Virgo_Mask/VirgoRT/Modules/AutoTransfer_T.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Xml;
using System.Diagnostics;
using System.Text;
using System.Threading.Tasks;


using VirgoRT.Modules.Schedulers;
using VirgoRT.Scheduler;

using MECF.Framework.Common.DBCore;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Jobs;
using MECF.Framework.Common.Schedulers;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.PMs;

using Aitex.Core.RT.SCCore;
using Aitex.Sorter.Common;
using Aitex.Core.Common;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.RecipeCenter;
using Aitex.Core.RT.DataCenter;

namespace VirgoRT.Modules
{
    enum RobotFreeHand
    {
        Blade1 = 0,             //Lower arm
        Blade2 = 1,             //Upper arm
        Both = 2,
        None = 3,
    }

    enum ActionState
    {
        Init = 0,
        Prepare,
        Run,
        Post,
        Done,
    }
    struct MoveAction
    {
        public EnumTransferType eType;
        public ModuleName targetModule;
        public int targetSlot;
        public int robotSlot1;
        public int robotSlot2;
        public ActionState state;

        public MoveAction(EnumTransferType type, ModuleName module, int tSlot = 0, int Slot1 = 0, int Slot2 = 0)
        {
            eType = type;
            targetModule = module;
            targetSlot = tSlot;
            robotSlot1 = Slot1;
            robotSlot2 = Slot2;
            state = ActionState.Init;
        }
    }
    enum ModulePriority
    {
        High,
        Middle,
        Low,
        Stop,
    }
    class ModuleFlag
    {
        public ModulePriority priority;

        public ModuleFlag(ModulePriority _priority)
        {
            priority = _priority;
        }
    }

    enum RtTraceState
    {
        Init,
        Pumping,
        WaitEfemRobotReady,
        WaitPenddingActionsFinish,
        WaitModuleReady,
        WaitPMReadyForPlace,
        WaitPMReadyForPick,
        WaitModuleReadyForPlace,
        WaitModuleReadyForPick,
        WaitPMReadyForTemperature,
        VerifyTransferAction,
    }
    public class AutoTransfer_T : TransferModule, IAutoTransfer
    {
        private List<ControlJobInfo> _lstControlJobs = new List<ControlJobInfo>();
        private List<ProcessJobInfo> _lstProcessJobs = new List<ProcessJobInfo>();

        Dictionary<ModuleName, SchedulerModule> dictSchedulers = new Dictionary<ModuleName, SchedulerModule>();
        Dictionary<ModuleName, ModuleFlag> dictModules = new Dictionary<ModuleName, ModuleFlag>();
        Dictionary<Guid, ModuleName> dictWaferProcessPM = new Dictionary<Guid, ModuleName>();
        Dictionary<ModuleName, ModuleName> dictLPAssociatedPM = new Dictionary<ModuleName, ModuleName>();

        Queue<MoveAction> queMoveAction = new Queue<MoveAction>();

        private List<ModuleName> _mapTarget = new List<ModuleName>();

        private const string LogSource = "Scheduler";

        private bool _isCycleMode;
        private int _cycleSetPoint = 0;
        private int _cycledCount = 0;
        private int _cycledWafer = 0;

        private bool _isInited;

        private Stopwatch _blockingWatcher = new Stopwatch();
        private RtTraceState _lastTraceState;
        private RtTraceState _currentTraceState;

        public bool HasJobRunning => _lstControlJobs.Count > 0;
        public bool IsEfemRobotAvavilable => _efemRobot.IsAvailable;
        public static int SystemInternalWaferCount => SC.GetValue<int>($"System.MaxInternalWaferCount");
        private static int _maxBufferWaferCount = 1;
        private int _bufferSlotNumber = 0;
        private bool IsModuleAvailable(ModuleName module) => dictSchedulers.Keys.Contains(module) && dictSchedulers[module].IsAvailable;
        private SchedulerModule GetScheduler(ModuleName module) => dictSchedulers.Keys.Contains(module) ? dictSchedulers[module] : null;

        private SchedulerFACallback _faCallback;
        private SchedulerDBCallback _dbCallback;

        MoveAction _curAction = new MoveAction();

        public AutoTransfer_T()
        {
            _faCallback = new SchedulerFACallback();
            _dbCallback = new SchedulerDBCallback();

            InitModules();

            _curAction.state = ActionState.Done;

            DATA.Subscribe("Scheduler.CycledCount", () => _cycledCount);
            DATA.Subscribe("Scheduler.CycledWafer", () => _cycledWafer);
            DATA.Subscribe("Scheduler.CycleSetPoint", () => _cycleSetPoint);


            DATA.Subscribe("Scheduler.PjIdList", () => Array.ConvertAll(_lstProcessJobs.ToArray(), x => x.InnerId.ToString()).ToList());

            foreach (var lp in dictSchedulers)
            {
                if (ModuleHelper.IsLoadPort(lp.Key))
                {
                    DATA.Subscribe($"{lp.Key}.LocalJobName", () => {
                        var cj = _lstControlJobs.FirstOrDefault(x => x.Module == lp.Key.ToString());
                        if (cj != null)
                            return cj.Name;
                        return "";
                    });

                    DATA.Subscribe($"{lp.Key}.JobLotName", () => {
                        var cj = _lstControlJobs.FirstOrDefault(x => x.Module == lp.Key.ToString());
                        if (cj != null)
                            return cj.LotName;

                        return "";
                    });
                    DATA.Subscribe($"{lp.Key}.LocalJobStatus", () => {
                        var cj = _lstControlJobs.FirstOrDefault(x => x.Module == lp.Key.ToString());
                        if (cj != null)
                            return cj.State.ToString();
                        return "";
                    });

                    DATA.Subscribe($"{lp.Key}.CurrentRecipeList", () => {
                        var local = lp;
                        List<string> result = Enumerable.Repeat("", SC.GetValue<int>("EFEM.LoadPort.SlotNumber")).ToList();

                        for (int i = 0; i < _lstProcessJobs.Count; i++)
                        {
                            foreach (var wafers in _lstProcessJobs[i].SlotWafers)
                            {
                                if (wafers.Item1 == local.Key)
                                {
                                    result[wafers.Item2] = _lstProcessJobs[i].Sequence.Name;
                                }
                            }
                        }
                        return result;
                    });
                }
            }

            _maxBufferWaferCount = SC.GetValue<int>("EFEM.Buffer.SlotNumber") / 2;
        }

        private void InitModules()
        {
            void _initMoudle(ModuleName name, SchedulerModule sche,  ModulePriority prio)
            {
                if (ModuleHelper.IsInstalled(name))
                {
                    dictSchedulers[name] = sche;
                    dictModules[name] = new ModuleFlag(prio);
                }
            }

            _initMoudle(ModuleName.PMA,         _pma,       ModulePriority.Middle);
            _initMoudle(ModuleName.PMB,         _pmb,       ModulePriority.Middle);
            _initMoudle(ModuleName.LP1,         _lp1,       ModulePriority.Middle);
            _initMoudle(ModuleName.LP2,         _lp2,       ModulePriority.Middle);
            _initMoudle(ModuleName.Aligner1,    _aligner1,  ModulePriority.Middle);
            _initMoudle(ModuleName.Aligner2,    _aligner2,  ModulePriority.Middle);
            _initMoudle(ModuleName.Cooling1,    _cooling1,  ModulePriority.Middle);
            _initMoudle(ModuleName.Cooling2,    _cooling2,  ModulePriority.Middle);
            _initMoudle(ModuleName.Flipper,     _flipper,   ModulePriority.Middle);
            _initMoudle(ModuleName.Buffer,      _buffer,    ModulePriority.Middle);
        }

        #region transfer routine

        private bool HasCrossSequence()
        {
            List<ModuleName> lstStepModules = new List<ModuleName>();
            foreach (var pj in _lstProcessJobs)
            {
                lstStepModules.Clear();
                foreach (var step in pj.Sequence.Steps)
                {
                    foreach (var module in step.StepModules)
                    {
                        if (lstStepModules.Contains(module))
                            return true;
                        else
                            lstStepModules.Add(module);
                    }
                }
            }

            return false;
        }
        private void dumpMoveAction(string prefix, MoveAction action)
        {
            EV.PostInfoLog("System", $"{prefix} : {action.state}, {action.eType}, {action.targetModule}, {action.targetSlot}"); 
        }
        private void blockingChecking()
        {
            if (CheckAllJobDone())
                return;

            if (_currentTraceState != _lastTraceState)
            {
                _lastTraceState = _currentTraceState;
                _blockingWatcher.Restart();
            }

            if (_blockingWatcher.ElapsedMilliseconds >= 120 * 1000)
            {
                EV.PostInfoLog("", $"Router Blocking State: {_currentTraceState}");

                dumpMoveAction("Current Action", _curAction);
                for (int i = 0; i < queMoveAction.Count; i++)
                {
                    dumpMoveAction(i.ToString(), queMoveAction.ElementAt(i));
                }

                foreach (var module in dictSchedulers)
                {
                    string moduleStatus = module.Value.IsAvailable ? "Idle" : (module.Value.IsError ? "Error" : "Busy");
                    EV.PostInfoLog("", $"Module State: {module.Key} is {moduleStatus}");
                }

                if (_curAction.state != ActionState.Done && dictSchedulers[_curAction.targetModule].IsError)
                {
                    _curAction.state = ActionState.Done;
                    queMoveAction.Clear();
                }

                _blockingWatcher.Restart();
                ResetTraceFlag();
            }
        }
        private bool prelude()
        {
            MonitorEfemRobotMapTask();
            return true;
        }

        private bool epilogue()
        {
            UpdateProcessJobStatus();
            UpdateControlJobStatus();
            StartNewJob();
            MonitorCleanTasks();
            blockingChecking();
            return true;
        }
        private bool Pump()
        {
            if (queMoveAction.Count > 0 || _curAction.state != ActionState.Done)
                return false;

            // move remaining wafers in robot arms
            for(int slot = 0; slot < 2; slot++)
            {
                if (WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot, slot))
                {
                    var nextSlot = GetWaferNextReadySlot(new SlotItem(ModuleName.EfemRobot, slot));
                    if (nextSlot.Module != ModuleName.System)
                    {
                        queMoveAction.Enqueue(new MoveAction(EnumTransferType.Place, nextSlot.Module, nextSlot.Slot, slot));
                        PreparePMTemp(ModuleName.EfemRobot, slot, nextSlot.Module, EnumTransferType.Place);
                        return true;
                    }

                    var swapSlot = GetWaferNextReadySlot(new SlotItem(ModuleName.EfemRobot, slot), true);
                    if (swapSlot.Module != ModuleName.System)
                    {
                        int peerSlot = slot == 0 ? 1 : 0;
                        if (WaferManager.Instance.CheckNoWafer(ModuleName.EfemRobot, peerSlot))
                        {
                            queMoveAction.Enqueue(new MoveAction(EnumTransferType.Swap, swapSlot.Module, swapSlot.Slot, peerSlot /* Pick Blade */, slot  /* Place Blade */));
                            PreparePMTemp(ModuleName.EfemRobot, slot, swapSlot.Module, EnumTransferType.Pick);
                            return true;
                        }
                    }
                }
            }


            ModulePriority[] prioritys = new ModulePriority[] { ModulePriority.High, ModulePriority.Middle, ModulePriority.Low };
            foreach (var prio in prioritys)
            {
                foreach (var module in dictModules)
                {
                    if (module.Value.priority != prio)
                        continue;

                    var outSlot = GetReadyOutSlot(module.Key);
                    if (outSlot.Module != ModuleName.System)
                    {
                        var nextSlot = GetWaferNextReadySlot(outSlot);
                        if (nextSlot.Module != ModuleName.System)
                        {
                            var waitInSlot = GetWaitInWaferSlot(outSlot);
                            if (waitInSlot.Module != ModuleName.System && GetRobotFreeHand() == RobotFreeHand.Both)
                            {
                                queMoveAction.Enqueue(new MoveAction(EnumTransferType.Pick, waitInSlot.Module, waitInSlot.Slot, (int)Hand.Blade1));
                                queMoveAction.Enqueue(new MoveAction(EnumTransferType.Swap, module.Key, outSlot.Slot, (int)Hand.Blade2 /* Pick Blade */, (int)Hand.Blade1  /* Place Blade */));
                                queMoveAction.Enqueue(new MoveAction(EnumTransferType.Place, nextSlot.Module, nextSlot.Slot, (int)Hand.Blade2));
                                PreparePMTemp(waitInSlot.Module, waitInSlot.Slot, module.Key, EnumTransferType.Pick);
                                PreparePMTemp(module.Key, outSlot.Slot, nextSlot.Module, EnumTransferType.Place);
                                return true;
                            }
                            else
                            {
                                int nFreeHand = (int)SelectRobotFreeHand();
                                if (nFreeHand != (int)RobotFreeHand.None)
                                {
                                    queMoveAction.Enqueue(new MoveAction(EnumTransferType.Pick, module.Key, outSlot.Slot, nFreeHand));
                                    queMoveAction.Enqueue(new MoveAction(EnumTransferType.Place, nextSlot.Module, nextSlot.Slot, nFreeHand));
                                    PreparePMTemp(module.Key, outSlot.Slot, nextSlot.Module, EnumTransferType.Place);
                                    return true;
                                }
                            }
                        }
                        else
                        {
                            var swapSlot = GetCanSwapSlot(outSlot);
                            if (swapSlot.Module != ModuleName.System && GetRobotFreeHand() == RobotFreeHand.Both)
                            {
                                queMoveAction.Enqueue(new MoveAction(EnumTransferType.Pick, swapSlot.Module, swapSlot.Slot, (int)Hand.Blade1));
                                queMoveAction.Enqueue(new MoveAction(EnumTransferType.Swap, module.Key, outSlot.Slot, (int)Hand.Blade2 /* Pick Blade */, (int)Hand.Blade1  /* Place Blade */));
                                queMoveAction.Enqueue(new MoveAction(EnumTransferType.Place, swapSlot.Module, swapSlot.Slot, (int)Hand.Blade2));
                                PreparePMTemp(swapSlot.Module, swapSlot.Slot, module.Key, EnumTransferType.Pick);
                                PreparePMTemp(module.Key, outSlot.Slot, swapSlot.Module, EnumTransferType.Pick);
                                return true;
                            }
                        }
                    }
                }
            }

            // pick the wafer to robot arm while the next module is not ready
            if (HasCrossSequence() == false && GetRobotFreeHand() == RobotFreeHand.Both)
            {
                foreach (var module in dictModules)
                {
                    var outSlot = GetReadyOutSlot(module.Key);
                    if (outSlot.Module != ModuleName.System)
                    {
                        var swapSlot = GetWaferNextReadySlot(outSlot, true);
                        if (swapSlot.Module != ModuleName.System)
                        {
                            queMoveAction.Enqueue(new MoveAction(EnumTransferType.Pick, outSlot.Module, outSlot.Slot, (int)Hand.Blade1));
                            queMoveAction.Enqueue(new MoveAction(EnumTransferType.Swap, swapSlot.Module, swapSlot.Slot, (int)Hand.Blade2 /* Pick Blade */, (int)Hand.Blade1  /* Place Blade */));
                            PreparePMTemp(outSlot.Module, outSlot.Slot, swapSlot.Module, EnumTransferType.Pick);
                            return true;
                        }
                    }
                }
            }

            _currentTraceState = RtTraceState.Pumping;
            return false;
        }

        private void Pop()
        {
            if (!_efemRobot.IsAvailable)
            {
                _currentTraceState = RtTraceState.WaitEfemRobotReady;
                return;
            }

            if (queMoveAction.Count == 0 && _curAction.state == ActionState.Done)
                return;

            switch (_curAction.state)
            {
                case ActionState.Init:
                    {
                        if (IsModuleAvailable(_curAction.targetModule))
                        {
                            if (PrepareCurrentAction())
                            {
                                _curAction.state = ActionState.Prepare;
                                if (RunCurrentAction())
                                {
                                    _curAction.state = ActionState.Run;
                                }
                            }
                        }
                        else
                        {
                            _currentTraceState = RtTraceState.WaitModuleReady;
                        }
                    }
                    break;
                case ActionState.Prepare:
                    {
                        if (RunCurrentAction())
                        {
                            _curAction.state = ActionState.Run;
                        }
                    }
                    break;
                case ActionState.Run:
                    {
                        if (dictSchedulers[_curAction.targetModule].IsWaitTransfer(ModuleName.EfemRobot))
                        {
                            NotifyFaWaferEnd();
                            dictSchedulers[_curAction.targetModule].PostTransfer(ModuleName.EfemRobot);
                            _curAction.state = ActionState.Post;
                        }
                        else
                        {
                            _currentTraceState = RtTraceState.VerifyTransferAction;
                        }
                    }
                    break;
                case ActionState.Post:
                    {
                        if (IsModuleAvailable(_curAction.targetModule))
                        {
                            PostProcessCurrentAction();
                            _curAction.state = ActionState.Done;
                        }
                        else
                        {
                            _currentTraceState = RtTraceState.WaitModuleReady;
                        }
                    }
                    break;
                case ActionState.Done:
                    {
                        _curAction = queMoveAction.Dequeue();
                    }
                    break;
                default:
                    break;
            }
        }

        private bool PrepareCurrentAction()
        {
            if (_curAction.targetModule == ModuleName.PMA || _curAction.targetModule == ModuleName.PMB)
            {
                if ((_curAction.eType == EnumTransferType.Place && !dictSchedulers[_curAction.targetModule].IsReadyForPlace(ModuleName.EfemRobot, _curAction.targetSlot, (Hand)_curAction.robotSlot1)) ||
                    (_curAction.eType != EnumTransferType.Place && !dictSchedulers[_curAction.targetModule].IsReadyForPick(ModuleName.EfemRobot, _curAction.targetSlot, (Hand)_curAction.robotSlot1)))
                {
                    dictSchedulers[_curAction.targetModule].PrepareTransfer(ModuleName.EfemRobot,
                        _curAction.eType == EnumTransferType.Swap ? EnumTransferType.Pick : _curAction.eType,
                        _curAction.targetSlot);

                    _currentTraceState = _curAction.eType == EnumTransferType.Swap ? RtTraceState.WaitPMReadyForPick : RtTraceState.WaitPMReadyForPlace;
                    return false;
                }
                else
                {
                    if (_curAction.eType == EnumTransferType.Pick)
                        return true;

                    GetWaferTemperatureSetInRecipe(ModuleName.EfemRobot, _curAction.eType == EnumTransferType.Place ? _curAction.robotSlot1 : _curAction.robotSlot2, _curAction.targetModule, out float temp);

                    if (temp < 0.1)
                        return true;

                    if (!((SchedulerPM)dictSchedulers[_curAction.targetModule]).IsTemperatureReady(temp))
                    {
                        _currentTraceState = RtTraceState.WaitPMReadyForTemperature;
                        return false;
                    }
                }
            }

            return true;
        }

        private void PreparePMTemp(ModuleName waferModule, int waferSlot, ModuleName pmModule, EnumTransferType type)
        {
            if (pmModule == ModuleName.PMA || pmModule == ModuleName.PMB)
            {
                GetWaferTemperatureSetInRecipe(waferModule, waferSlot, pmModule, out float temp);
                if (Math.Abs(temp) > 0.1 && !((SchedulerPM)dictSchedulers[pmModule]).IsTemperatureReady(temp))
                {
                    ((SchedulerPM)dictSchedulers[pmModule]).PrepareTransfer(ModuleName.EfemRobot, type, 0, temp, Hand.Blade1, WaferSize.WS12);
                }
            }
        }

        private bool RunCurrentAction()
        {
            if (!IsModuleAvailable(_curAction.targetModule))
            {
                return false;
            }
                
            switch (_curAction.eType)
            {
                case EnumTransferType.Pick:
                    {
                        if (dictSchedulers[_curAction.targetModule].IsReadyForPick(ModuleName.EfemRobot, _curAction.targetSlot, (Hand)_curAction.robotSlot1))
                        {
                            _efemRobot.Pick(_curAction.targetModule, _curAction.targetSlot, (Hand)_curAction.robotSlot1);
                            dictSchedulers[_curAction.targetModule].WaitTransfer(ModuleName.EfemRobot, EnumTransferType.Pick, _curAction.targetSlot);

                            // Notify the FA for Port1JobWaferStart
                            if (ModuleHelper.IsLoadPort(_curAction.targetModule))
                            {
                                ProcessJobInfo pj = WaferManager.Instance.GetWafer(_curAction.targetModule, _curAction.targetSlot).ProcessJob;
                                ControlJobInfo cj = _lstControlJobs.Find(x => x.Name == pj.ControlJobName);

                                _faCallback.JobWaferStart(cj, pj, _curAction.targetModule.ToString(), _curAction.targetSlot);
                            }
                            return true;
                        }
                        else
                        {
                            _currentTraceState = RtTraceState.WaitModuleReadyForPick;
                        }
                    }
                    break;
                case EnumTransferType.Place:
                    {
                        if (dictSchedulers[_curAction.targetModule].IsReadyForPlace(ModuleName.EfemRobot, _curAction.targetSlot, (Hand)_curAction.robotSlot1))
                        {
                            _efemRobot.Place(_curAction.targetModule, _curAction.targetSlot, (Hand)_curAction.robotSlot1);
                            dictSchedulers[_curAction.targetModule].WaitTransfer(ModuleName.EfemRobot, EnumTransferType.Place, _curAction.targetSlot);
                            return true;
                        }
                        else
                        {
                            _currentTraceState = RtTraceState.WaitModuleReadyForPlace;
                        }
                    }
                    break;
                case EnumTransferType.Swap:
                    {
                        if (dictSchedulers[_curAction.targetModule].IsReadyForPick(ModuleName.EfemRobot, _curAction.targetSlot, (Hand)_curAction.robotSlot1))
                        {
                            _efemRobot.PickAndPlace(_curAction.targetModule, _curAction.targetSlot, _curAction.targetSlot, (Hand)_curAction.robotSlot1, (Hand)_curAction.robotSlot2);
                            dictSchedulers[_curAction.targetModule].WaitTransfer(ModuleName.EfemRobot, EnumTransferType.Swap, _curAction.targetSlot);
                            return true;
                        }
                        else
                        {
                            _currentTraceState = RtTraceState.WaitModuleReadyForPick;
                        }
                    }
                    break;
            }

            return false;
        }

        private void PostProcessCurrentAction()
        {
            if (_curAction.eType != EnumTransferType.Pick)
            {
                var wafer = WaferManager.Instance.GetWafer(_curAction.targetModule, _curAction.targetSlot);
                if (wafer.IsEmpty)
                    return;

                if (wafer.ProcessJob == null || wafer.ProcessJob.Sequence == null)
                    return;

                if (_curAction.eType == EnumTransferType.Swap)
                {
                    dictSchedulers[_curAction.targetModule].EventWaferLeaved?.Invoke(this, new WaferMoveArgs(_curAction.targetModule,
                                        _curAction.robotSlot2, ModuleName.EfemRobot, _curAction.targetSlot));

                    if (ModuleHelper.IsLoadPort(_curAction.targetModule) && IsFixedPMMode())
                    {
                        AdjustLPPriority(_curAction.targetModule);
                    }
                }

                dictSchedulers[_curAction.targetModule].EventWaferArrived?.Invoke(this, new WaferMoveArgs(ModuleName.EfemRobot, 
                                                                                    _curAction.robotSlot1, 
                                                                                    _curAction.targetModule, 
                                                                                    _curAction.targetSlot));
                if(ModuleHelper.IsLoadPort(_curAction.targetModule))
                    RemoveWaferPMMark(new SlotItem(_curAction.targetModule, _curAction.targetSlot));
                else if (ModuleHelper.IsPm(_curAction.targetModule))
                    AddWaferPMMark(_curAction.targetModule);
                else if (ModuleHelper.IsAligner(_curAction.targetModule))
                {
                    GetWaferSequenceAlignTime(_curAction.targetModule, 0, out float time);
                    _efemRobot.Align(_curAction.targetModule, time);
                }
                else if (ModuleHelper.IsCooling(_curAction.targetModule))
                {
                    GetWaferSequenceAlignTime(_curAction.targetModule, 0, out float time);
                    dictSchedulers[_curAction.targetModule].Cooling((int)time);
                }

                if (!ModuleHelper.IsLoadPort(_curAction.targetModule))
                    wafer.NextSequenceStep++;
            }
            else
            {
                dictSchedulers[_curAction.targetModule].EventWaferLeaved?.Invoke(this, new WaferMoveArgs(_curAction.targetModule, 
                                        _curAction.targetSlot, ModuleName.EfemRobot, _curAction.robotSlot1));

                if (IsFixedPMMode())
                {
                    if (ModuleHelper.IsLoadPort(_curAction.targetModule))
                    {
                        AdjustLPPriority(_curAction.targetModule);
                    }
                    else if (ModuleHelper.IsAligner(_curAction.targetModule))
                    {
                        AdjustAlignerPriority(_curAction.targetModule);
                    }
                }
            }
        }
        private bool GetWaferSequenceAlignTime(ModuleName module, int slot, out float time)
        {
            time = 0;

            if (!WaferManager.Instance.CheckHasWafer(module, slot))
                return false;

            WaferInfo wafer = WaferManager.Instance.GetWafer(module, slot);

            if (wafer.ProcessJob == null || wafer.ProcessJob.Sequence == null)
                return false;

            if (wafer.NextSequenceStep >= wafer.ProcessJob.Sequence.Steps.Count)
                return false;

            if (!wafer.ProcessJob.Sequence.Steps[wafer.NextSequenceStep].StepModules.Contains(ModuleName.Aligner1)
                && !wafer.ProcessJob.Sequence.Steps[wafer.NextSequenceStep].StepModules.Contains(ModuleName.Aligner2)
                && !wafer.ProcessJob.Sequence.Steps[wafer.NextSequenceStep].StepModules.Contains(ModuleName.Cooling1)
                && !wafer.ProcessJob.Sequence.Steps[wafer.NextSequenceStep].StepModules.Contains(ModuleName.Cooling2))
                return false;

            if (!wafer.ProcessJob.Sequence.Steps[wafer.NextSequenceStep].StepParameter.ContainsKey("CoolingTime"))
                return false;

            if (!float.TryParse((string)wafer.ProcessJob.Sequence.Steps[wafer.NextSequenceStep].StepParameter["CoolingTime"],
                out time))
                return false;

            return true;
        }

        private bool GetWaferTemperatureSetInRecipe(ModuleName waferModule, int waferSlot, ModuleName pmModule, out float temp)
        {
            WaferInfo wafer = WaferManager.Instance.GetWafer(waferModule, waferSlot);

            var seq = wafer.ProcessJob.Sequence;
            for (int i = wafer.NextSequenceStep; i < seq.Steps.Count; i++)
            {
                SequenceStepInfo stepInfo = seq.Steps[i];
                foreach (var module in stepInfo.StepModules)
                {
                    if (module == pmModule)
                    {
                        temp = (float)seq.Steps[i].StepParameter[module == ModuleName.PMA ? "PMATemp" : "PMBTemp"];
                        return true;
                    }
                }
            }

            temp = 0;
            LOG.Error($"Can not find wafer {waferModule} {waferSlot + 1} temperature set in recipe");
            return false;
        }

        private SlotItem GetWaferNextReadySlot(SlotItem slot, bool bSwap = false)
        {
            var nextSlot = new SlotItem(ModuleName.System, -1);
            var inWafer = WaferManager.Instance.GetWafer(slot.Module, slot.Slot);
            if (inWafer.IsEmpty)
                return nextSlot;

            if (inWafer.ProcessJob == null || inWafer.ProcessJob.Sequence == null)
                return nextSlot;

            if (inWafer.NextSequenceStep >= inWafer.ProcessJob.Sequence.Steps.Count)  // need return
            {
                return new SlotItem((ModuleName)inWafer.OriginStation, inWafer.OriginSlot);
            }

            foreach (var module in inWafer.ProcessJob.Sequence.Steps[inWafer.NextSequenceStep].StepModules)
            {
                if (IsModuleAvailable(module))
                {
                    // need enhancement
                    int nMaxSlot = (module == ModuleName.LP1 || module == ModuleName.LP2 || module == ModuleName.LP3) ?
                        SC.GetValue<int>("EFEM.LoadPort.SlotNumber") : (module == ModuleName.Buffer ? SC.GetValue<int>("EFEM.Buffer.SlotNumber") : 1);

                    for (int i = 0; i < nMaxSlot; i++)
                    {
                        if (WaferManager.Instance.IsWaferSlotLocationValid(module, i))
                        {
                            // the processed wafer must enter same pm
                            if (ModuleHelper.IsPm(module) && ModuleHelper.IsInstalled(ModuleName.Flipper) && dictWaferProcessPM.ContainsKey(inWafer.InnerId) && dictWaferProcessPM[inWafer.InnerId] != module)
                                continue;

                            if (bSwap == false && WaferManager.Instance.CheckNoWafer(module, i))
                            {
                                return new SlotItem(module, i);
                            }

                            if (bSwap && WaferManager.Instance.CheckHasWafer(module, i))
                            {
                                return new SlotItem(module, i);
                            }
                        }
                    }
                }
            }

            return nextSlot;
        }

        private SlotItem GetCanSwapSlot(SlotItem slot)
        {
            var swapSlot = new SlotItem(ModuleName.System, -1);
            var inWafer = WaferManager.Instance.GetWafer(slot.Module, slot.Slot);
            if (inWafer.IsEmpty)
                return swapSlot;

            if (inWafer.ProcessJob == null || inWafer.ProcessJob.Sequence == null)
                return swapSlot;

            if (inWafer.NextSequenceStep >= inWafer.ProcessJob.Sequence.Steps.Count)  // need return
                return swapSlot;

            foreach (var module in inWafer.ProcessJob.Sequence.Steps[inWafer.NextSequenceStep].StepModules)
            {
                if (IsModuleAvailable(module))
                {
                    // need enhancement
                    int nMaxSlot = (module == ModuleName.LP1 || module == ModuleName.LP2 || module == ModuleName.LP3) ?
                        SC.GetValue<int>("EFEM.LoadPort.SlotNumber") : (module == ModuleName.Buffer ? SC.GetValue<int>("EFEM.Buffer.SlotNumber") : 1);

                    for (int i = 0; i < nMaxSlot; i++)
                    {
                        if (WaferManager.Instance.IsWaferSlotLocationValid(module, i))
                        {
                            if (WaferManager.Instance.CheckHasWafer(module, i))
                            {
                                var swapWafer = WaferManager.Instance.GetWafer(module, i);

                                if (!swapWafer.IsEmpty &&
                                    swapWafer.ProcessJob != null &&
                                    swapWafer.ProcessJob.Sequence != null &&
                                    swapWafer.NextSequenceStep < swapWafer.ProcessJob.Sequence.Steps.Count &&
                                    swapWafer.ProcessJob.Sequence.Steps[swapWafer.NextSequenceStep].StepModules.Contains(slot.Module))
                                {
                                    return new SlotItem(module, i);
                                }
                            }

                        }
                    }
                }
            }

            return swapSlot;
        }

        private SlotItem GetWaitInWaferSlot(SlotItem slot)
        {
            ModulePriority[] prioritys = new ModulePriority[] { ModulePriority.High, ModulePriority.Middle, ModulePriority.Low };
            foreach (var prio in prioritys)
            {
                foreach (var module in dictModules)
                {
                    if (module.Value.priority != prio || module.Key == slot.Module)
                        continue;

                    var inSlot = GetReadyOutSlot(module.Key);
                    if (inSlot.Module != ModuleName.System)
                    {
                        var inWafer = WaferManager.Instance.GetWafer(inSlot.Module, inSlot.Slot);
                        if (inWafer.IsEmpty)
                            continue;

                        if (inWafer.ProcessJob == null || inWafer.ProcessJob.Sequence == null)
                            continue;

                        if (inWafer.NextSequenceStep >= inWafer.ProcessJob.Sequence.Steps.Count)
                            continue;

                        if (inWafer.ProcessJob.Sequence.Steps[inWafer.NextSequenceStep].StepModules
                                .Contains(slot.Module))
                            return inSlot;
                    }
                }
            }

            return new SlotItem(ModuleName.System, -1);
        }

        private SlotItem GetReadyOutSlot(ModuleName module)
        {
            if (module == ModuleName.LP1 || module == ModuleName.LP2 || module == ModuleName.LP3)
                return GetLPReadyOutSlot(module);
            else if (module == ModuleName.Buffer)
                return GetBufferReadyOutSlot(module);
            else
                return GetModuleReadyOutSlot(module);
        }

        private SlotItem GetLPReadyOutSlot(ModuleName lp)
        {
            var slot =  GetNextWaferInJobQueue(lp);
            if (slot == null)
                return new SlotItem(ModuleName.System, -1);

            return slot;
        }

        private SlotItem GetModuleReadyOutSlot(ModuleName module)
        {
            var slot = new SlotItem(ModuleName.System, -1);

            if (!IsModuleAvailable(module))
                return slot;

            WaferInfo wafer = WaferManager.Instance.GetWafer(module, 0);

            if (wafer.IsEmpty)
                return slot;

            if (wafer.ProcessJob == null || wafer.ProcessJob.Sequence == null)
                return slot;

            if (wafer.NextSequenceStep >= wafer.ProcessJob.Sequence.Steps.Count)  // return to loadport
                return new SlotItem(module, 0);

            if (wafer.ProcessJob.Sequence.Steps[wafer.NextSequenceStep].StepModules
                    .Contains(module))
                return slot;

            return new SlotItem(module, 0);
        }

        private SlotItem GetBufferReadyOutSlot(ModuleName buffer)
        {
            return dictSchedulers[buffer].GetReadyOutSlot();
        }

        private RobotFreeHand GetRobotFreeHand()
        {
            var blade1Enable = SC.GetValue<bool>("EFEM.EfemRobot.LowerBladeEnable");
            var blade2Enable = SC.GetValue<bool>("EFEM.EfemRobot.UpperBladeEnable");
            var blade1HasWafer = WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot, 0);
            var blade2HasWafer = WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot, 1);
            if (blade1HasWafer && blade2HasWafer)
                return RobotFreeHand.None;
            else if (!blade1HasWafer && !blade2HasWafer && blade1Enable && blade2Enable)
                return RobotFreeHand.Both;
            else if (!blade2HasWafer && blade2Enable)
                return RobotFreeHand.Blade2;
            else if (!blade1HasWafer && blade1Enable)
                return RobotFreeHand.Blade1;
            else
                return RobotFreeHand.None;
        }

        private RobotFreeHand SelectRobotFreeHand()
        {
            var freeHand = GetRobotFreeHand();
            return freeHand == RobotFreeHand.Both ? RobotFreeHand.Blade1 : freeHand;
        }

        private void AddWaferPMMark(ModuleName pm)
        {
            var wafer = WaferManager.Instance.GetWafer(pm, 0);

            if (wafer.IsEmpty)
                return;

            dictWaferProcessPM[wafer.InnerId] = pm;
        }

        private void RemoveWaferPMMark(SlotItem slot)
        {
            var wafer = WaferManager.Instance.GetWafer(slot.Module, slot.Slot);

            if (wafer.IsEmpty)
                return;

            dictWaferProcessPM.Remove(wafer.InnerId);
        }

        private void ResetTraceFlag()
        {
            _lastTraceState = _currentTraceState = RtTraceState.Init;
        }

        public Result  Monitor()
        {
            prelude();
            Pump();
            Pop();
            epilogue();

            return Result.RUN;
        }

        private List<ModuleName> GetPmUsedInRunningPj()
        {
            var pmUsed = new List<ModuleName>();
            foreach (var cj in _lstControlJobs)
            {
                if (cj.State != EnumControlJobState.Executing && cj.State != EnumControlJobState.Paused)
                    continue;

                foreach (var pj in _lstProcessJobs)
                {
                    if (pj.ControlJobName == cj.Name && (pj.State == EnumProcessJobState.Processing || pj.State == EnumProcessJobState.Paused))
                    {
                        for (int i = 0; i < pj.Sequence.Steps.Count; i++)
                        {
                            SequenceStepInfo stepInfo = pj.Sequence.Steps[i];
                            foreach (var module in stepInfo.StepModules)
                            {
                                if (ModuleHelper.IsPm(module) && !pmUsed.Contains(module))
                                    pmUsed.Add(module);
                            }
                        }
                    }
                }
            }

            return pmUsed;
        }


        private List<SchedulerPM> GetPmNeeded(ControlJobInfo cj)
        {
            List<SchedulerPM> result = new List<SchedulerPM>();

            foreach (var pj in _lstProcessJobs)
            {
                if (pj.ControlJobName != cj.Name)
                    continue;

                var seq = pj.Sequence;
                for (int i = 0; i < seq.Steps.Count; i++)
                {
                    SequenceStepInfo stepInfo = seq.Steps[i];
                    foreach (var module in stepInfo.StepModules)
                    {
                        if (ModuleHelper.IsPm(module))
                        {
                            var pm = dictSchedulers[module] as SchedulerPM;

                            if (pm != null && !result.Contains(pm))
                            {
                                result.Add(pm);
                            }
                        }
                    }
                }
            }


            return result;
        }

        private void InitClean()
        {
            foreach (var pm in dictSchedulers)
            {
                if (ModuleHelper.IsPm(pm.Key))
                {
                    var scheduler = pm.Value as SchedulerPM;
                    scheduler.InitClean();
                }
            }
        }
        public Result MonitorCleanTasks()
        {
            if (!_isInited)
            {
                _isInited = true;
                InitClean();
            }
            foreach (var pm in dictSchedulers)
            {
                if (ModuleHelper.IsPm(pm.Key))
                {
                    var scheduler = pm.Value as SchedulerPM;
                    scheduler.MonitorCleanTasks();
                }
            }

            return Result.RUN;
        }
        private void PreJobClean(ControlJobInfo cj)
        {
            if (cj.IsPreJobCleanDone)
                return;

            cj.IsPreJobCleanDone = true;

            List<SchedulerPM> pms = GetPmNeeded(cj);
            foreach (var pm in pms)
            {
                pm.PreJobClean();
            }
        }

        private bool ActiveProcessJob(ProcessJobInfo pj)
        {
            foreach (var pjSlotWafer in pj.SlotWafers)
            {
                WaferInfo wafer = WaferManager.Instance.GetWafer(pjSlotWafer.Item1, pjSlotWafer.Item2);

                wafer.ProcessJob = pj;
                wafer.NextSequenceStep = 0;

                WaferDataRecorder.SetPjInfo(wafer.InnerId.ToString(), pj.InnerId.ToString());
            }

            ControlJobInfo cj = _lstControlJobs.Find(x => x.Name == pj.ControlJobName);

            CarrierInfo carrier = CarrierManager.Instance.GetCarrier(cj.Module);
            JobDataRecorder.StartPJ(pj.InnerId.ToString(), carrier.InnerId.ToString(), cj.InnerId.ToString(), pj.Name, cj.Module, cj.Module, pj.SlotWafers.Count);

            pj.SetState(EnumProcessJobState.Processing);

            PreJobClean(cj);

            return true;
        }
        private void StartNewJob()
        {
            ControlJobInfo cjActived = null;

            List<ModuleName> pmOccupied = GetPmUsedInRunningPj();
            foreach (var cj in _lstControlJobs)
            {
                if (cj.State != EnumControlJobState.Executing)
                    continue;

                cjActived = cj;

                foreach (var pjName in cjActived.ProcessJobNameList)
                {
                    var pj = _lstProcessJobs.Find(x => x.Name == pjName);
                    if (pj == null)
                    {
                        LOG.Error($"Not find pj named {pjName} in {cjActived.Name}");
                        continue;
                    }

                    if (pj.State == EnumProcessJobState.Queued)
                    {
                        if (CheckSequencePmReady(pj.Sequence, pmOccupied, out var pmUsed, out string reason))
                        {
                            ActiveProcessJob(pj);

                            foreach (var moduleName in pmUsed)
                            {
                                if (!pmOccupied.Contains(moduleName))
                                    pmOccupied.Add(moduleName);
                            }
                        }
                        break;
                    }
                }
            }
        }

        private bool CheckWaferNeedProcessAndPMAvailable(ModuleName waferModule, int waferSlot, ModuleName processIn = ModuleName.System)
        {
            WaferInfo wafer = WaferManager.Instance.GetWafer(waferModule, waferSlot);

            if (wafer.IsEmpty)
                return false;

            if (wafer.ProcessJob == null || wafer.ProcessJob.Sequence == null)
                return false;

            if (wafer.NextSequenceStep >= wafer.ProcessJob.Sequence.Steps.Count)
                return false;

            for (int i = wafer.NextSequenceStep; i < wafer.ProcessJob.Sequence.Steps.Count; i++)
            {
                if (wafer.ProcessJob.Sequence.Steps[i].StepModules
                        .Contains(ModuleName.PMA) || wafer.ProcessJob.Sequence.Steps[i].StepModules
                        .Contains(ModuleName.PMB))
                {
                    var hasPmAvailable = false;
                    foreach (var stepModule in wafer.ProcessJob.Sequence.Steps[i].StepModules)
                    {
                        var pm = GetScheduler(stepModule) as SchedulerPM;
                        if (pm != null)
                        {
                            if (pm.IsAvailable || (pm.IsOnline && pm.Task != SchedulerModule.TaskType.PreJobProcess))
                            {
                                hasPmAvailable = true;
                                break;
                            }
                        }
                    }

                    if (!hasPmAvailable)
                        return false;

                    if (processIn == ModuleName.System)
                        return true;

                    if (wafer.ProcessJob.Sequence.Steps[i].StepModules
                        .Contains(processIn))
                        return true;
                }
            }

            return false;
        }

        private bool IsFixedPMMode()
        {
            List<ModuleName> associatedPMs = new List<ModuleName>();
            foreach (var module in dictSchedulers.Keys)
            {
                if (ModuleHelper.IsLoadPort(module))
                {
                    if (dictLPAssociatedPM.ContainsKey(module))
                    {
                        if (dictLPAssociatedPM[module] == ModuleName.System)
                            return false;


                        if (!associatedPMs.Contains(dictLPAssociatedPM[module]))
                            associatedPMs.Add(dictLPAssociatedPM[module]);

                    }
                }
            }

            return associatedPMs.Count >= 2;
        }

        void AdjustLPPriority(ModuleName lp)
        {
            foreach (var module in dictModules.Keys)
            {
                if (ModuleHelper.IsLoadPort(module))
                {
                    dictModules[module].priority = module == lp ? ModulePriority.Low : ModulePriority.Middle;
                }
            }
        }
        void AdjustAlignerPriority(ModuleName aligner)
        {
            foreach (var module in dictModules.Keys)
            {
                if (ModuleHelper.IsAligner(module))
                {
                    dictModules[module].priority = module == aligner ? ModulePriority.Low : ModulePriority.Middle;
                }
            }
        }
        private SlotItem GetNextWaferInJobQueue(ModuleName lpModule)
        {
            if (GetSystemInnerWaferCount() >= SystemInternalWaferCount || GetBufferWaferCount() > _maxBufferWaferCount)
                return new SlotItem(ModuleName.System, -1);

            foreach (var cj in _lstControlJobs)
            {
                if (lpModule != ModuleName.System && (cj.Module != lpModule.ToString()))
                    continue;

                if (cj.State == EnumControlJobState.Executing)
                {
                    foreach (var pj in _lstProcessJobs)
                    {
                        if (pj.ControlJobName == cj.Name && pj.State == EnumProcessJobState.Processing)
                        {
                            foreach (var pjSlotWafer in pj.SlotWafers)
                            {
                                if (CheckWaferNeedProcessAndPMAvailable(pjSlotWafer.Item1, pjSlotWafer.Item2))
                                {
                                    return new SlotItem(pjSlotWafer.Item1, pjSlotWafer.Item2);
                                }
                                    
                            }
                        }
                    }
                }
            }

            return new SlotItem(ModuleName.System, -1);
        }

        static public int GetSystemInnerWaferCount()
        {
            int count = 0;

            var lstPosition = new List<ModuleName>()
            {
                ModuleName.EfemRobot, ModuleName.Aligner1,  ModuleName.Aligner2, ModuleName.Cooling1, ModuleName.Cooling2, ModuleName.Flipper, ModuleName.PMA, ModuleName.PMB,
            };

            foreach (var moduleName in lstPosition)
            {
                if (ModuleHelper.IsInstalled(moduleName) && WaferManager.Instance.CheckHasWafer(moduleName, 0))
                    count++;
            }

            if (WaferManager.Instance.CheckHasWafer(ModuleName.EfemRobot, 1))
                count++;

            return count;
        }

        private int GetBufferWaferCount()
        {
            int nCount = 0;
            for (int i = 0; i < SC.GetValue<int>("EFEM.Buffer.SlotNumber"); i++)
            {
                if (WaferManager.Instance.CheckHasWafer(ModuleName.Buffer, i))
                    nCount++;
            }
            return nCount;
        }

        #endregion transfer routine

        private void MonitorEfemRobotMapTask()
        {
            if (!_efemRobot.IsAvailable)
                return;

            if (_mapTarget.Count > 0)
            {
                ModuleName first = _mapTarget[0];

                //避免重复map，job信息被清除
                foreach (var cj in _lstControlJobs)
                {
                    if (cj.Module != first.ToString())
                        continue;

                    if (cj.State == EnumControlJobState.Executing || cj.State == EnumControlJobState.Paused)
                    {
                        EV.PostWarningLog("System", $"{first} is running, can not map again");
                        _mapTarget.Remove(first);
                    }
                }

                SchedulerLoadPort lp = GetScheduler(first) as SchedulerLoadPort;
                if (lp != null && lp.IsAvailable)
                {
                    _efemRobot.Map(first);
                    _mapTarget.Remove(first);
                }
            }
        }


        private bool CheckSequencePmReady(SequenceInfo seq, List<ModuleName> pmOccupied, out List<ModuleName> pmUsed, out string reason)
        {
            pmUsed = new List<ModuleName>();
            reason = "";
            bool pmIsReady = true;

            for (int i = 0; i < seq.Steps.Count; i++)
            {
                SequenceStepInfo stepInfo = seq.Steps[i];
                bool hasPm = false;
                foreach (var module in stepInfo.StepModules)
                {
                    if (!ModuleHelper.IsPm(module))
                    {
                        hasPm = true;
                        break;
                    }

                    PM pm = DEVICE.GetDevice<PM>(module.ToString());
                    if (pm.IsInstalled && (pmOccupied == null || !pmOccupied.Contains(module)))
                    {
                        hasPm = true;
                    }

                    if (!pmUsed.Contains(module))
                        pmUsed.Add(module);
                }

                if (pmIsReady && !hasPm)
                {
                    reason = $"Step {i + 1} no valid PM, " + string.Join("|", stepInfo.StepModules);
                    pmIsReady = false;
                }
            }

            return pmIsReady;
        }

        private bool CheckSequenceOrderOk(SequenceInfo seq, out string reason)
        {
            reason = "";
            bool foundPm = false;
            bool isAlignerAfterPm = false;
            for (int i = 0; i < seq.Steps.Count; i++)
            {
                SequenceStepInfo stepInfo = seq.Steps[i];
                foreach (var module in stepInfo.StepModules)
                {
                    if (ModuleHelper.IsPm(module))
                    {
                        foundPm = true;
                    }

                    if (ModuleHelper.IsAligner(module) && foundPm)
                    {
                        isAlignerAfterPm = true;
                    }
                }
            }

            if (!foundPm)
            {
                reason = $"not found PM in the sequence file;";
            }

            if (isAlignerAfterPm)
            {
                reason += "Aligner after PM not support";
            }

            return true;
        }

        private bool CheckSequenceRecipeFileValid(SequenceInfo seq, out string reason)
        {
            for (int i = 0; i < seq.Steps.Count; i++)
            {
                SequenceStepInfo stepInfo = seq.Steps[i];
                foreach (var module in stepInfo.StepModules)
                {
                    if (ModuleHelper.IsPm(module))
                    {
                        string attr = module == ModuleName.PMA ? "PMARecipe" : "PMBRecipe";
                        if (stepInfo.StepParameter.ContainsKey(attr)
                            && !string.IsNullOrEmpty((string)stepInfo.StepParameter[attr]))
                        {
                            var recipeName = (string)stepInfo.StepParameter[attr];
                            if (!string.IsNullOrEmpty(recipeName))
                            {
                                var recipeContent =
                                    RecipeFileManager.Instance.LoadRecipe($"", recipeName, false);
                                if (string.IsNullOrEmpty(recipeContent))
                                {
                                    reason = $"Can not find recipe file{recipeName}";
                                    return false;
                                }
                            }
                        }
                    }
                }
            }

            reason = "";
            return true;
        }

        private bool SetSequenceTemperatureInfo(SequenceInfo seq, out string reason)
        {
            for (int i = 0; i < seq.Steps.Count; i++)
            {
                SequenceStepInfo stepInfo = seq.Steps[i];
                foreach (var module in stepInfo.StepModules)
                {
                    if (ModuleHelper.IsPm(module))
                    {
                        string attr = module == ModuleName.PMA ? "PMARecipe" : "PMBRecipe";
                        if (stepInfo.StepParameter.ContainsKey(attr)
                            && !string.IsNullOrEmpty((string)stepInfo.StepParameter[attr]))
                        {
                            var recipeName = (string)stepInfo.StepParameter[attr];
                            if (!string.IsNullOrEmpty(recipeName))
                            {
                                var recipeContent =
                                    RecipeFileManager.Instance.LoadRecipe($"", recipeName, false);
                                if (string.IsNullOrEmpty(recipeContent))
                                {
                                    reason = $"Can not find recipe file{recipeName}";
                                    return false;
                                }

                                try
                                {
                                    XmlDocument xml = new XmlDocument();
                                    xml.LoadXml(recipeContent);
                                    var substrateTemp = xml.DocumentElement.HasAttribute("SubstrateTemp") ? xml.DocumentElement.Attributes["SubstrateTemp"].Value : "";

                                    if (!float.TryParse(substrateTemp, out float temp))
                                    {
                                        reason = $"Invalid substrate temperature in recipe head {recipeName}";
                                        return false;
                                    }

                                    seq.Steps[i].StepParameter[module == ModuleName.PMA ? "PMATemp" : "PMBTemp"] = temp;
                                }
                                catch (Exception ex)
                                {
                                    LOG.Write(ex);
                                    reason = $"recipe not valid, {recipeName}";
                                    return false;
                                }
                            }
                        }
                    }
                }
            }

            reason = "";
            return true;
        }

        private void AssociatedPMWithLP(ControlJobInfo ctrlInfo)
        {
            List<ModuleName> lstPMs = new List<ModuleName>();
            foreach (var process in _lstProcessJobs)
            {
                if (process.ControlJobName == ctrlInfo.Name)
                {
                    foreach (var step in process.Sequence.Steps)
                    {
                        foreach (var module in step.StepModules)
                        {
                            if (ModuleHelper.IsPm(module))
                            {
                                if (!lstPMs.Contains(module))
                                    lstPMs.Add(module);
                            }
                        }
                    }
                }
            }

            var lp = ModuleHelper.Converter(ctrlInfo.Module);
            dictLPAssociatedPM[lp] = lstPMs.Count == 1 ? lstPMs[0] : ModuleName.System;
        }

        private static bool IsWaferNeedGotoModule(WaferInfo wafer, ModuleName module)
        {
            if (wafer.IsEmpty)
                return false;

            if (wafer.ProcessJob == null || wafer.ProcessJob.Sequence == null)
                return false;

            if (wafer.NextSequenceStep >= wafer.ProcessJob.Sequence.Steps.Count)
                return false;

            for (int i = wafer.NextSequenceStep; i < wafer.ProcessJob.Sequence.Steps.Count; i++)
            {
                if (wafer.ProcessJob.Sequence.Steps[i].StepModules
                        .Contains(module))
                    return true;
            }

            return false;
        }
        private bool CheckAllWaferReturned(ProcessJobInfo pj, bool checkAllProcessed)
        {
            for (int i = 0; i < pj.SlotWafers.Count; ++i)
            {
                WaferInfo wafer = WaferManager.Instance.GetWafer(pj.SlotWafers[i].Item1, pj.SlotWafers[i].Item2);
                if (wafer.IsEmpty)
                    return false;

                if (checkAllProcessed && IsWaferNeedGotoModule(wafer, ModuleName.PMA) || IsWaferNeedGotoModule(wafer, ModuleName.PMB))
                    return false;
            }

            return true;
        }

        private void UpdateProcessJobStatus()
        {
            foreach (var pj in _lstProcessJobs)
            {
                if (pj.State == EnumProcessJobState.Processing)
                {
                    if (CheckAllWaferReturned(pj, true))
                    {
                        pj.SetState(EnumProcessJobState.ProcessingComplete);
                        JobDataRecorder.EndPJ(pj.InnerId.ToString(), 0, 0);
                    }
                }
                else if (pj.State == EnumProcessJobState.Stopping)
                {
                    if (CheckAllWaferReturned(pj, false))
                    {
                        pj.SetState(EnumProcessJobState.ProcessingComplete);
                        JobDataRecorder.EndPJ(pj.InnerId.ToString(), 0, 0);
                    }
                }

            }
        }

        private void CompleteJobClean(ControlJobInfo cj)
        {
            List<SchedulerPM> pms = GetPmNeeded(cj);
            foreach (var pm in pms)
            {
                pm.CompleteJobClean();
            }
        }
        private void UpdateControlJobStatus()
        {
            if (_lstControlJobs.Count == 0)
                return;

            if (_curAction.state != ActionState.Done)
                return;

            bool allControlJobComplete = true;
            List<ControlJobInfo> cjRemoveList = new List<ControlJobInfo>();
            foreach (var cj in _lstControlJobs)
            {
                if (!IsModuleAvailable(ModuleHelper.Converter(cj.Module)))
                {
                    allControlJobComplete = false;
                    continue;
                }
                if (cj.State == EnumControlJobState.Executing)
                {
                    bool allPjCompleted = true;
                    foreach (var pjName in cj.ProcessJobNameList)
                    {
                        var pj = _lstProcessJobs.Find(x => x.Name == pjName);
                        if (pj == null)
                        {
                            LOG.Error($"Not find pj named {pjName} in {cj.Name}");
                            continue;
                        }
                        if (pj.State != EnumProcessJobState.Complete && pj.State != EnumProcessJobState.ProcessingComplete)
                        {
                            allPjCompleted = false;
                            break;
                        }

                        if (allPjCompleted)
                        {
                            pj.SlotWafers.ForEach(p => {
                                if (ModuleHelper.IsLoadPort(p.Item1))
                                {
                                    allPjCompleted = allPjCompleted && WaferManager.Instance.CheckHasWafer(ModuleHelper.Converter(p.Item1.ToString()), p.Item2);
                                }
                            });
                        }
                    }

                    if (allPjCompleted)
                    {
                        cj.SetState(EnumControlJobState.Completed);
                        cj.EndTime = DateTime.Now;

                        if (!(_isCycleMode && _cycledCount + 1 < _cycleSetPoint))
                        {
                            CompleteJobClean(cj);
                        }

                        _faCallback.JobFinished(cj, GetFirstProcessJob(cj));
                        _dbCallback.LotFinished(cj);

                        if (!(_isCycleMode&& _cycledCount < _cycleSetPoint))
                            (GetScheduler( ModuleHelper.Converter(cj.Module)) as SchedulerLoadPort).NoteJobComplete();
                    }
                }


                LoadportCassetteState state = (LoadportCassetteState)DATA.Poll($"{cj.Module}.CassetteState");
                if (cj.State == EnumControlJobState.Completed && state != LoadportCassetteState.Normal)
                {
                    cjRemoveList.Add(cj);
                }

                allControlJobComplete = allControlJobComplete && cj.State == EnumControlJobState.Completed;
            }

            if (_isCycleMode && _cycledCount < (_isCycleMode ? _cycleSetPoint : 0))
            {
                int countPerCycle = 0;
                int countProcessed = 0;
                foreach (var pj in _lstProcessJobs)
                {
                    foreach (var pjSlotWafer in pj.SlotWafers)
                    {
                        countPerCycle++;
                        WaferInfo wafer = WaferManager.Instance.GetWafer(pjSlotWafer.Item1, pjSlotWafer.Item2);
                        if (!wafer.IsEmpty && !IsWaferNeedGotoModule(wafer, ModuleName.PMA) && !IsWaferNeedGotoModule(wafer, ModuleName.PMB))
                            countProcessed++;
                    }
                }

                _cycledWafer = _cycledCount * countPerCycle + countProcessed;

                if (allControlJobComplete)
                {
                    _cycledCount++;

                    if (_cycledCount < _cycleSetPoint)
                    {
                        foreach (var cj in _lstControlJobs)
                        {
                            cj.SetState(EnumControlJobState.Executing);

                            cj.LotInnerId = Guid.NewGuid();

                            _dbCallback.LotCreated(cj);
                        }
                        foreach (var pj in _lstProcessJobs)
                        {
                            pj.SetState(EnumProcessJobState.Queued);
                            pj.InnerId = Guid.NewGuid();
                            foreach (var pjSlotWafer in pj.SlotWafers)
                            {
                                WaferInfo wafer = WaferManager.Instance.GetWafer(pjSlotWafer.Item1, pjSlotWafer.Item2);

                                wafer.ProcessJob = null;
                                wafer.NextSequenceStep = 0;
                                wafer.ProcessState = EnumWaferProcessStatus.Idle;
                            }
                        }
                    }
                }

            }

            foreach (var cj in cjRemoveList)
            {
                List<ProcessJobInfo> pjRemoveList = new List<ProcessJobInfo>();
                foreach (var pj in _lstProcessJobs)
                {
                    if (pj.ControlJobName == cj.Name)
                        pjRemoveList.Add(pj);
                }

                foreach (var pj in pjRemoveList)
                {
                    _lstProcessJobs.Remove(pj);
                }

                _lstControlJobs.Remove(cj);
            }
        }


        #region public interface

        public bool CheckAllJobDone()
        {
            foreach (var cj in _lstControlJobs)
            {
                if (cj.State == EnumControlJobState.Executing || cj.State == EnumControlJobState.Paused)
                    return false;
            }

            return true;
        }

        public bool CheckJobJustDone(out string sJobName)
        {
            foreach (var cj in _lstControlJobs)
            {
                if (cj.State == EnumControlJobState.Completed && !cj.BeenPosted)
                {
                    //LP;WaferSize;Lot;Number;Start;End;
                    sJobName = $"{cj.Module};{cj.JobWaferSize};{cj.LotName};{cj.LotWafers.Count};{cj.StartTime:T};{cj.EndTime:T}";
                    cj.BeenPosted = true;
                    return true;
                }
            }

            sJobName = "NULL";
            return false;
        }
        public Result Start(params object[] objs)
        {
            _isCycleMode = SC.GetValue<bool>("System.IsCycleMode");
            _cycleSetPoint = _isCycleMode ? SC.GetValue<int>("System.CycleCount") : 0;
            _cycledWafer = 0;
            _cycledCount = 0;

            queMoveAction.Clear();
            _curAction.state = ActionState.Done;

            bool hasPmOnline = false;
            ModuleName[] pms = { ModuleName.PMA, ModuleName.PMB };
            foreach (var pm in pms)
            {
                if (IsModuleAvailable(pm))
                {
                    var pmSchedule = dictSchedulers[pm] as SchedulerPM;
                    pmSchedule.SetPMAuto();
                    hasPmOnline = true;
                    continue;
                }
            }

            if (!hasPmOnline)
            {
                EV.PostWarningLog("Scheduler", "can not change to auto mode, at least one process chamber be online");
                return Result.FAIL;
            }


            return Result.RUN;
        }

        public void Map(string moduleName)
        {
            ModuleName target = ModuleHelper.Converter(moduleName);
            if (!ModuleHelper.IsLoadPort(target))
            {
                EV.PostWarningLog(LogSource, $"Invalid map target {target}");
                return;
            }

            if (!_mapTarget.Contains(target))
            {
                _mapTarget.Add(target);
            }
        }
        public bool CheckRecipeUsedInJob(string pathName)
        {
            foreach (var pj in _lstProcessJobs)
            {
                var seq = pj.Sequence;
                for (int i = 0; i < seq.Steps.Count; i++)
                {
                    SequenceStepInfo stepInfo = seq.Steps[i];
                    foreach (var module in stepInfo.StepModules)
                    {
                        if (ModuleHelper.IsPm(module))
                        {
                            string attr = module == ModuleName.PMA ? "PMARecipe" : "PMBRecipe";
                            if (stepInfo.StepParameter.ContainsKey(attr)
                                && !string.IsNullOrEmpty((string)stepInfo.StepParameter[attr]))
                            {
                                var recipeName = (string)stepInfo.StepParameter[attr];
                                if (!string.IsNullOrEmpty(recipeName))
                                {
                                    if (pathName.EndsWith(recipeName + ".rcp"))
                                        return true;
                                }
                            }
                        }
                    }
                }
            }
            return false;
        }

        public bool CheckSequenceUsedInJob(string pathName)
        {
            foreach (var pj in _lstProcessJobs)
            {
                if (pathName.EndsWith(pj.Sequence.Name + ".seq"))
                    return true;
            }
            return false;
        }

        public void CreateJob(Dictionary<string, object> param)
        {
            _isCycleMode = SC.GetValue<bool>("System.IsCycleMode");
            _cycleSetPoint = _isCycleMode ? SC.GetValue<int>("System.CycleCount") : 0;


            string[] slotSequence = (string[])param["SlotSequence"];
            string jobId = (string)param["JobId"];
            string module = (string)param["Module"];
            //bool autoStart = (bool)param["AutoStart"];
            string lotId = jobId;
            if (param.ContainsKey("LotId"))
                lotId = (string)param["LotId"];

            if (slotSequence.Length != SC.GetValue<int>("EFEM.LoadPort.SlotNumber"))
            {
                EV.PostWarningLog(LogSource, $"slot sequence parameter not valid, length is {slotSequence.Length}, should be {SC.GetValue<int>("EFEM.LoadPort.SlotNumber")}");
                _faCallback.JobCreateFailed(module, lotId, jobId, "");
                return;
            }

            if (!ModuleHelper.IsLoadPort(ModuleHelper.Converter(module)))
            {
                EV.PostWarningLog(LogSource, $"{module} should be LoadPort");
                _faCallback.JobCreateFailed(module, lotId, jobId, "");
                return;
            }

            if (string.IsNullOrEmpty(jobId))
            {
                jobId = "CJ_Local_" + module;
            }

            if (_lstControlJobs.Exists(x => x.Name == jobId))
            {
                EV.PostWarningLog(LogSource, $"{jobId} already created");
                _faCallback.JobCreateFailed(module, lotId, jobId, "");
                return;
            }

            SchedulerLoadPort lp = GetScheduler(ModuleHelper.Converter(module)) as SchedulerLoadPort;
            if (!lp.CheckReadyRunJob())
            {
                EV.PostWarningLog(LogSource, $"{module} not ready");
                _faCallback.JobCreateFailed(module, lotId, jobId, "");
                return;
            }

            ControlJobInfo cj = new ControlJobInfo();
            cj.Name = jobId;
            cj.Module = module;
            cj.LotName = lotId;
            cj.LotInnerId = Guid.NewGuid();
            cj.LotWafers = new List<WaferInfo>();
            cj.CarrierID = lp.GetCarrierID();
            cj.SetState(EnumControlJobState.WaitingForStart);

            Dictionary<string, bool[]> seqSlot = new Dictionary<string, bool[]>();
            Dictionary<string, List<Tuple<ModuleName, int>>> seqSlotWafers = new Dictionary<string, List<Tuple<ModuleName, int>>>();
            Dictionary<string, string> indexSequence = new Dictionary<string, string>();

            bool enableGroupBySequence = SC.GetValue<bool>("Scheduler.GroupWaferBySequence");
            for (int i = 0; i < SC.GetValue<int>("EFEM.LoadPort.SlotNumber"); i++)
            {
                if (string.IsNullOrEmpty(slotSequence[i]) || string.IsNullOrEmpty(slotSequence[i].Trim()))
                    continue;

                string groupName = enableGroupBySequence ? slotSequence[i].Trim() : i.ToString();
                indexSequence[groupName] = slotSequence[i];
                if (!seqSlot.ContainsKey(groupName))
                {
                    seqSlot[groupName] = new bool[SC.GetValue<int>("EFEM.LoadPort.SlotNumber")];
                }
                if (!seqSlotWafers.ContainsKey(groupName))
                {
                    seqSlotWafers[groupName] = new List<Tuple<ModuleName, int>>();
                }
                seqSlot[groupName][i] = true;

                if (!WaferManager.Instance.CheckHasWafer(module, i))
                {
                    EV.PostWarningLog(LogSource, $"job wafer: {module} slot {i + 1} not in the carrier");
                    //return;
                }
                if (!WaferManager.Instance.CheckWafer(ModuleHelper.Converter(module), i, WaferStatus.Normal))
                {
                    EV.PostWarningLog(LogSource, $"job wafer: {module} slot {i + 1} status is {WaferManager.Instance.GetWafer(ModuleHelper.Converter(module), i).Status}");
                    _faCallback.JobCreateFailed(module, lotId, jobId, "");
                    return;
                }

                if (WaferManager.Instance.GetWafer(ModuleHelper.Converter(module), i).ProcessState != EnumWaferProcessStatus.Idle)
                {
                    EV.PostWarningLog(LogSource, $"job wafer: {module} slot {i + 1} process status is {WaferManager.Instance.GetWafer(ModuleHelper.Converter(module), i).ProcessState}");
                    _faCallback.JobCreateFailed(module, lotId, jobId, "");
                    return;
                }

                var smallWafer = SC.GetValue<int>($"System.SmallWafer");

                //特殊场景，3寸片第一片不能取放
                if (i == 0 && (WaferManager.Instance.GetWafer(ModuleHelper.Converter(module), i).Size == WaferSize.WS3) && (int)smallWafer == 3)
                {
                    EV.PostWarningLog(LogSource, $"job wafer: {module} 3 inch slot {i + 1} is not supported.");
                    _faCallback.JobCreateFailed(module, lotId, jobId, "");
                    return;
                }

                cj.LotWafers.Add(WaferManager.Instance.GetWafer(ModuleHelper.Converter(module), i));
                WaferManager.Instance.GetWafer(ModuleHelper.Converter(module), i).SequenceName = slotSequence[i];

                seqSlotWafers[groupName].Add(Tuple.Create(ModuleHelper.Converter(module), i));

                cj.JobWaferSize = WaferManager.Instance.GetWafer(ModuleHelper.Converter(module), i).Size;

                LOG.Info($"Assigned wafer job, wafer {module}.{i + 1}, sequence: {slotSequence[i]}");
            }

            if (seqSlotWafers.Count == 0)
            {
                EV.PostWarningLog(LogSource, $"job has not assign wafer");
                _faCallback.JobCreateFailed(module, lotId, jobId, "");
                return;
            }

            List<ProcessJobInfo> pjs = new List<ProcessJobInfo>();
            string[] seqs = seqSlot.Keys.ToArray();
            for (int i = 0; i < seqs.Length; i++)
            {
                ProcessJobInfo pj = new ProcessJobInfo();
                pj.Name = jobId + "_" + (i + 1);
                pj.Sequence = SequenceInfoHelper.GetInfo(indexSequence[seqs[i]]);
                pj.ControlJobName = cj.Name;
                pj.LotName = lotId;
                pj.SlotWafers = seqSlotWafers[seqs[i]];
                pj.SetState(EnumProcessJobState.Queued);

                if (!CheckSequencePmReady(pj.Sequence, null, out _, out string reason))
                {
                    EV.PostWarningLog(LogSource, $"no valid chamber for the {reason}");
                    _faCallback.JobCreateFailed(module, lotId, jobId, "");
                    return;
                }


                if (!CheckSequenceOrderOk(pj.Sequence, out reason))
                {
                    EV.PostWarningLog(LogSource, $"sequence path not valid, {reason}");
                    _faCallback.JobCreateFailed(module, lotId, jobId, "");
                    return;
                }
                if (!SC.GetValue<bool>("System.IsATMMode") && !CheckSequenceRecipeFileValid(pj.Sequence, out reason))
                {
                    EV.PostWarningLog(LogSource, $"recipe file not valid in the sequence, {reason}");
                    _faCallback.JobCreateFailed(module, lotId, jobId, "");
                    return;
                }

                if (!SetSequenceTemperatureInfo(pj.Sequence, out reason))
                {
                    EV.PostWarningLog(LogSource, $"sequence recipe temperature not valid, {reason}");
                    _faCallback.JobCreateFailed(module, lotId, jobId, "");
                    return;
                }

                pjs.Add(pj);
            }

            _dbCallback.LotUpdate(cj);
            foreach (var pj in pjs)
            {
                cj.ProcessJobNameList.Add(pj.Name);
                _lstProcessJobs.Add(pj);
            }

            _lstControlJobs.Add(cj);
            AssociatedPMWithLP(cj);

            _faCallback.JobCreated(cj, GetFirstProcessJob(cj));
        }

        public ProcessJobInfo GetFirstProcessJob(ControlJobInfo cj)
        {
            foreach (var pj in _lstProcessJobs)
            {
                if (pj.ControlJobName == cj.Name)
                    return pj;
            }

            return null;
        }
        public void AbortJob(string jobName)
        {
            ControlJobInfo cj = _lstControlJobs.Find(x => x.Name == jobName);
            if (cj == null)
            {
                EV.PostWarningLog(LogSource, $"abort job rejected, not found job with id {jobName}");
                return;
            }

            List<ProcessJobInfo> pjAbortList = new List<ProcessJobInfo>();
            foreach (var pj in _lstProcessJobs)
            {
                if (pj.ControlJobName == cj.Name)
                {
                    pj.SetState(EnumProcessJobState.Aborting);
                    pjAbortList.Add(pj);

                    int unprocessed = 0;
                    int aborted = 0;
                    WaferInfo[] wafers = WaferManager.Instance.GetWaferByProcessJob(pj.Name);
                    foreach (var waferInfo in wafers)
                    {
                        waferInfo.ProcessJob = null;
                        waferInfo.NextSequenceStep = 0;
                        if (waferInfo.ProcessState != EnumWaferProcessStatus.Completed)
                            unprocessed++;
                    }
                    JobDataRecorder.EndPJ(pj.InnerId.ToString(), aborted, unprocessed);
                }
            }
            _faCallback.JobAborted(cj, GetFirstProcessJob(cj));

            _dbCallback.LotFinished(cj);
            foreach (var pj in pjAbortList)
            {
                _lstProcessJobs.Remove(pj);
            }

            _lstControlJobs.Remove(cj);
        }

        public void StopJob(string jobName)
        {
            ControlJobInfo cj = _lstControlJobs.Find(x => x.Name == jobName);
            if (cj == null)
            {
                EV.PostWarningLog(LogSource, $"stop job rejected, not found job with id {jobName}");
                return;
            }

            foreach (var pj in _lstProcessJobs)
            {
                if (pj.ControlJobName == cj.Name)
                {
                    pj.SetState(EnumProcessJobState.Stopping);
                }
            }

            _faCallback.JobStopped(cj, GetFirstProcessJob(cj));
            _dbCallback.LotFinished(cj);
        }
        public void ResumeJob(string jobName)
        {
            ControlJobInfo cj = _lstControlJobs.Find(x => x.Name == jobName);
            if (cj == null)
            {
                EV.PostWarningLog(LogSource, $"resume job rejected, not found job with id {jobName}");
                return;
            }

            if (cj.State == EnumControlJobState.Paused)
            {
                cj.SetState(EnumControlJobState.Executing);
            }

            _faCallback.JobResumed(cj, GetFirstProcessJob(cj));
        }

        public void PauseJob(string jobName)
        {
            ControlJobInfo cj = _lstControlJobs.Find(x => x.Name == jobName);
            if (cj == null)
            {
                EV.PostWarningLog(LogSource, $"pause job rejected, not found job with id {jobName}");
                return;
            }

            if (cj.State == EnumControlJobState.Executing)
            {
                cj.SetState(EnumControlJobState.Paused);
            }
            _faCallback.JobPaused(cj, GetFirstProcessJob(cj));
        }

        public void StartJob(string jobName)
        {
            ControlJobInfo cj = _lstControlJobs.Find(x => x.Name == jobName);
            if (cj == null)
            {
                EV.PostWarningLog(LogSource, $"start job rejected, not found job with id {jobName}");
                return;
            }

            if (cj.State == EnumControlJobState.WaitingForStart)
            {
                cj.SetState(EnumControlJobState.Executing);
                //PreJobClean(cj);

                (GetScheduler(ModuleHelper.Converter(cj.Module)) as SchedulerLoadPort).NoteJobStart();

                cj.StartTime = DateTime.Now;

                _dbCallback.LotCreated(cj);
                _faCallback.JobStarted(cj, GetFirstProcessJob(cj));

                if (!_blockingWatcher.IsRunning) 
                    _blockingWatcher.Restart();

                ResetTraceFlag();
            }
        }

        private void NotifyFaWaferEnd()
        {
            if (ModuleHelper.IsLoadPort(_curAction.targetModule))
            {
                // Notify FA for Port1JobWaferEnd
                if (_curAction.eType == EnumTransferType.Place)
                {
                    ProcessJobInfo pj = WaferManager.Instance.GetWafer(_curAction.targetModule, _curAction.targetSlot)
                        .ProcessJob;
                    ControlJobInfo cj = _lstControlJobs.Find(x => x.Name == pj.ControlJobName);

                    _faCallback.JobWaferEnd(cj, pj, _curAction.targetModule.ToString(), _curAction.targetSlot);
                }
            }
        }

        public void ResetIdleCleanTime(string module)
        {
            if (string.IsNullOrEmpty(module))
            {
                ModuleName[] pms = { ModuleName.PMA, ModuleName.PMB };
                foreach (var schedulerPm in pms)
                {
                    var pmSchedule = dictSchedulers[schedulerPm] as SchedulerPM;
                    pmSchedule.ResetIdleCleanTime();
                }
            }
            else
            {
                var pm =  ModuleHelper.Converter(module);
                if (ModuleHelper.IsPm(pm))
                {
                    var pmSchedule = dictSchedulers[pm] as SchedulerPM;
                    pmSchedule.ResetIdleCleanTime();
                }
            }
        }

        public void ResetIdlePurgeTime(string module)
        {
            if (string.IsNullOrEmpty(module))
            {
                ModuleName[] pms = { ModuleName.PMA, ModuleName.PMB };
                foreach (var schedulerPm in pms)
                {
                    var pmSchedule = dictSchedulers[schedulerPm] as SchedulerPM;
                    pmSchedule.ResetIdlePurgeTime();
                }
            }
            else
            {
                var pm = ModuleHelper.Converter(module);
                if (ModuleHelper.IsPm(pm))
                {
                    var pmSchedule = dictSchedulers[pm] as SchedulerPM;
                    pmSchedule.ResetIdlePurgeTime();
                }
            }
        }

        public void Clear()
        {
            _efemRobot.ResetTask();
            foreach (var module in dictSchedulers)
            {
                module.Value.ResetTask();
            }

            _lstControlJobs.Clear();
            _lstProcessJobs.Clear();

            _mapTarget.Clear();

            queMoveAction.Clear();
            _curAction.state = ActionState.Done;
        }
        #endregion
    }
}