ZZ-EFEM/Framework/RTEquipmentLibrary1/HardwareUnits/Robots/JEL/JELC4400/JelBoffottEfem.cs

using System;
using System.Collections.Generic;
using System.IO.Ports;
using System.Linq;
using System.Text;
using Aitex.Core.Common.DeviceData;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Device.Unit;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using MECF.Framework.Common.Communications;
using MECF.Framework.Common.Device.Bases;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Common;
using Newtonsoft.Json;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using System.Threading;
using Aitex.Core.Common;
using Aitex.Core.RT.DataCenter;
using System.Text.RegularExpressions;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;
using MECF.Framework.Common.CommonData;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.WalkingAixs;
using Aitex.Core.RT.Routine;
using static MECF.Framework.RT.EquipmentLibrary.HardwareUnits.WalkingAixs.WalkingAxisBaseDevice;

namespace MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.JEL
{
    public class JelBoffottEfem : JelRobot, IConnection
    {

        public JelBoffottEfem(string module, string name, string scRoot,string model="",int armCount=2) :
            base(module, name, scRoot, model,armCount)
        {
        }


        protected override bool fClear(object[] param)
        {
            return true;
        }

        private int threshholdForThickWafer
        {
            get
            {
                if (SC.ContainsItem($"Robot.{RobotModuleName}.ThreshholdForThickWafer"))
                    return SC.GetValue<int>($"Robot.{RobotModuleName}.ThreshholdForThickWafer");
                return 1200;
            }
        }

        private bool _isMapThickWafer
        {
            get
            {
                if (string.IsNullOrEmpty(MappingWidthResult)) return true;
                string[] thicknessValues = MappingWidthResult.Split(',');
                foreach(var tvalue in thicknessValues)
                {
                    if (string.IsNullOrEmpty(tvalue)) continue;
                    int ivalue;
                    if (!int.TryParse(tvalue, out ivalue))
                        continue;

                    if (ivalue == 0) continue;

                    if(ivalue > threshholdForThickWafer) return true;
                }
                return false;
            }
        }



        protected override bool fStartMapWafer(object[] param)
        {
            ResetRoutine();

            ModuleName tempmodule = (ModuleName)Enum.Parse(typeof(ModuleName), param[0].ToString());
            _dtActionStart = DateTime.Now;
            return true;

        }

        protected override bool fMonitorMap(object[] param)
        {
            IsBusy = false;
            if (DateTime.Now - _dtActionStart > TimeSpan.FromSeconds(RobotCommandTimeout))
            {
                HandlerError("MapTimeout");
                return true;
            }

            ModuleName tempmodule = (ModuleName)Enum.Parse(typeof(ModuleName), CurrentParamter[0].ToString());


            RobotExecuteSearchThickness((int)JelStep.Step1);
            if (ExecuteResult.Item1)
            {
                return false;
            }
            WaitRobotCompleteMove((int)JelStep.Step2, "Wait robot complete thickness search", RobotCommandTimeout);
            if (ExecuteResult.Item1)
            {
                return false;
            }
            RobotExecuteMap((int)JelStep.Step3);
            if (ExecuteResult.Item1)
            {
                return false;
            }
            WaitRobotCompleteMove((int)JelStep.Step4, "Wait robot complete mapping", RobotCommandTimeout);
            if (ExecuteResult.Item1)
            {
                return false;
            }

            EV.PostInfoLog("Robot", $"{RobotModuleName} Map {tempmodule} complete. ");
            return true;
        }



        protected void RobotExecutePickReady(int id)
        {
            Tuple<bool, Result> ret = Execute(id, () =>
            {
                RobotArmEnum arm = (RobotArmEnum)CurrentParamter[0];
                ModuleName tempmodule = (ModuleName)Enum.Parse(typeof(ModuleName), CurrentParamter[1].ToString());

                int slotindex = int.Parse(CurrentParamter[2].ToString());

                var wz = WaferManager.Instance.GetWaferSize(tempmodule, slotindex);
                int wzindex = 0;
                if (wz == WaferSize.WS12) wzindex = 12;
                if (wz == WaferSize.WS8) wzindex = 8;
                if (wz == WaferSize.WS6) wzindex = 6;
                if (wz == WaferSize.WS4) wzindex = 4;
                if (wz == WaferSize.WS3) wzindex = 3;

                if (ModuleHelper.IsLoadPort(tempmodule))
                {
                    var lp = DEVICE.GetDevice<LoadPortBaseDevice>(tempmodule.ToString());
                    wzindex = lp.InfoPadCarrierIndex;
                }

                int bankno = SC.GetValue<int>($"CarrierInfo.{tempmodule}BankNumber{wzindex}");
                int cassetteNO = SC.GetValue<int>($"CarrierInfo.{tempmodule}CassetteNumber{wzindex}");

                int compaundcmdNO = SC.GetValue<int>($"Robot.{Name}.{arm}PickReadyCmdNO");
                lock (_locker)
                {
                    _lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "BC", bankno.ToString("X")));
                    _lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "WCP", cassetteNO.ToString()));
                    _lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "WCD", (slotindex + 1).ToString()));
                    _lstMonitorHandler.AddLast(new JelRobotCompaundCommandHandler(this, compaundcmdNO.ToString()));
                    _lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "G"));
                }
                Blade1Target = tempmodule;
                Blade2Target = tempmodule;

                CmdTarget = tempmodule;
                MoveInfo = new RobotMoveInfo()
                {
                    Action = RobotAction.Picking,
                    ArmTarget = CmdRobotArm == RobotArmEnum.Lower ? RobotArm.ArmA : RobotArm.ArmB,
                    BladeTarget = BuildBladeTarget(),
                };


                return true;
            });

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    OnError($"{RobotModuleName}GoPickReadyError.");
                }
            }
        }
        protected void RobotExecuteSearchThickness(int id)
        {
            Tuple<bool, Result> ret = Execute(id, () =>
            {

                ModuleName tempmodule = (ModuleName)Enum.Parse(typeof(ModuleName), CurrentParamter[0].ToString());
                EV.PostInfoLog($"{RobotModuleName}", $"Start mapping wafer thickness on {tempmodule}.");
                int carrierindex = 0;

                if (ModuleHelper.IsLoadPort(tempmodule))
                {
                    var lp = DEVICE.GetDevice<LoadPortBaseDevice>(tempmodule.ToString());
                    carrierindex = lp.InfoPadCarrierIndex;
                }
                WaferSize wz = WaferManager.Instance.GetWaferSize(tempmodule, 0);
                int bankno;
                int cassetteNO;
                if (!GetBankAndCassetteNumber(tempmodule, wz, out bankno, out cassetteNO))
                {
                    EV.PostAlarmLog("Robot", $"{RobotModuleName} can't find the bankno or cassette no for {tempmodule}");
                    return false;
                }
                int compaundcmdNO = SC.GetValue<int>($"Robot.{Name}.{tempmodule}SearchThicknessCmdNO");
                lock (_locker)
                {
                    _lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "BC", bankno.ToString("X")));
                    _lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "WCP", cassetteNO.ToString()));
                    _lstMonitorHandler.AddLast(new JelRobotCompaundCommandHandler(this, compaundcmdNO.ToString()));
                    _lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "G"));
                    _lstMonitorHandler.AddLast(new JelRobotReadHandler(this, ""));
                    _lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "WFW"));
                    //_lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "WFK"));
                }

                Blade1Target = tempmodule;
                Blade2Target = tempmodule;



                CmdTarget = tempmodule;
                MoveInfo = new RobotMoveInfo()
                {
                    Action = RobotAction.Picking,
                    ArmTarget = CmdRobotArm == RobotArmEnum.Lower ? RobotArm.ArmA : RobotArm.ArmB,
                    BladeTarget = BuildBladeTarget(),
                };

                return true;
            });

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    OnError($"{RobotModuleName}MappingError.");
                }
            }
        }


        protected void RobotExecuteMap(int id)
        {
            Tuple<bool, Result> ret = Execute(id, () =>
            {

                ModuleName tempmodule = (ModuleName)Enum.Parse(typeof(ModuleName), CurrentParamter[0].ToString());
                EV.PostInfoLog($"{RobotModuleName}", $"Start mapping wafer on {tempmodule}.");
                int carrierindex = 0;

                if (ModuleHelper.IsLoadPort(tempmodule))
                {
                    var lp = DEVICE.GetDevice<LoadPortBaseDevice>(tempmodule.ToString());
                    carrierindex = lp.InfoPadCarrierIndex;
                }
                WaferSize wz = WaferManager.Instance.GetWaferSize(tempmodule, 0);
                int bankno;
                int cassetteNO;
                if (!GetBankAndCassetteNumber(tempmodule, wz, out bankno, out cassetteNO))
                {
                    EV.PostAlarmLog("Robot", $"{RobotModuleName} can't find the bankno or cassette no for {tempmodule}");
                    return false;
                }

                int compaundcmdNO = SC.GetValue<int>($"Robot.{Name}.ThinWaferMapCmdNO");
                if(_isMapThickWafer)
                    compaundcmdNO = SC.GetValue<int>($"Robot.{Name}.ThickWaferMapCmdNO");
                lock (_locker)
                {
                    _lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "BC", bankno.ToString("X")));
                    _lstMonitorHandler.AddLast(new JelRobotSetHandler(this, "WCP", cassetteNO.ToString()));

                    _lstMonitorHandler.AddLast(new JelRobotCompaundCommandHandler(this, compaundcmdNO.ToString()));
                    _lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "G"));
                    _lstMonitorHandler.AddLast(new JelRobotReadHandler(this, ""));
                    _lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "WFW"));
                    _lstMonitorHandler.AddLast(new JelRobotReadHandler(this, "WFK"));
                }

                Blade1Target = tempmodule;
                Blade2Target = tempmodule;



                CmdTarget = tempmodule;
                MoveInfo = new RobotMoveInfo()
                {
                    Action = RobotAction.Picking,
                    ArmTarget = CmdRobotArm == RobotArmEnum.Lower ? RobotArm.ArmA : RobotArm.ArmB,
                    BladeTarget = BuildBladeTarget(),
                };

                return true;
            });

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    OnError($"{RobotModuleName}MappingError.");
                }
            }
        }



        public void WaitRobotCompleteMove(int id, string name, int time)
        {
            var ret = ExecuteAndWait(id, () =>
            {
                EV.PostInfoLog($"{RobotModuleName}", name);
                return true;
            }, () =>
            {
                if (_lstMonitorHandler.Count > 0 || _connection.IsBusy)
                {
                    return Result.RUN;
                }
                if (CurrentCompoundCommandStatus == JelCommandStatus.InError)
                    return Result.FAIL;
                if (CurrentCompoundCommandStatus == JelCommandStatus.NormalEnd)
                {
                    Blade1Target = ModuleName.System;
                    Blade2Target = ModuleName.System;
                    CmdTarget = ModuleName.System;
                    MoveInfo = new RobotMoveInfo()
                    {
                        Action = RobotAction.Moving,
                        ArmTarget = CmdRobotArm == RobotArmEnum.Lower ? RobotArm.ArmA : RobotArm.ArmB,
                        BladeTarget = BuildBladeTarget(),
                    };
                    return Result.DONE;
                }


                return Result.RUN;
            }, time * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    OnError(string.Format("{0} occurred error", name));
                }

                if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    OnError(string.Format("{0} timeout, than {1} seconds", name, time));

                }
            }

        }




        protected DeviceTimer counter = new DeviceTimer();
        protected DeviceTimer delayTimer = new DeviceTimer();

        private enum STATE
        {
            IDLE,
            WAIT,
        }

        public int TokenId
        {
            get { return _id; }
        }
        private int _id;         //step index

        private int _currentTokenId = -1;
        /// <summary>
        /// already done steps
        /// </summary>
        private Stack<int> _steps = new Stack<int>();

        private STATE state;    //step state //idel,wait,

        //loop control
        private int loop = 0;
        private int loopCount = 0;
        private int loopID = 0;

        private DeviceTimer timer = new DeviceTimer();

        public int LoopCounter { get { return loop; } }
        public int LoopTotalTime { get { return loopCount; } }

        // public int Timeout { get { return (int)(timer.GetTotalTime() / 1000); } }

        //状态持续时间，单位为秒
        public int Elapsed { get { return (int)(timer.GetElapseTime() / 1000); } }

        protected RoutineResult RoutineToken = new RoutineResult() { Result = RoutineState.Running };

        protected Tuple<bool, Result> ExecuteResult;

        public void ResetRoutine()
        {
            _id = 0;
            _steps.Clear();

            loop = 0;
            loopCount = 0;

            state = STATE.IDLE;
            counter.Start(60 * 60 * 100);   //默认1小时

            RoutineToken.Result = RoutineState.Running;
            _currentTokenId = -1;
            ExecuteResult = Tuple.Create(false, Result.DONE);
        }

        protected void PerformRoutineStep(int id, Func<RoutineState> execution, RoutineResult result)
        {
            if (!Acitve(id))
                return;

            result.Result = execution();
        }



        #region interface

        public void StopLoop()
        {
            loop = loopCount;
        }

        public Tuple<bool, Result> Loop<T>(T id, Func<bool> func, int count)
        {
            int idx = Convert.ToInt32(id);
            bool bActive = Acitve(idx);

            if (bActive)
            {
                if (!func())
                {
                    return Tuple.Create(bActive, Result.FAIL);   //执行错误
                }

                loopID = idx;
                loopCount = count;

                next();
                return Tuple.Create(true, Result.RUN);
            }

            return Tuple.Create(false, Result.RUN);
        }

        public Tuple<bool, Result> EndLoop<T>(T id, Func<bool> func)
        {
            int idx = Convert.ToInt32(id);
            bool bActive = Acitve(idx);

            if (bActive)
            {
                if (++loop >= loopCount)   //Loop 结束
                {
                    if (!func())
                    {
                        return Tuple.Create(bActive, Result.FAIL);   //执行错误
                    }

                    loop = 0;
                    loopCount = 0;  // Loop 结束时，当前loop和loop总数都清零

                    next();
                    return Tuple.Create(true, Result.RUN);
                }

                //继续下一LOOP

                next(loopID);

                return Tuple.Create(true, Result.RUN);
            }

            return Tuple.Create(false, Result.RUN);
        }

        public Tuple<bool, Result> ExecuteAndWait<T>(T id, IRoutine routine)
        {
            int idx = Convert.ToInt32(id);
            bool bActive = Acitve(idx);

            if (bActive)
            {
                if (state == STATE.IDLE)
                {
                    Result startRet = routine.Start();
                    if (startRet == Result.FAIL)
                    {
                        return Tuple.Create(true, Result.FAIL);   //执行错误
                    }
                    else if (startRet == Result.DONE)
                    {
                        next();
                        return Tuple.Create(true, Result.DONE);
                    }
                    state = STATE.WAIT;
                }

                Result ret = routine.Monitor();

                if (ret == Result.DONE)
                {
                    next();
                    return Tuple.Create(true, Result.DONE);
                }
                else if (ret == Result.FAIL || ret == Result.TIMEOUT)
                {
                    return Tuple.Create(true, Result.FAIL);
                }
                else
                {
                    return Tuple.Create(true, Result.RUN);
                }

            }

            return Tuple.Create(false, Result.RUN);
        }


        public Tuple<bool, Result> ExecuteAndWait<T>(T id, List<IRoutine> routines)
        {
            int idx = Convert.ToInt32(id);
            bool bActive = Acitve(idx);

            if (bActive)
            {
                if (state == STATE.IDLE)
                {
                    foreach (var item in routines)
                    {
                        if (item.Start() == Result.FAIL)
                            return Tuple.Create(true, Result.FAIL);
                    }

                    state = STATE.WAIT;
                }
                //wait all sub failed or completedboo

                bool bFail = false;
                bool bDone = true;

                foreach (var item in routines)
                {
                    Result ret = item.Monitor();

                    bDone &= (ret == Result.FAIL || ret == Result.DONE);
                    bFail |= ret == Result.FAIL;
                }

                if (bDone)
                {
                    next();

                    if (bFail)
                        return Tuple.Create(true, Result.FAIL);

                    return Tuple.Create(true, Result.DONE);
                }
                return Tuple.Create(true, Result.RUN);
            }

            return Tuple.Create(false, Result.RUN);
        }



        public Tuple<bool, Result> Check<T>(T id, Func<bool> func)   //顺序执行
        {
            return Check(Check(Convert.ToInt32(id), func));
        }

        public Tuple<bool, Result> Execute<T>(T id, Func<bool> func)   //顺序执行
        {
            return Check(execute(Convert.ToInt32(id), func));
        }

        public Tuple<bool, Result> Wait<T>(T id, Func<bool> func, double timeout = int.MaxValue)  //Wait condition
        {
            return Check(wait(Convert.ToInt32(id), func, timeout));
        }

        public Tuple<bool, Result> Wait<T>(T id, Func<bool?> func, double timeout = int.MaxValue)  //Wait condition
        {
            return Check(wait(Convert.ToInt32(id), func, timeout));
        }

        public Tuple<bool, Result> ExecuteAndWait<T>(T id, Func<bool> execute, Func<Result?> check, double timeout = int.MaxValue)
        {
            int idx = Convert.ToInt32(id);
            bool bActive = Acitve(idx);
            Result? bExecute = Result.RUN;
            if (bActive)
            {
                //if (idx != _currentTokenId && ExecuteResult.Item1) return ExecuteResult;

                if (state == STATE.IDLE)
                {
                    if (!execute())
                    {
                        ExecuteResult = Tuple.Create(bActive, Result.FAIL);
                        return Tuple.Create(bActive, Result.FAIL);   //执行错误
                    }
                    timer.Start(timeout);
                    state = STATE.WAIT;
                    _currentTokenId = idx;
                }
                bExecute = check();

                if (bExecute == null)
                {
                    ExecuteResult = Tuple.Create(bActive, Result.FAIL);
                    return Tuple.Create(bActive, Result.FAIL);    //Termianate
                }
                else
                {
                    if (bExecute == Result.DONE)       //检查Success, next
                    {
                        next();
                        ExecuteResult = Tuple.Create(true, Result.RUN);
                        return Tuple.Create(true, Result.RUN);
                    }
                    if (bExecute == Result.Succeed)       //检查Success, next
                    {
                        next();
                        ExecuteResult = Tuple.Create(true, Result.RUN);
                        return Tuple.Create(true, Result.RUN);
                    }
                    if (bExecute == Result.FAIL)       //检查 Fail 直接返回Fail
                    {
                        ExecuteResult = Tuple.Create(true, Result.FAIL);
                        return Tuple.Create(true, Result.FAIL);
                    }
                }

                if (timer.IsTimeout())
                {
                    ExecuteResult = Tuple.Create(true, Result.TIMEOUT);
                    return Tuple.Create(true, Result.TIMEOUT);
                }
                ExecuteResult = Tuple.Create(true, Result.RUN);
                return Tuple.Create(true, Result.RUN);
            }
            ExecuteResult = Tuple.Create(false, Result.RUN);
            return Tuple.Create(false, Result.RUN);
        }



        public Tuple<bool, Result> Wait<T>(T id, IRoutine rt)
        {
            int idx = Convert.ToInt32(id);
            bool bActive = Acitve(idx);

            if (bActive)
            {
                if (state == STATE.IDLE)
                {
                    rt.Start();
                    state = STATE.WAIT;
                }

                Result ret = rt.Monitor();

                return Tuple.Create(true, ret);
            }

            return Tuple.Create(false, Result.RUN);
        }

        //Monitor
        public Tuple<bool, Result> Monitor<T>(T id, Func<bool> func, Func<bool> check, double time)
        {
            int idx = Convert.ToInt32(id);
            bool bActive = Acitve(idx);
            bool bCheck = false;
            if (bActive)
            {
                if (state == STATE.IDLE)
                {
                    if ((func != null) && !func())
                    {
                        return Tuple.Create(true, Result.FAIL);
                    }

                    timer.Start(time);
                    state = STATE.WAIT;
                }

                bCheck = check();

                if (!bCheck)
                {
                    return Tuple.Create(true, Result.FAIL);    //Termianate
                }

                if (timer.IsTimeout())
                {
                    next();
                }
                return Tuple.Create(true, Result.RUN);
            }

            return Tuple.Create(false, Result.RUN);
        }

        //Delay
        public Tuple<bool, Result> Delay<T>(T id, Func<bool> func, double time)
        {
            int idx = Convert.ToInt32(id);
            bool bActive = Acitve(idx);
            if (bActive)
            {
                //if (_currentTokenId != idx && !ExecuteResult.Item1) return ExecuteResult;
                if (state == STATE.IDLE)
                {
                    if ((func != null) && !func())
                    {
                        ExecuteResult = Tuple.Create(true, Result.FAIL);
                        return Tuple.Create(true, Result.FAIL);
                    }
                    _currentTokenId = idx;
                    timer.Start(time);
                    state = STATE.WAIT;
                }

                if (timer.IsTimeout())
                {
                    next();
                }
                ExecuteResult = Tuple.Create(true, Result.RUN);
                return Tuple.Create(true, Result.RUN);
            }
            ExecuteResult = Tuple.Create(false, Result.RUN);
            return Tuple.Create(false, Result.RUN);
        }

        //先delay 再运行
        public Tuple<bool, Result> DelayCheck<T>(T id, Func<bool> func, double time)
        {
            int idx = Convert.ToInt32(id);
            bool bActive = Acitve(idx);
            if (bActive)
            {
                if (state == STATE.IDLE)
                {
                    timer.Start(time);
                    state = STATE.WAIT;
                }

                if (timer.IsTimeout())
                {
                    if (func != null && !func())
                    {
                        return Tuple.Create(true, Result.FAIL);
                    }
                    next();
                }
                return Tuple.Create(true, Result.RUN);
            }

            return Tuple.Create(false, Result.RUN);
        }
        #endregion


        private Tuple<bool, bool> execute(int id, Func<bool> func)   //顺序执行
        {
            bool bActive = Acitve(id);
            bool bExecute = false;
            if (bActive)
            {
                //if (ExecuteResult.Item1) return Tuple.Create(true, true);
                bExecute = func();
                if (bExecute)
                {
                    next();
                }
            }

            return Tuple.Create(bActive, bExecute);
        }


        private Tuple<bool, bool> Check(int id, Func<bool> func)   //check
        {
            bool bActive = Acitve(id);

            bool bExecute = false;
            if (bActive)
            {
                if (ExecuteResult.Item1) return Tuple.Create(true, true);
                bExecute = func();
                next();
            }

            return Tuple.Create(bActive, bExecute);
        }


        /// <summary>

        /// </summary>
        /// <param name="id"></param>
        /// <param name="func"></param>
        /// <param name="timeout"></param>
        /// <returns>
        ///  item1 Active
        ///  item2 execute
        ///  item3 Timeout
        ///</returns>

        private Tuple<bool, bool, bool> wait(int id, Func<bool> func, double timeout = int.MaxValue)  //Wait condition
        {
            bool bActive = Acitve(id);
            bool bExecute = false;
            bool bTimeout = false;

            if (bActive)
            {
                if (state == STATE.IDLE)
                {
                    timer.Start(timeout);
                    state = STATE.WAIT;
                }

                bExecute = func();
                if (bExecute)
                {
                    next();
                }

                bTimeout = timer.IsTimeout();
            }

            return Tuple.Create(bActive, bExecute, bTimeout);
        }

        private Tuple<bool, bool?, bool> wait(int id, Func<bool?> func, double timeout = int.MaxValue)  //Wait condition && Check error
        {
            bool bActive = Acitve(id);
            bool? bExecute = false;
            bool bTimeout = false;

            if (bActive)
            {
                if (state == STATE.IDLE)
                {
                    timer.Start(timeout);
                    state = STATE.WAIT;
                }

                bExecute = func();
                if (bExecute.HasValue && bExecute.Value)
                {
                    next();
                }

                bTimeout = timer.IsTimeout();
            }

            return Tuple.Create(bActive, bExecute, bTimeout);
        }

        /// <summary>      
        /// </summary>
        /// <param name="value"></param>
        /// <returns>
        /// item1 true, return item2
        /// </returns>
        private Tuple<bool, Result> Check(Tuple<bool, bool> value)
        {
            if (value.Item1)
            {
                if (!value.Item2)
                {
                    ExecuteResult = Tuple.Create(true, Result.FAIL);
                    return Tuple.Create(true, Result.FAIL);
                }
                ExecuteResult = Tuple.Create(true, Result.RUN);
                return Tuple.Create(true, Result.RUN);
            }
            ExecuteResult = Tuple.Create(false, Result.RUN);
            return Tuple.Create(false, Result.RUN);
        }

        private Tuple<bool, Result> Check(Tuple<bool, bool, bool> value)
        {
            if (value.Item1)   // 当前执行
            {
                if (CheckTimeout(value))  //timeout
                {
                    return Tuple.Create(true, Result.TIMEOUT);
                }
                return Tuple.Create(true, Result.RUN);
            }

            return Tuple.Create(false, Result.RUN);
        }

        private Tuple<bool, Result> Check(Tuple<bool, bool?, bool> value)
        {
            if (value.Item1)   // 当前执行
            {
                if (value.Item2 == null)
                {
                    return Tuple.Create(true, Result.FAIL);
                }
                else
                {
                    if (value.Item2 == false && value.Item3 == true)  //timeout
                    {
                        return Tuple.Create(true, Result.TIMEOUT);
                    }
                    return Tuple.Create(true, Result.RUN);
                }
            }

            return Tuple.Create(false, Result.RUN);
        }

        private bool CheckTimeout(Tuple<bool, bool, bool> value)
        {
            return value.Item1 == true && value.Item2 == false && value.Item3 == true;
        }

        private bool Acitve(int id) //
        {
            if (_steps.Contains(id))
                return false;

            this._id = id;
            return true;
        }

        private void next()
        {
            _steps.Push(this._id);
            state = STATE.IDLE;
        }

        private void next(int step)   //loop
        {
            while (_steps.Pop() != step) ;

            state = STATE.IDLE;
        }


        public void Delay(int id, double delaySeconds)
        {
            Tuple<bool, Result> ret = Delay(id, () =>
            {
                return true;
            }, delaySeconds * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.RUN)
                {

                }
            }
        }



        public bool IsActived(int id)
        {
            return _steps.Contains(id);
        }

        enum JelStep
        {
            Step1,
            Step2,
            Step3,
            Step4,
            Step5,
            Step6,
            Step7,
            Step8,
            Step9,
            Step10,
            Step11,
            Step12,
        }



    }


}