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

using System;
using System.Collections.Generic;
using System.Linq;
using System.Reflection;
using System.Text.RegularExpressions;
using System.Xml;
using Aitex.Common.Util;
using Aitex.Core.Backend;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Device.Unit;
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 Aitex.Sorter.Common;
using EFEM.RT.Devices.Aligner;
using EFEM.RT.Devices.LoadPorts.Fortrend;
using EFEM.RT.Devices.LoadPorts.JetOpenCst;
using EFEM.RT.Devices.LoadPorts.SmartTagReader;
using EFEM.RT.Devices.Rorze751;
using EfemRT.Devices.LoadPorts.Hirata;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.BufferStations;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.CarrierIdReaders.CarrierIDReaderBase;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.CarrierIdReaders.OmronBarcode;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.CarrierIdReaders.OmronRFID;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.CarrierIdReaders.OmronV640;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.FFUs.AAF;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.HirataII;

//using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.Fortrend;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.SMIF;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.TDK;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.OcrReaders;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.JEL;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;

//using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.Rorze;
using SorterCommon;

namespace EFEM.RT.Devices
{
    internal class DeviceEntity : DeviceEntityT<DeviceManager>
    {
    }

    public class DeviceManager : DeviceManagerBase
    {
        private const int LoadPortMaxQuantity = 3;
        private const int PMSlot = 1;
        private static readonly int Buffer1SlotCount = SC.ContainsItem("System.Buffer1SlotCount") ? SC.GetValue<int>("System.Buffer1SlotCount") : 0;
        private static readonly int Buffer2SlotCount = SC.ContainsItem("System.Buffer2SlotCount") ? SC.GetValue<int>("System.Buffer2SlotCount") : 0;

        private static readonly int LoadPortQuantity = DeviceDefineManager.Instance.GetValue<int>("LoadPortQuantity") ?? 0;
        private static readonly int LoadLockQuantity = DeviceDefineManager.Instance.GetValue<int>("LoadLockQuantity") ?? 0;
        private static readonly int BufferQuantity = DeviceDefineManager.Instance.GetValue<int>("BufferQuantity") ?? 0;
        private static readonly int LoadLockSlot = DeviceDefineManager.Instance.GetValue<int>("LoadLockSlot") ?? 0;
        //private static readonly int BufferSlot = DeviceDefineManager.Instance.GetValue<int>("BufferSlot") ?? 0;
        private static readonly bool LoadLockDoorControlByStation = DeviceDefineManager.Instance.GetValue<bool>("LLDoorControlByStation") ?? false;
        //private static readonly bool DmcCardUsed = DeviceDefineManager.Instance.GetValue<bool>("DmcCardInstalled") ?? false;
        private static readonly bool DisableSignalTower = DeviceDefineManager.Instance.GetValue<bool>("DisableSignalTower") ?? false;

        private static readonly bool BufferIsDisable = SC.ContainsItem("System.BufferDisable") ? SC.GetValue<bool>("System.BufferDisable") : true;
        private static readonly bool Buffer1IsDisable = SC.ContainsItem("System.Buffer1Disable") ? SC.GetValue<bool>("System.Buffer1Disable") : true;
        private static readonly bool Buffer2IsDisable = SC.ContainsItem("System.Buffer2Disable") ? SC.GetValue<bool>("System.Buffer2Disable") : true;
        private static readonly bool Aligner1IsDisable = SC.ContainsItem("System.Aligner1Disable") ? SC.GetValue<bool>("System.Aligner1Disable") : true;
        private static readonly bool Aligner2IsDisable = SC.ContainsItem("System.Aligner2Disable") ? SC.GetValue<bool>("System.Aligner2Disable") : true;
        private static readonly bool PMAIsDisable = SC.ContainsItem("System.PMADisable") ? SC.GetValue<bool>("System.PMADisable") : true;
        private static readonly bool PMBIsDisable = SC.ContainsItem("System.PMBDisable") ? SC.GetValue<bool>("System.PMBDisable") : true;
        private static readonly bool CoolingBuffer1IsDisable = SC.ContainsItem("System.CoolingBuffer1Disable") ? SC.GetValue<bool>("System.CoolingBuffer1Disable") : true;
        private static readonly bool CoolingBuffer2IsDisable = SC.ContainsItem("System.CoolingBuffer2Disable") ? SC.GetValue<bool>("System.CoolingBuffer2Disable") : true;
        private static readonly bool LoadPort1IsDisable = SC.ContainsItem("LoadPort.LP1.Disable") ? SC.GetValue<bool>("LoadPort.LP1.Disable") : true;
        private static readonly bool LoadPort2IsDisable = SC.ContainsItem("LoadPort.LP2.Disable") ? SC.GetValue<bool>("LoadPort.LP2.Disable") : true;

        private static readonly string RobotType = SC.ContainsItem("Robot.RobotType") ? SC.GetStringValue("Robot.RobotType") : "None";
        public string[] CarrierIdReader => _carrierIdReader.Take(LoadPortQuantity).ToArray();
        private readonly string[] _carrierIdReader =
        {
            "CarrierIdReader",
            "CarrierIdReader",
            "CarrierIdReader",
            "CarrierIdReader",
            "CarrierIdReader",
            "CarrierIdReader",
            "CarrierIdReader",
            "CarrierIdReader",
            "CarrierIdReader",
            "CarrierIdReader"
        };

        public string[] CarrierRfidReader => _carrierRfidReader.Take(LoadPortQuantity).ToArray();
        private readonly string[] _carrierRfidReader =
        {
            "RFID",
            "RFID",
            "RFID",
            "RFID",
            "RFID",
            "RFID",
            "RFID",
            "RFID",
            "RFID",
            "RFID"
        };
        public string[] BarcodeIdReaderName => _barcodeIdReaderName.Take(LoadPortQuantity).ToArray();
        private readonly string[] _barcodeIdReaderName = new[]
            {
                "BarcodeReaderA",
                "BarcodeReaderB",
                "BarcodeReaderC",
                "BarcodeReaderD",
                "BarcodeReaderE",
                "BarcodeReaderF",
                "BarcodeReaderG",
                "BarcodeReaderH",
                "BarcodeReaderI",
                "BarcodeReaderJ",
                "BarcodeReaderK",

            };
        public string[] BufferNames => _bufferNames.Take(BufferQuantity).ToArray();
        private readonly string[] _bufferNames =
        {
            DeviceName.Buffer1,
            DeviceName.Buffer2,
            DeviceName.Buffer3,
            DeviceName.Buffer4,
            DeviceName.Buffer5
        };
        public IEnumerable<ModuleName> LpNames => _lpNames.Take(LoadPortQuantity);
        private readonly ModuleName[] _lpNames =
        {
            ModuleName.LP1, ModuleName.LP2, ModuleName.LP3, ModuleName.LP4, ModuleName.LP5, ModuleName.LP6,
            ModuleName.LP7, ModuleName.LP8, ModuleName.LP9, ModuleName.LP10
        };

        private string[] CarrierIdReaderPortScName => _carrierIdReaderPortScName.Take(LoadPortQuantity).ToArray();
        private readonly string[] _carrierIdReaderPortScName =
        {
            SorterCommon.ScPathName.LoadPort_LoadPort1CarrierIdReaderPortName,
            SorterCommon.ScPathName.LoadPort_LoadPort2CarrierIdReaderPortName,
            SorterCommon.ScPathName.LoadPort_LoadPort3CarrierIdReaderPortName,
            SorterCommon.ScPathName.LoadPort_LoadPort4CarrierIdReaderPortName,
            SorterCommon.ScPathName.LoadPort_LoadPort5CarrierIdReaderPortName,
            SorterCommon.ScPathName.LoadPort_LoadPort6CarrierIdReaderPortName,
            SorterCommon.ScPathName.LoadPort_LoadPort7CarrierIdReaderPortName,
            SorterCommon.ScPathName.LoadPort_LoadPort8CarrierIdReaderPortName,
            SorterCommon.ScPathName.LoadPort_LoadPort9CarrierIdReaderPortName,
            SorterCommon.ScPathName.LoadPort_LoadPort10CarrierIdReaderPortName
        };

        private readonly string[] _rfidReaderAddress =
        {
            EFEMSC.ScPathName.LoadPort_LoadPort1CarrierIdReaderAddress,
            EFEMSC.ScPathName.LoadPort_LoadPort2CarrierIdReaderAddress,
            EFEMSC.ScPathName.LoadPort_LoadPort3CarrierIdReaderAddress,
            EFEMSC.ScPathName.LoadPort_LoadPort4CarrierIdReaderAddress,
            EFEMSC.ScPathName.LoadPort_LoadPort5CarrierIdReaderAddress,
            EFEMSC.ScPathName.LoadPort_LoadPort6CarrierIdReaderAddress,
            EFEMSC.ScPathName.LoadPort_LoadPort7CarrierIdReaderAddress,
            EFEMSC.ScPathName.LoadPort_LoadPort8CarrierIdReaderAddress,
            EFEMSC.ScPathName.LoadPort_LoadPort9CarrierIdReaderAddress,
            EFEMSC.ScPathName.LoadPort_LoadPort10CarrierIdReaderAddress
        };

        private readonly string[] _rfidReaderPages =
        {
            EFEMSC.ScPathName.LoadPort_LoadPort1CarrierIdReaderPage,
            EFEMSC.ScPathName.LoadPort_LoadPort2CarrierIdReaderPage,
            EFEMSC.ScPathName.LoadPort_LoadPort3CarrierIdReaderPage,
            EFEMSC.ScPathName.LoadPort_LoadPort4CarrierIdReaderPage,
            EFEMSC.ScPathName.LoadPort_LoadPort5CarrierIdReaderPage,
            EFEMSC.ScPathName.LoadPort_LoadPort6CarrierIdReaderPage,
            EFEMSC.ScPathName.LoadPort_LoadPort7CarrierIdReaderPage,
            EFEMSC.ScPathName.LoadPort_LoadPort8CarrierIdReaderPage,
            EFEMSC.ScPathName.LoadPort_LoadPort9CarrierIdReaderPage,
            EFEMSC.ScPathName.LoadPort_LoadPort10CarrierIdReaderPage
        };
            
        private readonly string[] _rfidNames =
        {
            DeviceName.RFIDReaderA,
            DeviceName.RFIDReaderB,
            DeviceName.RFIDReaderC,
            DeviceName.RFIDReaderD,
            DeviceName.RFIDReaderE,
            DeviceName.RFIDReaderF,
            DeviceName.RFIDReaderG,
            DeviceName.RFIDReaderH,
            DeviceName.RFIDReaderI,
            DeviceName.RFIDReaderJ

        };
        public string[] LpPortNameSc => _lpPortNameSc.Take(LoadPortQuantity).ToArray();
        private readonly string[] _lpPortNameSc =
        {
            EFEMSC.ScPathName.LoadPort_LoadPort1PortName,
            EFEMSC.ScPathName.LoadPort_LoadPort2PortName,
            EFEMSC.ScPathName.LoadPort_LoadPort3PortName,
            EFEMSC.ScPathName.LoadPort_LoadPort4PortName,
            EFEMSC.ScPathName.LoadPort_LoadPort5PortName,
            EFEMSC.ScPathName.LoadPort_LoadPort6PortName,
            EFEMSC.ScPathName.LoadPort_LoadPort7PortName,
            EFEMSC.ScPathName.LoadPort_LoadPort8PortName,
            EFEMSC.ScPathName.LoadPort_LoadPort9PortName,
            EFEMSC.ScPathName.LoadPort_LoadPort10PortName
        };

        public string[] LLNames => _llNames.Take(LoadLockQuantity).ToArray();
        private readonly string[] _llNames =
        {
            DeviceName.LL1,
            DeviceName.LL2,
            DeviceName.LL3,
            DeviceName.LL4,
            DeviceName.LL5,
            DeviceName.LL6,
            DeviceName.LL7,
            DeviceName.LL8
        };
        private char[] rfidInstallment;
        private char[] carrierIdInstallment;
        private char[] e84Support;
        public bool IsAnyLPIdle()
        {
            return LpNames.Any(moduleName => DEVICE.GetDevice<LoadPortBaseDevice>(moduleName.ToString()).IsIdle);
        }

        public ModuleName[] GetAllLoadPortName()
        {
            return LpNames as ModuleName[];
        }

        public LoadPortBaseDevice[] GetAllLoadPorts()
        {
            var lp = LpNames.Select(lpName => DEVICE.GetDevice<LoadPortBaseDevice>(lpName.ToString())).ToList();
            return lp.ToArray();
        }
        public CIDReaderBaseDevice GetGeneralBarcodeReader(string lp)
        {
            string pattern = "[1-9]\\d*";
            Regex rgx = new Regex(pattern);
            var match = int.Parse(rgx.Match(lp).ToString());

            if (match <= LoadPortQuantity)
                return DEVICE.GetDevice<CIDReaderBaseDevice>($"CarrierIDReader.{_barcodeIdReaderName[match - 1]}");
            return null;
            //var index = Array.IndexOf(LpNames.ToArray(), lp);
            //return DEVICE.GetDevice<GeneralBarcodeReader>(lp + "." + _barcodeIdReaderName[index]);
        }
        private OmronBarcodeReader GetBarcodeReader(string lp)
        {
            var index = Array.IndexOf(LpNames.ToArray(), lp);
            return DEVICE.GetDevice<OmronBarcodeReader>(lp + "." + _carrierIdReader[index]);
        }

        public OmronRfidReader GetRfidReader(string lp)
        {
            string pattern = "[1-9]\\d*";
            Regex rgx = new Regex(pattern);
            var match = int.Parse(rgx.Match(lp).ToString());

            if (match <= LoadPortQuantity)
                return DEVICE.GetDevice<OmronRfidReader>(_rfidNames[match - 1]);
            return null;
        }

        //Initialize should be call by main before fsm run
        public override bool Initialize()
        {
            var fi = typeof(DeviceModel).GetFields();
            foreach (var p in fi) p.SetValue(null, GetDevice(p.Name));

            IoSensor[] llDoorOpen =
            {
                DeviceModel.SensorPMASystemInterlock,
                DeviceModel.SensorPMBSystemInterlock,
            };

            IoSensor[] llArmExtendEnable =
            {
                DeviceModel.SensorRBNotExtendPMA,
                DeviceModel.SensorRBNotExtendPMB,
            };

            IoTrigger[] llSsfeytoPM =
            {
                DeviceModel.TrigSafetytoPMA,
                DeviceModel.TrigSafetytoPMB,
            };

            IoTrigger[] llArmNotExtendExtendPM =
            {
                DeviceModel.TrigRBNotExtendPMA,
                DeviceModel.TrigRBNotExtendPMB,
            };

            IoSensor[] lpPoadOpen =
            {
                DeviceModel.SensorSMIF1PODOPEN,
                DeviceModel.SensorSMIF2PODOPEN,
            };
            IoSensor[] robotExtendtoLP =
            {
                DeviceModel.SensorRBNotExtendSIMF1,
                DeviceModel.SensorRBNotExtendSIMF2,
            };
            IoSensor[] GirdSensor=
            {
                DeviceModel.SensorRBNotExtendSIMF1,
                DeviceModel.SensorRBNotExtendSIMF2,
            };
            IoTrigger[] SafeytoLP =
            {
                DeviceModel.TrigSafetytoPMA,
                DeviceModel.TrigSafetytoPMB,
            };
            IoSensor[][] LPSensorArry =
            {
              new IoSensor[]
              {
                  DeviceModel.Sensor4InchCstPresence,
                  DeviceModel.Sensor4InchCstProtrusion1,
                  //DeviceModel.Sensor4InchCstProtrusion2,
                  DeviceModel.Sensor6InchCstPresence,
                  DeviceModel.Sensor6InchCstProtrusion1,
                 // DeviceModel.Sensor4InchCstProtrusion2,
                  DeviceModel.Sensor8InchCstPresence,
                  DeviceModel.Sensor8InchCstProtrusion1,
                 // DeviceModel.Sensor4InchCstProtrusion2,

                  DeviceModel.SensorCstDoorClosed,
                  DeviceModel.SensorRBNotExtendSIMF1,
                  DeviceModel.SensorRobotRemotetoEFEM,

              },
            };
           
            var barcodeIdReaderName = new[]
            {
                "BarcodeReaderA",
                "BarcodeReaderB",
                "BarcodeReaderC",
                "BarcodeReaderD",
                "BarcodeReaderE",
                "BarcodeReaderF",
                "BarcodeReaderG",
                "BarcodeReaderH",
                "BarcodeReaderI",
                "BarcodeReaderJ",
                "BarcodeReaderK",

            };
            IoTrigger[][] LPTriggerArry =
            {
              new IoTrigger[]
              {
                  DeviceModel.TrigSafetytoSMIF1,
              },
            };

            IoTrigger[] ioTriggerLP = new IoTrigger[2]
            {
                DeviceModel.TrigSafetytoSMIF1,
                DeviceModel.TrigSafetytoSMIF2
            };
            //Robot Device Initialize
            RobotBaseDevice robot;
            switch (RobotType)
            {
                case "NXC100":
                    robot = new RorzeRobot751(ModuleName.System.ToString(), DeviceName.Robot, "Robot", null, null);
                    AddCustomDevice(robot, "Robot", robot.GetType());
                    break;
                default:
                    robot = new RorzeRobot751(ModuleName.System.ToString(), DeviceName.Robot, "Robot", null, null);
                    AddCustomDevice(robot, "Robot", robot.GetType());
                    break;
            }
            //LoadPort Device Initialize
            for (int i = 0; i < LoadPortMaxQuantity; i++)
            {
                if(!SC.ContainsItem($"LoadPort.LP{i + 1}.Disable")) continue;
                if(!SC.GetValue<bool>($"LoadPort.LP{i + 1}.Disable"))
                {
                    if (SC.GetValue<int>($"LoadPort.LP{i + 1}.CstType") == 0)
                    {
                        LoadPortBaseDevice lp = new FortrendSmifPort("", _lpNames[i].ToString(), "LoadPort", robot, robotExtendtoLP[i], lpPoadOpen[i]);
                        AddCustomDevice(lp, "LoadPort", typeof(LoadPortBaseDevice));
                        if (SC.GetValue<bool>($"LoadPort.LP{i + 1}.ExternalSmartTagReader"))
                        {
                            CIDReaderBaseDevice barcodeReader = new SmartTagReader("CarrierIDReader", barcodeIdReaderName[i], "CarrierID", lp);
                            AddCustomDevice(barcodeReader, "BarcodeReader", typeof(CIDReaderBaseDevice));
                            lp.CIDReaders = new CIDReaderBaseDevice[] { barcodeReader };
                        }
                    }
                    else if (SC.GetValue<int>($"LoadPort.LP{i + 1}.CstType") == 1)
                    {
                        LoadPortBaseDevice lp = new OpenStageJet("", _lpNames[i].ToString(), LPSensorArry[i], LPTriggerArry[i], robot);
                        AddCustomDevice(lp, "LoadPort", typeof(LoadPortBaseDevice));
                        string readcommand = "LON\r";
                        string stopcommand = "LOFF\r";
                        CIDReaderBaseDevice barcodeReader = new GeneralBarcodeReader("CarrierIDReader", barcodeIdReaderName[i], "CarrierID", readcommand, true, lp, stopcommand);
                        AddCustomDevice(barcodeReader, "BarcodeReader", typeof(CIDReaderBaseDevice));
                        lp.CIDReaders = new CIDReaderBaseDevice[] { barcodeReader };
                    }
                    else if (SC.GetValue<int>($"LoadPort.LP{i + 1}.CstType") == 2)
                    {
                        AddCustomDevice(new HirataLoadPort(ModuleName.System.ToString(), this._lpNames[i].ToString(), "LoadPort", (RobotBaseDevice)null, ioTriggerLP), "LoadPort", typeof(LoadPortBaseDevice));
                    }
                }
            }
            //Aligner Device Initialize
            if (!Aligner1IsDisable)
            {
                switch (SC.GetValue<int>("Aligner.AlignerType"))
                {
                    case 1://Aligner with Pin
                        
                        break;
                    default://Aligner without Pin
                        AddCustomDevice(new MechanicalAligner(ModuleName.System, ModuleName.Aligner1, 1), "Aligner1", typeof(MechanicalAligner));
                        break;
                }                    
            }
            if (!Aligner2IsDisable)
            {
                switch (SC.GetValue<int>("Aligner.AlignerType"))
                {
                    case 1://Aligner with Pin
                        //AddCustomDevice(new RorzePreAligner(ModuleName.System.ToString(), "Aligner2", "Aligner2", "", ""), "Aligner2", typeof(PreAligner));
                        break;
                    default://Aligner without Pin
                        AddCustomDevice(new MechanicalAligner(ModuleName.System, ModuleName.Aligner2, 1), "Aligner2", typeof(MechanicalAligner));
                        break;
                }
                Singleton<WaferManager>.Instance.SubscribeLocation(ModuleName.Aligner2, 1);    
            }
            //FFU Device Initialize
            if (DeviceDefineManager.Instance.GetValue<bool>("FfuMemoBusControl") ?? false)
            { 
                var comPort = SC.GetStringValue("System.FFUComPortName");
                var ffu1 = new Ffu("","FFU1", "01", comPort);
                AddCustomDevice(ffu1, "FFU", typeof(Ffu));
                var ffu2 = new Ffu("","FFU2", "02", comPort);
                AddCustomDevice(ffu2, "FFU", typeof(Ffu));
            }
            //PM Device Initialize
            if (!PMAIsDisable)
            {
                LoadLockDevice ll = new LoadLockDevice("System", _llNames[0], PMSlot, llDoorOpen[0],
                        llArmExtendEnable[0], llSsfeytoPM[0], llArmNotExtendExtendPM[0]);
                AddCustomDevice(ll, "LoadLockDevice", ll.GetType());
            }
            if (!PMBIsDisable)
            {
                LoadLockDevice ll = new LoadLockDevice("System", _llNames[1], PMSlot, llDoorOpen[1],
                        llArmExtendEnable[1], llSsfeytoPM[1], llArmNotExtendExtendPM[1]);
                AddCustomDevice(ll, "LoadLockDevice", ll.GetType());
            }
            //Buffer Device Initialize
            if (!BufferIsDisable)
            {
                BufferStation buffer = new Buffer("System", "Buffer", Buffer1SlotCount, llDoorOpen[0]);//Normal Buffer
                AddCustomDevice(buffer, "BufferStation", buffer.GetType());
            }
            if (!Buffer1IsDisable)
            {
                BufferStation buffer = new Buffer("System", _bufferNames[0], Buffer1SlotCount, llDoorOpen[0]);//Normal Buffer
                AddCustomDevice(buffer, "BufferStation", buffer.GetType());
            }
            if (!Buffer2IsDisable)
            {
                BufferStation buffer = new Buffer("System", _bufferNames[1], Buffer2SlotCount, llDoorOpen[1]);//Normal Buffer
                AddCustomDevice(buffer, "BufferStation", buffer.GetType());
            }

            //SignalTower Initialize
            if (DisableSignalTower)
            {
                DeviceModel.SignalTower.CustomSignalTower(PathManager.GetCfgDir() + "\\SignalTower.xml");
            }
            //EquipmentMonitor Initialize
            AddCustomDevice(new EquipmentMonitor(), "EquipmentMonitor", typeof(EquipmentMonitor));

            foreach (var nodeModelChild in DeviceModelNodes.ChildNodes)
            {
                XmlElement nodeDevices = nodeModelChild as XmlElement;
 
            }

            var SorterFFU = new FfuAAF("FFU", "FFU", "System",1);
            SorterFFU.Initialize();


            OP.Subscribe(OperationName.ResetDevice, InvokeResetDevice);
            OP.Subscribe(OperationName.DeviceOperation, InvokeDeviceOperation);
            
            OP.Subscribe(OperationName.SetManualScanCode, InvokeSetManualScanCode);
            OP.Subscribe(OperationName.Scan, InvokeScan);
            OP.Subscribe(OperationName.Write, InvokeWrite);

            OP.Subscribe("ReadCarrierId", InvokeScan);
            OP.Subscribe(OperationName.ReadFoupRFID, InvokeReadRfid);
            OP.Subscribe(OperationName.WriteFoupRFID, InvokeWriteRfid);

            robot.OnSlotMapRead += Robot_OnSlotMapRead;

            return true;
        }        

        private bool InvokeWrite(string arg1, object[] args)
        {
            if (!(GetRfidReader(args[0].ToString()).Write(args[1].ToString(),out string reason)))
            {
                EV.PostWarningLog(args[0].ToString(),$"fail to write RFID, {reason}");
                return false;
            }
            return true;
        }
        
        private bool InvokeWriteRfid(string arg1, object[] arg2)
        {
            if (!GetRfidReader(arg2[0].ToString()).Write(arg2[1].ToString(), out var reason))
            {
                EV.PostWarningLog(arg1, $"fail to write RFID, {reason}");
                return false;
            }

            return true;
        }

        private bool InvokeReadRfid(string arg1, object[] arg2)
        {
            if (!GetRfidReader(arg2[0].ToString()).Read(out var reason))
            {
                EV.PostWarningLog(arg1, $"fail to read RFID, {reason}");
                return false;
            }
            return true;
        }
        

        private bool InvokeScan(string arg1, object[] args)
        {
            if (SC.GetValue<bool>($"LoadPort.{args[0].ToString()}.ExternalSmartTagReader") && SC.GetValue<int>($"LoadPort.{args[0].ToString()}.CstType")==0)
            {
                var lp = DEVICE.GetDevice<LoadPortBaseDevice>(args[0].ToString());
                return lp.ReadCarrierID();//lp.ReadCarrierID(
            }
            else
            { 
                var lp = DEVICE.GetDevice<LoadPortBaseDevice>(args[0].ToString());
                return lp.ReadCarrierIDByIndex(new object[] { 0 });//lp.ReadCarrierID();
            }
        }

        private bool InvokeSetManualScanCode(string arg1, object[] args)
        {
            var lp = DEVICE.GetDevice<LoadPortBaseDevice>(args[0].ToString());
             lp.OnCarrierIdRead(args[1].ToString());
            return true;
        }

        private bool InvokeOffline(string arg1, object[] arg2)
        {
            return true;
        }

        private void Robot_OnSlotMapRead(ModuleName module, string slotMap)
        {
            if (ModuleHelper.IsLoadPort(module))
            {
                var lp = DEVICE.GetDevice<LoadPortBaseDevice>(module.ToString());
                if (lp != null) lp.OnSlotMapRead(slotMap);
            }
            if (ModuleHelper.IsBuffer(module))
            {
                var buffer = DEVICE.GetDevice<BufferStation>(module.ToString());
                if (buffer != null)
                    buffer.OnSlotMapRead(slotMap);
            }
        }

        private bool InvokeDeviceOperation(string arg1, object[] args)
        {
            var name = "";
            var func = "";
            try
            {
                name = (string) args[0];
                func = (string) args[1];

                if ((bool) DATA.Poll(ModuleName.System.ToString(), ParamName.IsMaintenanceMode))
                {
                    EV.PostMessage("System", EventEnum.DefaultWarning,
                        string.Format("System in maintenance, can not execute {0}{1}", name, func));

                    return false;
                }

                var param = new object[args.Length - 2];

                for (var i = 2; i < args.Length; i++)
                    param[i - 2] = args[i].ToString();

                if (name == "SignalTower")
                {
                    OP.DoOperation($"System.SignalTower.{func}");
                    return true;
                }

                if (ModuleHelper.IsLoadPort(ModuleHelper.Converter(name)))
                {
                    OP.DoOperation($"{name}.{func}", param);
                }
                else
                {
                    DeviceCmd(name, func, param);
                }
                
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                EV.PostMessage("System", EventEnum.DefaultWarning,
                    string.Format("Invalid parameters, can not execute {0}{1}", name, func));
                return false;
            }


            return true;
        }

        private bool InvokeResetDevice(string arg1, object[] arg2)
        {
            Singleton<DeviceEntity>.Instance.PostMsg(DeviceEntityT<DeviceManager>.MSG.RESET);

            return true;
        }

        private void DeviceCmd(string name, string cmd, params object[] args)
        {
            DEVICE.Do(string.Format("{0}.{1}", name, cmd), 0, true, args);
        }
 
    }
}