ZZ-EFEM/Framework/AitexSorterRT/SorterCommonFrame/Routines/AlignRoutine.cs

using System;
using System.Windows;
using Aitex.Core.Common;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using Aitex.Sorter.Common;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robot;
using Aitex.Sorter.RT.Module;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.OcrReaders;
using MECF.Framework.Common.DBCore;
using FACore;
using Aitex.Sorter.RT.SorterCommonFrame.SorterJobControl;
using Aitex.Sorter.RT.SorterCommonFrame.Modules;
using Aitex.Sorter.RT.Module.Recipe;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Aligners.AlignersBase;
using System.Threading;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;
using System.Text;
using Aitex.Core.RT.Log;

namespace Aitex.Sorter.RT.SorterCommonFrame.Routines
{
    internal class AlignRoutine : CommonRoutineSorter, IRoutine
    {
        private enum Align
        {
            AlignForReader,
            WaitAlignForReader,


            ReaderWaferID,
            ReaderWaferID2,

            VerifyLM1WaitInput,
            VerifyLM2WaitInput,

            VerifyLM1WithHostDefine,
            VerifyLM2WithHostDefine,

            Align,
            WaitAlign,
            SendEventPreAlign,
            SendEventPostAlign,
            SendEventLM1,
            SendEventLM2,
            ReleaseAligner,
            WaitComplete,
            Finish,
            UpdateWaferNextStation,
            UpdataWaferProcessState,

            WaitOcrReady1,
            WaitOcrReady2,
            WaitOcrReady3,
            WaitOcrReady4,
            WaitOcrReady5,
            WaitOcrReady6,

            SaveOcrImage1,
            SaveOcrImage2,

            Retry,

            Retry2 =100,

            SetRetryFlag1,
            SetRetryFlag2,
            SetRetryFlag3,

        }


        private enum AlignEventType
        {
            PreAlignEnd,
            PostAlignEnd,
            ReadLM1,
            ReadLM2,
        }
        private ReadWaferIDRecipe _aligneRecipe;
        public ReadWaferIDRecipe AlignerRecipe
        {
            get => _aligneRecipe;
            set { _aligneRecipe = value; }
        }
        private ModuleName _alignerModulename = ModuleName.Aligner;
        public ModuleName AlignerModulename
        {
            get => _alignerModulename;
            set { _alignerModulename = value; }
        }
        private bool _isRemoteJob= false;

        public bool IsRemoteJob
        {
            get => _isRemoteJob;
            set { IsRemoteJob = value; }
        }

        public bool IsNeedRetryLaserMark1;
        public bool IsNeedRetryLaserMark2;

        public bool IsVerifyLM1WaitManualInput { get; private set; }
        public bool IsVerifyLM1WithHostDefine { get; private set; }

        public bool IsVerifyLM2WaitManualInput { get; private set; }
        public bool IsVerifyLM2WithHostDefine { get; private set; }

        private int _timeoutAlign => Aligner.TimeLimitAlignWafer;
        private int _timeoutReadOcr => Aligner.TimeLimitReadOcr;
        private int _timeoutVerifyOcr => Aligner.TimeLimitVerifyOcr;

        private int _retryTimes
        {
            get
            {
                if (SC.ContainsItem("Process.OcrRetryTimes"))
                    return SC.GetValue<int>("Process.OcrRetryTimes");
                return 0;
            }
        }
        

        public const string EventStartAlign = "WAFER_ALIGN_START";
        public const string EventEndAlign = "WAFER_ALIGN_END";
        public const string AlarmAlignFailed = "AlignerAligningFailed";
        public const string EventWaferIdRead = "WAFER_LM_READ";
        public const string EventWaferIdReadFail = "WAFER_LM_READ_FAILED";
        public const string EventWaferIdVerifyFailed = "AlignerVerifyLaserMarkFailed";
        public const string EventWaferIdVerifySucceeded = "WAFER_LM_VERIFY_SUCCEEDED";
        public const string EventStartReturnLot = "START_RETURN_LOT";

        public AlignRoutine(string module, string name)
        {
            Name = module + name;


        }

        public bool Initalize()
        {
            Reset();
            IsRoutineActive = false;
            return true;
        }
        private bool IsOnSortingByID
        {
            get
            {
                if (Singleton<RouteManagerSorter>.Instance.CurrentSorterRTStateEnum == SorterRTStateEnum.SortingByID)
                    return true;

                if (Singleton<RouteManagerSorter>.Instance.CurrentSorterRTStateEnum == SorterRTStateEnum.Canceling)
                    return SorterJobManager.Instance.IsOnCancelSortingByID;
                return false;


            }
        }
        private bool IsOnDispatchByID
        {
            get
            {
                if (Singleton<RouteManagerSorter>.Instance.CurrentSorterRTStateEnum == SorterRTStateEnum.DispatchingByID)
                    return true;
                return false;
            }
        }

        private bool IsOnSortingBySlot
        {
            get
            {
                if (Singleton<RouteManagerSorter>.Instance.CurrentSorterRTStateEnum == SorterRTStateEnum.SortingBySlot)
                    return true;
                if (Singleton<RouteManagerSorter>.Instance.CurrentSorterRTStateEnum == SorterRTStateEnum.Canceling)
                    return SorterJobManager.Instance.IsOnCancelSortingBySlot;
                return false;
            }
        }
        private double ConvertPreAlignAngle(double anglesp)
        {
            if (Aligner.IsReversePreAlignDirection) return anglesp * -1;
            return anglesp;
                 
        }

        private double ConvertPostAlignAngle(double anglesp)
        {
            if (Aligner.IsReversePostAlignDirection) return anglesp * -1;
            return anglesp;

        }

        private bool _isSaveImageInRoutine
        {
            get
            {
                if (SC.ContainsItem("Process.SaveOcrImage"))
                    return SC.GetValue<bool>("Process.SaveOcrImage");
                return false;
            }
        }

        public Result Start(params object[] paras)
        {

            Reset();

            Aligner = DEVICE.GetDevice<AlignerBaseDevice>(_alignerModulename.ToString());
            

            var wafer = WaferManager.Instance.GetWafers(AlignerModulename)[0];
            WaferManager.Instance.UpdateWaferProcessStatus(AlignerModulename, 0, EnumWaferProcessStatus.InProcess);
            if (!wafer.IsEmpty)
            {
                var carrierId = wafer.OriginCarrierID;
                var slotNumber = wafer.OriginSlot+1;

                var dvid = new SerializableDictionary<string, object>()
                {
                    {DVIDName.LOT_ID, wafer.LotId},
                    {DVIDName.WAFER_ID, wafer.WaferID},
                    {DVIDName.CAR_ID, carrierId},
                    {DVIDName.SLOT_NO, slotNumber},
                    {DVIDName.ARRIVE_POS_NAME, "ALN1"},
                };
                EV.Notify(EventStartAlign, dvid);               
            }

            IsVerifyLM1WaitManualInput = _aligneRecipe.IsVerifyLaserMarker1 &&
                (_aligneRecipe.IsVerifyLaserMarkLength || _aligneRecipe.IsVerifyLaserMarkSlotForNCD || _aligneRecipe.IsVerifyChecksumLaserMarker1);

            IsVerifyLM1WithHostDefine = _aligneRecipe.IsVerifyLaserMarker1 && _aligneRecipe.IsVerifyWithHostDefine;

            IsVerifyLM2WaitManualInput = _aligneRecipe.IsVerifyLaserMarker2 &&
                (_aligneRecipe.IsVerifyLaserMarkLength || _aligneRecipe.IsVerifyLaserMarkSlotForNCD || _aligneRecipe.IsVerifyChecksumLaserMarker2);

            IsVerifyLM2WithHostDefine = _aligneRecipe.IsVerifyLaserMarker2 && _aligneRecipe.IsVerifyWithHostDefine;

            if (_aligneRecipe.IsReadLaserMarker1 && _aligneRecipe.OcrReaderJob1.Count <= 0)
            {
                EV.Notify(AlarmAlignFailed);
                return Result.FAIL;
            }
            if (_aligneRecipe.IsReadLaserMarker2 && _aligneRecipe.OcrReaderJob2.Count <= 0)
            {
                EV.Notify(AlarmAlignFailed);
                return Result.FAIL;
            }
            if (_aligneRecipe.IsReadLaserMarker1)
            {
                if (string.IsNullOrEmpty(_aligneRecipe.OcrReaderJob1[0]))
                {
                    EV.PostAlarmLog("System", $"Invalid job1 setting in sub recipe:{_aligneRecipe.RecipeName}.");
                    EV.Notify(AlarmAlignFailed);
                    return Result.FAIL;
                }
            }
            if (_aligneRecipe.IsReadLaserMarker2)
            {
                if (string.IsNullOrEmpty(_aligneRecipe.OcrReaderJob2[0]))
                {
                    EV.PostAlarmLog("System", $"Invalid job2 setting in sub recipe:{_aligneRecipe.RecipeName}.");
                    EV.Notify(AlarmAlignFailed);
                    return Result.FAIL;
                }
            }


            Reset();

            EV.PostInfoLog("System", "Start to implement alignment routine");
            IsRoutineActive = true;
            return Monitor();
        }
        

        public Result Monitor()
        {
            if (!IsRoutineActive)
                return Result.DONE;

            var ret = MonitorRoutine();
            if (ret == Result.FAIL)
            {
                IsRoutineActive = false;
            }
            if (ret == Result.DONE)
            {
                IsRoutineActive = false;
            }
            return ret;
            
            
        }

        private Result MonitorRoutine()
        {
            try
            {
                if (_aligneRecipe != null)
                {
                    if (_aligneRecipe.IsPreAlign)
                    {
                        RtPreAlignWafer((int)Align.AlignForReader, "Pre align the wafer", ConvertPreAlignAngle(_aligneRecipe.PreAlignAngle), Notify);
                        if (ExecuteResult.Item1)
                        {
                            if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                            if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                        }
                       
                        
                        RtWaitAlignerMotion((int)Align.WaitAlignForReader, Aligner, "Wait to finish the pre-alignment", _timeoutAlign, Notify, Stop);
                        if (ExecuteResult.Item1)
                        {
                            if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                            if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                        }
                    }

                    if (_aligneRecipe.IsReadLaserMarker1)
                    {
                        RtWaitReaderReady((int)Align.WaitOcrReady1, _timeoutReadOcr, _aligneRecipe.LaserMarkerWaferReaderIndex1 - 1, Notify, Stop);
                        if (ExecuteResult.Item1)
                        {
                            if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                            if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                        }                        

                        RtReadWaferID((int)Align.ReaderWaferID, _alignerModulename, _aligneRecipe.LaserMarkerWaferReaderIndex1 - 1,
                             0, _aligneRecipe.OcrReaderJob1[0], Notify);
                        if (ExecuteResult.Item1)
                        {
                            if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                            if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                        }
                        RtWaitReaderReady((int)Align.WaitOcrReady2, _timeoutReadOcr, _aligneRecipe.LaserMarkerWaferReaderIndex1 - 1, 
                            Notify, Stop);
                        if (ExecuteResult.Item1)
                        {
                            if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                            if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                        }
                        if (_isSaveImageInRoutine)
                        {
                            RtSaveOcrPicture((int)Align.SaveOcrImage1, _aligneRecipe.LaserMarkerWaferReaderIndex1 - 1, Notify);
                            if (ExecuteResult.Item1)
                            {
                                if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                                if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                            }
                        }

                        RtSetRetryLaserMarkFlag((int)Align.SetRetryFlag1,0, _aligneRecipe.LaserMarkerWaferReaderIndex1 - 1, Notify);
                        if (ExecuteResult.Item1)
                        {
                            if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                            if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                        }

                        if(IsNeedRetryLaserMark1)
                        {
                            for(int i=0;i<_retryTimes;i++)
                            {
                                RtAlignWaferForRetry((int)Align.Retry + 1 + i * 8, i+1,ConvertPreAlignAngle(_aligneRecipe.PreAlignAngle), Aligner.OCRs[_aligneRecipe.LaserMarkerWaferReaderIndex1 - 1], Notify);
                                if (ExecuteResult.Item1)
                                {
                                    if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                                    if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                                    if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                                    if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                                }
                                RtWaitAlignerMotion((int)Align.Retry + 2 + i * 8, Aligner, "Wait to finish the pre-alignment for retry ocr read", _timeoutAlign, Notify, Stop);
                                if (ExecuteResult.Item1)
                                {
                                    if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                                    if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                                    if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                                    if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                                }
                                RtWaitReaderReady((int)Align.Retry + 3 + i * 8, _timeoutReadOcr, _aligneRecipe.LaserMarkerWaferReaderIndex1 - 1,
                                Notify, Stop);
                                if (ExecuteResult.Item1)
                                {
                                    if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                                    if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                                    if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                                    if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                                }

                                RtReadWaferIDForRetry((int)Align.Retry + 4 + i * 8,i+1, _alignerModulename, _aligneRecipe.LaserMarkerWaferReaderIndex1 - 1,
                                 0, _aligneRecipe.OcrReaderJob1[0], Notify);
                                if (ExecuteResult.Item1)
                                {
                                    if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                                    if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                                    if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                                    if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                                }
                                RtWaitReaderReady((int)Align.Retry + 5 + i * 8, _timeoutReadOcr, _aligneRecipe.LaserMarkerWaferReaderIndex1 - 1,
                                Notify, Stop);
                                if (ExecuteResult.Item1)
                                {
                                    if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                                    if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                                    if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                                    if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                                }

                                if (_isSaveImageInRoutine)
                                {
                                    RtSaveOcrPicture((int)Align.Retry + 6 + i * 8, _aligneRecipe.LaserMarkerWaferReaderIndex1 - 1, Notify);
                                    if (ExecuteResult.Item1)
                                    {
                                        if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                                        if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                                        if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                                        if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                                    }
                                }
                                RtSetRetryLaserMarkFlag((int)Align.Retry + 7 + i*8, 0, _aligneRecipe.LaserMarkerWaferReaderIndex1 - 1, Notify);
                                if (ExecuteResult.Item1)
                                {
                                    if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                                    if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                                    if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                                    if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                                }
                            }
                        }
                        

                        //RtWaitReaderReady((int)Align.WaitOcrReady3, _timeoutReadOcr, _aligneRecipe.LaserMarkerWaferReaderIndex1 - 1,
                        //    Notify, Stop);
                        //if (ExecuteResult.Item1)
                        //{
                        //    if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                        //    if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                        //    if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                        //    if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                        //}

                        RtSendReadResult((int)Align.SendEventLM1, _alignerModulename, _aligneRecipe.LaserMarkerWaferReaderIndex1 - 1,
                            0, _aligneRecipe.OcrReaderJob1[0], Notify);
                        if (ExecuteResult.Item1)
                        {
                            if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                            if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                        }

                        

                        if (IsVerifyLM1WaitManualInput)
                        {
                            RtVerifyWaferIDAndWaitManualInput((int)Align.VerifyLM1WaitInput, _alignerModulename, _timeoutVerifyOcr, _aligneRecipe.LaserMarkerWaferReaderIndex1 - 1,
                                0, Notify, Stop);
                            if (ExecuteResult.Item1)
                            {
                                if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                                if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                            }


                        }
                        if (IsVerifyLM1WithHostDefine)
                        {
                            RtVerifyWaferIDWithHostDefine((int)Align.VerifyLM1WithHostDefine, _alignerModulename, _aligneRecipe.LaserMarkerWaferReaderIndex1 - 1,
                                0, Notify, Stop);
                            if (ExecuteResult.Item1)
                            {
                                if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                                if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                            }

                        }
                    }

                    if (_aligneRecipe.IsReadLaserMarker2)
                    {
                        RtWaitReaderReady((int)Align.WaitOcrReady4, _timeoutReadOcr, _aligneRecipe.LaserMarkerWaferReaderIndex1 - 1, Notify, Stop);
                        if (ExecuteResult.Item1)
                        {
                            if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                            if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                        }
                        

                        RtReadWaferID((int)Align.ReaderWaferID2, _alignerModulename, _aligneRecipe.LaserMarkerWaferReaderIndex1 - 1, 
                            1, _aligneRecipe.OcrReaderJob2[0], Notify);
                        if (ExecuteResult.Item1)
                        {
                            if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                            if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                        }

                        RtWaitReaderReady((int)Align.WaitOcrReady5, _timeoutReadOcr, _aligneRecipe.LaserMarkerWaferReaderIndex1 - 1,
                            Notify, Stop);
                        if (ExecuteResult.Item1)
                        {
                            if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                            if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                        }

                        if (_isSaveImageInRoutine)
                        {

                            RtSaveOcrPicture((int)Align.SaveOcrImage2, _aligneRecipe.LaserMarkerWaferReaderIndex1 - 1, Notify);
                            if (ExecuteResult.Item1)
                            {
                                if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                                if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                            }
                        }

                        RtSetRetryLaserMarkFlag((int)Align.SetRetryFlag1, 1, _aligneRecipe.LaserMarkerWaferReaderIndex1 - 1, Notify);
                        if (ExecuteResult.Item1)
                        {
                            if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                            if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                        }


                        if(IsNeedRetryLaserMark2)
                        {
                            for(int j=0;j<_retryTimes;j++)
                            {
                                RtAlignWaferForRetry((int)Align.Retry2+j*8,j+1, ConvertPreAlignAngle(_aligneRecipe.PreAlignAngle), Aligner.OCRs[_aligneRecipe.LaserMarkerWaferReaderIndex1 - 1], Notify);
                                if (ExecuteResult.Item1)
                                {
                                    if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                                    if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                                    if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                                    if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                                }
                                RtWaitAlignerMotion((int)Align.Retry2 + 1 + j * 8, Aligner, "Wait to finish the pre-alignment for retry ocr read", _timeoutAlign, Notify, Stop);
                                if (ExecuteResult.Item1)
                                {
                                    if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                                    if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                                    if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                                    if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                                }

                                RtWaitReaderReady((int)Align.Retry2 + 2 + j * 8, _timeoutReadOcr, _aligneRecipe.LaserMarkerWaferReaderIndex1 - 1,
                                Notify, Stop);
                                if (ExecuteResult.Item1)
                                {
                                    if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                                    if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                                    if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                                    if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                                }

                                RtReadWaferIDForRetry((int)Align.Retry2 + 3 + j * 8,j+1, _alignerModulename, _aligneRecipe.LaserMarkerWaferReaderIndex1 - 1,
                                1, _aligneRecipe.OcrReaderJob2[0], Notify);
                                if (ExecuteResult.Item1)
                                {
                                    if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                                    if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                                    if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                                    if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                                }
                                RtWaitReaderReady((int)Align.Retry2 + 4 + j * 8, _timeoutReadOcr, _aligneRecipe.LaserMarkerWaferReaderIndex1 - 1,
                                Notify, Stop);
                                if (ExecuteResult.Item1)
                                {
                                    if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                                    if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                                    if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                                    if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                                }

                                if (_isSaveImageInRoutine)
                                {
                                    RtSaveOcrPicture((int)Align.Retry2 + 5 + j * 8, _aligneRecipe.LaserMarkerWaferReaderIndex1 - 1, Notify);
                                    if (ExecuteResult.Item1)
                                    {
                                        if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                                        if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                                        if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                                        if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                                    }
                                }


                                RtSetRetryLaserMarkFlag((int)Align.Retry2 + 6 + j * 8, 1, _aligneRecipe.LaserMarkerWaferReaderIndex1 - 1, Notify);
                                if (ExecuteResult.Item1)
                                {
                                    if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                                    if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                                    if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                                    if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                                }

                            }
                        }
                        
                        //RtWaitReaderReady((int)Align.WaitOcrReady6, _timeoutReadOcr, _aligneRecipe.LaserMarkerWaferReaderIndex1 - 1,
                        //    Notify, Stop);
                        //if (ExecuteResult.Item1)
                        //{
                        //    if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                        //    if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                        //    if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                        //    if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                        //}

                        RtSendReadResult((int)Align.SendEventLM2, _alignerModulename, _aligneRecipe.LaserMarkerWaferReaderIndex1 - 1,
                            1, _aligneRecipe.OcrReaderJob2[0], Notify);
                        if (ExecuteResult.Item1)
                        {
                            if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                            if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                        }
                        

                        if (IsVerifyLM2WaitManualInput)
                        {
                            RtVerifyWaferIDAndWaitManualInput((int)Align.VerifyLM2WaitInput, _alignerModulename, _timeoutVerifyOcr, _aligneRecipe.LaserMarkerWaferReaderIndex1 - 1, 0, Notify, Stop);
                            if (ExecuteResult.Item1)
                            {
                                if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                                if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                            }
                        }
                        if (IsVerifyLM2WithHostDefine)
                        {
                            RtVerifyWaferIDWithHostDefine((int)Align.VerifyLM2WithHostDefine, _alignerModulename, _aligneRecipe.LaserMarkerWaferReaderIndex1 - 1, 1, Notify, Stop);
                            if (ExecuteResult.Item1)
                            {
                                if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                                if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                                if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                            }
                        }
                    }


                    if (_aligneRecipe.IsPostAlign)
                    {
                        RtPostAlignWafer((int)Align.Align, "Post align the wafer", ConvertPostAlignAngle(_aligneRecipe.PostAlignAngle) + Aligner.PostAlignCompensationAngleValue, Notify);
                        if (ExecuteResult.Item1)
                        {
                            if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                            if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                        }
                        RtWaitAlignerMotion((int)Align.WaitAlign, Aligner, "Wait to finish post-alignment", _timeoutAlign, Notify, Stop);
                        if (ExecuteResult.Item1)
                        {
                            if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                            if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                            if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                        }
                    }
                }

                if (IsOnSortingByID)
                {
                    RtUpdateWaferNextStationOnSortingByHost((int)Align.UpdateWaferNextStation, Notify, Stop);
                    if (ExecuteResult.Item1)
                    {
                        if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                        if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                        if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                        if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                    }

                }

                if (IsOnSortingBySlot)
                {
                    RtUpdateWaferNextStationOnSortingBySlot((int)Align.UpdateWaferNextStation, Notify, Stop);
                    if (ExecuteResult.Item1)
                    {
                        if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                        if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                        if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                        if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                    }


                }
                if (IsOnDispatchByID)
                {
                    RtUpdateWaferNextStationOnDispatchByID((int)Align.UpdateWaferNextStation, Notify, Stop);
                    if (ExecuteResult.Item1)
                    {
                        if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                        if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                        if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                        if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                    }
                }
                RtUpdateWaferSingleStepProcessState((int)Align.UpdataWaferProcessState, "Update wafer to processed.", AlignerModulename, 0, Hand.Both, EnumWaferProcessStatus.Completed, Notify, Stop);



                if (ExecuteResult.Item1)
                {
                    if (ExecuteResult.Item2 == Result.RUN) return Result.RUN;
                    if (ExecuteResult.Item2 == Result.FAIL) return Result.FAIL;
                    if (ExecuteResult.Item2 == Result.TIMEOUT) return Result.FAIL;
                    if (ExecuteResult.Item2 == Result.DONE) return Result.DONE;
                }

                EV.PostInfoLog("System", $"Complete wafer align routine.");

                IsRoutineActive = false;
                return Result.DONE;


            }
            catch (Exception ex)
            {
                LOG.Write(ex);
                IsRoutineActive = false;
                return Result.FAIL;
            }

        }

        public new void Abort()
        {
            base.Abort();
        }

        public Tuple<bool, Result> RtUpdateWaferNextStationOnSortingByHost(int id, Action<string> notify, Action<string> error)
        {
            Tuple<bool, Result> ret = Execute(id, () =>
            {

                notify("Update wafer to next station sorting by host.");
                var wafer = WaferManager.Instance.GetWafer(AlignerModulename, 0);
                int slot = Singleton<SorterJobManager>.Instance.GetSlot(wafer.LaserMarker);
                if (slot == -1)
                {
                    wafer.DestinationStation = wafer.OriginStation;
                    wafer.NextStation = wafer.OriginStation;
                    wafer.DestinationSlot = wafer.OriginSlot;
                    wafer.NextStationSlot = wafer.OriginSlot;


                    EV.PostAlarmLog("System", $"Can't find the postion for wafer with ID:{wafer.LaserMarker}.");

                    Singleton<RouteManagerSorter>.Instance.CheckToPostMsg(RouteManagerSorter.MSG.CancelJob);

                    return true;
                }
                wafer.DestinationStation = Singleton<SorterJobManager>.Instance.SortByHostDestPort;
                wafer.NextStation = Singleton<SorterJobManager>.Instance.SortByHostDestPort;
                wafer.DestinationSlot = slot-1;
                wafer.NextStationSlot = slot-1;

                if (Singleton<SorterJobManager>.Instance.SortByHostSourcePort != Singleton<SorterJobManager>.Instance.SortByHostDestPort
                && WaferManager.Instance.CheckHasWafer((ModuleName)wafer.NextStation, wafer.NextStationSlot))
                {
                    wafer.DestinationStation = wafer.OriginStation;
                    wafer.NextStation = wafer.OriginStation;
                    wafer.DestinationSlot = wafer.OriginSlot;
                    wafer.NextStationSlot = wafer.OriginSlot;
                    EV.PostAlarmLog("System", $"The destination was occuppied for wafer with ID:{wafer.LaserMarker}.");
                    Singleton<RouteManagerSorter>.Instance.CheckToPostMsg(RouteManagerSorter.MSG.CancelJob);
                    return true;
                }
                return true;

            });

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    error(String.Format("Failed to update wafer information to nex station OnSortingByHost."));                    
                }
            }
            return ret;
        }


        public Tuple<bool, Result> RtUpdateWaferNextStationOnSortingBySlot(int id, Action<string> notify, Action<string> error)
        {
            Tuple<bool, Result> ret = Execute(id, () =>
            {
                notify("Update wafer to next station sorting by slot.");
                var wafer = WaferManager.Instance.GetWafer(AlignerModulename, 0);
                int slot = ParseSlot(wafer.LaserMarker,Singleton<SorterJobManager>.Instance.SortByHostSlotIndex);
                if (slot == -1)
                {
                    wafer.DestinationStation = wafer.OriginStation;
                    wafer.NextStation = wafer.OriginStation;
                    wafer.DestinationSlot = wafer.OriginSlot;
                    wafer.NextStationSlot = wafer.OriginSlot;

                    Singleton<RouteManagerSorter>.Instance.CheckToPostMsg(RouteManagerSorter.MSG.CancelJob);
                    EV.PostAlarmLog("System", $"Can't find the postion for wafer with ID:{wafer.LaserMarker}.");
                    return true;
                }

                wafer.DestinationStation = Singleton<SorterJobManager>.Instance.SortByHostDestPort;
                wafer.NextStation = Singleton<SorterJobManager>.Instance.SortByHostDestPort;
                wafer.DestinationSlot = slot - 1;
                wafer.NextStationSlot = slot - 1;

                if (Singleton<SorterJobManager>.Instance.SortByHostSourcePort != Singleton<SorterJobManager>.Instance.SortByHostDestPort
                && WaferManager.Instance.CheckHasWafer((ModuleName)wafer.NextStation,wafer.NextStationSlot))
                {
                    wafer.DestinationStation = wafer.OriginStation;
                    wafer.NextStation = wafer.OriginStation;
                    wafer.DestinationSlot = wafer.OriginSlot;
                    wafer.NextStationSlot = wafer.OriginSlot;

                    Singleton<RouteManagerSorter>.Instance.CheckToPostMsg(RouteManagerSorter.MSG.CancelJob);
                    EV.PostAlarmLog("System", $"The destination was occuppied for wafer with ID:{wafer.LaserMarker}.");
                    return true;
                }
                return true;
            });

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    error(String.Format("Failed to update wafer information to next station OnSortingBySlot."));
                    
                }
            }
            return ret;
        }

        private int ParseSlot(string waferID,int index)
        {
            if (waferID.Length < index + 1) return -1;
            string strSlot = waferID.Substring(index - 1, 2);
            int ret;
            if(int.TryParse(strSlot,out ret))
            {
                if (ret <= 0) return - 1;
                if (ret > 25) return -1;
                return ret;
            }
            return -1;
        }
        public void RtAlignWaferForRetry(int id,int timeNo, double notch,OCRReaderBaseDevice reader, Action<string> notify)
        {
            var ret = Execute(id, () =>
            {
                var reason = string.Empty;
                
                if (reader.ReadOK)
                {
                    notify($"Skip the re-alignment for read ocr base on the result OK");
                    return true;
                }

                notify($"start to re-align the wafer to read ocr for the {timeNo}st time");
                Aligner.Align(notch, out reason);
                return true;
            });
        }

        private void RtReadWaferIDForRetry(int id,int timeNo, ModuleName name, int ocrindex, int waferIDindex, string job, Action<string> notify)
        {
            var ret = Execute(id, () =>
            {
                
                var reason = string.Empty;

                if(Aligner.OCRs[ocrindex].ReadOK)
                {
                    notify($"Skip re-read laser mark with reader:{ocrindex} for the NO.{waferIDindex + 1} ID.");
                    return true;
                }
                notify($"Start re-read laser mark with reader:{ocrindex} for the NO.{waferIDindex + 1} ID for the {timeNo}st time");
                if (!Aligner.OCRs[ocrindex].ReadWaferID(job, waferIDindex))
                {
                    var wafer = WaferManager.Instance.GetWafers(name)[0];

                    var destlp = DEVICE.GetDevice<LoadPortBaseDevice>(((ModuleName)wafer.DestinationStation).ToString());
                    string destcarrierID = destlp == null ? "" : destlp.CarrierId;

                    var dvid = new SerializableDictionary<string, object>()
                    {
                        {DVIDName.LOT_ID, wafer.LotId},
                        {DVIDName.WAFER_ID, wafer.WaferID},
                        {DVIDName.SOURCE_CAR_ID, wafer.OriginCarrierID},
                        {DVIDName.CarrierID,wafer.OriginCarrierID},

                        {DVIDName.SOURCE_SLOT, (wafer.OriginSlot +1)},
                        {DVIDName.ARRIVE_POS_NAME, Aligner.RobotModuleName.ToString()},
                        {DVIDName.LASERMARK, Aligner.OCRs[ocrindex].CurrentLaserMark},
                        {DVIDName.LM_READER_NO,ocrindex+1},
                        {DVIDName.OCR_SCORE, waferIDindex == 0?
                        Aligner.OCRs[ocrindex].LaserMark1Score: Aligner.OCRs[ocrindex].LaserMark2Score},
                        {DVIDName.LM_NO, waferIDindex+1},
                        {"DestCarrier",destcarrierID},
                        {"DestSlot",wafer.DestinationSlot+1},
                        { "SourcePort",wafer.OriginStation},
                        { "DestPort",wafer.DestinationStation},



                    };
                    EV.Notify(EventWaferIdReadFail, dvid);
                    EV.PostAlarmLog(Aligner.RobotModuleName.ToString(), $"Wafer:{wafer.WaferID} failed to read laser mark.");
                    EV.Notify(AlarmID.ReadWaferLaserMarkFailed);
                }
                return true;
            });

        }

        public void RtPreAlignWafer(int id,string msg, double notch, Action<string> notify)
        {
            var ret = Execute(id, () =>
            {
                notify($"{msg} to {notch}.");
                var reason = string.Empty;

                Aligner.PreAlign(notch, out reason);
                return true;
            });
        }

        public void RtPostAlignWafer(int id, string msg, double notch, Action<string> notify)
        {
            var ret = Execute(id, () =>
            {
                notify($"{msg} to {notch}.");
                var reason = string.Empty;

                Aligner.PostAlign(notch, out reason);
                return true;
            });
        }





        public void RtUpdateWaferNextStationOnDispatchByID(int id, Action<string> notify, Action<string> error)
        {
            var ret=  Execute(id, () =>
            {
                var wafer = WaferManager.Instance.GetWafer(AlignerModulename, 0);
                notify($"Update wafer:{wafer.WaferID} to next station on dispatch by ID.");
                int station, slotindex;
                if (Singleton<SorterJobManager>.Instance.IdentifyStationAndSlot(wafer.LaserMarker, out station, out slotindex))
                {
                    wafer.DestinationStation = station;
                    wafer.NextStation = station;
                    wafer.DestinationSlot = slotindex;
                    wafer.NextStationSlot = slotindex;
                    EV.PostInfoLog("System", $"Wafer:{wafer.WaferID} with laser mark:{wafer.LaserMarker} from carrier:{wafer.OriginCarrierID} " +
                        $"is identify to dispatch to station:{(ModuleName)station} slot:{slotindex + 1}.");
                }
                else
                {

                    wafer.NextStation = wafer.DestinationStation;
                    wafer.NextStationSlot = wafer.DestinationSlot;
                    EV.PostInfoLog("System", $"Wafer:{wafer.WaferID} with laser mark:{wafer.LaserMarker} from carrier:{wafer.OriginCarrierID} " +
                        $"can't be identify will be return.");
                }
                return true;
            });
           
        }

        private void RtReadWaferID(int id, ModuleName name, int ocrindex, int waferIDindex, string job, Action<string> notify)
        {
            var ret = Execute(id, () =>
            {
                notify($"Start read laser mark with reader:{ocrindex} for the NO.{waferIDindex + 1} ID.");
                var reason = string.Empty;
                if (!Aligner.OCRs[ocrindex].ReadWaferID(job, waferIDindex))
                {
                    var wafer = WaferManager.Instance.GetWafers(name)[0];

                    var destlp = DEVICE.GetDevice<LoadPortBaseDevice>(((ModuleName)wafer.DestinationStation).ToString());
                    string destcarrierID = destlp == null ? "" : destlp.CarrierId;

                    var dvid = new SerializableDictionary<string, object>()
                    {
                        {DVIDName.LOT_ID, wafer.LotId},
                        {DVIDName.WAFER_ID, wafer.WaferID},
                        {DVIDName.CarrierID,wafer.OriginCarrierID},

                        {DVIDName.SOURCE_CAR_ID, wafer.OriginCarrierID},
                        {DVIDName.SOURCE_SLOT, (wafer.OriginSlot +1)},
                        {DVIDName.ARRIVE_POS_NAME, Aligner.RobotModuleName.ToString()},
                        {DVIDName.LASERMARK, Aligner.OCRs[ocrindex].CurrentLaserMark},
                        {DVIDName.LM_READER_NO,ocrindex+1},
                        {DVIDName.OCR_SCORE, waferIDindex == 0?
                        Aligner.OCRs[ocrindex].LaserMark1Score: Aligner.OCRs[ocrindex].LaserMark2Score},
                        {DVIDName.LM_NO, waferIDindex+1},
                        {"DestCarrier",destcarrierID},
                        {"DestSlot",wafer.DestinationSlot+1},
                        { "SourcePort",wafer.OriginStation},
                        { "DestPort",wafer.DestinationStation},
                    };
                    EV.Notify(EventWaferIdReadFail, dvid);
                    EV.PostAlarmLog(Aligner.RobotModuleName.ToString(), $"Wafer:{wafer.WaferID} failed to read laser mark.");
                    EV.Notify(AlarmID.ReadWaferLaserMarkFailed);                    
                }
                return true;
            });

        }

        public void RtSendReadResult(int id, ModuleName name, int ocrindex, int waferIDindex, string job, Action<string> notify)
        {
            var ret = Execute(id, () =>
            {
                notify($"{name} start to send read result.");

                var wafer = WaferManager.Instance.GetWafers(name)[0];                
                if (waferIDindex == 0)
                {
                    WaferManager.Instance.UpdateWaferLaserWithScoreAndFileName(name, 0, Aligner.OCRs[ocrindex].LaserMark1,
                        Aligner.OCRs[ocrindex].LaserMark1Score, job, "");
                    WaferManager.Instance.UpdateWaferHistory(AlignerModulename, 0, SubstAccessType.UpdateLM1);                    
                }
                if (waferIDindex == 1)
                {
                    WaferManager.Instance.UpdateWaferT7CodeWithScoreAndFileName(name, 0, Aligner.OCRs[ocrindex].LaserMark2,
                        Aligner.OCRs[ocrindex].LaserMark2Score, job, "");
                    WaferManager.Instance.UpdateWaferHistory(AlignerModulename, 0, SubstAccessType.UpdateLM1);                   
                }
                var destlp = DEVICE.GetDevice<LoadPortBaseDevice>(((ModuleName)wafer.DestinationStation).ToString());
                string destcarrierID = destlp == null ? "" : destlp.CarrierId;

                var dvid2 = new SerializableDictionary<string, object>()
                {
                    {DVIDName.LOT_ID, wafer.LotId},
                    {DVIDName.WAFER_ID, wafer.WaferID},
                    {DVIDName.CarrierID,wafer.OriginCarrierID},
                    {DVIDName.SOURCE_CAR_ID, wafer.OriginCarrierID},
                    {DVIDName.SOURCE_SLOT, (wafer.OriginSlot +1)},
                    {DVIDName.ARRIVE_POS_NAME, Aligner.RobotModuleName.ToString()},
                    {DVIDName.LASERMARK, Aligner.OCRs[ocrindex].CurrentLaserMark},
                    {DVIDName.LM_READER_NO,ocrindex+1},
                    {DVIDName.OCR_SCORE, waferIDindex == 0?
                    Aligner.OCRs[ocrindex].LaserMark1Score: Aligner.OCRs[ocrindex].LaserMark2Score},
                    {DVIDName.LM_NO, waferIDindex+1},
                    {"DestCarrier",destcarrierID},
                    {"DestSlot",wafer.DestinationSlot+1},
                    { "SourcePort",wafer.OriginStation},
                    { "DestPort",wafer.DestinationStation},
                };
                EV.PostInfoLog(Aligner.RobotModuleName.ToString(), $"Wafer:{wafer.WaferID} succeed to read laser mark:" +
                    $"{Aligner.OCRs[ocrindex].CurrentLaserMark ?? ""} with score:{Aligner.OCRs[ocrindex].CurrentLaserMarkScore.ToString() ?? ""} in time:" +
                    $"{Aligner.OCRs[ocrindex].CurrentLaserMarkReadTime ?? ""}.");

                EV.Notify(EventWaferIdRead, dvid2);
                



                if (!Aligner.OCRs[ocrindex].ReadOK || Aligner.OCRs[ocrindex].CurrentLaserMark.Contains("*"))
                {                   

                    var dvid3 = new SerializableDictionary<string, object>()
                    {
                        { "AlarmDescription",
                        $"Read lasermark on wafer:{wafer.WaferID} failed:{Aligner.OCRs[ocrindex].CurrentLaserMark}"
                        }
                    };

                    EV.Notify(AlarmID.ReadWaferLaserMarkFailed, dvid3);
                    EV.Notify(EventWaferIdReadFail, dvid2);

                }


                return true;
            });
        }

        private void RtSetRetryLaserMarkFlag(int id, int lasermarkIndex, int ocrindex,Action<string> notify)
        {
            var ret = Execute(id, () =>
            {
                notify($"Start set laser mark reader{ocrindex} retry flag to {Aligner.OCRs[ocrindex].ReadOK}");
                if(lasermarkIndex ==0)
                    IsNeedRetryLaserMark1 = !Aligner.OCRs[ocrindex].ReadOK;       
                else
                    IsNeedRetryLaserMark2 = !Aligner.OCRs[ocrindex].ReadOK;
                return true;
            });

        }








        private void RtWaitReaderReady(int id, int time, int ocrindex, Action<string> notify, Action<string> error)
        {
            var ret = ExecuteAndWait(id, () =>
            {
                notify($"Wait reader index:{ocrindex} to be ready.");
                var reason = string.Empty;
                return true;
            }, () =>
            {
                if (Aligner.OCRs[ocrindex].IsReady())
                {
                    return Result.DONE;
                }
                if(Aligner.OCRs[ocrindex].DeviceState == OCRReaderStateEnum.Error)
                {
                    return Result.FAIL;
                }
                return Result.RUN;

            }, time * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {
                    
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {

                    EV.PostAlarmLog(Aligner.RobotModuleName.ToString(), $"Wait reader index:{ocrindex} to be ready timeout.");


                    var wafer = WaferManager.Instance.GetWafer(Aligner.RobotModuleName,0);

                    var destlp = DEVICE.GetDevice<LoadPortBaseDevice>(((ModuleName)wafer.DestinationStation).ToString());
                    string destcarrierID = destlp == null ? "" : destlp.CarrierId;

                    var dvid = new SerializableDictionary<string, object>()
                    {
                        {DVIDName.LOT_ID, wafer.LotId},
                        {DVIDName.WAFER_ID, wafer.WaferID},
                        {DVIDName.CarrierID,wafer.OriginCarrierID},
                        {DVIDName.SOURCE_CAR_ID, wafer.OriginCarrierID},
                        {DVIDName.SOURCE_SLOT, (wafer.OriginSlot +1)},
                        {DVIDName.ARRIVE_POS_NAME, Aligner.RobotModuleName.ToString()},
                        {DVIDName.LASERMARK, Aligner.OCRs[ocrindex].CurrentLaserMark},
                        {DVIDName.LM_READER_NO,ocrindex+1},
                        {DVIDName.OCR_SCORE, ocrindex == 0?
                        Aligner.OCRs[ocrindex].LaserMark1Score: Aligner.OCRs[ocrindex].LaserMark2Score},
                        {DVIDName.LM_NO, ocrindex+1},
                        {"DestCarrier",destcarrierID},
                        {"DestSlot",wafer.DestinationSlot+1},
                        { "SourcePort",wafer.OriginStation},
                        { "DestPort",wafer.DestinationStation},
                    };

                    EV.Notify(EventWaferIdReadFail, dvid);
                    EV.Notify(AlarmID.ReadWaferLaserMarkFailed);                    
                }
                else
                {
                }
            }
        }

        public void RtSaveOcrPicture(int id, int ocrindex, Action<string> notify)
        {
            var ret = Execute(id, () =>
            {
                notify($"Start to save image for the ocr reader index:{ocrindex}.");
                return Aligner.OCRs[ocrindex].SavePicture();
            });
                    
        }
        private void RtVerifyWaferIDWithHostDefine(int id, ModuleName name, int ocrindex, int waferIDindex, Action<string> notify, Action<string> error)
        {
            var ret = Execute(id, () =>
            {
                var aligner = DEVICE.GetDevice<AlignerBaseDevice>(name.ToString());
                var wafer = WaferManager.Instance.GetWafer(name, 0);
                string lasermark = aligner.OCRs[ocrindex].CurrentLaserMark;
                string hostdefineMark = wafer.HostLaserMark1;
                if (waferIDindex == 1)
                    hostdefineMark = wafer.HostLaserMark2;

                notify($"Start verifying waferID:{wafer.WaferID},lasermark:{lasermark} with host define:{hostdefineMark}.");
                var reason = string.Empty;
                WaferManager.Instance.UpdateWaferLMVerifyResult(Aligner.RobotModuleName, 0, true);

                if ((waferIDindex == 0 && lasermark != wafer.HostLaserMark1) || (waferIDindex == 1 && lasermark != wafer.HostLaserMark2))
                {
                    WaferManager.Instance.UpdateWaferLMVerifyResult(Aligner.RobotModuleName, 0, false);

                    EV.Notify(Aligner.AlarmVerifyLaserMarkFailed);
                    notify($"Verify waferID:{wafer.WaferID},lasermark:{lasermark} failed with host define:{hostdefineMark}," +
                        $"action is:{Singleton<SorterJobManager>.Instance.MisMatchHandler}");

                    if (Singleton<SorterJobManager>.Instance.MisMatchHandler == VerifyFailHandlerEnum.Stop)    //Stop
                        return false;
                    if (Singleton<SorterJobManager>.Instance.MisMatchHandler == VerifyFailHandlerEnum.Continue)   //Continue
                        return true;// throw new RoutineBreakException(); ;
                    if (Singleton<SorterJobManager>.Instance.MisMatchHandler == VerifyFailHandlerEnum.ReturnCurrentWafer ||
                    Singleton<SorterJobManager>.Instance.MisMatchHandler == VerifyFailHandlerEnum.ReturnAllWafer ||
                    Singleton<SorterJobManager>.Instance.MisMatchHandler == VerifyFailHandlerEnum.ReturnAllWaferExcpetComplete)
                    {
                        if (Singleton<RouteManagerSorter>.Instance.CurrentSorterRTStateEnum == SorterRTStateEnum.DispatchingToPort)
                            Singleton<SorterJobManager>.Instance.ReleaseLastSlotOnDispatch((ModuleName)wafer.DestinationStation);
                        else
                            Singleton<SorterJobManager>.Instance.ReleaseToBePresentModuleSlot((ModuleName)wafer.DestinationStation, wafer.DestinationSlot);
                        wafer.DestinationStation = wafer.OriginStation;
                        wafer.DestinationSlot = wafer.OriginSlot;
                        wafer.NextStation = wafer.OriginStation;
                        wafer.NextStationSlot = wafer.OriginSlot;
                    }
                    if (Singleton<SorterJobManager>.Instance.MisMatchHandler == VerifyFailHandlerEnum.Transfer)
                    {
                        if (Singleton<SorterJobManager>.Instance.MisMatchCollectPort == ModuleName.System)
                        {
                            EV.PostAlarmLog("System", $"The mismatch collection port setting is wrong.");
                            return false;
                        }
                        if (Singleton<RouteManagerSorter>.Instance.CurrentSorterRTStateEnum == SorterRTStateEnum.DispatchingToPort)
                        {
                            Singleton<SorterJobManager>.Instance.ReleaseLastSlotOnDispatch((ModuleName)wafer.DestinationStation);
                            wafer.DestinationStation = (int)Singleton<SorterJobManager>.Instance.MisMatchCollectPort;
                            wafer.DestinationSlot = -1;
                            wafer.NextStation = (int)Singleton<SorterJobManager>.Instance.MisMatchCollectPort;
                            wafer.NextStationSlot = -1;
                        }

                        else
                        {
                            Singleton<SorterJobManager>.Instance.ReleaseToBePresentModuleSlot((ModuleName)wafer.DestinationStation, wafer.DestinationSlot);
                            wafer.DestinationStation = (int)Singleton<SorterJobManager>.Instance.MisMatchCollectPort;
                            int collectSlot;
                            if (!Singleton<SorterJobManager>.Instance.BidCollectionSlot(out collectSlot)) return false;

                            wafer.DestinationSlot = collectSlot;
                            wafer.NextStation = (int)Singleton<SorterJobManager>.Instance.MisMatchCollectPort;
                            wafer.NextStationSlot = collectSlot;
                        }
                    }

                    Singleton<SorterJobManager>.Instance.AutoAbortCurrentPJ();
                    Thread.Sleep(2000);
                }

                return true;
            });
        }

        private void RtVerifyWaferIDAndWaitManualInput(int id, ModuleName name, int time, int ocrindex, int waferIDindex, Action<string> notify, Action<string> error)
        {

            var ret = ExecuteAndWait(id, () =>
            {
                notify("Start verifying waferID");
                var reason = string.Empty;
                _trigAlarmVerifyLMLengthFail.RST = true;
                _trigAlarmReadInvalidSlotFail.RST = true;
                _trigAlarmVerifyLMLengthFail.RST = true;
                _trigAlarmVerifyWithHostDefineFail.RST = true;
                _trigAlarmVerifyChecksumFail.RST = true;
                if (!VerifyWaferIDWithAlarm(name, ocrindex, waferIDindex))
                {
                    EV.Notify(Aligner.AlarmVerifyLaserMarkFailed);
                    Singleton<RouteManagerSorter>.Instance.IsVerifyLaserMarkAlarm = true;
                    if (_trigAlarmDestinationOccuppiedFail.Q)
                        EV.Notify(Aligner.AlarmSlotInLaserMarkIsOccuppied);
                    if (_trigAlarmReadInvalidSlotFail.Q)
                        EV.Notify(Aligner.AlarmVerifyLaserMarkSlotNoFailed);
                    if (_trigAlarmVerifyLMLengthFail.Q)
                        EV.Notify(Aligner.AlarmVerifyLaserMarkLengthFailed);
                    if (_trigAlarmVerifyChecksumFail.Q)
                        EV.Notify(Aligner.AlarmVerifyLaserMarkChecksumFailed);                   
                }

                return true;
            }, () =>
            {
                if (!VerifyWaferIDWithAlarm(name, ocrindex, waferIDindex))
                {
                    Singleton<RouteManagerSorter>.Instance.IsVerifyLaserMarkAlarm = true;
                    if (_trigAlarmDestinationOccuppiedFail.Q)
                        EV.Notify(Aligner.AlarmSlotInLaserMarkIsOccuppied);
                    if (_trigAlarmReadInvalidSlotFail.Q)
                        EV.Notify(Aligner.AlarmVerifyLaserMarkSlotNoFailed);
                    if (_trigAlarmVerifyLMLengthFail.Q)
                        EV.Notify(Aligner.AlarmVerifyLaserMarkLengthFailed);
                    if (_trigAlarmVerifyChecksumFail.Q)
                        EV.Notify(Aligner.AlarmVerifyLaserMarkChecksumFailed);
                    WaferManager.Instance.UpdateWaferLMVerifyResult(Aligner.RobotModuleName, 0, false);

                    return Result.RUN;
                }
                WaferManager.Instance.UpdateWaferLMVerifyResult(Aligner.RobotModuleName, 0, true);

                Singleton<RouteManagerSorter>.Instance.IsVerifyLaserMarkAlarm = false;
                _trigAlarmVerifyLMLengthFail.RST = true;
                _trigAlarmReadInvalidSlotFail.RST = true;
                _trigAlarmVerifyLMLengthFail.RST = true;
                _trigAlarmVerifyWithHostDefineFail.RST = true;
                _trigAlarmVerifyChecksumFail.RST = true;
                return Result.DONE;
            }, time * 1000);

            if (ret.Item1)
            {
                if (ret.Item2 == Result.FAIL)
                {                    
                }
                else if (ret.Item2 == Result.TIMEOUT) //timeout
                {
                    EV.Notify(Aligner.AlarmVerifyLaserMarkTimeout);
                    error($"verify WaferID timeout after {time} seconds"); 
                }
                else
                {                    
                }
            }
        }
        
      
        
        private string _previousLasermark;
        private bool VerifyWaferIDWithAlarm(ModuleName alignername,int ocrindex, int waferIDindex)
        {
            var aligner = DEVICE.GetDevice<AlignerBaseDevice>(alignername.ToString());
            var wafer = WaferManager.Instance.GetWafer(alignername, 0);
            string lasermark = aligner.OCRs[ocrindex].CurrentLaserMark;
            if(_previousLasermark != lasermark)
            {
                _previousLasermark = lasermark;
                _trigAlarmVerifyLMLengthFail.RST = true;
                _trigAlarmReadInvalidSlotFail.RST = true;
                _trigAlarmVerifyLMLengthFail.RST = true;
                _trigAlarmVerifyWithHostDefineFail.RST = true;
                _trigAlarmVerifyChecksumFail.RST = true;
            }
            
            int slot;

            if ((_aligneRecipe.IsVerifyLaserMarkLength && lasermark.Length != AlignerRecipe.LaserMarkLength)||lasermark.Contains("*"))
            {
                _trigAlarmVerifyLMLengthFail.CLK = true;
                return false;
            }
            if(_aligneRecipe.IsVerifyLaserMarkSlotForNCD)
            {
                if (lasermark.Length < _aligneRecipe.SlotStartPositionForNCD +1)
                {
                    _trigAlarmVerifyLMLengthFail.CLK = true;
                    return false;
                }

                
                if(!int.TryParse(lasermark.Substring(_aligneRecipe.SlotStartPositionForNCD-1,2),out slot))
                {
                    _trigAlarmReadInvalidSlotFail.CLK = true;
                    return false;
                }
                if(slot<1 || slot >25)
                {
                    _trigAlarmReadInvalidSlotFail.CLK = true;
                    return false;
                }
            }
            if (_aligneRecipe.IsVerifyChecksumLaserMarker1)
            {
                if(!VerifyCheckCharater(lasermark))
                {
                    _trigAlarmVerifyChecksumFail.CLK = true;
                    return false;
                }
            }


                //if (_aligneRecipe.IsVerifyWithHostDefine)
                //{
                //    if (waferIDindex == 0 && lasermark != wafer.HostLaserMark1)
                //    {
                //        _trigAlarmVerifyWithHostDefineFail.CLK = true;
                //        return false;
                //    }
                //    if (waferIDindex == 1 && lasermark != wafer.HostLaserMark2)
                //    {
                //        _trigAlarmVerifyWithHostDefineFail.CLK = true;
                //        return false;
                //    }
                //}

            if (wafer.DestinationSlot == 99)
            {
                if (_aligneRecipe.SlotStartPositionForNCD < 1)
                    _aligneRecipe.SlotStartPositionForNCD = 1;
                if (!int.TryParse(lasermark.Substring(_aligneRecipe.SlotStartPositionForNCD - 1, 2), out slot))
                {
                    _trigAlarmReadInvalidSlotFail.CLK = true;
                    return false;
                }
                //if (slot < 1 || slot > 25)
                //{
                //    _trigAlarmReadInvalidSlotFail.CLK = true;
                //    return false;
                //}
                if (WaferManager.Instance.CheckHasWafer((ModuleName)wafer.DestinationStation, slot - 1))
                {
                    if (wafer.OriginStation != wafer.DestinationStation)
                    {
                        _trigAlarmDestinationOccuppiedFail.CLK = true;
                        return false;
                    }

                }
                var lp = DEVICE.GetDevice<LoadPortBaseDevice>($"{(ModuleName)wafer.DestinationStation}");

                if ((slot - 1) < lp.ValidStartSlotIndex || (slot - 1) > lp.ValidEndSlotIndex)
                {
                    _trigAlarmReadInvalidSlotFail.CLK = true;
                    return false;
                }

                wafer.DestinationSlot = slot - 1;
            }

            if (wafer.DestinationSlot == 100)
            {
                if (_aligneRecipe.SlotStartPositionForNCD < 1)
                    _aligneRecipe.SlotStartPositionForNCD = 1;
                if (!int.TryParse(lasermark.Substring(_aligneRecipe.SlotStartPositionForNCD - 1, 2), out slot))
                {
                    _trigAlarmReadInvalidSlotFail.CLK = true;
                    return false;
                }

                var lp = DEVICE.GetDevice<LoadPortBaseDevice>($"{(ModuleName)wafer.DestinationStation}");

                int destslot = lp.ValidEndSlotIndex - slot + 1;

                if (destslot < lp.ValidStartSlotIndex || destslot > lp.ValidEndSlotIndex)
                {
                    _trigAlarmReadInvalidSlotFail.CLK = true;
                    return false;
                }

                if (WaferManager.Instance.CheckHasWafer((ModuleName)wafer.DestinationStation, destslot))
                {
                    if (wafer.OriginStation != wafer.DestinationStation)
                    {
                        _trigAlarmDestinationOccuppiedFail.CLK = true;
                        return false;
                    }
                }
                wafer.DestinationSlot = destslot;
            }


            return true;
        }
        private R_TRIG _trigAlarmVerifyLMLengthFail = new R_TRIG();
        private R_TRIG _trigAlarmReadInvalidSlotFail = new R_TRIG();
        private R_TRIG _trigAlarmVerifyChecksumFail = new R_TRIG();

        private R_TRIG _trigAlarmDestinationOccuppiedFail = new R_TRIG();
        private R_TRIG _trigAlarmVerifyWithHostDefineFail = new R_TRIG();

        private bool VerifyCheckCharater(string lasermark)
        {
            UInt64 checksum = 0;
            for(int i=0;i<lasermark.Length;i++)
            {
                uint charNumValue = (uint)(Convert.ToInt32(lasermark[i])-32);
                checksum = checksum * 8 + charNumValue;
            }

            if (Convert.ToInt32(lasermark[lasermark.Length - 2]) > Convert.ToInt32('H') ||
                Convert.ToInt32(lasermark[lasermark.Length - 2]) < Convert.ToInt32('A'))
                return false;

            if (Convert.ToInt32(lasermark[lasermark.Length - 1]) > Convert.ToInt32('7') ||
                Convert.ToInt32(lasermark[lasermark.Length - 1]) < Convert.ToInt32('0'))
                return false;

            return checksum % 59 == 0;
        }

    
    }
}