FnAbortRfPower(object[] param)
        {
            _rfPowerRoutine.Abort();
            if(_gasFlowRoutine._gasStatus)
            {
                _gasFlowRoutine.StopFlow();
            }
            return true;
        }

        private void _debugRoutine()
        {
            int flag = 0;
            // Test Home routine
            if (flag == 1)
            {
                PostMsg(MSG.Home);
            }
            else if (flag == 2)
            {
                PostMsg(MSG.Vent);
            }
            else if (flag == 3)
            {
                PostMsg(MSG.Pump);
            }
            else if(flag == 4)
            {
                PostMsg(MSG.PumpLoadLock);
            }
            else if(flag == 5)
            {
                PostMsg(MSG.VentLoadLock);
            }
            else if(flag == 6)
            {
                PostMsg(MSG.PurgeLoadLock);
            }
            else if(flag == 7)
            {
                PostMsg(MSG.LaunchPump);
            }
            else if(flag == 8)
            {
                PostMsg(MSG.LaunchTurboPump);
            }
            else if(flag == 9)
            {
                PostMsg(MSG.LoadLockLeakCheck);
            }
            else if(flag == 10)
            {
                PostMsg(MSG.CyclePurge);
            }
            else if(flag == 11)
            {
                PostMsg(MSG.GasLinePurge);
            }
            else if(flag == 12)
            {
                PostMsg(MSG.LeakCheck);
            }
            else if(flag == 13)
            {
                PostMsg(MSG.GasLeakCheck);
            }
            else if(flag == 14)
            {
                PostMsg(MSG.LLPlace);
            }
            else if(flag == 15)
            {
                PostMsg(MSG.LLPick);
            }
            else if(flag == 16)
            {
                PostMsg(MSG.RunRecipe, "7777");
            }
        }
    }
}