ZZ-EFEM/Jet/Jet_001_2P_Jet/EfemRT/Servers/EfemEntity.cs

using System;
using System.Collections;
using System.Collections.Generic;
using System.Collections.Specialized;
using System.Linq;
using System.Threading;
using Aitex.Core.Common;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Device;
using Aitex.Core.RT.Device.Unit;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using EFEM.RT.Devices;
using EFEM.RT.Modules;

using EFEM.RT.Tasks;
using Aitex.Sorter.Common;
using Efem;
using Efem.Protocol;
using EFEMSC;
using MECF.Framework.Common.Device.Bases;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts;
using IEntity = Aitex.Core.RT.Fsm.IEntity;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.LoadPorts.LoadPortBase;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots.RobotBase;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.BufferStations;
using MECF.Framework.RT.EquipmentLibrary.HardwareUnits.Robots;

namespace EFEM.RT
{
    public class EfemModuleStatus
    {
        private bool _isInitialized;

        public bool IsInitialized
        {
            get
            {
                return _isInitialized;
            }
            set
            {
                _isInitialized = value;
                TrigInitialized.CLK = value;
            }
        }

        public R_TRIG TrigInitialized { get; set; }

        public ModuleName Module { get; set; }

        public EfemModuleStatus(ModuleName module)
        {
            Module = module;
            TrigInitialized = new R_TRIG();
        }
    }
    public class EfemEntity : Entity, IEntity, IServerCallback
    {
        public enum ServerState
        {
            Init,
            Listening,
            Connected,
        }

        public enum MSG
        {
            Online,
            Offline,
            NewSessionConnected,

            Listening,

            Reset,
            Error,

            Disconnect,
            ReceiveData,
            SendData,
        }

        private SocketServer _socket = null;

        private string _sessionId;

        private List<ITaskT> _activeTaskList = new List<ITaskT>();

        private TaskFactory _factory = new TaskFactory();

        public string Name { get; set; }

        public bool IsCommunicationOk { get; set; }

        public bool IsOnlineMode { get; private set; }

        private bool IsSystemHold { get; set; }

        DeviceTimer _sendReadyTimer = new DeviceTimer();

        private List<ModuleName> LPs;
        private List<string> LLs;

        private Dictionary<ModuleName, RD_TRIG> _trigLpPresent = new Dictionary<ModuleName, RD_TRIG>();
        private Dictionary<string, Tuple<uint, uint>> _sigData = new Dictionary<string, Tuple<uint, uint>>();
        private Dictionary<ModuleName, EfemModuleStatus> _efemModuleStatus = new Dictionary<ModuleName, EfemModuleStatus>();

        private readonly bool _MaintenanceMode = DeviceDefineManager.Instance.GetValue<bool>("MaintenanceSignal") ?? false;
        private readonly bool _EfemDoorOpen = DeviceDefineManager.Instance.GetValue<bool>("EfemDoorOpenSignal") ?? false;
        public EfemEntity()
        {
            Name = "Efem";

            IsOnlineMode = true;


            LPs = new List<ModuleName>(Singleton<DeviceManager>.Instance.LpNames);
            foreach (var moduleName in LPs)
            {
                _trigLpPresent[moduleName] = new RD_TRIG();
            }

            LLs = new List<string>(Singleton<DeviceManager>.Instance.LLNames);

            int port = 13000;
            if (!SC.ContainsItem("System.EfemPortNumber"))
            {
                LOG.Write("Not define System.EfemPortNumber");
            }
            else
            {
                port = SC.GetValue<int>("System.EfemPortNumber");
            }

            _socket = new SocketServer(this, port);

            fsm = new StateMachine<EfemEntity>(Name, (int)ServerState.Init, 50);

            Singleton<EventManager>.Instance.OnEvent += Instance_OnEvent;
            _eventError = new FixSizeQueue<EventItem>(100);
            BuildTransitionTable();

            Subscribe();
        }
        public FixSizeQueue<EventItem> EventError
        {
            get { return _eventError;}
        }
        private bool IsErrorReportEnable
        {
            get 
            {
                if (SC.ContainsItem("System.IsErrorReportEnable"))
                    return SC.GetValue<bool>("System.IsErrorReportEnable");
                return false;
            }
        }
        public string EFemNum
        {
            get
            {
                if (SC.ContainsItem("System.EFEMNUM"))
                    return SC.GetStringValue("System.EFEMNUM");
                return "001";
            }
        }
        public bool IsEnableMultiWaferSize
        {
            get
            {
                if (SC.ContainsItem("System.IsEnableMultiWaferSize"))
                    return SC.GetValue<bool>("System.IsEnableMultiWaferSize");
                return false;
            }
        }
        private FixSizeQueue<EventItem> _eventError;
        private void Instance_OnEvent(EventItem obj)
        {
            if (obj.Level == EventLevel.Alarm) // (obj.Level == EventLevel.Warning || 
            {
                _eventError.Enqueue(obj);
            }
        }

        public void SetEfemData()
        {
            foreach (var module in  GetInstallModules())
            {
                _efemModuleStatus[module] = new EfemModuleStatus(module);
            }
        }
        public IEnumerable<ModuleName> GetInstallModules()
        {
            return new List<ModuleName>()
            {
                ModuleName.System, ModuleName.Robot, ModuleName.Buffer1,
                ModuleName.LP1, ModuleName.LP2, ModuleName.LP3, ModuleName.LP4,
                ModuleName.LL1, ModuleName.LL2,
            };
        }
        public void SetInitialize(ModuleName module, bool initialized)
        {
            if (_efemModuleStatus.ContainsKey(module))
            {
                _efemModuleStatus[module].IsInitialized = initialized;
            }
        }
        private void Subscribe()
        {
            DATA.Subscribe("Efem.IsCommunicationReady", () => fsm.State == (int)ServerState.Connected);

            DATA.Subscribe("System.IsHold", () => IsSystemHold);
            DATA.Subscribe("System.IsOnlineMode", () => IsOnlineMode);
            DATA.Subscribe("System.ServerStatus", () => ((ServerState)fsm.State).ToString());

            OP.Subscribe(OperationName.Online, (cmd, param) =>
            {
                if (IsOnlineMode)
                    return true;

                if (Singleton<RouteManager>.Instance.IsRunning)
                {
                    EV.PostWarningLog("Server", "System is busy, can not switch to online");
                    return true;
                }

                return CheckToPostMsg(MSG.Online);
            });

            OP.Subscribe(OperationName.Offline, (cmd, param) =>
            {
                if (!IsOnlineMode)
                    return true;

                return CheckToPostMsg(MSG.Offline);
            });
        }

        private void BuildTransitionTable()
        {
            //online offline
            AnyStateTransition(MSG.Offline, FsmSetOffline, FSM_STATE.SAME);
            AnyStateTransition(MSG.Online, FsmSetOnline, FSM_STATE.SAME);

            //init
            EnterExitTransition<ServerState, FSM_MSG>(ServerState.Init, FsmEnterInit, FSM_MSG.NONE, null);
            Transition(ServerState.Init, MSG.Listening, null, ServerState.Listening);
            Transition(ServerState.Init, MSG.Reset, FsmEnterInit, ServerState.Init);

            //listening
            Transition(ServerState.Listening, MSG.Error, null, ServerState.Init);
            Transition(ServerState.Listening, MSG.NewSessionConnected, FsmNewSessionConnected, ServerState.Connected);

            //Connected
            Transition(ServerState.Connected, MSG.Disconnect, FsmDisconnect, ServerState.Listening);
            Transition(ServerState.Connected, MSG.Error, null, ServerState.Init);
            Transition(ServerState.Connected, MSG.NewSessionConnected, FsmNewSessionConnected, ServerState.Connected);

            Transition(ServerState.Connected, MSG.ReceiveData, FsmReceiveData, ServerState.Connected);
            Transition(ServerState.Connected, MSG.SendData, FsmSendData, ServerState.Connected);

            Transition(ServerState.Connected, FSM_MSG.TIMER, FsmMonitor, ServerState.Connected);
        }

        ~EfemEntity()
        {
            _socket?.Stop();
        }


        public bool SetSystemHold()
        {
            if (IsSystemHold)
            {
                return false;
            }
            IsSystemHold = true;
            return true;
        }

        public bool SetSystemUnHold()
        {
            if (!IsSystemHold)
            {
                return true;
            }
            IsSystemHold = false;
            return true;
        }

        #region FSM Functions


        public bool CheckToPostMsg(MSG msg)
        {
            if (!fsm.FindTransition(fsm.State, (int)msg))
            {
                EV.PostWarningLog("System", string.Format("{0} is in {1} state，can not do {2}", Name, (ServerState)fsm.State, (MSG)msg));
                return false;
            }

            PostMsg(msg);

            return true;
        }

        public bool CheckToPostMsg(MSG msg, object param1)
        {
            if (!fsm.FindTransition(fsm.State, (int)msg))
            {
                EV.PostWarningLog("System", string.Format("{0} is in {1} state，can not do {2}", Name, (ServerState)fsm.State, (MSG)msg));
                return false;
            }

            PostMsg(msg, param1);

            return true;
        }

        private bool FsmNewSessionConnected(object[] param)
        {

            _sessionId = (string)param[0];

            _activeTaskList.Clear();
            IsCommunicationOk = false;

            if (IsOnlineMode)
            {
                IoSignalTower tower = DEVICE.GetDevice<IoSignalTower>(DeviceName.SignalTower);
                tower.HostControl = true;
            }
            

            return true;
        }

        private bool FsmDisconnect(object[] param)
        {
            var sessionId = (string)param[0];
            if (sessionId != _sessionId)
                return false;

            return true;
        }

        private bool FsmEnterInit(object[] param)
        {
            string ip = SC.GetStringValue("System.EfemServerLocalIp");
            int port = SC.GetValue<int>("System.EfemPortNumber");

            _sendReadyTimer.Start(0);

            if (string.IsNullOrEmpty(ip))
                ip = "127.0.0.1";

            if (_socket.Start(ip, port))
            {
                PostMsg(MSG.Listening);
                return true;
            }

            return false;
        }
        private bool FsmSendData(object[] param)
        {
            _socket.Send((string)param[0]);
            return true;
        }
        public string commandrecive = null;
        private bool FsmReceiveData(object[] param)
        {
            try
            {
                commandrecive= (string)param[0];
                string rawMessage = (string)param[0];
                string[] words = rawMessage.Split(new char[5] { ':', '/', '>', '|', ';' }, StringSplitOptions.RemoveEmptyEntries);
                if (rawMessage.Contains("SET:CSTID"))
                {
                    words = new string[] { words[0], words[1], words[2], rawMessage.Remove(0, 13) };
                }


                if (!Enum.TryParse<EfemCommandType>(words[0], out EfemCommandType type))
                {
                    LOG.Write($"{rawMessage} is not a valid EFEM message format");
                    SendMessage("NAK:" + rawMessage.Split(':')[1]);
                    return true;
                }

                if (!Enum.TryParse<EfemCommand>(words[1], out EfemCommand cmd))
                {
                    LOG.Write($"{rawMessage} is not a valid EFEM message format");
                    SendMessage("NAK:" + rawMessage.Split(':')[1]);
                    return true;
                }

                string commandData = rawMessage.Substring(rawMessage.IndexOf(':'));
                
                if (type == EfemCommandType.ACK)
                {
                    //special for handshake 
                    if (!IsCommunicationOk && (rawMessage == "ACK:READY/COMM"))
                    {
                        IsCommunicationOk = true;
                        return true;
                    }

                    foreach (ITaskT active in _activeTaskList)
                    {
                        if (active.CommandData == commandData && active.CommandType == type && active.CommandName == cmd)
                        {
                            active.Ack(type, cmd, words.Skip(2).Take(words.Length).ToArray());
                        }
                    }
                    return true;
                }

                if (_factory.UnSupport(type, cmd))
                {
                    LOG.Write($"{rawMessage} is not a valid EFEM message format");
                    SendMessage("NAK:" + rawMessage.Split(':')[1]);
                    return true;
                }

                ITaskT task = _factory.Create(type, cmd);
                task.CommandData = commandData;

                foreach (ITaskT active in _activeTaskList)
                {
                    if (active.CommandData == commandData && active.CommandType == type && active.CommandName == cmd)
                    {
                        EV.PostWarningLog("EFEM", $"ignored {rawMessage}, already active");
                        return true;
                    }
                }

                if (task.Execute(out string resp, rawMessage, words.Skip(2).Take(words.Length).ToArray()))
                {
                    _activeTaskList.Add(task);
                }

                SendMessage(resp);
            }
            catch (Exception ex)
            {
                LOG.Write(ex);
            }

            return true;
        }

        private bool FsmSetOnline(object[] param)
        {
            IsOnlineMode = true;
            IoSignalTower tower = DEVICE.GetDevice<IoSignalTower>(DeviceName.SignalTower);
            tower.HostControl = true;
            tower.Reset();
            return true;
        }

        private bool FsmSetOffline(object[] param)
        {
            IsOnlineMode = false;
            IoSignalTower tower = DEVICE.GetDevice<IoSignalTower>(DeviceName.SignalTower);
            tower.HostControl = false;
            tower.Reset();

            return true;
        }

        #endregion


        #region Server Callback
        public void OnConnected(string sessionId)
        {
            CheckToPostMsg(MSG.NewSessionConnected, sessionId);
        }

        public void OnDisconnected(string sessionId)
        {
            CheckToPostMsg(MSG.Disconnect, sessionId);
        }

        public void OnReceived(string msg)
        {
            CheckToPostMsg(MSG.ReceiveData, msg);
        }

        #endregion

        #region Server Monitor

        public void SendMessage(string msg)
        {
            if (IsCommunicationOk || msg == "INF:READY/COMM")
            {
                CheckToPostMsg(MSG.SendData, msg);
            }
        }

        private bool FsmMonitor(object[] objs)
        {
            if (!IsCommunicationOk)
            {
                if (_sendReadyTimer.GetElapseTime() > SC.GetValue<int>(ScPathName.Server_SendReadyInterval))
                {
                    _sendReadyTimer.Start(0);

                    SendMessage("INF:READY/COMM");
                }

                return true;
            }

            MonitorRunningTask();

            MonitorEvent();

            return true;
        }

        private void MonitorRunningTask()
        {
            List<ITaskT> tobeRemoved = new List<ITaskT>();
            foreach (ITaskT task in _activeTaskList)
            {
                if (!task.HasInfoMessage)
                {
                    tobeRemoved.Add(task);
                    continue;
                }

                string msg = string.Empty;
                bool? ret = task.Monitor(out msg);

                if (ret.HasValue)
                {
                    SendMessage(msg);
                    tobeRemoved.Add(task);
                    break;
                }
            }

            if (tobeRemoved.Any())
            {
                foreach (var task in tobeRemoved)
                {
                    _activeTaskList.Remove(task);
                }
            }
        }

        private void MonitorEvent()
        {
           // if (_efemData.IsSigStatEventMode)
                // {
                MonitorSigStatEvent();
                
                MonitorErrorEvent();
            return;
            //}
            //if (LPs.Any() && ((SystemServerModule)Singleton<EntityFactory>.Instance.GetEntity(DeviceName.System)).IsEventEnabled(EfemEventType.PORT))
            //{
            //    foreach (var lpName in LPs)
            //    {
            //        var lp = DEVICE.GetDevice<LoadPortBaseDevice>(lpName.ToString());

            //        _trigLpPresent[lpName].CLK = lp.IsPresent && lp.IsPlacement;

            //        if (_trigLpPresent[lpName].T || _trigLpPresent[lpName].R)
            //        {
            //            Thread.Sleep(300);
            //            SendSigStatEvent(lpName);
            //        }
            //    }
            //}
        }
        private void MonitorErrorEvent()
        {
            if (IsErrorReportEnable && _eventError != null && _eventError.Count > 0)
            {
                EventItem ev;
                //while (_eventError.TryDequeue(out ev))
                if (_eventError.TryDequeue(out ev))
                {
                    string source = "System";
                    if (ev.Source.Contains("Robot"))
                        source = "ROB";
                    if (ev.Source.Contains("LP"))
                        source = ev.Source.Replace("L","");
                 
                    SendMessage($"INF:ERROR/{ev.Description}/{source}");// Level: ({ ev.Level}),
                }

                    // SendMessage($"EVT:ERROR/{ev.Source}/{ev.Level}/{ev.Description}");
            }
        }
        private void MonitorSigStatEvent()
        {
            bool allEnable = ((SystemServerModule)Singleton<EntityFactory>.Instance.GetEntity(DeviceName.System)).IsEventEnabled(EfemEventType.ALL);
            if (!allEnable)
                return;

            bool lpEnable = ((SystemServerModule)Singleton<EntityFactory>.Instance.GetEntity(DeviceName.System)).IsEventEnabled(EfemEventType.PORT);
            bool sysEnable = ((SystemServerModule)Singleton<EntityFactory>.Instance.GetEntity(DeviceName.System)).IsEventEnabled(EfemEventType.SYSTEM);

            Dictionary<string, Tuple<uint, uint>> sigDatas = GetSigStatData();
            if (sigDatas == null)
                return;
            foreach (var sigData in sigDatas)
            {
                if (sigData.Key.StartsWith("P") && !lpEnable)
                    continue;

                if (sigData.Key.StartsWith(EfemParameter.SYS) && !sysEnable)
                    continue;

                ModuleName module = ProtocolName2ModuleName(sigData.Key);
               
                if ((!_efemModuleStatus[module].IsInitialized))
                    continue;
                if (_efemModuleStatus[module].TrigInitialized.Q)
                {
                    _efemModuleStatus[module].TrigInitialized.CLK = true;
                    _sigData.Remove(sigData.Key);
                    continue;
                }

                if (_sigData.ContainsKey(sigData.Key)
                    && _sigData[sigData.Key].Item1 == sigData.Value.Item1
                    && _sigData[sigData.Key].Item2 == sigData.Value.Item2)
                {
                    continue;
                }

                _sigData[sigData.Key] = sigData.Value;
                if((!commandrecive.Contains("INIT/SYSTEM")&& (sigData.Key.Equals("P1")|| sigData.Key.Equals("P2")) || sigData.Key.Equals("System")))
                 SendMessage($"EVT:SIGSTAT/{sigData.Key}/{_sigData[sigData.Key].Item1:X8}/{_sigData[sigData.Key].Item2:X8}");
               
                //if(commandrecive.Contains("INIT/SYSTEM"))
                //commandrecive = "";
            }
        }
        #endregion
        public Dictionary<string, Tuple<uint, uint>> GetSigStatData()
        {
            var result = new Dictionary<string, Tuple<uint, uint>>();

            ModuleName[] lstModule = new ModuleName[] { ModuleName.System, ModuleName.LP1, ModuleName.LP2 };
            foreach (var moduleName in lstModule)
            {
                if (DeviceDefineManager.Instance.GetValue<int>("LoadPortQuantity") == 1)
                { 
                    if(moduleName != ModuleName.LP2)
                       result[ModuleName2ProtocolName(moduleName)] = Tuple.Create(GetSigStatData1(moduleName), GetSigStatData2(moduleName));
                }
                else
                {
                    result[ModuleName2ProtocolName(moduleName)] = Tuple.Create(GetSigStatData1(moduleName), GetSigStatData2(moduleName));
                }
            }

            return result;
        }
        private ModuleName ProtocolName2ModuleName(string protocol)
        {
            ModuleName module = ModuleName.System;

            Dictionary<string, ModuleName> map = new Dictionary<string, ModuleName>()
            {
                {"P1", ModuleName.LP1},{"P2", ModuleName.LP2},
                {"SYS", ModuleName.System},
            };

            if (map.ContainsKey(protocol))
                module = map[protocol];

            return module;
        }
        protected override bool Init()
        {
            return true;
        }

        protected override void Term()
        {
            if (_socket != null)
                _socket.Stop();
        }

        public bool Check(int msg, out string reason, params object[] args)
        {
            if (!fsm.FindTransition(fsm.State, msg))
            {
                reason = String.Format("{0} is in {1} state，can not do {2}", Name, (ServerState)fsm.State, (MSG)msg);
                return false;
            }

            reason = "";

            return true;
        }

        public void Reset()
        {
            if (fsm.State == (int)ServerState.Init)
            {
                string ip = SC.GetStringValue("System.EfemServerLocalIp");
                int port = SC.GetValue<int>("System.EfemPortNumber");
                _sendReadyTimer.Start(0);
                if (_socket.Start(ip, port))
                {
                    PostMsg(MSG.Listening);
                }
            }
        }
        public bool IsSlotShowOpposite
        {
            get
            {
                if (SC.ContainsItem("System.IsSlotShowOpposite"))
                    return SC.GetValue<bool>("System.IsSlotShowOpposite");
                return false;
            }
        }
        public void SendMapEvent(LoadPortBaseDevice lp)
        {
            WaferInfo[] wafers = WaferManager.Instance.GetWafers(ModuleHelper.Converter(lp.Name));
            string slot = "";
            for (int i = 0; i < lp.ValidSlotsNumber; i++)
            {
                switch (wafers[i].Status)//IsSlotShowOpposite? wafers[lp.ValidSlotsNumber - i - 1].Status:
                {
                    case WaferStatus.Empty:
                        slot += "0";
                        break;
                    case WaferStatus.Normal:
                        slot += "1";
                        break;
                    case WaferStatus.Crossed:
                        slot += "3";
                        break;
                    case WaferStatus.Double:
                        slot += "7";
                        break;
                    case WaferStatus.Unknown:
                        slot += "8";
                        break;
                    case WaferStatus.Dummy:
                        slot += "4";
                        break;
                }
            }

            var slotmap = slot;
            if (lp.IsError)
            {
                slotmap = string.Empty;
            }
            string message = string.Format("EVT:MAPDT/{0}/{1}", ModuleName2ProtocolName(ModuleHelper.Converter(lp.Name)), slotmap);
            SendMessage(message);
        }
        public void SendMapEvent(BufferStation lp)
        {
            WaferInfo[] wafers = WaferManager.Instance.GetWafers(ModuleHelper.Converter(lp.Name));
            string slot = "";
            for (int i = 0; i < lp.ValidSlotsNumber; i++)
            {
                switch (wafers[i].Status)
                {
                    case WaferStatus.Empty:
                        slot += "0";
                        break;
                    case WaferStatus.Normal:
                        slot += "1";
                        break;
                    case WaferStatus.Crossed:
                        slot += "3";
                        break;
                    case WaferStatus.Double:
                        slot += "7";
                        break;
                    case WaferStatus.Unknown:
                        slot += "8";
                        break;
                    case WaferStatus.Dummy:
                        slot += "4";
                        break;
                }
            }

            var slotmap = slot;
            //if (lp.IsError)
            //{
            //    slotmap = string.Empty;
            //}
            string message = string.Format("EVT:MAPDT/{0}/{1}", ModuleName2ProtocolName(ModuleHelper.Converter(lp.Name)), slotmap);
            SendMessage(message);
        }
        public void SendSigStatEvent(ModuleName module)
        {
            uint data1 = GetSigStatData1(module);
            uint data2 = GetSigStatData2(module);

            string message = message = string.Format("EVT:SIGSTAT/{0}/{1:X8}/{2:X8}", ModuleName2ProtocolName(module), data1, data2);

            SendMessage(message);
        }

        public uint GetSigStatData1(string device)
        {
            uint data1 = 0x0u;
            if (IsLoadPort(device))
            {
                //Loadport inputs
                var lp = DEVICE.GetDevice<LoadPortBaseDevice>(device);
                if (lp != null)
                {
                    data1 |= GetLpData1(lp);
                }

                var e84Lp = DEVICE.GetDevice<E84Passiver>(GetE84LpName(device));
                if (e84Lp != null)
                {
                    data1 |= GetE84Data1(e84Lp);
                }
            }
            else if (ModuleHelper.IsLoadLock(ModuleHelper.Converter(device)))
            {
                data1 = GetLlData1();
            }
            else
            {
                data1 = GetSystemData1();
            }

            return data1;
        }

        public uint GetSigStatData1(ModuleName module)
        {
            uint data1 = 0x0u;
            if (ModuleHelper.IsLoadPort(module))
            {
                //Loadport inputs
                var lp = DEVICE.GetDevice<LoadPortBaseDevice>(module.ToString());
                if (lp != null)
                {  
                    //if(!commandrecive.Contains("INIT/SYSTEM"))
                    data1 |= GetLpData1(lp);
                }

                var e84Lp = DEVICE.GetDevice<E84Passiver>(GetE84LpName(module.ToString()));
                if (e84Lp != null)
                {
                   // if (!commandrecive.Contains("INIT/SYSTEM"))
                    data1 |= GetE84Data1(e84Lp);
                }
            }
            else if (ModuleHelper.IsLoadLock(module))
            {
                data1 = GetLlData1();
            }
            else
            {
                data1 = GetSystemData1();
            }

            return data1;
        }

        public uint GetSigStatData2(string device)
        {
            uint data2 = 0x0u;
            if (IsLoadPort(device))
            {
                // Loadport outputs
                var lp = DEVICE.GetDevice<LoadPortBaseDevice>(device);
                if (lp != null)
                {
                    //if (!commandrecive.Contains("INIT/SYSTEM"))
                        data2 |= GetLpData2(lp);
                }

                var e84Lp = DEVICE.GetDevice<E84Passiver>(GetE84LpName(device));
                if (e84Lp != null)
                {
                    //if (!commandrecive.Contains("INIT/SYSTEM"))
                        data2 |= GetE84Data2(e84Lp);
                }
            }
            else if (ModuleHelper.IsLoadLock(ModuleHelper.Converter(device)))
            {
                data2 = GetLlData2();
            }
            else
            {
                data2 = GetSystemData2();
            }

            return data2;
        }

        public uint GetSigStatData2(ModuleName module)
        {
            uint data2 = 0x0u;
            if (ModuleHelper.IsLoadPort(module))
            {
                // Loadport outputs
                var lp = DEVICE.GetDevice<LoadPortBaseDevice>(module.ToString());
                if (lp != null)
                {
                    data2 |= GetLpData2(lp);
                }

                var e84Lp = DEVICE.GetDevice<E84Passiver>(GetE84LpName(module.ToString()));
                if (e84Lp != null)
                {
                    data2 |= GetE84Data2(e84Lp);
                }
            }
            else if (ModuleHelper.IsLoadLock(module))
            {
                data2 = GetLlData2();
            }
            else
            {
                data2 = GetSystemData2();
            }

            return data2;
        }

        private uint GetLpData1(LoadPortBaseDevice lp)
        {
            uint data1 = 0x0u;
            if (lp != null)
            {

                //if(lp is OpenStageWithWaferSizeLoadPort)
                {

                    data1 |= (lp.IsPlacement ? 0x00000001u : 0x0);
                    data1 |= (!lp.IsPresent ? 0x00000002u : 0x0);

                    data1 |= (lp.ClampState == FoupClampState.Close ? 0x00000008u : 0x0);
                    switch (IsEnableMultiWaferSize?lp.GetCurrentWaferSize():WaferSize.WS6)
                    {
                        case WaferSize.WS3:
                            //data1 |= 0x00000040u;
                            data1 |= 0x00000080u;
                            data1 |= 0x00000100u;
                            break;
                        case WaferSize.WS4:
                            data1 |= 0x00000040u;
                            //data1 |= 0x00000080u;
                            data1 |= 0x00000100u;
                            break;
                        case WaferSize.WS6:
                            data1 |= 0x00000040u;
                            data1 |= 0x00000080u;
                            //data1 |= 0x00000100u;
                            break;
                        case WaferSize.WS8:
                            data1 |= 0x00000040u;
                            data1 |= 0x00000080u;
                            data1 |= 0x00000100u;
                        break;
                    }
                    

                    data1 |= (!lp.IsWaferProtrude) ? 0x00000200u : 0x0;
                    data1 |= (lp.IsError||lp.CurrentState==LoadPortStateEnum.Error) ? 0x00000400u : 0x0;

                    data1 |=(lp.Name=="LP1"? (DeviceModel.SensorSMIF1PODOPEN==null?0x0:(DeviceModel.SensorSMIF1PODOPEN.Value ? 0x00000800u : 0x0)) :(DeviceModel.SensorSMIF2PODOPEN==null?0x0:(DeviceModel.SensorSMIF2PODOPEN.Value? 0x00000800u : 0x0)));
                    data1 |= (lp.Name == "LP1" ? (DeviceModel.SensorSMIF1READY == null ? 0x0 : (DeviceModel.SensorSMIF1READY.Value ? 0x00001000u : 0x0)) : (DeviceModel.SensorSMIF2READY == null ? 0x0 : (DeviceModel.SensorSMIF2READY.Value ? 0x00001000u : 0x0)));
                }
            }

            return data1;
        }

        private uint GetLpData2(LoadPortBaseDevice lp)
        {
            uint data2 = 0x0u;
            if (lp != null)
            {

                // if (!(lp is OpenStageWithWaferSizeLoadPort))

                // if (!(lp is OpenStageWithWaferSizeLoadPort))
                {
                    data2 |= (lp.IndicatiorPresence == IndicatorState.ON ? 0x00000001U : 0x0);
                    data2 |= (lp.IndicatiorPlacement == IndicatorState.ON ? 0x00000002U : 0x0);
                    data2 |= (lp.IndicatiorLoad == IndicatorState.ON ? 0x00000004U : 0x0);
                    data2 |= (lp.IndicatiorUnload == IndicatorState.ON ? 0x00000008U : 0x0);
                    data2 |= (lp.IndicatiorManualMode == IndicatorState.ON ? 0x00000010U : 0x0);
                    data2 |= (lp.IndicatorAlarm == IndicatorState.ON ? 0x00000020U : 0x0);
                    data2 |= (lp.IndicatiorClampUnclamp == IndicatorState.ON ? 0x00000040U : 0x0);
                    data2 |= (lp.IndicatiorDockUndock == IndicatorState.ON ? 0x00000080U : 0x0);
                    data2 |= (lp.IndicatiorOpAccess == IndicatorState.ON ? 0x00000100U : 0x0);
                }

            }

            return data2;
        }

        private uint GetE84Data1(E84Passiver e84Lp)
        {
            uint data1 = 0x0u;
            if (e84Lp != null)
            {
                data1 |= (e84Lp.DiValid ? 0x01000000u : 0x0);
                data1 |= (e84Lp.DiCS0 ? 0x02000000u : 0x0);
                data1 |= (e84Lp.DiCS1 ? 0x04000000u : 0x0);
                data1 |= (e84Lp.DiTrReq ? 0x10000000u : 0x0);
                data1 |= (e84Lp.DiBusy ? 0x20000000u : 0x0);
                data1 |= (e84Lp.DiCompt ? 0x40000000u : 0x0);
                data1 |= (e84Lp.DiCont ? 0x80000000u : 0x0);
            }

            return data1;
        }

        private uint GetE84Data2(E84Passiver e84Lp)
        {
            uint data2 = 0x0u;
            if (e84Lp != null)
            {
                data2 |= (e84Lp.DoLoadReq ? 0x01000000U : 0x0);
                data2 |= (e84Lp.DoUnloadReq ? 0x02000000U : 0x0);
                data2 |= (e84Lp.DoReady ? 0x08000000U : 0x0);
                data2 |= (e84Lp.DoHOAvbl ? 0x40000000U : 0x0);
                data2 |= (e84Lp.DoES ? 0x80000000U : 0x0);
            }

            return data2;
        }

        //a 1 for SIGSTAT/SYSTEM
        //Bit Name of Input Signal Signal ON Signal OFF Initial Value
        //0 System vacuum source pressure 1 Normal  
        //1  
        //2 System compressed air pressure 1 Normal  
        //3  
        //4 Flow gauge Sensor Warning  
        //5 Leakage Sensor Warning  
        //6 Door switch Door close  
        //7 Drive power Normal  

        //8 Differential pressure sensor setting 1 Normal  
        //9 Differential pressure sensor setting 2 Normal  
        //10 Ionizer alarm Normal  
        //11 FFU alarm Normal  
        //12 Area sensor(Reserved) Not blocked  
        //13 Mode switch RUN  
        //14 Robot Wafer Present No presence  
        //15 Cassette Door Door Closed  


        private uint GetSystemData1()
        {
            uint data1 = 0x0u;

            //0:
            if (DeviceModel.SensorVACPressureSW != null)
                data1 |= (DeviceModel.SensorVACPressureSW.Value ? 0x00000001u : 0x0);

            //1:
            if (DeviceModel.SensorIONCDAPressureSW != null)
                data1 |= (DeviceModel.SensorIONCDAPressureSW.Value ? 0x00000002u : 0x0);

            //2:
            if (DeviceModel.SensorCDAPressureSW != null)
                data1 |= (DeviceModel.SensorCDAPressureSW.Value ? 0x00000004u : 0x0);

            //3:
            //data1 |= 0x00000800u; //data1 |= (DeviceModel.SensorAirPressureErrorForRobot.Value ? 0x00000004u : 0x0);
            //4 Flow gauge Sensor Warning (默认bit=1 Normal)
            data1 |= (DeviceModel.SensorWaterFlowSW != null ? (DeviceModel.SensorWaterFlowSW.Value ? 0x00000010u : 0x0) : 0x00000010u);

            //5 Leakage Sensor Warning (默认bit=1 Normal)
            data1 |= (DeviceModel.SensorWaterLeakSW != null ? (DeviceModel.SensorWaterLeakSW.Value ? 0x00000020u : 0x0) : 0x00000020u);

            //6:Door switch Door close
            if (DeviceModel.SensorEFEMSideDoorClosed != null)
                data1 |= (_EfemDoorOpen? !DeviceModel.SensorEFEMSideDoorClosed.Value : DeviceModel.SensorEFEMSideDoorClosed.Value) ? 0x00000040u : 0x0;

            //7 Drive power Normal 
            if (DeviceModel.SensorFFUalarm != null)
                data1 |= (DeviceModel.SensorFFUalarm.Value ? 0x00000080u : 0x0);

            //8 Differential pressure sensor setting 1 Normal
            //data1 |= (DeviceModel.SensorIONAlarmSIGNAL.Value ? 0x00000100u : 0x0);

            //9 Differential pressure sensor setting 1 Normal
            // data1 |= (DeviceModel.SensorEFEMPowerON.Value ? 0x00000400u : 0x0);

            //10 Ionizer alarm Normal  
            if (DeviceModel.TrigIonizerInterrupt != null)
                data1 |= (DeviceModel.TrigIonizerInterrupt != null ? (DeviceModel.TrigIonizerInterrupt.Value? 0x00000400u : (DeviceModel.SensorIONAlarmSIGNAL.Value ? 0x00000400u : 0x0)) : (DeviceModel.SensorIONAlarmSIGNAL.Value ? 0x00000400u : 0x0));

            //11 FFU alarm Normal  
            if (DeviceModel.SensorFFUalarm != null)
                data1 |= (DeviceModel.SensorFFUalarm.Value ? 0x00000800u : 0x0);

            //12  
            data1 |= 0x00001000u;//(!DeviceModel.SensorRBlowerArmhavewafer.Value ? 0x00001000u : 0x0);

            //13 Mode switch RUN  
            if (DeviceModel.SensorMaintenanceMode != null)
            {
                bool isRun = (_MaintenanceMode ? !DeviceModel.SensorMaintenanceMode.Value : DeviceModel.SensorMaintenanceMode.Value) && IsOnlineMode;
                data1 |= (isRun ? 0x00002000u : 0x0);
            }

            //14 Robot Wafer Present No presence  

            data1 |= 0x00004000u; //data1 |= (DeviceModel.SensorRobotFork1WaferOn.Value ? 0x00004000u : 0x0);

            // 15 Sensor Grating SensorIN
            data1 |= DeviceModel.SensorGratingSensorIN1==null ? 0x0 :(DeviceModel.SensorGratingSensorIN1.Value ? 0x00008000u : 0x0);

            // 16 robot IsError
            var robot = DEVICE.GetDevice<RobotBaseDevice>(ModuleName.Robot.ToString());
            data1 |= (robot.IsError || robot.RobotState == RobotStateEnum.Error ? 0x00010000u : 0x0);

            // 17  buffer1 MapError
            var buffer1 = DEVICE.GetDevice<BufferStation>(ModuleName.Buffer1.ToString());
            data1 |= (buffer1!=null&& buffer1.MapError) ? 0x00020000u : 0x0;

            // 18 buffer2 MapError
            var buffer2 = DEVICE.GetDevice<BufferStation>(ModuleName.Buffer2.ToString());
            data1 |= ( buffer2 != null && buffer2.MapError) ? 0x00040000u : 0x0;

            // 19 Cassette Door Door Closed
            data1 |= DeviceModel.SensorCstDoorClosed == null ? 0x00080000u : (DeviceModel.SensorCstDoorClosed.Value ? 0x00080000u : 0x0);

            // 20 PMA System Interlock
            data1 |= DeviceModel.SensorPMASystemInterlock == null ? 0x0 : (DeviceModel.SensorPMASystemInterlock.Value ? 0x00100000u : 0x0);

            // 21 PMB System Interlock
            data1 |= DeviceModel.SensorPMBSystemInterlock == null ? 0x0 : (DeviceModel.SensorPMBSystemInterlock.Value ? 0x00200000u : 0x0);

            data1 |= DeviceModel.SensorRBNotExtendPMA == null ? 0x0 : (DeviceModel.SensorRBNotExtendPMA.Value ? 0x00400000u : 0x0);

            data1 |= DeviceModel.SensorRBNotExtendPMB == null ? 0x0 : (DeviceModel.SensorRBNotExtendPMB.Value ? 0x00800000u : 0x0);
            return data1;
        }

        private uint GetSystemData2()
        {
            uint data2 = 0x0u;
            if (DeviceModel.SignalTower != null)
            {
                if (DeviceModel.SignalTower.Red != null)
                    data2 |= (DeviceModel.SignalTower.Red.StateSetPoint == TowerLightStatus.On ? 0x00000001u : 0);

                if (DeviceModel.SignalTower.Green != null)
                    data2 |= (DeviceModel.SignalTower.Green.StateSetPoint == TowerLightStatus.On ? 0x00000002u : 0);

                if (DeviceModel.SignalTower.Yellow != null)
                    data2 |= (DeviceModel.SignalTower.Yellow.StateSetPoint == TowerLightStatus.On ? 0x00000004u : 0);

                if (DeviceModel.SignalTower.Blue != null)
                    data2 |= (DeviceModel.SignalTower.Blue.StateSetPoint == TowerLightStatus.On ? 0x00000008u : 0);

                if (DeviceModel.SignalTower.White != null)
                    data2 |= (DeviceModel.SignalTower.White.StateSetPoint == TowerLightStatus.On ? 0x00000010u : 0);

                if (DeviceModel.SignalTower.Red != null)
                    data2 |= (DeviceModel.SignalTower.Red.StateSetPoint == TowerLightStatus.Blinking ? 0x00000020u : 0);

                if (DeviceModel.SignalTower.Green != null)
                    data2 |= (DeviceModel.SignalTower.Green.StateSetPoint == TowerLightStatus.Blinking ? 0x00000040u : 0);

                if (DeviceModel.SignalTower.Yellow != null)
                    data2 |= (DeviceModel.SignalTower.Yellow.StateSetPoint == TowerLightStatus.Blinking ? 0x00000080u : 0);

                if (DeviceModel.SignalTower.Blue != null)
                    data2 |= (DeviceModel.SignalTower.Blue.StateSetPoint == TowerLightStatus.Blinking ? 0x00000100u : 0);

                if (DeviceModel.SignalTower.White != null)
                    data2 |= (DeviceModel.SignalTower.White.StateSetPoint == TowerLightStatus.Blinking ? 0x00000200u : 0);

                if (DeviceModel.SignalTower.Buzzer1 != null)
                    data2 |= (DeviceModel.SignalTower.Buzzer1.StateSetPoint == TowerLightStatus.On ? 0x00000400u : 0);

                if (DeviceModel.SignalTower.Buzzer2 != null)
                    data2 |= (DeviceModel.SignalTower.Buzzer2.StateSetPoint == TowerLightStatus.On ? 0x00000800u : 0);
            }

            return data2;
        }

        private uint GetLlData1()
        {
            //DIW1 meter pulse bit 0
            //DIW2 meter pulse bit 1
            //DIW3 meter pulse bit 2
            //DIW4 meter pulse bit 3
            //In Shutter Opened bit 4
            //Out Shutter Opened bit 5
            //Leak Sensor bit 6

            uint data1 = 0x0u;
            data1 |= (LoadLockDevice.LoadLockAtmDoorState == LoadLockDoorState.Opened ? 0x00000010u : 0x0);
            data1 |= (LoadLockDevice.LoadLockVtmDoorState == LoadLockDoorState.Opened ? 0x00000020u : 0x0);

            return data1;
        }

        private uint GetLlData2()
        {
            uint data2 = 0x0u;

            return data2;
        }

        private bool IsLoadPort(string device)
        {
            if (device == "P1" || device == "P2" || device == "P3" || device == "P4"|| device == "LP1" || device == "LP2" || device == "LP3" || device == "LP4")
            {
                return true;
            }
            return false;
        }

        public string GetE84LpName(string device)
        {
            string e84 = string.Empty;
            switch (device)
            {
                case "P1":
                case "LP1":
                    e84 = "Loadport1E84";
                    break;
                case "P2":
                case "LP2":
                    e84 = "Loadport2E84";
                    break;
                case "P3":
                case "LP3":
                    e84 = "Loadport3E84";
                    break;
                case "P4":
                case "LP4":
                    e84 = "Loadport4E84";
                    break;
                case "P5":
                case "LP5":
                    e84 = "Loadport5E84";
                    break;
                case "P6":
                case "LP6":
                    e84 = "Loadport6E84";
                    break;
                case "P7":
                case "LP7":
                    e84 = "Loadport7E84";
                    break;
                case "P8":
                case "LP8":
                    e84 = "Loadport8E84";
                    break;
                case "P9":
                case "LP9":
                    e84 = "Loadport9E84";
                    break;
                case "P10":
                case "LP10":
                    e84 = "Loadport10E84";
                    break;
            }

            return e84;
        }

        private string ModuleName2ProtocolName(ModuleName module)
        {
            string protocol = "System";
            switch (module)
            {
                case ModuleName.LP1:
                    protocol = "P1";
                    break;
                case ModuleName.LP2:
                    protocol = "P2";
                    break;
                case ModuleName.LP3:
                    protocol = "P3";
                    break;
                case ModuleName.LP4:
                    protocol = "P4";
                    break;
                case ModuleName.LP5:
                    protocol = "P5";
                    break;
                case ModuleName.LP6:
                    protocol = "P6";
                    break;
                case ModuleName.LP7:
                    protocol = "P7";
                    break;
                case ModuleName.LP8:
                    protocol = "P8";
                    break;
                case ModuleName.LP9:
                    protocol = "P9";
                    break;
                case ModuleName.LP10:
                    protocol = "P10";
                    break;
                case ModuleName.LL1:
                    protocol = "LLA";
                    break;
                case ModuleName.LL2:
                    protocol = "LLB";
                    break;
                case ModuleName.LL3:
                    protocol = "LLC";
                    break;
                case ModuleName.LL4:
                    protocol = "LLD";
                    break;
                case ModuleName.LL5:
                    protocol = "LLE";
                    break;
                case ModuleName.LL6:
                    protocol = "LLF";
                    break;
                case ModuleName.LL7:
                    protocol = "LLG";
                    break;
                case ModuleName.LL8:
                    protocol = "LLH";
                    break;
            }

            return protocol;
        }

    }
}