Virgo_scheduler/VirgoRT/Modules/RouteManager.cs

using System;
using System.Collections.Generic;
using Aitex.Core.Common;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using VirgoCommon;
using VirgoRT.HostWrapper;
using VirgoRT.Instances;
using VirgoRT.Module;

namespace VirgoRT.Modules
{
    class RouteManager : Entity, IEntity
    {
        public enum MSG
        {
            MoveWafer,
            ReturnWafer,

            HomeUnit,

            PauseAuto,
            ResumeAuto,

            Stop,

            StartCycle,

            HOME,
            RESET,
            ABORT,
            ERROR,

            SetAutoMode,
            SetManualMode,

            ResetIdleCleanTime,
            ResetIdlePurgeTime,

            CreateJob,
            PauseJob,
            ResumeJob,
            StartJob,
            StopJob,
            AbortJob,
            JobDone,
            CassetteLeave,  //For unload light control off afer job done

            Map,
            ReturnAllWafer,
        }

        //public LoadPortEntity LP1 { get; private set; }
        //public LoadPortEntity LP2 { get; private set; }
        //public CoolingStorageEntity Aligner { get; private set; }

        public EfemEntity EFEM { get; private set; }

        public PMEntity PMA { get; private set; }
        public PMEntity PMB { get; private set; }
        //routine

        public bool IsAutoMode
        {
            get
            {
                return fsm.State == (int)RtState.AutoRunning || fsm.State == (int)RtState.AutoIdle;
            }
        }

        public string Name { get; set; }

        public bool IsInit
        {
            get { return fsm.State == (int)RtState.Init; }
        }

        public bool IsIdle
        {
            get { return fsm.State == (int)RtState.Idle || fsm.State == (int)RtState.AutoIdle; }
        }
        public bool IsAlarm
        {
            get { return fsm.State == (int)RtState.Error; }
        }

        public bool IsEntityError
        {
            get
            {
                return (EFEM?.IsError ?? false)
                       || (PMA?.IsError ?? false)
                       || (PMB?.IsError ?? false);
            }
        }

        public bool IsRunning
        {
            get
            {
                return !IsInit && !IsAlarm && !IsIdle;
            }
        }

        private ManualTransfer _manualTransfer;
        private AutoTransfer _auto = null;
        private ReturnAllWafer _returnWafer;
        private HomeAll _homeAll = new HomeAll();

        private bool _isWaitUnload;
 
        public RouteManager()
        {
            Name = "System";

            //LP1 = new LoadPortEntity(ModuleName.LP1);
            //LP2 = new LoadPortEntity(ModuleName.LP2);
            //Aligner = new CoolingStorageEntity(ModuleName.Aligner);

            EFEM = new EfemEntity();

            if (SC.GetValue<bool>("System.PMAIsInstalled"))
                PMA = new PMEntity(ModuleName.PMA);
            if (SC.GetValue<bool>("System.PMBIsInstalled"))
                PMB = new PMEntity(ModuleName.PMB);

            fsm = new StateMachine<RouteManager>(Name, (int)RtState.Init, 50);

            BuildTransitionTable();

            SubscribeDataVariable();

            SubscribeOperation();

            Running = true;
        }

        private void BuildTransitionTable()
        {
            EnterExitTransition<RtState, FSM_MSG>(RtState.AutoRunning,  fEnterAutoRunning, FSM_MSG.NONE, fExitAutoTransfer);
            EnterExitTransition<RtState, FSM_MSG>(RtState.Transfer,     null, FSM_MSG.NONE, fExitTransfer);
            EnterExitTransition<RtState, FSM_MSG>(RtState.Idle,         fEnterIdle, FSM_MSG.NONE, fExitIdle);
            EnterExitTransition<RtState, FSM_MSG>(RtState.ReturnWafer, null, FSM_MSG.NONE, FsmExitReturnWafer);

            //Init sequence
            Transition(RtState.Init, MSG.HOME,                 FsmStartHome, RtState.Initializing);
            Transition(RtState.Idle, MSG.HOME,                 FsmStartHome, RtState.Initializing);
            Transition(RtState.Error, MSG.HOME,                FsmStartHome, RtState.Initializing);

            //  EnterExitTransition<RtState, FSM_MSG>(RtState.Initializing, fStartInit, FSM_MSG.NONE, null);

            Transition(RtState.Initializing, FSM_MSG.TIMER,    FsmMonitorHome, RtState.Idle);
            Transition(RtState.Initializing, MSG.ERROR,        fError, RtState.Error);
            Transition(RtState.Initializing, MSG.ABORT,        FsmAbort, RtState.Init);

            //Reset
            AnyStateTransition(MSG.RESET,                      fStartReset, RtState.Idle);

            AnyStateTransition(MSG.ERROR,                      fError, RtState.Error);
            AnyStateTransition((int)FSM_MSG.ALARM,             fError, (int)RtState.Error);

            //Auto/manual 
            Transition(RtState.Idle, MSG.SetAutoMode,          fStartAutoTransfer, RtState.AutoIdle);

            Transition(RtState.AutoRunning, FSM_MSG.TIMER,     fAutoTransfer, RtState.Idle);
            Transition(RtState.AutoRunning, MSG.ABORT,         fAbortAutoTransfer, RtState.Idle);
            //Transition(RtState.AutoRunning, MSG.SetManualMode, FsmStartSetManualMode, RtState.Idle);
            Transition(RtState.AutoRunning, MSG.JobDone,       fJobDone, RtState.AutoIdle);
            Transition(RtState.AutoRunning, MSG.CassetteLeave, fCassetteLeave, RtState.AutoRunning);   //For unload light control off afer job done

            Transition(RtState.AutoRunning, MSG.CreateJob,     FsmCreateJob, RtState.AutoRunning);
            Transition(RtState.AutoRunning, MSG.StartJob,      FsmStartJob, RtState.AutoRunning);
            Transition(RtState.AutoRunning, MSG.PauseJob,      FsmPauseJob, RtState.AutoRunning);
            Transition(RtState.AutoRunning, MSG.ResumeJob,     FsmResumeJob, RtState.AutoRunning);
            Transition(RtState.AutoRunning, MSG.StopJob,       FsmStopJob, RtState.AutoRunning);
            Transition(RtState.AutoRunning, MSG.AbortJob,      FsmAbortJob, RtState.AutoRunning);

            Transition(RtState.AutoRunning, MSG.Map, FsmMap, RtState.AutoRunning);

            Transition(RtState.AutoRunning, MSG.ResetIdleCleanTime, FsmResetIdleCleanTime, RtState.AutoRunning);
            Transition(RtState.AutoRunning, MSG.ResetIdlePurgeTime, FsmResetIdlePurgeTime, RtState.AutoRunning);

            Transition(RtState.AutoIdle, FSM_MSG.TIMER, FsmMonitorAutoIdle, RtState.AutoIdle);
            Transition(RtState.AutoIdle, MSG.SetManualMode, FsmStartSetManualMode, RtState.Idle);
            Transition(RtState.AutoIdle, MSG.CreateJob, FsmCreateJob, RtState.AutoIdle);
            Transition(RtState.AutoIdle, MSG.StartJob, FsmStartJob, RtState.AutoRunning);
            Transition(RtState.AutoIdle, MSG.PauseJob, FsmPauseJob, RtState.AutoIdle);
            Transition(RtState.AutoIdle, MSG.ResumeJob, FsmResumeJob, RtState.AutoIdle);
            Transition(RtState.AutoIdle, MSG.StopJob, FsmStopJob, RtState.AutoIdle);
            Transition(RtState.AutoIdle, MSG.AbortJob, FsmAbortJob, RtState.AutoIdle);
            Transition(RtState.AutoIdle, MSG.Map, FsmMap, RtState.AutoIdle);

            Transition(RtState.AutoIdle, MSG.CassetteLeave, fCassetteLeave, RtState.AutoIdle);   //For unload light control off afer job done

            Transition(RtState.AutoIdle, MSG.ResetIdleCleanTime, FsmResetIdleCleanTime, RtState.AutoIdle);
            Transition(RtState.AutoIdle, MSG.ResetIdlePurgeTime, FsmResetIdlePurgeTime, RtState.AutoIdle);

            //Transfer 
            Transition(RtState.Idle, MSG.MoveWafer,            fStartTransfer, RtState.Transfer);
            Transition(RtState.Transfer, FSM_MSG.TIMER,        fTransfer, RtState.Idle);
            Transition(RtState.Transfer, MSG.ABORT,            FsmAbort, RtState.Idle);

            //Return Wafer 
            Transition(RtState.Idle, MSG.ReturnAllWafer, FsmStartReturnWafer, RtState.ReturnWafer);
            Transition(RtState.ReturnWafer, FSM_MSG.TIMER, FsmMonitorReturnWafer, RtState.Idle);
            Transition(RtState.ReturnWafer, MSG.ABORT, FsmAbort, RtState.Idle);
        }

        void SubscribeDataVariable()
        {
            DATA.Subscribe("Rt.Status", () => ((RtState)fsm.State).ToString());

            DATA.Subscribe(ModuleName.System.ToString(), "AlarmEvent", EV.GetAlarmEvent);

            DATA.Subscribe("System.IsAutoMode", () => IsAutoMode);
            DATA.Subscribe("System.IsIdle", () => IsIdle || IsInit);
            DATA.Subscribe("System.IsAlarm", () => IsAlarm || IsEntityError);
            DATA.Subscribe("System.IsBusy", () => IsRunning);
            DATA.Subscribe("System.IsWaitUnload", () => _isWaitUnload && IsAutoMode);
            DATA.Subscribe("System.IsConnectedWithHost", () => Singleton<FaManager>.Instance.IsConnected);

            DATA.Subscribe("EquipmentMode", () => IsAutoMode ? 0 : 1, SubscriptionAttribute.FLAG.IgnoreSaveDB);

            DATA.Subscribe("EquipmentStatus", () =>
            {
                //"0 = Uninit
                //1 = Idle
                //2 = Running
                //3 = Error
                //4 = Pause
                //"
                if (IsInit) return 0;
                if (IsIdle) return 1;
                if (IsAlarm) return 3;
                
                return 2;
            }, SubscriptionAttribute.FLAG.IgnoreSaveDB);

        }

        void SubscribeOperation()
        {
            OP.Subscribe("CreateWafer", InvokeCreateWafer);

            OP.Subscribe("DeleteWafer", InvokeDeleteWafer);

            OP.Subscribe("ReturnWafer", InvokeReturnWafer);

            OP.Subscribe("System.ReturnAllWafer", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.ReturnAllWafer, args[0], args[1]);
            });
            OP.Subscribe("System.MoveWafer", (string cmd, object[] args) =>
            {
                if (!Enum.TryParse((string)args[0], out ModuleName source))
                {
                    EV.PostWarningLog(Name, $"Parameter source {(string)args[0]} not valid");
                    return false;
                }

                if (!Enum.TryParse((string)args[2], out ModuleName destination))
                {
                    EV.PostWarningLog(Name, $"Parameter destination {(string)args[1]} not valid");
                    return false;
                }

                return CheckToPostMessage((int)MSG.MoveWafer, 
                    source, (int)args[1],
                    destination, (int)args[3],
                    (bool)args[4], (int)args[5],
                    (bool)args[6], (int)args[7]);
            });

            OP.Subscribe("System.HomeAll", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.HOME);
            });
            OP.Subscribe("System.Abort", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.ABORT);
            });

            OP.Subscribe("System.Reset", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.RESET);
            });

            OP.Subscribe("System.SetAutoMode", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.SetAutoMode);
            });
            OP.Subscribe("System.SetManualMode", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.SetManualMode);
            });

            OP.Subscribe("System.CreateJob", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.CreateJob, args[0]);
            });

            OP.Subscribe("System.StartJob", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.StartJob, args[0]);
            });

            OP.Subscribe("System.PauseJob", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.PauseJob, args[0]);
            });

            OP.Subscribe("System.ResumeJob", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.ResumeJob, args[0]);
            });

            OP.Subscribe("System.StopJob", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.StopJob, args[0]);
            });

            OP.Subscribe("System.AbortJob", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.AbortJob, args[0]);
            });

            OP.Subscribe("LP1.Map", (string cmd, object[] args) =>
            {
                if (IsAutoMode)
                {
                    return CheckToPostMessage((int)MSG.Map, ModuleName.LP1.ToString());
                }

                return EFEM.InvokeMap(ModuleName.LP1.ToString())!= (int)FSM_MSG.NONE;
            });


            OP.Subscribe("LP2.Map", (string cmd, object[] args) =>
            {
                if (IsAutoMode)
                {
                    return CheckToPostMessage((int)MSG.Map, ModuleName.LP2.ToString());
                }

                return EFEM.InvokeMap(ModuleName.LP2.ToString()) != (int)FSM_MSG.NONE;
            });

            OP.Subscribe(RtOperation.SetConfig.ToString(), (name, args) =>
            {
                string sc_key = args[0] as string;
                if (!string.IsNullOrWhiteSpace(sc_key) && args.Length > 1)
                {
                    SC.SetItemValue(sc_key, args[1]);
                }

                return true;
            });

            OP.Subscribe("System.ResetIdleCleanTime", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.ResetIdleCleanTime, args[0]);
            });

            OP.Subscribe("System.ResetIdlePurgeTime", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.ResetIdlePurgeTime, args[0]);
            });

            OP.Subscribe("System.SetWaferSize", (string cmd, object[] args) =>
            {
                string module = (string)args[0];
                string size = (string)args[1];
                switch (size)
                {
                case "3":
                    WaferManager.Instance.UpdateWaferSize(ModuleHelper.Converter(module), 0, WaferSize.WS3);
                    break;
                case "4":
                    WaferManager.Instance.UpdateWaferSize(ModuleHelper.Converter(module), 0, WaferSize.WS4);
                    break;
                case "6":
                    WaferManager.Instance.UpdateWaferSize(ModuleHelper.Converter(module), 0, WaferSize.WS6);
                    break;
                default:
                    EV.PostWarningLog("System", $"wafer size {size} not valid");
                    break;
                }

                return true;
            });

            OP.Subscribe("System.CassetteLeave", (string cmd, object[] args) =>
            {
                return CheckToPostMessage((int)MSG.CassetteLeave);
            });
        }

        public bool CheckToPostMessage(int msg, params object[] args)
        {
            if (!fsm.FindTransition(fsm.State, msg))
            {
                EV.PostWarningLog(Name, $"{Name} is in { (RtState)fsm.State} state，can not do {(MSG)msg}");
                return false;
            }

            fsm.PostMsg(msg, args);

            return true;
        }

        public bool Check(int msg, out string reason, params object[] args)
        {
            if (!fsm.FindTransition(fsm.State, msg))
            {
                reason = String.Format("{0} is in {1} state，can not do {2}", Name, (RtState)fsm.State, (MSG)msg);
                return false;
            }

            if (msg == (int)MSG.StartCycle)
            {
                if (!IsAutoMode)
                {
                    reason = String.Format("can not do {0}, isn't auto mode.", msg.ToString());
                    return false;
                }
            }
            reason = "";

            return true;
        }

        protected override bool Init()
        {
            _manualTransfer = new ManualTransfer();

            Singleton<EventManager>.Instance.OnAlarmEvent += Instance_OnAlarmEvent;
            EFEM.Initialize();
            //Aligner.Initialize();
            //LP1.Initialize();
            //LP2.Initialize();

            PMA?.Initialize();
            PMB?.Initialize();

            _auto = new AutoTransfer();
            _returnWafer = new ReturnAllWafer();
            return true;
        }

        private void Instance_OnAlarmEvent(EventItem obj)
        {
            FSM_MSG msg = FSM_MSG.NONE;
            if (obj.Level == EventLevel.Warning)
                msg = FSM_MSG.WARNING;
            else if (obj.Level == EventLevel.Alarm)
                msg = FSM_MSG.ALARM;

            switch (obj.Source)
            {
                case "PMA":
                    PMA?.PostMsg(msg, obj.Id, obj.Description);
                    break;
                case "PMB":
                    PMB?.PostMsg(msg, obj.Id, obj.Description);
                    break;
                case "EFEM":
                    EFEM?.PostMsg(msg, obj.Id, obj.Description);
                    break;
                //case "System":
                //    PostMsg(msg, obj.Id, obj.Description);
                //    break;
            }
        }

        protected override void Term()
        {
            PMA?.Terminate();
            PMB?.Terminate();

            //LP2.Terminate();
            //LP1.Terminate();

            EFEM.Terminate();
        }

        #region Init

        private bool FsmStartHome(object[] objs)
        {
            return _homeAll.Start() == Result.RUN;
        }

        private bool FsmMonitorHome(object[] objs)
        {
            Result ret = _homeAll.Monitor();
            if (ret == Result.DONE)
            {
                _homeAll.Clear();
                return true;
            }
            if (ret == Result.FAIL)
            {
                _homeAll.Clear();
                PostMsg(MSG.ERROR);
            }
            return false;
        }

        private bool fError(object[] objs)
        {
            if (fsm.State == (int)RtState.Transfer)
            {
                _manualTransfer.Clear();
            }

            //EFEM.PostMsg(EfemEntity.MSG.LED, LightType.RED, LightStatus.ON);
            //EFEM.PostMsg(EfemEntity.MSG.LED, LightType.YELLOW, LightStatus.OFF);
            //EFEM.PostMsg(EfemEntity.MSG.LED, LightType.GREEN, LightStatus.OFF);
            //EFEM.PostMsg(EfemEntity.MSG.LED, LightType.BLUE, LightStatus.OFF);
            //EFEM.PostMsg(EfemEntity.MSG.LED, LightType.BUZZER1, LightStatus.ON);
            return true;
        }

        private bool fEnterIdle(object[] param)
        {
            //EFEM.PostMsg(EfemEntity.MSG.LED, LightType.RED, LightStatus.OFF);
            //EFEM.PostMsg(EfemEntity.MSG.LED, LightType.YELLOW, LightStatus.ON);
            //EFEM.PostMsg(EfemEntity.MSG.LED, LightType.GREEN, LightStatus.OFF);
            //EFEM.PostMsg(EfemEntity.MSG.LED, LightType.BLUE, LightStatus.OFF);
            //EFEM.PostMsg(EfemEntity.MSG.LED, LightType.BUZZER1, LightStatus.OFF);

 
            return true;
        }

        private bool fExitIdle(object[] param)
        {
            return true;
        }

        #endregion Init

        #region AutoTransfer

        private bool FsmMonitorAutoIdle(object[] param)
        {
            Result ret = _auto.Monitor();

            if (!_auto.CheckAllJobDone())
            {
                 return false;
            }


            _isWaitUnload = (bool)DATA.Poll("LP1.NotifyJobDone") || (bool)DATA.Poll("LP2.NotifyJobDone");


            return ret == Result.DONE;
        }
        private bool FsmStartSetManualMode(object[] objs)
        {
            if (_auto.HasJobRunning)
            {
                EV.PostWarningLog("System", "Can not change to manual mode, abort running job first");
                return false;
            }

            return true;
        }

        private bool fStartAutoTransfer(object[] objs)
        {
            Result ret = _auto.Start(objs);
            return ret == Result.RUN;
        }

        private bool fAutoTransfer(object[] objs)
        {
            Result ret = _auto.Monitor();
            
            if (_auto.CheckJobJustDone(out string jobInfo))
            {
                EV.PostPopDialogMessage(EventLevel.InformationNoDelay, "Job complete", jobInfo);
            }
            
            if (_auto.CheckAllJobDone())
            {
                if (!CheckToPostMessage((int)MSG.JobDone))
                    return false;
            }

            _isWaitUnload = (bool)DATA.Poll("LP1.NotifyJobDone") || (bool)DATA.Poll("LP2.NotifyJobDone");

            return ret == Result.DONE;
        }

        private bool fEnterAutoRunning(object[] objs)
        {
            //EFEM.PostMsg(EfemEntity.MSG.LED, LightType.RED, LightStatus.OFF);
            //EFEM.PostMsg(EfemEntity.MSG.LED, LightType.GREEN, LightStatus.ON);
            //EFEM.PostMsg(EfemEntity.MSG.LED, LightType.YELLOW, LightStatus.OFF);
            //EFEM.PostMsg(EfemEntity.MSG.LED, LightType.BLUE, LightStatus.OFF);
            //EFEM.PostMsg(EfemEntity.MSG.LED, LightType.BUZZER1, LightStatus.OFF);

            return true;
        }

        private bool fExitAutoTransfer(object[] objs)
        {
            _auto.Clear();
            return true;
        }

        private bool fJobDone(object[] objs)
        {
            //Unload light control on
            //EFEM.PostMsg(EfemEntity.MSG.LED, LightType.RED, LightStatus.OFF);
            //EFEM.PostMsg(EfemEntity.MSG.LED, LightType.GREEN, LightStatus.BLINK);
            //EFEM.PostMsg(EfemEntity.MSG.LED, LightType.YELLOW, LightStatus.OFF);
            //EFEM.PostMsg(EfemEntity.MSG.LED, LightType.BLUE, LightStatus.OFF);
            //EFEM.PostMsg(EfemEntity.MSG.LED, LightType.BUZZER1, LightStatus.OFF);

            _isWaitUnload = true;

            return true;
        }

        private bool fCassetteLeave(object[] objs)
        {
            //Unload light control off,light as idle & autoidle mode
            //EFEM.PostMsg(EfemEntity.MSG.LED, LightType.RED, LightStatus.OFF);
            //EFEM.PostMsg(EfemEntity.MSG.LED, LightType.GREEN, LightStatus.OFF);
            //EFEM.PostMsg(EfemEntity.MSG.LED, LightType.YELLOW, LightStatus.ON);
            //EFEM.PostMsg(EfemEntity.MSG.LED, LightType.BLUE, LightStatus.OFF);
            //EFEM.PostMsg(EfemEntity.MSG.LED, LightType.BUZZER1, LightStatus.OFF);

            _isWaitUnload = false;

            return true;
        }

        private bool fAbortAutoTransfer(object[] objs)
        {
            _auto.Clear();
            return true;
        }

        #endregion AutoTransfer


        #region return wafer
        private bool FsmStartReturnWafer(object[] objs)
        {
            Result ret = _returnWafer.Start(objs);
            if (ret == Result.FAIL || ret == Result.DONE)
                return false;
            return ret == Result.RUN;
        }

        private bool FsmMonitorReturnWafer(object[] objs)
        {
            Result ret = _returnWafer.Monitor(objs);
            if (ret == Result.FAIL)
            {
                PostMsg(MSG.ERROR);
                return false;
            }
            return ret == Result.DONE;
        }

        private bool FsmExitReturnWafer(object[] objs)
        {
            _returnWafer.Clear();

            return true;
        }

        #endregion cycle

        #region Transfer

        private bool fStartTransfer(object[] objs)
        {
            Result ret = _manualTransfer.Start(objs);
            if (ret == Result.FAIL || ret == Result.DONE)
                return false;
            return ret == Result.RUN;
        }

        private bool fTransfer(object[] objs)
        {
            Result ret = _manualTransfer.Monitor(objs);
            if (ret == Result.FAIL)
            {
                PostMsg(MSG.ERROR);
                return false;
            }
            return ret == Result.DONE;
        }

        private bool fExitTransfer(object[] objs)
        {
            _manualTransfer.Clear();

            return true;
        }
 

        #endregion Transfer

        #region reset

        private bool fStartReset(object[] objs)
        {
            //LP1.InvokeReset();
            //LP2.InvokeReset();

            //Aligner.InvokeReset();
            EFEM.InvokeReset();

            PMA?.InvokeReset();
            PMB?.InvokeReset();

            Singleton<DeviceEntity>.Instance.PostMsg(DeviceEntity.MSG.RESET);

            Singleton<FaManager>.Instance.ClearAlarm(null);


            if (fsm.State == (int)RtState.Error)
                return true;

            return false;
        }

        #endregion reset

        private bool FsmMap(object[] param)
        {
            _auto.Map((string)param[0]);

            return true;
        }

        public bool CheckRecipeUsedInJob(string pathName)
        {
            if (!IsAutoMode)
                return false;

            return _auto.CheckRecipeUsedInJob(pathName);
        }

        public bool CheckSequenceUsedInJob(string pathName)
        {
            if (!IsAutoMode)
                return false;

            return _auto.CheckSequenceUsedInJob(pathName);
        }

        private bool FsmCreateJob(object[] param)
        {
            _auto.CreateJob((Dictionary<string, object>)param[0]);

            return true;
        }

        private bool FsmAbortJob(object[] param)
        {
            _auto.AbortJob((string)param[0]);
            return true;
        }

        private bool FsmStopJob(object[] param)
        {
            _auto.StopJob((string)param[0]);
            return true;
        }

        private bool FsmResumeJob(object[] param)
        {
            _auto.ResumeJob((string)param[0]);
            return true;
        }

        private bool FsmPauseJob(object[] param)
        {
            _auto.PauseJob((string)param[0]);
            return true;
        }

        private bool FsmStartJob(object[] param)
        {
            _auto.StartJob((string)param[0]);
            return true;
        }

        private bool FsmAbort(object[] param)
        {
            if (fsm.State == (int)RtState.Transfer)
            {
                _manualTransfer.Clear();
            }

            if (fsm.State == (int)RtState.AutoRunning)
            {
                _auto.Clear();
            }

            if (fsm.State == (int)RtState.ReturnWafer)
            {
                _returnWafer.Clear();
            }

            return true;
        }

        private bool FsmResetIdlePurgeTime(object[] param)
        {
            _auto.ResetIdlePurgeTime((string)param[0]);

            return true;
        }

        private bool FsmResetIdleCleanTime(object[] param)
        {
            _auto.ResetIdleCleanTime((string)param[0]);

            return true;
        }

        private bool InvokeReturnWafer(string arg1, object[] args)
        {
            ModuleName target = ModuleHelper.Converter(args[0].ToString());
            int slot = (int)args[1];

            if (ModuleHelper.IsLoadPort(target))
            {
                EV.PostInfoLog("System", string.Format("Wafer already at LoadPort {0} {1}, return operation is not valid", target.ToString(), slot + 1));
                return false;
            }

            if (!WaferManager.Instance.IsWaferSlotLocationValid(target, slot))
            {
                EV.PostWarningLog("System", string.Format("Invalid position，{0}，{1}", target.ToString(), slot.ToString()));
                return false;
            }

            WaferInfo wafer = WaferManager.Instance.GetWafer(target, slot);
            if (wafer.IsEmpty)
            {
                EV.PostInfoLog("System", string.Format("No wafer at {0} {1}, return operation is not valid", target.ToString(), slot + 1));
                return false;
            }
 
            return CheckToPostMessage((int)MSG.MoveWafer,
                target, slot,
                (ModuleName)wafer.OriginStation, wafer.OriginSlot,
                false, 0, false, 0 );
        }


        private bool InvokeDeleteWafer(string arg1, object[] args)
        {
            ModuleName chamber = ModuleHelper.Converter(args[0].ToString());
            int slot = (int)args[1];

            if (WaferManager.Instance.IsWaferSlotLocationValid(chamber, slot))
            {
                if (WaferManager.Instance.CheckHasWafer(chamber, slot))
                {
                    WaferManager.Instance.DeleteWafer(chamber, slot);
                    EV.PostMessage(ModuleName.System.ToString(), EventEnum.WaferDelete, chamber.ToString(), slot + 1);
                }
                else
                {
                    EV.PostInfoLog("System", string.Format("No wafer at {0} {1}, delete not valid", chamber.ToString(), slot + 1));
                }
            }
            else
            {
                EV.PostWarningLog("System", string.Format("Invalid position，{0}，{1}", chamber.ToString(), slot.ToString()));
                return false;
            }

            return true;
        }

        private bool InvokeCreateWafer(string arg1, object[] args)
        {
            ModuleName chamber = ModuleHelper.Converter(args[0].ToString());
            int slot = (int)args[1];
            WaferStatus state = WaferStatus.Normal;

            if (WaferManager.Instance.IsWaferSlotLocationValid(chamber, slot))
            {
                if (WaferManager.Instance.CheckHasWafer(chamber, slot))
                {
                    EV.PostInfoLog("System", string.Format("{0} slot {1} already has wafer.create wafer is not valid", chamber, slot));
                }
                else if (WaferManager.Instance.CreateWafer(chamber, slot, state) != null)
                {
                    EV.PostMessage(ModuleName.System.ToString(), EventEnum.WaferCreate, chamber.ToString(), slot + 1, state.ToString());
                }
            }
            else
            {
                EV.PostWarningLog("System", string.Format("Invalid position，{0}，{1}", chamber.ToString(), slot.ToString()));
                return false;
            }

            return true;
        }
    }
}