Kepler-Release/Venus/Venus_RT/Devices/VCE/HongHuVce.cs

using Aitex.Core.Common;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using MECF.Framework.Common.Communications;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.ModuleLibrary.VceModules;
using System;
using System.Collections.Generic;
using System.Configuration;
using System.IO.Ports;
using System.Linq;
using System.Text;
using System.Text.RegularExpressions;
using System.Threading.Tasks;
using Venus_Core;
using Venus_RT.Devices.EFEM;
using Venus_RT.Devices.TM;
using Venus_RT.Modules;

namespace Venus_RT.Devices.VCE
{
    //定义Vce动作
    public enum VceCommand
    {
        Home,
        DoorClose,
        DoorOpen,
        CheckGoto,
        Goto,
        GotoLP,
        CheckStatus,
        Load,
        UnLoad,
        Map,
        ReadMap,
        ClearError,
        ServerUp
    }
    public enum VceMessageHead
    {
        Action,
        Read,
        Set,
        Petrify
    }

    public sealed class VceMessage
    {
        private Dictionary<VceCommand, string> _Command2Msg = new Dictionary<VceCommand, string>()
        {
            //Action
            {VceCommand.ServerUp,   "SERVO" },
            {VceCommand.Home,       "HM"    },
            {VceCommand.Load,       "LOAD"  },
            {VceCommand.UnLoad,     "UNLOAD"},
            {VceCommand.Map,        "MP"    },
            {VceCommand.CheckGoto,  "GC"    },
            {VceCommand.Goto,       "GO"    },
            {VceCommand.GotoLP,     "LP"    },
            {VceCommand.DoorOpen,   "DO"    },
            {VceCommand.DoorClose,  "DC"    },
            {VceCommand.CheckStatus,"OS"    },
            //Read
            {VceCommand.ReadMap,    "MI"    },
            //Set
            {VceCommand.ClearError, "ER" },
        };
        private Dictionary<VceMessageHead, string> _Type2Head = new Dictionary<VceMessageHead, string>()
        {
            {VceMessageHead.Action,  "A"},
            {VceMessageHead.Read,    "R"},
            {VceMessageHead.Set,     "S"},
            {VceMessageHead.Petrify, "P"},
        };



        public VceMessageHead Head { get; set; }
        public VceCommand Command { get; set; }
        public string Param { get; set; }

        public string toString()
        {
            if (string.IsNullOrEmpty(Param))//含尾参
                return $"00,{_Type2Head[Head]},{_Command2Msg[Command]}";
            else//不含尾参 目前只允许一个
                return $"00,{_Type2Head[Head]},{_Command2Msg[Command]},{Param}";
        }

        public string toSunWayString()
        {
            if (string.IsNullOrEmpty(Param))//含尾参
                return $"{_Type2Head[Head]},{_Command2Msg[Command]}";
            else//不含尾参 目前只允许一个
                return $"{_Type2Head[Head]},{_Command2Msg[Command]},{Param}";
        }

    }
    /// <summary>
    /// 泓浒Vce驱动 下发指令等
    /// </summary>
    public class HongHuVce : VCEModuleBase
    {
        #region 私有变量
        private AsyncSerialPort _serialport;
        private string _portname;
        private string _newline = "\r";//终止符 0D
        private object _locker = new object();
        private bool _IsAsciiMode;
        private LinkedList<string> _lstAsciiMsgs = new LinkedList<string>();
        private PeriodicJob _thread;
        private Regex _match_ReadMsg = new Regex(@"\d\d,X,.*");
        private Regex _matchErrorCode = new Regex(@"(?<=_BKGERR )(.*)");
        private ModuleName _moduleName;
        private RState _status;
        private string _currentMsg;
        private VceMessage _currentVceMessage;
        private bool _HasReceiveMsg;
        private bool _IsDashWaferError;
        private int _currentSlot = 0;
        public override int CurrentSlot => _currentSlot;
        private ModuleName _baseLPIndex
        {
            get
            {
                switch (RtInstance.ConfigType)
                {
                    case ConfigType.VenusSE:
                        return ModuleName.LP1;
                    case ConfigType.VenusDE:
                        return _moduleName == ModuleName.VCEA ? ModuleName.LP1 : ModuleName.LP2;
                    default:
                        return ModuleName.System;
                }
            }
        }

        private Loadport[] _LPMs = new Loadport[1];
        public override ILoadport this[ModuleName mod]
        {
            get
            {
                if (!ModuleHelper.IsLoadPort(mod))
                    throw new ApplicationException($"{mod} is NOT Loadport");

                return _LPMs[mod - _baseLPIndex];
            }
        }

        //待补充
        private Dictionary<string, string> _ErrorCode2Reason = new Dictionary<string, string>()
        {
            {"A1","Action Timeout" },
            {"A3","Hardware (CAN or VCN) or configuration failed" },
            {"A4","Open Door Prevented Motion" },
            {"A5","Platform Action Time-out" },
            {"A6","Door Action Timeout" },
            {"A7","由于动作连锁导致的异常" },
            {"A8","Wafer Slideout" },
            {"A9","Door safety LED is blocked" },
            {"A11","载台上没有料盒，看一下载台上是否有料盒" },
            {"A12","Cassette present prior PICK" },
            {"A13","Cassette NOT present during PICK" },
            {"A14","Cassette NOT present prior PLACE" },
            {"A15","Cassette present after PLACE" },
            {"A16","Cassette Present on VCE platform (Servo Arm)" },
            {"A17","No new cassette at station after Load" },
            {"A18","Proximity sensor blocked but Cassette A not present" },
            {"A19","载台上料盒没有取走,请把料盒取走" },
            {"A20","Proximity sensor A is blocked (Fixed Buffer)" },
            {"A21","Cassette NOT at station A" },
            {"A34","Door Clamped sensor is not ON after clamp (only VCE4!)" },
            {"A36","Door Not Covered (sensor)" },
            {"C0","Illegal Slot Number" },
            {"C1","设备收到非法的操作指令" },
            {"C2","Illegal pitch value (too big)" },
            {"C3","Illegal Cassette type offset" },
            {"C4","Illegal number of Slots" },
            {"C5","Illegal Partial step size" },
            {"C7","Illegal Find Bias" },
            {"C8","Unknown Configuration" },
            {"C9","Bad command: command cannot be executed with current HW configuration" },
            {"C10","VCE is busy" },
            {"C12","Bad Fixture Thickness" },
            {"C13","Command is NOT executable (file's operation exception)" },
            {"C19","VCEConfig.xml is corrupted" },
            {"C20","VCEDefaultSettting.xml is corrupted" },
            {"CAN1","CAN Error,Replace the board (MCC2B or MCC-GEN5 or MCC-GEN5 EN)" },
            {"CAN2","CAN Abort,Replace the board (MCC2B or MCC-GEN5 or MCC-GEN5 EN)" },
            {"CAN3","CAN Timeout,Replace the board (MCC2B or MCC-GEN5 or MCC-GEN5 EN)" },
            {"H1","Two hand safety switch are not OFF before R-axis motion" },
            {"H2","Two hands safety switch timeout" },
            {"H3","One or both safety switches are release before R-axis motion is complete" },
            {"M0","VCE is NOT Referenced" },
            {"M1","Motion Timeout" },
            {"M4","Door over speed" },
            {"M10","设备中断，设备被外部停止" },
            {"M11","FET over Temperature" },
            {"M12","FET over Current" },
            {"M13","Torque Limit" },
            {"M14","Hard Track Error Codes" },
            {"M16","Hardware (servo) Motion Error Codes" },
            {"M17","Safety Motion Button was Pushed" },
            {"M20","Z-brake request before ENABLE_Z_MOVE" },
            {"M21","CPLD Detected a difference from the Dual Up Sensors" },
            {"M22","Door Closed Error" },
            {"M23","Z-brake chip U8 has an output fault" },
            {"M24","Unsafe to move: See a safety node (ENABLE_Z_MOVE) or servo following error" },
            {"M25","Servo Following Error" },
            {"NO_ACT","No actions" },
            {"P2","Map NOT Available" },
            {"P3","SPS Excessive Offset" },
            {"P4","SPS Excessive Thickness" },
            {"P12","FB is too large to map" },
            {"P13","FB is too small to map" },
            {"R1","R-axis is not referenced" },
            {"R2","Extended position is NOT defined" },
            {"R3","Door NOT Opened" },
            {"R4","Wrong Z-axis position: platform must be between UP and DOWN position" },
            {"R5","R-axis Limit is exceeded" },
            {"R6","R-axis is NOT Homed (it is not IN)" },
            {"R7","R-axis Orientation is NOT set" },
            {"R9","R-axis is NOT Extended" },
            {"S0","Cannot configure Main VCN" },
            {"S1","Cannot configure R-axis VCN" },
            {"S4","Command String Error: Bad command or parameter, invalid value, etc." },
            {"S5","Illegal data entry" },
            {"S10","VCEDefaultSetting.XML file is corrupted. Configuration stop" },
            {"S11","Not valid for current configuration" },
            {"S20","MiscOutput is already in use" },
            {"S21","MiscOutput is used by current configuration" },
            {"S22","MiscOutput was deleted: it is used by current configuration" },
            {"T5","VCN timeout" },
            {"U1","USB not found or ‘Upgrade’ directory doesn’t exist" },
            {"U2","Script file couldn't be opened" },
            {"U3","Script file not found" },
            {"U4","File from the list is not found" },
            {"U5","Couldn’t create ‘Upgrade’ directory" },
            {"U6","Couldn’t copy files" },
            {"U10"," upgrade.txt  file is missing" },
            {"V2","Cannot disable VCN" },
            {"230","Robot Extended" },
            {"231","Front buffer extended" },
            {"232","Valve drive fault" },
            {"236","Door Safety LED is broken" },
            {"250","FET Q10 is open circuit" },
            {"251","FET Q10 is shorted" },
            {"260","Atmospheric Robot is Extended" },
            {"261","ERGO Obstructs the Door" },
            {"262","Door drive fault" },
            {"263","Vacuum Robot is Extended" },
            {"264","User Misc Output Drive Fault" },
            {"265","Safety Hub Output Fault" },
            {"306","Illegal command ID number" },
            {"309","Command ID is not supported in thatCOMM FLOW" },
            {"390","Invalid Checksum" },
            {"414","Command ID in use" },
            {"673","GEN5 EN: inputs are in ERROR state" },
            {"674","GEN5 EN: inputs are in HALT state" },
            {"675","GEN5 EN: inputs are in illegal transition" },
            {"L13","由于检测到突片，动作被禁止" },
            {"L14","防夹光栅报警，检查舱门关闭路径上是否存在遮挡" },
            {"K114","防夹光栅报警" },
            {"K115","舱门上限报警" },
            {"K116","舱门下限报警 " },
            {"K117","急停报警 " },
            {"K118","位置未被引用，对设备进行初始化" },
            {"K119","Z 轴报警" },
            {"K120","R 轴报警 " },
            {"K121","Z 轴超限位报警" },
            {"K122","机械手不在安全位" },
            {"K123","Z 轴未使能" },
            {"K124","R 轴未使能" },
            {"K125","盒子状态互锁报警" },
            {"K158","左凸片" },
            {"K159","右凸片" },
            {"K160","门没有关好" },
            {"K161","盖板缺失" },
            {"K162","R轴不在原位" },
            {"K163","Z轴不在上下料位" },
            {"K164","门未打开" },
        };
        //

        #endregion

        #region 暴露变量
        public override bool IsConnected => _serialport.IsOpen();
        public override RState Status => _status;
        public override bool IsReady => _status == RState.Init || _status == RState.End;
        public override bool IsError => _status == RState.Failed || _status == RState.Timeout;
        public override bool IsInit => _status == RState.Init;
        public override bool IsDashWaferError => _IsDashWaferError;

        private string[] _slotMap = new string[25];
        public string SlotMap
        {
            get
            {
                WaferInfo[] wafers = WaferManager.Instance.GetWafers(ModuleHelper.Converter(Name));
                string slot = "";
                for (int i = 0; i < 25; i++)
                {
                    slot += wafers[i].IsEmpty ? "0" : "1";
                }

                return slot;
            }
        }

        private bool _OutDoorIsOpen
        {
            get
            {
                switch (_moduleName)
                {
                    case ModuleName.VCE1:
                        //2024-05-20 16:35:34 泓浒四边形硬件还未实现
                        //DEVICE.GetDevice<HongHuTM>("SETM").VCEACassPresent
                        return _vcedoorflag;
                    case ModuleName.VCEA:
                        if (DEVICE.GetDevice<HongHuDETM>("TM").VCEACassPresent)
                        {
                            _LPMs[0].HasCassette = true;
                        }
                        else
                        {
                            _LPMs[0].HasCassette = false;
                            WaferManager.Instance.DeleteWafer(_LPMs[0].Module, 0, 25);
                        }

                        return !DEVICE.GetDevice<HongHuDETM>("TM").VCEALOCKED;
                    case ModuleName.VCEB:
                        if (DEVICE.GetDevice<HongHuDETM>("TM").VCEBCassPresent)
                        {
                            _LPMs[0].HasCassette = true;
                        }
                        else
                        {
                            _LPMs[0].HasCassette = false;
                            WaferManager.Instance.DeleteWafer(_LPMs[0].Module, 0, 25);
                        }

                        return !DEVICE.GetDevice<HongHuDETM>("TM").VCEBLOCKED;
                    default:
                        return false;
                }
            }
        }
        public override bool OutDoorIsOpen => _OutDoorIsOpen;
        private bool _vcedoorflag;

        private bool _hasProtrusion
        {
            get
            {
                switch (_moduleName)
                {
                    case ModuleName.VCE1:
                        //2024-05-20 16:35:34 泓浒四边形硬件还未实现
                        //DEVICE.GetDevice<HongHuTM>("SETM").VCEProtrusion
                        return true;
                    case ModuleName.VCEA:
                        if (DEVICE.GetDevice<HongHuDETM>("TM").VCEAProtrusion)
                        {
                            _LPMs[0].Protrusion = true;
                            return true;
                        }
                        else
                        {
                            _LPMs[0].Protrusion = false;
                            return false;
                        }
                    case ModuleName.VCEB:
                        if (DEVICE.GetDevice<HongHuDETM>("TM").VCEBProtrusion)
                        {
                            _LPMs[0].Protrusion = true;
                            return true;
                        }
                        else
                        {
                            _LPMs[0].Protrusion = false;
                            return false;
                        }
                    default:
                        return false;
                }
            }
        }

        #endregion

        //传入slot数量
        public HongHuVce(int slot, ModuleName moduleName) : base(slot, moduleName)
        {
            _moduleName = moduleName;
            _vcedoorflag = false;
            _IsAsciiMode = true;
            _portname = SC.GetStringValue($"{moduleName}.Port");
            _serialport = new AsyncSerialPort(_portname, 9600, 8, Parity.None, StopBits.One, _newline, _IsAsciiMode);
            _serialport.Open();
            _status = RState.Init;
            _serialport.OnDataChanged += onDataChange;
            _thread = new PeriodicJob(50, fnTimer, _moduleName.ToString(), true);
            if (moduleName == ModuleName.VCE1)
                _LPMs[0] = new Loadport(ModuleName.LP1);
            else
                _LPMs[0] = new Loadport((moduleName - ModuleName.VCEA) + ModuleName.LP1);
            CarrierManager.Instance.DeleteCarrier(_LPMs[0].Module.ToString());
            WaferManager.Instance.DeleteWafer(_LPMs[0].Module, 0, 25);

            CarrierManager.Instance.SubscribeLocation(_LPMs[0].Module.ToString(), 1);
            Action<ModuleName, int> _subscribeLoc = (ModuleName module, int waferCount) => {
                if (ModuleHelper.IsInstalled(module))
                {
                    WaferManager.Instance.SubscribeLocation(module, waferCount);
                }
            };
            _subscribeLoc(_LPMs[0].Module, slot);
        }

        /// <summary>
        /// 对处理过的数据list进行处理
        /// 将每条数据进行解析
        /// </summary>
        /// <returns></returns>
        private bool fnTimer()
        {
            lock (_locker)
            {
                //采用ascii传输
                if (_IsAsciiMode)
                {
                    //有数据尚未处理
                    while (_lstAsciiMsgs.Count > 0)
                    {
                        string _needHandle = _lstAsciiMsgs.First.Value;
                        HandleSingleMsg(_needHandle);
                        _lstAsciiMsgs.RemoveFirst();
                    }
                }
                //采用binary
                else
                {

                }
            }
            return true;
        }

        /// <summary>
        /// 处理单条信息的函数
        /// 1、判断结束 2、判断错误
        /// </summary>
        /// <param name="msg">需要处理的单条回复</param>
        private void HandleSingleMsg(string rawmsgs)
        {
            string[] msgs = rawmsgs.Split('\r');
            foreach (var Msg in msgs)
            {
                string msg = Msg.Trim();
                LOG.Write(eEvent.EV_VCE_COMMON_INFO, _moduleName, $"{_moduleName} Receive msg=>{msg}");
                if (!string.IsNullOrEmpty(msg))
                {
                    //action set petrify _BKGRDY结束
                    switch (_currentVceMessage.Head)
                    {
                        case VceMessageHead.Action:
                        case VceMessageHead.Set:
                        case VceMessageHead.Petrify:
                            switch (msg)
                            {
                                //设备收到 开始运行 目前状态在下发
                                case "_RDY":
                                    LOG.Write(eEvent.EV_VCE_COMMON_INFO, _moduleName, $"vce start {_currentVceMessage.Head}");
                                    break;
                                //设备执行完毕
                                case "_BKGRDY":
                                    LOG.Write(eEvent.EV_VCE_COMMON_INFO, _moduleName, $"vce {_currentVceMessage.Head} over");

                                    switch (_currentVceMessage.Command)
                                    {
                                        case VceCommand.Home:
                                        case VceCommand.Map:
                                        case VceCommand.GotoLP:
                                            _currentSlot = 0;
                                            break;
                                        case VceCommand.DoorClose:
                                            _vcedoorflag = false;
                                            break;
                                        case VceCommand.DoorOpen:
                                            _vcedoorflag = true;
                                            break;
                                    }
                                    _status = RState.End;
                                    break;
                                //异常处理
                                default:
                                    _status = RState.Failed;
                                    string reason;
                                    Errorhandle(msg, out reason);
                                    LOG.Write(eEvent.ERR_VCE_COMMON_Failed, _moduleName, reason);
                                    break;
                            }
                            break;
                        case VceMessageHead.Read:
                            //如果收到的信息符合
                            if (_match_ReadMsg.IsMatch(msg))
                            {
                                //收到消息 用于结束
                                _HasReceiveMsg = true;
                                switch (_currentVceMessage.Command)
                                {
                                    //处理wafer 信息为map数据
                                    case VceCommand.ReadMap:
                                        ReadMapData(msg);
                                        break;
                                    case VceCommand.CheckStatus:
                                        ReadStatus(msg);
                                        break;
                                }
                            }
                            //_RDY查询结束
                            else
                            {
                                if (msg == "_RDY")
                                {
                                    if (_HasReceiveMsg)
                                    {
                                        _status = RState.End;
                                    }
                                    else
                                    {
                                        LOG.Write(eEvent.ERR_VCE_COMMON_Failed, _moduleName, $"Read Message is over but not receive msg! raw message:{_currentMsg}");
                                        _status = RState.Failed;
                                    }
                                }
                                else
                                {
                                    _status = RState.Failed;
                                    LOG.Write(eEvent.ERR_VCE_COMMON_Failed, _moduleName, $"Read Message is invalid: receive message {msg} and send message {_currentMsg}");
                                }
                            }
                            break;
                    }
                }
            }
        }

        private void ReadStatus(string msg)
        {
            try
            {
                //BRa,SLbb,CPc,WPd,ERe
                string[] status = msg.Split(',');
                _currentSlot = Convert.ToInt32(status[4].Substring(2, 2));
            }
            catch (Exception ex)
            {
                LOG.Write(eEvent.ERR_VCE_COMMON_Failed, _moduleName, $"illegal msg:{msg}, {ex.Message}");
            }
        }

        private void ReadMapData(string msg)
        {
            string waferinfo = "";
            string[] waferitems = msg.Split(',');
            //智能模式 可以识别叠片
            for (int i = 3; i < waferitems.Length - 1; ++i)
            {
                //如果包含只需要逐个检查
                if (waferitems[i].Contains('?'))
                {
                    foreach (char j in waferitems[i])
                    {
                        if (waferinfo.Length >= 25)
                            break;
                        else
                            waferinfo += j;
                    }
                }
                else
                    waferinfo += waferitems[i];
            }

            for (int i = 0; i < waferinfo.Length; ++i)
            {
                int slotnum = i;
                if (slotnum < 25)
                {
                    switch (waferinfo[i])
                    {
                        case '0':
                            WaferManager.Instance.DeleteWafer(_LPMs[0].Module, slotnum);
                            break;
                        case 'X':
                            WaferManager.Instance.CreateWafer(_LPMs[0].Module, slotnum, WaferStatus.Normal);
                            break;
                        case 'C':
                            LOG.Write(eEvent.ERR_VCE_COMMON_Failed, _moduleName, $"Slot {i + 1}:double or dummy wafer.");
                            WaferManager.Instance.CreateWafer(_LPMs[0].Module, slotnum, WaferStatus.Double);
                            break;
                        case '?':
                            LOG.Write(eEvent.ERR_VCE_COMMON_Failed, _moduleName, $"Slot {i + 1}:Crossed wafer.");
                            WaferManager.Instance.CreateWafer(_LPMs[0].Module, slotnum, WaferStatus.Crossed);
                            break;
                    }
                }
            }

            _LPMs[0].IsMapped = true;
        }

        private void Errorhandle(string msg, out string reason)
        {
            if (_matchErrorCode.IsMatch(msg))
            {
                //若是匹配
                //包含原因
                string errorcode = _matchErrorCode.Match(msg).Value;
                if (_ErrorCode2Reason.ContainsKey(errorcode))
                {
                    if (errorcode == "L13")
                        _IsDashWaferError = true;

                    reason = _ErrorCode2Reason[errorcode];
                }
                else
                {
                    reason = "未找到相关Error Code";
                }
            }
            else
            {
                //若不匹配
                reason = "回复消息不符合标准格式";
            }
        }
        /// <summary>
        /// 处理新到的数据
        /// 利用linkedlist处理拆包 粘包情况
        /// </summary>
        /// <param name="newline">新到数据</param>
        private void onDataChange(string oneLineMessage)
        {
            lock (_locker)
            {
                if (string.IsNullOrEmpty(_newline))//没有CR
                {
                    _lstAsciiMsgs.AddLast(oneLineMessage);//将消息添加到最后
                    return;
                }
                string[] array = oneLineMessage.Split(_newline.ToCharArray());//按照cr分开通讯数据
                foreach (string text in array)
                {
                    if (!string.IsNullOrEmpty(text))
                    {
                        _lstAsciiMsgs.AddLast(text + _newline);//存进list中等待处理
                    }
                }
            }
        }


        public override bool HomeALL()
        {
            _currentVceMessage = new VceMessage { Head = VceMessageHead.Action, Command = VceCommand.Home, Param = "ALL" };
            _currentMsg = _currentVceMessage.toString() + _newline;
            _status = RState.Running;
            return _serialport.Write(_currentMsg);
        }

        public override bool Home(string axis)
        {

            _currentVceMessage = new VceMessage { Head = VceMessageHead.Action, Command = VceCommand.Home, Param = axis };
            _currentMsg = _currentVceMessage.toString() + _newline;
            _status = RState.Running;
            return _serialport.Write(_currentMsg);
        }

        public override bool CheckStatus()
        {
            if (!CheckVceStatus())
                return false;
            _currentVceMessage = new VceMessage { Head = VceMessageHead.Read, Command = VceCommand.CheckStatus };
            _currentMsg = _currentVceMessage.toString() + _newline;
            _status = RState.Running;
            return _serialport.Write(_currentMsg);
        }

        public override bool CloseDoor()
        {
            if (!CheckVceStatus())
                return false;
            _currentVceMessage = new VceMessage { Head = VceMessageHead.Action, Command = VceCommand.DoorClose };
            _currentMsg = _currentVceMessage.toString() + _newline;
            _status = RState.Running;
            return _serialport.Write(_currentMsg);
        }

        /// <summary>
        /// 开门提示
        /// 在honghuVCE中没有ATM信号的内部卡控 可能会导致开门的压差
        /// 因此每一次都要增加判断，只要引用此处功能的，前面都需要有判断
        /// 
        /// </summary>
        /// <returns></returns>
        public override bool OpenDoor()
        {
            //如果其他指令正在执行 且  
            //if (!CheckVceStatus())
            //    return false;

            if (_IsDashWaferError)
                _IsDashWaferError = false;

            _currentVceMessage = new VceMessage { Head = VceMessageHead.Action, Command = VceCommand.DoorOpen };
            _currentMsg = _currentVceMessage.toString() + _newline;
            _status = RState.Running;
            return _serialport.Write(_currentMsg);
        }

        public override bool Load()
        {
            if (!CheckVceStatus())
                return false;
            _currentVceMessage = new VceMessage { Head = VceMessageHead.Action, Command = VceCommand.Load };
            _currentMsg = _currentVceMessage.toString() + _newline;
            _status = RState.Running;
            return _serialport.Write(_currentMsg);
        }

        public override bool UnLoad()
        {
            if (!CheckVceStatus())
                return false;
            _currentVceMessage = new VceMessage { Head = VceMessageHead.Action, Command = VceCommand.UnLoad };
            _currentMsg = _currentVceMessage.toString() + _newline;
            _status = RState.Running;
            return _serialport.Write(_currentMsg);
        }

        public override bool Map()
        {
            if (!CheckVceStatus())
                return false;
            _currentVceMessage = new VceMessage { Head = VceMessageHead.Action, Command = VceCommand.Map };
            _currentMsg = _currentVceMessage.toString() + _newline;
            _status = RState.Running;
            return _serialport.Write(_currentMsg);
        }

        public override bool ReadMap()
        {
            if (!CheckVceStatus())
                return false;
            _currentVceMessage = new VceMessage { Head = VceMessageHead.Read, Command = VceCommand.ReadMap, Param = "S" };
            _currentMsg = _currentVceMessage.toString() + _newline;
            _status = RState.Running;
            _HasReceiveMsg = false;
            return _serialport.Write(_currentMsg);
        }

        public override bool Goto(int Targetslot)
        {
            if (!CheckVceStatus())
                return false;
            LOG.Write(eEvent.EV_VCE_COMMON_INFO, _moduleName, $"SlotNum:{Targetslot}");
            _currentVceMessage = new VceMessage { Head = VceMessageHead.Action, Command = VceCommand.Goto, Param = (Targetslot + 1).ToString().PadLeft(2, '0') };
            _currentMsg = _currentVceMessage.toString() + _newline;
            _status = RState.Running;
            return _serialport.Write(_currentMsg);
        }

        public override bool GotoLP()
        {
            if (!CheckVceStatus())
                return false;
            _currentVceMessage = new VceMessage { Head = VceMessageHead.Action, Command = VceCommand.GotoLP };
            _currentMsg = _currentVceMessage.toString() + _newline;
            _status = RState.Running;
            return _serialport.Write(_currentMsg);
        }

        public override bool ClearError()
        {
            _currentVceMessage = new VceMessage { Head = VceMessageHead.Set, Command = VceCommand.ClearError };
            _currentMsg = _currentVceMessage.toString() + _newline;
            _status = RState.Running;
            return _serialport.Write(_currentMsg);
        }

        public override bool ServerUp()
        {
            _status = RState.End;
            return true;
        }

    }
}