Kepler-Release/Venus/Venus_RT/Devices/JetPM.cs

using Aitex.Core.Common.DeviceData;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Device.Unit;
using Aitex.Core.Util;
using Aitex.Core.RT.SCCore;
using Aitex.Core.RT.Log;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Device.Bases;
using MECF.Framework.Common.Equipment;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.PMs;
using System;
using System.Collections.Generic;
using Venus_Core;
using Venus_RT.Modules;
using Venus_RT.Modules.PMs;
using Venus_RT.Devices.IODevices;
using Venus_RT.Devices.EPD;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.OperationCenter;
using MECF.Framework.Common.SubstrateTrackings;
using IoMfc = Venus_RT.Devices.IODevices.IoMfc;
using System.Threading.Tasks;

namespace Venus_RT.Devices
{   
    class JetPM : PM
    {
        private readonly IoLid _Lid;
        private readonly IoLid _LidLoadlock;

        private readonly IoCylinder _slitDoor;
        private readonly IoCylinder _LiftPin;
        private readonly IoCylinder _LoadLockArm;

        private readonly IoValve _PVN21Valve;
        private readonly IoValve _PVN22Valve;
        private readonly IoValve _PV11Valve;
        private readonly IoValve _PV12Valve;
        private readonly IoValve _PV21Valve;
        private readonly IoValve _PV22Valve;
        private readonly IoValve _PV31Valve;
        private readonly IoValve _PV32Valve;
        private readonly IoValve _PV41Valve;
        private readonly IoValve _PV42Valve;
        private readonly IoValve _N2Valve;
        private readonly IoValve _Mfc1Valve;
        private readonly IoValve _Mfc2Valve;
        private readonly IoValve _Mfc3Valve;
        private readonly IoValve _Mfc4Valve;
        private readonly IoValve _Mfc5Valve;
        private readonly IoValve _Mfc6Valve;
        private readonly IoValve _Mfc7Valve;
        private readonly IoValve _Mfc8Valve;
        private readonly IoValve _PVHe1Valve;
        private readonly IoValve _PVHe2Valve;
        private readonly IoValve _GasFinalValve;
        private readonly IoValve _SoftPumpValve;
        private readonly IoValve _FastPumpValve;
        private readonly IoValve _TurboPumpPumpingValve;
        private readonly IoValve _TurboPumpPurgeValve;
        private readonly IoValve _GuageValve;
        private readonly IoValve _LoadlockVentValve;
        private readonly IoValve _LoadlockPumpingValve;

        private readonly IoSensor _ATM_sw;
        private readonly IoSensor _CDAPressure;
        private readonly IoSensor _ATM_Loadlock_sw;
        private readonly IoSensor _N2Pressure_sw;
        private readonly IoSensor _VAC_sw;
        private readonly IoSensor _WLK_sw;
        private readonly IoSensor _Water_Flow;
        private readonly IoSensor _RFG_Interlock;
        private readonly IoSensor _PM_Lid_Closed;
        private readonly IoSensor _Source_RF_Fan;
        private readonly IoSensor _PM_SlitDoor_Closed;
        private readonly IoSensor _TurboPumpInterlock;
        private readonly IoSensor _GasBoxDoor;
        private readonly IoSensor _GasBoxPressure;


        private readonly PumpBase _MainPump;
        private readonly ESC5HighVoltage _ESCHV;
        private readonly AdixenTurboPump _TurboPump;
        private readonly PendulumValve _pendulumValve;

        private readonly ChillerBase _Chiller;

        private readonly RfPowerBase _Generator;//srf=>AdTecGenerator
        private readonly RfPowerBase _GeneratorBias;//brf=>CometRF
        private readonly RfMatchBase _Match;
        private readonly RfMatchBase _BiasMatch;

        private readonly IoSignalTower _SignalTower;

        private readonly IoHeater _ForelineTC;
        private readonly IoHeater _WallTC;

        private readonly IoPressureControl _pressureController;

        private readonly IoGasStick[] _gasLines;
        private readonly IoGasStick _gasLineN2;
        private readonly IoBacksideHe _backsideHe;

        private readonly IoMfc _heMfc;

        // EndPoint 
        private readonly EPDClient _epdClient;

        private readonly double _foreline_interlock_pressure = 750;

        public List<string> EPDCfgList => _epdClient.CFGFileList;
        public bool EPDCaptured => _epdClient.Captured;
        public bool EPDConnected => _epdClient.IsEPDConnected;


        // 盖子的状态
        public bool IsLidClosed => _Lid.OFFFeedback;
        public bool IsLidLoadlockClosed => _LidLoadlock.OFFFeedback;

        public bool IsSlitDoorClosed => !_slitDoor.ONFeedback && _slitDoor.OFFFeedback;

        public bool IsPumpRunning => _MainPump.IsRunning;
        public bool IsTurboPumpRunning => _TurboPump.IsRunning;
        public bool IsTurboPumpAtSpeed => _TurboPump.AtSpeed;
        public float TurboPumpSpeed => _TurboPump.Speed;
        public bool HasPumpError => _MainPump.IsError || !_MainPump.IsRunning;

        public bool HasTurboPumpError => _TurboPump.IsError || !_TurboPump.IsRunning;

        public bool IsCDA_OK => _CDAPressure.Value;

        public bool IsFastPumpOpened => _FastPumpValve.Status;
        public bool IsSoftPumpOpened => _SoftPumpValve.Status;
        public bool IsMfc1ValveOpened => _Mfc1Valve.Status;
        public bool IsMfc2ValveOpened => _Mfc2Valve.Status;
        public bool IsMfc3ValveOpened => _Mfc3Valve.Status;
        public bool IsMfc4ValveOpened => _Mfc4Valve.Status;
        public bool IsMfc5ValveOpened => _Mfc5Valve.Status;
        public bool IsMfc6ValveOpened => _Mfc6Valve.Status;
        public bool IsMfc7ValveOpened => _Mfc7Valve.Status;
        public bool IsMfc8ValveOpened => _Mfc8Valve.Status;
        // 压力信号
        public bool IsATM => _ATM_sw.Value;

        public bool PVN22ValveIsOpen => _PVN22Valve.Status;
        public bool LiftPinIsDown => _LiftPin.OFFFeedback;
        public bool LiftPinIsUp => _LiftPin.ONFeedback;

        public bool IsATMLoadlock => _ATM_Loadlock_sw.Value;
        public bool IsVACLoadLock => LoadlockPressure <= 1000;
        public bool IsVAC => _VAC_sw.Value;
        public bool IsWaterFlowOk => _Water_Flow.Value;
        public bool IsWLK => _WLK_sw.Value;
        public bool IsRFGInterlockOn => _RFG_Interlock.Value;

        public bool PMLidClosed => _PM_Lid_Closed.Value;
        public bool TurboPumpInterlock => _TurboPumpInterlock.Value;
        public bool SourceRFFanInterlock => _Source_RF_Fan.Value;
        public bool SlitDoorClosed => _PM_SlitDoor_Closed.Value;

        public double ProcessPressure => _pressureController.ProcessGauge.Value;
        public override double ChamberPressure => _pressureController.PressureGauge.Value;
        public double ForelinePressure => _pressureController.ForelineGauge.Value;
        public double TargetPressure => _pressureController.TargetPressure;
        public double LoadlockPressure => _pressureController.LoadLockGauge.Value;
        public double ESCHePressure => _pressureController.ESCHeGauge.Value;

        public int ESCOutputVoltage => _ESCHV.OutputVoltage;
        public bool IsHVOn => _ESCHV.IsOn;

        public float CoolantInletTempFB => _Chiller.CoolantInletTcFeedback;
        public float CoolantOutletTempFB => _Chiller.CoolantOutletTcFeedback;

        //Loadlock_Arm
        public bool IsLoadlockArmRetract => _LoadLockArm.OFFFeedback;
        public bool IsLoadlockArmExtend => _LoadLockArm.ONFeedback;
        //Loadlock_Arm DO
        public bool LoadlockArmRetract => _LoadLockArm.OFFSetPoint;
        public bool LoadlockArmExtend => _LoadLockArm.ONSetPoint;

        public float ReflectPower => _Generator.ReflectPower;
        public float BiasReflectPower => _GeneratorBias.ReflectPower;

        public bool BackSideHeOutOfRange => _backsideHe.OutOfRange;

        public new ModuleName Module { get; }

        public MovementPosition LiftPinPosition
        {
            get
            {
                MovementPosition pos = MovementPosition.Unknown;
                if (_LiftPin.ONFeedback && !_LiftPin.OFFFeedback)
                {
                    pos = MovementPosition.Up;
                }
                else if (!_LiftPin.ONFeedback && _LiftPin.OFFFeedback)
                {
                    pos = MovementPosition.Down;
                }
                return pos;
            }
        }

        public override bool CheckAtm()
        {
            return _ATM_sw.Value && ChamberPressure > 700000;
        }
        public bool CheckSlitDoorOpen()
        {
            return _slitDoor.State == CylinderState.Open;
        }

        public bool CheckSlitDoorClose()
        {
            return _slitDoor.State == CylinderState.Close;
        }

        public bool CheckLiftUp()
        {
            return _LiftPin.State == CylinderState.Open;
        }

        public bool CheckLiftDown()
        {
            return _LiftPin.State == CylinderState.Close;
        }
        public double TotalGasSetpoint
        {
            get
            {
                double sum = 0;
                foreach (var gas in _gasLines)
                {
                    sum += gas.FlowSP;
                }
                return sum;
            }
        }

        public bool HasGasOutOfRange
        {
            get
            {
                foreach (var gas in _gasLines)
                {
                    if (!gas.IsOutOfRange)
                        return false;
                }
                return true;
            }
        }

        public JetPM(ModuleName mod) : base(mod.ToString())
        {
            Module = mod;

            _Lid = DEVICE.GetDevice<IoLid>($"{Module}.{VenusDevice.Lid}");
            _LidLoadlock = DEVICE.GetDevice<IoLid>($"{Module}.{VenusDevice.LidLoadlock}");

            _slitDoor = DEVICE.GetDevice<IoCylinder>($"{Module}.{VenusDevice.SlitDoor}");
            _LiftPin = DEVICE.GetDevice<IoCylinder>($"{Module}.{VenusDevice.LiftPin}");
            _LoadLockArm = DEVICE.GetDevice<IoCylinder>($"{Module}.{VenusDevice.LoadLockArm}");

            _PVN21Valve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.ValvePVN21}");
            _PVN22Valve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.ValvePVN22}");
            _PV11Valve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.ValvePV11}");
            _PV12Valve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.ValvePV12}");
            _PV21Valve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.ValvePV21}");
            _PV22Valve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.ValvePV22}");
            _PV31Valve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.ValvePV31}");
            _PV32Valve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.ValvePV32}");
            _PV41Valve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.ValvePV41}");
            _PV42Valve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.ValvePV42}");
            _N2Valve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.ValveN2}");
            _Mfc1Valve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.ValveMfc1}");
            _Mfc2Valve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.ValveMfc2}");
            _Mfc3Valve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.ValveMfc2}");
            _Mfc4Valve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.ValveMfc2}");
            _Mfc5Valve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.ValveMfc2}");
            _Mfc6Valve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.ValveMfc2}");
            _Mfc7Valve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.ValveMfc2}");
            _Mfc8Valve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.ValveMfc2}");
            _PVHe1Valve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.ValvePVHe1}");
            _PVHe2Valve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.ValvePVHe2}");
            _GasFinalValve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.ValveGasFinal}");
            _SoftPumpValve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.ValveSoftPump}");
            _FastPumpValve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.ValveFastPump}");
            _TurboPumpPumpingValve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.ValveTurboPumpPumping}");
            _TurboPumpPurgeValve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.ValveTurboPumpPurge}");
            _GuageValve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.ValveGuage}");
            _LoadlockVentValve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.ValveLoadlockVent}");
            _LoadlockPumpingValve = DEVICE.GetDevice<IoValve>($"{Module}.{VenusDevice.ValveLoadlockPumping}");
            _heMfc= DEVICE.GetDevice<IoMfc>($"{Module}.MfcHe");
            _ATM_sw                 = DEVICE.GetDevice<IoSensor>($"{Module}.SensorATMSwitch");
            _ATM_Loadlock_sw        = DEVICE.GetDevice<IoSensor>($"{Module}.SensorLoadlockATMSwitch");
            _N2Pressure_sw          = DEVICE.GetDevice<IoSensor>($"{Module}.N2PressureOk");
            _VAC_sw                 = DEVICE.GetDevice<IoSensor>($"{Module}.SensorVacSwitch");
            _Water_Flow             = DEVICE.GetDevice<IoSensor>($"{Module}.SensorWaterFlowOk");
            _WLK_sw                 = DEVICE.GetDevice<IoSensor>($"{Module}.SensorWaterLeakOk");
            _CDAPressure            = DEVICE.GetDevice<IoSensor>($"{Module}.SensorCDAPressureOk");
            _RFG_Interlock          = DEVICE.GetDevice<IoSensor>($"{Module}.GeneratorInterlock");

            _PM_Lid_Closed          = DEVICE.GetDevice<IoSensor>($"{Module}.SensorPMLidClosed");
            _Source_RF_Fan          = DEVICE.GetDevice<IoSensor>($"{Module}.SensorSourceRFFan");
            _PM_SlitDoor_Closed     = DEVICE.GetDevice<IoSensor>($"{Module}.SensorSlitDoorClosed");
            _TurboPumpInterlock     = DEVICE.GetDevice<IoSensor>($"{Module}.TurboPumpInterlock");
            _GasBoxDoor             = DEVICE.GetDevice<IoSensor>($"{Module}.GasBoxDoorSW");
            _GasBoxPressure         = DEVICE.GetDevice<IoSensor>($"{Module}.GasBoxPressureSW");


            _ForelineTC = DEVICE.GetDevice<IoHeater>($"{Module}.ForelineHeater");
            _WallTC = DEVICE.GetDevice<IoHeater>($"{Module}.WallHeater");


            _SignalTower = DEVICE.GetDevice<IoSignalTower>($"{Module}.SignalTower");

            _CDAPressure = DEVICE.GetDevice<IoSensor>($"{Module}.SensorCDAPressureOk");
            _pressureController = DEVICE.GetDevice<IoPressureControl>($"{Module}.{VenusDevice.PressureControl}");

            _gasLines = new IoGasStick[8];
            for (int index = 0; index < 8; index++)
            {
                _gasLines[index] = DEVICE.GetDevice<IoGasStick>($"{Module}.GasStick{index + 1}");
            }

            _gasLineN2 = DEVICE.GetDevice<IoGasStick>($"{Module}.GasStickN2");
            _backsideHe = DEVICE.GetDevice<IoBacksideHe>($"{Module}.BacksideHelium");

            _MainPump = DEVICE.GetDevice<PumpBase>($"{Module}.{VenusDevice.MainPump}");

            // RS232 Dry pump, SKY
            if (SC.GetValue<int>($"{mod}.DryPump.CommunicationType") == (int)CommunicationType.RS232)
            {
                if (SC.GetValue<int>($"{mod}.DryPump.MFG") == (int)DryPumpMFG.SKY)
                {
                    _MainPump = DEVICE.GetDevice<SkyPump>($"{Module}.{VenusDevice.MainPump}");
                }
                else if (SC.GetValue<int>($"{mod}.DryPump.MFG") == (int)DryPumpMFG.Edwards)
                {
                    _MainPump = DEVICE.GetDevice<EdwardsPump>($"{Module}.{VenusDevice.MainPump}");
                }
            }

            _ESCHV          = DEVICE.GetDevice<ESC5HighVoltage>($"{Module}.{VenusDevice.ESCHV}");
            _TurboPump      = DEVICE.GetDevice<AdixenTurboPump>($"{Module}.{VenusDevice.TurboPump}");
            _pendulumValve  = DEVICE.GetDevice<PendulumValve>($"{Module}.{VenusDevice.PendulumValve}");

            if (SC.GetValue<bool>($"{mod}.Chiller.EnableChiller") &&
                SC.GetValue<int>($"{mod}.Chiller.CommunicationType") == (int)CommunicationType.RS232)
            {
                if (SC.GetValue<int>($"{mod}.Chiller.MFG") == (int)ChillerMFG.SMC)
                {
                    _Chiller = DEVICE.GetDevice<SMCChiller>($"{Module}.{VenusDevice.Chiller}");
                }
                else if (SC.GetValue<int>($"{mod}.Chiller.MFG") == (int)ChillerMFG.AIRSYS)
                {
                    _Chiller = DEVICE.GetDevice<AIRSYSChiller>($"{Module}.{VenusDevice.Chiller}");
                }
            }
               

            // RS223 AdTec Generator
            if (SC.GetValue<int>($"{mod}.Rf.CommunicationType") == (int)CommunicationType.RS232 &&
                SC.GetValue<int>($"{mod}.Rf.MFG") == (int)GeneratorMFG.AdTec)
            {
                _Generator = DEVICE.GetDevice<AdTecGenerator>($"{Module}.{VenusDevice.Rf}");
            }

            // Ethernet Comet Generator Bias
            if (SC.GetValue<bool>($"{mod}.BiasRf.EnableBiasRF"))
            {
                if (SC.GetValue<int>($"{mod}.BiasRf.CommunicationType") == (int)CommunicationType.Ethernet &&
                    SC.GetValue<int>($"{mod}.BiasRf.MFG") == (int)GeneratorMFG.Comet)
                {
                    _GeneratorBias = DEVICE.GetDevice<CometRF>($"{Module}.{VenusDevice.BiasRf}");
                }
                else if (SC.GetValue<int>($"{mod}.BiasRf.MFG") == (int)GeneratorMFG.AdTec)
                {
                    _GeneratorBias = DEVICE.GetDevice<AdTecGenerator>($"{Module}.{VenusDevice.BiasRf}");
                }
            }

            // RS232 AdTec match
            if (SC.GetValue<int>($"{mod}.Match.CommunicationType") == (int)CommunicationType.RS232 &&
                SC.GetValue<int>($"{mod}.Match.MFG") == (int)MatchMFG.AdTec)
            {
                _Match = DEVICE.GetDevice<AdTecMatch>($"{Module}.{VenusDevice.Match}");
            }

            // Bias Match
            if (SC.GetValue<bool>($"{mod}.BiasMatch.EnableBiasMatch") &&
                SC.GetValue<int>($"{mod}.BiasMatch.CommunicationType") == (int)CommunicationType.RS232 &&
                SC.GetValue<int>($"{mod}.BiasMatch.MFG") == (int)MatchMFG.AdTec)
            {
                _BiasMatch = DEVICE.GetDevice<AdTecMatch>($"{Module}.{VenusDevice.BiasMatch}");
            }

            _epdClient = DEVICE.GetDevice<EPDClient>($"{Module}.{VenusDevice.EndPoint}");

            DATA.Subscribe($"{Name}.ForelinePressure", () => ForelinePressure);
            DATA.Subscribe($"{Name}.ProcessHighPressure", () => _pressureController.ProcessHigh.Value);
            DATA.Subscribe($"{Name}.ProcessLowPressure",  () => _pressureController.ProcessLow.Value);
            DATA.Subscribe($"{Name}.ESCHePressure", () => ESCHePressure);
            DATA.Subscribe($"{Name}.LoadlockPressure", () => LoadlockPressure);

            DATA.Subscribe($"{Name}.IsATM", () => IsATM);
            DATA.Subscribe($"{Name}.IsVAC", () => IsVAC);
            DATA.Subscribe($"{Name}.LiftPinIsUp", () => LiftPinIsUp);
            DATA.Subscribe($"{Name}.LiftPinIsDown", () => LiftPinIsDown);
            DATA.Subscribe($"{Name}.PumpIsRunning", () => IsPumpRunning);
            DATA.Subscribe($"{Name}.TurboPumpIsRunning", () => IsTurboPumpRunning);
            DATA.Subscribe($"{Name}.IsSlitDoorClosed", () => IsSlitDoorClosed);
            DATA.Subscribe($"{Name}.IsLidClosed", () => IsLidClosed);
            DATA.Subscribe($"{Name}.SRfIsOn", () => _Generator.IsPowerOn);
            DATA.Subscribe($"{Name}.SRfForwardPowerFeedBack", () => _Generator.ForwardPower);
            DATA.Subscribe($"{Name}.SRfReflectPower", () => ReflectPower);
            DATA.Subscribe($"{Name}.SRfMatchIsAuto", () =>
            {
                return _Match?.TuneMode1== EnumRfMatchTuneMode.Auto ? true : false;
            });
            DATA.Subscribe($"{Name}.BRfIsOn", () =>
            {
                return _GeneratorBias == null ? false : _GeneratorBias.IsPowerOn;
            });
            DATA.Subscribe($"{Name}.BRfForwardPowerFeedBack", () => _GeneratorBias.ForwardPower);
            DATA.Subscribe($"{Name}.BRfReflectPower", () => BiasReflectPower);
            DATA.Subscribe($"{Name}.TurboPumpRotationalSpeed", () => _TurboPump?.RotationalSpeed);
            DATA.Subscribe($"{Name}.PendulumValve.Position", () => _pendulumValve.Position);
            DATA.Subscribe($"{Name}.PendulumValve.Pressure", () => _pendulumValve.Pressure);
            DATA.Subscribe($"{Name}.PendulumValve.IsOpen", () => _pendulumValve.IsOpen);

            DATA.Subscribe($"{Name}.IsWaterFlowOk", () => IsWaterFlowOk);
            DATA.Subscribe($"{Name}.IsWLK", () => IsWLK);
            DATA.Subscribe($"{Name}.IsCDA_OK", () => IsCDA_OK);
            DATA.Subscribe($"{Name}.SourceRFFanInterlock", () => SourceRFFanInterlock);
            DATA.Subscribe($"{Name}.IsTurboPumpInterlock", () => TurboPumpInterlock);

            DATA.Subscribe($"{Name}.IsATMLoadlock", () => IsATMLoadlock);
            DATA.Subscribe($"{Name}.IsVACLoadlock", () => IsVACLoadLock);

            DATA.Subscribe($"{Name}.SensorGasBoxDoor", () => _GasBoxDoor.Value);
            DATA.Subscribe($"{Name}.SensorGasBoxPressure", () => _GasBoxPressure.Value);


            DATA.Subscribe($"{Name}.WallTempFeedBack", () => _WallTC.MonitorTcFeedback);





            DATA.Subscribe($"{Name}.GetPVPosition", () => GetPVPosition());

            
            DATA.Subscribe($"{Name}.ESCHV.OutputVoltage", () => ESCOutputVoltage);
            DATA.Subscribe($"{Name}.ESCHV.IsOn", () => IsHVOn);
            DATA.Subscribe($"{Name}.Chiller.Temp", () => CoolantOutletTempFB);
            DATA.Subscribe($"{Name}.Chiller.IsOn", () => _Chiller.IsRunning);
            DATA.Subscribe($"{Name}.IsTurboPumpAtSpeed", () => IsTurboPumpAtSpeed);
            
            //DATA.Subscribe($"{Name}.TurboPumpIsRunning", () => _);

            OP.Subscribe($"{Module}.SetLiftPin", (cmd, args) => {
                if ((bool)args[0] == true)
                {
                  return SetLiftPin(MovementPosition.Up, out _);
                }
                else
                { 
                  return  SetLiftPin(MovementPosition.Down, out _);
                }
                
            });

            OP.Subscribe($"{Module}.SetSRf",  (cmd, args) => 
            {
                var ison = (bool)args[1];
                if (ison == true)
                {
                    GeneratorPowerOn(true);

                    GeneratorSetpower((float)args[0]);
    
                    
                }
                else
                {
                    GeneratorPowerOn(false);
                }               
                return true;
            });

            OP.Subscribe($"{Module}.SetBRf", (cmd, args) => {

                var ison = (bool)args[1];
                if (ison == true)
                {
                    GeneratorBiasPowerOn(true);

                    GeneratorBiasSetpower((float)args[0]);                    
                }
                else
                {
                    GeneratorBiasPowerOn(false);
                }
                return true;
            });

            //OP.Subscribe($"{Module}.SetMatchPosition", (cmd, args) => {
            //    float value1;
            //    float value2;
            //    float.TryParse(args[0].ToString(),out value1);
            //    float.TryParse(args[1].ToString(), out value2);


            //    SetMatchPosition(value1, value2);
            //    return true;
            //});
            //OP.Subscribe($"{Module}.SetBiasMatchPosition", (cmd, args) => {
            //    float value1;
            //    float value2;
            //    float.TryParse(args[0].ToString(), out value1);
            //    float.TryParse(args[1].ToString(), out value2);


            //    SetBiasMatchPosition(value1, value2);
            //    return true;
            //});

            OP.Subscribe($"{Module}.SetSlitDoor", (cmd, args) => {
                SetSlitDoor((bool)args[0], out _);
                return true;
            });

            OP.Subscribe($"{Module}.SetESCHVIsOn", (cmd, args) => {
                _ESCHV.SetPowerOnOff((bool)args[0]);
                return true;
            });
            OP.Subscribe($"{Module}.SetESCHV", (cmd, args) => {
                SetESCClampVoltage((int)args[0]);
                return true;
            });

            OP.Subscribe($"{Module}.SetPVPostion", (cmd, args) => {
                SetPVPostion((int)args[0]);
                return true;
            });

            OP.Subscribe($"{Module}.SetPVPressure", (cmd, args) => {
                SetPVPressure((int)args[0]);
                return true;
            });

            OP.Subscribe($"{Module}.ClosePump", (cmd, args) => {
                TurnDryPump(false);
                return true;
            });
            OP.Subscribe($"{Module}.CloseTurboPump", (cmd, args) => {
                TurnTurboPump(false);
                return true;
            });
            OP.Subscribe($"{Module}.ControlValve", (cmd, args) => {
                OpenValve((ValveType)((int)args[0]), (bool)args[1]);
                return true;
            });

            OP.Subscribe($"{Module}.TurnPendulumValve", (cmd, args) => {
                TurnPendulumValve((bool)args[0]);
                return true;
            });

            OP.Subscribe($"{Module}.HeatChiller", (cmd, args) => {
                HeatChiller((float)args[0], (float)args[1]);
                return true;
            });
            OP.Subscribe($"{Module}.OnOffChiller", (cmd, args) => {
                OnOffChiller((bool)args[0]);
                return true;
            });
            OP.Subscribe($"{Module}.WallChiller", (cmd, args) => {
                float value;
                float.TryParse(args[0].ToString(),out value);
                _WallTC.RampTemp ( value);
                return true;
            });
            OP.Subscribe($"{Module}.SetBacksideHeFlow", (cmd, args) => {
                double value;
                double.TryParse(args[0].ToString(), out value);
                SetBacksideHeFlow(value);
                return true;
            });
            OP.Subscribe($"{Module}.SetBacksideHePressure", (cmd, args) =>
            {
                float value;
                float.TryParse(args[0].ToString(),out value);
                SetBacksideHePressure(value);
                return true;
            });
            _foreline_interlock_pressure = SC.GetValue<double>($"{mod}.ForelineInterlockPressure");
        }

        public void CloseValves()
        {
            _PVN21Valve.TurnValve(false, out _);
            //_PVN22Valve.TurnValve(false, out _);
            _PV11Valve.TurnValve(false, out _);
            _PV12Valve.TurnValve(false, out _);
            _PV21Valve.TurnValve(false, out _);
            _PV22Valve.TurnValve(false, out _);
            _PV31Valve.TurnValve(false, out _);
            _PV32Valve.TurnValve(false, out _);
            _PV41Valve.TurnValve(false, out _);
            _PV42Valve.TurnValve(false, out _);

            _PVHe1Valve.TurnValve(false, out _);
            _PVHe2Valve.TurnValve(false, out _);
            _GasFinalValve.TurnValve(false, out _);
            _SoftPumpValve.TurnValve(false, out _);
            _FastPumpValve.TurnValve(false, out _);
            _TurboPumpPumpingValve.TurnValve(false, out _);
            _TurboPumpPurgeValve.TurnValve(false, out _);
            _GuageValve.TurnValve(false, out _);
            _LoadlockVentValve.TurnValve(false, out _);
            _LoadlockPumpingValve.TurnValve(false, out _);

            _N2Valve.TurnValve(false, out _);
            _FastPumpValve.TurnValve(false, out _);

            _Mfc1Valve.TurnValve(false, out _);
            _Mfc2Valve.TurnValve(false, out _);
            _Mfc3Valve.TurnValve(false, out _);
            _Mfc4Valve.TurnValve(false, out _);
            _Mfc5Valve.TurnValve(false, out _);
            _Mfc6Valve.TurnValve(false, out _);
            _Mfc7Valve.TurnValve(false, out _);
            _Mfc8Valve.TurnValve(false, out _);

            foreach (var stick in _gasLines)
            {
                stick.Stop();
            }
        }

        public void TurnDryPump(bool on)
        {
            //_pressureController.StartPump(on);
            _MainPump?.SetPumpOnOff(on);
        }

        public void TurnTurboPump(bool on)
        {
            _TurboPump?.SetPumpOnOff(on);
        }

        public void OpenValve(ValveType vlvType, bool on)
        {
            switch (vlvType)
            {
                case ValveType.PVN21:
                    _PVN21Valve.TurnValve(on, out _);
                    break;
                case ValveType.PVN22:
                    _PVN22Valve.TurnValve(on, out _);
                    LOG.Write(eEvent.EV_DEVICE_INFO, Module, $"{(on ? "打开" : "关闭")} 阀 {vlvType.ToString()}");

                    break;
                case ValveType.PV11:
                    _PV11Valve.TurnValve(on, out _);
                    break;
                case ValveType.PV12:
                    _PV12Valve.TurnValve(on, out _);
                    break;
                case ValveType.PV21:
                    _PV21Valve.TurnValve(on, out _);
                    break;
                case ValveType.PV22:
                    _PV22Valve.TurnValve(on, out _);
                    break;
                case ValveType.PV31:
                    _PV31Valve.TurnValve(on, out _);
                    break;
                case ValveType.PV32:
                    _PV32Valve.TurnValve(on, out _);
                    break;
                case ValveType.PV41:
                    _PV41Valve.TurnValve(on, out _);
                    break;
                case ValveType.PV42:
                    _PV42Valve.TurnValve(on, out _);
                    break;
                case ValveType.N2:
                    _N2Valve.TurnValve(on, out _);
                    break;
                case ValveType.PVHe1:
                    _PVHe1Valve.TurnValve(on, out _);
                    break;
                case ValveType.PVHe2:
                    _PVHe2Valve.TurnValve(on, out _);
                    break;
                case ValveType.GasFinal:
                    _GasFinalValve.TurnValve(on, out _);
                    break;
                case ValveType.SoftPump:
                    _SoftPumpValve.TurnValve(on, out _);
                    break;
                case ValveType.FastPump:
                    _FastPumpValve.TurnValve(on, out _);
                    break;
                case ValveType.TurboPumpPumping:
                    _TurboPumpPumpingValve.TurnValve(on, out _);
                    break;
                case ValveType.TurboPumpPurge:
                    _TurboPumpPurgeValve.TurnValve(on, out _);
                    break;
                case ValveType.Guage:
                    _GuageValve.TurnValve(on, out _);
                    break;
                case ValveType.LoadlockVent:
                    _LoadlockVentValve.TurnValve(on, out _);
                    break;
                case ValveType.LoadlockPumping:
                    _LoadlockPumpingValve.TurnValve(on, out _);
                    break;
                case ValveType.Mfc1:
                    _Mfc1Valve.TurnValve(on, out _);
                    break;
                case ValveType.Mfc2:
                    _Mfc2Valve.TurnValve(on, out _);
                    break;
                case ValveType.Mfc3:
                    _Mfc3Valve.TurnValve(on, out _);
                    break;
                case ValveType.Mfc4:
                    _Mfc4Valve.TurnValve(on, out _);
                    break;
                case ValveType.Mfc5:
                    _Mfc5Valve.TurnValve(on, out _);
                    break;
                case ValveType.Mfc6:
                    _Mfc6Valve.TurnValve(on, out _);
                    break;
                case ValveType.Mfc7:
                    _Mfc7Valve.TurnValve(on, out _);
                    break;
                case ValveType.Mfc8:
                    _Mfc8Valve.TurnValve(on, out _);
                    break;
                default:
                    throw new ArgumentOutOfRangeException($"Argument error {vlvType}-{on}");

            }
        }

        public override void Monitor()
        {
            foreach (var gas in _gasLines)
            {
                gas.Monitor();
            }

            CheckPermanentInterlock();
        }

        private void CheckPermanentInterlock()
        {
            if (ProcessPressure > 100 && _GuageValve.SetPoint)
            {
                _GuageValve.TurnValve(false, out _);
                LOG.Write(eEvent.WARN_DEVICE_INFO, Module, $"Process pressure:{ProcessPressure} exceed 100 mtorr, Guage Valve (DO-31) closed automaticlly.");
            }
        }

        public void CheckIdleInterlock()
        {
            if(ForelinePressure > _foreline_interlock_pressure)
            {
                if(_TurboPumpPumpingValve.SetPoint || _TurboPumpPurgeValve.SetPoint || _pendulumValve.IsOpen)
                {
                    _pendulumValve.TurnValve(false);
                    _TurboPumpPurgeValve.TurnValve(false, out _);
                    _TurboPumpPumpingValve.TurnValve(false, out _);

                    LOG.Write(eEvent.WARN_DEVICE_INFO, Module, $"Foreline pressure:{ForelinePressure} exceed {_foreline_interlock_pressure} mtorr, Pendulum valve & PV6 & PV7 closed automaticlly.");
                }
            }
        }

        public void BuzzerBlinking(double time)
        {
            _SignalTower.BuzzerBlinking(time);
        }

        public void SwitchOnBuzzerAndRed()
        {
            _SignalTower.SwitchOnBuzzerAndRed("", null);
        }

        public override void Home()
        {
            // 与yp讨论过，PM 初始化不需要

            SetLiftPin(MovementPosition.Down, out _);

            SetSlitDoor(false, out _);

            //2023/03/08添加
            OpenValve(ValveType.PVN22, true);
        }

        public bool SetLiftPin(MovementPosition dirt, out string reason)
        {
            reason = string.Empty;

            switch (dirt)
            {
                case MovementPosition.Down:
                    return _LiftPin.SetCylinder(false, out reason);
                case MovementPosition.Up:
                    return _LiftPin.SetCylinder(true, out reason);
                case MovementPosition.Left:
                case MovementPosition.Right:
                case MovementPosition.Middle:
                    throw new ArgumentException("Movement argument error");
            }

            return true;
        }

        public void SetSlitDoor(bool open, out string reason)
        {
            reason = string.Empty;

            if(open)
            {
                bool _isATMMode = SC.GetValue<bool>("System.IsATMMode");
                if(_isATMMode)
                {
                    if(!IsATM)
                    {
                        reason = $"{Module} is not ATM, can not open slit door";
                        LOG.Write(eEvent.ERR_DEVICE_INFO, Module, reason);
                        return;
                    }

                    if(!IsATMLoadlock)
                    {
                        reason = $"LoadLock is not ATM, can not open slit door";
                        LOG.Write(eEvent.ERR_DEVICE_INFO, Module, reason);
                        return;
                    }
                }
                else
                {
                    double maxPressureDifference = SC.GetValue<double>("System.PMLLMaxPressureDifference");
                    if (Math.Abs(LoadlockPressure - ChamberPressure) > maxPressureDifference)
                    {
                        reason = $"{Module} and Loadlock pressure difference exceeds the max limit {maxPressureDifference}";
                        LOG.Write(eEvent.ERR_DEVICE_INFO, Module, reason);
                        return;
                    }
                }
                
            }

            _slitDoor.SetCylinder(open, out reason);
        }

        public bool RetractWafer()
        {
            return _LoadLockArm.SetCylinder(false, out _);
        }

        public bool ExtendWafer()
        {
            return _LoadLockArm.SetCylinder(true, out _);
        }
        public bool FlowGas(int gasNum, double val)
        {
            if (_gasLines.Length <= gasNum)
                return false;

            _gasLines[gasNum].Flow(val);
            return true;
        }

        public bool StopGas(int gasNum)
        {
            if (_gasLines.Length <= gasNum)
                return false;

            _gasLines[gasNum].Stop();
            return true;
        }

        public bool FlowN2(double val)
        {
            _gasLineN2.Flow(val);
            return true;
        }

        public bool StopN2()
        {
            _gasLineN2.Stop();
            return true;
        }

        public void StopAllGases()
        {
            foreach (var line in _gasLines)
            {
                line.Stop();
            }
        }

        public bool TurnPendulumValve(bool on)
        {
            return _pendulumValve.TurnValve(on);
        }

        public bool SetPVPressure(int pressure)
        {
            return _pendulumValve.SetPressure(pressure);
        }

        public bool SetPVPostion(int position)
        {
            return _pendulumValve.SetPosition(position);
        }

        public int GetPVPosition()
        {
            return _pendulumValve.Position;
        }

        public async void HeatChiller(double value, double offset)
        {
            _Chiller?.SetChillerTemp((float)value, (float)offset);
             await Task.Delay(1000);
            _Chiller?.SetChillerOnOff(true);
        }

        public  void OnOffChiller(bool onoff)
        {
            _Chiller?.SetChillerOnOff(onoff);
        }

        public bool CheckChillerStatus()
        {
            return _Chiller != null /*&& _Chiller.IsRunning*/ && !_Chiller.IsError;
        }


        public void SetGeneratorCommunicationMode(int mode)
        {
            _Generator?.SetCommunicationMode(mode);
        }

        public bool GeneratorPowerOn(bool on)
        {
            if (_Generator == null) return false;

            if (on && !IsRFGInterlockOn)
            {
                LOG.Write(eEvent.ERR_RF, Module, "射频电源 Interlock条件不满足");
                return false;
            }

            return _Generator.SetPowerOnOff(on, out _);
        }

        public bool GeneratorSetpower(float val)
        {
            if (_Generator == null) return false;

            if (Math.Abs(val) > 0.01)
                _Generator.SetPower((ushort)val);
            return true;
        }

        public bool GeneratorBiasPowerOn(bool on)
        {
            if (_GeneratorBias == null) return false;

            if (on && !IsRFGInterlockOn)
            {
                LOG.Write(eEvent.ERR_RF, Module, "Bias射频电源 Interlock条件不满足");
                return false;
            }

            return _GeneratorBias.SetPowerOnOff(on, out _);
        }

        public bool GeneratorBiasSetpower(float val)
        {
            if (_GeneratorBias == null) return false;

            if (Math.Abs(val) > 0.01)
                _GeneratorBias.SetPower((ushort)val);
            return true;
        }

        public bool GeneratorBiasSetMatchMode(bool val)
        {
            if (_GeneratorBias == null) return false;
            string reason = string.Empty;
            _GeneratorBias.SetMatchingAutoMode(val, out reason);
            return true;
        }

        public bool SetMatchPosition(float c1, float c2)
        {
            if (_Match == null) return false;
            string reason = string.Empty;
            _Match.SetMatchPosition(c1, c2, out reason);
            return true;
        }

        public bool SetBiasMatchPosition(float c1, float c2)
        {
            if (_BiasMatch == null) return false;
            string reason = string.Empty;
            _BiasMatch.SetMatchPosition(c1, c2, out reason);
            return true;
        }

        public bool SetBiasPulseMode(bool on)
        {
            if (_GeneratorBias == null) return false;
            _GeneratorBias.SetPulseMode(on);
            return true;
        }
        public bool SetBiasPulseRateFreq(int nFreq)
        {
            if (_GeneratorBias == null) return false;
            _GeneratorBias.SetPulseRateFreq(nFreq);
            return true;
        }

        public bool SetDiasPulseDutyCycle(int percentage)
        {
            if (_GeneratorBias == null) return false;
            _GeneratorBias.SetPulseDutyCycle(percentage);
            return true;
        }

        public bool SetESCClampVoltage(int nVoltage)
        {
            if (_ESCHV == null) return false;

            return _ESCHV.SetOutputVoltage(nVoltage);
        }

        public bool CheckGeneratorAndHVInterlock(VenusDevice device)
        {
            eEvent evt = device == VenusDevice.Rf ? eEvent.ERR_RF : eEvent.ERR_ESC_HV;
            if (!PMLidClosed)
            {
                LOG.Write(evt, Module, $"Cannot Power ON {device} as PM Lid is Open.");
                return false;
            }

            if (!IsVAC)
            {
                LOG.Write(evt, Module, $"Cannot Power ON {device} as PM is not Vacuum.");
                return false;
            }

            if(!IsWaterFlowOk)
            {
                LOG.Write(evt, Module, $"Cannot Power ON {device} as Water Flow is OFF.");
                return false;
            }

            if(!IsRFGInterlockOn)
            {
                LOG.Write(evt, Module, $"Cannot Power ON {device} as Generator Interlock is OFF.");
                return false;
            }

            if(!SourceRFFanInterlock)
            {
                LOG.Write(evt, Module, $"Cannot Power ON {device} as Source RF Fan is OFF.");
                return false;
            }

            if(!SlitDoorClosed)
            {
                LOG.Write(evt, Module, $"Cannot Power ON {device} as Slit Door is open.");
                return false;
            }

            if ((device == VenusDevice.ESCHV || device == VenusDevice.BiasRf) && WaferManager.Instance.CheckNoWafer(Module, 0))
            {
                LOG.Write(evt, Module, $"Cannot Power ON {device} as {Module} has no wafer");
                return false;
            }

            return true;
        }



        #region EndPoint
        public void EPDRecipeStart()
        {
            _epdClient.RecipeStart();
        }

        public void EPDRecipeStop()
        {
            _epdClient.RecipeStop();
        }

        public void EPDStepStart(string cfgName)
        {
            _epdClient.StepStart(cfgName);
        }

        public void EPDStepStop()
        {
            _epdClient.StepStop();
        }

        #endregion

        public void SetBacksideHeFlow(double flow)
        {
            if (_backsideHe == null) return ;
            _backsideHe.Flow(flow);
        }

        public bool SetBacksideHePressure(float mTorr)
        {
            if (_backsideHe == null) return false;
            return _backsideHe.SetBacksideHelium(mTorr);
        }

        public bool SetBacksideHeThreshold(int nMin, int nMax)
        {
            if (_backsideHe == null) return false;
            return _backsideHe.SetFlowThreshold(nMin, nMax);
        }
    }



    /// <summary>
    /// PM Action
    /// </summary>
    abstract class PmActionBase : ActionBase
    {
        protected internal JetPM _chamber;

        protected PmActionBase(ModuleName mod, JetPM pm) : base(mod)
        {
            _chamber = pm;
        }
    }

    class PinAction : PmActionBase
    {
        public MovementPosition Pos { get; }
        public bool IsWaferTransfered { get; }
        public PMEntity PmEntity { get; set; }

        private Hand _blade;
        private bool _isPick;

        public PinAction(ModuleName mod, JetPM pm, MovementPosition pos, bool isTransferWafer, Hand blade, bool isPick) : base(mod, pm)
        {
            this.Pos = pos;
            IsWaferTransfered = isTransferWafer;

            _blade = blade;
            _isPick = isPick;
        }

        public override void Execute()
        {
            if (Module == ModuleName.PMA)
                PmEntity = Singleton<RouteManager>.Instance.PMA;
            else if (Module == ModuleName.PMB)
                PmEntity = Singleton<RouteManager>.Instance.PMB;

            if (PmEntity != null)
            {
                PmEntity.PostMsg(PMEntity.MSG.MoveLiftPin, Pos, ID, _isPick);
            }
        }

        public override void OnPostWork(string data = null)
        {
            if (IsWaferTransfered)
            {
                if (Pos == MovementPosition.Up)
                {
                    WaferManager.Instance.WaferMoved(ModuleName.EfemRobot, _blade == Hand.Blade1 ? 0 : 1, Module, 0);
                }
                else
                {
                    WaferManager.Instance.WaferMoved(Module, 0, ModuleName.EfemRobot, _blade == Hand.Blade1 ? 0 : 1);
                }

                Singleton<RouteManager>.Instance.EFEM.EfemDevice.SetRobotMovingInfo(MECF.Framework.Common.CommonData.RobotAction.None, Hand.Both, ModuleName.System);
            }
        }
    }
}