PunkHPX8/PunkHPX8_MainPages/ViewModels/EfemViewModel.cs

using Aitex.Sorter.Common;
using ExcelLibrary.BinaryFileFormat;
using MECF.Framework.Common.CommonData;
using MECF.Framework.Common.DataCenter;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.OperationCenter;
using MECF.Framework.Common.Schedulers;
using OpenSEMI.ClientBase;
using OpenSEMI.Ctrlib.Controls;
using Prism.Commands;
using Prism.Mvvm;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Linq;
using System.Threading.Tasks;
using System.Windows.Threading;
using PunkHPX8_Core;
using PunkHPX8_MainPages.Unity;
using PunkHPX8_Themes.CustomControls;
using PunkHPX8_Themes.Unity;
using MECF.Framework.Common.Utilities;
using PunkHPX8_Themes.UserControls;
using Caliburn.Micro;
using System.Windows.Documents;
using System.Windows.Input;
using System.Windows;
using MECF.Framework.Common.Jobs;
using System.Configuration;

namespace PunkHPX8_MainPages.ViewModels
{
    public enum EFEMModule
    {
        LP1,LP2,Aligner1,PUF1,PUF2,SRD1,SRD2,Dummy1,Dummy2,VPW1,VPW2,PlatingCell1,PlatingCell2,PlatingCell3,PlatingCell4
    }
    public enum EFEMBlade
    {
        Blade1,Blade2
    }

    internal class EfemViewModel:BindableBase
    {
        #region 私有字段       
        private bool m_srd1IsInstalled;
        private bool m_srd2IsInstalled;
        private bool _isAlignerVacuumOn;
        private bool _isRobotAVacuumOn;
        private bool _isRobotBVacuumOn;


        private ModuleInfo m_LP1ModuleInfo;
        private ModuleInfo m_LP2ModuleInfo;
        private ModuleInfo m_EFEMModuleInfo;
        private ModuleInfo m_srd1ModuleInfo;//upper
        private ModuleInfo m_srd2ModuleInfo;
        private ModuleInfo _alignerModuleInfo;

        private List<EFEMModule> m_EFEMModules = new List<EFEMModule>();
        private List<Flip> m_FlipNames = new List<Flip>();
        private EFEMBlade m_PickSelectedBlade;
        private EFEMBlade m_PlaceSelectedBlade;
        private EFEMBlade m_ExtendSelectedBlade;
        private EFEMBlade m_RetractSelectedBlade;
        private ObservableCollection<int> m_PlaceSoltItemsSource = new ObservableCollection<int>();
        private ObservableCollection<int> m_PickSoltItemsSource = new ObservableCollection<int>();
        private ObservableCollection<int> m_ExtendSoltItemsSource = new ObservableCollection<int>();
        private ObservableCollection<int> m_RetractSoltItemsSource = new ObservableCollection<int>();

        private Flip m_PickSoltSelectedFlip;
        private Flip m_PlaceSoltSelectedFlip;

        private int m_PickSoltSelectedIndex;
        private int m_PlaceSoltSelectedIndex;
        private int m_ExtendSoltSelectedIndex;
        private int m_RetractSoltSelectedIndex;
        private EFEMModule m_PickSelectedModule;
        private EFEMModule m_PlaceSelectedModule;
        private EFEMModule m_ExtendSelectedModule;
        private EFEMModule m_RetractSelectedModule;
        private WaferInfo m_BladeAWafer;
        private WaferInfo m_BladeBWafer;

        private WaferInfo m_srd1Wafer;
        private WaferInfo m_srd2Wafer;
        
        private WaferInfo m_Aligner1Wafer;
        private WaferInfo m_VPW1Wafer;
        private WaferInfo m_VPW2Wafer;
        private WaferInfo m_PlatingCell1Wafer;
        private WaferInfo m_PlatingCell2Wafer;
        private WaferInfo m_PlatingCell3Wafer;
        private WaferInfo m_PlatingCell4Wafer;

        private string m_LP1Status;
        private string m_LP2Status;
        
        private string _setLP1IDValue;
        private string _setLP2IDValue;

        private int _setLP1CycleValue;
        private int _setLP2CycleValue;

        private bool _isLp1Unable;
        private bool _isLp2Unable;

        private List<string> m_RtDataKeys=new List<string>();
        private Dictionary<string, object> m_RtDataValues;

        private int m_AlignValue;
        private int m_RobotSpeedValue;
        private WaferRobotTAction m_Robot1TAction;
        private WaferRobotXAction m_Robot1XAction;
        private WaferRobotTAction m_Robot2TAction;
        private WaferRobotXAction m_Robot2XAction;
        private WaferRobotFAction m_Robot2FAction;
        //int arm1oldWaferStatus = 100;
        //int arm2oldWaferStatus = 100;
        private EFEM.RobotPosition m_CurrentRobotPosition;

        private ModuleInfo _dummy1ModuleInfo;
        private ModuleInfo _dummy2ModuleInfo;

        private int m_dummy1WaferCount;
        private int m_dummy2WaferCount;

        private bool _isLp1HasNoJob;
        private bool _isLp2HasNoJob;

        private bool _isHomeAllEnable;

        private double _vacuumValue;
        private bool _doorUnlock;
        private bool _isDoorLocked;
        #endregion

        #region 属性
        public bool IsHomeAllEnable
        {
            get { return _isHomeAllEnable; }
            set { SetProperty(ref _isHomeAllEnable, value); }
        }
        public ModuleInfo LP1ModuleInfo
        {
            get { return m_LP1ModuleInfo; }
            set { SetProperty(ref m_LP1ModuleInfo, value); }
        }
        public ModuleInfo LP2ModuleInfo
        {
            get { return m_LP2ModuleInfo; }
            set { SetProperty(ref m_LP2ModuleInfo, value); }
        }

        public bool IsLP1Unable
        {
            get { return _isLp1Unable; }
            set { SetProperty(ref _isLp1Unable, value); }
        }
        public bool IsLP2Unable
        {
            get { return _isLp2Unable; }
            set { SetProperty(ref _isLp2Unable, value); }
        }

        public bool IsLP1HasNoJob
        {
            get { return _isLp1HasNoJob; }
            set { SetProperty(ref _isLp1HasNoJob, value); }
        }
        public bool IsLP2HasNoJob
        {
            get { return _isLp2HasNoJob; }
            set { SetProperty(ref _isLp2HasNoJob, value); }
        }

        public ModuleInfo EFEMModuleInfo
        {
            get { return m_EFEMModuleInfo; }
            set { SetProperty(ref m_EFEMModuleInfo, value); }
        }
        public ModuleInfo AlignerModuleInfo
        {
            get { return _alignerModuleInfo; }
            set { SetProperty(ref _alignerModuleInfo, value); }
        }
        public List<EFEMModule> EFEMModules
        {
            get { return m_EFEMModules; }
            set { SetProperty(ref m_EFEMModules, value); }
        }
        public List<Flip> FlipNames
        {
            get { return m_FlipNames; }
            set { SetProperty(ref m_FlipNames, value); }
        }
        public EFEMBlade PickSelectedBlade
        {
            get { return m_PickSelectedBlade; }
            set { SetProperty(ref m_PickSelectedBlade, value); }
        }
        public EFEMBlade PlaceSelectedBlade
        {
            get { return m_PlaceSelectedBlade; }
            set { SetProperty(ref m_PlaceSelectedBlade, value); }
        }
        public EFEMBlade ExtendSelectedBlade
        {
            get { return m_ExtendSelectedBlade; }
            set { SetProperty(ref m_ExtendSelectedBlade, value); }
        }
        public EFEMBlade RetractSelectedBlade
        {
            get { return m_RetractSelectedBlade; }
            set { SetProperty(ref m_RetractSelectedBlade, value); }
        }
        public ObservableCollection<int> PickSoltItemsSource
        {
            get { return m_PickSoltItemsSource; }
            set { SetProperty(ref m_PickSoltItemsSource, value); }
        }

        public ObservableCollection<int> PlaceSoltItemsSource
        {
            get { return m_PlaceSoltItemsSource; }
            set { SetProperty(ref m_PlaceSoltItemsSource, value); }
        }

        public ObservableCollection<int> ExtendSoltItemsSource
        {
            get { return m_ExtendSoltItemsSource; }
            set { SetProperty(ref m_ExtendSoltItemsSource, value); }
        }
        public ObservableCollection<int> RetractSoltItemsSource
        {
            get { return m_RetractSoltItemsSource; }
            set { SetProperty(ref m_RetractSoltItemsSource, value); }
        }
        public Flip PickSoltSelectedFlip
        {
            get { return m_PickSoltSelectedFlip; }
            set { SetProperty(ref m_PickSoltSelectedFlip, value); }
        }
        public Flip PlaceSoltSelectedFlip
        {
            get { return m_PlaceSoltSelectedFlip; }
            set { SetProperty(ref m_PlaceSoltSelectedFlip, value); }
        }
        public int PickSoltSelectedIndex
        {
            get { return m_PickSoltSelectedIndex; }
            set { SetProperty(ref m_PickSoltSelectedIndex, value); }
        }
        public int PlaceSoltSelectedIndex
        {
            get { return m_PlaceSoltSelectedIndex; }
            set { SetProperty(ref m_PlaceSoltSelectedIndex, value); }
        }

        public int ExtendSoltSelectedIndex
        {
            get { return m_ExtendSoltSelectedIndex; }
            set { SetProperty(ref m_ExtendSoltSelectedIndex, value); }
        }
        public int RetractSoltSelectedIndex
        {
            get { return m_RetractSoltSelectedIndex; }
            set { SetProperty(ref m_RetractSoltSelectedIndex, value); }
        }
        public EFEMModule PickSelectedModule
        {
            get { return m_PickSelectedModule; }
            set { SetProperty(ref m_PickSelectedModule, value); }
        }
        public EFEMModule PlaceSelectedModule
        {
            get { return m_PlaceSelectedModule; }
            set { SetProperty(ref m_PlaceSelectedModule, value); }
        }

        public EFEMModule ExtendSelectedModule
        {
            get { return m_ExtendSelectedModule; }
            set { SetProperty(ref m_ExtendSelectedModule, value); }
        }
        public EFEMModule RetractSelectedModule
        {
            get { return m_RetractSelectedModule; }
            set { SetProperty(ref m_RetractSelectedModule, value); }
        }
        public WaferInfo BladeAWafer
        {
            get { return m_BladeAWafer; }
            set { SetProperty(ref m_BladeAWafer, value); }
        }
        public WaferInfo BladeBWafer
        {
            get { return m_BladeBWafer; }
            set { SetProperty(ref m_BladeBWafer, value); }
        }
        public WaferInfo Aligner1Wafer
        {
            get { return m_Aligner1Wafer; }
            set { SetProperty(ref m_Aligner1Wafer, value); }
        }
        public WaferInfo VPW1Wafer
        {
            get { return m_VPW1Wafer; }
            set { SetProperty(ref m_VPW1Wafer, value); }
        }
        public WaferInfo VPW2Wafer
        {
            get { return m_VPW2Wafer; }
            set { SetProperty(ref m_VPW2Wafer, value); }
        }
        public WaferInfo PlatingCell1Wafer
        {
            get { return m_PlatingCell1Wafer; }
            set { SetProperty(ref m_PlatingCell1Wafer, value); }
        }
        public WaferInfo PlatingCell2Wafer
        {
            get { return m_PlatingCell2Wafer; }
            set { SetProperty(ref m_PlatingCell2Wafer, value); }
        }
        public WaferInfo PlatingCell3Wafer
        {
            get { return m_PlatingCell3Wafer; }
            set { SetProperty(ref m_PlatingCell3Wafer, value); }
        }
        public WaferInfo PlatingCell4Wafer
        {
            get { return m_PlatingCell4Wafer; }
            set { SetProperty(ref m_PlatingCell4Wafer, value); }
        }

        public bool Srd1IsInstalled
        {
            get { return m_srd1IsInstalled; }
            set { SetProperty(ref m_srd1IsInstalled, value); }
        }

        public bool Srd2IsInstalled
        {
            get { return m_srd2IsInstalled; }
            set { SetProperty(ref m_srd2IsInstalled, value); }
        }

        public bool IsAlignerVacuumOn
        {
            get { return _isAlignerVacuumOn; }
            set { SetProperty(ref _isAlignerVacuumOn, value); }
        }
        public bool IsRobotAVacuumOn
        {
            get { return _isRobotAVacuumOn; }
            set { SetProperty(ref _isRobotAVacuumOn, value); }
        }
        public bool IsRobotBVacuumOn
        {
            get { return _isRobotBVacuumOn; }
            set { SetProperty(ref _isRobotBVacuumOn, value); }
        }
        public string LP1Status
        {
            get { return m_LP1Status; }
            set { SetProperty(ref m_LP1Status, value); }
        }
        public string LP2Status
        {
            get { return m_LP2Status; }
            set { SetProperty(ref m_LP2Status, value); }
        }

        public string SetLP1IDValue
        {
            get { return _setLP1IDValue; }
            set { SetProperty(ref _setLP1IDValue, value); }
        }
        public string SetLP2IDValue
        {
            get { return _setLP1IDValue; }
            set { SetProperty(ref _setLP1IDValue, value); }
        }
        public string SetLP3IDValue
        {
            get { return _setLP1IDValue; }
            set { SetProperty(ref _setLP1IDValue, value); }
        }

        public int SetLP1CycleValue
        {
            get { return _setLP1CycleValue; }
            set { SetProperty(ref _setLP1CycleValue, value); }
        }

        public int SetLP2CycleValue
        {
            get { return _setLP2CycleValue; }
            set { SetProperty(ref _setLP2CycleValue, value); }
        }

        public Dictionary<string, object> RtDataValues
        {
            get { return m_RtDataValues; }
            set { SetProperty(ref m_RtDataValues, value); }
        }
        public int AlignValue
        {
            get { return m_AlignValue; }
            set { SetProperty(ref m_AlignValue, value); }
        }
        public int RobotSpeedValue
        {
            get { return m_RobotSpeedValue; }
            set { SetProperty(ref m_RobotSpeedValue, value); }
        }
        public WaferRobotTAction Robot1TAction
        {
            get { return m_Robot1TAction; }
            set { SetProperty(ref m_Robot1TAction, value); }
        }
        public WaferRobotXAction Robot1XAction
        {
            get { return m_Robot1XAction; }
            set { SetProperty(ref m_Robot1XAction, value); }
        }
        public WaferRobotTAction Robot2TAction
        {
            get { return m_Robot2TAction; }
            set { SetProperty(ref m_Robot2TAction, value); }
        }
        public WaferRobotXAction Robot2XAction
        {
            get { return m_Robot2XAction; }
            set { SetProperty(ref m_Robot2XAction, value); }
        }
        public WaferRobotFAction Robot2FAction
        {
            get { return m_Robot2FAction; }
            set { SetProperty(ref m_Robot2FAction, value); }
        }
        private string m_RobotTarget;

        public string RobotTarget
        {
            get { return m_RobotTarget; }
            set
            {
                SetProperty(ref m_RobotTarget, value);
            }
        }
        public RobotMoveInfo m_robotMoveInfo;
        public RobotMoveInfo RobotMoveInfo
        {
            get { return m_robotMoveInfo; }
            set
            {
                RobotMoveInfoChanged(m_robotMoveInfo, value);
                m_robotMoveInfo = value;
            }
        }
        public EFEM.RobotPosition CurrentRobotPosition
        {
            get { return m_CurrentRobotPosition; }
            set { SetProperty(ref m_CurrentRobotPosition, value); }
        }

        public ModuleInfo Dummy1ModuleInfo
        {
            get { return _dummy1ModuleInfo; }
            set { SetProperty(ref _dummy1ModuleInfo, value); }
        }
        public ModuleInfo Dummy2ModuleInfo
        {
            get { return _dummy2ModuleInfo; }
            set { SetProperty(ref _dummy2ModuleInfo, value); }
        }
        public int Dummy1WaferCount
        {
            get { return m_dummy1WaferCount; }
            set { SetProperty(ref m_dummy1WaferCount, value); }
        }
        public int Dummy2WaferCount
        {
            get { return m_dummy2WaferCount; }
            set { SetProperty(ref m_dummy2WaferCount, value); }
        }
        public ModuleInfo Srd1ModuleInfo
        {
            get { return m_srd1ModuleInfo; }
            set { SetProperty(ref m_srd1ModuleInfo, value); }
        }
        public ModuleInfo Srd2ModuleInfo
        {
            get { return m_srd2ModuleInfo; }
            set { SetProperty(ref m_srd2ModuleInfo, value); }
        }

        public WaferInfo Srd1Wafer
        {
            get { return m_srd1Wafer; }
            set { SetProperty(ref m_srd1Wafer, value); }
        }

        public WaferInfo Srd2Wafer
        {
            get { return m_srd2Wafer; }
            set { SetProperty(ref m_srd2Wafer, value); }
        }
        /// <summary>
        /// 真空数值
        /// </summary>
        public double VacuumValue
        {
            get { return _vacuumValue; }
            set { SetProperty(ref _vacuumValue, value); }
        }

        public bool DoorUnlock
        {
            get { return _doorUnlock; }
            set { SetProperty(ref _doorUnlock,value); }
        }
        public bool IsDoorLocked
        {
            get { return _isDoorLocked; }
            set { SetProperty(ref _isDoorLocked, value); }
        }
        #endregion

        #region 命令
        private DelegateCommand _ExtendCommand;
        public DelegateCommand ExtendCommand =>
            _ExtendCommand ?? (_ExtendCommand = new DelegateCommand(OnExtend));
        private DelegateCommand _RetractCommand;
        public DelegateCommand RetractCommand =>
            _RetractCommand ?? (_RetractCommand = new DelegateCommand(OnRetract));

        private DelegateCommand<object> _ModuleChangeCommand;
        public DelegateCommand<object> ModuleChangeCommand =>
            _ModuleChangeCommand ?? (_ModuleChangeCommand = new DelegateCommand<object>(OnModuleChange));


        private DelegateCommand _PickCommand;
        public DelegateCommand PickCommand =>
            _PickCommand ?? (_PickCommand = new DelegateCommand(OnPick));

        private DelegateCommand _PlaceCommand;
        public DelegateCommand PlaceCommand =>
            _PlaceCommand ?? (_PlaceCommand = new DelegateCommand(OnPlace));
        
        private DelegateCommand _BFMapCommand;
        public DelegateCommand BFMapCommand =>
            _BFMapCommand ?? (_BFMapCommand = new DelegateCommand(OnBFMap));

        private DelegateCommand _SetRobotSpeedCommand;
        public DelegateCommand SetRobotSpeedCommand =>
            _SetRobotSpeedCommand ?? (_SetRobotSpeedCommand = new DelegateCommand(OnSetRobotSpeed));


        private DelegateCommand _HomeAllCommand;
        public DelegateCommand HomeAllCommand =>
            _HomeAllCommand ?? (_HomeAllCommand = new DelegateCommand(OnHomeAll));

        private DelegateCommand _ClearErrorCommand;
        public DelegateCommand ClearErrorCommand =>
            _ClearErrorCommand ?? (_ClearErrorCommand = new DelegateCommand(OnClearError));

        private DelegateCommand _AbortCommand;
        public DelegateCommand AbortCommand =>
            _AbortCommand ?? (_AbortCommand = new DelegateCommand(OnAbort));

        private DelegateCommand _CloseBuzzerCommand;
        public DelegateCommand CloseBuzzerCommand =>
            _CloseBuzzerCommand ?? (_CloseBuzzerCommand = new DelegateCommand(OnCloseBuzzer));

        private DelegateCommand _Align1HomeCommand;
        public DelegateCommand Align1HomeCommand =>
            _Align1HomeCommand ?? (_Align1HomeCommand = new DelegateCommand(OnAlign1Home));

        private DelegateCommand _Align1AlignCommand;
        public DelegateCommand Align1AlignCommand =>
            _Align1AlignCommand ?? (_Align1AlignCommand = new DelegateCommand(OnAlign1Align));
        
        private DelegateCommand _RobotHomeCommand;
        public DelegateCommand RobotHomeCommand =>
            _RobotHomeCommand ?? (_RobotHomeCommand = new DelegateCommand(OnRobotHome));
        
        private DelegateCommand _RobotPowerOnCommand;
        public DelegateCommand RobotPowerOnCommand =>
            _RobotPowerOnCommand ?? (_RobotPowerOnCommand = new DelegateCommand(RobotPowerOn));
        
        private DelegateCommand _RobotPowerOffCommand;
        public DelegateCommand RobotPowerOffCommand =>
            _RobotPowerOffCommand ?? (_RobotPowerOffCommand = new DelegateCommand(RobotPowerOff));

        
        private DelegateCommand<object> _LPHomeCommand;
        public DelegateCommand<object> LPHomeCommand =>
            _LPHomeCommand ?? (_LPHomeCommand = new DelegateCommand<object>(OnLPHome));

        private DelegateCommand<object> _LPAbortCommand;
        public DelegateCommand<object> LPAbortCommand =>
            _LPAbortCommand ?? (_LPAbortCommand = new DelegateCommand<object>(OnLPAbort));

        private DelegateCommand<object> _LPResetCommand;
        public DelegateCommand<object> LPResetCommand =>
            _LPResetCommand ?? (_LPResetCommand = new DelegateCommand<object>(OnLPReset));

        private DelegateCommand<object> _LPLoadCommand;
        public DelegateCommand<object> LPLoadCommand =>
            _LPLoadCommand ?? (_LPLoadCommand = new DelegateCommand<object>(OnLPLoad));

        private DelegateCommand<object> _LPUnLoadCommand;
        public DelegateCommand<object> LPUnLoadCommand =>
            _LPUnLoadCommand ?? (_LPUnLoadCommand = new DelegateCommand<object>(OnLPUnLoad));

        private DelegateCommand<object> _LPMapCommand;
        public DelegateCommand<object> LPMapCommand =>
            _LPMapCommand ?? (_LPMapCommand = new DelegateCommand<object>(OnLPMap));

        private DelegateCommand<object> _LPReadIDCommand;
        public DelegateCommand<object> LPReadIDCommand =>
            _LPReadIDCommand ?? (_LPReadIDCommand = new DelegateCommand<object>(OnLPReadID));

        private DelegateCommand<object> _LP1WriteIDCommand;
        public DelegateCommand<object> LP1WriteIDCommand =>
            _LP1WriteIDCommand ?? (_LP1WriteIDCommand = new DelegateCommand<object>(OnLP1WriteID));

        private DelegateCommand<object> _LP2WriteIDCommand;
        public DelegateCommand<object> LP2WriteIDCommand =>
            _LP2WriteIDCommand ?? (_LP2WriteIDCommand = new DelegateCommand<object>(OnLP2WriteID));

        private DelegateCommand<object> _LPClampCommand;
        public DelegateCommand<object> LPClampCommand =>
            _LPClampCommand ?? (_LPClampCommand = new DelegateCommand<object>(OnLPClamp));

        private DelegateCommand<object> _LPUnClampCommand;
        public DelegateCommand<object> LPUnClampCommand =>
            _LPUnClampCommand ?? (_LPUnClampCommand = new DelegateCommand<object>(OnLPUnClamp));

        private DelegateCommand<object> _LPDockCommand;
        public DelegateCommand<object> LPDockCommand =>
            _LPDockCommand ?? (_LPDockCommand = new DelegateCommand<object>(OnLPDock));

        private DelegateCommand<object> _LPUnDockCommand;
        public DelegateCommand<object> LPUnDockCommand =>
            _LPUnDockCommand ?? (_LPUnDockCommand = new DelegateCommand<object>(OnLPUnDock));

        private DelegateCommand<object> _LPOpenDoorCommand;
        public DelegateCommand<object> LPOpenDoorCommand =>
            _LPOpenDoorCommand ?? (_LPOpenDoorCommand = new DelegateCommand<object>(OnLPOpenDoor));

        private DelegateCommand<object> _LPCloseDoorCommand;
        public DelegateCommand<object> LPCloseDoorCommand =>
            _LPCloseDoorCommand ?? (_LPCloseDoorCommand = new DelegateCommand<object>(OnLPCloseDoor));
        private DelegateCommand _OnlineCommand;
        public DelegateCommand OnlineCommand =>
            _OnlineCommand ?? (_OnlineCommand = new DelegateCommand(OnOnline));

        private DelegateCommand _OfflineCommand;
        public DelegateCommand OfflineCommand =>
            _OfflineCommand ?? (_OfflineCommand = new DelegateCommand(OnOffline));

        private DelegateCommand _AlignerVacuumCommand;
        public DelegateCommand AlignerVacuumCommand =>
            _AlignerVacuumCommand ?? (_AlignerVacuumCommand = new DelegateCommand(AlignerVacuum));
        
        private DelegateCommand _RobotBVacuumCommand;
        public DelegateCommand RobotBVacuumCommand =>
            _RobotBVacuumCommand ?? (_RobotBVacuumCommand = new DelegateCommand(RobotBVacuum));
        private DelegateCommand _RobotAVacuumCommand;
        public DelegateCommand RobotAVacuumCommand =>
            _RobotAVacuumCommand ?? (_RobotAVacuumCommand = new DelegateCommand(RobotAVacuum));

        private ICommand _lP1CycleCommand;
        public ICommand LP1CycleCommand => _lP1CycleCommand ?? (_lP1CycleCommand = new DelegateCommand<object>(OnLP1CycleAction));

        private ICommand _lP2CycleCommand;
        public ICommand LP2CycleCommand => _lP2CycleCommand ?? (_lP2CycleCommand = new DelegateCommand<object>(OnLP2CycleAction));

        private DelegateCommand _doorUnlockCommand;
        public DelegateCommand DoorUnlockCommand =>
            _doorUnlockCommand ?? (_doorUnlockCommand = new DelegateCommand(OnDoorUnlock));
        private DelegateCommand _doorLockCommand;
        public DelegateCommand DoorLockCommand =>
            _doorLockCommand ?? (_doorLockCommand = new DelegateCommand(OnDoorLock));
        
        private DelegateCommand _safeOpenCommand;
        public DelegateCommand SafeOpenCommand =>
            _safeOpenCommand ?? (_safeOpenCommand = new DelegateCommand(OnSafeOpen));
        private DelegateCommand _safeCloseCommand;
        public DelegateCommand SafeCloseCommand =>
            _safeCloseCommand ?? (_safeCloseCommand = new DelegateCommand(OnSafeClose));


        private DelegateCommand _pauseCommand;
        public DelegateCommand PauseCommand =>
            _pauseCommand ?? (_pauseCommand = new DelegateCommand(OnPauseAction));
        private DelegateCommand _resumeCommand;
        public DelegateCommand ResumeCommand =>
            _resumeCommand ?? (_resumeCommand = new DelegateCommand(OnResumeAction));
        #endregion

        #region 构造函数
        public EfemViewModel()
        {
            Dictionary<string, object> allModulesDictionary = QueryDataClient.Instance.Service.PollData(new List<string>() { "System.InstalledModules" });
            if (allModulesDictionary != null)
            {
                List<string> allModules = CommonFunction.GetValue<List<string>>(allModulesDictionary, "System.InstalledModules");

                Srd1IsInstalled = allModules.Contains("SRD1");
                Srd2IsInstalled = allModules.Contains("SRD2");
            }
    
            DispatcherTimer timer = new DispatcherTimer();
            timer.Interval = TimeSpan.FromSeconds(0.1);
            timer.Tick += Timer_Tick;
            timer.Start();
            EFEMModules.Add(EFEMModule.LP1);
            EFEMModules.Add(EFEMModule.LP2);
            EFEMModules.Add(EFEMModule.Aligner1);
            EFEMModules.Add(EFEMModule.PUF1);
            EFEMModules.Add(EFEMModule.PUF2);
            EFEMModules.Add(EFEMModule.SRD1);
            EFEMModules.Add(EFEMModule.SRD2);
            EFEMModules.Add(EFEMModule.Dummy1);
            EFEMModules.Add(EFEMModule.Dummy2);
            EFEMModules.Add(EFEMModule.VPW1);
            EFEMModules.Add(EFEMModule.VPW2);
            EFEMModules.Add(EFEMModule.PlatingCell1);
            EFEMModules.Add(EFEMModule.PlatingCell2);
            EFEMModules.Add(EFEMModule.PlatingCell3);
            EFEMModules.Add(EFEMModule.PlatingCell4);
            OnModuleChange("Pick");
            OnModuleChange("Place");
            FlipNames.Add(Flip.Upper);
            FlipNames.Add(Flip.Down);

            Init();

        }
        #endregion

        #region 命令方法
        private void OnModuleChange(object obj)
        {
            var value = obj.ToString();
            switch (value)
            {
                case "Pick":
                     PickSoltItemsSource.Clear();
                    switch (PickSelectedModule)
                    {
                        case EFEMModule.Dummy1:
                        case EFEMModule.Dummy2:
                            for (int i = 1; i < 17; i++)
                            {
                                PickSoltItemsSource.Add(i);
                            }
                            break;
                        case EFEMModule.LP1:
                        case EFEMModule.LP2:

                            for (int i = 1; i < 26; i++)
                            {
                                PickSoltItemsSource.Add(i);
                            }
                            break;

                        default:
                            PickSoltItemsSource.Add(1);
                            break;
                    }
                    PickSoltSelectedIndex = 0;

                    break;

                case "Place":
                    PlaceSoltItemsSource.Clear();
                    switch (PlaceSelectedModule)
                    {
                        case EFEMModule.PUF1:
                        case EFEMModule.PUF2:
                            PlaceSoltItemsSource.Add(1);
                            PlaceSoltItemsSource.Add(2);
                            break;
                        case EFEMModule.Dummy1:
                        case EFEMModule.Dummy2:
                            for (int i = 1; i < 17; i++)
                            {
                                PlaceSoltItemsSource.Add(i);
                            }
                            break;
                        case EFEMModule.LP1:
                        case EFEMModule.LP2:
                            for (int i = 1; i < 26; i++)
                            {
                                PlaceSoltItemsSource.Add(i);
                            }
                            break;

                        default:
                            PlaceSoltItemsSource.Add(1);
                            break;
                    }
                    PlaceSoltSelectedIndex = 0;
                    break;

            }

        }

        private void OnExtend()
        {
            var moduleName = (ModuleName)Enum.Parse(typeof(ModuleName), PlaceSelectedModule.ToString(), true);
            var selectedHand = (Hand)Enum.Parse(typeof(Hand), PlaceSelectedBlade.ToString(), true);
            InvokeClient.Instance.Service.DoOperation($"EFEM.{RtOperation.Extend}", moduleName, 0, selectedHand);
        }
        private void OnRetract()
        {
            var moduleName = (ModuleName)Enum.Parse(typeof(ModuleName), PlaceSelectedModule.ToString(), true);
            var selectedHand = (Hand)Enum.Parse(typeof(Hand), PlaceSelectedBlade.ToString(), true);
            InvokeClient.Instance.Service.DoOperation($"EFEM.{RtOperation.Retract}", moduleName, 0, selectedHand);
        }
        private void OnPick()
        {
            Queue<MoveItem> moveItems = new Queue<MoveItem>();
            var moduleName = (ModuleName)Enum.Parse(typeof(ModuleName), PickSelectedModule.ToString(), true);
            var selectedHand = (Hand)Enum.Parse(typeof(Hand), PickSelectedBlade.ToString(), true);
            MoveItem moveItem = new MoveItem(moduleName, PickSoltItemsSource[PickSoltSelectedIndex]-1, ModuleName.EfemRobot, 0, selectedHand, PickSoltSelectedFlip,PickSoltSelectedFlip);
            moveItems.Enqueue(moveItem);
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EfemRobot}.{EfemOperation.Pick}", moveItems);
        }
        private void OnPlace()
        {
            Queue<MoveItem> moveItems = new Queue<MoveItem>();
            var moduleName = (ModuleName)Enum.Parse(typeof(ModuleName), PlaceSelectedModule.ToString(), true);
            var selectedHand = (Hand)Enum.Parse(typeof(Hand), PlaceSelectedBlade.ToString(), true);
            MoveItem moveItem = new MoveItem(ModuleName.EfemRobot, 0, moduleName, PlaceSoltItemsSource[PlaceSoltSelectedIndex]-1, selectedHand, PlaceSoltSelectedFlip,PlaceSoltSelectedFlip);
            moveItems.Enqueue(moveItem);
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EfemRobot}.{EfemOperation.Place}", moveItems);
        }

        private void OnHomeAll()
        {
            InvokeClient.Instance.Service.DoOperation($"EFEM.{EfemOperation.Home}");
        }
        private void OnClearError()
        {
            InvokeClient.Instance.Service.DoOperation($"EFEM.{EfemOperation.ClearError}");
        }
        private void OnCloseBuzzer()
        {
            InvokeClient.Instance.Service.DoOperation($"EFEM.{EfemOperation.TurnOffBuzzer}");
        }
        private void OnAbort()
        {
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EfemRobot}.{EfemOperation.Abort}");            
        }
        private void OnAlign1Home()
        {
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.Aligner1}.{EfemOperation.Home}");
        }
        private void OnDoorUnlock()
        {
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EFEM}.DoorUnlock",true);
        }
        private void OnDoorLock()
        {
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EFEM}.DoorUnlock", false);
        }

        private void OnSafeOpen()
        {
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EFEM}.SafeOpen");
        }
        private void OnSafeClose()
        {
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EFEM}.SafeClose");
        }

        private void OnPauseAction() 
        { 
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EFEM}.Pause");
        }
        private void OnResumeAction()
        {
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EFEM}.Resume");
        }

        private void OnAlign1Align()
        { 
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.Aligner1}.{EfemOperation.Align}",0, AlignValue);
        }
        private void AlignerVacuum()
        {
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.Aligner1}.{EfemOperation.Vacuum}", ModuleName.Aligner1,IsAlignerVacuumOn);
        }
        /// <summary>
        /// 下手臂真空 B
        /// </summary>
        private void RobotBVacuum()
        {
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EfemRobot}.{EfemOperation.Vacuum}", ModuleName.EfemRobot, IsRobotBVacuumOn,Hand.Blade1);
        }
        /// <summary>
        /// 上手臂真空 A
        /// </summary>
        private void RobotAVacuum()
        {
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EfemRobot}.{EfemOperation.Vacuum}", ModuleName.EfemRobot, IsRobotAVacuumOn, Hand.Blade2);
        }
        private void OnRobotHome()
        {
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EfemRobot}.{EfemOperation.Home}");
        }
        private void RobotPowerOn()
        {
         
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EfemRobot}.{EfemOperation.PowerOn}", true);
               
        }
        private void RobotPowerOff()
        {
          
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EfemRobot}.{EfemOperation.PowerOn}", false);
            
        }
        private void OnBFMap()
        {
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EfemRobot}.{EfemOperation.DummyMap}");
        }
        private void OnSetRobotSpeed()
        {
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EfemRobot}.{EfemOperation.Speed}", RobotSpeedValue);
        }
        private void OnLPHome(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.Home");
        }
        private void OnLPAbort(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.Abort");

        }
        private void OnLPReset(object obj)
        {
            //InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.ReSet");

        }
        private void OnLPLoad(object obj)
        { 
            InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.Load");

        }
        private void OnLPUnLoad(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.Unload");

        }
        private void OnLPMap(object obj)
        { 
           InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.Map");
        }
       
        private void OnLPReadID(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.ReadCarrierId");

        }

        private void OnLP1WriteID(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.WriteCarrierID", SetLP1IDValue);

        }

        private void OnLP2WriteID(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.WriteCarrierID", SetLP2IDValue);

        }

        private void OnLPClamp(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.Clamp");

        }
        private void OnLPUnClamp(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.Unclamp");

        }
        private void OnLPDock(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.Dock");

        }
        private void OnLPUnDock(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.Undock");
        }
        private void OnLPOpenDoor(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.OpenDoor");

        }
        private void OnLPCloseDoor(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.CloseDoor");

        }
        private void OnOnline()
        {
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EFEM}.Online",true);
        }
        private void OnOffline()
        {
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EFEM}.Online", false);
        }

        private void OnLP1CycleAction(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.CycleLoadUnload", SetLP1CycleValue);
        }

        private void OnLP2CycleAction(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.CycleLoadUnload", SetLP2CycleValue);
        }

        #endregion

        #region 私有方法
        private void Timer_Tick(object sender, EventArgs e)
        {
            AlignerModuleInfo = ModuleManager.ModuleInfos["Aligner1"];
            if (Srd1IsInstalled)
            {
                if (ModuleManager.ModuleInfos["SRD1"].WaferManager.Wafers.Count != 0)
                {
                    Srd1Wafer = ModuleManager.ModuleInfos["SRD1"].WaferManager.Wafers[0];
                }
                Srd1ModuleInfo = ModuleManager.ModuleInfos["SRD1"];
            }
            if (Srd2IsInstalled)
            {
                if (ModuleManager.ModuleInfos["SRD2"].WaferManager.Wafers.Count != 0)
                {
                    Srd2Wafer = ModuleManager.ModuleInfos["SRD2"].WaferManager.Wafers[0];
                }
                Srd2ModuleInfo = ModuleManager.ModuleInfos["SRD2"];
            }
            LP1ModuleInfo = ModuleManager.ModuleInfos["LP1"];
            LP2ModuleInfo = ModuleManager.ModuleInfos["LP2"];
            EFEMModuleInfo = ModuleManager.ModuleInfos["EfemRobot"];
            if (ModuleManager.ModuleInfos["EfemRobot"].WaferManager.Wafers.Count != 0)
            {
                BladeAWafer = ModuleManager.ModuleInfos["EfemRobot"].WaferManager.Wafers[0];
                BladeBWafer = ModuleManager.ModuleInfos["EfemRobot"].WaferManager.Wafers[1];
            }
            if (ModuleManager.ModuleInfos["Aligner1"].WaferManager.Wafers.Count != 0)
            {
                Aligner1Wafer = ModuleManager.ModuleInfos["Aligner1"].WaferManager.Wafers[0];
            }
            if (ModuleManager.ModuleInfos["VPW1"].WaferManager.Wafers.Count != 0)
            {
                VPW1Wafer = ModuleManager.ModuleInfos["VPW1"].WaferManager.Wafers[0];
            }
            if (ModuleManager.ModuleInfos["VPW2"].WaferManager.Wafers.Count != 0)
            {
                VPW2Wafer = ModuleManager.ModuleInfos["VPW2"].WaferManager.Wafers[0];
            }
            if (ModuleManager.ModuleInfos["PlatingCell1"].WaferManager.Wafers.Count != 0)
            {
                PlatingCell1Wafer = ModuleManager.ModuleInfos["PlatingCell1"].WaferManager.Wafers[0];
            }
            if (ModuleManager.ModuleInfos["PlatingCell2"].WaferManager.Wafers.Count != 0)
            {
                PlatingCell2Wafer = ModuleManager.ModuleInfos["PlatingCell2"].WaferManager.Wafers[0];
            }
            if (ModuleManager.ModuleInfos["PlatingCell3"].WaferManager.Wafers.Count != 0)
            {
                PlatingCell3Wafer = ModuleManager.ModuleInfos["PlatingCell3"].WaferManager.Wafers[0];
            }
            if (ModuleManager.ModuleInfos["PlatingCell4"].WaferManager.Wafers.Count != 0)
            {
                PlatingCell4Wafer = ModuleManager.ModuleInfos["PlatingCell4"].WaferManager.Wafers[0];
            }

            RtDataValues = QueryDataClient.Instance.Service.PollData(m_RtDataKeys);
            if(RtDataValues!=null)
            {
                IsHomeAllEnable = !CommonFunction.GetValue<bool>(RtDataValues, "System.IsAutoMode");

                ControlJobInfo lp1Cj = CommonFunction.GetValue<ControlJobInfo>(RtDataValues, "LP1.CurrentControlJob");
                IsLP1HasNoJob = lp1Cj == null ? true : false;
                ControlJobInfo lp2Cj = CommonFunction.GetValue<ControlJobInfo>(RtDataValues, "LP2.CurrentControlJob");
                IsLP2HasNoJob = lp2Cj == null ? true : false;

                VacuumValue = CommonFunction.GetValue<double>(RtDataValues, "EFEM.VacuumValue");
                DoorUnlock = CommonFunction.GetValue<bool>(RtDataValues, "EFEM.DoorUnlock");
                IsDoorLocked = CommonFunction.GetValue<bool>(RtDataValues, "EFEM.DoorLocked");
            }
            RobotMoveInfo = (RobotMoveInfo)QueryDataClient.Instance.Service.GetData("EFEM.RobotMoveAction");

            Dummy1ModuleInfo = ModuleManager.ModuleInfos["Dummy1"];
            Dummy1WaferCount = Dummy1ModuleInfo.WaferManager.Wafers.Where(x => x.WaferStatus != 0).Count();
            Dummy2ModuleInfo = ModuleManager.ModuleInfos["Dummy2"];
            Dummy2WaferCount = Dummy2ModuleInfo.WaferManager.Wafers.Where(x => x.WaferStatus != 0).Count();

            IsLP1Unable = (bool)QueryDataClient.Instance.Service.GetConfig("EFEM.IsLoadPort1Unable");
            IsLP2Unable = (bool)QueryDataClient.Instance.Service.GetConfig("EFEM.IsLoadPort2Unable");      
        }
        private void Init()
        {
            m_RtDataKeys.Add("System.IsAutoMode");
            
            m_RtDataKeys.Add("LP1.Status");
            m_RtDataKeys.Add("LP2.Status");

            m_RtDataKeys.Add("LP1.IsLoaded");
            m_RtDataKeys.Add("LP2.IsLoaded");
           
            m_RtDataKeys.Add("LP1.CarrierId");
            m_RtDataKeys.Add("LP2.CarrierId");

            m_RtDataKeys.Add("LP1.IsClamped");
            m_RtDataKeys.Add("LP2.IsClamped");

            m_RtDataKeys.Add("LP1.IsDocked");
            m_RtDataKeys.Add("LP2.IsDocked");;


            m_RtDataKeys.Add("LP1.IsDoorOpened");
            m_RtDataKeys.Add("LP2.IsDoorOpened");

            m_RtDataKeys.Add("TM.LLATSlitDoor.IsClosed");
            m_RtDataKeys.Add("TM.LLBTSlitDoor.IsClosed");

            m_RtDataKeys.Add("TM.LLAESlitDoor.IsClosed");
            m_RtDataKeys.Add("TM.LLBESlitDoor.IsClosed");

            m_RtDataKeys.Add("LP1.CassettePlaced");
            m_RtDataKeys.Add("LP2.CassettePlaced");

            m_RtDataKeys.Add("Dummy1.CassettePlaced");
            m_RtDataKeys.Add("Dummy2.CassettePlaced");

            m_RtDataKeys.Add("PUF1.IsInRobotStation");
            m_RtDataKeys.Add("PUF2.IsInRobotStation");

            m_RtDataKeys.Add("LP1.CurrentControlJob");
            m_RtDataKeys.Add("LP2.CurrentControlJob");

            m_RtDataKeys.Add("LP1.WaferSize");
            m_RtDataKeys.Add("LP2.WaferSize");

            m_RtDataKeys.Add("Dummy1.WaferSize");
            m_RtDataKeys.Add("Dummy2.WaferSize");

            m_RtDataKeys.Add("EFEM.VacuumValue");
            m_RtDataKeys.Add("EFEM.DoorUnlock");
            m_RtDataKeys.Add("EFEM.DoorLocked");
        }
        /// <summary>
        /// Robot位置信息变更（动画）
        /// </summary>
        /// <param name="oldValue"></param>
        /// <param name="newValue"></param>
        private async void RobotMoveInfoChanged(RobotMoveInfo oldValue, RobotMoveInfo newValue)
        {
            if (oldValue == null || newValue == null)
            {
                return;
            }

            if ((oldValue.Action == RobotAction.None || oldValue.ArmTarget != newValue.ArmTarget) && (newValue.Action == RobotAction.Placing || newValue.Action == RobotAction.Picking))
            {
                var TMRobotMoveActionBladeTarget = newValue.BladeTarget;
                if (TMRobotMoveActionBladeTarget != null)
                {
                    RobotTarget = TMRobotMoveActionBladeTarget.ToString();
                }
                else
                {
                    return;
                }
                var values = RobotTarget.Split('.');
                var arm = values[0];
                var module = values[1];
   
                if (arm == "ArmA")
                {
                    var robot1Robot1TAction= (WaferRobotTAction)Enum.Parse(typeof(WaferRobotTAction), module, true);
                    //Robot整体平移动画
                    await ChangePosition(robot1Robot1TAction, newValue.Action);
                    if (Robot1TAction != robot1Robot1TAction)
                    {
                        Robot1TAction = robot1Robot1TAction;
                        await Task.Delay(600);
                    }
                    //await Task.Delay(1500);
                    
                    Robot1XAction = WaferRobotXAction.Extend;

                    
                    while ((newValue.Action == RobotAction.Placing && ModuleManager.ModuleInfos["EfemRobot"].WaferManager.Wafers[0].WaferStatus != 0) || (newValue.Action == RobotAction.Picking && ModuleManager.ModuleInfos["EfemRobot"].WaferManager.Wafers[0].WaferStatus == 0))
                    {
                        await Task.Delay(100);
                    }
   
                    Robot1XAction = WaferRobotXAction.Retract;

                    
                    if(newValue.Action == RobotAction.Placing)
                    {
                        await ChangePosition(WaferRobotTAction.T_Origin, newValue.Action);
                    }

                }
                else  //使用上手臂
                {
                    //实现翻转动画
                    if (newValue.BladeTarget.Split('.')[2]=="Down")
                    {
                        Robot2FAction = WaferRobotFAction.UpperToDown;
                    }
                    else if(newValue.BladeTarget.Split('.')[2] == "Upper")
                    {
                        Robot2FAction = WaferRobotFAction.DownToUpper;
                    }

                    var robot1Robot1TAction = (WaferRobotTAction)Enum.Parse(typeof(WaferRobotTAction), module, true);
                    //Robot整体平移动画
                    await ChangePosition(robot1Robot1TAction, newValue.Action);
                    if (Robot1TAction != robot1Robot1TAction)
                    {
                        Robot1TAction = robot1Robot1TAction;
                        await Task.Delay(600);
                    }
                    //await Task.Delay(1500);

                    Robot1XAction = WaferRobotXAction.Extend2;


                    while ((newValue.Action == RobotAction.Placing && ModuleManager.ModuleInfos["EfemRobot"].WaferManager.Wafers[1].WaferStatus != 0) || (newValue.Action == RobotAction.Picking && ModuleManager.ModuleInfos["EfemRobot"].WaferManager.Wafers[1].WaferStatus == 0))
                    {
                        await Task.Delay(100);
                    }

                    Robot1XAction = WaferRobotXAction.Retract2;


                    if (newValue.Action == RobotAction.Placing)
                    {
                        await ChangePosition(WaferRobotTAction.T_Origin, newValue.Action);
                    }
                }
            }
            #region Home
            else if (oldValue.Action == RobotAction.None && newValue.Action == RobotAction.Homing)
            {
                if (Robot1XAction == WaferRobotXAction.Extend||Robot2XAction == WaferRobotXAction.Extend2)
                {
                    Robot1XAction = WaferRobotXAction.Retract2;
                }
                if (Robot2XAction == WaferRobotXAction.Extend|| Robot2XAction == WaferRobotXAction.Extend2)
                {
                    Robot2XAction = WaferRobotXAction.Retract2;
                }
                await Task.Delay(2000);
                if (Robot1TAction != WaferRobotTAction.T_Origin)
                {
                    Robot1TAction = WaferRobotTAction.T_Origin;
                }
                if (Robot2TAction != WaferRobotTAction.T_Origin)
                {
                    Robot2TAction = WaferRobotTAction.T_Origin;
                }
                if (CurrentRobotPosition != EFEM.RobotPosition.Origin)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.Origin;
                }
                await ChangePosition(WaferRobotTAction.T_Origin, newValue.Action);
            }

            #endregion

        }
        private async Task ChangePosition(WaferRobotTAction waferRobotTAction, RobotAction robotAction)
        {
            //CurrentRobotPosition = RobotPosition.Origin;
            //await Task.Delay(1000);
            if(robotAction == RobotAction.Placing)
            {
                if (waferRobotTAction == WaferRobotTAction.LP1)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.Left_Place;
                }
                else if (waferRobotTAction == WaferRobotTAction.LP2)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.Middle_Place;
                }
                else if (waferRobotTAction == WaferRobotTAction.Aligner1)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.Aligner_Place;
                }
                else if (waferRobotTAction == WaferRobotTAction.SRD1 || waferRobotTAction == WaferRobotTAction.SRD2)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.SRD_Place;
                }
                else if (waferRobotTAction == WaferRobotTAction.Dummy1 || waferRobotTAction == WaferRobotTAction.Dummy2)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.Dummy_Place;
                }
                else if (waferRobotTAction == WaferRobotTAction.VPW1 )
                {
                    CurrentRobotPosition = EFEM.RobotPosition.VPW1_Place;
                }
                else if (waferRobotTAction == WaferRobotTAction.VPW2)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.VPW2_Place;
                }
                else if (waferRobotTAction == WaferRobotTAction.PlatingCell1)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.PlatingCell1_Place;
                }
                else if (waferRobotTAction == WaferRobotTAction.PlatingCell2)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.PlatingCell2_Place;
                }
                else if (waferRobotTAction == WaferRobotTAction.PlatingCell3)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.PlatingCell3_Place;
                }
                else if (waferRobotTAction == WaferRobotTAction.PlatingCell4)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.PlatingCell4_Place;
                }
                else
                {
                    CurrentRobotPosition = EFEM.RobotPosition.Origin;
                }
            }
            else
            {
                if (waferRobotTAction == WaferRobotTAction.LP1)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.Left;
                }
                else if (waferRobotTAction == WaferRobotTAction.LP2)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.Middle;
                }
                else if (waferRobotTAction == WaferRobotTAction.Aligner1)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.Aligner;
                }
                else if (waferRobotTAction == WaferRobotTAction.SRD1 || waferRobotTAction == WaferRobotTAction.SRD2)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.SRD;
                }
                else if (waferRobotTAction == WaferRobotTAction.Dummy1 || waferRobotTAction == WaferRobotTAction.Dummy2)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.Dummy;
                }
                else if (waferRobotTAction == WaferRobotTAction.VPW1)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.VPW1;
                }
                else if (waferRobotTAction == WaferRobotTAction.VPW2)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.VPW2;
                }
                else if (waferRobotTAction == WaferRobotTAction.PlatingCell1)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.PlatingCell1;
                }
                else if (waferRobotTAction == WaferRobotTAction.PlatingCell2)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.PlatingCell2;
                }
                else if (waferRobotTAction == WaferRobotTAction.PlatingCell3)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.PlatingCell3;
                }
                else if (waferRobotTAction == WaferRobotTAction.PlatingCell4)
                {
                    CurrentRobotPosition = EFEM.RobotPosition.PlatingCell4;
                }
                else
                {
                    CurrentRobotPosition = EFEM.RobotPosition.Origin;
                }
            }
            
            await Task.Delay(600);
        }
        #endregion

    }
}