Mars200/Mars/EfemDualSchedulerLib/ReturnAllWafer.cs

using System;
using System.Collections.Generic;
using System.Linq;
using Aitex.Core.Common;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.ModuleLibrary.SystemModules;
using EfemDualSchedulerLib.Schedulers;
using Aitex.Core.Util;

namespace EfemDualSchedulerLib
{
    public class ReturnAllWafer : SchedulerModuleFactory, IRoutine
    {
        private bool _needCooling;
        private int _coolingTime;

        Dictionary<ModuleName, int> _checkPosition = new Dictionary<ModuleName, int>()
            {
                {ModuleName.EfemRobot, 2},
                {ModuleName.Aligner1, 1},
                {ModuleName.Aligner2, 1},
                {ModuleName.Cooling1, 1},
                {ModuleName.Cooling2, 1},
                {ModuleName.LLA, 8},
                {ModuleName.LLB, 8},
                {ModuleName.TMRobot, 2},
                {ModuleName.PMA, 2},
                {ModuleName.PMB, 2},
            };

        private List<SchedulerPM> _lstPms = new List<SchedulerPM>();
        private List<SchedulerLoadPort> _lstLps = new List<SchedulerLoadPort>();
        private List<SchedulerLoadLock> _lstLls = new List<SchedulerLoadLock>();
        private List<SchedulerAligner> _lstAligners = new List<SchedulerAligner>();
        private List<SchedulerAligner> _lstCoolings = new List<SchedulerAligner>();
        private R_TRIG _trigLLReturnWafer = new R_TRIG();
        private R_TRIG _trigLLNoInstall = new R_TRIG();

        Queue<Action> tmRobotActions = new Queue<Action>() { };
        public ReturnAllWafer(EquipmentManager equipment) : base()
        {
            _checkPosition.Where(p => p.Key != ModuleName.EfemRobot && p.Key != ModuleName.TMRobot && !SC.GetValueOrDefault<bool>($"System.SetUp.{p.Key.ToString()}.IsInstalled"))
                          .ToList().ForEach(p => _checkPosition.Remove(p.Key));
            if (_checkPosition.ContainsKey(ModuleName.TMRobot) && SC.IsDoubleFork) _checkPosition[ModuleName.TMRobot] = 4;
            if (SC.GetValueOrDefault<bool>("System.SetUp.PMA.IsInstalled"))
                _lstPms.Add(_pm1);
            if (SC.GetValueOrDefault<bool>("System.SetUp.PMB.IsInstalled"))
                _lstPms.Add(_pm2);
            //if (SC.GetValueOrDefault<bool>("System.SetUp.PMC.IsInstalled"))
            //    _lstPms.Add(_pm3);

            if (SC.GetValueOrDefault<bool>("System.SetUp.LLA.IsInstalled"))
                _lstLls.Add(_loadlockA);
            if (SC.GetValueOrDefault<bool>("System.SetUp.LLB.IsInstalled"))
                _lstLls.Add(_loadlockB);

            if (SC.GetValueOrDefault<bool>("System.SetUp.Aligner1.IsInstalled"))
                _lstAligners.Add(_aligner1);
            if (SC.GetValueOrDefault<bool>("System.SetUp.Aligner2.IsInstalled"))
                _lstAligners.Add(_aligner2);

            if (SC.GetValueOrDefault<bool>("System.SetUp.Cooling1.IsInstalled"))
                _lstCoolings.Add(_cooling1);
            if (SC.GetValueOrDefault<bool>("System.SetUp.Cooling2.IsInstalled"))
                _lstCoolings.Add(_cooling2);

            if (SC.GetValueOrDefault<bool>("System.SetUp.LP1.IsInstalled"))
                _lstLps.Add(_lp1);
            if (SC.GetValueOrDefault<bool>("System.SetUp.LP2.IsInstalled"))
                _lstLps.Add(_lp2);
            if (SC.GetValueOrDefault<bool>("System.SetUp.LP3.IsInstalled"))
                _lstLps.Add(_lp3);

            tmRobotActions.Enqueue(MonitorTMRobotPMATask);
            tmRobotActions.Enqueue(MonitorTMRobotPMBTask);
            tmRobotActions.Enqueue(MonitorTMRobotLoadLockTask);
        }

        public Result Start(params object[] objs)
        {
            if (objs.Length > 1)
            {
                _needCooling = (bool)objs[0];
                _coolingTime = (int)objs[1] > 1 ? (int)objs[1] : 1;
            }

            foreach (var positions in _checkPosition)
            {
                for (int i = 0; i < positions.Value; i++)
                {
                    WaferInfo wafer = WaferManager.Instance.GetWafer(positions.Key, i);
                    if (!wafer.IsEmpty)
                    {
                        ModuleName originLoadPort = (ModuleName)wafer.OriginStation;
                        if (!ModuleHelper.IsLoadPort(originLoadPort))
                        {
                            EV.PostWarningLog("System", $"Wafer {positions.Key}.{i + 1} can not return, origin is not LP");
                            return Result.FAIL;
                        }

                        if (wafer.Status == WaferStatus.Dummy)
                        {
                            EV.PostWarningLog("System", $"Wafer {positions.Key}.{i + 1} can not return, wafer is dummy");
                            return Result.FAIL;
                        }

                        if (WaferManager.Instance.CheckHasWafer(originLoadPort, wafer.OriginSlot))
                        {
                            EV.PostWarningLog("System", $"Wafer {positions.Key}.{i + 1} can not return, origin has wafer");
                            return Result.FAIL;
                        }

                        if (!(GetModule(originLoadPort.ToString()) as SchedulerLoadPort).IsReadyForPlace(ModuleName.EfemRobot, Hand.Blade1, wafer.OriginSlot))
                        {
                            EV.PostWarningLog("System", $"{originLoadPort} not ready to place Wafer");
                            return Result.FAIL;
                        }

                        EV.PostInfoLog("System", $"Wafer return, {positions.Key}.{i + 1}=>{(ModuleName)wafer.OriginStation}.{wafer.OriginSlot + 1}");
                    }

                }
            }
            _trigLLReturnWafer.RST = true;
            _trigLLNoInstall.RST = true;

            return Result.RUN;
        }

        public Result Monitor()
        {
            MonitorModuleTasks();

            if (MonitorTaskDone())
            {
                return Result.DONE;
            }


            return Result.RUN;
        }

        public void Clear()
        {

        }

        public void Abort()
        {
            _tmRobot?.ResetTask();
            _efem?.ResetTask();
            foreach (var pm in _lstPms)
            {
                pm.ResetTask();
            }
            foreach (var lp in _lstLps)
            {
                lp.ResetTask();
            }
        }

        public Result MonitorModuleTasks()
        {
            MonitorPMTask();

            MonitorLoadLockTask();

            MonitorCoolingTask();

            MonitorTMRobotTask();

            MonitorEfemRobotTask();


            return Result.RUN;
        }

        private void MonitorTMRobotTask()
        {
            if (!_tmRobot.IsAvailable)
                return;

            //_tmRobot is idle, release all the target 

            foreach (var ll in _lstLls)
            {
                if (ll.IsWaitTransfer(ModuleName.TMRobot))
                    ll.StopWaitTransfer(ModuleName.TMRobot);
            }

            foreach (var pm in _lstPms)
            {
                if (pm.IsWaitTransfer(ModuleName.TMRobot))
                    pm.StopWaitTransfer(ModuleName.TMRobot);
            }


            if (!_tmRobot.IsAvailable)
                return;

            var act = tmRobotActions.Peek();
            act.Invoke();

            if (!_tmRobot.IsAvailable)
                return;

            if (act == MonitorTMRobotLoadLockTask && _lstLls.Any(x => !x.IsAvailable))
                return;

            tmRobotActions.Enqueue(tmRobotActions.Dequeue());

            //MonitorTMRobotPMATask();

            //if (!_tmRobot.IsAvailable)
            //    return;

            //MonitorTMRobotPMBTask();

            //if (!_tmRobot.IsAvailable)
            //    return;

            //MonitorTMRobotLoadLockTask();

        }
        private bool CheckReturnWaferByModule(ModuleName currentName)
        {
            var bufferIndex = SC.GetValueOrDefault<int>("System.Scheduler.ReturnWaferPath");
            const int enumOffset = 29;
            if (bufferIndex > 0)
            {
                ModuleName targetModule = (ModuleName)Enum.Parse(typeof(ModuleName), (bufferIndex + enumOffset).ToString());
                _trigLLNoInstall.CLK = !SC.GetValueOrDefault<bool>($"System.SetUp.{targetModule}.IsInstalled");
                if (_trigLLNoInstall.Q)
                {
                    EV.PostWarningLog("System", $"Wafer can not return by {targetModule}, because of the {targetModule} is not installed");
                }
                if (_trigLLNoInstall.CLK)
                {
                    return false;
                }
                _trigLLReturnWafer.CLK = targetModule != currentName;
                if(_trigLLReturnWafer.Q && !_lstLls.Any(p => p.Module == targetModule))
                {
                    EV.PostWarningLog("System", $"Wafer can not return by {currentName}, because of the {currentName} is not set up ");
                }
                if(_trigLLReturnWafer.CLK)
                {
                    return false;
                }
            }
            return true;
        }

        private void MonitorTMRobotLoadLockTask()
        {
            if (!_tmRobot.IsAvailable)
                return;
            if (SC.IsDoubleFork && _lstLls.Any(x => !x.IsAvailable))
                return;

            //place to loadlock

            {
                bool blade1HasWafer = _tmRobot.Blade1Enable && Converter.MapBladeToSlots(Hand.Blade1).Any(p=>WaferManager.Instance.CheckHasWafer(ModuleName.TMRobot, p));
                bool blade2HasWafer = _tmRobot.Blade2Enable && Converter.MapBladeToSlots(Hand.Blade2).Any(p=>WaferManager.Instance.CheckHasWafer(ModuleName.TMRobot, p));

                if (blade1HasWafer || blade2HasWafer)
                {
                    Hand placeBlade = blade1HasWafer ? Hand.Blade1 : Hand.Blade2;

                    foreach (var ll in _lstLls)
                    {
                        if (!ll.IsAvailable)
                            continue;
                        if (!CheckReturnWaferByModule(ll.Module))
                            continue;
                        var slots = GetSlotCouldBePlace(ll, placeBlade);
                        if (slots != null && slots.Length > 0 )
                        {
                            if (_tmRobot.Place(ll.Module, Converter.MapPanToLLSlot(Converter.GetPanAndSlotFromPlace(placeBlade).Item1, slots), placeBlade, Converter.GetPanAndSlotFromPlace(placeBlade).Item1, 0, 0, false))
                            {
                                if (SC.IsDoubleFork)
                                    _lstLls.All(p => p.WaitTransfer(ModuleName.TMRobot));
                                else
                                    ll.WaitTransfer(ModuleName.TMRobot);
                                return;
                            }
                        }


                    }


                }
            }
        }

        private void MonitorTMRobotPMATask()
        {
            if (!_tmRobot.IsAvailable)
                return;

            //pick from pm

            {
                bool blade1Empty = _tmRobot.Blade1Enable && Converter.MapBladeToSlots(Hand.Blade1).All(p=> WaferManager.Instance.CheckNoWafer(ModuleName.TMRobot, p));
                bool blade2Empty = _tmRobot.Blade2Enable && Converter.MapBladeToSlots(Hand.Blade2).All(p=> WaferManager.Instance.CheckNoWafer(ModuleName.TMRobot, p));

                if (blade1Empty || blade2Empty)
                {
                    Hand pickBlade = blade1Empty ? Hand.Blade1 : Hand.Blade2;

                    //foreach (var pm in _lstPms)
                    {
                        var pm = _pm1;
                        if (!pm.IsAvailable)
                            return;
                        var slot = GetWaferCouldBeReturn(pm.Module);
                        if (slot != null && slot.Length>0 /*&& pm.IsReadyForPick(ModuleName.TMRobot, pickBlade, (int)slot)*/)
                        {
                            if (_tmRobot.Pick(pm.Module, slot, pickBlade, Converter.GetPanAndSlotFromPick(pickBlade,slot).Item1, 0, 0, false))
                            {
                                pm.WaitTransfer(ModuleName.TMRobot);
                                return;
                            }
                        }


                    }


                }
            }
        }

        private void MonitorTMRobotPMBTask()
        {
            if (!_tmRobot.IsAvailable)
                return;

            //pick from pm

            {
                bool blade1Empty = _tmRobot.Blade1Enable && Converter.MapBladeToSlots(Hand.Blade1).All(p=> WaferManager.Instance.CheckNoWafer(ModuleName.TMRobot, p));
                bool blade2Empty = _tmRobot.Blade2Enable && Converter.MapBladeToSlots(Hand.Blade2).All(p => WaferManager.Instance.CheckNoWafer(ModuleName.TMRobot, p));

                if (blade1Empty || blade2Empty)
                {
                    Hand pickBlade = blade1Empty ? Hand.Blade1 : Hand.Blade2;

                    //foreach (var pm in _lstPms)
                    {
                        var pm = _pm2;
                        if (!pm.IsAvailable)
                            return;
                        var slot = GetWaferCouldBeReturn(pm.Module);
                        if (slot != null && slot.Length > 0 /*&& pm.IsReadyForPick(ModuleName.TMRobot, pickBlade, (int)slot)*/)
                        {
                            if (_tmRobot.Pick(pm.Module, slot, pickBlade, Converter.GetPanAndSlotFromPick(pickBlade, slot).Item1, 0, 0, false))
                            {
                                pm.WaitTransfer(ModuleName.TMRobot);
                                return;
                            }
                        }


                    }


                }
            }
        }

        private bool MonitorTaskDone()
        {
            foreach (var positions in _checkPosition)
            {
                for (int i = 0; i < positions.Value; i++)
                {
                    if (CheckWaferCouldBeReturn(positions.Key, i))
                    {
                        return false;
                    }
                }
            }

            foreach (var lp in _lstLps)
            {
                if (!lp.IsAvailable)
                    return false;
            }
            if (!_tmRobot.IsAvailable)
                return false;
            if (!_efem.IsAvailable)
                return false;

            return true;
        }

        private void MonitorPMTask()
        {
            //    foreach (var pm in _lstPms)
            //    {
            //        if (!pm.IsAvailable)
            //            continue;
            //        var wafers = WaferManager.Instance.GetWafers(pm.Module);
            //        for (int i = 0; i < wafers.Length; i++)
            //        {
            //            if (!pm.IsAvailable)
            //                break;
            //            if (CheckWaferCouldBeReturn(pm.Module, i))
            //            {
            //                if (!pm.IsReadyForPick(ModuleName.TMRobot, Hand.Blade1, i))
            //                {
            //                    pm.PrepareTransfer(ModuleName.TMRobot, EnumTransferType.Pick, i);
            //                }
            //            }
            //        }
            //    }
        }

        private void MonitorLoadLockTask()
        {
            foreach (var ll in _lstLls)
            {
                if (!ll.IsAvailable)
                    continue;

                var wafers = WaferManager.Instance.GetWafers(ll.Module);
                for (int i = 0; i < wafers.Length; i++)
                {
                    var wafer = wafers[i];
                    if (!wafer.IsEmpty && wafer.NextStation != (int)ModuleName.LoadLock && ll.PostTransfer(ll.Module,EnumTransferType.Place,i))
                    {
                        wafer.NextStation = (int)ModuleName.LoadLock;
                    }
                }
            }
        }

        private void MonitorCoolingTask()
        {
            foreach (var cooling in _lstCoolings)
            {
                if (!cooling.IsAvailable)
                    continue;

                WaferInfo wafer = WaferManager.Instance.GetWafer(cooling.Module, 0);
                if (wafer.NextStation != (int)ModuleName.Cooling)
                {
                    //int coolingTime = SC.GetValueOrDefault<int>("System.DefaultCoolingTime");
                    if (cooling.Cooling(_coolingTime))
                    {
                        wafer.NextStation = (int)ModuleName.Cooling;
                    }
                }
            }

        }


        private void MonitorEfemRobotTask()
        {
            if (!_efem.IsAvailable)
                return;

            //efem robot is idle, release all the target 

            foreach (var ll in _lstLls)
            {
                if (ll.IsWaitTransfer(ModuleName.EfemRobot))
                    ll.StopWaitTransfer(ModuleName.EfemRobot);
            }
            foreach (var al in _lstAligners)
            {
                if (al.IsWaitTransfer(ModuleName.EfemRobot))
                    al.StopWaitTransfer(ModuleName.EfemRobot);
            }
            foreach (var bf in _lstCoolings)
            {
                if (bf.IsWaitTransfer(ModuleName.EfemRobot))
                    bf.StopWaitTransfer(ModuleName.EfemRobot);
            }

            foreach (var lp in _lstLps)
            {
                if (lp.IsWaitTransfer(ModuleName.EfemRobot))
                    lp.StopWaitTransfer(ModuleName.EfemRobot);
            }

            MonitorEfemRobotAlignerTask();

            if (!_efem.IsAvailable)
                return;

            MonitorEfemRobotLoadLockTask();
            MonitorEfemRobotCoolingTask();
            MonitorEfemRobotLoadPortTask();
        }

        private void MonitorEfemRobotLoadPortTask()
        {
            if (!_efem.IsAvailable)
                return;

            //place
            bool blade0HasWaferAndProcessed = _efem.Blade1Enable && CheckWaferCouldBeReturn(ModuleName.EfemRobot, 0);
            bool blade1HasWaferAndProcessed = _efem.Blade2Enable && CheckWaferCouldBeReturn(ModuleName.EfemRobot, 1);
            if (blade0HasWaferAndProcessed || blade1HasWaferAndProcessed)
            {
                Hand placeBlade = blade0HasWaferAndProcessed ? Hand.Blade1 : Hand.Blade2;
                if (blade0HasWaferAndProcessed && blade1HasWaferAndProcessed)
                {
                    if (WaferManager.Instance.GetWafer(ModuleName.EfemRobot, 1).OriginSlot <
                        WaferManager.Instance.GetWafer(ModuleName.EfemRobot, 0).OriginSlot)
                    {
                        placeBlade = Hand.Blade2;
                    }
                }

                if (_needCooling && WaferManager.Instance.GetWafer(ModuleName.EfemRobot, (int)placeBlade).NextStation != (int)ModuleName.Cooling)
                    return;

                SlotItem destination = GetWaferReturnLoadPort(ModuleName.EfemRobot, (int)placeBlade);
                if (destination != null)
                {
                    SchedulerLoadPort lp = (SchedulerLoadPort)GetModule(destination.Module.ToString());
                    if (lp.IsReadyForPlace(ModuleName.EfemRobot, Hand.Blade1, destination.Slot))
                    {
                        if (_efem.Place(destination.Module, destination.Slot, placeBlade))
                        {
                            WaferManager.Instance.GetWafer(ModuleName.EfemRobot, (int)placeBlade).NextStation = (int)ModuleName.System;
                            lp.WaitTransfer(ModuleName.EfemRobot);
                            return;
                        }
                    }
                }

            }
        }


        private void MonitorEfemRobotLoadLockTask()
        {
            if (!_efem.IsAvailable)
                return;

            if ((_cooling1.HasWafer(0) || _cooling2.HasWafer(0)) && (!_efem.Blade1Enable || !_efem.Blade2Enable))
                return;

            int waferCount = 0;
            if (_cooling1.HasWafer(0)) waferCount++;
            if (_cooling2.HasWafer(0)) waferCount++;
            if (_efem.HasWafer(0)) waferCount++;
            if (_efem.HasWafer(1)) waferCount++;
            if (waferCount >= 2)
                return;

            foreach (var ll in _lstLls)
            {
                if (!ll.IsAvailable)
                    continue;

                {
                    bool blade1Empty = _efem.Blade1Enable && WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, 0);
                    bool blade2Empty = _efem.Blade2Enable && WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, 1);

                    if (blade1Empty || blade2Empty)
                    {
                        Hand pickBlade = blade1Empty ? Hand.Blade1 : Hand.Blade2;

                        var wafers = WaferManager.Instance.GetWafers(ll.Module);
                        for (int i = 0; i < wafers.Length; i++)
                        {
                            if (CheckWaferCouldBeReturn(wafers[i]) && wafers[i].NextStation == (int)ModuleName.LoadLock)
                            {
                                if (ll.IsReadyForPick(ModuleName.EfemRobot, pickBlade, i))
                                {
                                    if (_efem.Pick(ll.Module, i, pickBlade))
                                    {
                                        ll.WaitTransfer(ModuleName.EfemRobot);
                                        return;
                                    }
                                }
                            }
                        }

                    }
                }
            }


        }

        private void MonitorEfemRobotCoolingTask()
        {
            if (!_efem.IsAvailable)
                return;

            //pick from Cooling
            bool blade1EmptyAndEnable = _efem.Blade1Enable && WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, 0);
            bool blade2EmptyAndEnable = _efem.Blade2Enable && WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, 1);

            if (blade1EmptyAndEnable || blade2EmptyAndEnable)
            {
                Hand pickBlade = blade1EmptyAndEnable ? Hand.Blade1 : Hand.Blade2;

                foreach (var cooling in _lstCoolings)
                {
                    if (!_efem.IsAvailable)
                        return;
                    if (!cooling.IsAvailable)
                        continue;

                    if (cooling.HasWafer(0) && cooling.GetWaferInfo(0).NextStation == (int)ModuleName.Cooling)
                    {
                        if (cooling.IsReadyForPick(ModuleName.EfemRobot, pickBlade, 0))
                        {
                            if (_efem.Pick(cooling.Module, 0, pickBlade))
                            {
                                cooling.WaitTransfer(ModuleName.EfemRobot);
                                return;
                            }
                        }
                    }

                }

            }

            //不需要cooling，返回
            if (!_needCooling)
                return;

            //place to Cooling
            bool blade1NeedCooling = _efem.Blade1Enable && WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot, 0) &&
                                     WaferManager.Instance.GetWafer(ModuleName.EfemRobot, 0).NextStation != (int)ModuleName.Cooling;
            bool blade2NeedCooling = _efem.Blade2Enable && WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot, 1) &&
                                     WaferManager.Instance.GetWafer(ModuleName.EfemRobot, 1).NextStation != (int)ModuleName.Cooling;

            if (blade1NeedCooling || blade2NeedCooling)
            {
                Hand placeBlade = blade1NeedCooling ? Hand.Blade1 : Hand.Blade2;

                foreach (var cooling in _lstCoolings)
                {
                    if (!_efem.IsAvailable)
                        return;
                    if (!cooling.IsAvailable)
                        continue;

                    if (cooling.IsReadyForPlace(ModuleName.EfemRobot, placeBlade, 0))
                    {
                        if (_efem.Place(cooling.Module, 0, placeBlade))
                        {
                            cooling.WaitTransfer(ModuleName.EfemRobot);
                            return;
                        }
                    }
                }

            }
        }

        private void MonitorEfemRobotAlignerTask()
        {
            if (!_efem.IsAvailable)
                return;

            //pick from aligner
            bool blade1EmptyAndEnable = _efem.Blade1Enable && WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, 0);
            bool blade2EmptyAndEnable = _efem.Blade2Enable && WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, 1);

            if (blade1EmptyAndEnable || blade2EmptyAndEnable)
            {
                Hand pickBlade = blade1EmptyAndEnable ? Hand.Blade1 : Hand.Blade2;

                foreach (var aligner in _lstAligners)
                {
                    if (!_efem.IsAvailable)
                        return;
                    if (!aligner.IsAvailable)
                        continue;

                    if (aligner.HasWafer(0))
                    {
                        if (aligner.IsReadyForPick(ModuleName.EfemRobot, pickBlade, 0))
                        {
                            if (_efem.Pick(aligner.Module, 0, pickBlade))
                            {
                                aligner.WaitTransfer(ModuleName.EfemRobot);
                                return;
                            }
                        }
                    }

                }

            }
        }

        private int[] GetWaferCouldBeReturn(ModuleName module)
        {
            var wafers = WaferManager.Instance.GetWafers(module);
            List<int> slots = new List<int>();
            for (int i = 0; i < wafers.Length; i++)
            {
                if (CheckWaferCouldBeReturn(wafers[i]))
                {
                    slots.Add(i);
                    if(SC.IsDoubleFork)
                    {
                        var leftOrRightSlot = (i % 2 > 0) ? i - 1 : i + 1;
                        var wafer = WaferManager.Instance.GetWafer(module, leftOrRightSlot);
                        if(wafer != null && !wafer.IsEmpty && CheckWaferCouldBeReturn(wafer))
                        {
                            slots.Add(leftOrRightSlot);
                        }
                    }
                    return slots.ToArray();
                }
            }

            return null;
        }

        private bool TryGetNextCanBeRetrunWafer(ModuleName module, int selectedSlot, out int nextSlot)
        {
            nextSlot = 0;
            if (!SC.IsDoubleFork) return false;
            nextSlot = (selectedSlot % 2 > 0) ? selectedSlot - 1 : selectedSlot + 1;
            var wafer = WaferManager.Instance.GetWafer(module, nextSlot);
            return !wafer.IsEmpty && CheckWaferCouldBeReturn(wafer);
        }

        private int[] GetSlotCouldBePlace(SchedulerLoadLock ll, Hand placeBlade)
        {
            var wafers = WaferManager.Instance.GetWafers(ll.Module);
            var isDoubleFork = SC.IsDoubleFork;
            for (int i = 0; i < wafers.Length; )
            {
                if(isDoubleFork)
                {
                    if (wafers[i].IsEmpty && ll.IsReadyForPlace(ModuleName.TMRobot, placeBlade, i) &&
                        wafers[i + 1].IsEmpty && ll.IsReadyForPlace(ModuleName.TMRobot, placeBlade, i + 1))
                    {
                        if (WaferManager.Instance.CheckHasWafer(ModuleName.TMRobot, ((int)placeBlade) + 2))
                            return new int[] { i, i + 1 };
                        else
                            return new int[] { i};
                    }
                    i += 2;
                }
                else
                {
                    if (wafers[i].IsEmpty && ll.IsReadyForPlace(ModuleName.TMRobot, placeBlade, i))
                        return new int[] {i};

                    i += 1;
                }
            }

            return null;
        }

        private bool CheckWaferCouldBeReturn(WaferInfo wafer)
        {
            if (!wafer.IsEmpty)
            {
                return ModuleHelper.IsLoadPort((ModuleName)wafer.OriginStation)
                       && wafer.Status != WaferStatus.Dummy
                        && WaferManager.Instance.CheckNoWafer((ModuleName)wafer.OriginStation, wafer.OriginSlot);
            }

            return false;
        }

        private bool CheckWaferCouldBeReturn(ModuleName module, int slot)
        {
            WaferInfo wafer = WaferManager.Instance.GetWafer(module, slot);
            if (!wafer.IsEmpty)
            {
                return ModuleHelper.IsLoadPort((ModuleName)wafer.OriginStation)
                       && wafer.Status != WaferStatus.Dummy
                        && WaferManager.Instance.CheckNoWafer((ModuleName)wafer.OriginStation, wafer.OriginSlot);
            }

            return false;
        }


        private SlotItem GetWaferReturnLoadPort(ModuleName module, int slot)
        {
            WaferInfo wafer = WaferManager.Instance.GetWafer(module, slot);
            if (!wafer.IsEmpty)
            {
                return new SlotItem((ModuleName)wafer.OriginStation, wafer.OriginSlot);
            }

            return null;
        }
    }

}