Mars200VCE/JetVirgoPM/Devices/JetDualPM.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading.Tasks;
using Aitex.Core.Common;
using Aitex.Core.Common.DeviceData;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Device.Unit;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using JetVirgoPM.PMs;
using JetVirgoPM.PMs.Routines;
using MECF.Framework.Common.Device.Bases;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.PMs;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Pumps.EdwardsPump;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Pumps.SkyPump;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.JEL;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.Rorze;
using MECF.Framework.RT.EquipmentLibrary.Unit;
using MECF.Framework.RT.ModuleLibrary.SystemModules;

namespace JetVirgoPM.Devices
{
    enum ValveType
    {
        PROCESS,
        N2,
        FAST_PUMP,
        SOFT_PUMP,
        FAST_VENT,
        PURGE,
        Mfc1,
        Mfc2,
        Mfc3,
        Mfc4,
        Mfc5,
        Mfc6,
    }

    class JetDualPM : DualPM
    {
        // ----------------------------Fields--------------------------
        //
        private readonly IoLid _Lid;
        //private readonly IoCylinder        _LidLocker;
        private readonly IoMessage _Messager;
        private readonly IoSensor _ATM_sw;
        private readonly IoSensor _VAC_sw;
        //private readonly IoSensor _WLK_sw;
        //private readonly IoSensor _CDAPressure;
        private readonly IoSensor _CoolantInletTC1;
        private readonly IoSensor _CoolantInletTC2;
        private readonly IoSensor _CoolantOutletTC1;
        private readonly IoSensor _CoolantOutletTC2;
        //private readonly IoSensor _ArmNotExtend;
        private readonly IoSensor _N2Pressure_sw;
        private readonly IoSensor _LEOT1;
        private readonly IoSensor _LEOT2;
        private readonly IoSensor _GBInterlock;
        private readonly IoSensor _TMRobotNotExtendToPM1;
        private readonly IoSensor _TMRobotNotExtendToPM2;
        //private readonly IoSensor _TMInSafety;
        private readonly IoSensor _CHBOTSW;
        private readonly IoSensor _SourceFan;
        private readonly IoSensor _GeneratorInterlock;
        //private readonly IoSensor _RFG_Interlock;
        private readonly IoPressureControl _pressureController;
        private readonly IoHeater _ChamberHeater1;
        private readonly IoHeater _HeaterChamber;
        private readonly IoHeater _ForelineHeater;
        private readonly IoHeater _LEHeater1;
        private readonly IoHeater _LEHeater2;
        private readonly IoValve _SoftPumpValve;
        private readonly IoValve _FastPumpValve;
        private readonly IoValve _ProcessValve;
        private readonly IoValve _N2Valve;
        private readonly IoValve _PurgeValve;
        private readonly IoValve _FastVentValve;
        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           _N2SupplyValve;
        //private readonly IoCylinder _slitDoor1;
        //private readonly IoCylinder _slitDoor2;
        private readonly IoCylinder _LiftPin1;
        private readonly IoCylinder _LiftPin2;
        private readonly IoCylinder _GuidePin1;        // 3'
        private readonly IoCylinder _GuidePin2;        // 4'
        private readonly IoLiftPin _ioLiftPin1;
        private readonly IoLiftPin _ioLiftPin2;
        private readonly RfPowerBase _Generator1;
        private readonly RfPowerBase _Generator2;
        private readonly RfPowerBase _GeneratorBias1;
        private readonly RfPowerBase _GeneratorBias2;
        private readonly RfMatchBase _Match1;
        private readonly RfMatchBase _Match2;
        private readonly RfMatchBase _BiasMatch1;
        private readonly RfMatchBase _BiasMatch2;
        private readonly PumpBase _MainPump;
        private readonly ChillerBase _Chiller1;
        private readonly ChillerBase _Chiller2;
        private readonly IoGasStick[] _gasLines;

        private readonly R_TRIG _trigBasePressure = new R_TRIG();
        private readonly R_TRIG _trigBaseTemperature1 = new R_TRIG();
        private readonly R_TRIG _trigBaseTemperature2 = new R_TRIG();

        private double BasePressure;
        private double BaseTemperature;

        private bool EnableBiasRF1 = false;
        private bool EnableBiasRF2 = false;
        private int _bigWafer = 0;
        private int _midWafer = 0;
        private int _smallWafer = 0;
        private int gasCount = 0;

        private bool _IsPlus;
        public bool _Chamber1Disabled;
        public bool _Chamber2Disabled;
        private bool _guidePinInstalled;


        public bool GuidePinInstalled
        {
            get { return _guidePinInstalled; }
        }


        public bool IsPlus => _IsPlus;

        public bool AlarmPro = false;
        // --------------------------Properties------------------------
        //
        public new ModuleName Module { get; }

        // 门的状态
        public bool IsSlitDoor1Closed => !(bool)DATA.Poll($"TM.Left{Module}SlitDoorOpen");
        public bool IsSlitDoor2Closed => !(bool)DATA.Poll($"TM.Right{Module}SlitDoorOpen");
        public bool IsTMRobotNotExtendToPM1 => _TMRobotNotExtendToPM1.Value;
        public bool IsTMRobotNotExtendToPM2 => _TMRobotNotExtendToPM2.Value;

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

        // 盖子的锁
        //public bool IsLidLocked => !_LidLocker.ONSetPoint && _LidLocker.OFFSetPoint;

        public MovementPosition LiftPinPosition
        {
            get
            {
                MovementPosition pos = MovementPosition.Unknown;
                if (_LiftPin1.ONFeedback && !_LiftPin1.OFFFeedback)
                {
                    pos = MovementPosition.Up;
                }
                else if (!_LiftPin1.ONFeedback && _LiftPin1.OFFFeedback)
                {
                    pos = MovementPosition.Down;
                }
                return pos;
            }
        }

        public MovementPosition GuidePin1Position
        {
            get
            {
                if (_smallWafer == 0)
                    return MovementPosition.Down;
                MovementPosition res = MovementPosition.Unknown;
                if (_GuidePin1.ONFeedback && !_GuidePin1.OFFFeedback)
                {
                    res = MovementPosition.Up;
                }
                else if (_GuidePin1.OFFFeedback && !_GuidePin1.ONFeedback)
                {
                    res = MovementPosition.Down;
                }
                return res;
            }
        }

        public MovementPosition GuidePin2Position
        {
            get
            {
                if (_midWafer == 0)
                    return MovementPosition.Down;
                MovementPosition res = MovementPosition.Unknown;
                if (_GuidePin2.ONFeedback && !_GuidePin2.OFFFeedback)
                {
                    res = MovementPosition.Up;
                }
                else if (_GuidePin2.OFFFeedback && !_GuidePin2.ONFeedback)
                {
                    res = MovementPosition.Down;
                }
                return res;
            }
        }

        public bool Chamber1Disable
        {
            get
            {
                return SC.GetValue<bool>($"System.SetUp.{Module}Chamber1Disabled.IsInstalled");
            }
        }
        public bool Chamber2Disable
        {
            get
            {
                return SC.GetValue<bool>($"System.SetUp.{Module}Chamber2Disabled.IsInstalled");
            }
        }

        public override bool IsError
        {
            get
            {
                bool IsGeneratorBias1Error = SC.GetValue<bool>($"{Module}.BiasRf1.EnableBiasRF") && _GeneratorBias1.IsError;
                bool IsGeneratorBias2Error = SC.GetValue<bool>($"{Module}.BiasRf2.EnableBiasRF") && _GeneratorBias2.IsError;

                return _MainPump.IsError || _Generator1.IsError || _Generator2.IsError || IsGeneratorBias1Error || IsGeneratorBias2Error;
            }
        }
        public override bool IsIdle { get; }

        // 腔体压力
        public bool IsPressureToleranceEnabled
        {
            get => _pressureController.EnableTolerance;
            set => _pressureController.EnableTolerance = value;
        }

        public override double ChamberPressure => _pressureController.ProcessGauge.Value;
        public override double ChamberPressurePressure => _pressureController.PressureGauge.Value;
        public double ForelinePressure => _pressureController.ForelineGauge.Value;
        public PressureCtrlMode PressureMode => _pressureController.ThrottleValve.PressureMode;
        public double TargetPressure => _pressureController.TargetPressure;

        // 压力信号
        public bool IsATM => _ATM_sw.Value;
        public bool IsVAC => _VAC_sw.Value;
        //public bool IsWLK => _WLK_sw.Value;
        public bool IsGeneratorInterlockOk => _GeneratorInterlock.Value;

        // 温度
        public float ChamberTempSP1 => _ChamberHeater1.ControlTcSetPoint;
        public float ChamberTempFB1 => _ChamberHeater1.ControlTcFeedback;
        public float CoolantInletTempFB1 => _ChamberHeater1.CoolantInletTcFeedback;
        public float CoolantOutletTempFB1 => _ChamberHeater1.CoolantOutletTcFeedback;

        public float ChamberTempSP2 => _HeaterChamber.ControlTcSetPoint;
        public float ChamberTempFB2 => _HeaterChamber.ControlTcFeedback;
        public float CoolantInletTempFB2 => _HeaterChamber.CoolantInletTcFeedback;
        public float CoolantOutletTempFB2 => _HeaterChamber.CoolantOutletTcFeedback;

        // LE温度
        public float LETempSP1 => _LEHeater1.ControlTcSetPoint;
        public float LETempFB1 => _LEHeater1.ControlTcFeedback;
        public string LETempFB1Name => _LEHeater1.Name;
        public float LECoolantInletTempFB1 => _LEHeater1.CoolantInletTcFeedback;
        public float LECoolantOutletTempFB1 => _LEHeater1.CoolantOutletTcFeedback;

        public float LETempSP2 => _LEHeater2.ControlTcSetPoint;
        public float LETempFB2 => _LEHeater2.ControlTcFeedback;
        public string LETempFB2Name => _LEHeater2.Name;
        public float LECoolantInletTempFB2 => _LEHeater2.CoolantInletTcFeedback;
        public float LECoolantOutletTempFB2 => _LEHeater2.CoolantOutletTcFeedback;

        public bool LETemp1ON => _LEHeater1.IsPowerOnFeedback;
        public bool LETemp2ON => _LEHeater2.IsPowerOnFeedback;

        // Pump 状态
        public bool IsPumpRunning => _MainPump.IsRunning;
        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 HasPumpError => _MainPump.IsError || !_MainPump.IsRunning;

        //public bool IsCDA_OK => _CDAPressure.Value;
        public bool IsCoolantInletTC_OK1 => _CoolantInletTC1.Value;
        public bool IsCoolantInletTC_OK2 => _CoolantInletTC2.Value;
        public bool IsCoolantOutletTC_OK1 => _CoolantOutletTC1.Value;
        public bool IsCoolantOutletTC_OK2 => _CoolantOutletTC2.Value;

        // interlock
        public bool NotHasInterlock => AlarmPro ? _GBInterlock.Value : _GBInterlock.Value && _GeneratorInterlock.Value;
        public bool NotHasInterlockWithOutGeneratorInterlock => _GBInterlock.Value;
        // 蝶阀位置
        public float TVPosition => _pressureController.ThrottleValve.PositionFeedback;

        // 腔体压力.end

        // 射频1
        public float Generator1ForwardPower => _Generator1.ForwardPower;
        public bool IsGenerator1ON => _Generator1.IsPowerOn;
        public float Generator1Setpoint => _Generator1.PowerSetPoint;
        // 射频 2
        public float Generator2ForwardPower => _Generator2.ForwardPower;
        public bool IsGenerator2ON => _Generator2.IsPowerOn;
        public float Generator2Setpoint => _Generator2.PowerSetPoint;

        // Bias射频1
        public float ForwardPowerBias1 => _GeneratorBias1.ForwardPower;
        public bool IsGeneratorONBias1 => _GeneratorBias1.IsPowerOn;
        public float GeneratorSetpointBias1 => _GeneratorBias1.PowerSetPoint;
        public float CTune1 => _GeneratorBias1.CTune;
        public float CLoad1 => _GeneratorBias1.CLoad;
        public int VPP1 => _GeneratorBias1.VPP;

        // Bias射频2
        public float ForwardPowerBias2 => _GeneratorBias2.ForwardPower;
        public bool IsGeneratorONBias2 => _GeneratorBias2.IsPowerOn;
        public float GeneratorSetpointBias2 => _GeneratorBias2.PowerSetPoint;
        public float CTune2 => _GeneratorBias2.CTune;
        public float CLoad2 => _GeneratorBias2.CLoad;
        public int VPP2 => _GeneratorBias2.VPP;

        // 流气
        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;
            }
        }

        // --------------------------Constructor-----------------------
        //
        public JetDualPM(ModuleName mod) : base(mod.ToString())
        {
            Module = mod;

            AlarmPro = SC.GetValue<bool>($"System.SetUp.AlarmPro.IsInstalled");
            _Chamber1Disabled = SC.GetValue<bool>($"System.SetUp.{Module}Chamber1Disabled.IsInstalled");
            _Chamber2Disabled = SC.GetValue<bool>($"System.SetUp.{Module}Chamber2Disabled.IsInstalled");
            _guidePinInstalled = SC.GetValueOrDefault<bool>($"{Module}.GuidePin.IsInstalled");

            BasePressure = SC.GetValue<double>($"{mod}.ChamberBasePressureThreshold");
            BaseTemperature = SC.GetValue<double>($"{mod}.ChamberBaseTemperatureThreshold");
            _smallWafer = SC.GetValue<int>($"System.SmallWafer");
            _midWafer = SC.GetValue<int>($"System.MidWafer");
            _bigWafer = SC.GetValue<int>($"System.BigWafer");
            EnableBiasRF1 = SC.GetValue<bool>($"{Module}.BiasRf1.EnableBiasRF");
            EnableBiasRF2 = SC.GetValue<bool>($"{Module}.BiasRf2.EnableBiasRF");
            for (int i = 1; i <= 6; i++)
            {
                if (SC.GetValue<bool>($"{Module}.MfcGas{i}.Enable")) gasCount++;
            }
            //_gasLines = new IoGasStick[gasCount];
            _gasLines = new IoGasStick[6];

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

            for (int index = 0; index < 6; index++)
            {
                _gasLines[index] = DEVICE.GetDevice<IoGasStick>($"{Module}.GasStick{index + 1}");
            }

            //_LidLocker            = DEVICE.GetDevice<IoCylinder>($"{Module}.{VirgoDevice.LidLocker}");
            //_CDAPressure = DEVICE.GetDevice<IoSensor>($"{Module}.SensorCDAPressureOk");
            //_ArmNotExtend = DEVICE.GetDevice<IoSensor>($"{Module}.SensorArmNotExtend");
            //_RFG_Interlock = DEVICE.GetDevice<IoSensor>($"{Module}.GeneratorInterlock");


            #region CHECKDED
            _Lid = DEVICE.GetDevice<IoLid>($"{Module}.{VirgoDevice.Lid}");
            _ATM_sw = DEVICE.GetDevice<IoSensor>($"{Module}.SensorATMSwitch");
            _VAC_sw = DEVICE.GetDevice<IoSensor>($"{Module}.SensorVacSwitch");
            _CoolantInletTC1 = DEVICE.GetDevice<IoSensor>($"{Module}.SensorCoolantInletTCOK1");
            _CoolantInletTC2 = DEVICE.GetDevice<IoSensor>($"{Module}.SensorCoolantInletTCOK2");
            _CoolantOutletTC1 = DEVICE.GetDevice<IoSensor>($"{Module}.SensorCoolantOutletTCOK1");
            _CoolantOutletTC2 = DEVICE.GetDevice<IoSensor>($"{Module}.SensorCoolantOutletTCOK2");
            //_WLK_sw = DEVICE.GetDevice<IoSensor>($"{Module}.SensorWaterLeakOk");
            _N2Pressure_sw = DEVICE.GetDevice<IoSensor>($"{Module}.N2PressureOk");
            _LEOT1 = DEVICE.GetDevice<IoSensor>($"{Module}.LE_OT1");
            _LEOT2 = DEVICE.GetDevice<IoSensor>($"{Module}.LE_OT2");
            _GBInterlock = DEVICE.GetDevice<IoSensor>($"{Module}.GB_Interlock");
            _TMRobotNotExtendToPM1 = DEVICE.GetDevice<IoSensor>($"{Module}.SensorTMRobotNotExtendToPM1");
            _TMRobotNotExtendToPM2 = DEVICE.GetDevice<IoSensor>($"{Module}.SensorTMRobotNotExtendToPM2");
            //_TMInSafety = DEVICE.GetDevice<IoSensor>($"{Module}.SensorTMInSafety");
            _CHBOTSW = DEVICE.GetDevice<IoSensor>($"{Module}.SensorCHBOTSW");
            _SourceFan = DEVICE.GetDevice<IoSensor>($"{Module}.SourceFan");
            _GeneratorInterlock = DEVICE.GetDevice<IoSensor>($"{Module}.GeneratorInterlock");

            _pressureController = DEVICE.GetDevice<IoPressureControl>($"{Module}.{VirgoDevice.PressureControl}");

            _ChamberHeater1 = DEVICE.GetDevice<IoHeater>($"{Module}.HeaterChamber1");
            _HeaterChamber = DEVICE.GetDevice<IoHeater>($"{Module}.HeaterChamber");
            _ForelineHeater = DEVICE.GetDevice<IoHeater>($"{Module}.ForelineHeater");
            _LEHeater1 = DEVICE.GetDevice<IoHeater>($"{Module}.LEHeater1");
            _LEHeater2 = DEVICE.GetDevice<IoHeater>($"{Module}.LEHeater2");

            _SoftPumpValve = DEVICE.GetDevice<IoValve>($"{Module}.{VirgoDevice.ValveSoftPumping}");
            _FastPumpValve = DEVICE.GetDevice<IoValve>($"{Module}.{VirgoDevice.ValveFastPumping}");
            _ProcessValve = DEVICE.GetDevice<IoValve>($"{Module}.{VirgoDevice.ValveProcess}");
            _N2Valve = DEVICE.GetDevice<IoValve>($"{Module}.{VirgoDevice.ValveN2}");
            _FastVentValve = DEVICE.GetDevice<IoValve>($"{Module}.{VirgoDevice.ValveFastVent}");
            _PurgeValve = DEVICE.GetDevice<IoValve>($"{Module}.{VirgoDevice.ValveChamberPurge}");
            _Mfc1Valve = DEVICE.GetDevice<IoValve>($"{Module}.{VirgoDevice.ValveMfc1}");
            _Mfc2Valve = DEVICE.GetDevice<IoValve>($"{Module}.{VirgoDevice.ValveMfc2}");
            _Mfc3Valve = DEVICE.GetDevice<IoValve>($"{Module}.{VirgoDevice.ValveMfc3}");
            _Mfc4Valve = DEVICE.GetDevice<IoValve>($"{Module}.{VirgoDevice.ValveMfc4}");
            _Mfc5Valve = DEVICE.GetDevice<IoValve>($"{Module}.{VirgoDevice.ValveMfc5}");
            _Mfc6Valve = DEVICE.GetDevice<IoValve>($"{Module}.{VirgoDevice.ValveMfc6}");

            //_slitDoor1 = DEVICE.GetDevice<IoCylinder>($"{Module}.{VirgoDevice.SlitDoor1}");
            //_slitDoor2 = DEVICE.GetDevice<IoCylinder>($"{Module}.{VirgoDevice.SlitDoor2}");
            _GuidePin1 = DEVICE.GetDevice<IoCylinder>($"{Module}.{VirgoDevice.GuidePin1}");
            _GuidePin2 = DEVICE.GetDevice<IoCylinder>($"{Module}.{VirgoDevice.GuidePin2}");

            _IsPlus = SC.GetValue<bool>($"{Module}.IsPlus");
            if (_IsPlus)
            {
                _ioLiftPin1 = DEVICE.GetDevice<IoLiftPin>($"{Module}.{VirgoDevice.LiftPin1}");
                _ioLiftPin2 = DEVICE.GetDevice<IoLiftPin>($"{Module}.{VirgoDevice.LiftPin2}");
            }
            else
            {
                _LiftPin1 = DEVICE.GetDevice<IoCylinder>($"{Module}.{VirgoDevice.LiftPin1}");
                _LiftPin2 = DEVICE.GetDevice<IoCylinder>($"{Module}.{VirgoDevice.LiftPin2}");
            }

            _Messager = DEVICE.GetDevice<IoMessage>($"{Module}.Messager");

            _Generator1 = DEVICE.GetDevice<IoRf>($"{Module}.{VirgoDevice.Rf1}");
            _Generator2 = DEVICE.GetDevice<IoRf>($"{Module}.{VirgoDevice.Rf2}");
            _GeneratorBias1 = DEVICE.GetDevice<IoRf>($"{Module}.{VirgoDevice.BiasRf1}");
            _GeneratorBias2 = DEVICE.GetDevice<IoRf>($"{Module}.{VirgoDevice.BiasRf2}");
            _MainPump = DEVICE.GetDevice<PumpBase>($"{Module}.{VirgoDevice.MainPump}");
            _Chiller1 = DEVICE.GetDevice<ChillerBase>($"{Module}.{VirgoDevice.Chiller1}");
            _Chiller2 = DEVICE.GetDevice<ChillerBase>($"{Module}.{VirgoDevice.Chiller2}");
            #endregion

            // RS223 AdTec Generator
            if (SC.GetValue<int>($"{mod}.Rf1.CommunicationType") == (int)CommunicationType.RS232 &&
                SC.GetValue<int>($"{mod}.Rf1.MFG") == (int)GeneratorMFG.AdTec)
            {
                _Generator1 = DEVICE.GetDevice<AdTecGenerator>($"{Module}.{VirgoDevice.Rf1}");
            }

            // RS223 AdTec Generator
            if (SC.GetValue<int>($"{mod}.Rf2.CommunicationType") == (int)CommunicationType.RS232 &&
                SC.GetValue<int>($"{mod}.Rf2.MFG") == (int)GeneratorMFG.AdTec)
            {
                _Generator2 = DEVICE.GetDevice<AdTecGenerator>($"{Module}.{VirgoDevice.Rf2}");
            }

            // RS223 AdTec Generator Bias 1
            if (SC.GetValue<bool>($"{mod}.BiasRf1.EnableBiasRF") &&
                SC.GetValue<int>($"{mod}.BiasRf1.CommunicationType") == (int)CommunicationType.RS232 &&
                SC.GetValue<int>($"{mod}.BiasRf1.MFG") == (int)GeneratorMFG.AdTec)
            {
                _GeneratorBias1 = DEVICE.GetDevice<AdTecGenerator>($"{Module}.{VirgoDevice.BiasRf1}");
            }

            // RS223 AdTec Generator Bias 2
            if (SC.GetValue<bool>($"{mod}.BiasRf2.EnableBiasRF") &&
                SC.GetValue<int>($"{mod}.BiasRf2.CommunicationType") == (int)CommunicationType.RS232 &&
                SC.GetValue<int>($"{mod}.BiasRf2.MFG") == (int)GeneratorMFG.AdTec)
            {
                _GeneratorBias2 = DEVICE.GetDevice<AdTecGenerator>($"{Module}.{VirgoDevice.BiasRf2}");
            }


            // Ethernet Comet Generator Bias 1
            if (SC.GetValue<bool>($"{mod}.BiasRf1.EnableBiasRF") &&
                SC.GetValue<int>($"{mod}.BiasRf1.CommunicationType") == (int)CommunicationType.Ethernet &&
                SC.GetValue<int>($"{mod}.BiasRf1.MFG") == (int)GeneratorMFG.Comet)
            {
                _GeneratorBias1 = DEVICE.GetDevice<CometRF>($"{Module}.{VirgoDevice.BiasRf1}");
            }

            // Ethernet Comet Generator Bias 2
            if (SC.GetValue<bool>($"{mod}.BiasRf2.EnableBiasRF") &&
                SC.GetValue<int>($"{mod}.BiasRf2.CommunicationType") == (int)CommunicationType.Ethernet &&
                SC.GetValue<int>($"{mod}.BiasRf2.MFG") == (int)GeneratorMFG.Comet)
            {
                _GeneratorBias2 = DEVICE.GetDevice<CometRF>($"{Module}.{VirgoDevice.BiasRf2}");
            }

            //=========================================================================================
            //srf1 match revtec
            if (SC.GetValue<bool>($"{mod}.match1.EnableMatch") &&
                SC.GetValue<int>($"{mod}.match1.CommunicationType") == (int)CommunicationType.Ethernet &&
                SC.GetValue<int>($"{mod}.match1.MFG") == (int)MatchMFG.RevTec)
            {
                _Match1 = DEVICE.GetDevice<RevtechMatch>($"{Module}.{VirgoDevice.Match1}");
            }

            //srf2 match revtec
            if (SC.GetValue<bool>($"{mod}.match2.EnableMatch") &&
                SC.GetValue<int>($"{mod}.match2.CommunicationType") == (int)CommunicationType.Ethernet &&
                SC.GetValue<int>($"{mod}.match2.MFG") == (int)MatchMFG.RevTec)
            {
                _Match2 = DEVICE.GetDevice<RevtechMatch>($"{Module}.{VirgoDevice.Match2}");
            }

            //brf1 match revtec
            if (SC.GetValue<bool>($"{mod}.BiasRf1Match.EnableMatch") &&
                SC.GetValue<int>($"{mod}.BiasRf1Match.CommunicationType") == (int)CommunicationType.Ethernet &&
                SC.GetValue<int>($"{mod}.BiasRf1Match.MFG") == (int)MatchMFG.RevTec)
            {
                _BiasMatch1 = DEVICE.GetDevice<RevtechMatch>($"{Module}.BiasRf1Match");
            }

            //brf2 match revtec
            if (SC.GetValue<bool>($"{mod}.BiasRf2Match.EnableMatch") &&
                SC.GetValue<int>($"{mod}.BiasRf2Match.CommunicationType") == (int)CommunicationType.Ethernet &&
                SC.GetValue<int>($"{mod}.BiasRf2Match.MFG") == (int)MatchMFG.RevTec)
            {
                _BiasMatch2 = DEVICE.GetDevice<RevtechMatch>($"{Module}.BiasRf2Match");
            }
            //=========================================================================================

            // RS232 AdTec match
            if (SC.GetValue<int>($"{mod}.match1.CommunicationType") == (int)CommunicationType.RS232 &&
                SC.GetValue<int>($"{mod}.match1.MFG") == (int)MatchMFG.AdTec)
            {
                _Match1 = DEVICE.GetDevice<AdTecMatch>($"{Module}.{VirgoDevice.Match1}");
            }
            // RS232 AdTec match
            if (SC.GetValue<int>($"{mod}.match1.CommunicationType") == (int)CommunicationType.RS232 &&
                SC.GetValue<int>($"{mod}.match1.MFG") == (int)MatchMFG.AdTec)
            {
                _Match2 = DEVICE.GetDevice<AdTecMatch>($"{Module}.{VirgoDevice.Match2}");
            }

            // 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>($"{Module}.{VirgoDevice.MainPump}");
                }
                else if (SC.GetValue<int>($"{mod}.DryPump.MFG") == (int)DryPumpMFG.Edwards)
                {
                    _MainPump = DEVICE.GetDevice<EdwardsPump>($"{Module}.{VirgoDevice.MainPump}");
                }
            }

            if (SC.GetValue<bool>($"{mod}.Chiller1.EnableChiller") &&
                SC.GetValue<int>($"{mod}.Chiller1.CommunicationType") == (int)CommunicationType.RS232)
            {
                if (SC.GetValue<int>($"{mod}.Chiller1.MFG") == (int)ChillerMFG.SMC)
                {
                    _Chiller1 = DEVICE.GetDevice<SMCChiller>($"{Module}.{VirgoDevice.Chiller1}");
                }
                else if (SC.GetValue<int>($"{mod}.Chiller1.MFG") == (int)ChillerMFG.AIRSYS)
                {
                    _Chiller1 = DEVICE.GetDevice<AIRSYSChiller>($"{Module}.{VirgoDevice.Chiller1}");
                }
            }

            if (SC.GetValue<bool>($"{mod}.Chiller2.EnableChiller") &&
                SC.GetValue<int>($"{mod}.Chiller2.CommunicationType") == (int)CommunicationType.RS232)
            {
                if (SC.GetValue<int>($"System.SetUp.ChillerSetupOp.IsInstalled") == (int)ChillerSetupOp.ShareSingleChiller)
                {
                    _Chiller2 = _Chiller1;
                }
                else
                {
                    if (SC.GetValue<int>($"{mod}.Chiller2.MFG") == (int)ChillerMFG.SMC)
                    {
                        _Chiller2 = DEVICE.GetDevice<SMCChiller>($"{Module}.{VirgoDevice.Chiller2}");
                    }
                    else if (SC.GetValue<int>($"{mod}.Chiller1.MFG") == (int)ChillerMFG.AIRSYS)
                    {
                        _Chiller2 = DEVICE.GetDevice<AIRSYSChiller>($"{Module}.{VirgoDevice.Chiller2}");
                    }
                }
            }

            System.Diagnostics.Debug.Assert(null != _Generator1);
            System.Diagnostics.Debug.Assert(null != _Generator2);
            System.Diagnostics.Debug.Assert(null != _MainPump);
            if (SC.GetValue<bool>($"{Module}.BiasRf1.EnableBiasRF"))
            {
                System.Diagnostics.Debug.Assert(null != _GeneratorBias1);
            }
            if (SC.GetValue<bool>($"{Module}.BiasRf2.EnableBiasRF"))
            {
                System.Diagnostics.Debug.Assert(null != _GeneratorBias2);
            }
            //WaferManager.Instance.SubscribeLocation(Module, 2);
        }

        public override bool Initialize()
        {
            DATA.Subscribe($"{Name}.IsAtm", () => { return CheckAtm(); });
            DATA.Subscribe($"{Name}.IsVacuum", () => { return CheckVacuum(); });
            DATA.Subscribe($"{Name}.IsCDAOK", () => { return CheckCDAOK(); });
            DATA.Subscribe($"{Name}.IsCoolantInletTCOK1", () => { return CheckCoolantInletTCOK1(); });
            DATA.Subscribe($"{Name}.IsCoolantOutletTCOK1", () => { return CheckCoolantOutletTCOK1(); });
            DATA.Subscribe($"{Name}.IsCoolantInletTCOK2", () => { return CheckCoolantInletTCOK2(); });
            DATA.Subscribe($"{Name}.IsCoolantOutletTCOK2", () => { return CheckCoolantOutletTCOK2(); });
            DATA.Subscribe($"{Name}.IsTMRbotNotExtendToPM1", () => { return CheckTMRobotCanExtendToPM1(); });
            DATA.Subscribe($"{Name}.IsTMRbotNotExtendToPM2", () => { return CheckTMRobotCanExtendToPM2(); });
            //DATA.Subscribe($"{Name}.IsWaterLeak", () => { return CheckWaterLeak(); });
            DATA.Subscribe($"{Name}.ChamberPressure", () => ChamberPressure);

            DATA.Subscribe($"{Name}.IoTemperatureCtrl.TemperatureControl.Chamber1Temperature", () => ChamberTempFB1);
            DATA.Subscribe($"{Name}.IoTemperatureCtrl.TemperatureControl.Chamber2Temperature", () => ChamberTempFB2);

            IsInstalled = SC.GetValue<bool>($"System.SetUp.{Name}.IsInstalled");
            return true;
        }

        // -----------------------------Method-------------------------
        //
        public override void Home()
        {
            // 与yp讨论过，PM 初始化不需要
            if (!_Chamber1Disabled)
            {
                SetLiftPin1(MovementPosition.Down, out _);

                //if (IsSlitDoor1Closed)
                //{
                //    SetSlitDoor1(false, out _);
                //}
                //else if (!IsSlitDoor1Closed)
                //{
                //    SetSlitDoor1(false, out _);
                //}
                //else if (_slitDoor1.State == CylinderState.Error)
                //{
                //    SetSlitDoor1(true, out _);
                //}

                if (SC.GetValue<bool>($"{Module}.BiasRf1.EnableBiasRF"))
                {
                    _Messager.SetMessager(1);   //Virgo B
                }
                else
                {
                    _Messager.SetMessager(0);   //Virgo A
                }
            }

            if (!_Chamber2Disabled)
            {

                SetLiftPin2(MovementPosition.Down, out _);
                //SetSlitDoor(false, out _);
                //SetGuidePin1(MovementPosition.Down);
                //SetGuidePin2(MovementPosition.Down);


                //if (IsSlitDoor2Closed)
                //{
                //    SetSlitDoor2(false, out _);
                //}
                //else if (!IsSlitDoor2Closed)
                //{
                //    SetSlitDoor2(false, out _);
                //}
                //else if (_slitDoor2.State == CylinderState.Error)
                //{
                //    SetSlitDoor2(true, out _);
                //}



                if (SC.GetValue<bool>($"{Module}.BiasRf2.EnableBiasRF"))
                {
                    _Messager.SetMessager(1);   //Virgo B
                }
                else
                {
                    _Messager.SetMessager(0);   //Virgo A
                }
            }

        }

        public bool SetSlitDoor1(bool open, out string reason)
        {
            reason = string.Empty;

            // [XIAHUAN]: 只在关门的时候检查arm not extend
            if (!open && !(IsTMRobotNotExtendToPM1/* || DEVICE.GetDevice<RorzeRobot751>($"TMRobot").LastRecordStation != $"{Module}1"*/))
            {
                reason = "TMRobot Not Extend To PM1 信号不满足";
                EV.PostAlarmLog(Module.ToString(), reason);
                return false;
            }
            OP.DoOperation($"TM.SetSlitDoor", Module, open);
            return true;
        }

        public bool SetSlitDoor2(bool open, out string reason)
        {
            reason = string.Empty;

            // [XIAHUAN]: 只在关门的时候检查arm not extend
            if (!open && !(IsTMRobotNotExtendToPM2 /*|| DEVICE.GetDevice<RorzeRobot751>($"TMRobot").LastRecordStation != $"{Module}2"*/))
            {
                reason = "TMRobot Not Extend To PM2  信号不满足";
                EV.PostAlarmLog(Module.ToString(), reason);
                return false;
            }
            OP.DoOperation($"TM.SetSlitDoor", Module, open);
            return true;
        }

        //public override bool CheckWaterLeak()
        //{
        //    return _WLK_sw.Value;
        //}

        //public override bool CheckCDAOK()
        //{
        //    return _CDAPressure.Value;
        //}

        public override bool CheckCoolantInletTCOK1()
        {
            return _CoolantInletTC1.Value;
        }

        public override bool CheckCoolantInletTCOK2()
        {
            return _CoolantInletTC2.Value;
        }

        public override bool CheckCoolantOutletTCOK1()
        {
            return _CoolantOutletTC1.Value;
        }
        public override bool CheckCoolantOutletTCOK2()
        {
            return _CoolantOutletTC2.Value;
        }

        public override bool CheckTMRobotCanExtendToPM1()
        {
            return _TMRobotNotExtendToPM1.Value;
        }

        public override bool CheckTMRobotCanExtendToPM2()
        {
            return _TMRobotNotExtendToPM2.Value;
        }

        public override bool CheckAtm()
        {
            //2024-03-14 15:26:34 TPS dkj lx 删除
            //return _ATM_sw.Value && ChamberPressurePressure > 700000;
            return _ATM_sw.Value;
        }

        public override bool CheckVacuum()
        {
            //2024-03-14 15:26:34 TPS dkj lx修改小于5000
            //return _VAC_sw.Value && ChamberPressure < 100;
            return _VAC_sw.Value && ChamberPressure < 5000;
        }

        public bool CheckSlitDoor1Open()
        {
            return !IsSlitDoor1Closed;
        }

        public bool CheckSlitDoor1Close()
        {
            return IsSlitDoor1Closed;
        }

        public bool CheckSlitDoor2Open()
        {
            return !IsSlitDoor2Closed;
        }

        public bool CheckSlitDoor2Close()
        {
            return IsSlitDoor2Closed;
        }

        public bool CheckLift1Up()
        {
            if (_IsPlus)
                return _ioLiftPin1.PinPosition == PositionType.Position4;
            else
                return _LiftPin1.State == CylinderState.Open;
        }

        public bool CheckLift1Down()
        {
            if (_IsPlus)
                return _ioLiftPin1.PinPosition == PositionType.Position1;
            else
                return _LiftPin1.State == CylinderState.Close;
        }

        public bool CheckLift2Up()
        {
            if (_IsPlus)
                return _ioLiftPin2.PinPosition == PositionType.Position4;
            else
                return _LiftPin2.State == CylinderState.Open;
        }

        public bool CheckLift2Down()
        {
            if (_IsPlus)
                return _ioLiftPin2.PinPosition == PositionType.Position1;
            else
                return _LiftPin2.State == CylinderState.Close;
        }

        public void SetGas2(double sp)
        {
            OP.DoOperation($"{Module}.MfcGas2",out string reason,0,sp);
        }

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

        public void OpenValve(ValveType vlvType, bool on)
        {
            switch (vlvType)
            {
                case ValveType.PROCESS:
                    _ProcessValve.TurnValve(on, out _);
                    break;
                case ValveType.N2:
                    _N2Valve.TurnValve(on, out _);
                    break;
                case ValveType.FAST_PUMP:
                    _FastPumpValve.TurnValve(on, out _);
                    if (on)
                        _SoftPumpValve.TurnValve(false, out _);
                    break;
                case ValveType.SOFT_PUMP:
                    _SoftPumpValve.TurnValve(on, out _);
                    if(on)
                        _FastPumpValve.TurnValve(false, out _);
                    break;
                case ValveType.FAST_VENT:
                    _FastVentValve.TurnValve(on, out _);
                    break;
                case ValveType.PURGE:
                    _PurgeValve.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;
                default:
                    throw new ArgumentOutOfRangeException($"Argument error {vlvType}-{on}");
            }
        }

        public bool CheckValveSwitchStatus(ValveType vlvType, bool on)
        {
            switch (vlvType)
            {
                case ValveType.PROCESS:
                    return _ProcessValve.Status == on;
                case ValveType.N2:
                    return _N2Valve.Status == on;
                case ValveType.FAST_PUMP:
                    return _FastPumpValve.Status == on;
                case ValveType.SOFT_PUMP:
                    return _SoftPumpValve.Status == on;
                case ValveType.FAST_VENT:
                    return _FastVentValve.Status == on;
                case ValveType.PURGE:
                    return _PurgeValve.Status == on;
                case ValveType.Mfc1:
                    return _Mfc1Valve.Status == on;
                case ValveType.Mfc2:
                    return _Mfc2Valve.Status == on;
                case ValveType.Mfc3:
                    return _Mfc3Valve.Status == on;
                case ValveType.Mfc4:
                    return _Mfc4Valve.Status == on;
                case ValveType.Mfc5:
                    return _Mfc5Valve.Status == on;
                case ValveType.Mfc6:
                    return _Mfc6Valve.Status == on;
                default:
                    throw new ArgumentOutOfRangeException($"Argument error {vlvType}-{on}");
            }
        }

        public void CheckPressureStability()
        {
            IsPressureToleranceEnabled = true;
        }

        public void CheckPressureDisable()
        {
            IsPressureToleranceEnabled = false;
        }

        public override void Monitor()
        {
            foreach (var gas in _gasLines)
            {
                gas.Monitor();
            }
            _trigBasePressure.CLK = ChamberPressurePressure >= BasePressure;
            if (SC.GetValue<bool>($"{Module}.Chiller1.EnableChiller"))
            {
                _trigBaseTemperature1.CLK = CoolantOutletTempFB1 >= BaseTemperature;
            }
            else
            {
                _trigBaseTemperature1.CLK = LETempFB1 >= BaseTemperature;
            }
            if (SC.GetValue<bool>($"{Module}.Chiller2.EnableChiller"))
            {
                _trigBaseTemperature2.CLK = CoolantOutletTempFB2 >= BaseTemperature;
            }
            else
            {
                _trigBaseTemperature2.CLK = LETempFB2 >= BaseTemperature;
            }
            if (_trigBasePressure.Q) EV.PostMessage(Module.ToString(), EventEnum.DefaultAlarm, $"{Module} pressure out of tolerance");
            if (_trigBaseTemperature1.Q) EV.PostMessage(Module.ToString(), EventEnum.DefaultAlarm, $"{Module} 1 temperature out of tolerance");
            if (_trigBaseTemperature2.Q) EV.PostMessage(Module.ToString(), EventEnum.DefaultAlarm, $"{Module} 2 temperature out of tolerance");
        }

        public void CloseValves()
        {
            _N2Valve.TurnValve(false, out _);

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

            _ProcessValve.TurnValve(false, out _);
            _PurgeValve.TurnValve(false, out _);

            _FastVentValve.TurnValve(false, out _);
            _PurgeValve.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 _);

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

        public bool FlowGas(int gasNum, double val)
        {
            if (_gasLines.Length <= gasNum)
                return false;

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

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

        public bool ResetPin()
        {
            if (_IsPlus)
            {
                _ioLiftPin1.Reset();
                _ioLiftPin2.Reset();
            }

            return true;
        }

        public bool CancelPin()
        {
            if (_IsPlus)
            {
                _ioLiftPin1.Cancelset();
                _ioLiftPin2.Cancelset();
            }

            return true;
        }

        public bool SearchPinOrigin()
        {
            if(_IsPlus)
                return _ioLiftPin1.GoPosition(PositionType.Origin) && _ioLiftPin2.GoPosition(PositionType.Origin);

            return true;
        }

        public bool HasPinOrigin()
        {
            if (_IsPlus)
                return _ioLiftPin1.HasOrigin && _ioLiftPin2.HasOrigin;

            return true;
        }

        public bool SetLiftPin1(MovementPosition dirt, out string reason)
        {
            reason = string.Empty;

            switch (dirt)
            {
                case MovementPosition.Down:
                    if (_IsPlus)
                        return _ioLiftPin1.GoPosition(PositionType.Position1);
                    else
                        return _LiftPin1.SetCylinder(false, out reason);
                case MovementPosition.Up:
                    if (_IsPlus)
                        return _ioLiftPin1.GoPosition(PositionType.Position4);
                    else
                        return _LiftPin1.SetCylinder(true, out reason);
                case MovementPosition.Left:
                case MovementPosition.Right:
                case MovementPosition.Middle:
                    throw new ArgumentException("Movement argument error");
            }

            return true;
        }
        public bool SetLiftPin2(MovementPosition dirt, out string reason)
        {
            reason = string.Empty;

            switch (dirt)
            {
                case MovementPosition.Down:
                    if (_IsPlus)
                        return _ioLiftPin2.GoPosition(PositionType.Position1);
                    else
                        return _LiftPin2.SetCylinder(false, out reason);
                case MovementPosition.Up:
                    if (_IsPlus)
                        return _ioLiftPin2.GoPosition(PositionType.Position4);
                    else
                        return _LiftPin2.SetCylinder(true, out reason);
                case MovementPosition.Left:
                case MovementPosition.Right:
                case MovementPosition.Middle:
                    throw new ArgumentException("Movement argument error");
            }

            return true;
        }

        public void SetGuidePin(WaferSize ws, MovementPosition dirt)
        {
            //if (ws == WaferSize.WS3)
            //    SetGuidePinSmall(dirt);
            //else if (ws == WaferSize.WS4)
            //    SetGuidePinMedium(dirt);
        }

        public void PrepareGuidePinForPlace(WaferSize ws)
        {
            //if (ws == WaferSize.WS3)
            //{
            //    SetGuidePinSmall(MovementPosition.Up);
            //    SetGuidePinMedium(MovementPosition.Down);
            //}
            //else if (ws == WaferSize.WS4)
            //{
            //    SetGuidePinSmall(MovementPosition.Down);
            //    SetGuidePinMedium(MovementPosition.Up);
            //}
            //else if (ws == WaferSize.WS6)
            //{
            //    SetGuidePinSmall(MovementPosition.Down);
            //    SetGuidePinMedium(MovementPosition.Down);
            //}


        }

        public void PrepareGuidePinForPlaceLeft(WaferSize ws)
        {
            //if (ws == WaferSize.WS3)
            //{
            //    SetGuidePinSmall(MovementPosition.Up);
            //    SetGuidePinMedium(MovementPosition.Down);
            //}
            //else if (ws == WaferSize.WS4)
            //{
            //    SetGuidePinSmall(MovementPosition.Down);
            //    SetGuidePinMedium(MovementPosition.Up);
            //}
            //else if (ws == WaferSize.WS6)
            //{
            //    SetGuidePinSmall(MovementPosition.Down);
            //    SetGuidePinMedium(MovementPosition.Down);
            //}

            string reason = string.Empty;


            if (ws == WaferSize.WS4)
            {
                _GuidePin1.SetCylinder(true, out reason);
            }
            else
            {
                _GuidePin1.SetCylinder(false, out reason);
            }
        }

        public void PrepareGuidePinForPlaceRight(WaferSize ws)
        {
            //if (ws == WaferSize.WS3)
            //{
            //    SetGuidePinSmall(MovementPosition.Up);
            //    SetGuidePinMedium(MovementPosition.Down);
            //}
            //else if (ws == WaferSize.WS4)
            //{
            //    SetGuidePinSmall(MovementPosition.Down);
            //    SetGuidePinMedium(MovementPosition.Up);
            //}
            //else if (ws == WaferSize.WS6)
            //{
            //    SetGuidePinSmall(MovementPosition.Down);
            //    SetGuidePinMedium(MovementPosition.Down);
            //}

            string reason = string.Empty;


            if (ws == WaferSize.WS4)
            {
                _GuidePin2.SetCylinder(true, out reason);
            }
            else
            {
                _GuidePin2.SetCylinder(false, out reason);
            }
        }
        public bool CheckGuidePinIsReadyForTransfer(EnumDualPM pos, WaferSize ws)
        {
            if (!GuidePinInstalled)
            {
                return true;
            }
            if (pos == EnumDualPM.Left)
            {
                return CheckGuidePinIsReadyForTransferLeft(ws);
            }
            else if (pos == EnumDualPM.Right)
            {
                return CheckGuidePinIsReadyForTransferRight(ws);
            }
            return false;
        }

        public bool CheckGuidePinIsReadyForTransferLeft(WaferSize ws)
        {
            if (ws == WaferSize.WS4)
            {
                return GuidePin1Position == MovementPosition.Up;

            }
            else if (ws == WaferSize.WS6 || ws == WaferSize.WS8 || ws == WaferSize.WS12)
            {
                return GuidePin1Position == MovementPosition.Down;
            }
            else
                return false;
        }

        public bool CheckGuidePinIsReadyForTransferRight(WaferSize ws)
        {
            if (ws == WaferSize.WS4)
            {
                return GuidePin2Position == MovementPosition.Up;

            }
            else if (ws == WaferSize.WS6 || ws == WaferSize.WS8 || ws == WaferSize.WS12)
            {
                return GuidePin2Position == MovementPosition.Down;
            }
            else
                return false;
        }

        private void SetGuidePin1(MovementPosition dirt)
        {
            EV.PostInfoLog(Module.ToString(), $"set small pin {dirt}, smallWafer={_smallWafer}");

            switch (dirt)
            {
                case MovementPosition.Down:
                    if (_smallWafer != 0)
                        _GuidePin1?.SetCylinder(false, out _);
                    break;
                case MovementPosition.Up:
                    if (_smallWafer != 0)
                        _GuidePin1?.SetCylinder(true, out _);
                    break;
                default:
                    throw new ArgumentException("Movement argument error");
            }
        }

        private void SetGuidePin2(MovementPosition dirt)
        {
            EV.PostInfoLog(Module.ToString(), $"set medium pin {dirt}, midWafer={_midWafer}");
            switch (dirt)
            {
                case MovementPosition.Down:
                    if (_midWafer != 0)
                        _GuidePin2?.SetCylinder(false, out _);
                    break;
                case MovementPosition.Up:
                    if (_midWafer != 0)
                        _GuidePin2?.SetCylinder(true, out _);
                    break;
                default:
                    throw new ArgumentException("Movement argument error");
            }
        }

        public void SetGenerator1CommunicationMode(int mode)
        {
            _Generator1?.SetCommunicationMode(mode);
        }

        public void SetGenerator2CommunicationMode(int mode)
        {
            _Generator2?.SetCommunicationMode(mode);
        }

        public bool Generator1PowerOn(bool on)
        {
            if (_Generator1 == null) return false;

            if (on && !NotHasInterlock)
            {
                EV.PostAlarmLog(Module.ToString(), "射频电源 Interlock条件不满足");
                return false;
            }

            return _Generator1.SetPowerOnOff(on, out _);
        }

        public bool Generator2PowerOn(bool on)
        {
            if (_Generator2 == null) return false;

            if (on && !NotHasInterlock)
            {
                EV.PostAlarmLog(Module.ToString(), "射频电源 Interlock条件不满足");
                return false;
            }

            return _Generator2.SetPowerOnOff(on, out _);
        }

        public bool Generator1Setpower(float val)
        {
            if (_Generator1 == null) return false;

            if (Math.Abs(val) > 0.01)
                _Generator1.SetPower((ushort)val);
            return true;
        }

        public bool Generator2Setpower(float val)
        {
            if (_Generator2 == null) return false;

            if (Math.Abs(val) > 0.01)
                _Generator2.SetPower((ushort)val);
            return true;
        }

        public bool GeneratorBias1PowerOn(bool on)
        {
            if (_GeneratorBias1 == null) return false;

            if (on && !NotHasInterlock)
            {
                EV.PostAlarmLog(Module.ToString(), "Bias射频电源 Interlock条件不满足");
                return false;
            }

            return _GeneratorBias1.SetPowerOnOff(on, out _);
        }

        public bool GeneratorBias2PowerOn(bool on)
        {
            if (_GeneratorBias2 == null) return false;

            if (on && !NotHasInterlock)
            {
                EV.PostAlarmLog(Module.ToString(), "Bias射频电源 Interlock条件不满足");
                return false;
            }

            return _GeneratorBias2.SetPowerOnOff(on, out _);
        }

        public bool GeneratorBias1Setpower(float val)
        {
            if (_GeneratorBias1 == null) return false;

            if (Math.Abs(val) > 0.01)
                _GeneratorBias1.SetPower((ushort)val);
            return true;
        }

        public bool GeneratorBias2Setpower(float val)
        {
            if (_GeneratorBias2 == null) return false;

            if (Math.Abs(val) > 0.01)
                _GeneratorBias2.SetPower((ushort)val);
            return true;
        }

        public bool GeneratorBias1SetMatchMode(bool val)
        {
            if (_BiasMatch1 != null)
            {
                _BiasMatch1.SetMatchMode(true ? EnumRfMatchTuneMode.Auto.ToString() : EnumRfMatchTuneMode.Manual.ToString(), out _);
                return true;
            }

            if (_GeneratorBias1 == null) return false;
            string reason = string.Empty;
            _GeneratorBias1.SetMatchingAutoMode(val, out reason);
            return true;
        }

        public bool GeneratorBias2SetMatchMode(bool val)
        {
            if (_BiasMatch2 != null)
            {
                _BiasMatch2.SetMatchMode(true ? EnumRfMatchTuneMode.Auto.ToString(): EnumRfMatchTuneMode.Manual.ToString(), out _);
                return true;
            }

            if (_GeneratorBias2 == null) return false;
            string reason = string.Empty;
            _GeneratorBias2.SetMatchingAutoMode(val, out reason);
            return true;
        }

        public bool SetMatch1Position(float c1, float c2)
        {
            if (_Match1 == null) return false;
            string reason = string.Empty;
            _Match1.SetMatchPosition(c1, c2, out reason);
            return true;
        }

        public bool SetMatch2Position(float c1, float c2)
        {
            if (_Match2 == null) return false;
            string reason = string.Empty;
            _Match2.SetMatchPosition(c1, c2, out reason);
            return true;
        }

        public bool SetBias1MatchPosition(float c1, float c2)
        {
            if (_BiasMatch1 != null)
            {
                _BiasMatch1.SetMatchPosition(c1,c2,out _);
                return true;
            }

            if (_GeneratorBias1 == null) return false;
            string reason = string.Empty;
            _GeneratorBias1.SetMatchPosition(c1, c2, out reason);
            return true;
        }

        public bool SetBias2MatchPosition(float c1, float c2)
        {
            if (_BiasMatch2 != null)
            {
                _BiasMatch2.SetMatchPosition(c1, c2, out _);
                return true;
            }

            if (_GeneratorBias2 == null) return false;
            string reason = string.Empty;
            _GeneratorBias2.SetMatchPosition(c1, c2, out reason);
            return true;
        }

        public void FullOpenTV()
        {
            _pressureController.FullOpenThrottleValve();
        }

        public void PressureControl(int pressure)
        {
            _pressureController.setTVPressure(pressure);
            //_pressureController._setChamberPressure();
        }

        public void HeatChamber1(double val)
        {
            _ChamberHeater1?.RampTemp((float)val);
            _ChamberHeater1?.TurnOnOff(true);
        }

        public void HeatChamber2(double val)
        {
            _HeaterChamber?.RampTemp((float)val);
            _HeaterChamber?.TurnOnOff(true);
        }


        public void HeatChiller1(double value, double offset)
        {
            _Chiller1?.SetChillerTemp((float)value, (float)offset);
            _Chiller1?.SetChillerOnOff(true);
        }
        public void HeatChiller2(double value, double offset)
        {
            _Chiller2?.SetChillerTemp((float)value, (float)offset);
            _Chiller2?.SetChillerOnOff(true);
        }

        public void HeatForeline(double val)
        {
            _ForelineHeater?.RampTemp((float)val);
        }

        public void HeatLE1(double val)
        {
            _LEHeater1?.RampTemp((float)val);
            _LEHeater1?.TurnOnOff(true);
        }

        public void HeatLE2(double val)
        {
            _LEHeater2?.RampTemp((float)val);
            _LEHeater2?.TurnOnOff(true);
        }

        public override bool CheckEnableTransfer(EnumTransferType type, EnumDualPM pos)
        {
            if (type == EnumTransferType.Pick)
            {
                if (pos == EnumDualPM.Left)
                {
                    if (_IsPlus)
                        return !IsSlitDoor1Closed && _ioLiftPin1.PinPosition == PositionType.Position4;
                    else
                        return !IsSlitDoor1Closed && _LiftPin1.State == CylinderState.Open;
                }
                else if (pos == EnumDualPM.Right)
                {
                    if (_IsPlus)
                        return !IsSlitDoor2Closed && _ioLiftPin2.PinPosition == PositionType.Position4;
                    else
                        return !IsSlitDoor2Closed && _LiftPin2.State == CylinderState.Open;
                }
            }

            if (type == EnumTransferType.Place)
            {
                if (pos == EnumDualPM.Left)
                {
                    if (_IsPlus)
                        return !IsSlitDoor1Closed && _ioLiftPin1.PinPosition == PositionType.Position1;
                    else
                        return !IsSlitDoor1Closed && _LiftPin1.State == CylinderState.Close;
                }
                else if (pos == EnumDualPM.Right)
                {
                    if (_IsPlus)
                        return !IsSlitDoor2Closed && _ioLiftPin2.PinPosition == PositionType.Position1;
                    else
                        return !IsSlitDoor2Closed && _LiftPin2.State == CylinderState.Close;
                }
            }

            return false;
        }

        public bool CheckEnableTransfer(EnumTransferType type, EnumDualPM pos, WaferSize waferSize)
        {
            if (type == EnumTransferType.Pick)
            {
                if (_IsPlus)
                    return ((pos != EnumDualPM.Left && pos != EnumDualPM.Both) || (!IsSlitDoor1Closed && _ioLiftPin1.PinPosition == PositionType.Position4 && CheckGuidePinIsReadyForTransfer(pos, waferSize))) &&
                       ((pos != EnumDualPM.Right && pos != EnumDualPM.Both) || (!IsSlitDoor2Closed && _ioLiftPin2.PinPosition == PositionType.Position4 && CheckGuidePinIsReadyForTransfer(pos, waferSize)));
                else
                    return ((pos != EnumDualPM.Left && pos != EnumDualPM.Both) || (!IsSlitDoor1Closed && _LiftPin1.State == CylinderState.Open && CheckGuidePinIsReadyForTransfer(pos, waferSize))) &&
                       ((pos != EnumDualPM.Right && pos !=  EnumDualPM.Both) || (!IsSlitDoor2Closed && _LiftPin2.State == CylinderState.Open && CheckGuidePinIsReadyForTransfer(pos, waferSize)));
            }

            if (type == EnumTransferType.Place)
            {
                if (_IsPlus)
                    return ((pos != EnumDualPM.Left && pos != EnumDualPM.Both) || (!IsSlitDoor1Closed && _ioLiftPin1.PinPosition == PositionType.Position1 && CheckGuidePinIsReadyForTransfer(pos, waferSize))) &&
                       ((pos != EnumDualPM.Right && pos != EnumDualPM.Both) || (!IsSlitDoor2Closed && _ioLiftPin2.PinPosition == PositionType.Position1 && CheckGuidePinIsReadyForTransfer(pos, waferSize)));
                else
                    return ((pos != EnumDualPM.Left && pos != EnumDualPM.Both) || (!IsSlitDoor1Closed && _LiftPin1.State == CylinderState.Close && CheckGuidePinIsReadyForTransfer(pos, waferSize))) &&
                       ((pos != EnumDualPM.Right && pos != EnumDualPM.Both) || (!IsSlitDoor2Closed && _LiftPin2.State == CylinderState.Close && CheckGuidePinIsReadyForTransfer(pos, waferSize)));
            }

            return false;
        }

        public override void TransferHandoff(EnumTransferType type, EnumDualPM pos)
        {
            switch (type)
            {
                case EnumTransferType.Pick:
                    if (pos == EnumDualPM.Left)
                    {
                        SetLiftPin1(MovementPosition.Up, out _);
                    }
                    else if (pos == EnumDualPM.Right)
                    {
                        SetLiftPin2(MovementPosition.Up, out _);
                    }
                    break;
                case EnumTransferType.Place:
                    SetLiftPin1(MovementPosition.Down, out _);
                    break;
                case EnumTransferType.Extend:
                    break;
                case EnumTransferType.Retract:
                    break;
                default:
                    break;
            }
        }

        public override void Reset()
        {
            _trigBasePressure.RST = true;
            _trigBaseTemperature1.RST = true;
        }
    }

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

        protected PmActionBase(ModuleName mod, JetDualPM dualPm) : base(mod)
        {
            _chamber = dualPm;
        }
    }

    class PinAction : PmActionBase
    {
        public MovementPosition Pos { get; }
        public bool IsWaferTransfered { get; }
        public PMModule PmModule { get; set; }

        private Hand _blade;

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

            _blade = blade;
        }

        public override void Execute()
        {
            if (Module == ModuleName.PMA)
                PmModule = (PMModule)EquipmentManager.Modules[ModuleName.PMA];
            else if (Module == ModuleName.PMB)
                PmModule = (PMModule)EquipmentManager.Modules[ModuleName.PMB];
            else if (Module == ModuleName.PMC)
                PmModule = (PMModule)EquipmentManager.Modules[ModuleName.PMC];

            if (PmModule != null)
            {
                PmModule.PostMsg(PMModule.MSG.MoveLiftPin1, Pos, ID);
            }
        }

        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);
                }
            }
        }
    }


    abstract class ActionBase
    {
        private static ushort _id = 100;

        //---------------------------------Properties------------------------------------
        // 
        public ushort ID { get; }
        public ModuleName Module { get; protected set; }
        public virtual ActionStatus Status { get; set; }

        public virtual bool IsReady { get; set; }

        public bool IsBackground { get; set; }


        //--------------------------------Constructor------------------------------------
        // 
        protected ActionBase(ModuleName mod)
        {
            this.ID = _id++;
            this.Module = mod;
            this.Status = ActionStatus.Pending;
        }

        public virtual void Execute()
        {
            this.Status = ActionStatus.SendCmd;
        }

        protected virtual void OnPreWork() { }

        public virtual void OnPostWork(string data = null) { }

    }
}