ZZ-EFEM/Jet/Jet_001_2P_Jet/EfemRT/Devices/IoCoolingBuffer.cs

using System;
using System.Xml;
using Aitex.Core.Common;
using Aitex.Core.Common.DeviceData;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.IOCore;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;

namespace Aitex.Core.RT.Device.Unit
{
    public class IoCoolingBuffer : BaseDevice, IDevice
    {
        enum DeviceState
        {
            Idle,
            Homing,
            MovingUp,
            MovingDown,

            Error,
            Disable,
        }

        public enum LiftState
        {
            Unknown = 0,
            Down = 1,
            Up = 2,
            Error = 3,
        }

        private DIAccessor _diLiftUp;
        private DIAccessor _diLiftDown;
        private DIAccessor _di3InchExtend;
        private DIAccessor _di3InchRetract;

        private DIAccessor _di4InchExtend;
        private DIAccessor _di4InchRetract;

        private DIAccessor _di6InchExtend;
        private DIAccessor _di6InchRetract;

        private DOAccessor _doLiftUp;
        private DOAccessor _doLiftDown;
        private DOAccessor _do3InchExtend;
        private DOAccessor _do3InchRetract;

        private DOAccessor _do4InchExtend;
        private DOAccessor _do4InchRetract;

        private DOAccessor _do6InchExtend;
        private DOAccessor _do6InchRetract;


        private DeviceState _state = DeviceState.Idle;
        private DeviceTimer _timer = new DeviceTimer();

        private WaferSize _size = WaferSize.WS8;

        private SCConfigItem _scLiftUpTimeout;
        private SCConfigItem _scLiftDownTimeout;

        public bool Busy
        {
            get
            {
                return _state != DeviceState.Idle;
            }
        }

        public bool Moving
        {
            get
            {
                return _state != DeviceState.Idle && _state != DeviceState.Error;
            }
        }


        public bool Error
        {
            get
            {
                return _state == DeviceState.Error;
            }
        }


        //public bool IsUp
        //{
        //    get
        //    {
        //        return _diLiftUp.Value && !_diLiftDown.Value;
        //    }
        //}
        //public bool IsDown
        //{
        //    get
        //    {
        //        return !_diLiftUp.Value && _diLiftDown.Value;
        //    }
        //}

        public bool IsEnableMultiWaferSize
        {
            get
            {
                if (SC.ContainsItem("System.IsEnableMultiWaferSize"))
                    return SC.GetValue<bool>("System.IsEnableMultiWaferSize");
                return false;
            }
        }
        public bool SamallPinDisable
        {
            get
            {
                if (SC.ContainsItem("System.SamallPinDisable"))
                    return SC.GetValue<bool>("System.SamallPinDisable");
                return false;
            }
        }
        public bool Disable
        {
            get
            {
                if (SC.ContainsItem($"System.{Name}Disable"))
                {
                    return SC.GetValue<bool>($"System.{Name}Disable");
                }

                return false;
            }
        }
        public bool IsEnableMultiWaferSizeShow
        {
            get
            {
                if (SC.ContainsItem("System.IsEnableMultiWaferSizeShow"))
                    return SC.GetValue<bool>("System.IsEnableMultiWaferSizeShow");
                return false;
            }
        }
        public int CstSizeKind
        {
            get
            {
                return SC.GetValue<int>($"System.CstSizeKind");
            }
        }
        public LiftState Feedback3Inch
        {
            get
            {

                if (_di3InchExtend.Value && !_di3InchRetract.Value)
                    return LiftState.Up;
                if (!_di3InchExtend.Value && _di3InchRetract.Value)
                    return LiftState.Down;
                return LiftState.Unknown;
            }
        }

        public LiftState Feedback4Inch
        {
            get
            {
                //if (_di4InchExtend.Value && _di4InchRetract.Value)
                //    return LiftState.Error;
                if (_di4InchExtend.Value && !_di4InchRetract.Value)
                    return LiftState.Up;
                if (!_di4InchExtend.Value && _di4InchRetract.Value)
                    return LiftState.Down;
                //if (!_di4InchExtend.Value && !_di4InchRetract.Value)
                return LiftState.Unknown;
            }
        }
        public LiftState Feedback6Inch
        {
            get
            {
                //if (_di4InchExtend.Value && _di4InchRetract.Value)
                //    return LiftState.Error;
                if (_di6InchExtend !=null && _di6InchExtend.Value && !_di6InchRetract.Value)
                    return LiftState.Up;
                if (_di6InchExtend != null && !_di6InchExtend.Value && _di6InchRetract.Value)
                    return LiftState.Down;
                //if (!_di4InchExtend.Value && !_di4InchRetract.Value)
                return LiftState.Unknown;
            }
        }

        public LiftState FeedbackLift
        {
            get
            {
                //if (_diLiftUp.Value && _diLiftDown.Value)
                //    return LiftState.Error;
                if (_diLiftUp.Value && !_diLiftDown.Value)
                    return LiftState.Up;
                if (!_diLiftUp.Value && _diLiftDown.Value)
                    return LiftState.Down;
                //if (!_di3InchExtend.Value && !_di3InchRetract.Value)
                return LiftState.Unknown;
            }
        }
        public LiftState SetPoint3Inch
        {
            get
            {
                //if (_do3InchExtend.Value && _do3InchRetract.Value)
                //    return LiftState.Error;
                if (_do3InchExtend.Value && !_do3InchRetract.Value)
                    return LiftState.Up;
                if (!_do3InchExtend.Value && _do3InchRetract.Value)
                    return LiftState.Down;
                //if (!_do3InchExtend.Value && !_do3InchRetract.Value)
                return LiftState.Unknown;
            }
        }

        public LiftState SetPoint4Inch
        {
            get
            {
                //if (_do4InchExtend.Value && _do4InchRetract.Value)
                //    return LiftState.Error;
                if (_do4InchExtend.Value && !_do4InchRetract.Value)
                    return LiftState.Up;
                if (!_do4InchExtend.Value && _do4InchRetract.Value)
                    return LiftState.Down;
                //if (!_do4InchExtend.Value && !_do4InchRetract.Value)
                return LiftState.Unknown;
            }
        }
        public LiftState SetPoint6Inch
        {
            get
            {
                //if (_do4InchExtend.Value && _do4InchRetract.Value)
                //    return LiftState.Error;
                if (_do6InchExtend != null && _do6InchExtend.Value && !_do6InchRetract.Value)
                    return LiftState.Up;
                if (_do6InchExtend != null &&!_do6InchExtend.Value && _do6InchRetract.Value)
                    return LiftState.Down;
                //if (!_do4InchExtend.Value && !_do4InchRetract.Value)
                return LiftState.Unknown;
            }
        }

        public LiftState SetPointLift
        {
            get
            {
                //if (_doLiftUp.Value && _doLiftDown.Value)
                //    return LiftState.Error;
                if (_doLiftUp.Value && !_doLiftDown.Value)
                    return LiftState.Up;
                if (!_doLiftUp.Value && _doLiftDown.Value)
                    return LiftState.Down;
                //if (!_do3InchExtend.Value && !_do3InchRetract.Value)
                return LiftState.Unknown;
            }
        }

        public IoCoolingBuffer(string module, XmlElement node, string ioModule = "")
        {
            base.Module = string.IsNullOrEmpty(node.GetAttribute("module")) ? module : node.GetAttribute("module");
            base.Name = node.GetAttribute("id");
            base.Display = node.GetAttribute("display");
            base.DeviceID = node.GetAttribute("schematicId");

            WaferManager.Instance.SubscribeLocation(Module, 1);
            _diLiftUp = ParseDiNode("diLiftUp", node, ioModule);
            _diLiftDown = ParseDiNode("diLiftDown", node, ioModule);

            _di3InchExtend = ParseDiNode("diAligner1Extend", node, ioModule);
            _di3InchRetract = ParseDiNode("diAligner1Retract", node, ioModule);

            _di4InchExtend = ParseDiNode("diAligner2Extend", node, ioModule);
            _di4InchRetract = ParseDiNode("diAligner2Retract", node, ioModule);

            _di6InchExtend = ParseDiNode("diAligner3Extend", node, ioModule);
            _di6InchRetract = ParseDiNode("diAligner3Retract", node, ioModule);

            _doLiftUp = ParseDoNode("doLiftUp", node, ioModule);
            _doLiftDown = ParseDoNode("doLiftDown", node, ioModule);

            _do3InchExtend = ParseDoNode("doAligner1Extend", node, ioModule);
            _do3InchRetract = ParseDoNode("doAligner1Retract", node, ioModule);

            _do4InchExtend = ParseDoNode("doAligner2Extend", node, ioModule);
            _do4InchRetract = ParseDoNode("doAligner2Retract", node, ioModule);

            _do6InchExtend = ParseDoNode("doAligner3Extend", node, ioModule);
            _do6InchRetract = ParseDoNode("doAligner3Retract", node, ioModule);

            _scLiftUpTimeout = ParseScNode("scUpTimeout", node);
            _scLiftDownTimeout = ParseScNode("scDownTimeout", node);
        }
        public bool ManualOperation = false;

        public bool Initialize()
        {
            _state = DeviceState.Idle;
            if (Module == "System")
            {
                LOG.Write($"IoCoolingBuffer module is System.");
            }
            

            DATA.Subscribe($"{Module}.{Name}.Feedback3Inch", () => _di3InchExtend != null ? Feedback3Inch.ToString(): LiftState.Unknown.ToString());
            DATA.Subscribe($"{Module}.{Name}.Feedback4Inch", () => _di4InchExtend != null ? Feedback4Inch.ToString() : LiftState.Unknown.ToString()) ;
            DATA.Subscribe($"{Module}.{Name}.Feedback6Inch", () => _di6InchExtend !=null ? Feedback6Inch.ToString() : LiftState.Unknown.ToString());
            DATA.Subscribe($"{Module}.{Name}.FeedbackLift", () => FeedbackLift.ToString());

            DATA.Subscribe($"{Module}.{Name}.SetPoint3Inch", () => _do6InchExtend != null ? SetPoint3Inch.ToString() : LiftState.Unknown.ToString());
            DATA.Subscribe($"{Module}.{Name}.SetPoint4Inch", () => _do4InchExtend != null ? SetPoint4Inch.ToString() : LiftState.Unknown.ToString());
            DATA.Subscribe($"{Module}.{Name}.SetPoint6Inch", () => _do6InchExtend != null ? SetPoint6Inch.ToString() : LiftState.Unknown.ToString());
            DATA.Subscribe($"{Module}.{Name}.SetPointLift", () => SetPointLift.ToString());

            DATA.Subscribe($"{Module}.{Name}.Status", () => _state.ToString());
            DATA.Subscribe($"{Module}.{Name}.WaferSizeByWafer", () => WaferManager.Instance.GetWaferSize(ModuleHelper.Converter(Module), 0));//WaferManager.Instance.GetWafer(ModuleHelper.Converter(Module), 0).Size.ToString());
            DATA.Subscribe($"{Module}.{Name}.WaferSizeBySetPoint", () => waferSize.ToString());
          

            OP.Subscribe($"{Module}.{Name}.MoveUp3", (string reason, object[] param) =>
            {
                ManualOperation = true;
                reason = "";
                return Move(WaferSize.WS3, true, out reason);
            });
            OP.Subscribe($"{Module}.{Name}.MoveUp4", (string reason, object[] param) =>
            {
                ManualOperation = true;
                reason = "";
                return Move(WaferSize.WS4, true, out reason);
            });
            OP.Subscribe($"{Module}.{Name}.MoveUp6", (string reason, object[] param) =>
            {
                ManualOperation = true;
                reason = "";
                return Move(WaferSize.WS6, true, out reason);
            });
            OP.Subscribe($"{Module}.{Name}.MoveUpLift", (string reason, object[] param) =>
            {
                ManualOperation = true;
                reason = "";
                return Move(WaferSize.WS8, true, out reason);
            });


            OP.Subscribe($"{Module}.{Name}.MoveDown3", (string reason, object[] param) =>
            {
                ManualOperation = true;
                reason = "";
                return Move(WaferSize.WS3, false, out reason);
            });

            OP.Subscribe($"{Module}.{Name}.MoveDown4", (string reason, object[] param) =>
            {
                ManualOperation = true;
                reason = "";
                return Move(WaferSize.WS4, false, out reason);
            });
            OP.Subscribe($"{Module}.{Name}.MoveDown6", (string reason, object[] param) =>
            {
                ManualOperation = true;
                reason = "";
                return Move(WaferSize.WS6, false, out reason);
            });

            OP.Subscribe($"{Module}.{Name}.MoveDownLift", (string reason, object[] param) =>
            {
                ManualOperation = true;
                reason = "";
                return Move(WaferSize.WS8, false, out reason);
            });
            return true;
        }
        public WaferSize waferSize
        {
            get
            {
                if (CstSizeKind == 1)
                {
                    WaferSize size = WaferSize.WS0;
                    switch (_size)
                    {
                        case WaferSize.WS4:
                            size = WaferSize.WS3;
                            break;
                        case WaferSize.WS6:
                            size = WaferSize.WS4;
                            break;
                        case WaferSize.WS8:
                            size = WaferSize.WS6;
                            break;
                    }
                    return size;
                }
                return _size;
            }
        }

        public void Monitor()
        {
            if (SC.ContainsItem($"System.{Name}Disable"))
            {
                if (SC.GetValue<bool>($"System.{Name}Disable"))
                {
                    _state = DeviceState.Disable;
                    return;
                }
                else
                {
                    if(_state == DeviceState.Disable)
                        _state = DeviceState.Idle;
                }
            }
            if (IsEnableMultiWaferSize)
            {
                switch (_state)
                {
                    case DeviceState.MovingUp:
                        if (ManualOperation||!IsEnableMultiWaferSizeShow)
                        {
                            switch (_size)
                            {
                                case WaferSize.WS0:
                                case WaferSize.WS8:
                                    {
                                        if (CheckPinUp())
                                        {
                                            LOG.Write($"state:{_state.ToString()}");
                                            _state = DeviceState.Idle;
                                            ManualOperation = false;
                                        }
                                        else
                                        {
                                            if (_timer.IsTimeout())
                                            {
                                                EV.PostAlarmLog(Module, $"{Module} {Name} LiftPin Can not move up in {_scLiftUpTimeout.IntValue} seconds");
                                                _state = DeviceState.Error;
                                                ManualOperation = false;
                                            }
                                            else
                                            {
                                                if (CheckPinUp())
                                                {
                                                    //Set3InchDown(out _);
                                                    //Set4InchDown(out _);
                                                }
                                            }
                                        }
                                    }
                                    break;
                                case WaferSize.WS6:
                                    {
                                        if (Check6InchUp())
                                        {
                                            LOG.Write($"state:{_state.ToString()}");
                                            _state = DeviceState.Idle;
                                            ManualOperation = false;
                                        }
                                        else
                                        {
                                            if (_timer.IsTimeout())
                                            {
                                                EV.PostAlarmLog(Module, $"{Module} {Name} 6InchPin Can not move up in {_scLiftUpTimeout.IntValue} seconds");
                                                _state = DeviceState.Error;
                                                ManualOperation = false;
                                            }
                                            else
                                            {
                                                if (Check6InchUp())
                                                {
                                                    //Set3InchDown(out _);
                                                    //Set4InchDown(out _);
                                                }
                                            }
                                        }
                                    }
                                    break;


                                case WaferSize.WS4:
                                    {
                                        if (Check4InchUp())
                                        {
                                            LOG.Write($"state:{_state.ToString()}");
                                            _state = DeviceState.Idle;
                                            ManualOperation = false;
                                        }
                                        else
                                        {
                                            if (_timer.IsTimeout())
                                            {
                                                EV.PostAlarmLog(Module, $"{Module} {Name} 4InchPin Can not move up in {_scLiftUpTimeout.IntValue} seconds");
                                                _state = DeviceState.Error;
                                                ManualOperation = false;
                                            }
                                            else
                                            {
                                                if (Check4InchUp())
                                                {
                                                    //Set3InchDown(out _);
                                                    //Set4InchDown(out _);
                                                }
                                            }
                                        }
                                    }
                                    break;
                            }             
                        }
                        else
                        {
                            if (CheckPinUp() /*&& Check3InchDown() && Check4InchDown()*/)
                            {
                                LOG.Write($"state:{_state.ToString()}");
                                _state = DeviceState.Idle;
                            }
                            else
                            {
                                if (_timer.IsTimeout())
                                {
                                    EV.PostAlarmLog(Module, $"{Module} {Name} Can not move up in {_scLiftUpTimeout.IntValue} seconds");
                                    _state = DeviceState.Error;
                                }
                                else
                                {
                                    if (CheckPinUp())
                                    {
                                        //Set3InchDown(out _);
                                        //Set4InchDown(out _);
                                    }
                                }
                            }
                        }
                        break;
                    case DeviceState.MovingDown:
                        if (ManualOperation ||!IsEnableMultiWaferSizeShow)
                        {
                            switch (_size)
                            {
                                case WaferSize.WS0:
                                case WaferSize.WS8:
                                    {
                                        if (CheckPinDown())
                                        {
                                            LOG.Write($"state:{_state.ToString()}");
                                            _state = DeviceState.Idle;
                                            ManualOperation = false;
                                        }
                                        else
                                        {
                                            if (_timer.IsTimeout())
                                            {
                                                EV.PostAlarmLog(Module, $"{Module} {Name} LiftPin Can not move down in {_scLiftUpTimeout.IntValue} seconds");
                                                _state = DeviceState.Error;
                                                ManualOperation = false;
                                            }
                                            else
                                            {
                                                if (CheckPinDown())
                                                {
                                                    //Set3InchDown(out _);
                                                    //Set4InchDown(out _);
                                                }
                                            }
                                        }
                                    }
                                    break;
                                case WaferSize.WS6:
                                    {
                                        if (Check6InchDown())
                                        {
                                            LOG.Write($"state:{_state.ToString()}");
                                            _state = DeviceState.Idle;
                                            ManualOperation = false;
                                        }
                                        else
                                        {
                                            if (_timer.IsTimeout())
                                            {
                                                EV.PostAlarmLog(Module, $"{Module} {Name} 6InchPin Can not move down in {_scLiftUpTimeout.IntValue} seconds");
                                                _state = DeviceState.Error;
                                                ManualOperation = false;
                                            }
                                            else
                                            {
                                                if (Check6InchDown())
                                                {
                                                    //Set3InchDown(out _);
                                                    //Set4InchDown(out _);
                                                }
                                            }
                                        }
                                    }
                                    break;


                                case WaferSize.WS4:
                                    {
                                        if (Check4InchDown())
                                        {
                                            LOG.Write($"state:{_state.ToString()}");
                                            _state = DeviceState.Idle;
                                            ManualOperation = false;
                                        }
                                        else
                                        {
                                            if (_timer.IsTimeout())
                                            {
                                                EV.PostAlarmLog(Module, $"{Module} {Name} 4InchPin Can not move down in {_scLiftUpTimeout.IntValue} seconds");
                                                _state = DeviceState.Error;
                                                ManualOperation = false;
                                            }
                                            else
                                            {
                                                if (Check4InchDown())
                                                {
                                                    //Set3InchDown(out _);
                                                    //Set4InchDown(out _);
                                                }
                                            }
                                        }
                                    }
                                    break;
                            }
                           
                        }
                        else
                        {
                            bool guided = CheckGuided(_size);
                            if (CheckPinDown() && guided) 
                            {
                                _state = DeviceState.Idle;

                            }
                            else
                            {
                                if (_timer.IsTimeout())
                                {
                                    EV.PostAlarmLog(Module, $"{Module} {Name} Can not move down in {_scLiftUpTimeout.IntValue} seconds");
                                    _state = DeviceState.Error;
                                }
                                else
                                {
                                    if (guided)
                                    {
                                        SetPinDown(out _);
                                    }
                                }
                            }
                        }
                        break;

                    case DeviceState.Homing:
                        if (IsEnableMultiWaferSizeShow)
                        {  
                            if (!SamallPinDisable)
                            {
                                if (Check6InchDown() && CheckPinDown())
                                    //if(CheckPinDown())
                                    _state = DeviceState.Idle;
                            }
                            else
                            {
                                if (Check4InchDown() && Check6InchDown() && CheckPinDown())
                                    //if(CheckPinDown())
                                    _state = DeviceState.Idle;
                            }
                        }
                        else
                        { 
                            if(CheckPinDown())
                            _state = DeviceState.Idle;
                        }
                        break;

                    default:
                        break;
                }
            }
            else
            {
                switch (_state)
                {
                    case DeviceState.MovingUp:
                        if (CheckPinUp() /*&& Check3InchDown() && Check4InchDown()*/)
                        {
                            LOG.Write($"{Module} move pin up complete");
                            LOG.Write($"state:{_state.ToString()}");
                            _state = DeviceState.Idle;
                        }
                        else
                        {
                            if (_timer.IsTimeout())
                            {
                                EV.PostAlarmLog(Module, $"{Module} {Name} Can not move up in {_scLiftUpTimeout.IntValue} seconds");
                                _state = DeviceState.Error;
                            }
                            else
                            {
                                if (CheckPinUp())
                                {
                                    //Set3InchDown(out _);
                                    //Set4InchDown(out _);
                                }
                            }
                        }
                        break;
                    case DeviceState.MovingDown:
                        // bool guided = CheckGuided(_size);
                        if (CheckPinDown()) //&& guided)
                        {
                            LOG.Write($"{Module} move pin down complete");
                            LOG.Write($"state:{_state.ToString()}");
                            _state = DeviceState.Idle;
                        }
                        else
                        {
                            if (_timer.IsTimeout())
                            {
                                EV.PostAlarmLog(Module, $"{Module} {Name} Can not move down in {_scLiftUpTimeout.IntValue} seconds");
                                _state = DeviceState.Error;
                            }
                            else
                            {
                                if (CheckPinDown())
                                {
                                }
                                //if (guided)
                                //{
                                //    SetPinDown(out _);
                                //}
                            }
                        }
                        break;

                    case DeviceState.Homing:
                        //if (Check3InchDown() && Check4InchDown() && CheckPinDown())
                        if (CheckPinDown())
                            _state = DeviceState.Idle;
                        break;

                    default:
                        break;
                }
            }

        }

        public void Terminate()
        {
        }

        public bool Home(out string reason)
        {
            ModuleName _module;
            if (!Enum.TryParse<ModuleName>(Module, out _module))
            {
                reason = $"{Module} isn't exist";
                return false;
            }
            if (_state != DeviceState.Error && _state != DeviceState.Idle)
            {
                reason = $"{Module} is in {_state} state.";
                return false;
            }
            if (_state == DeviceState.Disable)
            {
                reason = string.Empty;
                return true;
            }
            WaferInfo info = WaferManager.Instance.GetWafer(_module, 0);
            if (IsEnableMultiWaferSize && IsEnableMultiWaferSizeShow)
            {
               if(SamallPinDisable)
                  _do4InchExtend.SetValue(false, out reason);
                if(_do6InchExtend!=null)
                  _do6InchExtend.SetValue(false, out reason);
                _doLiftUp.SetValue(false, out reason);
               
                if (SamallPinDisable)
                    _do4InchRetract.SetValue(true, out reason);
                if (_do6InchRetract != null)
                    _do6InchRetract.SetValue(true, out reason);
                _doLiftDown.SetValue(true, out reason);
            }
            else
            {  //_do3InchExtend.SetValue(false, out reason);
               //_do4InchExtend.SetValue(false, out reason);
                _doLiftUp.SetValue(false, out reason);

                //_do3InchRetract.SetValue(true, out reason);
                //_do4InchRetract.SetValue(true, out reason);
                _doLiftDown.SetValue(true, out reason);
            }

            _state = DeviceState.Homing;
            return true;
        }

        public bool Move(WaferSize size, bool up, out string reason)
        {
            _size = size;
            if(CstSizeKind==1)
            {
                switch(size)
                {
                    case WaferSize.WS3:
                        _size = WaferSize.WS4;
                        break;
                    case WaferSize.WS4:
                        _size = WaferSize.WS6;
                        break;
                    case WaferSize.WS6:
                        _size = WaferSize.WS8;
                        break;
                }
            }
            if (up)
            {   
                return MoveUp(out reason);
            }

            return MoveDown(out reason);
        }

        public bool Check3InchUp() { return Feedback3Inch == LiftState.Up; }
        public bool Check3InchDown() { return Feedback3Inch == LiftState.Down; }
        public bool Check4InchUp() { return Feedback4Inch == LiftState.Up; }
        public bool Check4InchDown() { return Feedback4Inch == LiftState.Down; }

        public bool Check6InchUp() { return Feedback6Inch == LiftState.Up; }
        public bool Check6InchDown() { return Feedback6Inch == LiftState.Down; }
        public bool CheckPinUp() { return FeedbackLift == LiftState.Up; }
        public bool CheckPinDown() { return FeedbackLift == LiftState.Down; }

        private bool Set3InchUp(out string reason)
        {
            if (SetPoint3Inch != LiftState.Up)
                EV.PostInfoLog(Module, $"{Module} move 3 inch up");
            return _do3InchExtend.SetValue(true, out reason) && _do3InchRetract.SetValue(false, out reason);
        }

        private bool Set3InchDown(out string reason)
        {
            if (SetPoint3Inch != LiftState.Down)
                EV.PostInfoLog(Module, $"{Module} move 3 inch down");
            return _do3InchExtend.SetValue(false, out reason) && _do3InchRetract.SetValue(true, out reason);
        }

        private bool Set4InchUp(out string reason)
        {
            if (SetPoint4Inch != LiftState.Up)
                EV.PostInfoLog(Module, $"{Module} move 4 inch up");
            return _do4InchExtend.SetValue(true, out reason) && _do4InchRetract.SetValue(false, out reason);
        }

        private bool Set4InchDown(out string reason)
        {
            if (SetPoint4Inch != LiftState.Down)
                EV.PostInfoLog(Module, $"{Module} move 4 inch down");
            return _do4InchExtend.SetValue(false, out reason) && _do4InchRetract.SetValue(true, out reason);
        }
        private bool Set6InchUp(out string reason)
        {
            if (SetPoint6Inch != LiftState.Up)
                EV.PostInfoLog(Module, $"{Module} move 6 inch up");
            return _do6InchExtend.SetValue(true, out reason) && _do6InchRetract.SetValue(false, out reason);
        }

        private bool Set6InchDown(out string reason)
        {
            if (SetPoint6Inch != LiftState.Down)
                EV.PostInfoLog(Module, $"{Module} move 6 inch down");
            return _do6InchExtend.SetValue(false, out reason) && _do6InchRetract.SetValue(true, out reason);
        }
        private bool SetPinUp(out string reason)
        {
            if (SetPointLift != LiftState.Up)
                EV.PostInfoLog(Module, $"{Module} move pin up");
            return _doLiftDown.SetValue(false, out reason) && _doLiftUp.SetValue(true, out reason);
        }

        private bool SetPinDown(out string reason)
        {
            if (SetPointLift != LiftState.Down)
                EV.PostInfoLog(Module, $"{Module} move pin down");
            return _doLiftUp.SetValue(false, out reason) && _doLiftDown.SetValue(true, out reason);
        }

        public bool CheckMovedUp()
        {
            // return CheckPinUp() && Check3InchDown() && Check4InchDown();
            return CheckPinUp();
        }

        public bool CheckMovedDown()
        {
            return CheckPinDown(); //&& CheckGuided(_size);
        }

        private bool CheckGuided(WaferSize size)
        {
            bool guided = false;
            switch (_size)
            {
                case WaferSize.WS0:
                case WaferSize.WS8:
                    {  
                        if (!SamallPinDisable)
                            guided = Check6InchDown();
                        else
                            guided = Check6InchDown() && Check4InchDown();
                    }
                    break;
                case WaferSize.WS6:
                    {
                        if (!SamallPinDisable)
                            guided = Check6InchUp();
                        else
                            guided = Check6InchUp() && Check4InchDown();
                    }
                    break;
                case WaferSize.WS3:
                    {
                        guided = Check3InchUp() && Check4InchDown();
                    }
                    break;
                case WaferSize.WS4:
                    {
                        guided = Check6InchDown() && Check4InchUp();
                    }
                    break;
            }

            return guided;
        }

        private bool MoveUp(out string reason)
        {   
            reason = string.Empty;

            bool ret = true;
            if (IsEnableMultiWaferSize)
            {
                if (ManualOperation|| !IsEnableMultiWaferSizeShow)
                {
                    switch (_size)
                    {
                        case WaferSize.WS0:
                        case WaferSize.WS8:
                            {
                                if (!SetPinUp(out reason))
                                {
                                    ret = false;
                                }
                            }
                            break;
                        case WaferSize.WS6:
                            {
                                if (!Set6InchUp(out reason))
                                {
                                    ret = false;
                                }
                            }
                            break;
                        case WaferSize.WS3:
                            {
                                if (!Set3InchUp(out reason))
                                {
                                    ret = false;
                                }
                            }
                            break;
                        case WaferSize.WS4:
                            {
                                if (!Set4InchUp(out reason))
                                {
                                    ret = false;
                                }
                            }
                            break;
                    }
                       
                }
                else
                {
                    switch (_size)
                    {
                        case WaferSize.WS0:
                        case WaferSize.WS8:
                            {
                                if ((SamallPinDisable&&!Set4InchDown(out reason)) || !Set6InchDown(out reason) || !SetPinUp(out reason))
                                {
                                    ret = false;
                                }
                            }
                            break;
                        case WaferSize.WS6:
                            {
                                if ((SamallPinDisable&&!Set4InchDown(out reason)) || !Set6InchUp(out reason) || !SetPinUp(out reason))
                                {
                                    ret = false;
                                }
                            }
                            break;
                        case WaferSize.WS3:
                            {
                                if (!SetPinUp(out reason))//!Set3InchUp(out reason) || !Set4InchDown(out reason) || !SetPinUp(out reason))
                                {
                                    ret = false;
                                }
                            }
                            break;
                        case WaferSize.WS4:
                            {
                                if (!Set6InchDown(out reason) || (!Set4InchUp(out reason)) || !SetPinUp(out reason))
                                {
                                    ret = false;
                                }
                            }
                            break;

                    }
                    // ManualOperation = false;
                }
                LOG.Write($"ret:{ret}");
                if (!ret)
                    return false;

                _timer.Start(_scLiftUpTimeout.IntValue * 1000);
                _state = DeviceState.MovingUp;
            }
            else
            {
                switch (_size)
                {
                    case WaferSize.WS0:
                    case WaferSize.WS8:
                    case WaferSize.WS6:
                        {
                            if (!SetPinUp(out reason))//!Set3InchDown(out reason) || !Set4InchDown(out reason) || !SetPinUp(out reason))
                            {
                                ret = false;
                            }
                        }
                        break;
                    case WaferSize.WS3:
                        {
                            if (!SetPinUp(out reason))//!Set3InchUp(out reason) || !Set4InchDown(out reason) || !SetPinUp(out reason))
                            {
                                ret = false;
                            }
                        }
                        break;
                    case WaferSize.WS4:
                        {
                            if (!SetPinUp(out reason))//!Set3InchDown(out reason) || !Set4InchUp(out reason) || !SetPinUp(out reason))
                            {
                                ret = false;
                            }
                        }
                        break;

                }
                LOG.Write($"ret:{ret}");
                if (!ret)
                    return false;

                _timer.Start(_scLiftUpTimeout.IntValue * 1000);
                _state = DeviceState.MovingUp;
            }
            return true;
        }


        private bool MoveDown(out string reason)
        {
            reason = string.Empty;

            bool ret = true;
            if (IsEnableMultiWaferSize)
            {
                if (ManualOperation|| !IsEnableMultiWaferSizeShow)
                {
                    switch (_size)
                    {
                        case WaferSize.WS0:
                        case WaferSize.WS8:
                            {
                                if (!SetPinDown(out reason))
                                {
                                    ret = false;
                                }
                            }
                            break;
                        case WaferSize.WS6:
                            {
                                if (!Set6InchDown(out reason))
                                {
                                    ret = false;
                                }
                            }
                            break;
                        case WaferSize.WS3:
                            {
                                if (!SetPinDown(out reason))//!Set3InchUp(out reason) || Set4InchDown(out reason)||!SetPinDown(out reason))
                                {
                                    ret = false;
                                }
                            }
                            break;
                        case WaferSize.WS4:
                            {
                                if (!Set4InchDown(out reason))
                                {
                                    ret = false;
                                }
                            }
                            break;
                    }
                }
                else
                {
                    switch (_size)
                    {
                        case WaferSize.WS0:
                        case WaferSize.WS8:
                            {
                                if ((SamallPinDisable&&!Set4InchDown(out reason)) || !Set6InchDown(out reason) || !SetPinDown(out reason))
                                {
                                    ret = false;
                                }
                            }
                            break;
                        case WaferSize.WS6:
                            {
                                if (!Set6InchUp(out reason) ||(SamallPinDisable&&!Set4InchDown(out reason)) || !SetPinDown(out reason))
                                {
                                    ret = false;
                                }
                            }
                            break;
                        case WaferSize.WS3:
                            {
                                if (!SetPinDown(out reason))//!Set3InchUp(out reason) || Set4InchDown(out reason)||!SetPinDown(out reason))
                                {
                                    ret = false;
                                }
                            }
                            break;
                        case WaferSize.WS4:
                            {
                                if ((!Set4InchUp(out reason)) || !Set6InchDown(out reason) || !SetPinDown(out reason))
                                {
                                    ret = false;
                                }
                            }
                            break;
                    }
                  
                    //ManualOperation = false;
                }
                LOG.Write($"ret:{ret}");
                if (!ret)
                    return false;

                _timer.Start(_scLiftDownTimeout.IntValue * 1000);

                _state = DeviceState.MovingDown;
            }
            else
            {
                switch (_size)
                {
                    case WaferSize.WS0:
                    case WaferSize.WS8:
                    case WaferSize.WS6:
                        {
                            if (!SetPinDown(out reason)) //(!Set3InchDown(out reason) || !Set4InchDown(out reason)||!SetPinDown(out reason))
                            {
                                ret = false;
                            }
                        }
                        break;
                    case WaferSize.WS3:
                        {
                            if (!SetPinDown(out reason))//!Set3InchUp(out reason) || Set4InchDown(out reason)||!SetPinDown(out reason))
                            {
                                ret = false;
                            }
                        }
                        break;
                    case WaferSize.WS4:
                        {
                            if (!SetPinDown(out reason))//!Set4InchUp(out reason) || !Set3InchDown(out reason)||!SetPinDown(out reason))
                            {
                                ret = false;
                            }
                        }
                        break;
                }

                LOG.Write($"ret:{ret}");
                if (!ret)
                    return false;

                _timer.Start(_scLiftDownTimeout.IntValue * 1000);

                _state = DeviceState.MovingDown;
            }
            return true;
        }


        public void Reset()
        {
        }


    }
}