ZZ-EFEM/Framework/AitexSorterRT/Device/Robot/Robot.cs

using System;
using System.Text.RegularExpressions;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.Util;

using Aitex.Sorter.Common;
using TSC = Aitex.Sorter.Common;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.SCCore;
using MECF.Framework.Common.Communications;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;

namespace Aitex.Sorter.RT.Device.Robot
{

    public enum RobotType
    {
        SR100,
        NX100,
    }

    public class Robot : BaseDevice, IDevice
    {
        public event Action<ModuleName, string> OnSlotMapRead;

        public const string delimiter = "\r";

        public int LastErrorCode { get; set; }
        public int Status { get; set; }
        public int ErrorCode { get; set; }

        public int ElapseTime { get; set; }
        public int Speed { get; set; }

        public int Rotation { get;  set; }
        public int Extension { get;  set; }
        public int Wrist1 { get;  set; }
        public int Wrist2 { get;  set; }
        public int Evevation { get;  set; }

        public bool StateWaferOnBlade1 { get; set; }
        public bool StateWaferOnBlade2 { get; set; }
        public bool StateBlade1Gripped { get; set; }
        public bool StateBlade2Gripped { get; set; }

        public bool StateInterlock1 { get; set; }
        public bool StateInterlock2 { get; set; }
        public bool StateInterlock3 { get; set; }
        public bool StateInterlock4 { get; set; }
        public bool StateInterlock5 { get; set; }
        public bool StateInterlock6 { get; set; }
        public bool StateInterlock7 { get; set; }
        public bool StateInterlock8 { get; set; }

        public bool Swap { get; set; }
        public Hand PlaceBalde { get; set; }

        public ModuleName Blade1Target
        {
            get;
            set;
        }
        public ModuleName Blade2Target { get; set; }

        public bool Blade1Enable {
            get
            {
                return SC.GetValue<bool>("Robot.Blade1Enable");
            }
            set
            {
                SC.SetItemValue("Robot.Blade1Enable" ,value);
            }
            }
        public bool Blade2Enable
        {
            get
            {
                return SC.GetValue<bool>("Robot.Blade2Enable");
            }
            set
            {
                SC.SetItemValue("Robot.Blade2Enable", value);
            }
        }

        public int Blade2Slots
        {
            get
            {
               int value = SC.GetValue<int>("Robot.Blade2Slots");
                if (value == 0)
                    value = 1;
                return value;                   
            }
        }

        public bool Initalized { get; set; }

        public bool Communication
        {
            get
            {
                return !_commErr;
            }
        }


        public bool Busy
        {
            get { return _backgroundHandler != null || _foregroundHandler != null; }
        }

        public bool Moving
        {
            get { return _backgroundHandler != null; }
        }

        public bool Error
        {
            get
            {
                return ErrorCode > 0 || _commErr || _exceuteErr;
            }
        }

        public DeviceState State
        {
            get
            {
                if (!Initalized)
                {
                    return DeviceState.Unknown;
                }
                if (Error)
                {
                    return DeviceState.Error;
                }

                if (Busy)
                    return DeviceState.Busy;

                return DeviceState.Idle;
            }
        }

        //public string ErrorMessage
        //{
        //    get
        //    {
        //        return _factory.GetError(LastErrorCode);
        //    }
        //}
      

        public bool WaferOnBlade1 { get { return (Status & (int)StateBit.WaferOnBlade1) > 0; } }
        public bool WaferOnBlade2 { get { return (Status & (int)StateBit.WaferOnBlade2) > 0; } }

        public Hand TransferBlade { 
            get 
            {
                if (!Blade1Enable) return Hand.Blade2;
                if (!Blade2Enable) return Hand.Blade1;
                return Hand.Both;
            }
        }
        

        private static Object _locker = new Object();
        private AsyncSocket _socket; 


        private IHandler _eventHandler = null;
        private IHandler _backgroundHandler = null;  //moving
        private IHandler _foregroundHandler = null;  //current handler

        private IHandlerFactory _factory = null;

        private DeviceTimer _timerQuery = new DeviceTimer();
        private int _queryPeriod = 5000;    //ms
        private bool _queryState = true;
        private bool _exceuteErr = false;
        private bool _commErr = false;

        private string _addr;

        private string AlarmRobotError = "RobotError";

        public Robot(string module, string name, string display, string deviceId, string address, RobotType type = RobotType.SR100)
            : base(module, name, display, deviceId)
        {
            _addr = address;
            _socket = new AsyncSocket(address);

            _socket.OnDataChanged += new AsyncSocket.MessageHandler(OnDataChanged);
            _socket.OnErrorHappened += new AsyncSocket.ErrorHandler(OnErrorHandler);

            switch (type)
            {
                case RobotType.NX100:
                    _factory = new NX100.HandlerFactory();
                    break;
                default:
                    _factory = new SR100.HandlerFactory();
                    break;
            }

            Initalized = false;

            WaferManager.Instance.SubscribeLocation(name, 1+ Blade2Slots);

        }

        public bool Initialize()
        {
            _commErr = false;
            _socket.Connect(this._addr);

            DEVICE.Register(String.Format("{0}.{1}", ModuleName.Robot.ToString(), TSC.DeviceOperationName.RobotInit), (out string reason, int time, object[] param) =>
            {
                bool ret = Init(out reason);
                if (ret)
                {
                    reason = string.Format("{0} {1}", Name, "Initializing");
                    return true;
                }

                return false;
            });

            DEVICE.Register(String.Format("{0}.{1}", ModuleName.Robot.ToString(), TSC.DeviceOperationName.RobotHome), (out string reason, int time, object[] param) =>
            {
                bool ret = Home(out reason);
                if (ret)
                {
                    reason = string.Format("{0} {1}", Name, "Homing");
                    return true;
                }

                return false;
            });
            
            DEVICE.Register(String.Format("{0}.{1}", Name, TSC.DeviceOperationName.RobotReset), (out string reason, int time, object[] param) =>
            {
                bool ret = Clear(out reason);
                if (ret)
                {
                    reason = string.Format("{0} {1}", Name, "Reset");
                    return true;
                }

                return false;
            });

            DEVICE.Register(String.Format("{0}.{1}", Name, TSC.DeviceOperationName.RobotGrip), (out string reason, int time, object[] param) =>
            {
                Hand hand = (Hand)Enum.Parse(typeof(Hand), (string)param[0], true);
                bool ret = Grip(hand,out reason);
                //bool ret = WaferMapping(ModuleName.LP1, out reason);

                if (ret)
                {
                    reason = string.Format("{0} {1}", Name, "Grip");
                    return true;
                }

                return false;
            });
            DEVICE.Register(String.Format("{0}.{1}", Name, TSC.DeviceOperationName.RobotRelease), (out string reason, int time, object[] param) =>
            {
                Hand hand = (Hand)Enum.Parse(typeof(Hand), (string)param[0], true);
                bool ret = Release(hand, out reason);
                //bool ret = QueryWaferMap(ModuleName.LP1, out reason);
                if (ret)
                {
                    reason = string.Format("{0} {1}", Name, "Release");
                    return true;
                }

                return false;
            });

            DEVICE.Register(String.Format("{0}.{1}", Name, TSC.DeviceOperationName.RobotStop), (out string reason, int time, object[] param) =>
            {
                bool ret = Stop(false, out reason);
                if (ret)
                {
                    reason = string.Format("{0} {1}", Name, "Stopping");
                    return true;
                }
                return false;
            });

            DEVICE.Register(String.Format("{0}.{1}", Name, TSC.DeviceOperationName.RobotPick), (out string reason, int time, object[] param) =>
            {
                ModuleName chamber = (ModuleName)Enum.Parse(typeof(ModuleName), (string)param[0], true);
                int slot = int.Parse((string)param[1]);
                Hand hand = (Hand)Enum.Parse(typeof(Hand), (string)param[2], true);
                bool ret = Pick(chamber, slot, hand, out reason);
                if (ret)
                {
                    reason = string.Format("{0} {1}", Name, "Pick wafer");
                    return true;
                }
                return false;
            });

            DEVICE.Register(String.Format("{0}.{1}", Name, TSC.DeviceOperationName.RobotPlace), (out string reason, int time, object[] param) =>
            {
                ModuleName chamber = (ModuleName)Enum.Parse(typeof(ModuleName), (string)param[0], true);
                int slot = int.Parse((string)param[1]);
                Hand hand = (Hand)Enum.Parse(typeof(Hand), (string)param[2], true);
                bool ret = Place(chamber, slot, hand, out reason);
                if (ret)
                {
                    reason = string.Format("{0} {1}", Name, "Place wafer");
                    return true;
                }
                return false;
            });

            DEVICE.Register(String.Format("{0}.{1}", Name, TSC.DeviceOperationName.RobotExchane), (out string reason, int time, object[] param) =>
            {
                ModuleName chamber = (ModuleName)Enum.Parse(typeof(ModuleName), (string)param[0], true);
                int slot = int.Parse((string)param[1]);
                Hand hand = (Hand)Enum.Parse(typeof(Hand), (string)param[2], true);
                bool ret = Exchange(chamber, slot, hand, out reason);
                if (ret)
                {
                    reason = string.Format("{0} {1}", Name, "Swap wafer");
                    return true;
                }
                return false;
            });


            DEVICE.Register(String.Format("{0}.{1}", Name, TSC.DeviceOperationName.RobotGoto), (out string reason, int time, object[] param) =>
            {
                ModuleName chamber = (ModuleName)Enum.Parse(typeof(ModuleName), (string)param[0], true);
                int slot = int.Parse((string)param[1]);
                Hand hand = (Hand)Enum.Parse(typeof(Hand), (string)param[2], true);
                Motion next = (Motion)Enum.Parse(typeof(Motion), (string)param[3], true);

                int x = int.Parse((string)param[4]);
                int y = int.Parse((string)param[5]);
                int z = int.Parse((string)param[6]);

                bool ret = Goto(chamber, slot, next, hand, x,y,z, out reason);
 
               
                if (ret)
                {
                    reason = string.Format("{0}{1}", Name, "Goto");
                    return true;
                }
                return false;
            });


            DEVICE.Register(String.Format("{0}.{1}", Name, TSC.DeviceOperationName.RobotBladeEnable), (out string reason, int time, object[] param) =>
            {    
                Hand hand = (Hand)Enum.Parse(typeof(Hand), (string)param[0], true);
                bool bEnable = bool.Parse((string)param[1]);
                bool ret = Enable(hand, bEnable, out reason);
                if (ret)
                {
                    reason = string.Format("{0}{1}", Name, "Disable robot arm");
                    return true;
                }
                return false;
            });



            DATA.Subscribe(ModuleName.Robot.ToString(), ParamName.RobotState, () => State);

            DATA.Subscribe(ModuleName.Robot.ToString(), ParamName.RobotBusy, () => Busy);
            DATA.Subscribe(ModuleName.Robot.ToString(), ParamName.RobotError, () => ErrorCode);

            DATA.Subscribe(ModuleName.Robot.ToString(), ParamName.RobotBlade1Traget, () => Blade1Target);
            DATA.Subscribe(ModuleName.Robot.ToString(), ParamName.RobotBlade2Traget, () => Blade2Target);
            
            DATA.Subscribe(ModuleName.Robot.ToString(), ParamName.RobotBlade1Enabled, () => Blade1Enable);
            DATA.Subscribe(ModuleName.Robot.ToString(), ParamName.RobotBlade2Enabled, () => Blade2Enable);

            DATA.Subscribe(ModuleName.Robot.ToString(), ParamName.RobotSwap, () => Swap);
            DATA.Subscribe(ModuleName.Robot.ToString(), ParamName.RobotSwapPlaceBalde, () => PlaceBalde);

            
            DATA.Subscribe(ModuleName.Robot.ToString(), ParamName.RobotSpeed, () => Speed);

            DATA.Subscribe(ModuleName.Robot.ToString(), ParamName.RobotPosRotationAxis, () => Rotation);
            DATA.Subscribe(ModuleName.Robot.ToString(), ParamName.RobotPosExtensionAxis, () => Extension);
            DATA.Subscribe(ModuleName.Robot.ToString(), ParamName.RobotPosWrist1Axis, () => Wrist1);
            DATA.Subscribe(ModuleName.Robot.ToString(), ParamName.RobotPosWrist2Axis, () => Wrist2);
            DATA.Subscribe(ModuleName.Robot.ToString(), ParamName.RobotPosEvevationAxis, () => Evevation);
            EV.Subscribe(new EventItem("Event", AlarmRobotError, "Robot error", EventLevel.Alarm, Aitex.Core.RT.Event.EventType.HostNotification));

            Reset();
            string str = string.Empty;

            _eventHandler = _factory.Event();
            return true;
        }

        public void Terminate()
        {
        }

        public void Monitor()
        {
            var isMaintenance = DATA.Poll("System.IsMaintenanceMode");

            bool bTrigger = isMaintenance!=null && (bool)isMaintenance;

            if (bTrigger && _timerQuery.IsTimeout())
            {
                if (!Busy)
                {
                    string reason = string.Empty;
                    if (_queryState)
                        QueryState(out reason);

                    _queryState = !_queryState;
                    _timerQuery.Start(_queryPeriod);
                }
            }
        }

        public void Reset()
        {
            lock (_locker)
            {
                _foregroundHandler = null;
                _backgroundHandler = null;
            }
             
            _exceuteErr = false;
            if (_commErr)
            {
                _commErr = false;
                _socket.Connect(this._addr);
            }
            Swap = false;
        }


        public bool Enable(Hand hand, bool bEnable, out string reason)
        {
            reason = string.Empty;

            if (hand == Hand.Blade1)
            {
                Blade2Enable = bEnable;
            }
            else if (hand == Hand.Blade2)
            {
                Blade2Enable = bEnable;
            }
            else
            {
                reason = "Can't disable all blade";
                return false;
            }

            return true;
        }


        #region Command

        public bool Init(out string reason)
        {
            lock (_locker)
            {
                _foregroundHandler = null;
                _backgroundHandler = null;
            }
            reason = string.Empty;
            return execute(_factory.Init(), out reason);
        }


        public bool Home(out string reason)
        {          
            lock (_locker)
            {
                _foregroundHandler = null;
                _backgroundHandler = null;
            }
            reason = string.Empty;
            return execute(_factory.Home(), out reason);
        }

        public bool Grip(Hand hand,out string reason)
        {
            reason = string.Empty;
            return execute(_factory.Grip(hand), out reason);
        }

        public bool Release(Hand hand, out string reason)
        {
            reason = string.Empty;
            return execute(_factory.Release(hand), out reason);
        }



        public bool WaferMapping(ModuleName loadport, out string reason)
        {
            reason = string.Empty;
            return execute(_factory.WaferMapping(loadport), out reason);
        }


        public bool QueryWaferMap(ModuleName loadport, out string reason)
        {
            reason = string.Empty;
            return execute(_factory.QueryWaferMap(loadport), out reason);
        }

        public bool QueryState(out string reason)
        {  
            reason = string.Empty;
            return execute(_factory.QueryState(), out reason);
        }

        public bool QueryPosition(out string reason)
        {
            reason = string.Empty;

            return execute(_factory.QueryPosition(), out reason);
        }

        public bool Clear(out string reason)
        {
            reason = string.Empty;
            return execute(_factory.Clear(), out reason);
        }

 
        public bool Stop(bool isEmergency, out string reason)
        {
            reason = string.Empty;

            lock (_locker)
            {
                _foregroundHandler = null;
                _backgroundHandler = null;
            }
            return execute(_factory.Stop(isEmergency), out reason);
        }

        public bool Resume( out string reason)
        {
            reason = string.Empty;
 
            return execute(_factory.Resume(), out reason);
        }

        public bool SetSpeed(int speed, out string reason)
        {
            reason = string.Empty;
            return execute(_factory.SetSpeed(speed), out reason);
        }

        public bool Goto(ModuleName chamber, int slot, Motion motion,Hand hand, int x, int y, int z,out string reason)
        {
            reason = string.Empty;
            if (chamber == ModuleName.Robot)
            {
                reason = string.Format("Pick invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                return false;
            }

            if (ModuleHelper.IsLoadPort(chamber))
            {
                if (hand == Hand.Both)
                {
                    if (!checkslot(0, 25 - Blade2Slots, slot))   //0-20 | 20,21,22,23,24
                    {
                        reason = string.Format("Pick invalid parameter,double hand, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                        return false;
                    }
                }
                else if(hand == Hand.Blade2)
                {
                    if (!checkslot(0, 25 - Blade2Slots + 1, slot))   //0 - 21| 21,22,23,24
                    {
                        reason = string.Format("Pick invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                        return false;
                    }
                }
                else
                {                    
                    if (!checkslot(0, 25, slot))
                    {
                        reason = string.Format("Pick invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                        return false;
                    }
                }
            }
            else
            {
                if (hand == Hand.Both)
                {
                    reason = string.Format("Pick invalid parameter, double pick,chamber is {0}, slot is {1}", chamber.ToString(), slot);
                    return false;
                }
            }

            return execute(_factory.Goto( chamber, slot, motion, hand, x,y,z), out reason);
        }
        
        public bool MoveTo(ModuleName chamber, int slot, Hand hand, bool isPick, int x, int y, int z,out string reason)
        {
            reason = string.Empty;
            if (chamber == ModuleName.Robot)
            {
                reason = string.Format("Pick invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                return false;
            }

            if (ModuleHelper.IsLoadPort(chamber))
            {
                if (hand == Hand.Both)
                {
                    if (!checkslot(0, 25 - Blade2Slots, slot))   //0-20 | 20,21,22,23,24
                    {
                        reason = string.Format("Pick invalid parameter,double hand, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                        return false;
                    }
                }
                else if(hand == Hand.Blade2)
                {
                    if (!checkslot(0, 25 - Blade2Slots + 1, slot))   //0 - 21| 21,22,23,24
                    {
                        reason = string.Format("Pick invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                        return false;
                    }
                }
                else
                {                    
                    if (!checkslot(0, 25, slot))
                    {
                        reason = string.Format("Pick invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                        return false;
                    }
                }
            }
            else
            {
                if (hand == Hand.Both)
                {
                    reason = string.Format("Pick invalid parameter, double pick,chamber is {0}, slot is {1}", chamber.ToString(), slot);
                    return false;
                }
            }

            return execute(_factory.MoveTo( chamber, slot, hand, isPick, x,y,z), out reason);
        }
        
        //slot:0 based
        public bool Pick(ModuleName chamber, int slot, Hand hand, out string reason)
        {
            reason = string.Empty;
            if (chamber == ModuleName.Robot)
            {
                reason = string.Format("Pick invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                return false;
            }

            if (ModuleHelper.IsLoadPort(chamber))
            {
                if (hand == Hand.Both)
                {
                    if (!checkslot(0, 25 - Blade2Slots, slot))   //0-20 | 20,21,22,23,24
                    {
                        reason = string.Format("Pick invalid parameter,double hand, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                        return false;
                    }
                }
                else if (hand == Hand.Blade2)
                {
                    if (!checkslot(0, 25 - Blade2Slots + 1, slot))   //0 - 21| 21,22,23,24
                    {
                        reason = string.Format("Pick invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                        return false;
                    }
                }
                else
                {
                    if (!checkslot(0, 25, slot))
                    {
                        reason = string.Format("Pick invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                        return false;
                    }
                }
            }
            else if(ModuleHelper.IsBuffer(chamber))
            {
                if (hand == Hand.Both)
                {
                    if (!checkslot(0, 6 - Blade2Slots, slot))   //0-20 | 20,21,22,23,24
                    {
                        reason = string.Format("Pick invalid parameter,double hand, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                        return false;
                    }
                }
                else if (hand == Hand.Blade2)
                {
                    if (!checkslot(0, 6 - Blade2Slots + 1, slot))   //0 - 21| 21,22,23,24
                    {
                        reason = string.Format("Pick invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                        return false;
                    }
                }
                else
                {
                    if (!checkslot(0, 6, slot))
                    {
                        reason = string.Format("Pick invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                        return false;
                    }
                }
            }
            else
            {
                if (hand == Hand.Both)
                {
                    reason = string.Format("Pick invalid parameter, double pick,chamber is {0}, slot is {1}", chamber.ToString(), slot);
                    return false;
                }
            }

             return execute(_factory.Pick(chamber, slot, hand), out reason);

        }
        
        public bool PickExtend(ModuleName chamber, int slot, Hand hand, out string reason)
        {
            reason = string.Empty;
            if (chamber == ModuleName.Robot)
            {
                reason = string.Format("Pick invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                return false;
            }

            if (ModuleHelper.IsLoadPort(chamber))
            {
                reason = string.Format("Pick invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                return false;
            }
            if (ModuleHelper.IsBuffer(chamber))
            {
                reason = string.Format("Pick invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                return false;
            }
            if (hand == Hand.Both)
            {
                reason = string.Format("Place invalid parameter, double place,chamber is {0}, slot is {1}", chamber.ToString(), slot);
                return false;
            }

            return execute(_factory.PickExtend(chamber, slot, hand), out reason);
        }
        
        public bool PickRetract(ModuleName chamber, int slot, Hand hand, out string reason)
        {
            reason = string.Empty;

            if (chamber == ModuleName.Robot)
            {
                reason = string.Format("Pick invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                return false;
            }

            if (ModuleHelper.IsLoadPort(chamber))
            {
                reason = string.Format("Pick invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                return false;
            }
            if (ModuleHelper.IsBuffer(chamber))
            {
                reason = string.Format("Pick invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                return false;
            }
            if (hand == Hand.Both)
            {
                reason = string.Format("Place invalid parameter, double place,chamber is {0}, slot is {1}", chamber.ToString(), slot);
                return false;
            }

            return execute(_factory.PickRetract(chamber, slot, hand), out reason);
        }

        public bool Place(ModuleName chamber, int slot, Hand hand, out string reason)
        {
            reason = string.Empty;
            if (chamber == ModuleName.Robot)
            {
                reason = string.Format("Place invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                return false;
            }

            if (ModuleHelper.IsLoadPort(chamber))
            {
                if (hand == Hand.Both)
                {
                    if (!checkslot(0, 25 - Blade2Slots, slot))   //0-20 | 20,21,22,23,24
                    {
                        reason = string.Format("Place invalid parameter,double hand, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                        return false;
                    }
                }
                else if (hand == Hand.Blade2)
                {
                    if (!checkslot(0, 25 - Blade2Slots + 1, slot))   //0 - 21| 21,22,23,24
                    {
                        reason = string.Format("Pick invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                        return false;
                    }
                }
                else
                {
                    if (!checkslot(0, 25, slot))
                    {
                        reason = string.Format("Place invalid parameter,place, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                        return false;
                    }
                }
            }
            else if (ModuleHelper.IsBuffer(chamber))
            {
                if (hand == Hand.Both)
                {
                    if (!checkslot(0, 6 - Blade2Slots, slot))   //0-6
                    {
                        reason = string.Format("Place invalid parameter,double hand, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                        return false;
                    }
                }
                else if (hand == Hand.Blade2)
                {
                    if (!checkslot(0, 6 - Blade2Slots + 1, slot))   //0 - 6
                    {
                        reason = string.Format("Pick invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                        return false;
                    }
                }
                else
                {
                    if (!checkslot(0, 6, slot))
                    {
                        reason = string.Format("Place invalid parameter,place, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                        return false;
                    }
                }
            }
            else
            {
                if (hand == Hand.Both)
                {
                    reason = string.Format("Place invalid parameter, double place,chamber is {0}, slot is {1}", chamber.ToString(), slot);
                    return false;
                }
            }

            return execute(_factory.Place(chamber, slot, hand), out reason);
        }
        
        public bool PlaceExtend(ModuleName chamber, int slot, Hand hand, out string reason)
        {
            reason = string.Empty;
            
            if (chamber == ModuleName.Robot)
            {
                reason = string.Format("Pick invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                return false;
            }

            if (ModuleHelper.IsLoadPort(chamber))
            {
                reason = string.Format("Pick invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                return false;
            }
            if (ModuleHelper.IsBuffer(chamber))
            {
                reason = string.Format("Pick invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                return false;
            }
            if (hand == Hand.Both)
            {
                reason = string.Format("Place invalid parameter, double place,chamber is {0}, slot is {1}", chamber.ToString(), slot);
                return false;
            }

            return execute(_factory.PlaceExtend(chamber, slot, hand), out reason);
        }

        public bool PlaceRetract(ModuleName chamber, int slot, Hand hand, out string reason)
        {
            reason = string.Empty;

            if (chamber == ModuleName.Robot)
            {
                reason = string.Format("Pick invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                return false;
            }

            if (ModuleHelper.IsLoadPort(chamber))
            {
                reason = string.Format("Pick invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                return false;
            }
            if (ModuleHelper.IsBuffer(chamber))
            {
                reason = string.Format("Pick invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                return false;
            }
            if (hand == Hand.Both)
            {
                reason = string.Format("Place invalid parameter, double place,chamber is {0}, slot is {1}", chamber.ToString(), slot);
                return false;
            }

            return execute(_factory.PlaceRetract(chamber, slot, hand), out reason);
        }
        
        public bool Exchange(ModuleName chamber, int slot, Hand hand, out string reason)
        {
            reason = string.Empty;
            if (chamber == ModuleName.Robot)
            {
                reason = string.Format("Exchange invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                return false;
            }

            if (Blade2Slots > 1)
            {
                reason = string.Format("this robot don't support exchange operation.");
                return false;
            }

            if (hand == Hand.Both)
            {
                reason = string.Format("Exchange invalid parameter,double hand");
                return false;
            }

            if (ModuleHelper.IsLoadPort(chamber))
            {
                if (!checkslot(0, 25, slot))
                {
                    reason = string.Format("Exchange invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                    return false;
                }
            }
            return execute(_factory.Exchange(chamber, slot, hand), out reason);
        }

        public bool PickEx(ModuleName chamber, int slot, Hand hand, int x, int y, int z, out string reason)
        {
            reason = string.Empty;
            if (chamber == ModuleName.Robot)
            {
                reason = string.Format("Pick invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                return false;
            }

            if (ModuleHelper.IsLoadPort(chamber))
            {
                if (hand == Hand.Both)
                {
                    if (!checkslot(0, 25 - Blade2Slots, slot))   //0-20 | 20,21,22,23,24
                    {
                        reason = string.Format("Pick invalid parameter,double hand, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                        return false;
                    }
                }
                else if (hand == Hand.Blade2)
                {
                    if (!checkslot(0, 25 - Blade2Slots + 1, slot))   //0 - 21| 21,22,23,24
                    {
                        reason = string.Format("Pick invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                        return false;
                    }
                }
                else
                {
                    if (!checkslot(0, 25, slot))
                    {
                        reason = string.Format("Pick invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                        return false;
                    }
                }
            }
            else
            {
                if (hand == Hand.Both)
                {
                    reason = string.Format("Pick invalid parameter, double pick,chamber is {0}, slot is {1}", chamber.ToString(), slot);
                    return false;
                }
            }

            return execute(_factory.PickEx(chamber, slot, hand, x,y,z), out reason);

        }

        public bool PlaceEx(ModuleName chamber, int slot, Hand hand, int x, int y, int z, out string reason)
        {
            reason = string.Empty;
            if (chamber == ModuleName.Robot)
            {
                reason = string.Format("Place invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                return false;
            }

            if (ModuleHelper.IsLoadPort(chamber))
            {
                if (hand == Hand.Both)
                {
                    if (!checkslot(0, 25 - Blade2Slots, slot))   //0-20 | 20,21,22,23,24
                    {
                        reason = string.Format("Place invalid parameter,double hand, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                        return false;
                    }
                }
                else if (hand == Hand.Blade2)
                {
                    if (!checkslot(0, 25 - Blade2Slots + 1, slot))   //0 - 21| 21,22,23,24
                    {
                        reason = string.Format("Pick invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                        return false;
                    }
                }
                else
                {
                    if (!checkslot(0, 25, slot))
                    {
                        reason = string.Format("Place invalid parameter,place, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                        return false;
                    }
                }
            }
            else
            {
                if (hand == Hand.Both)
                {
                    reason = string.Format("Place invalid parameter, double place,chamber is {0}, slot is {1}", chamber.ToString(), slot);
                    return false;
                }
            }

            return execute(_factory.PlaceEx(chamber, slot, hand,x,y,z), out reason);
        }
        
        public bool ExchangeEx(ModuleName chamber, int slot, Hand hand, int x, int y, int z, out string reason)
        {
            reason = string.Empty;
            if (chamber == ModuleName.Robot)
            {
                reason = string.Format("Exchange invalid parameter, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                return false;
            }

            if (Blade2Slots > 1)
            {
                reason = string.Format("this robot don't support exchange operation.");
                return false;
            }

            if (hand == Hand.Both)
            {
                reason = string.Format("Exchange invalid parameter,double hand");
                return false;
            }

            if (ModuleHelper.IsLoadPort(chamber))
            {
                if (!checkslot(0, 25, slot))
                {
                    reason = string.Format("Exchange invalid parameter,pick, chamber is {0}, slot is {1}", chamber.ToString(), slot);
                    return false;
                }
            }
            return execute(_factory.ExchangeEx(chamber, slot, hand, x, y, z), out reason);
        }
        #endregion


        private bool execute(IHandler handler, out string reason)
        {
            reason = string.Empty;
            lock (_locker)
            {
                if (_foregroundHandler != null)
                {
                    reason = "System busy, please wait or reset system.";
                    EV.PostMessage(Name, EventEnum.DefaultWarning, string.Format("{0} {1} {2}", this.DeviceID, handler.ToString(), reason));

                    return false;
                }

                if (_backgroundHandler != null && handler.IsBackground)
                {
                    reason = "System busy，one background command is running, please wait or reset system.";
                    EV.PostMessage(Name, EventEnum.DefaultWarning, string.Format("{0} {1} {2}", this.DeviceID, handler.ToString(), reason)); reason = "系统忙，后台命令正在处理,暂时不能处理新的后台命令";
                    return false;
                }

                handler.Unit = (int)Unit.Robot;
                if(!handler.Execute(ref _socket))
                {
                    reason = "Communication error,please check it.";
                    return false;
                }

                if (handler.IsBackground)
                    _backgroundHandler = handler;
                else
                    _foregroundHandler = handler;
            }

            return true;
        }
        
        private void OnDataChanged(string package)
        {
            try
            {
                if (!package.Contains("Gb") && !package.Contains("Pb"))
                    package = package.ToUpper();
                string[] msgs = Regex.Split(package, delimiter);

                foreach (string msg in msgs)
                {
                    if (msg.Length > 0)
                    {
                        bool completed = false;
                        string resp = msg;

                        lock (_locker)
                        {
                            if (_foregroundHandler != null && _foregroundHandler.OnMessage(ref _socket, resp, out completed))
                            {
                                _foregroundHandler = null;
                            }
                            else if (_backgroundHandler != null && _backgroundHandler.OnMessage(ref _socket, resp, out completed))
                            {
                                if (completed)
                                {
                                    string reason = string.Empty;
                                    QueryState(out reason);
                                    _backgroundHandler = null;
                                }
                            }
                            else
                            {
                                if (_eventHandler != null)
                                {
                                    if (_eventHandler.OnMessage(ref _socket, resp, out completed))
                                    {
                                        if (completed)
                                        {
                                            EV.PostMessage("Robot", EventEnum.DefaultWarning, string.Format(" has error. {0:X}", ErrorCode));
                                            _exceuteErr = true;
                                        }
                                    }
                                }
                            }
                        }
                    }
                }
            }
            catch (ExcuteFailedException e)
            {
                EV.PostMessage("Robot", EventEnum.DefaultWarning, string.Format("executed failed. {0}",e.Message));
                OnError();
                _exceuteErr = false;
            }
            catch (InvalidPackageException e)
            {
                EV.PostMessage("Robot", EventEnum.DefaultWarning, string.Format("receive invalid package. {0}", e.Message));
                OnError();
            }
            catch (System.Exception ex)
            {
                _commErr = true;
                LOG.Write("Robot failed：" + ex.ToString());
            }
        }

        private void OnErrorHandler(ErrorEventArgs args)
        {
            _commErr = true;
            Initalized = false;
            EV.PostMessage(Module, EventEnum.CommunicationError, Display, args.Reason);

            OnError();
        }

        private bool checkslot(int min, int max, int slot)
        {
            return slot >= min && slot < max;
        }

        public void NotifySlotMapResult(ModuleName module, string slotMap)
        {
            if (OnSlotMapRead != null)
            {
                OnSlotMapRead(module, slotMap);
            }
        }

        public void OnError()
        {
            EV.Notify(AlarmRobotError);
        }
    }
}