PunkHPX8/PunkHPX8_MainPages/ViewModels/OperationOverNewViewModel.cs

using MECF.Framework.Common.CommonData;
using MECF.Framework.Common.DataCenter;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.OperationCenter;
using OpenSEMI.ClientBase;
using Prism.Commands;
using Prism.Mvvm;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Threading;
using PunkHPX8_Core;
using PunkHPX8_MainPages.Unity;
using PunkHPX8_MainPages.Views;
using PunkHPX8_Themes.CustomControls;
using PunkHPX8_Themes.Unity;
using PunkHPX8_Themes.UserControls;
using Aitex.Core.RT.Log;
using MECF.Framework.Common.Reservior;
using MECF.Framework.Common.ProcessCell;
using MECF.Framework.Common.Utilities;
using Aitex.Sorter.Common;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.Common.Beckhoff.Station;
using MECF.Framework.Common.Layout;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.Device;
using System.Reflection;
using MECF.Framework.Common.Beckhoff.IOAxis;
using MECF.Framework.Common.TwinCat;
using LiveCharts.Wpf;
using MECF.Framework.Common.Beckhoff.AxisProvider;
using QiHe.CodeLib;
using MECF.Framework.Common.Jobs;
using ExcelLibrary.BinaryFileFormat;


namespace PunkHPX8_MainPages.ViewModels
{
    public class OperationOverNewViewModel : BindableBase
    {
        #region 常量
        private const string CURRENT_STATION = "CurrentStation";
        private const string MOTOR_POSITION = "MotorPosition";
        private const string MOTION_DATA = "MotionData";
        private const double LOADER_ROTATION_DIFFER = 90;
        #endregion

        #region 私有字段
        private bool _isLp1Unable;
        private bool _isLp2Unable;

        private ModuleInfo _LP1ModuleInfo;
        private ModuleInfo _LP2ModuleInfo;
        private ModuleInfo _EFEMModuleInfo;
        private ModuleInfo _alignerModuleInfo;
        private ModuleInfo _srd1ModuleInfo;
        private ModuleInfo _srd2ModuleInfo;
        private ModuleInfo _dummy1ModuleInfo;
        private ModuleInfo _dummy2ModuleInfo;
        private WaferRobotTAction m_Robot1TAction;
        private WaferRobotXAction m_Robot1XAction;
        private WaferRobotTAction m_Robot2TAction;
        private WaferRobotXAction m_Robot2XAction;
        private WaferRobotFAction m_Robot2FAction;
 
        private RobotMoveInfo m_robotMoveInfo;

        private WaferInfo m_srd1Wafer;
        private WaferInfo m_srd2Wafer;
        private List<string> m_RtDataKeys = new List<string>();
        private Dictionary<string, object> m_RtDataValues;
        private bool m_EFEMIsInstalled;
        private WaferInfo m_EFEMBladeAWafer;
        private WaferInfo m_EFEMBladeBWafer;
        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 int m_LP1WaferCount;
        private int m_LP2WaferCount;
        private int m_dummy1WaferCount;
        private int m_dummy2WaferCount;

        private int m_CycledWafer;
        private int m_CycleCountDisplay;

        private EFEM.RobotPosition m_CurrentRobotPosition;

        private WaferInfo m_BladeAWafer;
        private WaferInfo m_BladeBWafer;

        private string m_RouteState;
        /// <summary>
        /// 定时器
        /// </summary>
        private DispatcherTimer _timer;
        /// <summary>
        /// 是否存在Job
        /// </summary>
        private bool _isLp1HasNoJob;
        private bool _isLp2HasNoJob;
        #endregion

        #region  属性
        public bool IsLP1Unable
        {
            get { return _isLp1Unable; }
            set { SetProperty(ref _isLp1Unable, value); }
        }
        public bool IsLP2Unable
        {
            get { return _isLp2Unable; }
            set { SetProperty(ref _isLp2Unable, value); }
        }
        public ModuleInfo LP1ModuleInfo
        {
            get { return _LP1ModuleInfo; }
            set { SetProperty(ref _LP1ModuleInfo, value); }
        }

        public ModuleInfo EFEMModuleInfo
        {
            get { return _EFEMModuleInfo; }
            set { SetProperty(ref _EFEMModuleInfo, value); }
        }
        public ModuleInfo AlignerModuleInfo
        {
            get { return _alignerModuleInfo; }
            set { SetProperty(ref _alignerModuleInfo, value); }
        }
        public ModuleInfo LP2ModuleInfo
        {
            get { return _LP2ModuleInfo; }
            set { SetProperty(ref _LP2ModuleInfo, value); }
        }
        public ModuleInfo SRD1ModuleInfo
        {
            get { return _srd1ModuleInfo; }
            set { SetProperty(ref _srd1ModuleInfo, value); }
        }

        public ModuleInfo SRD2ModuleInfo
        {
            get { return _srd2ModuleInfo; }
            set { SetProperty(ref _srd2ModuleInfo, value); }
        }
 
        public ModuleInfo Dummy1ModuleInfo
        {
            get { return _dummy1ModuleInfo; }
            set { SetProperty(ref _dummy1ModuleInfo, value); }
        }
        public ModuleInfo Dummy2ModuleInfo
        {
            get { return _dummy2ModuleInfo; }
            set { SetProperty(ref _dummy2ModuleInfo, 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); }
        }

        public RobotMoveInfo RobotMoveInfo
        {
            get { return m_robotMoveInfo; }
            set
            {
                RobotMoveInfoChanged(m_robotMoveInfo, value);
                //m_robotMoveInfo = value;
                SetProperty(ref m_robotMoveInfo, value);
            }
        }
        public Dictionary<string, object> RtDataValues
        {
            get { return m_RtDataValues; }
            set { SetProperty(ref m_RtDataValues, value); }
        }
        public bool EFEMIsInstalled
        {
            get { return m_EFEMIsInstalled; }
            set { SetProperty(ref m_EFEMIsInstalled, value); }
        }
        public WaferInfo EFEMBladeAWafer
        {
            get { return m_EFEMBladeAWafer; }
            set { SetProperty(ref m_EFEMBladeAWafer, value); }
        }
        public WaferInfo EFEMBladeBWafer
        {
            get { return m_EFEMBladeBWafer; }
            set { SetProperty(ref m_EFEMBladeBWafer, 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 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); }
        }
        public int LP1WaferCount
        {
            get { return m_LP1WaferCount; }
            set { SetProperty(ref m_LP1WaferCount, value); }
        }
        public int LP2WaferCount
        {
            get { return m_LP2WaferCount; }
            set { SetProperty(ref m_LP2WaferCount, 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 int CycledWafer
        {
            get { return m_CycledWafer; }
            set { SetProperty(ref m_CycledWafer, value); }
        }
        public int CycleCountDisplay
        {
            get { return m_CycleCountDisplay; }
            set { SetProperty(ref m_CycleCountDisplay, value); }
        }
        public RobotMoveInfo m_EfemRobotMoveInfo;
        public RobotMoveInfo EfemRobotMoveInfo
        {
            get { return m_EfemRobotMoveInfo; }
            set
            {
                EFEMRobotMoveInfoChanged(m_EfemRobotMoveInfo, value);
                //m_EfemRobotMoveInfo = value;
                SetProperty(ref m_EfemRobotMoveInfo, value);

            }
        }
        public EFEM.RobotPosition CurrentRobotPosition
        {
            get { return m_CurrentRobotPosition; }
            set { SetProperty(ref m_CurrentRobotPosition, 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 string RouteState
        {
            get { return m_RouteState; }
            set { SetProperty(ref m_RouteState, value); }
        }
        public bool IsLP1HasNoJob
        {
            get { return _isLp1HasNoJob; }
            set { SetProperty(ref _isLp1HasNoJob, value); }
        }
        public bool IsLP2HasNoJob
        {
            get { return _isLp2HasNoJob; }
            set { SetProperty(ref _isLp2HasNoJob, value); }
        }
        #endregion

        #region 命令


        private DelegateCommand<object> _MapCommand;
        public DelegateCommand<object> MapCommand =>
            _MapCommand ?? (_MapCommand = new DelegateCommand<object>(OnMap));

        private DelegateCommand<object> _StartCommand;
        public DelegateCommand<object> StartCommand =>
            _StartCommand ?? (_StartCommand = new DelegateCommand<object>(OnStart));

        private DelegateCommand<object> _StopCommand;
        public DelegateCommand<object> StopCommand =>
            _StopCommand ?? (_StopCommand = new DelegateCommand<object>(OnStop));

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


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


        private DelegateCommand _ResumeAllJobCommand;
        public DelegateCommand ResumeAllJobCommand =>
            _ResumeAllJobCommand ?? (_ResumeAllJobCommand = new DelegateCommand(OnResumeAllJob));

        private DelegateCommand _AbortAllCommand;
        public DelegateCommand AbortAllCommand =>
            _AbortAllCommand ?? (_AbortAllCommand = new DelegateCommand(OnAbortAll));

        private DelegateCommand _ReturnAllWaferCommand;
        public DelegateCommand ReturnAllWaferCommand =>
            _ReturnAllWaferCommand ?? (_ReturnAllWaferCommand = new DelegateCommand(OnReturnAllWafer));

        private DelegateCommand<object> _SetSequenceCommand;
        public DelegateCommand<object> SetSequenceCommand =>
            _SetSequenceCommand ?? (_SetSequenceCommand = new DelegateCommand<object>(OnSetSequence));

        private DelegateCommand _EnableAutoCommand;
        public DelegateCommand EnableAutoCommand =>
            _EnableAutoCommand ?? (_EnableAutoCommand = new DelegateCommand(OnEnableAuto));

        private DelegateCommand _EnableManualCommand;
        public DelegateCommand EnableManualCommand =>
            _EnableManualCommand ?? (_EnableManualCommand = new DelegateCommand(OnEnableManual));

        private DelegateCommand<object> _GotoSrdViewCommond;
        public DelegateCommand<object> GotoSrdViewCommond =>
            _GotoSrdViewCommond ?? (_GotoSrdViewCommond = new DelegateCommand<object>(GotoSrdViewAction));



        public bool SwitchFlag;
        

        #endregion

        #region 构造函数
        public OperationOverNewViewModel()
        {
            addDataKeys();
        }

        #endregion

        #region 命令方法
        /// <summary>
        /// 加载数据
        /// </summary>
        public void LoadData(string systemName)
        {
            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");
                EFEMIsInstalled = allModules.Contains("EFEM");
            }
            if (_timer == null)
            {
                _timer = new DispatcherTimer();
                _timer.Interval = TimeSpan.FromMilliseconds(100);
                _timer.Tick += Timer_Tick;
            }
            _timer.Start();
            RtDataValues = QueryDataClient.Instance.Service.PollData(m_RtDataKeys);
        }

        
        /// <summary>
        /// 隐藏
        /// </summary>
        public void Hide()
        {
            if (_timer != null)
            {
                _timer.Stop();
            }
        }
        
        private void OnMap(object obj)
        {
            InvokeClient.Instance.Service.DoOperation($"{obj.ToString()}.Map");
        }
        private void OnStart(object obj)
        {
            var info = obj as WaferAssociationInfo;
            InvokeClient.Instance.Service.DoOperation("System.StartJob", info.LotId);
        }
        private void OnStop(object obj)
        {
            var info = obj as WaferAssociationInfo;
            InvokeClient.Instance.Service.DoOperation("System.PauseJob", info.JobID);
        }
        private void OnAbort(object obj)
        {
            var info = obj as WaferAssociationInfo;

            InvokeClient.Instance.Service.DoOperation("System.ResumeJob", info.JobID);
        }
        private void OnHomeAll()
        {
            InvokeClient.Instance.Service.DoOperation("System.HomeAll");
        }

        private void OnResumeAllJob()
        {
            if (CommonFunction.GetValue<int>(RtDataValues, "EquipmentStatus") == 4)
            {
                InvokeClient.Instance.Service.DoOperation("System.ResumeAllJob");
            }
            else
            {
                InvokeClient.Instance.Service.DoOperation("System.PauseAllJob");
            }
        }
        private void OnAbortAll()
        {
            InvokeClient.Instance.Service.DoOperation("System.Abort");
        }
        private void OnReturnAllWafer()
        {
            //Dialog
            WaferDialogView dialog = new WaferDialogView()
            {
                Owner = Application.Current.MainWindow,
            };
            dialog.Height = 300;
            dialog.Width = 400;
            double angel = 0;
            double coolingtime = 0;
            string message = "Please Confirm Return Wafer";
            WaferDialogViewModel vm = new WaferDialogViewModel();
            vm.ConfirmText = message;
            dialog.DataContext = vm;
            if (dialog.ShowDialog() == true)
            {
                if ((bool)dialog.AlignFlag == true && !string.IsNullOrEmpty(dialog.Angle))
                {
                    angel = Convert.ToDouble(dialog.Angle);
                }

                if ((bool)dialog.CoolingFlag == true && !string.IsNullOrEmpty(dialog.CoolingTime))
                {
                    coolingtime = Convert.ToDouble(dialog.CoolingTime);
                }

                InvokeClient.Instance.Service.DoOperation("System.ReturnAllWafer", dialog.CoolingFlag, coolingtime, dialog.AlignFlag, angel);
            }

        }

        private void OnSetSequence(object obj)
        {
            var info = obj as WaferInfo;
            bool flag = info.SequenceName != "" ? false : true;
        }
        private void OnEnableAuto()
        {
            InvokeClient.Instance.Service.DoOperation("System.SetAutoMode");
        }
        private void OnEnableManual()
        {
            InvokeClient.Instance.Service.DoOperation("System.SetManualMode");
        }

        private void GotoSrdViewAction(object obj)
        {
            PunkHPX8_Core.GlobalEvents.OnSwitchFixedTabItem("HardWare", "SRD", $"{obj.ToString()}");
        }
        
        #endregion

        #region 私有方法
        /// <summary>
        /// 定时器
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void Timer_Tick(object sender, EventArgs e)
        {

            LP1ModuleInfo = ModuleManager.ModuleInfos["LP1"];
            LP2ModuleInfo = ModuleManager.ModuleInfos["LP2"];
            EFEMModuleInfo = ModuleManager.ModuleInfos["EfemRobot"];
            SRD1ModuleInfo = ModuleManager.ModuleInfos["SRD1"];
            SRD2ModuleInfo = ModuleManager.ModuleInfos["SRD2"];
            Dummy1ModuleInfo = ModuleManager.ModuleInfos["Dummy1"];
            Dummy2ModuleInfo = ModuleManager.ModuleInfos["Dummy2"];
            AlignerModuleInfo = ModuleManager.ModuleInfos["Aligner1"];

            if (ModuleManager.ModuleInfos["EfemRobot"].WaferManager.Wafers.Count != 0)
            {
                BladeAWafer = ModuleManager.ModuleInfos["EfemRobot"].WaferManager.Wafers[0];
                BladeBWafer = ModuleManager.ModuleInfos["EfemRobot"].WaferManager.Wafers[1];
            }

            if (EFEMIsInstalled == true)
            {
                if (ModuleManager.ModuleInfos["EfemRobot"].WaferManager.Wafers.Count != 0)
                {
                    EFEMBladeAWafer = ModuleManager.ModuleInfos["EfemRobot"].WaferManager.Wafers[0];
                    EFEMBladeBWafer = 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];
            }
            if (SRD1ModuleInfo != null&& SRD1ModuleInfo.WaferManager.Wafers.Count!=0)
            {
                SRD1Wafer = SRD1ModuleInfo.WaferManager.Wafers[0];
            }
            if (SRD2ModuleInfo != null&& SRD2ModuleInfo.WaferManager.Wafers.Count!=0)
            {
                SRD2Wafer = SRD2ModuleInfo.WaferManager.Wafers[0];
            }
            EfemRobotMoveInfo = (RobotMoveInfo)QueryDataClient.Instance.Service.GetData("EFEM.RobotMoveAction");
            LP1WaferCount = LP1ModuleInfo.WaferManager.Wafers.Where(x => x.WaferStatus != 0).Count();
            LP2WaferCount = LP2ModuleInfo.WaferManager.Wafers.Where(x => x.WaferStatus != 0).Count();
            //Dummy1WaferCount = 15;
            Dummy1WaferCount = Dummy1ModuleInfo.WaferManager.Wafers.Where(x => x.WaferStatus != 0).Count();
            Dummy2WaferCount = Dummy2ModuleInfo.WaferManager.Wafers.Where(x => x.WaferStatus != 0).Count();

            RtDataValues = QueryDataClient.Instance.Service.PollData(m_RtDataKeys);

            IsLP1Unable = (bool)QueryDataClient.Instance.Service.GetConfig("EFEM.IsLoadPort1Unable");
            IsLP2Unable = (bool)QueryDataClient.Instance.Service.GetConfig("EFEM.IsLoadPort2Unable");

            if (RtDataValues != null)
            {
                if (CommonFunction.GetValue<int>(RtDataValues, "EquipmentStatus") == 4)
                {
                    RouteState = "Resume";
                }
                else
                {
                    RouteState = "Pause";
                }
                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;
            }
        }

        int count = 0;
        
        private async void RobotMoveInfoChanged(RobotMoveInfo oldValue, RobotMoveInfo newValue)
        {
            string RobotTarget;
            if (oldValue == null || newValue == null)
            {
                return;
            }

            #region Rotating
            if ((oldValue.Action == RobotAction.None || oldValue.ArmTarget != newValue.ArmTarget) && (newValue.Action == RobotAction.Rotating))
            {
                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")
                {
                    Robot1TAction = (WaferRobotTAction)Enum.Parse(typeof(WaferRobotTAction), module, true);
                }
                else if (arm == "ArmB")
                {
                    Robot2TAction = (WaferRobotTAction)Enum.Parse(typeof(WaferRobotTAction), module, true);
                }
            }
            #endregion

            #region pick 和 place LL
            else 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 waferRobotTAction = (WaferRobotTAction)Enum.Parse(typeof(WaferRobotTAction), module, true);
                    if (waferRobotTAction != Robot1TAction)
                    {
                        Robot1TAction = waferRobotTAction;
                    }
                    else
                    {
                        //await Task.Delay(100);
                    }
                    await Task.Delay(600);

                    //Robot1TAction = (WaferRobotTAction)Enum.Parse(typeof(WaferRobotTAction), module, true);
                    //await Task.Delay(600);
                    Robot1XAction = WaferRobotXAction.Extend;
                    while ((newValue.Action == RobotAction.Placing && ModuleManager.ModuleInfos["TMRobot"].WaferManager.Wafers[0].WaferStatus != 0) || (newValue.Action == RobotAction.Picking && ModuleManager.ModuleInfos["TMRobot"].WaferManager.Wafers[0].WaferStatus == 0))
                    {
                        await Task.Delay(100);
                    }
                    Robot1XAction = WaferRobotXAction.Retract;
                }
                else if (arm == "ArmB")
                {
                    var waferRobotTAction = (WaferRobotTAction)Enum.Parse(typeof(WaferRobotTAction), module, true);
                    if (waferRobotTAction != Robot2TAction)
                    {
                        Robot2TAction = waferRobotTAction;
                    }
                    else
                    {
                        //await Task.Delay(100);
                    }
                    await Task.Delay(600);

                    //Robot2TAction = (WaferRobotTAction)Enum.Parse(typeof(WaferRobotTAction), module, true);
                    //await Task.Delay(600);
                    Robot2XAction = WaferRobotXAction.Extend;
                    while ((newValue.Action == RobotAction.Placing && ModuleManager.ModuleInfos["TMRobot"].WaferManager.Wafers[1].WaferStatus != 0) || (newValue.Action == RobotAction.Picking && ModuleManager.ModuleInfos["TMRobot"].WaferManager.Wafers[1].WaferStatus == 0))
                    {
                        await Task.Delay(100);
                    }
                    Robot2XAction = WaferRobotXAction.Retract;
                }
            }

            #endregion

            #region pick 和 place pm
            else if ((oldValue.Action == RobotAction.None || oldValue.ArmTarget != newValue.ArmTarget) && newValue.Action == RobotAction.Extending)
            {
                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 waferRobotTAction = (WaferRobotTAction)Enum.Parse(typeof(WaferRobotTAction), module, true);
                    if (waferRobotTAction != Robot1TAction)
                    {
                        Robot1TAction = waferRobotTAction;
                    }
                    else
                    {
                        // await Task.Delay(100);
                    }
                    await Task.Delay(600);

                    Robot1XAction = WaferRobotXAction.Extend;
                }
                else if (arm == "ArmB")
                {
                    var waferRobotTAction = (WaferRobotTAction)Enum.Parse(typeof(WaferRobotTAction), module, true);
                    if (waferRobotTAction != Robot2TAction)
                    {
                        Robot2TAction = waferRobotTAction;
                    }
                    else
                    {
                        // await Task.Delay(100);
                    }
                    await Task.Delay(600);

                    Robot2XAction = WaferRobotXAction.Extend;
                }
            }
            else if ((oldValue.Action == RobotAction.None || oldValue.ArmTarget != newValue.ArmTarget) && newValue.Action == RobotAction.Retracting)
            {
                var TMRobotMoveActionBladeTarget = newValue.BladeTarget;
                if (TMRobotMoveActionBladeTarget != null)
                {
                    RobotTarget = TMRobotMoveActionBladeTarget.ToString();
                }
                else
                {
                    return;
                }
                var values = RobotTarget.Split('.');
                var arm = values[0];
                if (arm == "ArmA")
                {
                    Robot1XAction = WaferRobotXAction.Retract;
                }
                else if (arm == "ArmB")
                {
                    Robot2XAction = WaferRobotXAction.Retract;
                }
            }
            #endregion

            #region Home
            else if (oldValue.Action == RobotAction.None && newValue.Action == RobotAction.Homing)
            {
                if (Robot1XAction == WaferRobotXAction.Extend)
                {
                    Robot1XAction = WaferRobotXAction.Retract;
                }
                if (Robot2XAction == WaferRobotXAction.Extend)
                {
                    Robot2XAction = WaferRobotXAction.Retract;
                }
                await Task.Delay(2000);
                if (Robot1TAction != WaferRobotTAction.T_Origin)
                {
                    Robot1TAction = WaferRobotTAction.T_Origin;
                }
                if (Robot2TAction != WaferRobotTAction.T_Origin)
                {
                    Robot2TAction = WaferRobotTAction.T_Origin;
                }
            }

            #endregion

        }
        private async void EFEMRobotMoveInfoChanged(RobotMoveInfo oldValue, RobotMoveInfo newValue)
        {
            string RobotTarget;
            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 void addDataKeys()
        {
            m_RtDataKeys.Add("LP1.IsLoaded");
            m_RtDataKeys.Add("LP2.IsLoaded");
            m_RtDataKeys.Add("LP1.CassettePlaced");
            m_RtDataKeys.Add("LP2.CassettePlaced");
            m_RtDataKeys.Add("LP1.CurrentControlJob");
            m_RtDataKeys.Add("LP2.CurrentControlJob");
            m_RtDataKeys.Add("LP1.WaferSize");
            m_RtDataKeys.Add("LP2.WaferSize");
            m_RtDataKeys.Add("Dummy1.CassettePlaced"); 
            m_RtDataKeys.Add("Dummy2.CassettePlaced");
            m_RtDataKeys.Add("Dummy1.WaferSize");
            m_RtDataKeys.Add("Dummy2.WaferSize");


            m_RtDataKeys.Add("System.IsAutoMode");
            m_RtDataKeys.Add("System.IsBusy");      
            m_RtDataKeys.Add("Scheduler.CycledCount");
            m_RtDataKeys.Add("Scheduler.CycledWafer");
            m_RtDataKeys.Add("Scheduler.CycleSetPoint");
            m_RtDataKeys.Add("Scheduler.Throughput");
            m_RtDataKeys.Add("EquipmentStatus");
            m_RtDataKeys.Add("Scheduler.PjNameList");
            m_RtDataKeys.Add("Scheduler.CjNameList");
        }
       
        private bool HasWaferOnSlot(List<WaferInfo> wafers, int index)
        {
            if (wafers[index].WaferStatus == 0)
                return false;

            return true;
        }
        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);
        }
        /// <summary>
        /// 计算最大值最小值
        /// </summary>
        /// <param name="Puf1RotationAxis"></param>
        /// <returns></returns>
        private (double right, double left) CalculatePufMaxMin(BeckhoffStationAxis pufAxis)
        {
            if (pufAxis == null || pufAxis.Stations.Count == 0) return (-1,-1);
            double max = double.Parse(pufAxis.Stations[0].Position);
            double min = double.Parse(pufAxis.Stations[0].Position);
            double home = 0;
            double pickup = 0;
            foreach (Station item in pufAxis.Stations)
            {
                if (item.Name.ToLower().Contains("home")) home = double.Parse(item.Position);
                if (item.Name.ToLower().Contains("pickup")) pickup = double.Parse(item.Position);
                double position = double.Parse(item.Position);
                if (position > max)
                {
                    max = position;
                }
                if (position < min)
                {
                    min = position;
                }
            }
            
            return pickup < home ? (min, max):(max, min);
        }
        /// <summary>
        /// 计算PufFlip差值
        /// </summary>
        /// <param name="pufAxis"></param>
        /// <returns></returns>
        private double CalculatePufFlipDiff(BeckhoffStationAxis pufAxis)
        {
            double sideAangle = 0;
            double sideBangle = 0; ;
            return sideAangle > sideBangle ? 180 : 0;
        }
        /// <summary>
        /// 判定是否在station位置
        /// </summary>
        private bool JudgeAtStation(double targetPosition, double currentPosition, double tolerance)
        {
            
            if (Math.Abs(currentPosition - targetPosition) <= tolerance)
            {
                return true;
            }
            else
            {
                return false;
            }
        }
        
        #endregion
    }
}