Virgo_B_V82XS/VirgoUI/Models/Platform/EFEM/EFEMViewModel.cs

using System;
using System.Collections.Generic;
using Aitex.Core.Common.DeviceData;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using Bolt.Toolkit.Wpf.Data;
using Bolt.Toolkit.Wpf.Data.Enum;
using Caliburn.Micro.Core;
using MECF.Framework.Common.DataCenter;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.OperationCenter;
using VirgoCommon;
using VirgoUI.Client.Models.Sys;

namespace VirgoUI.Client.Models.Platform.EFEM
{
    public class EFEMViewModel : UiViewModelBase
    {
        private int MenuPermission;

        #region Properties

        [Subscription("LP1.Status")]
        public string LP1Status { get; set; }
        public string LP1StatusBackground
        {
            get { return GetUnitStatusBackground(LP1Status); }
        }

        [Subscription("LP1.IsMapped")]
        public bool IsLP1Mapped { get; set; }

        [Subscription("LP2.Status")]
        public string LP2Status { get; set; }
        public string LP2StatusBackground
        {
            get { return GetUnitStatusBackground(LP2Status); }
        }

        [Subscription("LP2.IsMapped")]
        public bool IsLP2Mapped { get; set; }

        [Subscription("EFEM.FsmState")]
        public string EfemStatus { get; set; }
        public string EfemStatusBackground
        {
            get { return GetUnitStatusBackground(EfemStatus); }
        }

        [Subscription("PMA.IsAutoMode")]
        public bool PMAIsAutoMode { get; set; }

        [Subscription("PMB.IsAutoMode")]
        public bool PMBIsAutoMode { get; set; }

        [Subscription("PMA.IsOnline")]
        public bool PMAIsOnline { get; set; }

        [Subscription("PMB.IsOnline")]
        public bool PMBIsOnline { get; set; }

        public string PMAState
        {
            get
            {
                return "PMA/" + (PMAIsAutoMode ? "Auto/" : "Manual/") + (PMAIsOnline ? "Online" : "Offline");
            }
        }

        public string PMBState
        {
            get
            {
                return "PMB/" + (PMBIsAutoMode ? "Auto/" : "Manual/") + (PMBIsOnline ? "Online" : "Offline");
            }
        }

        private string _SelectedModule;
        public string SelectedModule
        {
            get
            {
                return _SelectedModule;
            }
            set
            {
                _SelectedModule = value;
                Slots = GetSlotsByModule(_SelectedModule);
                SelectedSlot = 1;
                NotifyOfPropertyChange("SelectedModule");
            }
        }

        private string _PickSelectedModule;
        public string PickSelectedModule
        {
            get
            {
                return _PickSelectedModule;
            }
            set
            {
                _PickSelectedModule = value;
                PickSlots = GetSlotsByModule(_PickSelectedModule);
                PickSelectedSlot = 1;
                NotifyOfPropertyChange("PickSelectedModule");
            }
        }

        private string _PlaceSelectedModule;
        public string PlaceSelectedModule
        {
            get
            {
                return _PlaceSelectedModule;
            }
            set
            {
                _PlaceSelectedModule = value;
                PlaceSlots = GetSlotsByModule(_PlaceSelectedModule);
                PlaceSelectedSlot = 1;
                NotifyOfPropertyChange("PlaceSelectedModule");
            }
        }

        private string _ExtendSelectedModule;
        public string ExtendSelectedModule
        {
            get
            {
                return _ExtendSelectedModule;
            }
            set
            {
                _ExtendSelectedModule = value;
                ExtendSlots = GetExtendPos();
                NotifyOfPropertyChange("ExtendSelectedModule");
            }
        }

        private List<string> GetExtendPos()
        {
            //return new List<string> { "G1", "GB", "G4", "P1", "PB", "P4" };
            return new List<string> { "GoIntoGet", "GoBackGet", "GoIntoPut", "GoBackPut" };
        }

        private static Dictionary<string, string> ExtendParam = new Dictionary<string, string>()
        {
            {"GoIntoGet","GB" },
            {"GoBackGet","G4" },
            {"GoIntoPut","PB" },
            {"GoBackPut","P4" }
        };

        private string _RetractSelectedModule;
        public string RetractSelectedModule
        {
            get
            {
                return _RetractSelectedModule;
            }
            set
            {
                _RetractSelectedModule = value;
                RetractSlots = GetExtendPos();
                NotifyOfPropertyChange("RetractSelectedModule");
            }
        }

        private string _MapSelectedModule;
        public string MapSelectedModule
        {
            get
            {
                return _MapSelectedModule;
            }
            set
            {
                _MapSelectedModule = value;
                //MapSlots = GetSlotsByModule(_MapSelectedModule);
                MapSelectedSlot = 1;
                NotifyOfPropertyChange("MapSelectedModule");
            }
        }

        [Subscription("EfemRobot.RobotMoveAction")]
        public string EfemRobotMoveAction
        {
            get;
            set;
        }

        //[Subscription("EFEM.CassetteDoor")]
        //public AITSensorData CassetteDoorStatus
        //{
        //    get;
        //    set;
        //}

        [Subscription("EFEM.CassetteDoor")]
        public LidState CassetteDoorStatus
        {
            get;
            set;
        }

        public bool IsLP1PresentFeedback
        {
            get { return LP1CassetteState == LoadportCassetteState.Normal; }
        }
        public bool IsLP2PresentFeedback
        {
            get { return LP2CassetteState == LoadportCassetteState.Normal; }
        }

        [Subscription("LP1.CassetteState")]
        public LoadportCassetteState LP1CassetteState { get; set; }

        [Subscription("LP2.CassetteState")]
        public LoadportCassetteState LP2CassetteState { get; set; }

        public bool Foup1Present
        {
            get { return LP1CassetteState == LoadportCassetteState.Normal; }
        }
        public bool Foup2Present
        {
            get { return LP2CassetteState == LoadportCassetteState.Normal; }
        }

        public RobotMoveInfo EfemRobotMoveInfo
        {
            get
            {
                RobotMoveInfo _moveInfo = new RobotMoveInfo() { BladeTarget = "System" };

                if (!string.IsNullOrEmpty(EfemRobotMoveAction))
                {
                    var action = EfemRobotMoveAction.Split('.');
                    _moveInfo.BladeTarget = action[0];
                    _moveInfo.Action = (RobotAction)Enum.Parse(typeof(RobotAction), action[1]);
                }

                return _moveInfo;
            }
        }
        private List<string> _blades = new List<string>() { "Blade1", "Blade2" };
        public List<string> Blades
        {
            get { return _blades; }
            set { _blades = value; NotifyOfPropertyChange("Blades"); }
        }

        private int _SelectedSlot;
        public int SelectedSlot
        {
            get { return _SelectedSlot; }
            set { _SelectedSlot = value; NotifyOfPropertyChange("SelectedSlot"); }
        }

        private int _PickSelectedSlot;
        public int PickSelectedSlot
        {
            get { return _PickSelectedSlot; }
            set { _PickSelectedSlot = value; NotifyOfPropertyChange("PickSelectedSlot"); }
        }
        private string _pickSelectedBlade;
        public string PickSelectedBlade
        {
            get { return _pickSelectedBlade; }
            set { _pickSelectedBlade = value; NotifyOfPropertyChange("PickSelectedBlade"); }
        }
        private int _PlaceSelectedSlot;
        public int PlaceSelectedSlot
        {
            get { return _PlaceSelectedSlot; }
            set { _PlaceSelectedSlot = value; NotifyOfPropertyChange("PlaceSelectedSlot"); }
        }

        private string _placeSelectedBlade;
        public string PlaceSelectedBlade
        {
            get { return _placeSelectedBlade; }
            set { _placeSelectedBlade = value; NotifyOfPropertyChange("PlaceSelectedBlade"); }
        }
        private string _ExtendSelectedSlot;
        public string ExtendSelectedSlot
        {
            get { return _ExtendSelectedSlot; }
            set { _ExtendSelectedSlot = value; NotifyOfPropertyChange("ExtendSelectedSlot"); }
        }

        private string _extendSelectedBlade;
        public string ExtendSelectedBlade
        {
            get { return _extendSelectedBlade; }
            set { _extendSelectedBlade = value; NotifyOfPropertyChange("ExtendSelectedBlade"); }
        }
        private string _gripSelectedBlade;
        public string GripSelectedBlade
        {
            get { return _gripSelectedBlade; }
            set { _gripSelectedBlade = value; NotifyOfPropertyChange("GripSelectedBlade"); }
        }
        private string _ungripSelectedBlade;
        public string UngripSelectedBlade
        {
            get { return _ungripSelectedBlade; }
            set { _ungripSelectedBlade = value; NotifyOfPropertyChange("UngripSelectedBlade"); }
        }

        private int _RetractSelectedSlot;
        public int RetractSelectedSlot
        {
            get { return _RetractSelectedSlot; }
            set { _RetractSelectedSlot = value; NotifyOfPropertyChange("RetractSelectedSlot"); }
        }

        private int _MapSelectedSlot;
        public int MapSelectedSlot
        {
            get { return _MapSelectedSlot; }
            set { _MapSelectedSlot = value; NotifyOfPropertyChange("MapSelectedSlot"); }
        }
        private List<string> _pickModules;
        public List<string> PickPlaceModules
        {
            get { return _pickModules; }
            set { _pickModules = value; NotifyOfPropertyChange("PickPlaceModules"); }
        }

        private List<string> _mapModules;
        public List<string> MapModules
        {
            get { return _mapModules; }
            set { _mapModules = value; NotifyOfPropertyChange("MapModules"); }
        }

        private List<string> _extendModules;
        public List<string> ExtendRetractModules
        {
            get { return _extendModules; }
            set { _extendModules = value; NotifyOfPropertyChange("ExtendRetractModules"); }
        }

        private List<int> _slots;
        public List<int> Slots
        {
            get { return _slots; }
            set { _slots = value; NotifyOfPropertyChange("Slots"); }
        }

        private List<int> _Pickslots;
        public List<int> PickSlots
        {
            get { return _Pickslots; }
            set { _Pickslots = value; NotifyOfPropertyChange("PickSlots"); }
        }

        private List<int> _Placeslots;
        public List<int> PlaceSlots
        {
            get { return _Placeslots; }
            set { _Placeslots = value; NotifyOfPropertyChange("PlaceSlots"); }
        }

        private List<string> _Extendslots;
        public List<string> ExtendSlots
        {
            get { return _Extendslots; }
            set { _Extendslots = value; NotifyOfPropertyChange("ExtendSlots"); }
        }

        private List<string> _Retractslots;
        public List<string> RetractSlots
        {
            get { return _Retractslots; }
            set { _Retractslots = value; NotifyOfPropertyChange("RetractSlots"); }
        }

        [Subscription("LP1.WaferSize")]
        public string LP1WaferSize { get; set; }
        public string WaferSizeLP1
        {
            get { return LP1CassetteState == LoadportCassetteState.Normal ? GetWaferSize(LP1WaferSize) : "--"; }
        }

        [Subscription("LP2.WaferSize")]
        public string LP2WaferSize { get; set; }
        public string WaferSizeLP2
        {
            get { return LP2CassetteState == LoadportCassetteState.Normal ? GetWaferSize(LP2WaferSize) : "--"; }
        }

        [Subscription("Aligner1.WaferSize")]
        public string Aligner1WaferSize { get; set; }
        public string WaferSizeAligner1
        {
            get { return GetWaferSize(Aligner1WaferSize); }
        }

        [Subscription("Aligner2.WaferSize")]
        public string Aligner2WaferSize { get; set; }
        public string WaferSizeAligner2
        {
            get { return GetWaferSize(Aligner2WaferSize); }
        }


        [Subscription("Cooling1.WaferSize")]
        public string Cooling1WaferSize { get; set; }
        public string WaferSizeCooling1
        {
            get { return GetWaferSize(Cooling1WaferSize); }
        }

        [Subscription("Cooling2.WaferSize")]
        public string Cooling2WaferSize { get; set; }
        public string WaferSizeCooling2
        {
            get { return GetWaferSize(Cooling2WaferSize); }
        }

        [Subscription("EfemRobot.WaferSize")]
        public string EfemRobotWaferSize { get; set; }
        public string WaferSizeEfemRobot
        {
            get { return GetWaferSize(EfemRobotWaferSize); }
        }

        [Subscription("PMA.WaferSize")]
        public string PMAWaferSize { get; set; }
        public string WaferSizePMA
        {
            get { return GetWaferSize(PMAWaferSize); }
        }

        [Subscription("PMB.WaferSize")]
        public string PMBWaferSize { get; set; }
        public string WaferSizePMB
        {
            get { return GetWaferSize(PMBWaferSize); }
        }

        [Subscription("EFEM.SmallWafer")]
        public int SmallWafer { get; set; }

        [Subscription("EFEM.MidWafer")]
        public int MidWafer { get; set; }

        [Subscription("EFEM.BigWafer")]
        public int BigWafer { get; set; }

        #region

        public bool WaferSizePMA_3
        {
            set { }
            get { return PMAWaferSize == "WS3"; }
        }

        public bool WaferSizePMA_4
        {
            set { }
            get { return PMAWaferSize == "WS4"; }
        }

        public bool WaferSizePMA_6
        {
            set { }
            get { return PMAWaferSize == "WS6"; }
        }

        public bool WaferSizePMB_3
        {
            set { }
            get { return PMBWaferSize == "WS3"; }
        }

        public bool WaferSizePMB_4
        {
            set { }
            get { return PMBWaferSize == "WS4"; }
        }

        public bool WaferSizePMB_6
        {
            set { }
            get { return PMBWaferSize == "WS6"; }
        }

        public bool WaferSizeCooling2_3
        {
            set { }
            get { return Cooling2WaferSize == "WS3"; }
        }

        public bool WaferSizeCooling2_4
        {
            set { }
            get { return Cooling2WaferSize == "WS4"; }
        }

        public bool WaferSizeCooling2_6
        {
            set { }
            get { return Cooling2WaferSize == "WS6"; }
        }

        public bool WaferSizeCooling1_3
        {
            set { }
            get { return Cooling1WaferSize == "WS3"; }
        }

        public bool WaferSizeCooling1_4
        {
            set { }
            get { return Cooling1WaferSize == "WS4"; }
        }

        public bool WaferSizeCooling1_6
        {
            set { }
            get { return Cooling1WaferSize == "WS6"; }
        }

        public bool WaferSizeAligner2_3
        {
            set { }
            get { return Aligner2WaferSize == "WS3"; }
        }

        public bool WaferSizeAligner2_4
        {
            set { }
            get { return Aligner2WaferSize == "WS4"; }
        }

        public bool WaferSizeAligner2_6
        {
            set { }
            get { return Aligner2WaferSize == "WS6"; }
        }

        public bool WaferSizeAligner1_3
        {
            set { }
            get { return Aligner1WaferSize == "WS3"; }
        }

        public bool WaferSizeAligner1_4
        {
            set { }
            get { return Aligner1WaferSize == "WS4"; }
        }

        public bool WaferSizeAligner1_6
        {
            set { }
            get { return Aligner1WaferSize == "WS6"; }
        }

        public bool WaferSizeEfemRobot_3
        {
            set { }
            get { return EfemRobotWaferSize == "WS3"; }
        }

        public bool WaferSizeEfemRobot_4
        {
            set { }
            get { return EfemRobotWaferSize == "WS4"; }
        }

        public bool WaferSizeEfemRobot_6
        {
            set { }
            get { return EfemRobotWaferSize == "WS6"; }
        }
        #endregion

        public bool PMASlitValveIsOpen
        {
            get { return SlitDoorDataA != null && SlitDoorDataA.OpenFeedback && !SlitDoorDataA.CloseFeedback; }
        }

        [Subscription("PMA.SlitDoor.DeviceData")]
        public AITCylinderData SlitDoorDataA
        {
            get;
            set;
        }

        public bool PMBSlitValveIsOpen
        {
            get { return SlitDoorDataB != null && SlitDoorDataB.OpenFeedback && !SlitDoorDataB.CloseFeedback; }
        }

        [Subscription("PMB.SlitDoor.DeviceData")]
        public AITCylinderData SlitDoorDataB
        {
            get;
            set;
        }

        public Dictionary<string, string> _waferSizeMap = new Dictionary<string, string>()
        {
            {"WS3", "3'"},{"WS4", "4'"},{"WS6", "6'"}
        };

        private string GetWaferSize(string size)
        {
            if (size != null && _waferSizeMap.ContainsKey(size))
                switch (size)
                {
                    case "WS3": return SmallWafer.ToString();
                    case "WS4": return MidWafer.ToString();
                    case "WS6": return BigWafer.ToString();
                    default: return "";
                }
            //return _waferSizeMap[size];
            return "";
        }

        [Subscription("EfemRobot.GripStateBlade1")]
        public string GripStateBlade1 { get; set; }
        public string Blade1GripStateColor
        {
            get
            {
                switch (GripStateBlade1)
                {
                    case "ON": return "Lime";
                    case "OFF": return "Gray";
                      default: return "Yellow";
                }
            }
        }

        [Subscription("EfemRobot.GripStateBlade2")]
        public string GripStateBlade2 { get; set; }
        public string Blade2GripStateColor
        {
            get
            {
                switch (GripStateBlade2)
                {
                    case "ON": return "Lime";
                    case "OFF": return "Gray";
                    default: return "Yellow";
                } 
            }
        }
        public Aitex.Core.Common.WaferSize SmallPinWaferSize { get; set; }
        public Aitex.Core.Common.WaferSize MediumPinWaferSize { get; set; }
        public Aitex.Core.Common.WaferSize BigPinWaferSize { get; set; }

        #endregion Properties

        public EFEMViewModel()
        {
            this.DisplayName = "EFEM";

            _pickModules = new List<string>() { "LP1", "LP2", "Aligner1", "Aligner2", "Cooling1", "Cooling2" };
            _mapModules = new List<string>() { "LP1", "LP2" };
            _extendModules = new List<string>() { "PMA", "PMB" };

            PickSelectedModule = "LP1";
            PlaceSelectedModule = "LP1";
            ExtendSelectedModule = "PMA";
            RetractSelectedModule = "PMA";
            MapSelectedModule = "LP1";
            PickSelectedBlade = PlaceSelectedBlade = ExtendSelectedBlade = GripSelectedBlade = UngripSelectedBlade = "Blade1";
        }

        protected override void OnActivate()
        {
            SmallPinWaferSize = MapWaferSize((int)QueryDataClient.Instance.Service.GetConfig($"System.SmallWafer"));
            MediumPinWaferSize = MapWaferSize((int)QueryDataClient.Instance.Service.GetConfig($"System.MidWafer"));
            BigPinWaferSize = MapWaferSize((int)QueryDataClient.Instance.Service.GetConfig($"System.BigWafer"));

            NotifyOfPropertyChange(nameof(SmallPinWaferSize));
            NotifyOfPropertyChange(nameof(MediumPinWaferSize));
            NotifyOfPropertyChange(nameof(BigPinWaferSize));

            base.OnActivate();
        }

        private Aitex.Core.Common.WaferSize MapWaferSize(int value)
        {
            switch (value)
            {
                case 3: return Aitex.Core.Common.WaferSize.WS3;
                case 4: return Aitex.Core.Common.WaferSize.WS4;
                case 6: return Aitex.Core.Common.WaferSize.WS6;
                case 8: return Aitex.Core.Common.WaferSize.WS8;
            }

            return Aitex.Core.Common.WaferSize.WS0;
        }

        private List<int> GetSlotsByModule(string module)
        {
            List<int> slots = new List<int>();

            int num = 0;
            switch (module)
            {
            case "LP1":
            case "LP2":
                num = 25;
                break;
            case "Aligner1":
            case "Aligner2":
            case "Cooling1":
            case "Cooling2":
            case "PMA":
            case "PMB":
                num = 1;
                break;
            }

            int j = 0;
            while (j < num)
            {
                slots.Add(j + 1);
                j++;
            }
            return slots;
        }

        protected override void OnInitialize()
        {
            MenuPermission = ClientApp.Instance.GetPermission("EFEM");

            base.OnInitialize();

            base.InitModules();
        }

        #region Operation

        public void SetWaferSize(string module, string size)
        {
            if (MenuPermission != 3) return;
            InvokeClient.Instance.Service.DoOperation("System.SetWaferSize", module, size);
        }

        public void HomeAligner(string module)
        {
            if (MenuPermission != 3) return;
            InvokeClient.Instance.Service.DoOperation($"{module}.{EfemOperation.Home}");
        }

        public void AlignAligner(string module)
        {
            if (MenuPermission != 3) return;
            string size = Aligner1WaferSize;
            if (module == ModuleName.Aligner2.ToString())
                size = Aligner2WaferSize;
            if (module == ModuleName.Cooling1.ToString())
                size = Cooling1WaferSize;
            if (module == ModuleName.Cooling2.ToString())
                size = Cooling2WaferSize;

            InvokeClient.Instance.Service.DoOperation($"{module}.{EfemOperation.Align}", size);
        }

        public void LiftAligner(string module)
        {
            if (MenuPermission != 3) return;
            InvokeClient.Instance.Service.DoOperation($"{module}.{EfemOperation.Lift}");
        }

        public void HomeEfem()
        {
            if (MenuPermission != 3) return;
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EFEM}.{EfemOperation.Home}");
        }

        public void ResetEfem()
        {
            if (MenuPermission != 3) return;
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EFEM}.Reset");
        }

        public void ClearError()
        {
            if (MenuPermission != 3) return;
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EFEM}.{EfemOperation.ClearError}");
        }

        public void HomeRobot()
        {
            if (MenuPermission != 3) return;
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EfemRobot}.{EfemOperation.Home}");
        }

        public void AbortRobot()
        {
            if (MenuPermission != 3) return;
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EfemRobot}.{EfemOperation.Abort}");
        }

        public void RobotPick()
        {
            if (MenuPermission != 3) return;
            string ws = PickSelectedModule == ModuleName.LP1.ToString() ? LP1WaferSize :
                PickSelectedModule == ModuleName.LP2.ToString() ? LP2WaferSize :
                PickSelectedModule == ModuleName.Aligner1.ToString() ? Aligner1WaferSize :
                PickSelectedModule == ModuleName.Aligner2.ToString() ? Aligner2WaferSize :
                PickSelectedModule == ModuleName.Cooling2.ToString() ? Cooling2WaferSize :
                PickSelectedModule == ModuleName.Cooling1.ToString() ? Cooling1WaferSize : throw new ArgumentOutOfRangeException();

            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EfemRobot}.{EfemOperation.Pick}",
                PickSelectedModule, PickSelectedSlot - 1, ws, PickSelectedBlade);
        }

        public void RobotPlace()
        {
            if (MenuPermission != 3) return;
            string ws = PlaceSelectedModule == ModuleName.LP1.ToString() ? LP1WaferSize :
                        PlaceSelectedModule == ModuleName.LP2.ToString() ? LP2WaferSize :
                        PlaceSelectedModule == ModuleName.Aligner1.ToString() ? Aligner1WaferSize :
                        PlaceSelectedModule == ModuleName.Aligner2.ToString() ? Aligner2WaferSize :
                        PlaceSelectedModule == ModuleName.Cooling1.ToString() ? Cooling1WaferSize :
                        PlaceSelectedModule == ModuleName.Cooling2.ToString() ? Cooling2WaferSize : throw new ArgumentOutOfRangeException();

            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EfemRobot}.{EfemOperation.Place}",
                PlaceSelectedModule, PlaceSelectedSlot - 1, ws, PlaceSelectedBlade);
        }

        public void RobotExtend()
        {
            if (MenuPermission != 3) return;
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EfemRobot}.{EfemOperation.Extend}", ExtendSelectedModule, ExtendParam[ExtendSelectedSlot], ExtendSelectedBlade);
        }

        public void RobotRetract()
        {
            if (MenuPermission != 3) return;
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EfemRobot}.{EfemOperation.Retract}", RetractSelectedModule, RetractSlots[RetractSelectedSlot]);
        }

        public void RobotMap()
        {
            if (MenuPermission != 3) return;
            InvokeClient.Instance.Service.DoOperation($"{MapSelectedModule}.{EfemOperation.Map}");
        }

        public void RobotGrip()
        {
            if (MenuPermission != 3) return;
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EfemRobot}.{EfemOperation.Grip}", "ON", GripSelectedBlade);
        }

        public void RobotUngrip()
        {
            if (MenuPermission != 3) return;
            InvokeClient.Instance.Service.DoOperation($"{ModuleName.EfemRobot}.{EfemOperation.Grip}", "OFF", UngripSelectedBlade);
        }

        #endregion Operation
    }
}