Mars200/Mars/JetEfem/LPs/LoadPortModule.cs

using System;
using System.Diagnostics;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using Aitex.Core.Utilities;
using Aitex.Sorter.Common;
using MECF.Framework.Common.DataCenter;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Efems.Rorzes;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;
using MECF.Framework.RT.ModuleLibrary.LPModules;
using static JetEfemLib.Efems.EfemModule;

namespace JetEfemLib.LPs
{
    public class LoadPortModule : LoadPortModuleBase, IE87CallBack
    {
        public enum STATE
        {
            NotInstall,

            NotConnected,
            Init,

            Idle,
            Homing,

            Loading,
            Unloading,

            Error,
            ReadingCarrierId,
            Clamp,
            Unclamp,
            Dock,
            Undock,
            OpenDoor,
            CloseDoor,
            Map,

            InTransfer,

            ChangingAccessMode
        }

        public enum MSG
        {
            Disconnected,

            Connected,
            Home,
            Reset,
            Init,
            Error,
            Abort,
            InTransfer,
            TransferComplete,
            Load,
            Unload,
            ReadCarrierId,
            Clamp,
            Map,
            CloseDoor,
            OpenDoor,
            Undock,
            Dock,
            Unclamp,
            ToInit,
            ToIdle,
            ChangeAccessMode
        }

        public override bool IsReady
        {
            get { return FsmState == (int)STATE.Idle && CheckAllMessageProcessed(); }
        }

        public override bool IsError
        {
            get { return FsmState == (int)STATE.Error; }
        }

        public override bool IsInit
        {
            get { return FsmState == (int)STATE.Init; }
        }

        public override bool IsLoaded
        {
            get { return LPDevice.DoorState ==FoupDoorState.Open; }
        }

        public override bool IsUnloaded
        {
            get { return LPDevice.DoorState ==FoupDoorState.Close; }
        }

        public override bool IsClamped
        {
            get { return LPDevice.ClampState == FoupClampState.Close; }
        }

        public override bool IsUnclamped
        {
            get { return LPDevice.ClampState == FoupClampState.Open; }
        }

        public event Action<string> OnEnterError;

        public LoadPort LPDevice
        {
            get
            {
                return _lpDevice;
            }
        }

        private RorzeEfem _efemDevice;

        private LoadPort _lpDevice;
        private LoadPortHomeRoutine _home;
        private LoadPortCloseDoorRoutine _closeDoor;
        private LoadPortClampRoutine _clamp;
        private LoadPortDockRoutine _dock;
        private LoadPortMapRoutine _map;
        private LoadPortOpenDoorRoutine _openDoor;
        private LoadPortReadCarrierIdRoutine _readCarrierId;
        private LoadPortGetMapInfoRoutine _MapDT;
        private LoadPortUnclampRoutine _unclamp;
        private LoadPortUndockRoutine _undock;
        private LoadPortLoadRoutine _load;
        private LoadPortChangeAccessModeRoutine _changeAccessMode;

        private bool _isInit;

        private bool _jobDone;

        private R_TRIG _trigLpReady = new R_TRIG();

        public Stopwatch TimerNotifyJobDone { get; set; }

        public LoadPortModule(ModuleName module) : base(25)
        {
            Name = module.ToString();

            Module = module.ToString();

            IsOnline = false;
        }

        public override bool Initialize()
        {
            InitRoutine();

            InitDevice();

            InitFsm();

            InitOp();

            InitData();

            TimerNotifyJobDone = new Stopwatch();

            return base.Initialize();
        }

        private void InitRoutine()
        {
            _home = new LoadPortHomeRoutine(this);
            _closeDoor = new LoadPortCloseDoorRoutine(this);
            _clamp = new LoadPortClampRoutine(this);
            _dock = new LoadPortDockRoutine(this);
            _map = new LoadPortMapRoutine(this);
            _openDoor = new LoadPortOpenDoorRoutine(this);
            _readCarrierId = new LoadPortReadCarrierIdRoutine(this);
            _unclamp = new LoadPortUnclampRoutine(this);
            _undock = new LoadPortUndockRoutine(this);
            _MapDT = new LoadPortGetMapInfoRoutine(this);
            _load = new LoadPortLoadRoutine(this);
            _changeAccessMode=new LoadPortChangeAccessModeRoutine(this);
        }

        public void InitDevice()
        {
            _efemDevice = DEVICE.GetDevice<RorzeEfem>($"{ModuleName.System}.{ModuleName.EFEM}");
            if (SC.GetValue<int>("EFEM.EfemType") == (int)EfemType.FutureEfem2P)
            {
                _lpDevice = DEVICE.GetDevice<FutureEfemLoadPort>($"{Module}");
            }
            else if (SC.GetValue<int>("EFEM.EfemType") == (int)EfemType.JetEfem)
            {
                _lpDevice = DEVICE.GetDevice<JetEfemLoadPort>($"{Module}");
            }
            else if(SC.GetValue<int>("EFEM.EfemType") == (int)EfemType.FutureEfem3P)
            {
                _lpDevice = DEVICE.GetDevice<FutureEfemLoadPort3P>($"{Module}");
            }
            (_lpDevice as LoadPort).LPCallBack = this;
        }

        private void InitData()
        {
            DATA.Subscribe($"{Module}.Status", () => StringFsmStatus);
            DATA.Subscribe($"{Module}.IsOnline", () => IsOnline);
            DATA.Subscribe($"{Module}.JobDone", () =>
            {
                if (!_lpDevice.IsPlacement) _jobDone = false;
                if (!_jobDone || !_lpDevice.IsPlacement)
                    return false;

                if (SC.GetValue<int>("System.Job.BuzzerTimeWhenJobDone") >= 0
                    && TimerNotifyJobDone.ElapsedMilliseconds > SC.GetValue<int>("System.Job.BuzzerTimeWhenJobDone") * 1000)
                    return false;

                return _jobDone;
            });
            DATA.Subscribe($"{Module}.IndicatorError", () => IsError, SubscriptionAttribute.FLAG.IgnoreSaveDB);
        }

        private void InitOp()
        {
            OP.Subscribe($"{Name}.Home", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.Home);
            });

            OP.Subscribe($"{Name}.Abort", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.Abort);
            });

            OP.Subscribe($"{Name}.Reset", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.Reset);
            });

            OP.Subscribe($"{Name}.ReadCarrierId", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.ReadCarrierId);
            });

            OP.Subscribe($"{Name}.Load", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.Load);
            });

            OP.Subscribe($"{Name}.Unload", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.Unload);
            });

            OP.Subscribe($"{Name}.Clamp", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.Clamp);
            });

            OP.Subscribe($"{Name}.Unclamp", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.Unclamp);
            });

            OP.Subscribe($"{Name}.Dock", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.Dock);
            });

            OP.Subscribe($"{Name}.Undock", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.Undock);
            });

            OP.Subscribe($"{Name}.OpenDoor", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.OpenDoor);
            });

            OP.Subscribe($"{Name}.CloseDoor", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.CloseDoor);
            });

            OP.Subscribe($"{Name}.Map", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.Map);
            });
            OP.Subscribe($"{Name}.ChangeAccess", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.ChangeAccessMode,args);
            });
        }

        private void InitFsm()
        {
            EnumLoop<STATE>.ForEach((item) =>
            {
                MapState((int)item, item.ToString());
            });

            EnumLoop<MSG>.ForEach((item) =>
            {
                MapMessage((int)item, item.ToString());
            });

            EnableFsm(50, IsInstalled ? STATE.Init : STATE.NotInstall);

            //Error
            AnyStateTransition(MSG.Error, FsmOnError, STATE.Error);
            AnyStateTransition((int)FSM_MSG.ALARM, FsmAlarm, (int)STATE.Error);
            Transition(STATE.Error, MSG.Reset, FsmReset, STATE.Idle);
            EnterExitTransition<STATE, FSM_MSG>(STATE.Error, FsmEnterError, FSM_MSG.NONE, FsmExitError);

            //Init
            Transition(STATE.Init, MSG.Home, FsmStartHome, STATE.Homing);
            Transition(STATE.Error, MSG.Home, FsmStartHome, STATE.Homing);
            Transition(STATE.Idle, MSG.Home, FsmStartHome, STATE.Homing);
            Transition(STATE.Homing, FSM_MSG.TIMER, FsmMonitorHomeTask, STATE.Idle);
            Transition(STATE.Homing, MSG.Error, null, STATE.Init);
            Transition(STATE.Homing, MSG.Abort, FsmAbortTask, STATE.Init);
            EnterExitTransition<STATE, FSM_MSG>(STATE.Idle, FsmEnterIdle, FSM_MSG.NONE, FsmExitIdle);

            AnyStateTransition(MSG.ToInit, FsmToInit, STATE.Init);
            AnyStateTransition(MSG.ToIdle, FsmToIdle, STATE.Idle);

            //load
            Transition(STATE.Idle, MSG.Load, FsmStartLoad, STATE.Loading);
            Transition(STATE.Loading, FSM_MSG.TIMER, FsmMonitorLoadTask, STATE.Idle);
            Transition(STATE.Loading, MSG.Abort, FsmAbortTask, STATE.Idle);

            //unload
            Transition(STATE.Idle, MSG.Unload, FsmStartUnload, STATE.Unloading);
            Transition(STATE.Unloading, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.Unloading, MSG.Abort, FsmAbortTask, STATE.Idle);

            //read carrier id
            Transition(STATE.Idle, MSG.ReadCarrierId, FsmStartReadCarrierId, STATE.ReadingCarrierId);
            Transition(STATE.ReadingCarrierId, FSM_MSG.TIMER, FsmMonitorReadIdTask, STATE.Idle);
            Transition(STATE.ReadingCarrierId, MSG.Abort, FsmAbortTask, STATE.Idle);

            //clamp
            Transition(STATE.Idle, MSG.Clamp, FsmStartClamp, STATE.Clamp);
            Transition(STATE.Clamp, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.Clamp, MSG.Abort, FsmAbortTask, STATE.Idle);

            //unclamp
            Transition(STATE.Idle, MSG.Unclamp, FsmStartUnclamp, STATE.Unclamp);
            Transition(STATE.Unclamp, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.Unclamp, MSG.Abort, FsmAbortTask, STATE.Idle);

            //dock
            Transition(STATE.Idle, MSG.Dock, FsmStartDock, STATE.Dock);
            Transition(STATE.Dock, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.Dock, MSG.Abort, FsmAbortTask, STATE.Idle);

            //undock
            Transition(STATE.Idle, MSG.Undock, FsmStartUndock, STATE.Undock);
            Transition(STATE.Undock, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.Undock, MSG.Abort, FsmAbortTask, STATE.Idle);

            //open door
            Transition(STATE.Idle, MSG.OpenDoor, FsmStartOpenDoor, STATE.OpenDoor);
            Transition(STATE.OpenDoor, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.OpenDoor, MSG.Abort, FsmAbortTask, STATE.Idle);

            //close door
            Transition(STATE.Idle, MSG.CloseDoor, FsmStartCloseDoor, STATE.CloseDoor);
            Transition(STATE.CloseDoor, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.CloseDoor, MSG.Abort, FsmAbortTask, STATE.Idle);

            //map
            Transition(STATE.Idle, MSG.Map, FsmStartMap, STATE.Map);
            Transition(STATE.Map, FSM_MSG.TIMER, FsmMonitorTask, STATE.Idle);
            Transition(STATE.Map, MSG.Abort, FsmAbortTask, STATE.Idle);

            Transition(STATE.Idle, MSG.Disconnected, null, STATE.NotConnected);
            Transition(STATE.Idle, MSG.InTransfer, null, STATE.InTransfer);
            Transition(STATE.InTransfer, MSG.InTransfer, null, STATE.InTransfer);
            Transition(STATE.InTransfer, MSG.TransferComplete, null, STATE.Idle);
            Transition(STATE.InTransfer, MSG.Abort, null, STATE.Idle);
            Transition(STATE.NotConnected, MSG.Connected, null, STATE.Idle);
            //changeAcessMode
            Transition(STATE.Init,MSG.ChangeAccessMode, FsmStartChangeAccess, STATE.ChangingAccessMode);
            Transition(STATE.ChangingAccessMode, FSM_MSG.TIMER, FsmMonitorChangeAccessModeTask, STATE.Init);
        }

        public override bool Home(out string reason)
        {
            if (!CheckToPostMessage((int)MSG.Home))
            {
                reason = $"Can not home in {StringFsmStatus} status";
                return false;
            }

            reason = string.Empty;
            return true;
        }

        public override void NoteJobStart()
        {
            _jobDone = false;
        }

        public override void NoteJobComplete()
        {
            TimerNotifyJobDone.Restart();
            _jobDone = true;
        }

        public override bool Load()
        {
            return CheckToPostMessage((int)MSG.Load);
        }

        public override bool Unload()
        {
            return CheckToPostMessage((int)MSG.Unload);
        }

        public override bool Clamp()
        {
            return CheckToPostMessage((int)MSG.Clamp);
        }

        public override bool Unclamp()
        {
            return CheckToPostMessage((int)MSG.Unclamp);
        }

        public   void NotJobStart()
        {
            _lpDevice.SetIndicator(IndicatorType.Busy, IndicatorState.ON);
        }

        public   void NotJobComplete()
        {
            _lpDevice.SetIndicator(IndicatorType.Busy, IndicatorState.OFF);
            _lpDevice.SetIndicator(IndicatorType.Complete, IndicatorState.ON);
        }

        public override void Reset()
        {
            if (IsError)
            {
                CheckToPostMessage((int)MSG.Reset);
            }
        }
        public override bool PrepareTransfer(ModuleName robot, Hand blade, int[] targetSlot, EnumTransferType transferType, out string reason)
        {
            reason = string.Empty;
            return true;
        }

        public override bool TransferHandoff(ModuleName robot, Hand blade, int[] targetSlot, EnumTransferType transferType, out string reason)
        {
            reason = string.Empty;
            return true;
        }

        public override bool PostTransfer(ModuleName robot, Hand blade, int[] targetSlot, EnumTransferType transferType, out string reason)
        {
            reason = string.Empty;
            return true;
        }

        public override bool CheckReadyForTransfer(ModuleName robot, Hand blade, int targetSlot, EnumTransferType transferType,
            out string reason)
        {
            var isReadyForTransfer = _lpDevice.IsEnableTransferWafer(out reason) && IsReady && _lpDevice.DoorState == FoupDoorState.Open;
            _trigLpReady.CLK = !isReadyForTransfer;
            if(_trigLpReady.Q)
            {
                LOG.Error($"Module={Module} IsReadyForTransfer={isReadyForTransfer} reason={reason} FsmState={FsmState.ToString()} CheckAllMessageProcessed={CheckAllMessageProcessed()} DoorState = { _lpDevice.DoorState} ");
            }
            return isReadyForTransfer;
        }

        public override bool CheckReadyForMap(ModuleName robot, Hand blade, out string reason)
        {
            if (SC.GetValue<int>("Efem.EfemType") == 2)
            {
                return _lpDevice.IsEnableMapWafer(out reason) && IsReady && _lpDevice.DoorState == FoupDoorState.Open;
            }
            return _lpDevice.IsEnableMapWafer(out reason) && IsReady;
        }

        public override void NoteTransferStart(ModuleName robot, Hand blade, int targetSlot, EnumTransferType transferType)
        {
            CheckToPostMessage(MSG.InTransfer);
        }

        public override void NoteTransferStop(ModuleName robot, Hand blade, int targetSlot, EnumTransferType transferType)
        {
            if (FsmState == (int)STATE.InTransfer)
                CheckToPostMessage(MSG.TransferComplete);
        }

        public void CarrierArrive()
        {
            //_lpDevice.SetIndicator(IndicatorType.Busy, IndicatorState.OFF);
            //_lpDevice.SetIndicator(IndicatorType.Complete, IndicatorState.OFF);
            _jobDone = false;
        }

        public void CarrerRemove(string carrierID)
        {
            //_lpDevice.SetIndicator(IndicatorType.Busy, IndicatorState.OFF);
            //_lpDevice.SetIndicator(IndicatorType.Complete, IndicatorState.OFF);
            _jobDone = false;
        }

        public void CarrierIDReadSuccess(string carrierID)
        {
        }

        public void CarrierIDReadFail()
        {
        }

        public void MappingComplete(string carrierID, string slotmap)
        {
        }

        public void LoadportError(string errorcode)
        {
        }

        public void LoadComplete()
        {
        }

        public void UnloadComplete()
        {
        }

        public void OnLPHomed()
        {
            PostMsg(MSG.ToIdle);
        }

        public void OnE84HandoffStart(bool isload)
        {
        }

        public void OnE84HandoffComplete(bool isload)
        {
        }


        public void LoadStart()
        {
        }

        public void UnLoadStart()
        {
        }

        //重新连接了EFEM，重置数据
        public void ResetData()
        {
            _lpDevice.SetIndicator(IndicatorType.Busy, IndicatorState.OFF);
            _lpDevice.SetIndicator(IndicatorType.Complete, IndicatorState.OFF);

            _lpDevice.ResetData();
        }

        private bool FsmReset(object[] param)
        {
            if (!_efemDevice.Connection.IsConnected)
            {
                _efemDevice.Connect();
                return false;
            }

            if (!_isInit)
            {
                PostMsg(MSG.ToInit);
                return false;
            }

            if (_lpDevice.IsError)
            {
                EV.PostWarningLog(Module, $"{Module} in error, home to recover");

                PostMsg(MSG.ToInit);
                return false;
            }

            return true;
        }

        private bool FsmOnError(object[] param)
        {
            AbortRoutine();
            return true;
        }

        private bool FsmAlarm(object[] objs)
        {
            AbortRoutine();
            return true;
        }

        private bool FsmExitIdle(object[] param)
        {
            return true;
        }

        private bool FsmEnterIdle(object[] param)
        {
            return true;
        }

        private bool FsmExitError(object[] param)
        {
            return true;
        }

        private bool FsmEnterError(object[] param)
        {
            if (OnEnterError != null)
                OnEnterError(Module);
            return true;
        }

        private bool FsmAbortTask(object[] param)
        {
            AbortRoutine();
            return true;
        }

        private bool FsmStartHome(object[] param)
        {
            RState ret = StartRoutine(_home);
            if (ret == RState.Failed || ret == RState.End)
                return false;

            _isInit = false;

            return ret == RState.Running;
        }

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

            if (ret == RState.End)
            {
                _lpDevice.OnHomed();
                _isInit = true;
                return true;
            }

            return false;
        }

        private bool FsmToInit(object[] param)
        {
            return true;
        }

        private bool FsmToIdle(object[] param)
        {
            _lpDevice.Initalized = true;
            _lpDevice.OnHomed();
            return true;
        }

        private bool FsmMonitorLoadTask(object[] param)
        {
            RState ret = MonitorRoutine();
            if (ret == RState.Failed)
            {
                PostMsg(MSG.Error);
                return false;
            }

            if (ret == RState.End)
            {
                IsOnline = true;
                _lpDevice.DockState = FoupDockState.Docked;
                LPDevice.OnLoaded();
            }

            return ret == RState.End;
        }
        private bool FsmMonitorReadIdTask(object[] param)
        {
            RState ret = MonitorRoutine();
            if (ret == RState.Failed)
            {
                PostMsg(MSG.Error);
                return false;
            }

            return ret == RState.End;
        }
        private bool FsmMonitorTask(object[] param)
        {
            RState ret = MonitorRoutine();
            if (ret == RState.Failed)
            {
                PostMsg(MSG.Error);
                return false;
            }

            if (ret == RState.End)
            {
                LPDevice.OnUnloaded();
            }
            return ret == RState.End;
        }
        private bool FsmMonitorChangeAccessModeTask(object[] param)
        {
            RState ret = MonitorRoutine();
            if (ret == RState.Failed)
            {
                PostMsg(MSG.Error);
                return false;
            }

            return ret == RState.End;
        }

        private bool FsmStartLoad(object[] param)
        {
            //QueueRoutine.Clear();

            //QueueRoutine.Enqueue(_clamp);
            ////QueueRoutine.Enqueue(_dock);
            //QueueRoutine.Enqueue(_openDoor);
            ////QueueRoutine.Enqueue(_map);
            //QueueRoutine.Enqueue(_MapDT);

            //Result ret = StartRoutine();
            RState ret = StartRoutine(_load);
            if (ret == RState.Failed || ret == RState.End)
                return false;
            if(ret == RState.Running)
            {
                LPDevice.OnLoadStart();
            }
            return ret == RState.Running;
        }

        private bool FsmStartUnload(object[] param)
        {
            IsOnline = false;
            QueueRoutine.Clear();

            QueueRoutine.Enqueue(_closeDoor);
            //QueueRoutine.Enqueue(_undock);
            if (SC.GetValue<int>("EFEM.EfemType") != (int)EfemType.FutureEfem3P)
            {
                QueueRoutine.Enqueue(_unclamp);
            }

            RState ret = StartRoutine();
            if (ret == RState.Failed || ret == RState.End)
                return false;
            if (ret == RState.Running)
            {
                LPDevice.OnUnLoadStart();
            }
            return ret == RState.Running;
        }

        private bool FsmStartMap(object[] param)
        {
            RState ret = StartRoutine(_map);
            if (ret == RState.Failed || ret == RState.End)
                return false;
            return ret == RState.Running;
        }

        private bool FsmStartCloseDoor(object[] param)
        {
            RState ret = StartRoutine(_closeDoor);
            if (ret == RState.Failed || ret == RState.End)
                return false;
            return ret == RState.Running;
        }

        private bool FsmStartOpenDoor(object[] param)
        {
            RState ret = StartRoutine(_openDoor);
            if (ret == RState.Failed || ret == RState.End)
                return false;
            return ret == RState.Running;
        }

        private bool FsmStartUndock(object[] param)
        {
            RState ret = StartRoutine(_undock);
            if (ret == RState.Failed || ret == RState.End)
                return false;
            return ret == RState.Running;
        }

        private bool FsmStartDock(object[] param)
        {
            RState ret = StartRoutine(_dock);
            if (ret == RState.Failed || ret == RState.End)
                return false;
            return ret == RState.Running;
        }

        private bool FsmStartUnclamp(object[] param)
        {
            RState ret = StartRoutine(_unclamp);
            if (ret == RState.Failed || ret == RState.End)
                return false;
            return ret == RState.Running;
        }

        private bool FsmStartClamp(object[] param)
        {
            RState ret = StartRoutine(_clamp);
            if (ret == RState.Failed || ret == RState.End)
                return false;
            return ret == RState.Running;
        }

        private bool FsmStartReadCarrierId(object[] param)
        {
            RState ret = StartRoutine(_readCarrierId);
            if (ret == RState.Failed || ret == RState.End)
                return false;
            return ret == RState.Running;
        }

        private bool FsmStartChangeAccess(object[] param)
        {
            bool enableChangeAccess = false;
            string enableChangeAccessConfig = "EFEM.LoadPort.EnableChangeAccess";
            if(SC.ContainsItem(enableChangeAccessConfig))
            {
                enableChangeAccess = SC.GetValue<bool>(enableChangeAccessConfig);
            }
            if(!enableChangeAccess)
            {
                return false;
            }
            RState ret = StartRoutine(_changeAccessMode,param);
            if (ret == RState.Failed || ret == RState.End)
                return false;
            return ret == RState.Running;
        }
    }
}