ELK/Furnace/FurnaceRT/Equipments/Jobs/AutoTransfer.cs

using Aitex.Common.Util;
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.Common.Equipment;
using MECF.Framework.Common.SubstrateTrackings;
using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using FurnaceRT.Equipments.CarrierRobots;
using FurnaceRT.Equipments.PMs.RecipeExecutions;
using FurnaceRT.Equipments.Schedulers;
using FurnaceRT.Equipments.Systems;
using FurnaceRT.Equipments.WaferRobots;
using MECF.Framework.Common.Jobs;
using Aitex.Core.RT.Log;
using MECF.Framework.Common.DBCore;
using Aitex.Core.RT.DataCenter;
using System.Diagnostics;
using FurnaceRT.Equipments.PMs;
using MECF.Framework.Common.Schedulers;
using System.Windows.Input;
using System.Net.Sockets;
using FurnaceRT.Equipments.FIMSs;
using FurnaceRT.Devices;
using System.Text.RegularExpressions;
using MECF.Framework.Common.CommonData;
using FurnaceRT.Equipments.Boats;

namespace FurnaceRT.Equipments.Jobs
{
    public class AutoTransfer : SchedulerModuleFactory
    {
        private List<ControlJobInfo> _lstControlJobs = new List<ControlJobInfo>();
        private List<ProcessJobInfo> _lstProcessJobs = new List<ProcessJobInfo>();
        public List<ProcessJobInfo> LstProcessJobs => _lstProcessJobs;
        //private Object _locker = new Object();

        private const string LogSource = "Scheduler";
        System.Timers.Timer timer = null;
        private bool _isCycleMode;
        private int _cycleSetPoint = 0;
        private int _cycledCount = 0;
        private int _cycledWafer = 0;
        private int _cycledTotalWafer = 0;
        private int _cycleTime;
        private int _cycleTimeSecond = 0;
        private Stopwatch _coolTimer = new Stopwatch();

        private SchedulerFACallback _faCallback;
        private SchedulerDBCallback _dbCallback;
        private ProcessJobInfo _secondPj;
        private Dictionary<string, int> _sideDummyWafers = new Dictionary<string, int>();
        private Dictionary<string, int> _extraDummyWafers = new Dictionary<string, int>();
        private List<int> _sideDummySlots = new List<int>();
        private List<int> _extraDummySlots = new List<int>();
        private List<int> _productSlots = new List<int>();
        private List<int> _monitor1Slots = new List<int>();
        private List<int> _monitor2Slots = new List<int>();
        private List<int> _tSlots = new List<int>();//expert mode
        private List<int> _xdSlots = new List<int>();//expert mode
        private List<SchedulerStocker> _lstCurrentPjStocker = new List<SchedulerStocker>();
        private Dictionary<string, R_TRIG> _chargeRuleAlarmTrigDic = new Dictionary<string, R_TRIG>();
        private Dictionary<string, R_TRIG> _waferStatusAlarmTrigDic = new Dictionary<string, R_TRIG>();
        private Dictionary<string, R_TRIG> _dummyWaferCheckTrigDic = new Dictionary<string, R_TRIG>();
        private Dictionary<string, R_TRIG> _logTrigDic = new Dictionary<string, R_TRIG>();
        private bool _isCoolingSkip = false;
        public bool HasJobRunning
        {
            get { return _lstControlJobs.Count > 0; }
        }

        public AutoTransfer()
        {
            _faCallback = new SchedulerFACallback();
            _dbCallback = new SchedulerDBCallback();
            InitModule();

            _cycledTotalWafer = SC.ContainsItem("System.TotalCycledWafer")
                ? SC.GetValue<int>("System.TotalCycledWafer")
                : 0;

            DATA.Subscribe("Scheduler.CycledCount", () => _cycledCount);
            DATA.Subscribe("Scheduler.CycledWafer", () => _cycledWafer);
            DATA.Subscribe("Scheduler.CycleSetPoint", () => _cycleSetPoint);
            DATA.Subscribe("Scheduler.CycledTotalWafer", () => _cycledTotalWafer);
            DATA.Subscribe("Scheduler.SecondPj", () => new List<ProcessJobInfo>() { _secondPj });

            DATA.Subscribe("Scheduler.PjIdList", () => Array.ConvertAll(_lstProcessJobs.ToArray(), x => x.InnerId.ToString()).ToList());

            DATA.Subscribe($"LP1.LocalJobName", () =>
            {
                var cj = _lstControlJobs.FirstOrDefault(x => x.Module == "LP1");
                if (cj != null)
                    return cj.Name;

                return "";
            });
            DATA.Subscribe($"LP2.LocalJobStatus", () =>
            {
                var cj = _lstControlJobs.FirstOrDefault(x => x.Module == "LP2");
                if (cj != null)
                    return cj.State.ToString();
                return "";
            });
            DATA.Subscribe($"Scheduler.CurrentControlJob", () =>
            {
                var cj = _lstControlJobs.Find(x => x.State == EnumControlJobState.Executing);

                return cj;
            });
            DATA.Subscribe($"Scheduler.CurrentProcessJob", () =>
            {
                var pj = _lstProcessJobs.Find(x => x.State == EnumProcessJobState.Processing || x.State == EnumProcessJobState.Paused);

                return pj;
            });
            DATA.Subscribe($"Scheduler.ControlJobList", () =>
            {
                return _lstControlJobs;
            });
            DATA.Subscribe($"Scheduler.ProcessJobList", () =>
            {
                return _lstProcessJobs;
            });
            DATA.Subscribe($"Scheduler.CoolingTime", () =>
            {
                var pj = _lstProcessJobs.Find(x => x.State == EnumProcessJobState.Processing || x.State == EnumProcessJobState.Paused);

                return pj != null ? pj.CoolTimeSec : 0;
            });
            DATA.Subscribe($"Scheduler.CoolingRemainTime", () =>
            {
                var pj = _lstProcessJobs.Find(x => x.State == EnumProcessJobState.Processing || x.State == EnumProcessJobState.Paused);

                var coolTime = pj != null ? pj.CoolTimeSec : 0;
                if (_coolTimer.IsRunning)
                    return (coolTime - _coolTimer.ElapsedMilliseconds / 1000) > 0 ? coolTime - _coolTimer.ElapsedMilliseconds / 1000 : 0;
                return coolTime;
            });
            DATA.Subscribe($"Scheduler.StockerUseSlots", () =>
            {
                Dictionary<string, string> stockerUseSlots = new Dictionary<string, string>();

                if (!_lstProcessJobs.Any())
                    return stockerUseSlots;

                foreach (var pj in _lstProcessJobs)
                {
                    if(pj.Stockers != null)
                    {
                        foreach(var stocker in pj.Stockers)
                        {
                            if (!stockerUseSlots.ContainsKey(stocker.Item1))
                                stockerUseSlots.Add(stocker.Item1, string.Join(",",stocker.Item3));
                            else
                            {
                                var value = stockerUseSlots[stocker.Item1];
                                stockerUseSlots[stocker.Item1] = $"{value},{string.Join(",", stocker.Item3)}";
                            }
                        }
                    }
                }

                return stockerUseSlots;
            });
        }

        public void Clear()
        {
            _carrierRobot.ResetTask();
            _waferRobot.ResetTask();
            foreach (var pm in _lstPms)
            {
                pm.ResetTask();
            }

            foreach (var lp in _lstLPs)
            {
                lp.ResetTask();
            }

            foreach (var fims in _lstFIMSs)
            {
                fims.ResetTask();
            }

            _lstControlJobs.Clear();
            _lstProcessJobs.Clear();
            _isCoolingSkip = false;
        }
        public void ResetTask(ModuleName module)
        {
            if (module == _carrierRobot.Module)
                _carrierRobot.ResetTask();
            if (module == _waferRobot.Module)
                _waferRobot.ResetTask();
            foreach (var lp in _lstLPs)
            {
                if (module == _carrierRobot.Module)
                    lp.ResetTask();
            }

            foreach (var fims in _lstFIMSs)
            {
                if (module == _carrierRobot.Module)
                    fims.ResetTask();
            }
        }
        #region Job Management
        public Result CreateJob(params object[] objs)
        {
            _isCycleMode = SC.GetValue<bool>("System.IsCycleMode");
            _cycleSetPoint = _isCycleMode ? SC.GetValue<int>("System.CycleCount") : 0;

            if (objs == null || objs.Length == 0)
            {
                Singleton<EquipmentManager>.Instance.ChargeWaferJobStartFailedWarning.Set("Parameter not valid");
                return Result.FAIL;
            }
            var param = (Dictionary<string, object>)objs[0];
            if (param == null)
            {
                Singleton<EquipmentManager>.Instance.ChargeWaferJobStartFailedWarning.Set("Parameter not valid");
                return Result.FAIL;
            }

            var content = "";
            foreach (var key in param.Keys)
            {
                content += $"{key}-{param[key]}#";
            }
            LOG.Write($"Control Job: {content}");

            if (!Singleton<EquipmentManager>.Instance.GetJobRecipeInfor((string)param["JobRecipe"], out string processRecipe, out string layoutRecipe, out int coolTime, out string reason))
            {
                Singleton<EquipmentManager>.Instance.ChargeWaferJobStartFailedWarning.Set(reason);
                return Result.FAIL;
            }
            if (string.IsNullOrEmpty(layoutRecipe))
            {
                Singleton<EquipmentManager>.Instance.ChargeWaferJobStartFailedWarning.Set("Parameter not valid, Layout Recipe is null");
                return Result.FAIL;
            }

            var path = $"{PathManager.GetRecipeDir()}\\{SC.GetStringValue("System.Recipe.SupportedChamberType")}\\Layout\\{layoutRecipe}.rcp";
            if (!File.Exists(path))
            {
                Singleton<EquipmentManager>.Instance.ChargeWaferJobStartFailedWarning.Set($"Layout \"{layoutRecipe}\" not exist.");
                return Result.FAIL;
            }

            path = $"{PathManager.GetRecipeDir()}\\{SC.GetStringValue("System.Recipe.SupportedChamberType")}\\Process\\{processRecipe}.rcp";
            if (!File.Exists(path))
            {
                Singleton<EquipmentManager>.Instance.ChargeWaferJobStartFailedWarning.Set($"Process recipe \"{processRecipe}\" not exist.");
                return Result.FAIL;
            }

            if (!RecipeParser.Parse(processRecipe, ModuleName.PM1.ToString(), out var recipeHead, out var recipeSteps, out reason, "Process"))
            {
                Singleton<EquipmentManager>.Instance.ChargeWaferJobStartFailedWarning.Set($"Load process recipe {processRecipe} failed, {reason}");
                return Result.FAIL;
            }

            List<Tuple<string, string, List<int>>> useStockers = new List<Tuple<string, string, List<int>>>();

            if (RecipeParser.LayoutRecipeParse(layoutRecipe, ModuleName.PM1.ToString(), out RecipeLayoutEntityNormal layoutRecipeDataNormal, out RecipeLayoutEntityExpert layoutRecipeDataExpert, out reason))
            {
                if (param.ContainsKey("CarrierPara"))
                {
                    //Stocker1,P_00000036,25,Exist,1111111111111111111111111,LP1;Stocker2,P_00000037,25,Exist,1111111111111111111111111,LP2
                    var paras = param["CarrierPara"].ToString().Split(';');
                    if (paras != null && paras.Length > 0)
                    {
                        foreach (var item in paras)
                        {
                            //Stocker13,,21/22/23/24/25"
                            var arry = item.Split(',');
                            if (arry != null && arry.Length >= 2)
                            {
                                var pStocker = GetModule(arry[0]) as SchedulerStocker;
                                if (pStocker != null && (SC.GetStringValue($"System.Stocker.{arry[0]}WaferType").Contains("P") || SC.GetStringValue($"System.Stocker.{arry[0]}WaferType").Contains("None")))
                                {
                                    var slots = new List<int>();
                                    if (arry.Length >= 3)
                                    {
                                        var slotParas = arry[2].Split('/').ToList();
                                        if (slotParas != null && slotParas.Count > 0)
                                        {
                                            foreach (var slotPara in slotParas)
                                            {
                                                var ret = int.TryParse(slotPara, out int slot);
                                                if (ret && slot - 1 >= 0 && !slots.Any(x => x == slot - 1))
                                                {
                                                    if (_lstProcessJobs.Any())
                                                    {
                                                        foreach (var job in _lstProcessJobs)
                                                        {
                                                            if (job.Stockers.Any(x => x.Item1 == arry[0] && x.Item3.Contains(slot - 1)))
                                                            {
                                                                Singleton<EquipmentManager>.Instance.ChargeWaferJobStartFailedWarning.Set($"Create job failed, already contains {arry[0]}.{slot} in previous process job");
                                                                return Result.FAIL;
                                                            }
                                                        }
                                                    }
                                                    slots.Add(slot - 1);
                                                }
                                            }
                                        }
                                    }
                                    useStockers.Add(Tuple.Create(arry[0], arry[1], slots));
                                }
                            }
                        }
                    }
                }
                if (param.ContainsKey("mCarrierPara"))
                {
                    //Stocker14,P_00000014;Stocker15,P_00000015
                    var paras = param["mCarrierPara"].ToString().Split(';');
                    if (paras != null && paras.Length > 0)
                    {
                        if (!string.IsNullOrEmpty(paras[0]))
                        {
                            foreach (var item in paras)
                            {
                                var arry = item.Split(',');
                                if (arry != null && arry.Length >= 2)
                                {
                                    var mStocker = GetModule(arry[0]) as SchedulerStocker;
                                    if (mStocker != null && SC.GetStringValue($"System.Stocker.{arry[0]}WaferType").Contains("M"))
                                    {
                                        var slots = new List<int>();
                                        if (arry.Length >= 3)
                                        {
                                            var slotParas = arry[2].Split('/').ToList();
                                            if (slotParas != null && slotParas.Count > 0)
                                            {
                                                foreach (var slotPara in slotParas)
                                                {
                                                    var ret = int.TryParse(slotPara, out int slot);
                                                    if (ret && slot - 1 >= 0 && !slots.Any(x => x == slot - 1))
                                                    {
                                                        if (_lstProcessJobs.Any())
                                                        {
                                                            foreach (var job in _lstProcessJobs)
                                                            {
                                                                if (job.Stockers.Any(x => x.Item1 == arry[0] && x.Item3.Contains(slot - 1)))
                                                                {
                                                                    Singleton<EquipmentManager>.Instance.ChargeWaferJobStartFailedWarning.Set($"Create job failed, already contains {arry[0]}.{slot} in previous process job");
                                                                    return Result.FAIL;
                                                                }
                                                            }
                                                        }
                                                        slots.Add(slot - 1);
                                                    }
                                                }
                                            }
                                        }
                                        useStockers.Add(Tuple.Create(arry[0], arry[1], slots));
                                    }
                                }
                            }
                        }
                    }
                }
                if (param.ContainsKey("m1CarrierPara"))
                {
                    //Stocker14,P_00000014;Stocker15,P_00000015
                    var paras = param["m1CarrierPara"].ToString().Split(';');
                    if (paras != null && paras.Length > 0)
                    {
                        if (!string.IsNullOrEmpty(paras[0]))
                        {
                            foreach (var item in paras)
                            {
                                var arry = item.Split(',');
                                if (arry != null && arry.Length >= 2)
                                {
                                    var mStocker = GetModule(arry[0]) as SchedulerStocker;
                                    if (mStocker != null && (SC.GetStringValue($"System.Stocker.{arry[0]}WaferType").Contains("M1") || SC.GetStringValue($"System.Stocker.{arry[0]}WaferType").Contains("None")))
                                    {
                                        var slots = new List<int>();
                                        if (arry.Length >= 3)
                                        {
                                            var slotParas = arry[2].Split('/').ToList();
                                            if (slotParas != null && slotParas.Count > 0)
                                            {
                                                foreach (var slotPara in slotParas)
                                                {
                                                    var ret = int.TryParse(slotPara, out int slot);
                                                    if (ret && slot - 1 >= 0 && !slots.Any(x => x == slot - 1))
                                                    {
                                                        if (_lstProcessJobs.Any())
                                                        {
                                                            foreach (var job in _lstProcessJobs)
                                                            {
                                                                if (job.Stockers.Any(x => x.Item1 == arry[0] && x.Item3.Contains(slot - 1)))
                                                                {
                                                                    Singleton<EquipmentManager>.Instance.ChargeWaferJobStartFailedWarning.Set($"Create job failed, already contains {arry[0]}.{slot} in previous process job");
                                                                    return Result.FAIL;
                                                                }
                                                            }
                                                        }
                                                        slots.Add(slot - 1);
                                                    }
                                                }
                                            }
                                        }
                                        useStockers.Add(Tuple.Create(arry[0], arry[1], slots));
                                    }
                                }
                            }
                        }
                    }
                }
                if (param.ContainsKey("m2CarrierPara"))
                {
                    //Stocker14,P_00000014;Stocker15,P_00000015
                    var paras = param["m2CarrierPara"].ToString().Split(';');
                    if (paras != null && paras.Length > 0)
                    {
                        if (!string.IsNullOrEmpty(paras[0]))
                        {
                            foreach (var item in paras)
                            {
                                var arry = item.Split(',');
                                if (arry != null && arry.Length >= 2)
                                {
                                    var mStocker = GetModule(arry[0]) as SchedulerStocker;
                                    if (mStocker != null && (SC.GetStringValue($"System.Stocker.{arry[0]}WaferType").Contains("M2") || SC.GetStringValue($"System.Stocker.{arry[0]}WaferType").Contains("None")))
                                    {
                                        var slots = new List<int>();
                                        if (arry.Length >= 3)
                                        {
                                            var slotParas = arry[2].Split('/').ToList();
                                            if (slotParas != null && slotParas.Count > 0)
                                            {
                                                foreach (var slotPara in slotParas)
                                                {
                                                    var ret = int.TryParse(slotPara, out int slot);
                                                    if (ret && slot - 1 >= 0 && !slots.Any(x => x == slot - 1))
                                                    {
                                                        if (_lstProcessJobs.Any())
                                                        {
                                                            foreach (var job in _lstProcessJobs)
                                                            {
                                                                if (job.Stockers.Any(x => x.Item1 == arry[0] && x.Item3.Contains(slot - 1)))
                                                                {
                                                                    Singleton<EquipmentManager>.Instance.ChargeWaferJobStartFailedWarning.Set($"Create job failed, already contains {arry[0]}.{slot} in previous process job");
                                                                    return Result.FAIL;
                                                                }
                                                            }
                                                        }
                                                        slots.Add(slot - 1);
                                                    }
                                                }
                                            }
                                        }
                                        useStockers.Add(Tuple.Create(arry[0], arry[1], slots));
                                    }
                                }
                            }
                        }
                    }
                }

                useStockers.Sort(compare);

                foreach (var s in _lstSideDummyStocker)
                {
                    if (CarrierManager.Instance.CheckHasCarrier(s.Module, 0) && CarrierManager.Instance.GetCarrier(s.Module, 0).CarrierType == CarrierType.SD)
                        useStockers.Add(Tuple.Create(s.Module.ToString(), CarrierManager.Instance.GetCarrier(s.Module, 0).CarrierId, new List<int>()));
                    else
                    {
                        bool onRobot = false;
                        if (CarrierManager.Instance.CheckHasCarrier(ModuleName.CarrierRobot, 0))
                        {
                            var carrier = CarrierManager.Instance.GetCarrier(ModuleName.CarrierRobot, 0);
                            if (carrier.CarrierType == CarrierType.SD &&
                                carrier.InternalModuleName == s.Module)
                            {
                                useStockers.Add(Tuple.Create(s.Module.ToString(), carrier.CarrierId, new List<int>()));
                                onRobot = true;
                            }
                        }

                        if (!onRobot)
                        {
                            bool inFIMS = false;
                            foreach (var fims in _lstFIMSs)
                            {
                                if (!fims.IsOnline)
                                    continue;

                                var carrier = CarrierManager.Instance.GetCarrier(fims.Module, 0);
                                if (!carrier.IsEmpty && carrier.CarrierType == CarrierType.SD &&
                                    carrier.InternalModuleName == s.Module)
                                {
                                    inFIMS = true;
                                    useStockers.Add(Tuple.Create(s.Module.ToString(), carrier.CarrierId, new List<int>()));
                                }
                            }
                            if (!inFIMS && CarrierManager.Instance.GetLocationByInternalCarrierModuleName(s.Module, CarrierType.SD) != null)
                                useStockers.Add(Tuple.Create(s.Module.ToString(), "", new List<int>()));
                        }
                    }
                }
                foreach (var s in _lstExtraDummyStocker)
                {
                    if (CarrierManager.Instance.CheckHasCarrier(s.Module, 0) && CarrierManager.Instance.GetCarrier(s.Module, 0).CarrierType == CarrierType.ED)
                        useStockers.Add(Tuple.Create(s.Module.ToString(), CarrierManager.Instance.GetCarrier(s.Module, 0).CarrierId, new List<int>()));
                    else
                    {
                        bool onRobot = false;
                        if (CarrierManager.Instance.CheckHasCarrier(ModuleName.CarrierRobot, 0))
                        {
                            var carrier = CarrierManager.Instance.GetCarrier(ModuleName.CarrierRobot, 0);
                            if (carrier.CarrierType == CarrierType.ED &&
                                carrier.InternalModuleName == s.Module)
                            {
                                useStockers.Add(Tuple.Create(s.Module.ToString(), carrier.CarrierId, new List<int>()));
                                onRobot = true;
                            }
                        }

                        if (!onRobot)
                        {
                            bool inFIMS = false;
                            foreach (var fims in _lstFIMSs)
                            {
                                if (!fims.IsOnline)
                                    continue;

                                var carrier = CarrierManager.Instance.GetCarrier(fims.Module, 0);
                                if (!carrier.IsEmpty && carrier.CarrierType == CarrierType.ED &&
                                    carrier.InternalModuleName == s.Module)
                                {
                                    inFIMS = true;
                                    useStockers.Add(Tuple.Create(s.Module.ToString(), carrier.CarrierId, new List<int>()));
                                }
                            }
                            if (!inFIMS && CarrierManager.Instance.GetLocationByInternalCarrierModuleName(s.Module, CarrierType.SD) != null)
                                useStockers.Add(Tuple.Create(s.Module.ToString(), "", new List<int>()));
                        }
                    }
                }

                var wafers = WaferManager.Instance.GetWafers(_pm1.Module);
                if (wafers.Any(x => !x.IsEmpty) && !_lstProcessJobs.Any(x => x.State == EnumProcessJobState.Processing || x.State == EnumProcessJobState.Paused) &&
                    SC.GetValue<bool>("System.IsEnableDummyWaferDischarge"))
                {
                    Singleton<EquipmentManager>.Instance.ChargeWaferJobStartFailedWarning.Set($"Already have wafer in boat");

                    return Result.FAIL;
                }

                if (wafers.Any(x => !x.IsEmpty && x.WaferType == WaferType.None))
                {
                    Singleton<EquipmentManager>.Instance.ChargeWaferJobStartFailedWarning.Set($"Already have unknown wafer in boat");

                    return Result.FAIL;
                }

                var robotWafers = WaferManager.Instance.GetWafers(ModuleName.WaferRobot);
                if (robotWafers.Any(x => !x.IsEmpty) && !_lstProcessJobs.Any(x => x.State == EnumProcessJobState.Processing || x.State == EnumProcessJobState.Paused))
                {
                    Singleton<EquipmentManager>.Instance.ChargeWaferJobStartFailedWarning.Set($"Already have wafer in wafer robot");

                    return Result.FAIL;
                }

                if (robotWafers.Any(x => !x.IsEmpty && x.WaferType == WaferType.None))
                {
                    Singleton<EquipmentManager>.Instance.ChargeWaferJobStartFailedWarning.Set($"Already have unknown wafer in wafer robot");

                    return Result.FAIL;
                }

                if (!CheckWaferStatus(useStockers, true, true, out reason))
                {
                    Singleton<EquipmentManager>.Instance.ChargeWaferJobStartFailedWarning.Set(reason);

                    return Result.FAIL;
                }
            }

            var pjJobId = param["PJID"].ToString();
            var cjJobId = param["CJID"].ToString();
            ControlJobInfo cj = null;
            if (_lstControlJobs.Exists(x => x.Name == cjJobId))
            {
                for(int i=1;i<1000;i++)
                {
                    if(!_lstControlJobs.Exists(x => x.Name == $"{cjJobId}_{i}"))
                    {
                        cjJobId = $"{cjJobId}_{i}";
                        break;
                    }
                }
            }

            cj = new ControlJobInfo();
            cj.Name = cjJobId;
            //cj.Module = module;
            cj.LotName = cjJobId;
            cj.LotInnerId = Guid.NewGuid();
            cj.LotWafers = new List<WaferInfo>();
            cj.CreateTime = DateTime.Now;
            cj.SetState(EnumControlJobState.WaitingForStart);

            ProcessJobInfo pj = new ProcessJobInfo();
            pj.Name = pjJobId;
            pj.JobRecipe = param["JobRecipe"].ToString();
            pj.ProcessRecipe = processRecipe;
            pj.LayoutRecipe = layoutRecipe;
            pj.ControlJobName = cj.Name;
            pj.SetState(EnumProcessJobState.Queued);
            pj.CreateTime = DateTime.Now;
            pj.Stockers = useStockers;
            pj.SlotWafers = new List<Tuple<ModuleName, int>>();
            pj.ProcessingState = EnumProcessingState.WaitingMaterial;
            pj.CoolTimeSec = coolTime;
            pj.IsEmptyLayout = !layoutRecipeDataExpert.Items.Any(x => x != "----");
            pj.IsN2PurgeMode = recipeHead.IsN2PurgeMode;

            if (useStockers.Any() && !CheckChargeRule(pj, out bool waferShort, false, true, out reason))
            {
                Singleton<EquipmentManager>.Instance.ChargeWaferJobStartFailedWarning.Set($"layout recipe {layoutRecipe} check charge rule failed, {reason}");
                return Result.FAIL;
            }

            foreach (var stocker in useStockers)
            {
                if (CarrierManager.Instance.CheckHasCarrier($"{stocker.Item1}", 0) &&
                    CarrierManager.Instance.GetCarrier($"{stocker.Item1}", 0).InternalModuleName.ToString() != stocker.Item1)
                {
                    Singleton<EquipmentManager>.Instance.ChargeWaferJobStartFailedWarning.Set($"Carrier of {stocker.Item1} is not match stocker module name {CarrierManager.Instance.GetCarrier($"{stocker.Item1}", 0).InternalModuleName}");
                    return Result.FAIL;
                }
            }

            _lstProcessJobs.Add(pj);
            cj.ProcessJobNameList.Add(pj.Name);
            if (!_lstControlJobs.Contains(cj))
                _lstControlJobs.Add(cj);

            _faCallback.JobCreated(cj, pj);
            _secondPj = null;

            if ((Singleton<EquipmentManager>.Instance.Modules[ModuleName.PM1] as PMModule).IsExcuteIdleRecipe)
                (Singleton<EquipmentManager>.Instance.Modules[ModuleName.PM1] as PMModule).EndIdleRecipe();

            return Result.RUN;
        }

        static int compare(Tuple<string, string, List<int>> t1, Tuple<string, string, List<int>> t2)
        {
            int.TryParse(t1.Item1.Replace("Stocker", ""), out int s1);
            int.TryParse(t2.Item1.Replace("Stocker", ""), out int s2);

            if (s1 > s2)
            {
                return 1;
            }
            else
            {
                return -1;
            }
        }

        internal ProcessJobInfo GetFirstProcessJob(ControlJobInfo cj, ProcessJobInfo checkPj = null)
        {
            DateTime dtMin = DateTime.MaxValue;
            ProcessJobInfo currentPj = null;
            foreach (var pj in _lstProcessJobs)
            {
                if (checkPj != null && checkPj == pj)
                    continue;

                if (pj.ControlJobName == cj.Name)
                {
                    if (pj.CreateTime.CompareTo(dtMin) < 0)
                    {
                        dtMin = pj.CreateTime;
                        currentPj = pj;
                    }
                }
            }

            return currentPj;
        }

        internal void StopJob(string jobName)
        {
            ControlJobInfo cj = _lstControlJobs.Find(x => x.Name == jobName);
            if (cj == null)
            {
                EV.PostWarningLog(LogSource, $"stop job rejected, not found job with id {jobName}");
                return;
            }

            foreach (var pj in _lstProcessJobs)
            {
                if (pj.ControlJobName == cj.Name)
                {
                    if (pj.State == EnumProcessJobState.Processing)
                        _faCallback.JobStopped(cj, pj);
                    pj.SetState(EnumProcessJobState.Stopping);
                    pj.ProcessingState = EnumProcessingState.WaitingWithdrawal;
                }
            }

            if (_isCycleMode)
            {
                if (_cycleSetPoint > _cycledCount)
                {
                    _cycleSetPoint = _cycledCount;
                    EV.PostWarningLog("System", $"system in cycle mode, cycle count reset to {_cycledCount}");
                }
            }

            _dbCallback.LotFinished(cj);
        }

        internal void AbortJob(string jobName)
        {
            ControlJobInfo cj = _lstControlJobs.Find(x => x.Name == jobName);
            if (cj == null)
            {
                EV.PostWarningLog(LogSource, $"abort job rejected, not found job with id {jobName}");
                return;
            }

            List<ProcessJobInfo> pjAbortList = new List<ProcessJobInfo>();
            foreach (var pj in _lstProcessJobs)
            {
                if (pj.ControlJobName == cj.Name)
                {
                    if (pj.State == EnumProcessJobState.Processing)
                        _faCallback.JobAborted(cj, pj);
                    pj.SetState(EnumProcessJobState.Aborting);
                    if(pj.ProcessingState == EnumProcessingState.Charging || pj.ProcessingState == EnumProcessingState.Discharging)
                    {
                        var pmModule = Singleton<EquipmentManager>.Instance.Modules[ModuleName.PM1] as PMModule;
                        pmModule?.SetN2PurgeLAO2CheckFirstEnable(false);
                        pmModule?.SetN2PurgeProcess(false);
                    }

                    pj.ProcessingState = EnumProcessingState.WaitingWithdrawal;
                    pjAbortList.Add(pj);

                    int unprocessed = 0;
                    int aborted = 0;
                    WaferInfo[] wafers = WaferManager.Instance.GetWaferByProcessJob(pj.Name);
                    foreach (var waferInfo in wafers)
                    {
                        waferInfo.ProcessJob = null;
                        waferInfo.NextSequenceStep = 0;
                        if (waferInfo.ProcessState != EnumWaferProcessStatus.Completed)
                            unprocessed++;
                    }
                    JobDataRecorder.EndPJ(pj.InnerId.ToString(), aborted, unprocessed);
                }
            }

            foreach (var pj in pjAbortList)
            {
                _lstProcessJobs.Remove(pj);
            }

            _lstControlJobs.Remove(cj);

            _dbCallback.LotFinished(cj);
        }

        public void ResumeJob(string jobName)
        {
            ControlJobInfo cj = _lstControlJobs.Find(x => x.Name == jobName);
            if (cj == null)
            {
                EV.PostWarningLog(LogSource, $"resume job rejected, not found job with id {jobName}");
                return;
            }
            if (cj.State == EnumControlJobState.Paused)
            {
                cj.SetState(EnumControlJobState.Executing);
            }

            foreach (var pj in _lstProcessJobs)
            {
                if (pj.ControlJobName == cj.Name)
                {
                    if (pj.State == EnumProcessJobState.Processing)
                        _faCallback.JobResumed(cj, pj);
                }
            }
        }
        internal bool StartJob(string jobName)
        {

            if (!CheckPMStatus())
            {
                EV.PostWarningLog("Scheduler", "can not change to auto mode, at least one process chamber be online");
                return false;
            }

            ControlJobInfo cj = _lstControlJobs.Find(x => x.Name == jobName);
            if (cj == null)
            {
                EV.PostWarningLog(LogSource, $"start job rejected, not found job with id {jobName}");
                return false;
            }
            if (_isCycleMode)
            {
                if (CheckAllJobDone())
                {
                    _cycledWafer = 0;
                    _cycledCount = 0;
                }

            }

            if (cj.State == EnumControlJobState.WaitingForStart)
            {
                cj.SetState(EnumControlJobState.Executing);

                //(GetModule(cj.Module) as SchedulerLoadPort).NoteJobStart();

                cj.LotInnerId = Guid.NewGuid();
                cj.BeginTime = DateTime.Now;
                _dbCallback.LotCreated(cj);
                _faCallback.JobStarted(cj, GetFirstProcessJob(cj));
            }

            return true;
        }
        internal void PauseJob(string jobName)
        {
            foreach (var cj in _lstControlJobs)
            {
                if (cj.Name != jobName && !string.IsNullOrEmpty(jobName))
                    continue;

                if (cj.State == EnumControlJobState.Executing)
                {
                    cj.SetState(EnumControlJobState.Paused);

                    _faCallback.JobPaused(cj, GetFirstProcessJob(cj));
                }
            }
        }
        #endregion Job Management
        private bool CheckPMStatus()
        {
            bool hasPmOnline = false;
            foreach (var schedulerPm in _lstPms)
            {
                if (schedulerPm.IsAvailable)
                {
                    hasPmOnline = true;
                    continue;
                }
            }
            return hasPmOnline;
        }

        public Result Start(params object[] objs)
        {
            Clear();

            _cycledWafer = 0;
            _cycledCount = 0;
            timer.Start();

            if (!CheckPMStatus())
            {
                EV.PostWarningLog("Scheduler", "can not change to auto mode, at least one process chamber be online");
                return Result.FAIL;
            }


            return Result.RUN;
        }

        public Result Monitor()
        {
            ControlJobInfo cjActive = _lstControlJobs.Find(x => x.State == EnumControlJobState.Executing);
            if (cjActive != null)
            {
                MonitorModuleTasks();
            }

            MonitorJobTasks();

            return Result.RUN;
        }

        #region Job task

        public Result MonitorJobTasks()
        {
            UpdateProcessJobStatus();

            UpdateControlJobStatus();

            StartNewJob();

            return Result.RUN;
        }

        private void UpdateProcessJobStatus()
        {
            foreach (var pj in _lstProcessJobs)
            {
                if (pj.ProcessingState == EnumProcessingState.Discharging && pj.IsEmptyLayout)
                {
                    pj.SetState(EnumProcessJobState.ProcessingComplete);
                    JobDataRecorder.EndPJ(pj.InnerId.ToString(), 0, 0);
                    var pmModule = Singleton<EquipmentManager>.Instance.Modules[ModuleName.PM1] as PMModule;
                    pmModule?.SetN2PurgeLAO2CheckFirstEnable(false);
                    pmModule?.SetN2PurgeProcess(false);
                }
                else
                {
                    if (pj.State == EnumProcessJobState.Processing)
                    {
                        if (CheckAllWaferReturned(pj, true))
                        {
                            pj.SetState(EnumProcessJobState.ProcessingComplete);
                            JobDataRecorder.EndPJ(pj.InnerId.ToString(), 0, 0);
                            var pmModule = Singleton<EquipmentManager>.Instance.Modules[ModuleName.PM1] as PMModule;
                            pmModule?.SetN2PurgeLAO2CheckFirstEnable(false);
                            pmModule?.SetN2PurgeProcess(false);
                        }
                    }
                    else if (pj.State == EnumProcessJobState.Stopping)
                    {
                        if (CheckAllWaferReturned(pj, false))
                        {
                            pj.SetState(EnumProcessJobState.ProcessingComplete);
                            JobDataRecorder.EndPJ(pj.InnerId.ToString(), 0, 0);
                            var pmModule = Singleton<EquipmentManager>.Instance.Modules[ModuleName.PM1] as PMModule;
                            pmModule?.SetN2PurgeLAO2CheckFirstEnable(false);
                            pmModule?.SetN2PurgeProcess(false);
                        }
                    }
                }
            }
        }

        private void UpdateControlJobStatus()
        {
            if (_lstControlJobs.Count == 0)
                return;

            bool allControlJobComplete = true;
            List<ControlJobInfo> cjRemoveList = new List<ControlJobInfo>();
            foreach (var cj in _lstControlJobs)
            {
                if (cj.State == EnumControlJobState.Executing)
                {
                    bool allPjCompleted = true;
                    foreach (var pjName in cj.ProcessJobNameList)
                    {
                        var pj = _lstProcessJobs.Find(x => x.Name == pjName);
                        if (pj == null)
                        {
                            LOG.Error($"Not find pj named {pjName} in {cj.Name}");
                            continue;
                        }
                        if (pj.State != EnumProcessJobState.Complete && pj.State != EnumProcessJobState.ProcessingComplete)
                        {
                            allPjCompleted = false;
                            break;
                        }
                    }

                    if (allPjCompleted)
                    {
                        cj.SetState(EnumControlJobState.Completed);
                        cj.EndTime = DateTime.Now;
                        string strInfo = $"{cj.Module} has finished: \r\n\r\nProcessed wafer number: {cj.LotWafers.Count} \r\nBegin time: {cj.BeginTime} \r\nEnd time: {cj.EndTime} \r\nDuration: {(cj.EndTime - cj.BeginTime).TotalSeconds:F0} sec";
                        EV.PostInfoLog("Scheduler", strInfo);

                        if (SC.GetValue<bool>("System.Job.EnablePopDialogWhenJobDone"))
                        {
                            EV.PostPopDialogMessage(EventLevel.Information, "System Information", strInfo);
                        }

                        _faCallback.JobFinished(cj, GetFirstProcessJob(cj));
                        _dbCallback.LotFinished(cj);
                        //if (!(_isCycleMode && _cycledCount < _cycleSetPoint))
                        //    (GetModule(cj.Module) as SchedulerLoadPort).NoteJobComplete();
                    }
                }


                if (cj.State == EnumControlJobState.Completed && (!SC.GetValue<bool>("System.IsCycleMode") ||
                                                                 (SC.GetValue<bool>("System.IsCycleMode") && _cycledCount >= _cycleSetPoint)))
                {
                    cjRemoveList.Add(cj);
                }

                allControlJobComplete = allControlJobComplete && cj.State == EnumControlJobState.Completed;
            }

            if (_isCycleMode && _cycledCount < _cycleSetPoint)
            {
                int countPerCycle = 0;
                int countProcessed = 0;
                foreach (var pj in _lstProcessJobs)
                {
                    if (pj.State == EnumProcessJobState.Queued || pj.SlotWafers == null)
                        continue;
                    foreach (var pjSlotWafer in pj.SlotWafers)
                    {
                        countPerCycle++;
                        WaferInfo wafer = WaferManager.Instance.GetWafer(pjSlotWafer.Item1, pjSlotWafer.Item2);
                        if (!wafer.IsEmpty && !CheckWaferNeedProcess(pjSlotWafer.Item1, pjSlotWafer.Item2))
                        {
                            countProcessed++;
                        }
                    }
                }

                _cycledWafer = _cycledCount * countPerCycle + countProcessed;

                if (allControlJobComplete)
                {
                    _cycledCount++;

                    if (_cycledCount < _cycleSetPoint)
                    {
                        foreach (var cj in _lstControlJobs)
                        {
                            cj.SetState(EnumControlJobState.Executing);

                            cj.LotInnerId = Guid.NewGuid();
                            _dbCallback.LotCreated(cj);
                        }

                        foreach (var pj in _lstProcessJobs)
                        {
                            pj.SetState(EnumProcessJobState.Queued);
                            pj.ProcessingState = EnumProcessingState.WaitingMaterial;
                            pj.InnerId = Guid.NewGuid();
                            if (pj.SlotWafers == null)
                                continue;
                            foreach (var pjSlotWafer in pj.SlotWafers)
                            {
                                WaferInfo wafer = WaferManager.Instance.GetWafer(pjSlotWafer.Item1, pjSlotWafer.Item2);

                                wafer.ProcessJob = null;
                                wafer.NextSequenceStep = 0;
                                wafer.ProcessState = EnumWaferProcessStatus.Idle;
                            }
                        }
                    }
                }

            }

            if (_waferRobot.IsAvailable && cjRemoveList.Any())
            {
                (Singleton<EquipmentManager>.Instance.Modules[ModuleName.WaferRobot] as WaferRobotModule).Home(out _);
            }

            foreach (var cj in cjRemoveList)
            {
                List<ProcessJobInfo> pjRemoveList = new List<ProcessJobInfo>();
                foreach (var pj in _lstProcessJobs)
                {
                    if (pj.ControlJobName == cj.Name)
                        pjRemoveList.Add(pj);
                }

                foreach (var pj in pjRemoveList)
                {
                    _lstProcessJobs.Remove(pj);
                }

                _lstControlJobs.Remove(cj);
            }
        }

        public bool CheckAllJobDone()
        {
            foreach (var cj in _lstControlJobs)
            {
                if (cj.State == EnumControlJobState.Executing ||
                    cj.State == EnumControlJobState.Paused ||
                    cj.State == EnumControlJobState.Queued ||
                    cj.State == EnumControlJobState.WaitingForStart)
                    return false;
            }

            return true;
        }
        public List<Tuple<string, string, List<int>>> GetProcessingStockers()
        {
            if (!_lstControlJobs.Any() || !_lstProcessJobs.Any())
                return null;

            foreach (var cj in _lstControlJobs)
            {
                if (cj.State == EnumControlJobState.Completed)
                    continue;

                var pj = GetFirstProcessJob(cj);
                if (pj != null)
                {
                    if (pj.ProcessingState != EnumProcessingState.Discharging)
                        return pj.Stockers;
                    else
                    {
                        List<Tuple<string, string, List<int>>> temp = new List<Tuple<string, string, List<int>>>();
                        foreach (var item in pj.Stockers)
                        {
                            if (CarrierManager.Instance.CheckHasCarrier(item.Item1, 0))
                            {
                                var wafers = WaferManager.Instance.GetWafers(ModuleName.PM1).ToList();
                                if (wafers != null && !wafers.Any(x => !x.IsEmpty && x.OriginStation == (int)ModuleHelper.Converter(item.Item1)))
                                    continue;
                            }

                            temp.Add(Tuple.Create(item.Item1, item.Item2, item.Item3));
                        }
                        return temp;
                    }
                }
            }

            return null;
        }
        public List<Tuple<string, string, List<int>>> GetSecondlyProcessingStockers()
        {
            var pj = GetSecondlyProcessJob();

            return pj != null ? pj.Stockers : null;
        }
        private ProcessJobInfo GetSecondlyProcessJob()
        {
            if (!_lstControlJobs.Any() || !_lstProcessJobs.Any())
                return null;

            if (_lstControlJobs.Count > 1)
            {
                var cj = _lstControlJobs[1];
                if (cj.State == EnumControlJobState.Completed)
                    return null;

                var pj = GetFirstProcessJob(cj);
                return pj;
            }

            return null;
        }
        private ProcessJobInfo GetSecondlyProcessJobV2()
        {
            if (!_lstControlJobs.Any() || !_lstProcessJobs.Any())
                return null;

            if (_lstControlJobs.Count > 1 && _secondPj == null)
            {
                var cj = _lstControlJobs[1];
                if (cj.State == EnumControlJobState.Completed)
                    return null;

                var pj = GetFirstProcessJob(cj);
                return pj;
            }
            return _secondPj;

        }
        public List<Tuple<string, string, List<int>>> GetAllPJStockers()
        {
            List<Tuple<string, string, List<int>>> temp = new List<Tuple<string, string, List<int>>>();
            if (!_lstControlJobs.Any() || !_lstProcessJobs.Any())
                return temp;

            foreach (var cj in _lstControlJobs)
            {
                if (cj.State == EnumControlJobState.Completed)
                    continue;

                foreach (var pj in _lstProcessJobs)
                {
                    if (pj != null && pj.ControlJobName == cj.Name)
                    {
                        temp.AddRange(pj.Stockers);
                    }
                }
            }

            return temp;
        }
        private void StartNewJob()
        {
            if (!_lstControlJobs.Any() || !_lstProcessJobs.Any())
                return;
            _secondPj = GetSecondlyProcessJobV2();

            ControlJobInfo cjActived = null;
            DateTime dtMin = DateTime.MaxValue;
            foreach (var cj in _lstControlJobs)
            {
                if (cj.State == EnumControlJobState.Completed)
                    continue;
                if (cj.CreateTime.CompareTo(dtMin) < 0)
                {
                    dtMin = cj.CreateTime;
                    cjActived = cj;
                }
            }

            if (cjActived == null)
                return;

            if (cjActived.State != EnumControlJobState.Executing &&
                cjActived.State != EnumControlJobState.Paused)
            {
                cjActived.BeginTime = DateTime.Now;
                cjActived.SetState(EnumControlJobState.Executing);
            }

            ProcessJobInfo pj = null;
            foreach (var cj in _lstControlJobs)
            {
                if (cj.State != EnumControlJobState.Executing)
                    continue;

                cjActived = cj;

                pj = GetFirstProcessJob(cjActived);
                if (pj != null && pj.State == EnumProcessJobState.Queued)
                {
                    if (!pj.IsEmptyLayout)
                    {
                        if (CheckProcessJobReady(pj))
                        {
                            //先不管charge rule
                            if (!CheckChargeRule(pj, out bool waferShort, true, true, out string reason))
                            {
                                if (!_chargeRuleAlarmTrigDic.ContainsKey(pj.InnerId.ToString()))
                                    _chargeRuleAlarmTrigDic.Add(pj.InnerId.ToString(), new R_TRIG());
                                _chargeRuleAlarmTrigDic[pj.InnerId.ToString()].CLK = true;
                                if (_chargeRuleAlarmTrigDic[pj.InnerId.ToString()].Q)
                                    Singleton<EquipmentManager>.Instance.ChargeWaferJobStartFailedWarning.Set($"layout recipe {pj.LayoutRecipe} check charge rule failed, {reason}");
                                return;
                            }

                            if (!CheckWaferStatus(pj.Stockers, false, false, out reason))
                            {
                                if (!_waferStatusAlarmTrigDic.ContainsKey(pj.InnerId.ToString()))
                                    _waferStatusAlarmTrigDic.Add(pj.InnerId.ToString(), new R_TRIG());
                                _waferStatusAlarmTrigDic[pj.InnerId.ToString()].CLK = true;
                                if (_waferStatusAlarmTrigDic[pj.InnerId.ToString()].Q)
                                    Singleton<EquipmentManager>.Instance.ChargeWaferJobStartFailedWarning.Set(reason);

                                return;
                            }

                            if (!CheckDummyWaferUse(pj))
                                return;

                            if (!SC.GetValue<bool>("System.IsEnableDummyWaferDischarge"))
                            {
                                var wafers = WaferManager.Instance.GetWafers(ModuleName.PM1).ToList();
                                if (wafers != null && wafers.Any(x => !x.IsEmpty && (x.WaferType == WaferType.SD || x.WaferType == WaferType.ED)))
                                {
                                    for (int i = 0; i < wafers.Count; i++)
                                    {
                                        var wafer = wafers[i];
                                        if (wafer == null || wafer.IsEmpty)
                                            continue;
                                        if (wafer.WaferType != WaferType.SD && wafer.WaferType != WaferType.ED)
                                        {
                                            if (!_dummyWaferCheckTrigDic.ContainsKey(pj.InnerId.ToString()))
                                                _dummyWaferCheckTrigDic.Add(pj.InnerId.ToString(), new R_TRIG());
                                            _dummyWaferCheckTrigDic[pj.InnerId.ToString()].CLK = true;
                                            if (_dummyWaferCheckTrigDic[pj.InnerId.ToString()].Q)
                                                Singleton<EquipmentManager>.Instance.ChargeWaferJobStartFailedWarning.Set($"layout recipe {pj.LayoutRecipe} check charge rule failed, invalid wafer in boat");

                                            return;
                                        }

                                        if (!pj.SideDummySlots.Any(x => x == i) && !pj.ExtraDummySlots.Any(x => x == i))
                                        {
                                            if (!_dummyWaferCheckTrigDic.ContainsKey(pj.InnerId.ToString()))
                                                _dummyWaferCheckTrigDic.Add(pj.InnerId.ToString(), new R_TRIG());
                                            _dummyWaferCheckTrigDic[pj.InnerId.ToString()].CLK = true;
                                            if (_dummyWaferCheckTrigDic[pj.InnerId.ToString()].Q)
                                                Singleton<EquipmentManager>.Instance.ChargeWaferJobStartFailedWarning.Set($"layout recipe {pj.LayoutRecipe} check charge rule failed, invalid dummy wafer in boat, dummy wafer layout mismatch");

                                            return;
                                        }
                                    }

                                    var existSDSlots = new List<int>();
                                    foreach (var slot in pj.SideDummySlots)
                                    {
                                        var wafer = WaferManager.Instance.GetWafer(ModuleName.PM1, slot);
                                        if (!wafer.IsEmpty)
                                        {
                                            if (wafer.WaferType != WaferType.SD)
                                            {
                                                if (!_dummyWaferCheckTrigDic.ContainsKey(pj.InnerId.ToString()))
                                                    _dummyWaferCheckTrigDic.Add(pj.InnerId.ToString(), new R_TRIG());
                                                _dummyWaferCheckTrigDic[pj.InnerId.ToString()].CLK = true;
                                                if (_dummyWaferCheckTrigDic[pj.InnerId.ToString()].Q)
                                                    Singleton<EquipmentManager>.Instance.ChargeWaferJobStartFailedWarning.Set($"layout recipe {pj.LayoutRecipe} check charge rule failed, invalid dummy wafer in boat, SD wafer layout mismatch");

                                                return;
                                            }
                                            else
                                            {
                                                existSDSlots.Add(slot);
                                            }
                                        }
                                    }

                                    var existEDSlots = new List<int>();
                                    foreach (var slot in pj.ExtraDummySlots)
                                    {
                                        var wafer = WaferManager.Instance.GetWafer(ModuleName.PM1, slot);
                                        if (!wafer.IsEmpty)
                                        {
                                            if (wafer.WaferType != WaferType.ED)
                                            {
                                                if (!_dummyWaferCheckTrigDic.ContainsKey(pj.InnerId.ToString()))
                                                    _dummyWaferCheckTrigDic.Add(pj.InnerId.ToString(), new R_TRIG());
                                                _dummyWaferCheckTrigDic[pj.InnerId.ToString()].CLK = true;
                                                if (_dummyWaferCheckTrigDic[pj.InnerId.ToString()].Q)
                                                    Singleton<EquipmentManager>.Instance.ChargeWaferJobStartFailedWarning.Set($"layout recipe {pj.LayoutRecipe} check charge rule failed, invalid dummy wafer in boat, ED wafer layout mismatch");

                                                return;
                                            }
                                            else
                                            {
                                                existEDSlots.Add(slot);
                                            }
                                        }
                                    }

                                    for (int i = 0; i < wafers.Count; i++)
                                    {
                                        var wafer = wafers[i];
                                        if (wafer == null || wafer.IsEmpty)
                                            continue;
                                        wafer.ProcessState = EnumWaferProcessStatus.Idle;
                                    }

                                    pj.IsNeedChargeDummyWafer = pj.ExtraDummySlots.Count != existEDSlots.Count ||  pj.SideDummySlots.Count != existSDSlots.Count;
                                }
                                else
                                {
                                    pj.IsNeedChargeDummyWafer = true;
                                }
                            }
                            else
                            {
                                pj.IsNeedChargeDummyWafer = true;
                            }

                            ActiveProcessJob(cjActived, pj);

                            _sideDummyWafers = GetDummyWafers(_lstSideDummyStocker, pj.SideDummySlots.Count(), WaferType.SD);

                            _extraDummyWafers = GetDummyWafers(_lstExtraDummyStocker, pj.ExtraDummySlots.Count(), WaferType.ED);

                            _sideDummySlots = pj.SideDummySlots;
                            _extraDummySlots = pj.ExtraDummySlots;
                            _productSlots = pj.ProductSlots;
                            _monitor1Slots = pj.Monitor1Slots;
                            _monitor2Slots = pj.Monitor2Slots;
                            _lstCurrentPjStocker.Clear();

                            foreach (var s in pj.Stockers)
                            {
                                var module = GetModule(s.Item1) as SchedulerStocker;
                                if (module != null)
                                    _lstCurrentPjStocker.Add(module);
                            }
                        }
                    }
                    else
                    {
                        if (!SC.GetValue<bool>("System.IsEnableDummyWaferDischarge"))
                        {
                            var wafers = WaferManager.Instance.GetWafers(ModuleName.PM1).ToList();
                            for (int i = 0; i < wafers.Count; i++)
                            {
                                var wafer = wafers[i];
                                if (wafer == null || wafer.IsEmpty)
                                    continue;
                                if (wafer.WaferType != WaferType.ED && wafer.WaferType != WaferType.SD)
                                    continue;
                                    wafer.ProcessState = EnumWaferProcessStatus.Idle;
                            }
                        }
                            
                        ActiveProcessJob(cjActived, pj);
                    }

                    break;
                }
            }

            if (_lstControlJobs.Count > 1 && pj != null)
            {
                var second = GetSecondlyProcessJob();
                if (second != null && second.IsEmptyLayout && !second.IsStandbyStarted &&
                    (pj.ProcessingState == EnumProcessingState.Cooling || pj.ProcessingState == EnumProcessingState.Discharging))
                {
                    foreach (var pm in _lstPms)
                    {
                        if (pm.IsAvailable)
                        {
                            _dbCallback.PjCreated(second);
                            _dbCallback.PjStart();
                            pm.Standby(second.ProcessRecipe);
                            second.IsStandbyStarted = true;
                        }
                    }
                }
            }




        }

        private bool ActiveProcessJob(ControlJobInfo cj, ProcessJobInfo pj)
        {
            //_dbCallback.JobCreated(cj, pj);
            pj.SetState(EnumProcessJobState.Processing);
            pj.ProcessingState = EnumProcessingState.Charging;
            pj.BeginTime = DateTime.Now;

            if(pj.IsN2PurgeMode && 
                SC.ContainsItem("PM1.N2Purge.WaferCharge.FOUPN2PurgeEnable") && SC.GetValue<bool>("PM1.N2Purge.WaferCharge.FOUPN2PurgeEnable"))
            {
                var pmModule = Singleton<EquipmentManager>.Instance.Modules[ModuleName.PM1] as PMModule;
                pmModule?.SetN2PurgeProcess(true);
                if(SC.ContainsItem("PM1.N2Purge.WaferCharge.TransferRoomN2PurgeEnable") && SC.GetValue<bool>("PM1.N2Purge.WaferCharge.TransferRoomN2PurgeEnable"))
                    pmModule?.SetN2PurgeLAO2CheckFirstEnable(true);
            }

            foreach (var pm in _lstPms)
            {
                if (pm.IsAvailable)
                {
                    _dbCallback.PjCreated(pj);
                    _dbCallback.PjStart();
                    pm.Standby(pj.ProcessRecipe);
                    pj.IsStandbyStarted = true;
                }
            }

            return true;
        }

        #endregion Job task

        #region Module task
        public Result MonitorModuleTasks()
        {
            MonitorFIMSTask();

            MonitorWaferRobotTask();

            MonitorCarrierRobotTask();

            MonitorPMTask();

            return Result.RUN;
        }
        private void MonitorWaferRobotTask()
        {
            if (!_waferRobot.IsAvailable)
                return;

            foreach (var fims in _lstFIMSs)
            {
                if (fims.IsWaitTransfer(ModuleName.WaferRobot))
                {
                    fims.StopWaitTransfer(ModuleName.WaferRobot);
                }
            }

            foreach (var pm in _lstPms)
            {
                if (pm.IsWaitTransfer(ModuleName.WaferRobot))
                {
                    pm.StopWaitTransfer(ModuleName.WaferRobot);
                }
            }

            MonitorWaferRobotFIMSTask();

            if (!_waferRobot.IsAvailable)
                return;

            MonitorWaferRobotPMTask();
        }
        private void MonitorCarrierRobotTask()
        {
            if (!_carrierRobot.IsAvailable)
                return;

            //efem robot is idle, release all the target 
            foreach (var fims in _lstFIMSs)
            {
                if (fims.IsWaitTransfer(ModuleName.CarrierRobot))
                {
                    fims.StopWaitTransfer(ModuleName.CarrierRobot);
                }
            }

            foreach (var stock in _lstTotlaStockers)
            {
                if (stock.IsWaitTransfer(ModuleName.CarrierRobot))
                {
                    stock.StopWaitTransfer(ModuleName.CarrierRobot);
                }
            }

            var pj = _lstProcessJobs.FirstOrDefault(x => x.State == EnumProcessJobState.Processing);
            if (pj == null || pj.IsEmptyLayout)
                return;
            if (pj.ProcessingState == EnumProcessingState.Discharging)
            {
                //discharge
                DischargingOrderBySort(SC.GetStringValue("System.ChargingOrderBySort"));

                if (!_carrierRobot.IsAvailable)
                    return;

                if (SC.GetValue<bool>("System.IsEnableDummyWaferDischarge"))
                    MonitorCassetteRobotStockerTaskInDischarge(_lstSideDummyStocker, WaferType.SD, _sideDummySlots);

                if (!_carrierRobot.IsAvailable)
                    return;

                MonitorCarrierRobotPickFIMSTask();

                if (!_carrierRobot.IsAvailable)
                    return;

                MonitorCarrierRobotPlaceFIMSTaskInDischarge();
            }
            else if (pj.ProcessingState == EnumProcessingState.Charging)
            {
                //charge
                if (pj.IsNeedChargeDummyWafer)
                    MonitorCassetteRobotStockerTask(_lstSideDummyStocker, WaferType.SD);

                if (!_carrierRobot.IsAvailable)
                    return;

                ChargingOrderBySort(pj, SC.GetStringValue("System.ChargingOrderBySort"));

                if (!_carrierRobot.IsAvailable)
                    return;

                MonitorCarrierRobotPickFIMSTask();

                if (!_carrierRobot.IsAvailable)
                    return;

                MonitorCarrierRobotPlaceFIMSTaskInCharge();
            }
            else if (pj.ProcessingState == EnumProcessingState.Processing)
            {
                MonitorCarrierRobotPickFIMSTask();

                MonitorCassetteRobotPlaceStockerTask();
            }
        }
        private void MonitorFIMSTask()
        {
            if (!_lstProcessJobs.Any())
                return;

            var pj = _lstProcessJobs.FirstOrDefault(x => x.State == EnumProcessJobState.Processing);
            if (pj == null || pj.IsEmptyLayout)
                return;

            //load
            if (pj.ProcessingState == EnumProcessingState.Charging)
            {
                foreach (var st in _lstFIMSs)
                {
                    if (!st.IsAvailable || !CarrierManager.Instance.CheckHasCarrier(st.Module, 0))
                        continue;

                    var fimsDevice = DEVICE.GetDevice<IoFIMS>($"PM1.{st.Module}");
                    if (!CheckCarrierCanPickFromFIMS(st.Module) && !fimsDevice.IsLoadCompleted && st.Load(pj.IsN2PurgeMode, "Charging"))
                    {
                        return;
                    }
                }
            }
            else if (pj.ProcessingState == EnumProcessingState.Discharging)
            {
                //先判断空片的情况，空片的先load
                foreach (var st in _lstFIMSs)
                {
                    if (!st.IsAvailable || !CarrierManager.Instance.CheckHasCarrier(st.Module, 0))
                        continue;

                    var fimsDevice = DEVICE.GetDevice<IoFIMS>($"PM1.{st.Module}");
                    var wafers = WaferManager.Instance.GetWafers(st.Module);
                    if (wafers != null)
                    {
                        if (CheckCarrierNoHasEmptySlot(st.Module) && !fimsDevice.IsLoadCompleted && st.Load(pj.IsN2PurgeMode, "Discharging"))
                        {
                            return;
                        }
                    }
                }
                foreach (var st in _lstFIMSs)
                {
                    if (!st.IsAvailable || !CarrierManager.Instance.CheckHasCarrier(st.Module, 0))
                        continue;

                    var fimsDevice = DEVICE.GetDevice<IoFIMS>($"PM1.{st.Module}");
                    var carrier = CarrierManager.Instance.GetCarrier(st.Module, 0);
                    if (carrier != null)
                    {
                        if (!CheckCarrierCanPickFromFIMSInDischarge(carrier.InternalModuleName) && !fimsDevice.IsLoadCompleted && st.Load(pj.IsN2PurgeMode, "Discharging"))
                        {
                            return;
                        }
                    }
                }
            }

            //unload
            if (pj.ProcessingState == EnumProcessingState.Charging)
            {
                foreach (var st in _lstFIMSs)
                {
                    if (!st.IsAvailable || !CarrierManager.Instance.CheckHasCarrier(st.Module, 0))
                        continue;

                    var fimsDevice = DEVICE.GetDevice<IoFIMS>($"PM1.{st.Module}");
                    if (CheckCarrierCanPickFromFIMS(st.Module) && !fimsDevice.IsUnloadCompleted && st.Unload(pj.IsN2PurgeMode, "Charging"))
                    {
                        return;
                    }
                }

                if (CarrierManager.Instance.CheckHasCarrier(ModuleName.CarrierRobot, 0))
                {
                    SchedulerFIMS fims = null;
                    foreach (var st in _lstFIMSs)
                    {
                        if (!st.IsAvailable || CarrierManager.Instance.CheckHasCarrier(st.Module, 0))
                            continue;

                        // check FIMS
                        var fimsDevice = DEVICE.GetDevice<IoFIMS>($"PM1.{st.Module}");
                        if (fimsDevice.IsUnloadCompleted)
                            continue;

                        var carrier = CarrierManager.Instance.GetCarrier(ModuleName.CarrierRobot, 0);
                        var transfer = Singleton<EquipmentManager>.Instance.GetTransferJobStockers();
                        if (transfer != null && transfer.Any(x => x.Stocker == carrier.InternalModuleName))
                            continue;
                        GetWaferSlotsAndWaferType(carrier, out List<int> slots, out WaferType waferType);

                        if (slots != null && GetWaferCountRelatedToWaferRobot(waferType, false) <= slots.Count && CheckCarrierCanPickFromStocker(ModuleName.CarrierRobot) && fims.Unload(pj.IsN2PurgeMode, "Charging"))
                        {
                            return;
                        }
                    }
                }
            }
            else if (pj.ProcessingState == EnumProcessingState.Discharging)
            {
                //先判断满片的情况，满片的先unload
                foreach (var st in _lstFIMSs)
                {
                    if (!st.IsAvailable || !CarrierManager.Instance.CheckHasCarrier(st.Module, 0))
                        continue;

                    var fimsDevice = DEVICE.GetDevice<IoFIMS>($"PM1.{st.Module}");
                    var carrier = CarrierManager.Instance.GetCarrier(st.Module, 0);
                    if (carrier != null)
                    {
                        if (!CheckCarrierHasEmptySlot(st.Module) && _waferRobot.IsAvailable && !fimsDevice.IsUnloadCompleted && st.Unload(pj.IsN2PurgeMode, "Discharging"))
                        {
                            return;
                        }
                    }
                }
                foreach (var st in _lstFIMSs)
                {
                    if (!st.IsAvailable || !CarrierManager.Instance.CheckHasCarrier(st.Module, 0))
                        continue;

                    var fimsDevice = DEVICE.GetDevice<IoFIMS>($"PM1.{st.Module}");
                    var carrier = CarrierManager.Instance.GetCarrier(st.Module, 0);
                    if (carrier != null)
                    {
                        if (CheckCarrierCanPickFromFIMSInDischarge(carrier.InternalModuleName) && _waferRobot.IsAvailable && !fimsDevice.IsUnloadCompleted && st.Unload(pj.IsN2PurgeMode, "Discharging"))
                        {
                            return;
                        }
                    }
                }
            }
        }
        private void MonitorWaferRobotPMTask()
        {
            if (!_waferRobot.IsAvailable)
                return;

            var pmModule = Singleton<EquipmentManager>.Instance.Modules[ModuleName.PM1] as PMModule;
            if (pmModule == null)
                return;

            var pj = _lstProcessJobs.FirstOrDefault(x => x.State == EnumProcessJobState.Processing);
            if (pj == null || pj.IsEmptyLayout)
                return;

            //place
            var wafer = WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 2);
            List<int> slots = GetWaferSlots(wafer.WaferType);
            if (!_logTrigDic.ContainsKey("GetWaferSlots(wafer.WaferType)"))
                _logTrigDic.Add("GetWaferSlots(wafer.WaferType)", new R_TRIG());
            _logTrigDic["GetWaferSlots(wafer.WaferType)"].CLK = slots == null;
            if (_logTrigDic["GetWaferSlots(wafer.WaferType)"].Q)
                LOG.Write($"GetWaferSlots(wafer.WaferType) is null");
            if (pj.ProcessingState == EnumProcessingState.Charging &&
                wafer != null && !wafer.IsEmpty && wafer.ProcessState == EnumWaferProcessStatus.Idle &&
                slots != null)
            {
                Hand placeBlade = Hand.Blade1;
                int placeSlot = -1;
                for (int i = 0; i < slots.Count; i++)
                {
                    if (!WaferManager.Instance.CheckNoWafer(_pm1.Module, slots[i]))
                        continue;

                    placeSlot = slots[i];
                    placeBlade = Hand.Blade1;
                    break;
                }
                if (WaferManager.Instance.CheckHasWafer(ModuleName.WaferRobot, 0) &&
                    WaferManager.Instance.CheckHasWafer(ModuleName.WaferRobot, 1) &&
                    WaferManager.Instance.CheckHasWafer(ModuleName.WaferRobot, 3) &&
                    WaferManager.Instance.CheckHasWafer(ModuleName.WaferRobot, 4))
                {
                    //check PM
                    for (int i = 0; i < slots.Count; i++)
                    {
                        if (!WaferManager.Instance.CheckNoWafer(_pm1.Module, slots[i]))
                            continue;

                        placeSlot = slots[i];
                        if (i + 4 < slots.Count && Math.Abs(slots[i] - slots[i + 4]) == 4)
                        {
                            if (WaferManager.Instance.CheckNoWafer(_pm1.Module, slots[i + 1]) &&
                                WaferManager.Instance.CheckNoWafer(_pm1.Module, slots[i + 2]) &&
                                WaferManager.Instance.CheckNoWafer(_pm1.Module, slots[i + 3]) &&
                                WaferManager.Instance.CheckNoWafer(_pm1.Module, slots[i + 4]))
                            {
                                placeBlade = Hand.Both;
                                if (SC.GetStringValue("System.ChargingOrderToBoat") == "FromTopToBottom")
                                    placeSlot = slots[i + 4];
                            }
                        }

                        break;
                    }
                }

                if (pmModule.CheckReadyForTransfer(_waferRobot.Module, placeBlade, placeSlot, EnumTransferType.Place, out string reason) &&
                    placeSlot != -1 && _waferRobot.Place(_pm1.Module, placeSlot, placeBlade))
                {
                    _pm1.WaitTransfer(ModuleName.WaferRobot);
                    return;
                }
            }

            if (!_waferRobot.IsAvailable)
                return;

            //pick
            List<int> targetWaferSlots = GetWaferSlots();
            if (!_logTrigDic.ContainsKey("GetWaferSlots()"))
                _logTrigDic.Add("GetWaferSlots()", new R_TRIG());
            _logTrigDic["GetWaferSlots()"].CLK = targetWaferSlots == null;
            if (_logTrigDic["GetWaferSlots()"].Q)
                LOG.Write($"GetWaferSlots() is null");
            if (pj.ProcessingState == EnumProcessingState.Discharging &&
                wafer != null && wafer.IsEmpty && targetWaferSlots != null)
            {
                Hand pickBlade = Hand.Blade1;
                int pickSlot = -1;
                var isEnableDummyWaferDischarge = SC.GetValue<bool>("System.IsEnableDummyWaferDischarge");

                //check PM
                for (int i = 0; i < targetWaferSlots.Count; i++)
                {
                    var targetWafer = WaferManager.Instance.GetWafer(_pm1.Module, targetWaferSlots[i]);
                    if (targetWafer == null || targetWafer.IsEmpty || (targetWafer.ProcessState != EnumWaferProcessStatus.Completed &&
                                                                        targetWafer.ProcessState != EnumWaferProcessStatus.Abort &&
                                                                        targetWafer.ProcessState != EnumWaferProcessStatus.Failed))
                        continue;

                    if (!isEnableDummyWaferDischarge && (targetWafer.WaferType == WaferType.SD || targetWafer.WaferType == WaferType.ED))
                        continue;

                    pickSlot = targetWaferSlots[i];
                    if (i + 4 < targetWaferSlots.Count && Math.Abs(targetWaferSlots[i] - targetWaferSlots[i + 4]) == 4)
                    {
                        if (WaferManager.Instance.CheckHasWafer(_pm1.Module, targetWaferSlots[i + 1]) &&
                            WaferManager.Instance.CheckHasWafer(_pm1.Module, targetWaferSlots[i + 2]) &&
                            WaferManager.Instance.CheckHasWafer(_pm1.Module, targetWaferSlots[i + 3]) &&
                            WaferManager.Instance.CheckHasWafer(_pm1.Module, targetWaferSlots[i + 4]) &&
                            SC.GetValue<bool>($"{_waferRobot.Module}.IsSupport5Wafer"))
                        {
                            bool isFromTopToBottom = SC.GetStringValue("System.ChargingOrderToBoat") == "FromTopToBottom";
                            var wafer0 = WaferManager.Instance.GetWafer(_pm1.Module, targetWaferSlots[i + (isFromTopToBottom ? 4 : 0)]);
                            var wafer1 = WaferManager.Instance.GetWafer(_pm1.Module, targetWaferSlots[i + (isFromTopToBottom ? 3 : 1)]);
                            var wafer2 = WaferManager.Instance.GetWafer(_pm1.Module, targetWaferSlots[i + 2]);
                            var wafer3 = WaferManager.Instance.GetWafer(_pm1.Module, targetWaferSlots[i + (isFromTopToBottom ? 1 : 3)]);
                            var wafer4 = WaferManager.Instance.GetWafer(_pm1.Module, targetWaferSlots[i + (isFromTopToBottom ? 0 : 4)]);
                            if (WaferManager.Instance.CheckNoWafer(ModuleName.WaferRobot, 0) &&
                                WaferManager.Instance.CheckNoWafer(ModuleName.WaferRobot, 1) &&
                                WaferManager.Instance.CheckNoWafer(ModuleName.WaferRobot, 3) &&
                                WaferManager.Instance.CheckNoWafer(ModuleName.WaferRobot, 4) &&
                                wafer0.OriginStation == wafer1.OriginStation &&
                                wafer0.OriginStation == wafer2.OriginStation &&
                                wafer0.OriginStation == wafer3.OriginStation &&
                                wafer0.OriginStation == wafer4.OriginStation &&
                                Math.Abs(wafer1.OriginSlot - wafer2.OriginSlot) == 1 &&
                                Math.Abs(wafer2.OriginSlot - wafer3.OriginSlot) == 1 &&
                                Math.Abs(wafer0.OriginSlot - wafer4.OriginSlot) == 4 &&
                                Math.Abs(wafer0.OriginSlot - wafer3.OriginSlot) == 3 &&
                                Math.Abs(wafer0.OriginSlot - wafer2.OriginSlot) == 2 &&
                                Math.Abs(wafer0.OriginSlot - wafer1.OriginSlot) == 1)
                            {
                                pickBlade = Hand.Both;
                                pickSlot = wafer4.Slot;
                            }
                        }
                    }

                    break;
                }

                if (pmModule.CheckReadyForTransfer(_waferRobot.Module, pickBlade, pickSlot, EnumTransferType.Pick, out string reason) &&
                    pickSlot != -1 && _waferRobot.Pick(_pm1.Module, pickSlot, pickBlade))
                {
                    _pm1.WaitTransfer(ModuleName.WaferRobot);
                }
            }
        }
        private void MonitorWaferRobotFIMSTask()
        {
            if (!_waferRobot.IsAvailable)
                return;
            var pj = _lstProcessJobs.FirstOrDefault(x => x.State == EnumProcessJobState.Processing);
            if (pj == null || pj.IsEmptyLayout)
                return;

            //pick
            if (pj.ProcessingState == EnumProcessingState.Charging &&
                WaferManager.Instance.CheckNoWafer(ModuleName.WaferRobot, 2))
            {
                SchedulerFIMS fims = null;
                List<int> slots = null;
                WaferType waferType = WaferType.None;
                ModuleName currentFims = GetCurrentTransferFims();
                foreach (var st in _lstFIMSs)
                {
                    if (!st.IsAvailable)
                        continue;
                    if (!CarrierManager.Instance.CheckHasCarrier(st.Module, 0))
                        continue;

                    // check FIMS
                    var fimsDevice = DEVICE.GetDevice<IoFIMS>($"PM1.{st.Module}");
                    if (!fimsDevice.IsLoadCompleted)
                        continue;

                    var carrier = CarrierManager.Instance.GetCarrier(st.Module, 0);
                    if (carrier != null && !carrier.IsEmpty)
                    {
                        var stockerInfo = pj.Stockers.FirstOrDefault(x => x.Item1 == carrier.InternalModuleName.ToString());
                        bool hasWafer = false;
                        var wafers = WaferManager.Instance.GetWafers(st.Module);
                        if (wafers != null && stockerInfo != null)
                        {
                            foreach (var wafer in wafers)
                            {
                                if (wafer == null || wafer.IsEmpty || wafer.ProcessState != EnumWaferProcessStatus.Idle)
                                    continue;
                                if (!wafer.IsEmpty && (!stockerInfo.Item3.Any() || stockerInfo.Item3.Any(x => x == wafer.OriginSlot)))
                                {
                                    hasWafer = true;
                                    break;
                                }
                            }
                        }

                        if (!hasWafer)
                            continue;

                        if (currentFims != ModuleName.System && currentFims != st.Module)
                            continue;

                        GetWaferSlotsAndWaferType(carrier, out slots, out waferType);

                        if (slots != null && GetWaferCountRelatedToWaferRobot(waferType, false) < slots.Count)
                        {
                            fims = st;
                            break;
                        }
                    }
                }

                if (fims != null && slots != null)
                {
                    Hand pickBlade = Hand.Blade1;
                    int pickSlot = -1;
                    var carrier = CarrierManager.Instance.GetCarrier(fims.Module, 0);
                    var stockerInfo = pj.Stockers.FirstOrDefault(x => x.Item1 == carrier.InternalModuleName.ToString());

                    if (WaferManager.Instance.CheckNoWafer(ModuleName.WaferRobot, 0) &&
                        WaferManager.Instance.CheckNoWafer(ModuleName.WaferRobot, 1) &&
                        WaferManager.Instance.CheckNoWafer(ModuleName.WaferRobot, 3) &&
                        WaferManager.Instance.CheckNoWafer(ModuleName.WaferRobot, 4))
                    {
                        //check PM
                        for (int i = 0; i < slots.Count; i++)
                        {
                            if (!WaferManager.Instance.CheckNoWafer(_pm1.Module, slots[i]))
                                continue;

                            if (i + 4 < slots.Count && Math.Abs(slots[i] - slots[i + 4]) == 4)
                            {
                                if (WaferManager.Instance.CheckNoWafer(_pm1.Module, slots[i + 1]) &&
                                    WaferManager.Instance.CheckNoWafer(_pm1.Module, slots[i + 2]) &&
                                    WaferManager.Instance.CheckNoWafer(_pm1.Module, slots[i + 3]) &&
                                    WaferManager.Instance.CheckNoWafer(_pm1.Module, slots[i + 4]) &&
                                    SC.GetValue<bool>($"{_waferRobot.Module}.IsSupport5Wafer"))
                                {
                                    pickBlade = Hand.Both;
                                    break;
                                }
                            }

                            break;
                        }

                        //check cassette
                        Dictionary<string, int> dummyWafers = new Dictionary<string, int>();
                        if (waferType == WaferType.SD)
                            dummyWafers = _sideDummyWafers;
                        else if (waferType == WaferType.ED)
                            dummyWafers = _extraDummyWafers;
                        var wafers = WaferManager.Instance.GetWafers(fims.Module).ToList();
                        if (SC.GetStringValue("System.ChargingOrderFromCassette") == "FromTopToBottom")
                            wafers.Reverse();
                        if (wafers != null)
                        {
                            for (int i = 0; i < wafers.Count; i++)
                            {
                                if (wafers[i] == null || wafers[i].IsEmpty || wafers[i].ProcessState != EnumWaferProcessStatus.Idle)
                                    continue;

                                if ((wafers[i].WaferType == WaferType.SD || wafers[i].WaferType == WaferType.ED) && !dummyWafers.ContainsKey(wafers[i].InnerId.ToString()))
                                    continue;

                                if (stockerInfo.Item3.Any() && !stockerInfo.Item3.Any(x => x == i))
                                    continue;

                                pickSlot = wafers[i].OriginSlot;
                                if (pickBlade == Hand.Both)
                                {
                                    if (i < SC.GetValue<int>("System.CassetteSlotCount") - 4)
                                    {
                                        if (waferType == WaferType.SD || waferType == WaferType.ED)
                                        {
                                            if (!wafers[i + 1].IsEmpty && !wafers[i + 2].IsEmpty && !wafers[i + 3].IsEmpty && !wafers[i + 4].IsEmpty &&
                                                wafers[i + 1].ProcessState == EnumWaferProcessStatus.Idle &&
                                                wafers[i + 2].ProcessState == EnumWaferProcessStatus.Idle &&
                                                wafers[i + 3].ProcessState == EnumWaferProcessStatus.Idle &&
                                                wafers[i + 4].ProcessState == EnumWaferProcessStatus.Idle &&
                                                (!stockerInfo.Item3.Any() || (stockerInfo.Item3.Any(x => x == i + 1) && stockerInfo.Item3.Any(x => x == i + 2) && stockerInfo.Item3.Any(x => x == i + 3) && stockerInfo.Item3.Any(x => x == i + 4))) &&
                                                dummyWafers.ContainsKey(wafers[i + 1].InnerId.ToString()) && dummyWafers.ContainsKey(wafers[i + 2].InnerId.ToString()) &&
                                                dummyWafers.ContainsKey(wafers[i + 3].InnerId.ToString()) && dummyWafers.ContainsKey(wafers[i + 4].InnerId.ToString()))
                                            {
                                                if (SC.GetStringValue("System.ChargingOrderFromCassette") == "FromTopToBottom")
                                                    pickSlot = wafers[i + 4].OriginSlot;
                                                break;
                                            }
                                            else
                                            {
                                                pickBlade = Hand.Blade1;
                                                break;
                                            }
                                        }
                                        else
                                        {
                                            if (!wafers[i + 1].IsEmpty && !wafers[i + 2].IsEmpty && !wafers[i + 3].IsEmpty && !wafers[i + 4].IsEmpty &&
                                                wafers[i + 1].ProcessState == EnumWaferProcessStatus.Idle &&
                                                wafers[i + 2].ProcessState == EnumWaferProcessStatus.Idle &&
                                                wafers[i + 3].ProcessState == EnumWaferProcessStatus.Idle &&
                                                wafers[i + 4].ProcessState == EnumWaferProcessStatus.Idle &&
                                                (!stockerInfo.Item3.Any() || (stockerInfo.Item3.Any(x => x == i + 1) && stockerInfo.Item3.Any(x => x == i + 2) && stockerInfo.Item3.Any(x => x == i + 3) && stockerInfo.Item3.Any(x => x == i + 4))))
                                            {
                                                if (SC.GetStringValue("System.ChargingOrderFromCassette") == "FromTopToBottom")
                                                    pickSlot = wafers[i + 4].OriginSlot;
                                                break;
                                            }
                                            else
                                            {
                                                pickBlade = Hand.Blade1;
                                                break;
                                            }
                                        }
                                    }
                                    else
                                    {
                                        pickBlade = Hand.Blade1;
                                        break;
                                    }
                                }
                                else
                                {
                                    pickBlade = Hand.Blade1;
                                    break;
                                }
                            }
                        }
                    }

                    if (SC.GetValue<bool>($"System.IsEnableFIMSChargeMapping"))
                    {
                        if (carrier != null && !carrier.IsEmpty && carrier.IsMapped && carrier.IsMapOK &&
                            pickSlot != -1 && _pm1.IsAvailable && _waferRobot.Pick(fims.Module, pickSlot, pickBlade))
                        {
                            fims.WaitTransfer(ModuleName.WaferRobot);
                            return;
                        }
                    }
                    else
                    {
                        if (pickSlot != -1 && _waferRobot.Pick(fims.Module, pickSlot, pickBlade))
                        {
                            fims.WaitTransfer(ModuleName.WaferRobot);
                        }
                    }
                }
            }

            if (!_waferRobot.IsAvailable)
                return;

            // mapping
            if (pj.ProcessingState == EnumProcessingState.Charging && SC.GetValue<bool>($"System.IsEnableFIMSChargeMapping") &&
                WaferManager.Instance.CheckNoWafer(ModuleName.WaferRobot, 2) && WaferManager.Instance.CheckNoWafer(ModuleName.WaferRobot, 1))
            {
                foreach (var fims in _lstFIMSs)
                {
                    if (!fims.IsAvailable)
                        continue;

                    if (!CarrierManager.Instance.CheckHasCarrier(fims.Module.ToString(), 0))
                        continue;

                    // check FIMS
                    var fimsDevice = DEVICE.GetDevice<IoFIMS>($"PM1.{fims.Module}");
                    if (!fimsDevice.IsLoadCompleted)
                        continue;

                    var carrier = CarrierManager.Instance.GetCarrier(fims.Module);
                    if (carrier == null || carrier.IsEmpty || carrier.IsMapped)
                        continue;

                    var mappingSlot = GetMappingSlot(fims.Module);

                    if (_waferRobot.Map(fims.Module, mappingSlot.Length == 0 ? 0 : Regex.Matches(mappingSlot, "1").Count, mappingSlot, true, false, Hand.Blade1))
                    {
                        fims.WaitTransfer(ModuleName.WaferRobot);
                        return;
                    }
                }
            }

            if (!_waferRobot.IsAvailable)
                return;

            //place
            var robotWafer = WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 2);
            if (pj.ProcessingState == EnumProcessingState.Discharging &&
                robotWafer != null && !robotWafer.IsEmpty && (robotWafer.ProcessState == EnumWaferProcessStatus.Completed ||
                                                    robotWafer.ProcessState == EnumWaferProcessStatus.Abort ||
                                                    robotWafer.ProcessState == EnumWaferProcessStatus.Failed))
            {
                SchedulerFIMS fims = null;
                var waferInRobot = WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 2);
                foreach (var st in _lstFIMSs)
                {
                    if (!st.IsAvailable)
                        continue;
                    if (!CarrierManager.Instance.CheckHasCarrier(st.Module, 0))
                        continue;

                    // check FIMS
                    var fimsDevice = DEVICE.GetDevice<IoFIMS>($"PM1.{st.Module}");
                    if (!fimsDevice.IsLoadCompleted)
                        continue;

                    var carrier = CarrierManager.Instance.GetCarrier(st.Module, 0);
                    if (carrier == null || carrier.IsEmpty)
                        continue;

                    if ((ModuleName)waferInRobot.OriginStation != carrier.InternalModuleName)
                        continue;

                    bool hasEmptySlot = false;
                    var wafers = WaferManager.Instance.GetWafers(st.Module);
                    if (wafers != null)
                    {
                        foreach (var wafer in wafers)
                        {
                            if (wafer == null)
                                continue;
                            if (wafer.IsEmpty)
                            {
                                hasEmptySlot = true;
                                break;
                            }
                        }
                    }

                    if (hasEmptySlot)
                    {
                        fims = st;
                        break;
                    }
                }

                if (fims != null)
                {
                    Hand placeBlade = Hand.Blade1;
                    int placeSlot = waferInRobot.OriginSlot;
                    if (WaferManager.Instance.CheckHasWafer(ModuleName.WaferRobot, 0) &&
                        WaferManager.Instance.CheckHasWafer(ModuleName.WaferRobot, 1) &&
                        WaferManager.Instance.CheckHasWafer(ModuleName.WaferRobot, 3) &&
                        WaferManager.Instance.CheckHasWafer(ModuleName.WaferRobot, 4) &&
                        WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 0).OriginStation == WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 1).OriginStation &&
                        WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 1).OriginStation == WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 2).OriginStation &&
                        WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 2).OriginStation == WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 3).OriginStation &&
                        WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 3).OriginStation == WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 4).OriginStation)
                    {
                        var tempPlaceSlot = WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 0).OriginSlot;
                        if (tempPlaceSlot + 4 < SC.GetValue<int>("System.CassetteSlotCount"))
                        {
                            if (WaferManager.Instance.CheckNoWafer(fims.Module, tempPlaceSlot + 1) &&
                                WaferManager.Instance.CheckNoWafer(fims.Module, tempPlaceSlot + 2) &&
                                WaferManager.Instance.CheckNoWafer(fims.Module, tempPlaceSlot + 3) &&
                                WaferManager.Instance.CheckNoWafer(fims.Module, tempPlaceSlot + 4))
                            {
                                placeBlade = Hand.Both;
                                placeSlot = tempPlaceSlot;
                            }
                        }
                    }

                    if (placeSlot != -1 && _waferRobot.Place(fims.Module, placeSlot, placeBlade))
                    {
                        fims.WaitTransfer(ModuleName.WaferRobot);
                    }
                }
            }
        }
        private bool CheckWaferSlotsHasWafer(List<int> slots)
        {
            foreach (var slot in slots)
            {
                if (WaferManager.Instance.CheckHasWafer(_pm1.Module, slot))
                {
                    return true;
                }
            }

            return false;
        }
        private List<int> GetWaferSlots()
        {
            List<int> slots = null;

            switch (SC.GetStringValue("System.ChargingOrderBySort"))
            {
                case "ED,P,M":
                    if (CheckWaferSlotsHasWafer(_monitor1Slots))
                        return _monitor1Slots;

                    if (CheckWaferSlotsHasWafer(_monitor2Slots))
                        return _monitor2Slots;

                    if (CheckWaferSlotsHasWafer(_productSlots))
                        return _productSlots;

                    if (CheckWaferSlotsHasWafer(_extraDummySlots))
                        return _extraDummySlots;
                    break;
                case "ED,M,P":
                    if (CheckWaferSlotsHasWafer(_productSlots))
                        return _productSlots;

                    if (CheckWaferSlotsHasWafer(_monitor1Slots))
                        return _monitor1Slots;

                    if (CheckWaferSlotsHasWafer(_monitor2Slots))
                        return _monitor2Slots;

                    if (CheckWaferSlotsHasWafer(_extraDummySlots))
                        return _extraDummySlots;
                    break;
                case "P,ED,M":
                    if (CheckWaferSlotsHasWafer(_monitor1Slots))
                        return _monitor1Slots;

                    if (CheckWaferSlotsHasWafer(_monitor2Slots))
                        return _monitor2Slots;

                    if (CheckWaferSlotsHasWafer(_extraDummySlots))
                        return _extraDummySlots;

                    if (CheckWaferSlotsHasWafer(_productSlots))
                        return _productSlots;
                    break;
                case "P,M,ED":
                    if (CheckWaferSlotsHasWafer(_extraDummySlots))
                        return _extraDummySlots;

                    if (CheckWaferSlotsHasWafer(_monitor1Slots))
                        return _monitor1Slots;

                    if (CheckWaferSlotsHasWafer(_monitor2Slots))
                        return _monitor2Slots;

                    if (CheckWaferSlotsHasWafer(_productSlots))
                        return _productSlots;
                    break;
                case "M,P,ED":
                    if (CheckWaferSlotsHasWafer(_extraDummySlots))
                        return _extraDummySlots;

                    if (CheckWaferSlotsHasWafer(_productSlots))
                        return _productSlots;

                    if (CheckWaferSlotsHasWafer(_monitor1Slots))
                        return _monitor1Slots;

                    if (CheckWaferSlotsHasWafer(_monitor2Slots))
                        return _monitor2Slots;
                    break;
                case "M,ED,P":
                    if (CheckWaferSlotsHasWafer(_productSlots))
                        return _productSlots;

                    if (CheckWaferSlotsHasWafer(_extraDummySlots))
                        return _extraDummySlots;

                    if (CheckWaferSlotsHasWafer(_monitor1Slots))
                        return _monitor1Slots;

                    if (CheckWaferSlotsHasWafer(_monitor2Slots))
                        return _monitor2Slots;
                    break;
                default:
                    if (CheckWaferSlotsHasWafer(_monitor1Slots))
                        return _monitor1Slots;

                    if (CheckWaferSlotsHasWafer(_monitor2Slots))
                        return _monitor2Slots;

                    if (CheckWaferSlotsHasWafer(_productSlots))
                        return _productSlots;

                    if (CheckWaferSlotsHasWafer(_extraDummySlots))
                        return _extraDummySlots;
                    break;
            }

            foreach (var slot in _sideDummySlots)
            {
                if (WaferManager.Instance.CheckHasWafer(_pm1.Module, slot))
                {
                    return _sideDummySlots;
                }
            }

            return slots;
        }
        private bool CheckCarrierHasWaferInPM(ModuleName module)
        {
            bool isHaveWafer = false;
            for (int i = 0; i < WaferManager.Instance.GetWafers(_pm1.Module).Length; i++)
            {
                if (!WaferManager.Instance.CheckHasWafer(_pm1.Module, i))
                    continue;

                var wafer = WaferManager.Instance.GetWafer(_pm1.Module, i);
                if (wafer == null || wafer.IsEmpty)
                    continue;

                if (wafer.OriginStation == (int)module)
                {
                    isHaveWafer = true;
                    break;
                }
            }

            return isHaveWafer;
        }
        private void DischargingOrderBySort(string order)
        {
            switch (order)
            {
                case "ED,P,M":
                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.M1, _monitor1Slots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.M2, _monitor2Slots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.P, _productSlots);

                    if (!_carrierRobot.IsAvailable)
                        return;
                    if (SC.GetValue<bool>("System.IsEnableDummyWaferDischarge"))
                        MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.ED, _extraDummySlots);
                    break;
                case "ED,M,P":
                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.P, _productSlots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.M1, _monitor1Slots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.M2, _monitor2Slots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    if (SC.GetValue<bool>("System.IsEnableDummyWaferDischarge"))
                        MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.ED, _extraDummySlots);
                    break;
                case "P,ED,M":
                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.M1, _monitor1Slots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.M2, _monitor2Slots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    if (SC.GetValue<bool>("System.IsEnableDummyWaferDischarge"))
                        MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.ED, _extraDummySlots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.P, _productSlots);
                    break;
                case "P,M,ED":
                    if (SC.GetValue<bool>("System.IsEnableDummyWaferDischarge"))
                        MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.ED, _extraDummySlots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.M1, _monitor1Slots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.M2, _monitor2Slots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.P, _productSlots);
                    break;
                case "M,P,ED":
                    if (SC.GetValue<bool>("System.IsEnableDummyWaferDischarge"))
                        MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.ED, _extraDummySlots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.P, _productSlots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.M1, _monitor1Slots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.M2, _monitor2Slots);

                    if (!_carrierRobot.IsAvailable)
                        return;
                    break;
                case "M,ED,P":
                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.P, _productSlots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    if (SC.GetValue<bool>("System.IsEnableDummyWaferDischarge"))
                        MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.ED, _extraDummySlots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.M1, _monitor1Slots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.M2, _monitor2Slots);

                    if (!_carrierRobot.IsAvailable)
                        return;
                    break;
                default:
                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.M1, _monitor1Slots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.M2, _monitor2Slots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.P, _productSlots);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    if (SC.GetValue<bool>("System.IsEnableDummyWaferDischarge"))
                        MonitorCassetteRobotStockerTaskInDischarge(_lstTotlaStockers, WaferType.ED, _extraDummySlots);
                    break;
            }
        }
        private void ChargingOrderBySort(ProcessJobInfo pj, string order)
        {
            List<SchedulerStocker> pjStocker = new List<SchedulerStocker>();
            foreach (var s in pj.Stockers)
            {
                var module = GetModule(s.Item1) as SchedulerStocker;
                if (module != null)
                    pjStocker.Add(module);
            }
            switch (order)
            {
                case "ED,P,M":
                    if (pj.IsNeedChargeDummyWafer)
                        MonitorCassetteRobotStockerTask(_lstExtraDummyStocker, WaferType.ED);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTask(pjStocker, WaferType.P);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTask(pjStocker, WaferType.M1);
                    MonitorCassetteRobotStockerTask(pjStocker, WaferType.M2);
                    break;
                case "ED,M,P":
                    if (pj.IsNeedChargeDummyWafer)
                        MonitorCassetteRobotStockerTask(_lstExtraDummyStocker, WaferType.ED);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTask(pjStocker, WaferType.M1);
                    MonitorCassetteRobotStockerTask(pjStocker, WaferType.M2);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTask(pjStocker, WaferType.P);
                    break;
                case "P,ED,M":
                    MonitorCassetteRobotStockerTask(pjStocker, WaferType.P);

                    if (!_carrierRobot.IsAvailable)
                        return;
                    if (pj.IsNeedChargeDummyWafer)
                        MonitorCassetteRobotStockerTask(_lstExtraDummyStocker, WaferType.ED);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTask(pjStocker, WaferType.M1);
                    MonitorCassetteRobotStockerTask(pjStocker, WaferType.M2);
                    break;
                case "P,M,ED":
                    MonitorCassetteRobotStockerTask(pjStocker, WaferType.P);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTask(pjStocker, WaferType.M1);
                    MonitorCassetteRobotStockerTask(pjStocker, WaferType.M2);

                    if (!_carrierRobot.IsAvailable)
                        return;
                    if (pj.IsNeedChargeDummyWafer)
                        MonitorCassetteRobotStockerTask(_lstExtraDummyStocker, WaferType.ED);
                    break;
                case "M,P,ED":
                    MonitorCassetteRobotStockerTask(pjStocker, WaferType.M1);
                    MonitorCassetteRobotStockerTask(pjStocker, WaferType.M2);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTask(pjStocker, WaferType.P);

                    if (!_carrierRobot.IsAvailable)
                        return;
                    if (pj.IsNeedChargeDummyWafer)
                        MonitorCassetteRobotStockerTask(_lstExtraDummyStocker, WaferType.ED);
                    break;
                case "M,ED,P":
                    MonitorCassetteRobotStockerTask(pjStocker, WaferType.M1);
                    MonitorCassetteRobotStockerTask(pjStocker, WaferType.M2);

                    if (!_carrierRobot.IsAvailable)
                        return;
                    if (pj.IsNeedChargeDummyWafer)
                        MonitorCassetteRobotStockerTask(_lstExtraDummyStocker, WaferType.ED);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTask(pjStocker, WaferType.P);
                    break;
                default:
                    if (pj.IsNeedChargeDummyWafer)
                        MonitorCassetteRobotStockerTask(_lstExtraDummyStocker, WaferType.ED);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTask(pjStocker, WaferType.P);

                    if (!_carrierRobot.IsAvailable)
                        return;

                    MonitorCassetteRobotStockerTask(pjStocker, WaferType.M1);
                    MonitorCassetteRobotStockerTask(pjStocker, WaferType.M2);
                    break;
            }
        }
        private void MonitorCassetteRobotStockerTaskInDischarge(List<SchedulerStocker> targetStockers, WaferType targetWaferType, List<int> waferSlots)
        {
            if (!_carrierRobot.IsAvailable)
                return;

            var targetCarrierType = (CarrierType)(Enum.Parse(typeof(CarrierType), targetWaferType.ToString()));
            //pick
            if (CarrierManager.Instance.CheckNoCarrier(ModuleName.CarrierRobot, 0) && waferSlots.Count > 0)
            {
                bool needPickSdCassette = false;
                int sdWaferCount = GetWaferCountRelatedToWaferRobot(targetWaferType, true);

                needPickSdCassette = sdWaferCount > 0;
                var sdStockerModule = GetModuleNameForNextWafer(targetWaferType);

                if (needPickSdCassette && sdStockerModule != ModuleName.System)
                {
                    SchedulerStocker sdStocker = null;
                    foreach (var sd in targetStockers)
                    {
                        if (!CarrierManager.Instance.CheckHasCarrier(sd.Module, 0) ||
                            CarrierManager.Instance.GetCarrier(sd.Module, 0).CarrierType != targetCarrierType)
                            continue;

                        if (sd.Module == sdStockerModule &&
                            CheckCarrierHasEmptySlot(sd.Module))
                        {
                            sdStocker = sd;
                            break;
                        }
                    }

                    SchedulerFIMS fims = null;
                    foreach (var st in _lstFIMSs)
                    {
                        if (!st.IsAvailable)
                            continue;
                        if (CarrierManager.Instance.CheckNoCarrier(st.Module, 0))
                        {
                            fims = st;
                            break;
                        }
                    }

                    if (sdStocker != null && fims != null)
                    {
                        if (_carrierRobot.Pick(sdStocker.Module, 0, Hand.Blade1))
                        {
                            sdStocker.WaitTransfer(ModuleName.CarrierRobot);
                            return;
                        }
                    }
                }
            }

            if (!_carrierRobot.IsAvailable)
                return;

            //place
            var carrier = CarrierManager.Instance.GetCarrier(ModuleName.CarrierRobot, 0);
            if (carrier != null && !carrier.IsEmpty && carrier.CarrierType == targetCarrierType)
            {
                if (!CheckModuleHasWaferInWaferRobotAndPM(carrier.InternalModuleName) || !CheckCarrierHasEmptySlot(ModuleName.CarrierRobot))
                {
                    SchedulerStocker sdStocker = null;
                    foreach (var sd in targetStockers)
                    {
                        if (CarrierManager.Instance.CheckNoCarrier(sd.Module, 0) && sd.Module == carrier.InternalModuleName)
                        {
                            sdStocker = sd;
                            break;
                        }
                    }

                    if (sdStocker != null)
                    {
                        var canPlace = true;
                        var transfer = Singleton<EquipmentManager>.Instance.GetTransferJobStockers();
                        if (transfer != null && transfer.Any(x => x.Stocker == carrier.InternalModuleName))
                            canPlace = false;
                        if (canPlace && _carrierRobot.Place(sdStocker.Module, 0, Hand.Blade1))
                        {
                            sdStocker.WaitTransfer(ModuleName.CarrierRobot);
                            return;
                        }
                    }
                }
            }
        }
        private bool CheckCarrierCanPickFromFIMSInDischarge(ModuleName fimsCarrierModule)
        {
            List<ModuleName> robotModules = new List<ModuleName>();
            for (int i = 0; i < WaferManager.Instance.GetWafers(ModuleName.WaferRobot).Length; i++)
            {
                var wafer = WaferManager.Instance.GetWafer(ModuleName.WaferRobot, i);
                if (wafer == null || wafer.IsEmpty)
                    continue;

                if (!robotModules.Contains((ModuleName)wafer.OriginStation))
                    robotModules.Add((ModuleName)wafer.OriginStation);
            }

            if (robotModules.Contains(fimsCarrierModule))
                return false;

            List<ModuleName> pmModules = new List<ModuleName>();
            for (int i = 0; i < WaferManager.Instance.GetWafers(_pm1.Module).Length; i++)
            {
                var wafer = WaferManager.Instance.GetWafer(_pm1.Module, i);
                if (wafer == null || wafer.IsEmpty)
                    continue;

                if (!pmModules.Contains((ModuleName)wafer.OriginStation))
                    pmModules.Add((ModuleName)wafer.OriginStation);
            }

            if (pmModules.Contains(fimsCarrierModule))
                return false;

            return true;
        }
        private ModuleName GetNextStockerRelatedToWaferRobot()
        {
            List<ModuleName> fimsModules = new List<ModuleName>();
            foreach (var fims in _lstFIMSs)
            {
                if (CarrierManager.Instance.CheckNoCarrier(fims.Module, 0))
                    continue;
                fimsModules.Add(CarrierManager.Instance.GetCarrier(fims.Module, 0).InternalModuleName);
            }

            List<ModuleName> robotModules = new List<ModuleName>();
            for (int i = 0; i < WaferManager.Instance.GetWafers(ModuleName.WaferRobot).Length; i++)
            {
                var wafer = WaferManager.Instance.GetWafer(ModuleName.WaferRobot, i);
                if (wafer == null || wafer.IsEmpty)
                    continue;

                if (!robotModules.Contains((ModuleName)wafer.OriginStation))
                    robotModules.Add((ModuleName)wafer.OriginStation);
            }

            if (robotModules.Count > 0)
            {
                foreach (var module in robotModules)
                {
                    if (!fimsModules.Any(x => x == module))
                        return module;
                }
            }

            List<ModuleName> pmModules = new List<ModuleName>();
            for (int i = 0; i < WaferManager.Instance.GetWafers(_pm1.Module).Length; i++)
            {
                var wafer = WaferManager.Instance.GetWafer(_pm1.Module, i);
                if (wafer == null || wafer.IsEmpty)
                    continue;

                if (!pmModules.Contains((ModuleName)wafer.OriginStation))
                    pmModules.Add((ModuleName)wafer.OriginStation);

                if (pmModules.Count == _lstFIMSs.Count)
                    break;
            }

            if (pmModules.Count > 0)
            {
                foreach (var module in pmModules)
                {
                    if (!fimsModules.Any(x => x == module))
                        return module;
                }
            }

            return ModuleName.System;
        }
        private void MonitorCassetteRobotPlaceStockerTask()
        {
            if (!_carrierRobot.IsAvailable)
                return;

            var pj = _lstProcessJobs.FirstOrDefault(x => x.State == EnumProcessJobState.Processing);
            if (pj == null)
                return;

            //place
            var carrier = CarrierManager.Instance.GetCarrier(ModuleName.CarrierRobot, 0);
            if (carrier != null && !carrier.IsEmpty && pj.Stockers.Any(x => x.Item1 == carrier.InternalModuleName.ToString()))
            {
                var target = pj.Stockers.Find(x => x.Item1 == carrier.InternalModuleName.ToString());
                if (target != null && CarrierManager.Instance.CheckNoCarrier(target.Item1, 0))
                {
                    if (_carrierRobot.Place(ModuleHelper.Converter(target.Item1), 0, Hand.Blade1))
                    {
                        GetModule(target.Item1).WaitTransfer(ModuleName.CarrierRobot);
                        return;
                    }
                }
            }
        }
        private void MonitorCassetteRobotStockerTask(List<SchedulerStocker> targetStockers, WaferType targetWaferType)
        {
            if (!_carrierRobot.IsAvailable)
                return;

            var pj = _lstProcessJobs.FirstOrDefault(x => x.State == EnumProcessJobState.Processing);
            if (pj == null || pj.IsEmptyLayout)
                return;
            var carrier = CarrierManager.Instance.GetCarrier(ModuleName.CarrierRobot, 0);

            var targetSlots = GetWaferSlots(targetWaferType);
            var targetCarrierType = (CarrierType)(Enum.Parse(typeof(CarrierType), targetWaferType.ToString()));
            if (targetSlots == null)
                return;

            //pick
            if (CarrierManager.Instance.CheckNoCarrier(ModuleName.CarrierRobot, 0) && targetSlots.Count > 0)
            {
                bool needPickTargetCassette = false;
                int targetWaferCount = GetWaferCountRelatedToWaferRobot(targetWaferType);

                if (targetWaferCount < targetSlots.Count)
                    needPickTargetCassette = true;

                if (needPickTargetCassette)
                {
                    SchedulerStocker targetStocker = null;
                    foreach (var target in targetStockers)
                    {
                        if (CarrierManager.Instance.CheckHasCarrier(target.Module, 0) && !CheckCarrierHasNoWafer(target.Module, targetWaferType) &&
                            CarrierManager.Instance.GetCarrier(target.Module).CarrierType == targetCarrierType)
                        {
                            if (pj.ProcessingState == EnumProcessingState.Charging)
                            {
                                carrier = CarrierManager.Instance.GetCarrier(target.Module);
                                var stockerInfo = pj.Stockers.FirstOrDefault(x => x.Item1 == carrier.InternalModuleName.ToString());
                                var wafers = WaferManager.Instance.GetWafers(target.Module);
                                if (wafers != null && stockerInfo != null)
                                {
                                    foreach (var wafer in wafers)
                                    {
                                        if (wafer == null || wafer.IsEmpty || wafer.ProcessState != EnumWaferProcessStatus.Idle)
                                            continue;
                                        if (!wafer.IsEmpty && (!stockerInfo.Item3.Any() || stockerInfo.Item3.Any(x => x == wafer.OriginSlot)))
                                        {
                                            targetStocker = target;
                                            break;
                                        }
                                    }

                                    if (targetStocker != null)
                                        break;
                                }
                            }
                            else
                            {
                                targetStocker = target;
                                break;
                            }
                        }
                    }

                    SchedulerFIMS fims = null;
                    foreach (var st in _lstFIMSs)
                    {
                        if (!st.IsAvailable)
                            continue;
                        if (CarrierManager.Instance.CheckNoCarrier(st.Module, 0))
                        {
                            fims = st;
                            break;
                        }
                    }

                    if (targetStocker != null && fims != null)
                    {
                        switch (targetCarrierType.ToString())
                        {
                            case "SD":
                                _lstPlaceSideDummyStocker.Add(targetStocker);
                                break;
                            case "ED":
                                _lstPlaceExtraDummyStockers.Add(targetStocker);
                                break;
                            case "P":
                                _lstPlaceCurrentBatchStocker.Add(targetStocker);
                                break;
                            case "M1":
                                _lstPlaceMonitor1Stocker.Add(targetStocker);
                                break;
                            case "M2":
                                _lstPlaceMonitor2Stocker.Add(targetStocker);
                                break;
                        }
                        if (_carrierRobot.Pick(targetStocker.Module, 0, Hand.Blade1))
                        {
                            targetStocker.WaitTransfer(ModuleName.CarrierRobot);
                            return;
                        }
                    }
                }
            }

            if (!_carrierRobot.IsAvailable)
                return;

            //place
            carrier = CarrierManager.Instance.GetCarrier(ModuleName.CarrierRobot, 0);
            if (carrier != null && !carrier.IsEmpty && carrier.CarrierType == targetCarrierType)
            {
                var needPlace = false;
                if (pj.ProcessingState == EnumProcessingState.Charging)
                {
                    var stockerInfo = pj.Stockers.FirstOrDefault(x => x.Item1 == carrier.InternalModuleName.ToString());
                    var wafers = WaferManager.Instance.GetWafers(ModuleName.CarrierRobot);
                    if (wafers != null && stockerInfo != null)
                    {
                        foreach (var wafer in wafers)
                        {
                            if (wafer == null || wafer.IsEmpty || wafer.ProcessState != EnumWaferProcessStatus.Idle)
                                continue;
                            if (stockerInfo.Item3.Any() && !stockerInfo.Item3.Any(x => x == wafer.OriginSlot))
                            {
                                needPlace = true;
                                break;
                            }
                        }
                    }
                }

                if (GetWaferCountRelatedToWaferRobot(targetWaferType) >= targetSlots.Count || CheckCarrierHasNoWafer(ModuleName.CarrierRobot, targetWaferType) || needPlace)
                {
                    switch (targetCarrierType.ToString())
                    {
                        case "SD":
                            targetStockers = _lstPlaceSideDummyStocker;
                            break;
                        case "ED":
                            targetStockers = _lstPlaceExtraDummyStockers;
                            break;
                        case "P":
                            targetStockers = _lstPlaceCurrentBatchStocker;
                            break;
                        case "M1":
                            targetStockers = _lstPlaceMonitor1Stocker;
                            break;
                        case "M2":
                            targetStockers = _lstPlaceMonitor2Stocker;
                            break;
                    }

                    SchedulerStocker targetStocker = null;
                    foreach (var target in targetStockers)
                    {
                        if (CarrierManager.Instance.CheckNoCarrier(target.Module, 0) && carrier.InternalModuleName == target.Module)
                        {
                            if (pj.ProcessingState == EnumProcessingState.Charging)
                            {
                                var stockerInfo = pj.Stockers.FirstOrDefault(x => x.Item1 == carrier.InternalModuleName.ToString());
                                var wafers = WaferManager.Instance.GetWafers(ModuleName.CarrierRobot);
                                if (wafers != null && stockerInfo != null)
                                {
                                    var hasWafer = false;
                                    foreach (var wafer in wafers)
                                    {
                                        if (wafer == null || wafer.IsEmpty || wafer.ProcessState != EnumWaferProcessStatus.Idle)
                                            continue;
                                        if (stockerInfo.Item3.Any() && stockerInfo.Item3.Any(x => x == wafer.OriginSlot))
                                        {
                                            hasWafer = true;
                                            break;
                                        }
                                    }

                                    if (!hasWafer)
                                    {
                                        targetStocker = target;
                                        break;
                                    }
                                }
                            }
                            else
                            {
                                targetStocker = target;
                                break;
                            }
                        }
                    }

                    if (targetStocker != null)
                    {
                        if (_carrierRobot.Place(targetStocker.Module, 0, Hand.Blade1))
                        {
                            targetStocker.WaitTransfer(ModuleName.CarrierRobot);
                            return;
                        }
                    }
                }
            }
        }
        private bool CheckCarrierCanPickFromStocker(ModuleName currentModule)
        {
            var currentWafers = WaferManager.Instance.GetWafers(currentModule);
            if (currentWafers != null && !currentWafers.Any(x => !x.IsEmpty))
            {
                //空盒子
                return false;
            }

            var carrierType = CarrierManager.Instance.GetCarrier(currentModule, 0).CarrierType;
            var ret = CheckHasPWafer();

            var waferTypeSlots = GetWaferTypeSlots();
            if (waferTypeSlots != null && waferTypeSlots.Count > 0)
            {
                Dictionary<WaferType, int> nextWaferTypeDic = new Dictionary<WaferType, int>();

                int startIndex = -1;
                for (int i = 0; i < waferTypeSlots.Count; i++)
                {
                    if (WaferManager.Instance.CheckHasWafer(_pm1.Module, waferTypeSlots[i].Item2))
                    {
                        startIndex = i;
                        continue;
                    }

                    //P wafer不够的情况
                    if (waferTypeSlots[i].Item1 == WaferType.P)
                    {
                        if (!ret.Item1)
                            continue;
                        else
                        {
                            if (i - startIndex > ret.Item2)
                                continue;
                        }
                    }

                    if (!nextWaferTypeDic.ContainsKey(waferTypeSlots[i].Item1))
                        nextWaferTypeDic.Add(waferTypeSlots[i].Item1, 0);

                    nextWaferTypeDic[waferTypeSlots[i].Item1] += 1;

                    if (nextWaferTypeDic.Count == _lstFIMSs.Count)
                        break;

                    if (i - startIndex >= _lstFIMSs.Count * 25)
                        break;
                }

                Dictionary<WaferType, int> fimsWaferTypeDic = new Dictionary<WaferType, int>();
                foreach (var fims in _lstFIMSs)
                {
                    if (CarrierManager.Instance.CheckHasCarrier(fims.Module, 0))
                    {
                        for (int i = 0; i < WaferManager.Instance.GetWafers(fims.Module).Length; i++)
                        {
                            var wafer = WaferManager.Instance.GetWafer(fims.Module, i);
                            if (wafer == null || wafer.IsEmpty)
                                continue;

                            if (!fimsWaferTypeDic.ContainsKey(wafer.WaferType))
                                fimsWaferTypeDic.Add(wafer.WaferType, 0);

                            fimsWaferTypeDic[wafer.WaferType] += 1;
                        }
                    }
                }

                foreach (var type in nextWaferTypeDic.Keys)
                {
                    if (carrierType.ToString() == type.ToString())
                    {
                        if (type == WaferType.P || type == WaferType.M1 || type == WaferType.M2)
                        {
                            if (!fimsWaferTypeDic.ContainsKey(type) || nextWaferTypeDic[type] > fimsWaferTypeDic[type])
                                return true;
                        }
                        else if (type == WaferType.SD)
                        {
                            foreach (var wafer in currentWafers)
                            {
                                if (wafer.IsEmpty)
                                    continue;
                                if (_sideDummyWafers.ContainsKey(wafer.InnerId.ToString()))
                                    return true;
                            }
                        }
                        else if (type == WaferType.ED)
                        {
                            foreach (var wafer in currentWafers)
                            {
                                if (wafer.IsEmpty)
                                    continue;
                                if (_extraDummyWafers.ContainsKey(wafer.InnerId.ToString()))
                                    return true;
                            }
                        }
                    }
                }
            }

            return false;
        }
        private bool CheckCarrierCanPickFromFIMS(ModuleName currentModule)
        {
            var fimsWafers = WaferManager.Instance.GetWafers(currentModule);
            if (fimsWafers != null && !fimsWafers.Any(x => !x.IsEmpty))
            {
                //空盒子
                return true;
            }

            var pj = _lstProcessJobs.FirstOrDefault(x => x.State == EnumProcessJobState.Processing);
            if (pj == null)
                return true;

            var carrier = CarrierManager.Instance.GetCarrier(currentModule, 0);
            var carrierType = carrier.CarrierType;
            if (!pj.Stockers.Any(x => x.Item1 == carrier.InternalModuleName.ToString()))
                return true;

            var stockerInfo = pj.Stockers.FirstOrDefault(x => x.Item1 == carrier.InternalModuleName.ToString());
            GetWaferSlotsAndWaferType(carrier, out var slots, out var waferType);
            Dictionary<string, int> dummyWafers = new Dictionary<string, int>();
            if (waferType == WaferType.SD)
                dummyWafers = _sideDummyWafers;
            else if (waferType == WaferType.ED)
                dummyWafers = _extraDummyWafers;

            if (stockerInfo != null)
            {
                var hasWafer = false;
                foreach (var wafer in fimsWafers)
                {
                    if (wafer == null || wafer.IsEmpty || wafer.ProcessState != EnumWaferProcessStatus.Idle)
                        continue;
                    if (stockerInfo.Item3.Any() && stockerInfo.Item3.Any(x => x == wafer.OriginSlot))
                    {
                        hasWafer = true;
                        break;
                    }
                    if (!stockerInfo.Item3.Any())
                    {
                        if (slots != null && slots.Count > 0)
                        {
                            for (int i = 0; i < slots.Count; i++)
                            {
                                if (WaferManager.Instance.CheckHasWafer(_pm1.Module, slots[i]))
                                {
                                    continue;
                                }

                                if ((wafer.WaferType == WaferType.SD || wafer.WaferType == WaferType.ED) && !dummyWafers.ContainsKey(wafer.InnerId.ToString()))
                                    continue;

                                return false;
                            }
                        }
                    }
                }

                if (hasWafer)
                    return false;
            }

            return true;

            var ret = CheckHasPWafer();
            var waferTypeSlots = GetWaferTypeSlots();
            if (waferTypeSlots != null && waferTypeSlots.Count > 0)
            {
                List<WaferType> nextWaferTypeLst = new List<WaferType>();

                int startIndex = -1;
                for (int i = 0; i < waferTypeSlots.Count; i++)
                {
                    if (WaferManager.Instance.CheckHasWafer(_pm1.Module, waferTypeSlots[i].Item2))
                    {
                        startIndex = i;
                        continue;
                    }

                    //P wafer不够的情况
                    if (waferTypeSlots[i].Item1 == WaferType.P)
                    {
                        if (!ret.Item1)
                            continue;
                        else
                        {
                            if (i - startIndex > ret.Item2)
                                continue;
                        }
                    }

                    if (!nextWaferTypeLst.Contains(waferTypeSlots[i].Item1))
                        nextWaferTypeLst.Add(waferTypeSlots[i].Item1);

                    if (nextWaferTypeLst.Count == _lstFIMSs.Count)
                        break;

                    if (i - startIndex >= _lstFIMSs.Count * 25)
                        break;
                }

                foreach (var type in nextWaferTypeLst)
                {
                    if (carrierType.ToString() == type.ToString())
                    {
                        if (type == WaferType.P || type == WaferType.M1 || type == WaferType.M2)
                            return false;
                        else if (type == WaferType.SD)
                        {
                            foreach (var wafer in fimsWafers)
                            {
                                if (wafer.IsEmpty)
                                    continue;
                                if (_sideDummyWafers.ContainsKey(wafer.InnerId.ToString()))
                                    return false;
                            }
                        }
                        else if (type == WaferType.ED)
                        {
                            foreach (var wafer in fimsWafers)
                            {
                                if (wafer.IsEmpty)
                                    continue;
                                if (_extraDummyWafers.ContainsKey(wafer.InnerId.ToString()))
                                    return false;
                            }
                        }
                    }
                }
            }

            return true;
        }
        private bool CheckCarrierCanPlaceToStocker(ModuleName currentModule)
        {
            var fimsWafers = WaferManager.Instance.GetWafers(currentModule);
            if (fimsWafers != null && !fimsWafers.Any(x => !x.IsEmpty))
            {
                //空盒子
                return true;
            }

            var carrierType = CarrierManager.Instance.GetCarrier(currentModule, 0).CarrierType;
            var ret = CheckHasPWafer();
            var waferTypeSlots = GetWaferTypeSlots();
            if (waferTypeSlots != null && waferTypeSlots.Count > 0)
            {
                List<WaferType> nextWaferTypeLst = new List<WaferType>();

                int startIndex = -1;
                for (int i = 0; i < waferTypeSlots.Count; i++)
                {
                    if (WaferManager.Instance.CheckHasWafer(_pm1.Module, waferTypeSlots[i].Item2))
                    {
                        startIndex = i;
                        continue;
                    }

                    //P wafer不够的情况
                    if (waferTypeSlots[i].Item1 == WaferType.P)
                    {
                        if (!ret.Item1)
                            continue;
                        else
                        {
                            if (i - startIndex > ret.Item2)
                                continue;
                        }
                    }

                    if (!nextWaferTypeLst.Contains(waferTypeSlots[i].Item1))
                        nextWaferTypeLst.Add(waferTypeSlots[i].Item1);

                    if (nextWaferTypeLst.Count == _lstFIMSs.Count)
                        break;

                    if (i - startIndex >= _lstFIMSs.Count * 25)
                        break;
                }

                foreach (var type in nextWaferTypeLst)
                {
                    if (carrierType.ToString() == type.ToString())
                    {
                        if (type == WaferType.P || type == WaferType.M1 || type == WaferType.M2)
                            return false;
                        else if (type == WaferType.SD)
                        {
                            foreach (var wafer in fimsWafers)
                            {
                                if (wafer.IsEmpty)
                                    continue;
                                if (_sideDummyWafers.ContainsKey(wafer.InnerId.ToString()))
                                    return false;
                            }
                        }
                        else if (type == WaferType.ED)
                        {
                            foreach (var wafer in fimsWafers)
                            {
                                if (wafer.IsEmpty)
                                    continue;
                                if (_extraDummyWafers.ContainsKey(wafer.InnerId.ToString()))
                                    return false;
                            }
                        }
                    }
                }
            }

            return true;
        }
        private void MonitorCarrierRobotPickFIMSTask()
        {
            if (!_carrierRobot.IsAvailable)
                return;

            var pj = _lstProcessJobs.FirstOrDefault(x => x.State == EnumProcessJobState.Processing);
            if (pj == null)
                return;

            //pick
            var carrier = CarrierManager.Instance.GetCarrier(ModuleName.CarrierRobot, 0);
            if (carrier != null && carrier.IsEmpty)
            {
                SchedulerFIMS fims = null;
                foreach (var st in _lstFIMSs)
                {
                    if (!st.IsAvailable)
                        continue;

                    // check FIMS
                    var fimsDevice = DEVICE.GetDevice<IoFIMS>($"PM1.{st.Module}");
                    if (!fimsDevice.IsUnloadCompleted)
                        continue;

                    if (CarrierManager.Instance.CheckHasCarrier(st.Module, 0))
                    {
                        carrier = CarrierManager.Instance.GetCarrier(st.Module, 0);
                        if (carrier != null)
                        {
                            if (pj.ProcessingState == EnumProcessingState.Discharging)
                            {
                                //discharge
                                if (!CheckCarrierHasEmptySlot(st.Module))
                                {
                                    fims = st;
                                    break;
                                }

                                if (!CheckModuleHasWaferInWaferRobotAndPM(carrier.InternalModuleName))
                                {
                                    fims = st;
                                    break;
                                }
                            }
                            else if (pj.ProcessingState == EnumProcessingState.Charging)
                            {
                                //charge
                                GetWaferSlotsAndWaferType(carrier, out List<int> slots, out WaferType waferType);
                                var stockerInfo = pj.Stockers.FirstOrDefault(x => x.Item1 == carrier.InternalModuleName.ToString());

                                var wafers = WaferManager.Instance.GetWafers(st.Module);
                                if (wafers != null && stockerInfo != null)
                                {
                                    bool isEmpty = true;
                                    foreach (var wafer in wafers)
                                    {
                                        if (!wafer.IsEmpty)
                                        {
                                            if (stockerInfo.Item3.Any())
                                            {
                                                if (stockerInfo.Item3.Any(x => x == wafer.OriginSlot))
                                                {
                                                    isEmpty = false;
                                                    break;
                                                }
                                            }
                                            else
                                            {
                                                if (waferType == WaferType.P || waferType == WaferType.M1 || waferType == WaferType.M2)
                                                {
                                                    isEmpty = false;
                                                    break;
                                                }
                                                else if (waferType == WaferType.SD && _sideDummyWafers.ContainsKey(wafer.InnerId.ToString()))
                                                {
                                                    isEmpty = false;
                                                    break;
                                                }
                                                else if (waferType == WaferType.ED && _extraDummyWafers.ContainsKey(wafer.InnerId.ToString()))
                                                {
                                                    isEmpty = false;
                                                    break;
                                                }
                                            }
                                        }
                                    }
                                    if (isEmpty)
                                    {
                                        fims = st;
                                        break;
                                    }
                                }

                                if (slots != null && GetWaferCountRelatedToWaferRobot(waferType, false) >= slots.Count)
                                {
                                    fims = st;
                                    break;
                                }
                            }
                            else if (pj.ProcessingState == EnumProcessingState.Processing)
                            {
                                foreach (var bf in pj.Stockers)
                                {
                                    if (CarrierManager.Instance.CheckHasCarrier(bf.Item1, 0))
                                        continue;

                                    if (bf.Item1 == carrier.InternalModuleName.ToString())
                                    {
                                        fims = st;
                                        break;
                                    }
                                }
                            }
                        }
                    }
                }

                if (fims != null)
                {
                    if (_carrierRobot.Pick(fims.Module, 0, Hand.Blade1))
                    {
                        fims.WaitTransfer(ModuleName.CarrierRobot);
                        return;
                    }
                }
            }

            if (!_carrierRobot.IsAvailable)
                return;
        }
        private void MonitorCarrierRobotPlaceFIMSTaskInCharge()
        {
            if (!_carrierRobot.IsAvailable)
                return;

            var pj = _lstProcessJobs.FirstOrDefault(x => x.State == EnumProcessJobState.Processing);
            if (pj == null)
                return;

            var carrier = CarrierManager.Instance.GetCarrier(ModuleName.CarrierRobot, 0);
            //place
            carrier = CarrierManager.Instance.GetCarrier(ModuleName.CarrierRobot, 0);
            var stockerInfo = pj.Stockers.FirstOrDefault(x => x.Item1 == carrier.InternalModuleName.ToString());
            if (carrier != null && !carrier.IsEmpty && stockerInfo != null)
            {
                SchedulerFIMS fims = null;
                foreach (var st in _lstFIMSs)
                {
                    if (!st.IsAvailable)
                        continue;

                    // check FIMS
                    var fimsDevice = DEVICE.GetDevice<IoFIMS>($"PM1.{st.Module}");
                    if (!fimsDevice.IsUnloadCompleted)
                        continue;

                    if (CarrierManager.Instance.CheckNoCarrier(st.Module, 0))
                    {
                        GetWaferSlotsAndWaferType(carrier, out List<int> slots, out WaferType waferType);

                        if (slots != null && GetWaferCountRelatedToWaferRobot(waferType, false) <= slots.Count)
                        {
                            var wafers = WaferManager.Instance.GetWafers(ModuleName.CarrierRobot);
                            foreach (var wafer in wafers)
                            {
                                if (!wafer.IsEmpty && wafer.WaferType == waferType)
                                {
                                    if (pj.ProcessingState == EnumProcessingState.Charging && stockerInfo.Item3.Any() && !stockerInfo.Item3.Any(x => x == wafer.OriginSlot))
                                        continue;
                                    fims = st;
                                    break;
                                }
                            }
                        }

                        if (fims != null)
                            break;
                    }
                }

                if (fims != null)
                {
                    if (_carrierRobot.Place(fims.Module, 0, Hand.Blade1))
                    {
                        fims.WaitTransfer(ModuleName.CarrierRobot);
                        return;
                    }
                }
            }
        }
        private void MonitorCarrierRobotPlaceFIMSTaskInDischarge()
        {
            if (!_carrierRobot.IsAvailable)
                return;

            var pj = _lstProcessJobs.FirstOrDefault(x => x.State == EnumProcessJobState.Processing);
            if (pj == null)
                return;

            var carrier = CarrierManager.Instance.GetCarrier(ModuleName.CarrierRobot, 0);
            //place
            carrier = CarrierManager.Instance.GetCarrier(ModuleName.CarrierRobot, 0);
            if (carrier != null && !carrier.IsEmpty && CheckCarrierHasEmptySlot(ModuleName.CarrierRobot) && CheckModuleHasWaferInWaferRobotAndPM(carrier.InternalModuleName))
            {
                SchedulerFIMS fims = null;
                foreach (var st in _lstFIMSs)
                {
                    if (!st.IsAvailable)
                        continue;

                    // check FIMS
                    var fimsDevice = DEVICE.GetDevice<IoFIMS>($"PM1.{st.Module}");
                    if (!fimsDevice.IsUnloadCompleted)
                        continue;

                    if (CarrierManager.Instance.CheckNoCarrier(st.Module, 0))
                    {
                        fims = st;
                        break;
                    }
                }

                if (fims != null)
                {
                    if (_carrierRobot.Place(fims.Module, 0, Hand.Blade1))
                    {
                        fims.WaitTransfer(ModuleName.CarrierRobot);
                        return;
                    }
                }
            }
        }
        private bool CheckCarrierHasNoWafer(ModuleName module, WaferType waferType)
        {
            bool isEmpty = true;
            var wafers = WaferManager.Instance.GetWafers(module);
            if (wafers != null)
            {
                foreach (var wafer in wafers)
                {
                    if (!wafer.IsEmpty)
                    {
                        if (waferType == WaferType.P || waferType == WaferType.M1 || waferType == WaferType.M2)
                        {
                            isEmpty = false;
                            break;
                        }
                        else if (waferType == WaferType.SD && _sideDummyWafers.ContainsKey(wafer.InnerId.ToString()))
                        {
                            isEmpty = false;
                            break;
                        }
                        else if (waferType == WaferType.ED && _extraDummyWafers.ContainsKey(wafer.InnerId.ToString()))
                        {
                            isEmpty = false;
                            break;
                        }
                    }
                }
            }
            return isEmpty;
        }
        private Dictionary<string, int> GetDummyWafers(List<SchedulerStocker> targetStockers, int needWaferCount, WaferType waferType)
        {
            Dictionary<string, int> dummyWafers = new Dictionary<string, int>();

            float useCountMin = GetWaferUseCountMin(targetStockers, waferType);
            float useCountMax = GetWaferUseCountMax(targetStockers, waferType);
            int range = (int)(useCountMax - useCountMin);

            var targetCarrierType = (CarrierType)(Enum.Parse(typeof(CarrierType), waferType.ToString()));
            for (int i = 0; i <= range; i++)
            {
                foreach (var target in targetStockers)
                {
                    var carrier = CarrierManager.Instance.GetCarrier(target.Module);
                    if (carrier == null || carrier.IsEmpty || carrier.CarrierType != targetCarrierType)
                        continue;

                    var wafers = WaferManager.Instance.GetWafers(target.Module);
                    if (wafers != null)
                    {
                        foreach (var wafer in wafers)
                        {
                            if (wafer.IsEmpty)
                                continue;

                            if (wafer.UseCount <= useCountMin && dummyWafers.Count() < needWaferCount)
                            {
                                if (!dummyWafers.ContainsKey(wafer.InnerId.ToString()))
                                    dummyWafers.Add(wafer.InnerId.ToString(), wafer.OriginStation);
                            }
                        }
                    }
                }

                if (CarrierManager.Instance.CheckHasCarrier(ModuleName.CarrierRobot, 0))
                {
                    var carrier = CarrierManager.Instance.GetCarrier(ModuleName.CarrierRobot, 0);
                    if (carrier.CarrierType == targetCarrierType)
                    {
                        var wafers = WaferManager.Instance.GetWafers(ModuleName.CarrierRobot);
                        if (wafers != null)
                        {
                            foreach (var wafer in wafers)
                            {
                                if (wafer.IsEmpty)
                                    continue;

                                if (wafer.UseCount <= useCountMin && dummyWafers.Count() < needWaferCount)
                                {
                                    if (!dummyWafers.ContainsKey(wafer.InnerId.ToString()))
                                        dummyWafers.Add(wafer.InnerId.ToString(), wafer.OriginStation);
                                }
                            }
                        }
                    }
                }

                foreach (var fims in _lstFIMSs)
                {
                    if (!fims.IsOnline)
                        continue;

                    var carrier = CarrierManager.Instance.GetCarrier(fims.Module, 0);
                    if (!carrier.IsEmpty && carrier.CarrierType == targetCarrierType)
                    {
                        var wafers = WaferManager.Instance.GetWafers(fims.Module);
                        if (wafers != null)
                        {
                            foreach (var wafer in wafers)
                            {
                                if (wafer.IsEmpty)
                                    continue;

                                if (wafer.UseCount <= useCountMin && dummyWafers.Count() < needWaferCount)
                                {
                                    if (!dummyWafers.ContainsKey(wafer.InnerId.ToString()))
                                        dummyWafers.Add(wafer.InnerId.ToString(), wafer.OriginStation);
                                }
                            }
                        }
                    }
                }

                if (dummyWafers.Count() < needWaferCount)
                    useCountMin++;
                else
                    break;
            }

            return dummyWafers;
        }
        private float GetWaferUseCountMin(List<SchedulerStocker> targetStockers, WaferType waferType)
        {
            float iUseCountMin = 10000;

            foreach (var target in targetStockers)
            {
                var wafers = WaferManager.Instance.GetWafers(target.Module);

                if (wafers == null)
                    continue;

                foreach (var wafer in wafers)
                {
                    if (wafer.IsEmpty || wafer.WaferType != waferType)
                        continue;

                    if (wafer.UseCount < iUseCountMin)
                        iUseCountMin = wafer.UseCount;
                }
            }

            if (CarrierManager.Instance.CheckHasCarrier(ModuleName.CarrierRobot, 0))
            {
                var wafers = WaferManager.Instance.GetWafers(ModuleName.CarrierRobot);

                foreach (var wafer in wafers)
                {
                    if (wafer.IsEmpty || wafer.WaferType != waferType)
                        continue;

                    if (wafer.UseCount < iUseCountMin)
                        iUseCountMin = wafer.UseCount;
                }
            }

            foreach (var fims in _lstFIMSs)
            {
                if (!fims.IsOnline)
                    continue;

                var wafers = WaferManager.Instance.GetWafers(fims.Module);

                foreach (var wafer in wafers)
                {
                    if (wafer.IsEmpty || wafer.WaferType != waferType)
                        continue;

                    if (wafer.UseCount < iUseCountMin)
                        iUseCountMin = wafer.UseCount;
                }
            }

            return iUseCountMin;
        }

        private float GetWaferUseCountMax(List<SchedulerStocker> targetStockers, WaferType waferType)
        {
            float iUseCountMax = 0;

            foreach (var target in targetStockers)
            {
                var wafers = WaferManager.Instance.GetWafers(target.Module);

                if (wafers == null)
                    continue;

                foreach (var wafer in wafers)
                {
                    if (wafer.IsEmpty || wafer.WaferType != waferType)
                        continue;

                    if (wafer.UseCount >= iUseCountMax)
                        iUseCountMax = wafer.UseCount;
                }
            }

            if (CarrierManager.Instance.CheckHasCarrier(ModuleName.CarrierRobot, 0))
            {
                var wafers = WaferManager.Instance.GetWafers(ModuleName.CarrierRobot);

                foreach (var wafer in wafers)
                {
                    if (wafer.IsEmpty || wafer.WaferType != waferType)
                        continue;

                    if (wafer.UseCount >= iUseCountMax)
                        iUseCountMax = wafer.UseCount;
                }
            }

            foreach (var fims in _lstFIMSs)
            {
                if (!fims.IsOnline)
                    continue;

                var wafers = WaferManager.Instance.GetWafers(fims.Module);

                foreach (var wafer in wafers)
                {
                    if (wafer.IsEmpty || wafer.WaferType != waferType)
                        continue;

                    if (wafer.UseCount >= iUseCountMax)
                        iUseCountMax = wafer.UseCount;
                }
            }

            return iUseCountMax;
        }
        private ModuleName GetModuleNameForNextWafer(WaferType waferType)
        {
            ModuleName module = ModuleName.System;
            bool hasEmptyFims = false;
            foreach (var fims in _lstFIMSs)
            {
                if (CarrierManager.Instance.CheckNoCarrier(fims.Module, 0))
                {
                    hasEmptyFims = true;
                    break;
                }
            }
            if (!hasEmptyFims)
                return module;

            if (WaferManager.Instance.CheckHasWafer(ModuleName.WaferRobot, 0))
            {
                module = (ModuleName)WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 0).OriginStation;
            }
            else if (WaferManager.Instance.CheckHasWafer(ModuleName.WaferRobot, 1))
            {
                module = (ModuleName)WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 1).OriginStation;
            }
            else if (WaferManager.Instance.CheckHasWafer(ModuleName.WaferRobot, 2))
            {
                module = (ModuleName)WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 2).OriginStation;
            }
            else if (WaferManager.Instance.CheckHasWafer(ModuleName.WaferRobot, 3))
            {
                module = (ModuleName)WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 3).OriginStation;
            }
            else if (WaferManager.Instance.CheckHasWafer(ModuleName.WaferRobot, 4))
            {
                module = (ModuleName)WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 4).OriginStation;
            }
            else
            {
                if (SC.GetStringValue("System.ChargingOrderToBoat") == "FromTopToBottom")
                {
                    for (int i = 0; i < SC.GetValue<int>($"Boat.SlotCount"); i++)
                    {
                        if (!WaferManager.Instance.CheckHasWafer(_pm1.Module, i))
                            continue;

                        var wafer = WaferManager.Instance.GetWafer(_pm1.Module, i);
                        if (wafer == null || wafer.IsEmpty)
                            continue;

                        if (wafer.WaferType == waferType)
                        {
                            module = (ModuleName)WaferManager.Instance.GetWafer(_pm1.Module, i).OriginStation;
                            break;
                        }
                    }
                }
                else
                {
                    for (int i = SC.GetValue<int>($"Boat.SlotCount") - 1; i >= 0; i--)
                    {
                        if (!WaferManager.Instance.CheckHasWafer(_pm1.Module, i))
                            continue;

                        var wafer = WaferManager.Instance.GetWafer(_pm1.Module, i);
                        if (wafer == null || wafer.IsEmpty)
                            continue;

                        if (wafer.WaferType == waferType)
                        {
                            module = (ModuleName)WaferManager.Instance.GetWafer(_pm1.Module, i).OriginStation;
                            break;
                        }
                    }
                }
            }

            //下一片要放回的cassette已经在fims上
            bool isCarrierAlreadyPicked = false;
            foreach (var fims in _lstFIMSs)
            {
                if (!CarrierManager.Instance.CheckHasCarrier(fims.Module, 0))
                    continue;
                var carrier = CarrierManager.Instance.GetCarrier(fims.Module);
                if (carrier != null && carrier.InternalModuleName == module)
                {
                    isCarrierAlreadyPicked = true;
                }
            }

            if (CarrierManager.Instance.CheckHasCarrier(ModuleName.CarrierRobot, 0))
            {
                var carrier = CarrierManager.Instance.GetCarrier(ModuleName.CarrierRobot);
                if (carrier != null && carrier.InternalModuleName == module)
                {
                    isCarrierAlreadyPicked = true;
                }
            }

            if (isCarrierAlreadyPicked)
            {
                if (SC.GetStringValue("System.ChargingOrderToBoat") == "FromTopToBottom")
                {
                    for (int i = 0; i < SC.GetValue<int>($"Boat.SlotCount"); i++)
                    {
                        if (!WaferManager.Instance.CheckHasWafer(_pm1.Module, i))
                            continue;

                        var wafer = WaferManager.Instance.GetWafer(_pm1.Module, i);
                        if (wafer == null || wafer.IsEmpty)
                            continue;

                        if (wafer.WaferType == waferType && (ModuleName)WaferManager.Instance.GetWafer(_pm1.Module, i).OriginStation != module)
                        {
                            module = (ModuleName)WaferManager.Instance.GetWafer(_pm1.Module, i).OriginStation;
                            break;
                        }
                    }
                }
                else
                {
                    for (int i = SC.GetValue<int>($"Boat.SlotCount") - 1; i >= 0; i--)
                    {
                        if (!WaferManager.Instance.CheckHasWafer(_pm1.Module, i))
                            continue;

                        var wafer = WaferManager.Instance.GetWafer(_pm1.Module, i);
                        if (wafer == null || wafer.IsEmpty)
                            continue;

                        if (wafer.WaferType == waferType && (ModuleName)WaferManager.Instance.GetWafer(_pm1.Module, i).OriginStation != module)
                        {
                            module = (ModuleName)WaferManager.Instance.GetWafer(_pm1.Module, i).OriginStation;
                            break;
                        }
                    }
                }
            }

            return module;
        }
        private int GetWaferCountRelatedToWaferRobot(WaferType waferType, bool includeFims = true)
        {
            int count = 0;
            var pj = _lstProcessJobs.FirstOrDefault(x => x.State == EnumProcessJobState.Processing);
            if (pj == null || pj.IsEmptyLayout)
                return count;
            if (includeFims)
            {
                foreach (var fims in _lstFIMSs)
                {
                    if (CarrierManager.Instance.CheckNoCarrier(fims.Module, 0))
                        continue;
                    var wafers = WaferManager.Instance.GetWafers(fims.Module);
                    var carrier = CarrierManager.Instance.GetCarrier(fims.Module, 0);
                    var stockerInfo = pj.Stockers.FirstOrDefault(x => x.Item1 == carrier.InternalModuleName.ToString());
                    foreach (var wafer in wafers)
                    {
                        if (!wafer.IsEmpty && wafer.WaferType == waferType)
                        {
                            if (pj.ProcessingState == EnumProcessingState.Charging && stockerInfo != null && stockerInfo.Item3.Any() && !stockerInfo.Item3.Any(x => x == wafer.OriginSlot))
                                continue;
                            if (waferType == WaferType.P || waferType == WaferType.M1 || waferType == WaferType.M2)
                                count++;
                            else if (waferType == WaferType.SD && _sideDummyWafers.ContainsKey(wafer.InnerId.ToString()))
                                count++;
                            else if (waferType == WaferType.ED && _extraDummyWafers.ContainsKey(wafer.InnerId.ToString()))
                                count++;
                        }
                    }
                }
            }

            for (int i = 0; i < WaferManager.Instance.GetWafers(ModuleName.WaferRobot).Length; i++)
            {
                var wafer = WaferManager.Instance.GetWafer(ModuleName.WaferRobot, i);
                if (!wafer.IsEmpty && wafer.WaferType == waferType)
                {
                    var stockerInfo = pj.Stockers.FirstOrDefault(x => x.Item1 == ((ModuleName)wafer.OriginStation).ToString());

                    if (pj.ProcessingState == EnumProcessingState.Charging && stockerInfo != null && stockerInfo.Item3.Any() && !stockerInfo.Item3.Any(x => x == wafer.OriginSlot))
                        continue;

                    count++;
                }
            }

            for (int i = 0; i < WaferManager.Instance.GetWafers(_pm1.Module).Length; i++)
            {
                var wafer = WaferManager.Instance.GetWafer(_pm1.Module, i);
                if (!wafer.IsEmpty && wafer.WaferType == waferType)
                    count++;
            }

            return count;
        }
        private void GetWaferSlotsAndWaferType(CarrierInfo carrier, out List<int> slots, out WaferType waferType)
        {
            slots = null;
            waferType = WaferType.None;
            if (carrier != null && !carrier.IsEmpty)
            {
                switch (carrier.CarrierType)
                {
                    case CarrierType.SD:
                        slots = _sideDummySlots;
                        waferType = WaferType.SD;
                        break;
                    case CarrierType.ED:
                        slots = _extraDummySlots;
                        waferType = WaferType.ED;
                        break;
                    case CarrierType.M1:
                        slots = _monitor1Slots;
                        waferType = WaferType.M1;
                        break;
                    case CarrierType.M2:
                        slots = _monitor2Slots;
                        waferType = WaferType.M2;
                        break;
                    case CarrierType.P:
                        slots = _productSlots;
                        waferType = WaferType.P;
                        break;
                }
            }
        }
        private bool CheckCarrierHasEmptySlot(ModuleName module)
        {
            bool hasEmpty = false;
            var wafers = WaferManager.Instance.GetWafers(module);
            if (wafers != null)
            {
                foreach (var wafer in wafers)
                {
                    if (wafer.IsEmpty)
                    {
                        hasEmpty = true;
                        break;
                    }
                }
            }
            return hasEmpty;
        }
        private bool CheckCarrierNoHasEmptySlot(ModuleName module)
        {
            bool noHasEmpty = true;
            var wafers = WaferManager.Instance.GetWafers(module);
            if (wafers != null)
            {
                foreach (var wafer in wafers)
                {
                    if (!wafer.IsEmpty)
                    {
                        noHasEmpty = false;
                        break;
                    }
                }
            }
            return noHasEmpty;
        }
        private bool CheckModuleHasWaferInWaferRobotAndPM(ModuleName module)
        {
            bool isHaveWafer = false;
            var wafers = WaferManager.Instance.GetWafers(ModuleName.PM1).ToList();
            if (wafers != null)
            {
                foreach (var wafer in wafers)
                {
                    if (wafer == null || wafer.IsEmpty)
                        continue;
                    if (wafer.OriginStation == (int)module)
                    {
                        isHaveWafer = true;
                        break;
                    }
                }
            }

            wafers = WaferManager.Instance.GetWafers(ModuleName.WaferRobot).ToList();
            if (wafers != null)
            {
                foreach (var wafer in wafers)
                {
                    if (wafer == null || wafer.IsEmpty)
                        continue;
                    if (wafer.OriginStation == (int)module)
                    {
                        isHaveWafer = true;
                        break;
                    }
                }
            }

            return isHaveWafer;
        }
        private bool CheckWaferStatus(List<Tuple<string, string, List<int>>> useStockers, bool isNeedCheckMonitor, bool isNeedCheckP, out string reason)
        {
            reason = string.Empty;

            if (SC.GetValue<bool>("System.IsCycleMode"))
            {
                foreach (var module in Singleton<EquipmentManager>.Instance.Modules.Keys)
                {
                    if (!ModuleHelper.IsStocker(module) || !useStockers.Any(x => x.Item1 == module.ToString()))
                        continue;

                    var wafers = WaferManager.Instance.GetWafers(module);

                    if (wafers == null)
                        continue;

                    foreach (var wafer in wafers)
                    {
                        if (wafer.IsEmpty)
                            continue;

                        wafer.ProcessState = EnumWaferProcessStatus.Idle;
                    }
                }
            }
            else
            {
                foreach (var module in Singleton<EquipmentManager>.Instance.Modules.Keys)
                {
                    if (!ModuleHelper.IsStocker(module) || !useStockers.Any(x => x.Item1 == module.ToString()))
                        continue;

                    var stockerInfo = useStockers.FirstOrDefault(x => x.Item1 == module.ToString());
                    var wafers = WaferManager.Instance.GetWafers(module);

                    if (wafers == null || stockerInfo == null)
                        continue;

                    if (SC.GetValue<bool>("System.EnableWarningFailedWafer"))
                    {
                        if (wafers.ToList().Any(x => x.ProcessState == EnumWaferProcessStatus.Failed))
                        {
                            reason = $"{module} has failed wafers.";

                            return false;
                        }
                    }

                    foreach (var wafer in wafers)
                    {
                        if (wafer.IsEmpty)
                            continue;

                        if (wafer.ProcessState != EnumWaferProcessStatus.Idle && SC.GetValue<bool>("System.EnableWarningWaferProcessState") && (!stockerInfo.Item3.Any() || stockerInfo.Item3.Any(x => x == wafer.OriginSlot)))
                        {
                            if (wafer.WaferType == WaferType.P && isNeedCheckP)
                            {
                                reason = $"{(ModuleName)wafer.OriginStation} {wafer.WaferType} wafer already completed process.";

                                return false;
                            }

                            if (isNeedCheckMonitor)
                            {
                                if (wafer.WaferType == WaferType.M2 || wafer.WaferType == WaferType.M || wafer.WaferType == WaferType.M1)
                                {
                                    reason = $"{(ModuleName)wafer.OriginStation} {wafer.WaferType} wafer already completed process.";

                                    return false;
                                }
                            }
                        }

                        if (wafer.WaferType == WaferType.ED || wafer.WaferType == WaferType.SD)
                            wafer.ProcessState = EnumWaferProcessStatus.Idle;
                    }
                }
            }

            return true;
        }
        private Tuple<bool, int> CheckHasPWafer()
        {
            var pj = _lstProcessJobs.FirstOrDefault(x => x.State == EnumProcessJobState.Processing);
            if (pj == null || pj.Stockers == null)
                return Tuple.Create(false, 0);

            int countP = 0;
            foreach (var stocker in pj.Stockers)
            {
                var wafers = WaferManager.Instance.GetWafersByOriginalPosition(ModuleHelper.Converter(stocker.Item1));
                foreach (var wafer in wafers)
                {
                    if (!wafer.IsEmpty && wafer.WaferType == WaferType.P && wafer.Station != (int)ModuleName.PM1)
                    {
                        countP++;
                    }
                }
            }

            return Tuple.Create(countP > 0, countP);
        }
        //返回下一片要放的wafer的slot和type
        private int GetNextWaferSlot(out WaferType waferType)
        {
            var waferTypeSlots = GetWaferTypeSlots();
            waferType = WaferType.None;
            var ret = CheckHasPWafer();
            int slot = -1;
            if (waferTypeSlots != null)
            {
                for (int i = 0; i < waferTypeSlots.Count; i++)
                {
                    if (WaferManager.Instance.CheckHasWafer(ModuleName.PM1, waferTypeSlots[i].Item2))
                    {
                        continue;
                    }

                    //针对P wafer不够的情况
                    if (!ret.Item1 && waferTypeSlots[i].Item1 == WaferType.P)
                        continue;

                    slot = waferTypeSlots[i].Item2;
                    waferType = waferTypeSlots[i].Item1;
                    break;
                }
            }

            return slot;
        }
        //返回下一片要放的wafer的type，需要除去当前在机械手上的wafer
        private WaferType GetNextWaferType()
        {
            var ret = CheckHasPWafer();
            var waferTypeSlots = GetWaferTypeSlots();
            WaferType waferType = WaferType.None;
            if (waferTypeSlots != null)
            {
                for (int i = 0; i < waferTypeSlots.Count; i++)
                {
                    if (WaferManager.Instance.CheckHasWafer(ModuleName.PM1, waferTypeSlots[i].Item2))
                    {
                        continue;
                    }

                    var wafer0 = WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 0);
                    var wafer1 = WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 1);
                    if (i < waferTypeSlots.Count && wafer0 != null && !wafer0.IsEmpty && wafer0.WaferType == waferTypeSlots[i].Item1)
                        i++;

                    if (i < waferTypeSlots.Count && wafer1 != null && !wafer1.IsEmpty && wafer1.WaferType == waferTypeSlots[i].Item1)
                        i++;

                    //机械手wafer放过去就放满了
                    if (i >= waferTypeSlots.Count)
                    {
                        break;
                    }

                    //针对P wafer不够的情况
                    if (!ret.Item1 && waferTypeSlots[i].Item1 == WaferType.P)
                        continue;

                    waferType = waferTypeSlots[i].Item1;
                    break;
                }
            }

            return waferType;
        }
        private ModuleName GetCurrentTransferFims()
        {
            ModuleName currentFims = ModuleName.System;
            foreach (var st in _lstFIMSs)
            {
                if (!st.IsAvailable)
                    continue;
                if (!CarrierManager.Instance.CheckHasCarrier(st.Module, 0))
                    continue;

                var carrier = CarrierManager.Instance.GetCarrier(st.Module, 0);
                if (carrier != null && !carrier.IsEmpty)
                {
                    bool hasWafer = false;
                    var wafers = WaferManager.Instance.GetWafers(st.Module);
                    if (wafers != null)
                    {
                        foreach (var wafer in wafers)
                        {
                            if (wafer == null || wafer.IsEmpty)
                                continue;
                            if (!wafer.IsEmpty)
                            {
                                hasWafer = true;
                                break;
                            }
                        }
                    }

                    if (hasWafer && CheckCarrierHasWaferInPM(carrier.InternalModuleName))
                    {
                        currentFims = st.Module;
                        break;
                    };
                }
            }

            return currentFims;
        }
        private List<int> GetWaferSlots(out WaferType waferType)
        {
            var waferTypeSlots = GetWaferTypeSlots();
            waferType = WaferType.None;
            var slots = new List<int>();
            if (waferTypeSlots != null)
            {
                List<Tuple<ModuleName, WaferType, int>> fimsWaferInforLst = new List<Tuple<ModuleName, WaferType, int>>();
                foreach (var st in _lstFIMSs)
                {
                    if (!CarrierManager.Instance.CheckHasCarrier(st.Module, 0))
                        continue;

                    var fimsWafers = WaferManager.Instance.GetWafers(st.Module);
                    int waferCountFIMS = 0;
                    WaferType waferTypeFIMS = WaferType.None;
                    if (fimsWafers != null)
                    {
                        foreach (var fimsWafer in fimsWafers)
                        {
                            if (!fimsWafer.IsEmpty)
                            {
                                waferTypeFIMS = fimsWafer.WaferType;
                                if (fimsWafer.WaferType == WaferType.P || fimsWafer.WaferType == WaferType.M1 || fimsWafer.WaferType == WaferType.M2)
                                {
                                    waferCountFIMS++;
                                }
                                else if (fimsWafer.WaferType == WaferType.SD && _sideDummyWafers.ContainsKey(fimsWafer.InnerId.ToString()))
                                {
                                    waferCountFIMS++;
                                }
                                else if (fimsWafer.WaferType == WaferType.ED && _extraDummyWafers.ContainsKey(fimsWafer.InnerId.ToString()))
                                {
                                    waferCountFIMS++;
                                }
                            }
                        }
                    }

                    if (waferCountFIMS > 0)
                        fimsWaferInforLst.Add(Tuple.Create(st.Module, waferTypeFIMS, waferCountFIMS));
                }

                //两个FIMS都有Carrier，直接返回
                if (_lstFIMSs.Count == fimsWaferInforLst.Count)
                    return slots;

                //FIMS有空的，才继续
                int startIndex = 0;
                for (int i = 0; i < waferTypeSlots.Count; i++)
                {
                    if (WaferManager.Instance.CheckHasWafer(ModuleName.PM1, waferTypeSlots[i].Item2))
                    {
                        continue;
                    }

                    var wafer0 = WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 0);
                    var wafer1 = WaferManager.Instance.GetWafer(ModuleName.WaferRobot, 1);
                    if (i < waferTypeSlots.Count && wafer0 != null && !wafer0.IsEmpty && wafer0.WaferType == waferTypeSlots[i].Item1)
                        i++;

                    if (i >= waferTypeSlots.Count)
                        break;

                    if (i < waferTypeSlots.Count && wafer1 != null && !wafer1.IsEmpty && wafer1.WaferType == waferTypeSlots[i].Item1)
                        i++;

                    if (i >= waferTypeSlots.Count)
                        break;

                    if (fimsWaferInforLst.Count > 0)
                    {
                        var fimsWaferInfor = fimsWaferInforLst.FirstOrDefault(x => x.Item2 == waferTypeSlots[i].Item1);
                        if (fimsWaferInfor != null)
                        {
                            for (; i < waferTypeSlots.Count;)
                            {
                                if (i >= waferTypeSlots.Count)
                                    break;

                                if (waferTypeSlots[i].Item1 == fimsWaferInfor.Item2)
                                    i++;
                                else
                                    break;
                            }
                        }
                    }

                    if (i >= waferTypeSlots.Count)
                    {
                        i = waferTypeSlots.Count - 1;
                    }

                    startIndex = i;
                    waferType = waferTypeSlots[i].Item1;
                    break;
                }

                for (int i = startIndex; i < waferTypeSlots.Count; i++)
                {
                    if (waferTypeSlots[i].Item1 != waferType)
                    {
                        break;
                    }

                    slots.Add(waferTypeSlots[i].Item2);
                }
            }

            return slots;
        }
        private List<int> GetWaferSlots(WaferType waferType)
        {
            var slots = new List<int>();
            var pj = _lstProcessJobs.FirstOrDefault(x => x.State == EnumProcessJobState.Processing);
            if (pj == null)
                return null;

            if (!RecipeParser.LayoutRecipeParse(pj.LayoutRecipe, ModuleName.PM1.ToString(), out RecipeLayoutEntityNormal layoutRecipeDataNormal, out RecipeLayoutEntityExpert layoutRecipeDataExpert, out string reason))
            {
                //Singleton<EquipmentManager>.Instance.ChargeWaferJobStartFailedWarning.Set($"Load layout recipe {pj.LayoutRecipe} failed, {reason}");

                return null;
            }

            switch (waferType)
            {
                case WaferType.SD:
                    return pj.SideDummySlots;
                case WaferType.ED:
                    return pj.ExtraDummySlots;
                case WaferType.M1:
                    return pj.Monitor1Slots;
                case WaferType.M2:
                    return pj.Monitor2Slots;
                case WaferType.P:
                    return pj.ProductSlots;
            }
            return null;
        }
        private List<int> GetWaferSlots(RecipeLayoutEntityExpert layoutRecipeDataExpert, WaferType waferType)
        {
            var slots = new List<int>();
            if (layoutRecipeDataExpert == null)
                return null;

            var type = "";
            switch (waferType)
            {
                case WaferType.SD:
                    type = "sd";
                    break;
                case WaferType.ED:
                    type = "fd";
                    break;
                case WaferType.M1:
                    type = "m1";
                    break;
                case WaferType.M2:
                    type = "m2";
                    break;
                case WaferType.P:
                    type = "pd";
                    break;
            }
            if (layoutRecipeDataExpert != null)
            {
                for (int i = 0; i < layoutRecipeDataExpert.Items.Count; i++)
                {
                    if (layoutRecipeDataExpert.Items[i].ToLower() == type)
                    {
                        slots.Add(i);
                    }
                }

                if (SC.GetStringValue("System.ChargingOrderToBoat") == "FromTopToBottom")
                {
                    slots.Sort((x, y) => -x.CompareTo(y));//降序
                }
                else
                {
                    slots.Sort((x, y) => x.CompareTo(y));//升序
                }
            }
            return slots;
        }
        #region charge rule
        private bool CheckChargeRule(ProcessJobInfo pj, out bool waferShort, bool needCheckPWafer, bool needCheckMWafer, out string reason)
        {
            waferShort = false;
            //needCheckPWafer = false;
            reason = string.Empty;

            if (!RecipeParser.LayoutRecipeParse(pj.LayoutRecipe, ModuleName.PM1.ToString(), out RecipeLayoutEntityNormal layoutRecipeDataNormal, out RecipeLayoutEntityExpert layoutRecipeDataExpert, out reason))
            {
                //Singleton<EquipmentManager>.Instance.ChargeWaferJobStartFailedWarning.Set($"Load layout recipe {pj.LayoutRecipe} failed, {reason}");

                return false;
            }

            if (!CheckLayoutParameter(layoutRecipeDataNormal, out reason))
            {
                return false;
            }

            int iCassetteSlotCount = SC.GetValue<int>("System.CassetteSlotCount");
            if (iCassetteSlotCount == 0)
            {
                reason = "System.CassetteSlotCount not valid";

                return false;
            }

            int iSlotCount = SC.GetValue<int>($"Boat.SlotCount");

            var productSlots = GetWaferSlots(layoutRecipeDataExpert, WaferType.P);
            var monitor1Slots = GetWaferSlots(layoutRecipeDataExpert, WaferType.M1);
            var monitor2Slots = GetWaferSlots(layoutRecipeDataExpert, WaferType.M2);
            var sideDummySlots = GetWaferSlots(layoutRecipeDataExpert, WaferType.SD);
            var extraDummySlots = GetWaferSlots(layoutRecipeDataExpert, WaferType.ED);

            int iNeedCassetteNum;
            var temp = (float)productSlots.Count / iCassetteSlotCount;
            iNeedCassetteNum = (int)Math.Ceiling(temp);

            int iCurrentCassetteNum = GetCurrentCassetteNum(pj, WaferType.P);

            int iDummyUpper = int.Parse(layoutRecipeDataNormal.DummyUpperSlot);
            int iDummyLower = int.Parse(layoutRecipeDataNormal.DummyLowerSlot);

            int iNeedPWaferNum = productSlots.Count;
            int iNeedM1WaferNum = monitor1Slots.Count;
            int iNeedM2WaferNum = monitor2Slots.Count;
            int iNeedSDWaferNum = sideDummySlots.Count;
            int iNeedEDWaferNum = extraDummySlots.Count;

            int iCurrentPWaferNum = GetCurrentWaferNum(pj, WaferType.P, out bool pSlotSelect);
            int iCurrentSDWaferNum = GetCurrentDummyWaferNum(WaferType.SD);
            int iCurrentM1WaferNum = GetCurrentWaferNum(pj, WaferType.M1, out bool m1SlotSelect);
            int iCurrentM2WaferNum = GetCurrentWaferNum(pj, WaferType.M2, out bool m2SlotSelect);
            int iCurrentEDWaferNum = GetCurrentDummyWaferNum(WaferType.ED);

            //if (iNeedMWaferNum > iCurrentMWaferNum)
            //{
            //    reason = "monitor wafer are short.";
            //    return false;
            //}
            //if (iNeedSDWaferNum > iCurrentSDWaferNum)
            //{
            //    reason = "dummy wafer are short.";
            //    return false;
            //}
            //if (iNeedEDWaferNum > iCurrentEDWaferNum)
            //{
            //    reason = "extra dummy wafer are short.";
            //    return false;
            //}

            if (SC.GetStringValue("System.ChargingOrderToBoat") == "FromTopToBottom")
            {
                sideDummySlots.Sort((x, y) => -x.CompareTo(y));//降序
                extraDummySlots.Sort((x, y) => -x.CompareTo(y));//降序
                monitor1Slots.Sort((x, y) => -x.CompareTo(y));//降序
                monitor2Slots.Sort((x, y) => -x.CompareTo(y));//降序
                productSlots.Sort((x, y) => -x.CompareTo(y));//降序
            }
            else
            {
                sideDummySlots.Sort((x, y) => x.CompareTo(y));//升序
                extraDummySlots.Sort((x, y) => x.CompareTo(y));//升序
                monitor1Slots.Sort((x, y) => x.CompareTo(y));//升序
                monitor2Slots.Sort((x, y) => x.CompareTo(y));//升序
                productSlots.Sort((x, y) => x.CompareTo(y));//升序
            }

            pj.SideDummySlots = sideDummySlots;
            pj.ExtraDummySlots = extraDummySlots;
            pj.Monitor1Slots = monitor1Slots;
            pj.Monitor2Slots = monitor2Slots;
            pj.ProductSlots = productSlots;

            bool bM1Short = false;
            bool bM2Short = false;
            if (needCheckMWafer)
            {
                bM1Short = GetRemainWaferNum(pj, WaferType.M1) < 0 && monitor1Slots.Count > 0;
                bM2Short = GetRemainWaferNum(pj, WaferType.M2) < 0 && monitor2Slots.Count > 0;
                if (monitor1Slots.Count > 0 && m1SlotSelect && iCurrentM1WaferNum != monitor1Slots.Count)
                {
                    reason = $"layout recipe M1 wafer number={iCurrentM1WaferNum},  current M1 wafer number={monitor1Slots.Count}, not match";

                    return false;
                }
                if (monitor2Slots.Count > 0 && m2SlotSelect && iCurrentM2WaferNum != monitor2Slots.Count)
                {
                    reason = $"layout recipe M2 wafer number={iCurrentM2WaferNum},  current M2 wafer number={monitor2Slots.Count}, not match";

                    return false;
                }
                if (bM1Short)
                {
                    reason = "M1 wafer are short";
                    return false;
                }

                if (bM2Short)
                {
                    reason = "M2 wafer are short";
                    return false;
                }
            }

            if (!needCheckPWafer)
                return true;

            if (iNeedPWaferNum > iCurrentPWaferNum)
            {
                reason = "layout recipe production wafer number greater than current production wafer number";

                return false;
            }

            if (pSlotSelect && iNeedPWaferNum != iCurrentPWaferNum)
            {
                reason = $"layout recipe production wafer number={iNeedPWaferNum},  current production wafer number={iCurrentPWaferNum}, not match";

                return false;
            }

            //下面charge rule暂时不判断
            return true;
            //if (layoutRecipeDataNormal.ProductPosition.ToLower() == "slot")
            //{
            //    if (iNeedPWaferNum <= iCurrentPWaferNum)
            //    {
            //        return true;
            //    }
            //    else
            //    {
            //        reason = "production wafer insufficiency productPos set to slot";

            //        return false;
            //    }
            //}

            string strWhenCassetteAreShort = layoutRecipeDataNormal.WhenCassetteInBatchAreShort;
            string strWhenPWaferShort = layoutRecipeDataNormal.WhenPWaferShort;
            string strWhenWaferInCassetteAreShort = layoutRecipeDataNormal.WhenWaferInCassetteAreShort;
            string strWhenEDAreShort = layoutRecipeDataNormal.WhenEDAreShort;

            bool bSDMove = layoutRecipeDataNormal.SDRule == "Move";
            bool bBoatSupplyED = layoutRecipeDataNormal.RuleOfSpaceInBoat == "SupplyED" && !bSDMove;

            bool bEDShort = false;

            List<string> adjustedSlot = new List<string>();
            for (int i = 0; i < layoutRecipeDataExpert.Items.Count; i++)
            {
                adjustedSlot.Add(layoutRecipeDataExpert.Items[i]);
            }

            bool bCassetteSuppleED;
            bool bWaferSuppleED;

            if (iNeedPWaferNum > iCurrentPWaferNum)
            {
                // 先判断cassette是否充足，然后再判断P wafers是否充足
                if (iNeedCassetteNum > iCurrentCassetteNum)
                {
                    if (strWhenCassetteAreShort != "LeaveAs" && strWhenCassetteAreShort != "SupplyED")
                    {
                        reason = "cassette in batch are short";

                        return true;
                    }
                    else
                    {
                        bCassetteSuppleED = strWhenCassetteAreShort == "SupplyED";
                        // 重新计算需要的P wafers
                        iNeedPWaferNum = iNeedPWaferNum - (iNeedCassetteNum - iCurrentCassetteNum) * iCassetteSlotCount;
                        // 判断P wafers是否充足
                        if (iNeedPWaferNum > iCurrentPWaferNum)
                        {   // 只有在when P wafer short == leave as 的时候 when wafer in cassette are short 才执行判断
                            if (strWhenPWaferShort == "LeaveAs")
                            {
                                if (strWhenWaferInCassetteAreShort != "LeaveAs" && strWhenWaferInCassetteAreShort != "SupplyED")
                                {
                                    reason = "wafer in cassette are short";

                                    return true;
                                }
                                else
                                {
                                    bWaferSuppleED = strWhenWaferInCassetteAreShort == "SupplyED";
                                    bEDShort = CassetteShortWaferInCassetteShort(pj, ref adjustedSlot, ref iCurrentEDWaferNum, layoutRecipeDataNormal, layoutRecipeDataExpert, bCassetteSuppleED, bWaferSuppleED);
                                }
                            }
                            else
                            {
                                bEDShort = CassetteShortPWaferShort(pj, ref adjustedSlot, ref iCurrentEDWaferNum, layoutRecipeDataNormal, layoutRecipeDataExpert, iCurrentPWaferNum, bCassetteSuppleED);
                            }
                        }
                        else
                        {
                            bWaferSuppleED = false;
                            bEDShort = CassetteShortWaferInCassetteShort(pj, ref adjustedSlot, ref iCurrentEDWaferNum, layoutRecipeDataNormal, layoutRecipeDataExpert, bCassetteSuppleED, bWaferSuppleED);
                        }
                    }
                }
                else
                {   // 只有在when P wafer short == leave as 的时候 when wafer in cassette are short 才执行判断
                    if (strWhenPWaferShort == "LeaveAs")
                    {
                        if (strWhenWaferInCassetteAreShort == "LeaveAs")
                        {

                        }
                        else if (strWhenWaferInCassetteAreShort == "SupplyED")
                        {
                            bCassetteSuppleED = false;
                            bWaferSuppleED = true;
                            bEDShort = CassetteShortWaferInCassetteShort(pj, ref adjustedSlot, ref iCurrentEDWaferNum, layoutRecipeDataNormal, layoutRecipeDataExpert, bCassetteSuppleED, bWaferSuppleED);
                        }
                        else
                        {
                            reason = "wafer in cassette are short";

                            return true;
                        }
                    }
                    else
                    {
                        bWaferSuppleED = false;
                        bEDShort = CassetteShortPWaferShort(pj, ref adjustedSlot, ref iCurrentEDWaferNum, layoutRecipeDataNormal, layoutRecipeDataExpert, iCurrentPWaferNum, bWaferSuppleED);
                    }
                }
            }

            if (bSDMove)
            {
                for (int i = iDummyUpper; i < iSlotCount - iDummyLower; i++)
                {
                    if (adjustedSlot[i] != "")
                    {
                        for (int j = 0; j < iDummyUpper; j++)
                        {
                            adjustedSlot[i - j - 1] = "dummy";
                        }
                        break;
                    }
                }

                for (int i = iSlotCount - iDummyLower - 1; i > iDummyUpper; i--)
                {
                    if (adjustedSlot[i] != "")
                    {
                        for (int j = 0; j < iDummyLower; j++)
                        {
                            adjustedSlot[i + j + 1] = "dummy";
                        }
                        break;
                    }
                }
            }
            else
            {
                if (bBoatSupplyED)
                {
                    for (int i = iDummyUpper; i < iSlotCount - iDummyLower; i++)
                    {
                        if (iCurrentEDWaferNum > 0)
                        {
                            if (adjustedSlot[i] == "")
                            {
                                adjustedSlot[i] = "extradummy";
                                iCurrentEDWaferNum--;
                            }
                        }
                        else
                        {
                            bEDShort = true;
                            break;
                        }
                    }
                }

                for (int i = 0; i < iDummyUpper; i++)
                {
                    adjustedSlot[i] = "dummy";
                }

                for (int i = iSlotCount - iDummyLower; i < iSlotCount; i++)
                {
                    adjustedSlot[i] = "dummy";
                }
            }

            if (bEDShort)
            {
                switch (strWhenEDAreShort)
                {
                    case "WarningAndContinue":
                    case "AbortWhenError":
                        reason = "extradummy wafer are short";
                        break;
                    case "LeaveAs":
                        bEDShort = false;
                        break;
                }
            }

            sideDummySlots.Clear();
            extraDummySlots.Clear();
            monitor1Slots.Clear();
            monitor2Slots.Clear();
            productSlots.Clear();

            for (int i = 0; i < adjustedSlot.Count; i++)
            {
                if (adjustedSlot[i].ToLower() == "dummy" && iCurrentSDWaferNum > 0)
                {
                    sideDummySlots.Add(i);
                    iCurrentSDWaferNum--;
                }
                if (adjustedSlot[i].ToLower() == "extradummy")
                {
                    extraDummySlots.Add(i);
                }
                if (adjustedSlot[i].ToLower() == "monitor1" && iCurrentM1WaferNum > 0)
                {
                    monitor1Slots.Add(i);
                    iCurrentM1WaferNum--;
                }
                if (adjustedSlot[i].ToLower() == "monitor2" && iCurrentM2WaferNum > 0)
                {
                    monitor2Slots.Add(i);
                    iCurrentM2WaferNum--;
                }
                if (adjustedSlot[i].ToLower() == "pd")
                {
                    productSlots.Add(i);
                }
            }

            bM1Short = (GetCurrentWaferNum(pj, WaferType.M1, out m1SlotSelect) < monitor1Slots.Count) || monitor1Slots.Count == 0;
            bM2Short = (GetCurrentWaferNum(pj, WaferType.M2, out m2SlotSelect) < monitor2Slots.Count) || monitor2Slots.Count == 0;
            bool bSDShort = (GetCurrentWaferNum(pj, WaferType.SD, out bool sdSlotSelect) < sideDummySlots.Count) || sideDummySlots.Count == 0;

            if (SC.GetValue<bool>("System.IsLeaveAsAllWaferWhenWaferShort"))
                bEDShort = bM1Short = bM2Short = bSDShort = false;

            waferShort = bEDShort || bM1Short || bM2Short || bSDShort;
            if (bM1Short || bM2Short)
            {
                if (reason == string.Empty)
                {
                    if (bSDShort)
                    {
                        reason = "dummy wafer and monitor wafer are short";
                    }
                    else
                    {
                        reason = "monitor wafer are short";
                    }
                }
                else
                {
                    if (bSDShort)
                    {
                        reason = "extradummy wafer,monitor wafer and dummy wafer are short";
                    }
                    else
                    {
                        reason = "extradummy wafer and dummy wafer are short";
                    }
                }
            }
            else
            {
                if (reason == string.Empty)
                {
                    if (bSDShort)
                    {
                        reason = "dummy wafer are short";
                    }
                }
                else
                {
                    if (bSDShort)
                    {
                        reason = "extradummy wafer and dummy wafer are short";
                    }
                }
            }

            if (SC.GetStringValue("System.ChargingOrderToBoat") == "FromTopToBottom")
            {
                sideDummySlots.Sort((x, y) => -x.CompareTo(y));//降序
                extraDummySlots.Sort((x, y) => -x.CompareTo(y));//降序
                monitor1Slots.Sort((x, y) => -x.CompareTo(y));//降序
                monitor2Slots.Sort((x, y) => -x.CompareTo(y));//降序
                productSlots.Sort((x, y) => -x.CompareTo(y));//降序
            }
            else
            {
                sideDummySlots.Sort((x, y) => x.CompareTo(y));//升序
                extraDummySlots.Sort((x, y) => x.CompareTo(y));//升序
                monitor1Slots.Sort((x, y) => x.CompareTo(y));//升序
                monitor2Slots.Sort((x, y) => x.CompareTo(y));//升序
                productSlots.Sort((x, y) => x.CompareTo(y));//升序
            }

            pj.SideDummySlots = sideDummySlots;
            pj.ExtraDummySlots = extraDummySlots;
            pj.Monitor1Slots = monitor1Slots;
            pj.Monitor2Slots = monitor2Slots;
            pj.ProductSlots = productSlots;

            return true;
        }

        private bool CheckLayoutParameter(RecipeLayoutEntityNormal layoutRecipeDataNormal, out string reason)
        {
            reason = string.Empty;

            if (string.IsNullOrEmpty(layoutRecipeDataNormal.DummyUpperSlot))
            {
                reason = "DummyUpper is null";
                return false;
            }

            if (string.IsNullOrEmpty(layoutRecipeDataNormal.DummyLowerSlot))
            {
                reason = "DummyLower is null";
                return false;
            }

            if (string.IsNullOrEmpty(layoutRecipeDataNormal.CenteringSlotPosition))
            {
                reason = "CenteringSlotPosition is null";
                return false;
            }

            //if (string.IsNullOrEmpty(layoutRecipeDataNormal.Pitch))
            //{
            //    reason = "Pitch is null";
            //    return false;
            //}

            if (string.IsNullOrEmpty(layoutRecipeDataNormal.ProductPosition))
            {
                reason = "ProductPosition is null";
                return false;
            }

            if (string.IsNullOrEmpty(layoutRecipeDataNormal.MonitorPosition))
            {
                reason = "MonitorPosition is null";
                return false;
            }

            if (string.IsNullOrEmpty(layoutRecipeDataNormal.WhenCassetteInBatchAreShort))
            {
                reason = "WhenCassetteInBatchAreShort is null";
                return false;
            }

            if (string.IsNullOrEmpty(layoutRecipeDataNormal.WhenPWaferShort))
            {
                reason = "WhenPWaferShort is null";
                return false;
            }

            if (string.IsNullOrEmpty(layoutRecipeDataNormal.WhenWaferInCassetteAreShort))
            {
                reason = "WhenWaferInCassetteAreShort is null";
                return false;
            }

            if (string.IsNullOrEmpty(layoutRecipeDataNormal.WhenEDAreShort))
            {
                reason = "WhenEDAreShort is null";
                return false;
            }

            if (string.IsNullOrEmpty(layoutRecipeDataNormal.SDRule))
            {
                reason = "SDRule is null";
                return false;
            }

            if (string.IsNullOrEmpty(layoutRecipeDataNormal.RuleOfSpaceInBoat))
            {
                reason = "RuleOfSpaceInBoat is null";
                return false;
            }

            return true;
        }

        private int GetCurrentCassetteNum(ProcessJobInfo pj, WaferType targetWaferType)
        {
            int iCassetteNum = 0;
            var targetCarrierType = (CarrierType)(Enum.Parse(typeof(CarrierType), targetWaferType.ToString()));
            foreach (var target in _lstTotlaStockers)
            {
                if (pj == null || !pj.Stockers.Any(x => x.Item1 == target.Module.ToString()))
                    continue;

                var carrier = CarrierManager.Instance.GetCarrier(target.Module);
                if (!carrier.IsEmpty && carrier.CarrierType == targetCarrierType)
                    iCassetteNum++;
            }

            return iCassetteNum;
        }
        private int GetRemainWaferNum(ProcessJobInfo pj, WaferType targetWaferType)
        {
            int iWaferNum = 0;
            var targetCarrierType = (CarrierType)(Enum.Parse(typeof(CarrierType), targetWaferType.ToString()));
            foreach (var target in _lstTotlaStockers)
            {
                var carrier = CarrierManager.Instance.GetCarrier(target.Module);
                if (carrier == null || carrier.IsEmpty || carrier.CarrierType != targetCarrierType)
                    continue;

                var stockerInfo = pj.Stockers.FirstOrDefault(x => x.Item1 == carrier.InternalModuleName.ToString());
                if (pj == null || !pj.Stockers.Any(x => x.Item1 == target.Module.ToString()) || stockerInfo == null)
                    continue;

                var wafers = WaferManager.Instance.GetWafers(target.Module);
                foreach (var wafer in wafers)
                {
                    if (!wafer.IsEmpty && wafer.WaferType == targetWaferType && (!stockerInfo.Item3.Any() || stockerInfo.Item3.Any(x => x == wafer.OriginSlot)))
                        iWaferNum++;
                }
            }

            if (CarrierManager.Instance.CheckHasCarrier(_carrierRobot.Module, 0))
            {
                var carrier = CarrierManager.Instance.GetCarrier(_carrierRobot.Module);
                var stockerInfo = pj.Stockers.FirstOrDefault(x => x.Item1 == carrier.InternalModuleName.ToString());
                if (carrier.CarrierType == targetCarrierType && pj != null && pj.Stockers.Any(x => x.Item1 == carrier.InternalModuleName.ToString()) && stockerInfo != null)
                {
                    var wafers = WaferManager.Instance.GetWafers(_carrierRobot.Module);
                    foreach (var wafer in wafers)
                    {
                        if (!wafer.IsEmpty && wafer.WaferType == targetWaferType && (!stockerInfo.Item3.Any() || stockerInfo.Item3.Any(x => x == wafer.OriginSlot)))
                            iWaferNum++;
                    }
                }
            }

            foreach (var fims in _lstFIMSs)
            {
                if (!fims.IsOnline)
                    continue;

                var carrier = CarrierManager.Instance.GetCarrier(fims.Module);
                var stockerInfo = pj.Stockers.FirstOrDefault(x => x.Item1 == carrier.InternalModuleName.ToString());
                if (carrier.CarrierType == targetCarrierType && pj != null && pj.Stockers.Any(x => x.Item1 == carrier.InternalModuleName.ToString()) && stockerInfo != null)
                {
                    var wafers = WaferManager.Instance.GetWafers(fims.Module);
                    foreach (var wafer in wafers)
                    {
                        if (!wafer.IsEmpty && wafer.WaferType == targetWaferType && (!stockerInfo.Item3.Any() || stockerInfo.Item3.Any(x => x == wafer.OriginSlot)))
                            iWaferNum++;
                    }
                }
            }

            {
                var wafers = WaferManager.Instance.GetWafers(ModuleName.PM1);
                foreach (var wafer in wafers)
                {
                    if (wafer == null || wafer.IsEmpty || wafer.WaferType != targetWaferType)
                        continue;
                    var stockerInfo = pj.Stockers.FirstOrDefault(x => x.Item1 == ((ModuleName)wafer.OriginStation).ToString());
                    if (stockerInfo != null && pj != null && pj.Stockers.Any(x => x.Item1 == ((ModuleName)wafer.OriginStation).ToString()) && (!stockerInfo.Item3.Any() || stockerInfo.Item3.Any(x => x == wafer.OriginSlot)))
                        iWaferNum++;
                }
            }

            var useCount = 0;
            if (targetWaferType == WaferType.M1)
                useCount = pj.Monitor1Slots.Count;
            if (targetWaferType == WaferType.M2)
                useCount = pj.Monitor2Slots.Count;

            return iWaferNum - useCount;
        }
        private int GetCurrentWaferNum(ProcessJobInfo pj, WaferType targetWaferType, out bool isSlotSelect)
        {
            int iWaferNum = 0;
            isSlotSelect = false;
            var targetCarrierType = (CarrierType)(Enum.Parse(typeof(CarrierType), targetWaferType.ToString()));
            foreach (var target in _lstTotlaStockers)
            {
                var carrier = CarrierManager.Instance.GetCarrier(target.Module);
                if (carrier == null || carrier.IsEmpty || carrier.CarrierType != targetCarrierType)
                    continue;

                if (pj == null || !pj.Stockers.Any(x => x.Item1 == target.Module.ToString()))
                    continue;

                var stockerInfo = pj.Stockers.FirstOrDefault(x => x.Item1 == target.Module.ToString());
                var wafers = WaferManager.Instance.GetWafers(target.Module);
                foreach (var wafer in wafers)
                {
                    if (!stockerInfo.Item3.Any() && !wafer.IsEmpty && wafer.WaferType == targetWaferType)
                        iWaferNum++;
                    if (stockerInfo.Item3.Any(x => x == wafer.OriginSlot) && !wafer.IsEmpty && wafer.WaferType == targetWaferType)
                    {
                        iWaferNum++;
                        isSlotSelect = true;
                    }
                }
            }

            return iWaferNum;
        }

        private int GetCurrentDummyWaferNum(WaferType targetWaferType)
        {
            int iWaferNum = 0;
            var targetCarrierType = (CarrierType)(Enum.Parse(typeof(CarrierType), targetWaferType.ToString()));
            foreach (var module in Singleton<EquipmentManager>.Instance.Modules.Keys)
            {
                if (module == ModuleName.SMIFA || module == ModuleName.SMIFB || module == ModuleName.Boat)
                    continue;

                if (ModuleHelper.IsStocker(module))
                {
                    var carrier = CarrierManager.Instance.GetCarrier(module);
                    if (carrier == null || carrier.IsEmpty || carrier.CarrierType != targetCarrierType)
                        continue;
                }

                var wafers = WaferManager.Instance.GetWafers(module);

                if (wafers == null)
                    continue;

                foreach (var wafer in wafers)
                {
                    if (!wafer.IsEmpty && wafer.WaferType == targetWaferType)
                        iWaferNum++;
                }
            }

            return iWaferNum;
        }

        private bool CassetteShortWaferInCassetteShort(ProcessJobInfo pj, ref List<string> adjustslot, ref int currentEDNum, RecipeLayoutEntityNormal layoutRecipeDataNormal, RecipeLayoutEntityExpert layoutRecipeDataExpert, bool cassetteSupplyED, bool waferSupplyED)
        {
            bool bEDShort = false;
            bool monitorSlot = layoutRecipeDataNormal.MonitorPosition.ToLower() == "slot";

            int slotCount = SC.GetValue<int>($"Boat.SlotCount");
            int cassetteSlotCount = SC.GetValue<int>("System.CassetteSlotCount");

            adjustslot = new List<string>();
            for (int i = 0; i < slotCount; i++)
            {
                adjustslot.Add("");
            }

            if (monitorSlot)
            {
                for (int i = 0; i < slotCount; i++)
                {
                    if (layoutRecipeDataExpert.Items[i].ToLower() == "monitor")
                        adjustslot[i] = "monitor";
                }
            }

            List<SchedulerStocker> tempStockers = new List<SchedulerStocker>();

            foreach (var p in pj.Stockers)
            {
                var module = GetModule(p.Item1) as SchedulerStocker;
                var carrier = CarrierManager.Instance.GetCarrier(module.Module);
                if (!carrier.IsEmpty && carrier.CarrierType.ToString() == "P")
                    tempStockers.Add(module);
            }

            if (SC.GetStringValue("System.ChargingOrderToBoat") == "FromTopToBottom")
                tempStockers.Reverse();

            int.TryParse(layoutRecipeDataNormal.DummyUpperSlot, out int dummyUpper);
            int.TryParse(layoutRecipeDataNormal.DummyLowerSlot, out int dummyLower);
            int.TryParse(layoutRecipeDataNormal.CenteringSlotPosition, out int centeringSlotPos);

            int centeringSlotPosLower;
            int centeringSlotPosUpper;
            if (tempStockers.Count % 2 == 0)
            {
                centeringSlotPosLower = centeringSlotPos + (cassetteSlotCount + 1) * (tempStockers.Count / 2);
                centeringSlotPosUpper = centeringSlotPos - (cassetteSlotCount + 1) * (tempStockers.Count / 2);
            }
            else
            {
                centeringSlotPosLower = centeringSlotPos + (cassetteSlotCount / 2) + 1 + (cassetteSlotCount + 1) * (tempStockers.Count / 2);
                centeringSlotPosUpper = centeringSlotPos - (cassetteSlotCount / 2) - 1 - (cassetteSlotCount + 1) * (tempStockers.Count / 2);
            }

            if (centeringSlotPosLower >= slotCount - dummyLower)
            {
                int iIndex = slotCount - dummyLower - 1;
                if (!monitorSlot)
                {
                    adjustslot[iIndex] = "monitor";
                    iIndex--;
                }
                foreach (var stocker in tempStockers)
                {
                    var wafers = WaferManager.Instance.GetWafers(stocker.Module);
                    if (wafers == null)
                        continue;
                    foreach (var wafer in wafers)
                    {
                        if (!wafer.IsEmpty)
                        {
                            for (int i = iIndex; i >= dummyUpper; i--)
                            {
                                if (adjustslot[i] == "")
                                {
                                    adjustslot[i] = "production";
                                    iIndex = i - 1;
                                    break;
                                }
                            }
                        }
                        else
                        {
                            if (waferSupplyED)
                            {
                                if (currentEDNum > 0)
                                {
                                    for (int i = iIndex; i >= dummyUpper; i--)
                                    {
                                        if (adjustslot[i] == "")
                                        {
                                            adjustslot[i] = "extradummy";
                                            currentEDNum--;
                                            iIndex = i - 1;
                                            break;
                                        }
                                    }
                                }
                                else
                                {
                                    bEDShort = true;
                                }
                            }
                        }
                    }
                    if (!monitorSlot)
                    {
                        adjustslot[iIndex] = "monitor";
                        iIndex--;
                    }
                }
                if (cassetteSupplyED && currentEDNum > 0)
                {
                    for (int i = iIndex; i >= dummyUpper; i--)
                    {
                        if (currentEDNum > 0)
                        {
                            if (adjustslot[i] == "")
                            {
                                adjustslot[i] = "extradummy";
                                currentEDNum--;
                            }
                        }
                        else
                        {
                            bEDShort = true;
                            break;
                        }
                    }
                }
            }
            else if (centeringSlotPosUpper <= dummyUpper + 1)
            {
                int iIndex = dummyUpper;
                if (!monitorSlot)
                {
                    adjustslot[iIndex] = "monitor";
                    iIndex++;
                }
                foreach (var stocker in tempStockers)
                {
                    var wafers = WaferManager.Instance.GetWafers(stocker.Module);
                    if (wafers == null)
                        continue;
                    foreach (var wafer in wafers)
                    {
                        if (!wafer.IsEmpty)
                        {
                            for (int i = iIndex; i < slotCount - dummyLower; i++)
                            {
                                if (adjustslot[i] == "")
                                {
                                    adjustslot[i] = "production";
                                    iIndex = i + 1;
                                    break;
                                }
                            }
                        }
                        else
                        {
                            if (waferSupplyED)
                            {
                                if (currentEDNum > 0)
                                {
                                    for (int i = iIndex; i < slotCount - dummyLower; i++)
                                    {
                                        if (adjustslot[i] == "")
                                        {
                                            adjustslot[i] = "extradummy";
                                            currentEDNum--;
                                            iIndex = i + 1;
                                            break;
                                        }
                                    }
                                }
                                else
                                {
                                    bEDShort = true;
                                }
                            }
                        }
                    }
                    if (!monitorSlot)
                    {
                        adjustslot[iIndex] = "monitor";
                        iIndex++;
                    }
                }
                if (cassetteSupplyED && currentEDNum > 0)
                {
                    for (int i = iIndex; i < slotCount - dummyLower; i++)
                    {
                        if (currentEDNum > 0)
                        {
                            if (adjustslot[i] == "")
                            {
                                adjustslot[i] = "extradummy";
                                currentEDNum--;
                            }
                        }
                        else
                        {
                            bEDShort = true;
                            break;
                        }
                    }
                }
            }
            else
            {
                int iCount = 0;
                int iUpperIndex = centeringSlotPos - 1;
                int iLowerIndex = centeringSlotPos - 1;
                int iUpperCount = 0;
                int iLowerCount = 0;
                bool bCassetteEvenNumber = tempStockers.Count % 2 == 0;
                if (bCassetteEvenNumber && !monitorSlot)
                {
                    adjustslot[centeringSlotPos - 1] = "monitor";
                    iUpperIndex--;
                    iLowerIndex++;
                    iCount++;
                }
                foreach (var stocker in tempStockers)
                {
                    var wafers = WaferManager.Instance.GetWafers(stocker.Module);
                    if (wafers == null)
                        continue;
                    foreach (var wafer in wafers)
                    {
                        if (bCassetteEvenNumber)
                        {
                            if (!monitorSlot && iUpperCount >= cassetteSlotCount && iUpperIndex >= dummyUpper)
                            {
                                adjustslot[iUpperIndex] = "monitor";
                                iUpperIndex--;
                                iUpperCount = 0;
                            }

                            if (!monitorSlot && iLowerCount >= cassetteSlotCount && iLowerIndex < slotCount - dummyLower)
                            {
                                adjustslot[iLowerIndex] = "monitor";
                                iLowerIndex++;
                                iLowerCount = 0;
                            }
                        }
                        else
                        {
                            if (!monitorSlot && iUpperCount + iLowerCount >= cassetteSlotCount && iUpperIndex >= dummyUpper && iLowerIndex < slotCount - dummyLower)
                            {
                                adjustslot[iUpperIndex] = "monitor";
                                iUpperIndex--;
                                iUpperCount = 0;

                                adjustslot[iLowerIndex] = "monitor";
                                iLowerIndex++;
                                iLowerCount = 0;

                                bCassetteEvenNumber = true;
                            }
                        }

                        if (iCount % 2 == 0)
                        {
                            if (!wafer.IsEmpty)
                            {
                                for (int i = iUpperIndex; i >= dummyUpper; i--)
                                {
                                    if (adjustslot[i] == "")
                                    {
                                        adjustslot[i] = "production";
                                        iUpperIndex = i - 1;
                                        iUpperCount++;
                                        iCount++;
                                        break;
                                    }
                                }
                            }
                            else
                            {
                                if (waferSupplyED)
                                {
                                    if (currentEDNum > 0)
                                    {
                                        for (int i = iUpperIndex; i >= dummyUpper; i--)
                                        {
                                            if (adjustslot[i] == "")
                                            {
                                                adjustslot[i] = "extradummy";
                                                currentEDNum--;
                                                iUpperIndex = i - 1;
                                                iUpperCount++;
                                                iCount++;
                                                break;
                                            }
                                        }
                                    }
                                    else
                                    {
                                        bEDShort = true;
                                    }
                                }
                            }
                        }
                        else
                        {
                            if (!wafer.IsEmpty)
                            {
                                for (int i = iLowerIndex; i < slotCount - dummyLower; i++)
                                {
                                    if (adjustslot[i] == "")
                                    {
                                        adjustslot[i] = "production";
                                        iLowerIndex = i + 1;
                                        iLowerCount++;
                                        iCount++;
                                        break;
                                    }
                                }
                            }
                            else
                            {
                                if (waferSupplyED)
                                {
                                    if (currentEDNum > 0)
                                    {
                                        for (int i = iLowerIndex; i < slotCount - dummyLower; i++)
                                        {
                                            if (adjustslot[i] == "")
                                            {
                                                adjustslot[i] = "extradummy";
                                                currentEDNum--;
                                                iLowerIndex = i + 1;
                                                iLowerCount++;
                                                iCount++;
                                                break;
                                            }
                                        }
                                    }
                                    else
                                    {
                                        bEDShort = true;
                                    }
                                }
                            }
                        }
                    }
                    if (!monitorSlot)
                    {
                        if (adjustslot[iUpperIndex + 1] != "M")
                        {
                            adjustslot[iUpperIndex] = "monitor";
                            iUpperIndex--;
                            iCount++;
                        }
                        if (adjustslot[iLowerIndex - 1] != "monitor")
                        {
                            adjustslot[iLowerIndex] = "monitor";
                            iLowerIndex++;
                            iCount++;
                        }
                    }
                }
                if (cassetteSupplyED && currentEDNum > 0)
                {
                    for (int i = 0; i < slotCount - iCount - dummyUpper - dummyLower; i++)
                    {
                        if (currentEDNum <= 0)
                        {
                            bEDShort = true;
                            break;
                        }

                        for (int j = iUpperIndex; j >= dummyUpper; j--)
                        {
                            if (adjustslot[j] == "")
                            {
                                adjustslot[j] = "extradummy";
                                iUpperIndex = j - 1;
                                currentEDNum--;
                                break;
                            }
                        }

                        if (currentEDNum <= 0)
                        {
                            bEDShort = true;
                            break;
                        }

                        for (int j = iLowerIndex; j < slotCount - dummyLower; j++)
                        {
                            if (adjustslot[j] == "")
                            {
                                adjustslot[j] = "extradummy";
                                iLowerIndex = j + 1;
                                currentEDNum--;
                                break;
                            }
                        }
                    }
                }
            }

            return bEDShort;
        }

        private bool CassetteShortPWaferShort(ProcessJobInfo pj, ref List<string> adjustslot, ref int currentEDNum, RecipeLayoutEntityNormal layoutRecipeDataNormal, RecipeLayoutEntityExpert layoutRecipeDataExpert, int currentPWaferNum, bool cassetteSupplyED)
        {
            bool bEDShort = false;
            bool monitorSlot = layoutRecipeDataNormal.MonitorPosition.ToLower() == "slot";

            int slotCount = SC.GetValue<int>($"Boat.SlotCount");
            int cassetteSlotCount = SC.GetValue<int>("System.CassetteSlotCount");

            adjustslot = new List<string>();
            for (int i = 0; i < slotCount; i++)
            {
                adjustslot.Add("");
            }

            if (monitorSlot)
            {
                for (int i = 0; i < slotCount; i++)
                {
                    if (layoutRecipeDataExpert.Items[i].ToLower() == "monitor")
                        adjustslot[i] = "monitor";
                }
            }

            int.TryParse(layoutRecipeDataNormal.DummyUpperSlot, out int dummyUpper);
            int.TryParse(layoutRecipeDataNormal.DummyLowerSlot, out int dummyLower);
            int.TryParse(layoutRecipeDataNormal.CenteringSlotPosition, out int centeringSlotPos);

            List<SchedulerStocker> tempStockers = new List<SchedulerStocker>();

            foreach (var p in pj.Stockers)
            {
                var module = GetModule(p.Item1) as SchedulerStocker;
                var carrier = CarrierManager.Instance.GetCarrier(module.Module);
                if (!carrier.IsEmpty && carrier.CarrierType.ToString() == "P")
                    tempStockers.Add(module);
            }

            if (SC.GetStringValue("System.ChargingOrderToBoat") == "FromTopToBottom")
                tempStockers.Reverse();

            int centeringSlotPosLower;
            int centeringSlotPosUpper;
            if ((currentPWaferNum / 2) % cassetteSlotCount == 0)
            {
                var temp = (int)Math.Ceiling((float)((currentPWaferNum / 2) / cassetteSlotCount));
                centeringSlotPosLower = centeringSlotPos + (cassetteSlotCount + 1) * temp;
                centeringSlotPosUpper = centeringSlotPos - (cassetteSlotCount + 1) * temp;
            }
            else
            {
                var temp = (int)Math.Ceiling((float)((currentPWaferNum / 2) / cassetteSlotCount));
                centeringSlotPosLower = centeringSlotPos + (currentPWaferNum / 2) + 1 + temp;
                centeringSlotPosUpper = centeringSlotPos - (currentPWaferNum / 2) - 1 - temp;
            }
            if (centeringSlotPosLower >= slotCount - dummyLower)
            {
                int iIndex = slotCount - dummyLower - 1;
                if (!monitorSlot)
                {
                    adjustslot[iIndex] = "monitor";
                    iIndex--;
                }
                for (int i = 0; i < tempStockers.Count; i++)
                {
                    if (currentPWaferNum == 0)
                        break;

                    for (int j = 0; j < cassetteSlotCount; j++)
                    {
                        if (currentPWaferNum == 0)
                            break;

                        for (int k = iIndex; k >= dummyUpper; k--)
                        {
                            if (adjustslot[k] == "")
                            {
                                adjustslot[k] = "production";
                                currentPWaferNum--;
                                iIndex = k - 1;
                                break;
                            }
                        }
                    }
                    if (!monitorSlot)
                    {
                        adjustslot[iIndex] = "monitor";
                        iIndex--;
                    }
                }

                if (cassetteSupplyED)
                {
                    for (int i = iIndex; i >= dummyUpper; i--)
                    {
                        if (currentEDNum > 0)
                        {
                            if (adjustslot[i] == "")
                            {
                                adjustslot[i] = "extradummy";
                                currentEDNum--;
                            }
                        }
                        else
                        {
                            bEDShort = true;
                            break;
                        }
                    }
                }
            }
            else if (centeringSlotPosUpper <= dummyUpper + 1)
            {
                int iIndex = dummyUpper;
                if (!monitorSlot)
                {
                    adjustslot[iIndex] = "monitor";
                    iIndex++;
                }
                for (int i = 0; i < tempStockers.Count; i++)
                {
                    if (currentPWaferNum == 0)
                        break;

                    for (int j = 0; j < cassetteSlotCount; j++)
                    {
                        if (currentPWaferNum == 0)
                            break;

                        for (int k = iIndex; k < slotCount - dummyLower; k++)
                        {
                            if (adjustslot[k] == "")
                            {
                                adjustslot[k] = "production";
                                currentPWaferNum--;
                                iIndex = k + 1;
                                break;
                            }
                        }
                    }
                    if (!monitorSlot)
                    {
                        adjustslot[iIndex] = "monitor";
                        iIndex++;
                    }
                }

                if (cassetteSupplyED)
                {
                    for (int i = iIndex; i < slotCount - dummyLower; i++)
                    {
                        if (currentEDNum > 0)
                        {
                            if (adjustslot[i] == "")
                            {
                                adjustslot[i] = "extradummy";
                                currentEDNum--;
                            }
                        }
                        else
                        {
                            bEDShort = true;
                            break;
                        }
                    }
                }
            }
            else
            {
                int iCount = 0;
                int iUpperIndex = centeringSlotPos - 1;
                int iLowerIndex = centeringSlotPos - 1;
                int iUpperCount = 0;
                int iLowerCount = 0;
                bool bCassetteEvenNumber = (currentPWaferNum / 2) % cassetteSlotCount == 0;
                if (bCassetteEvenNumber && !monitorSlot)
                {
                    adjustslot[centeringSlotPos - 1] = "monitor";
                    iUpperIndex--;
                    iLowerIndex++;
                    iCount++;
                }

                for (int i = 0; i < tempStockers.Count; i++)
                {
                    if (currentPWaferNum == 0)
                        break;

                    for (int j = 0; j < cassetteSlotCount; j++)
                    {
                        if (currentPWaferNum == 0)
                            break;

                        if (bCassetteEvenNumber)
                        {
                            if (!monitorSlot && iUpperCount >= cassetteSlotCount && iUpperIndex >= dummyUpper)
                            {
                                adjustslot[iUpperIndex] = "monitor";
                                iUpperIndex--;
                                iUpperCount = 0;
                            }

                            if (!monitorSlot && iLowerCount >= cassetteSlotCount && iLowerIndex < slotCount - dummyLower)
                            {
                                adjustslot[iLowerIndex] = "monitor";
                                iLowerIndex++;
                                iLowerCount = 0;
                            }
                        }
                        else
                        {
                            if (!monitorSlot && iUpperCount + iLowerCount >= cassetteSlotCount && iUpperIndex >= dummyUpper && iLowerIndex < slotCount - dummyLower)
                            {
                                adjustslot[iUpperIndex] = "monitor";
                                iUpperIndex--;
                                iUpperCount = 0;

                                adjustslot[iLowerIndex] = "monitor";
                                iLowerIndex++;
                                iLowerCount = 0;

                                bCassetteEvenNumber = true;
                            }
                        }

                        if (iCount % 2 == 0)
                        {
                            for (int k = iUpperIndex; k >= dummyUpper; k--)
                            {
                                if (adjustslot[k] == "")
                                {
                                    adjustslot[k] = "production";
                                    currentPWaferNum--;
                                    iUpperIndex = k - 1;
                                    iUpperCount++;
                                    iCount++;
                                    break;
                                }
                            }
                        }
                        else
                        {
                            for (int k = iLowerIndex; k < slotCount - dummyLower; k++)
                            {
                                if (adjustslot[k] == "")
                                {
                                    adjustslot[k] = "production";
                                    currentPWaferNum--;
                                    iLowerIndex = k + 1;
                                    iLowerCount++;
                                    iCount++;
                                    break;
                                }
                            }
                        }
                    }
                }
                if (!monitorSlot)
                {
                    if (adjustslot[iUpperIndex + 1] != "monitor")
                    {
                        adjustslot[iUpperIndex] = "monitor";
                        iUpperIndex--;
                        iCount++;
                    }
                    if (adjustslot[iLowerIndex - 1] != "monitor")
                    {
                        adjustslot[iLowerIndex] = "monitor";
                        iLowerIndex++;
                        iCount++;
                    }
                }

                if (cassetteSupplyED)
                {
                    for (int i = 0; i < slotCount - iCount - dummyUpper - dummyLower; i++)
                    {
                        if (currentEDNum <= 0)
                        {
                            bEDShort = true;
                            break;
                        }

                        for (int j = iUpperIndex; j >= dummyUpper; j--)
                        {
                            if (adjustslot[j] == "")
                            {
                                adjustslot[j] = "extradummy";
                                currentEDNum--;
                                iUpperIndex = j - 1;
                                break;
                            }
                        }

                        if (currentEDNum <= 0)
                        {
                            bEDShort = true;
                            break;
                        }

                        for (int j = iLowerIndex; j < slotCount - dummyLower; j++)
                        {
                            if (adjustslot[j] == "")
                            {
                                adjustslot[j] = "extradummy";
                                currentEDNum--;
                                iLowerIndex = j + 1;
                                break;
                            }
                        }
                    }
                }
            }
            return bEDShort;
        }
        #endregion

        #region dummy use 
        private bool CheckDummyWaferUse(ProcessJobInfo pj)
        {
            foreach (var module in Singleton<EquipmentManager>.Instance.Modules.Keys)
            {
                if (!ModuleHelper.IsStocker(module) || !pj.Stockers.Any(x => x.Item1 == module.ToString()))
                    continue;

                var wafers = WaferManager.Instance.GetWafers(module);

                if (wafers == null)
                    continue;

                foreach (var wafer in wafers)
                {
                    if (wafer.IsEmpty)
                        continue;

                    // SD Dummy
                    if (wafer.WaferType == WaferType.SD && SC.GetValue<bool>($"PM1.WaferCycleTime.IsEnableSDWaferUseCountWarning") && wafer.UseCount > SC.GetValue<int>($"PM1.WaferCycleTime.SDCountWarning") && wafer.UseCount < SC.GetValue<int>($"PM1.WaferCycleTime.SDCountAlarm"))
                    {
                        Singleton<EquipmentManager>.Instance.SDWaferTypeUseCountWarning.Set($"more than {SC.GetValue<int>($"PM1.WaferCycleTime.SDCountWarning")} 次");
                    }

                    if (wafer.WaferType == WaferType.SD && SC.GetValue<bool>($"PM1.WaferCycleTime.IsEnableSDWaferUseTimeWarning") && wafer.UseTime / 3600 > SC.GetValue<double>($"PM1.WaferCycleTime.SDTimeWarning") && wafer.UseTime / 3600 < SC.GetValue<double>($"PM1.WaferCycleTime.SDTimeAlarm"))
                    {
                        Singleton<EquipmentManager>.Instance.SDWaferTypeUseTimeWarning.Set($"more than {SC.GetValue<double>($"PM1.WaferCycleTime.SDTimeWarning")} hour");
                    }

                    if (wafer.WaferType == WaferType.SD && SC.GetValue<bool>($"PM1.WaferCycleTime.IsEnableSDWaferThicknessWarning") && wafer.UseThick > SC.GetValue<double>($"PM1.WaferCycleTime.SDThicknessWarning") && wafer.UseThick < SC.GetValue<double>($"PM1.WaferCycleTime.SDThicknessAlarm"))
                    {
                        Singleton<EquipmentManager>.Instance.SDWaferTypeThicknessWarning.Set($"more than {SC.GetValue<double>($"PM1.WaferCycleTime.SDThicknessWarning")} nm");
                    }

                    if (wafer.WaferType == WaferType.SD && SC.GetValue<bool>($"PM1.WaferCycleTime.IsEnableSDWaferUseCountWarning") && wafer.UseCount >= SC.GetValue<int>($"PM1.WaferCycleTime.SDCountAlarm"))
                    {
                        Singleton<EquipmentManager>.Instance.SDWaferTypeUseCountAlarm.Set($"more than {SC.GetValue<int>($"PM1.WaferCycleTime.SDCountAlarm")} 次");

                        return false;
                    }

                    if (wafer.WaferType == WaferType.SD && SC.GetValue<bool>($"PM1.WaferCycleTime.IsEnableSDWaferUseTimeWarning") && wafer.UseTime / 3600 >= SC.GetValue<double>($"PM1.WaferCycleTime.SDTimeAlarm"))
                    {
                        Singleton<EquipmentManager>.Instance.SDWaferTypeUseTimeAlarm.Set($"more than {SC.GetValue<double>($"PM1.WaferCycleTime.SDTimeAlarm")} hour");

                        return false;
                    }

                    if (wafer.WaferType == WaferType.SD && SC.GetValue<bool>($"PM1.WaferCycleTime.IsEnableSDWaferThicknessWarning") && wafer.UseThick >= SC.GetValue<double>($"PM1.WaferCycleTime.SDThicknessAlarm"))
                    {
                        Singleton<EquipmentManager>.Instance.SDWaferTypeThicknessAlarm.Set($"more than {SC.GetValue<double>($"PM1.WaferCycleTime.SDThicknessAlarm")} nm");

                        return false;
                    }

                    // Extra Dummy
                    if (wafer.WaferType == WaferType.ED && SC.GetValue<bool>($"PM1.WaferCycleTime.IsEnableEDWaferUseCountWarning") && wafer.UseCount > SC.GetValue<int>($"PM1.WaferCycleTime.EDCountWarning") && wafer.UseCount < SC.GetValue<int>($"PM1.WaferCycleTime.EDCountAlarm"))
                    {
                        Singleton<EquipmentManager>.Instance.EDWaferTypeUseCountWarning.Set($"more than {SC.GetValue<int>($"PM1.WaferCycleTime.EDCountWarning")} 次");
                    }

                    if (wafer.WaferType == WaferType.ED && SC.GetValue<bool>($"PM1.WaferCycleTime.IsEnableEDWaferUseTimeWarning") && wafer.UseTime / 3600 > SC.GetValue<double>($"PM1.WaferCycleTime.EDTimeWarning") && wafer.UseTime / 3600 < SC.GetValue<double>($"PM1.WaferCycleTime.EDTimeAlarm"))
                    {
                        Singleton<EquipmentManager>.Instance.EDWaferTypeUseTimeWarning.Set($"more than {SC.GetValue<double>($"PM1.WaferCycleTime.EDTimeWarning")} hour");
                    }

                    if (wafer.WaferType == WaferType.ED && SC.GetValue<bool>($"PM1.WaferCycleTime.IsEnableEDWaferThicknessWarning") && wafer.UseThick > SC.GetValue<double>($"PM1.WaferCycleTime.EDThicknessWarning") && wafer.UseThick < SC.GetValue<double>($"PM1.WaferCycleTime.EDThicknessAlarm"))
                    {
                        Singleton<EquipmentManager>.Instance.EDWaferTypeThicknessWarning.Set($"more than {SC.GetValue<double>($"PM1.WaferCycleTime.EDThicknessWarning")} nm");
                    }

                    if (wafer.WaferType == WaferType.ED && SC.GetValue<bool>($"PM1.WaferCycleTime.IsEnableEDWaferUseCountWarning") && wafer.UseCount >= SC.GetValue<int>($"PM1.WaferCycleTime.EDCountAlarm"))
                    {
                        Singleton<EquipmentManager>.Instance.EDWaferTypeUseCountAlarm.Set($"more than {SC.GetValue<int>($"PM1.WaferCycleTime.EDCountAlarm")} 次");

                        return false;
                    }

                    if (wafer.WaferType == WaferType.ED && SC.GetValue<bool>($"PM1.WaferCycleTime.IsEnableEDWaferUseTimeWarning") && wafer.UseTime / 3600 >= SC.GetValue<double>($"PM1.WaferCycleTime.EDTimeAlarm"))
                    {
                        Singleton<EquipmentManager>.Instance.EDWaferTypeUseTimeAlarm.Set($"more than {SC.GetValue<double>($"PM1.WaferCycleTime.EDTimeAlarm")} hour");

                        return false;
                    }

                    if (wafer.WaferType == WaferType.ED && SC.GetValue<bool>($"PM1.WaferCycleTime.IsEnableEDWaferThicknessWarning") && wafer.UseThick >= SC.GetValue<double>($"PM1.WaferCycleTime.EDThicknessAlarm"))
                    {
                        Singleton<EquipmentManager>.Instance.EDWaferTypeThicknessAlarm.Set($"more than {SC.GetValue<double>($"PM1.WaferCycleTime.EDThicknessAlarm")} nm");

                        return false;
                    }
                }
            }

            return true;
        }
        #endregion
        private void MonitorPMTask()
        {
            if (!_carrierRobot.IsAvailable || !_waferRobot.IsAvailable)
                return;

            foreach (var pm in _lstPms)
            {
                var pmModule = Singleton<EquipmentManager>.Instance.Modules[ModuleName.PM1] as PMModule;
                if (pmModule == null)
                    return;

                if (!pm.IsAvailable && !pmModule.IsMainRecipeComplete)
                    continue;

                var wafers = WaferManager.Instance.GetWafers(pm.Module);
                if (wafers == null)
                    continue;

                var pj = _lstProcessJobs.FirstOrDefault(x => x.State == EnumProcessJobState.Processing);
                if (pj == null)
                    return;

                bool isNeedProcess = false;
                bool isProcessed = false;
                foreach (var wafer in wafers)
                {
                    if (wafer == null || wafer.IsEmpty)
                        continue;

                    if (!pj.SlotWafers.Any(x => x.Item1 == (ModuleName)wafer.OriginStation && x.Item2 == wafer.OriginSlot))
                        pj.SlotWafers.Add(Tuple.Create((ModuleName)wafer.OriginStation, wafer.OriginSlot));

                    if (wafer.ProcessJob == null)
                    {
                        wafer.ProcessJob = pj;
                        WaferDataRecorder.SetPjInfo(wafer.InnerId.ToString(), pj.InnerId.ToString());
                    }

                    if (wafer.ProcessState == EnumWaferProcessStatus.Idle)
                    {
                        isNeedProcess = true;
                        isProcessed = false;
                    }
                    if (wafer.ProcessState == EnumWaferProcessStatus.Completed)
                    {
                        isNeedProcess = false;
                        isProcessed = true;
                    }
                }

                if (pj.IsEmptyLayout)
                {
                    if (pj.ProcessingState == EnumProcessingState.Charging)
                    {
                        isNeedProcess = true;
                        isProcessed = false;
                    }
                    else
                    {
                        isNeedProcess = false;
                        if (DateTime.Now - pm.RecipeStartTime > TimeSpan.FromSeconds(5))
                            isProcessed = true;
                    }
                }

                if (isNeedProcess && CheckChargeFinished(pj, pm.Module) && pj.ProcessingState != EnumProcessingState.Processing &&
                    pmModule.CheckStandbyCondition() && pm.IsAvailable)
                {
                    if (SC.GetValue<bool>("System.IsEnableBoatChargeMapping") && !pj.IsMapAfterCharge)
                    {
                        var mappingSlot = GetMappingSlot(ModuleName.PM1);
                        if (_waferRobot.Map(ModuleName.PM1, mappingSlot.Length == 0 ? 0 : Regex.Matches(mappingSlot, "1").Count, mappingSlot, true, false, Hand.Blade1))
                        {
                            pj.IsMapAfterCharge = true;
                            return;
                        }
                    }

                    if (!pj.RobotHomed)
                    {
                        (Singleton<EquipmentManager>.Instance.Modules[ModuleName.WaferRobot] as WaferRobotModule).Home(out _);
                        pj.RobotHomed = true;
                    }

                    pj.ProcessingState = EnumProcessingState.Processing;
                    pmModule?.SetN2PurgeLAO2CheckFirstEnable(false);
                    if (pm.Process((string)pj.ProcessRecipe, false, true))
                        return;
                }

                //工艺结束
                if (isProcessed)
                {
                    if (pj.ProcessingState == EnumProcessingState.Processing)
                    {
                        Singleton<EquipmentManager>.Instance.EndPj();

                        if (pj.CoolTimeSec > 0)
                        {
                            _coolTimer.Restart();
                            pj.ProcessingState = EnumProcessingState.CoolingBeforeDischarge;
                        }
                        else
                        {
                            _coolTimer.Restart();
                            pj.ProcessingState = EnumProcessingState.CoolingBeforeDischarge;
                        }
                        LOG.Write($"Cooling start {pj.CoolTimeSec}");
                    }

                    if (pj.ProcessingState == EnumProcessingState.CoolingBeforeDischarge && (_coolTimer.ElapsedMilliseconds > pj.CoolTimeSec * 1000 || _isCoolingSkip))
                    {
                        _isCoolingSkip = false;
                        var boatModule = Singleton<EquipmentManager>.Instance.Modules[ModuleName.Boat] as BoatModule;
                        if (boatModule != null && !boatModule.IsBoatElevatorAtHomePosition && boatModule.ZAxisDevice.IsReady)
                        {
                            boatModule.ZAxisDevice.SetServoMoveTo("HomePosition", out _);
                        }

                        if (boatModule != null && !boatModule.IsBoatRotationAtHomePosition && boatModule.RAxisDevice.IsReady)
                        {
                            boatModule.RAxisDevice.ServoStop();
                            boatModule.RAxisDevice.SetServoHome();
                        }

                        if (boatModule != null && boatModule.IsBoatElevatorAtHomePosition && boatModule.IsBoatRotationAtHomePosition)
                        {
                            if (SC.GetValue<bool>("System.IsEnableBoatDischargeMapping") && !pj.IsMapBeforeDischarge)
                            {
                                var mappingSlot = GetMappingSlot(ModuleName.PM1);
                                if (_waferRobot.Map(ModuleName.PM1, mappingSlot.Length == 0 ? 0 : Regex.Matches(mappingSlot, "1").Count, mappingSlot, true, false, Hand.Blade1))
                                {
                                    pj.IsMapBeforeDischarge = true;
                                    return;
                                }
                            }

                            _coolTimer.Stop();
                            AdjustDischargeSlots();
                            pj.ProcessingState = EnumProcessingState.Discharging;
                            LOG.Write($"Cooling completed {pj.CoolTimeSec}");
                            if (pj.IsN2PurgeMode &&
                                SC.ContainsItem("PM1.N2Purge.WaferCharge.FOUPN2PurgeEnable") && SC.GetValue<bool>("PM1.N2Purge.WaferCharge.FOUPN2PurgeEnable"))
                            {
                                pmModule?.SetN2PurgeProcess(true);
                                if (SC.ContainsItem("PM1.N2Purge.WaferCharge.TransferRoomN2PurgeEnable") && SC.GetValue<bool>("PM1.N2Purge.WaferCharge.TransferRoomN2PurgeEnable"))
                                    pmModule?.SetN2PurgeLAO2CheckFirstEnable(true);
                            }
                        }
                    }
                }
            }
        }

        #endregion Module task

        #region Logic Check
        private bool CheckChargeFinished(ProcessJobInfo pj, ModuleName module, bool isOnlyCharge = false)
        {
            var wafers = WaferManager.Instance.GetWafers(module);
            if (pj == null || wafers == null)
                return false;

            if (WaferManager.Instance.CheckHasWafer(ModuleName.WaferRobot, 0) ||
                WaferManager.Instance.CheckHasWafer(ModuleName.WaferRobot, 1) ||
                WaferManager.Instance.CheckHasWafer(ModuleName.WaferRobot, 2) ||
                WaferManager.Instance.CheckHasWafer(ModuleName.WaferRobot, 3) ||
                 WaferManager.Instance.CheckHasWafer(ModuleName.WaferRobot, 4))
                return false;

            int edCount = 0;
            int sdCount = 0;
            int m1Count = 0;
            int m2Count = 0;
            int pCount = 0;
            int expertCount = 0;
            foreach (var wafer in wafers)
            {
                if (wafer == null || wafer.IsEmpty)
                    continue;
                switch (wafer.WaferType)
                {
                    case WaferType.M1:
                        m1Count++;
                        break;
                    case WaferType.M2:
                        m2Count++;
                        break;
                    case WaferType.ED:
                        edCount++;
                        break;
                    case WaferType.SD:
                        sdCount++;
                        break;
                    case WaferType.P:
                        pCount++;
                        break;
                    case WaferType.XD:
                    case WaferType.T:
                        expertCount++;
                        break;
                }
            }

            if (expertCount > 0)
            {
                if (pj.XdSlots == null || pj.TSlots == null)
                    return false;

                return expertCount == pj.XdSlots.Count + pj.TSlots.Count;
            }

            if (pj.ExtraDummySlots != null && pj.ExtraDummySlots.Count != edCount && pj.ExtraDummySlots.Count > 0)
                return false;

            if (pj.SideDummySlots != null && pj.SideDummySlots.Count != sdCount && pj.SideDummySlots.Count > 0)
                return false;

            if (pj.Monitor1Slots != null && pj.Monitor1Slots.Count != m1Count)
                return false;

            if (pj.Monitor2Slots != null && pj.Monitor2Slots.Count != m2Count)
                return false;

            foreach (var s in pj.Stockers)
            {
                var carrier = CarrierManager.Instance.GetCarrier(s.Item1, 0);
                if (carrier == null || carrier.CarrierType != CarrierType.P || carrier.IsEmpty)
                    continue;

                var carrierWafers = WaferManager.Instance.GetWafers(ModuleHelper.Converter(s.Item1)).ToList();
                if (carrierWafers == null || (carrierWafers.Any(x => !x.IsEmpty) && pj.ProductSlots.Count > pCount))
                    return false;
            }

            var carrierRobot = CarrierManager.Instance.GetCarrier(_carrierRobot.Module, 0);
            if (carrierRobot != null && !carrierRobot.IsEmpty && isOnlyCharge)
                return false;
            if (carrierRobot != null && !carrierRobot.IsEmpty &&
                carrierRobot.CarrierType == CarrierType.P &&
                pj.Stockers.Any(x => ModuleHelper.Converter(x.Item1) == carrierRobot.InternalModuleName))
            {
                var carrierWafers = WaferManager.Instance.GetWafers(_carrierRobot.Module).ToList();
                if (carrierWafers == null || carrierWafers.Any(x => !x.IsEmpty))
                    return false;
            }

            foreach (var fims in _lstFIMSs)
            {
                var carrier = CarrierManager.Instance.GetCarrier(fims.Module, 0);

                if (carrier != null && !carrier.IsEmpty && isOnlyCharge)
                    return false;

                if (carrier != null && !carrier.IsEmpty &&
                    carrier.CarrierType == CarrierType.P &&
                    pj.Stockers.Any(x => ModuleHelper.Converter(x.Item1) == carrier.InternalModuleName))
                {
                    var carrierWafers = WaferManager.Instance.GetWafers(fims.Module).ToList();
                    if (carrierWafers == null || carrierWafers.Any(x => !x.IsEmpty))
                        return false;
                }
            }

            return true;
        }
        private bool CheckProcessJobReady(ProcessJobInfo pj)
        {
            bool isReady = true;
            if (pj == null)
                return false;

            //Boat Ready检查
            var pmModule = Singleton<EquipmentManager>.Instance.Modules[ModuleName.PM1] as PMModule;
            if (pmModule == null || !pmModule.CheckReadyForTransfer(_waferRobot.Module, Hand.Blade1, 0, EnumTransferType.Place, out string reason))
                return false;

            int pCount = 0;
            int m1Count = 0;
            int m2Count = 0;

            foreach (var s in pj.Stockers)
            {
                var type = SC.GetStringValue($"System.Stocker.{s.Item1}WaferType");
                if (!string.IsNullOrEmpty(type) && (type.Contains("P") || type.Contains("M") || type.Contains("None")))
                {
                    ModuleName module = ModuleHelper.Converter(s.Item1);

                    if (!CarrierManager.Instance.CheckHasCarrier(module, 0))
                        continue;

                    var wafers = WaferManager.Instance.GetWafers(module).ToList();
                    if (wafers == null)
                        continue;

                    foreach (var wafer in wafers)
                    {
                        if (wafer == null || wafer.ProcessState != EnumWaferProcessStatus.Idle)
                            continue;
                        if (wafer.WaferType == WaferType.M1)
                            m1Count++;
                        if (wafer.WaferType == WaferType.M2)
                            m2Count++;
                        if (wafer.WaferType == WaferType.P)
                            pCount++;
                    }
                }
            }

            if (m1Count < pj.Monitor1Slots.Count || m2Count < pj.Monitor2Slots.Count || pCount < pj.ProductSlots.Count)
                return false;

            return isReady;
        }
        protected bool CheckAllWaferReturned(ProcessJobInfo pj, bool checkAllProcessed)
        {
            if (pj.SlotWafers == null || pj.SlotWafers.Count == 0 || 
                pj.SlotWafers.Count != (pj.SideDummySlots != null ? pj.SideDummySlots.Count : 0) + 
                                       (pj.ExtraDummySlots != null ? pj.ExtraDummySlots.Count : 0) + 
                                       (pj.ProductSlots != null ? pj.ProductSlots.Count : 0) + 
                                       (pj.Monitor1Slots != null ? pj.Monitor1Slots.Count : 0) +
                                      ( pj.Monitor2Slots != null ? pj.Monitor2Slots.Count : 0))
                return false;

            var boatWafers = WaferManager.Instance.GetWafers(ModuleName.PM1).ToList();
            for (int i = 0; i < pj.SlotWafers.Count; ++i)
            {
                if (!CarrierManager.Instance.CheckHasCarrier(pj.SlotWafers[i].Item1, 0))
                {
                    var isFOUPUnloaded = true;
                    if (CarrierManager.Instance.CheckHasCarrier(_carrierRobot.Module, 0) && CarrierManager.Instance.GetCarrier(_carrierRobot.Module, 0).InternalModuleName == pj.SlotWafers[i].Item1)
                    {
                        isFOUPUnloaded = false;
                    }

                    foreach (var st in _lstFIMSs)
                    {
                        if (!st.IsOnline || !CarrierManager.Instance.CheckHasCarrier(st.Module, 0))
                            continue;

                        if (CarrierManager.Instance.GetCarrier(st.Module, 0).InternalModuleName == pj.SlotWafers[i].Item1)
                        {
                            isFOUPUnloaded = false;
                            break;
                        }
                    }

                    if (isFOUPUnloaded)
                        continue;//已经unload
                }
                WaferInfo wafer = WaferManager.Instance.GetWafer(pj.SlotWafers[i].Item1, pj.SlotWafers[i].Item2);
                if (wafer.IsEmpty)
                {
                    if (SC.GetValue<bool>("System.IsEnableDummyWaferDischarge"))
                        return false;
                    else
                    {
                        if (boatWafers.Any(x => x.OriginStation == (int)pj.SlotWafers[i].Item1 && x.OriginSlot == pj.SlotWafers[i].Item2 &&
                        !x.IsEmpty &&
                        (x.WaferType == WaferType.SD || x.WaferType == WaferType.ED)))
                            continue;
                        else
                            return false;
                    }
                }
                if (checkAllProcessed && CheckWaferNeedProcess(pj.SlotWafers[i].Item1, pj.SlotWafers[i].Item2))
                    return false;
            }

            if (checkAllProcessed)
            {
                if (boatWafers != null)
                {
                    for (int i = 0; i < boatWafers.Count; i++)
                    {
                        var wafer = boatWafers[i];
                        if (wafer.IsEmpty)
                            continue;
                        if (wafer.ProcessState != EnumWaferProcessStatus.Completed && wafer.ProcessState != EnumWaferProcessStatus.Failed)
                        {
                            return false;
                        }
                    }
                }
            }

            return true;
        }
        public bool CheckWaferNeedProcess(ModuleName waferModule, int waferSlot, ModuleName processIn = ModuleName.System)
        {
            WaferInfo wafer = WaferManager.Instance.GetWafer(waferModule, waferSlot);

            if (wafer.IsEmpty)
                return false;

            if (wafer.ProcessJob == null || wafer.ProcessJob.Sequence == null)
                return false;

            if (wafer.NextSequenceStep >= wafer.ProcessJob.Sequence.Steps.Count)
                return false;

            for (int i = wafer.NextSequenceStep; i < wafer.ProcessJob.Sequence.Steps.Count; i++)
            {
                if (wafer.ProcessJob.Sequence.Steps[i].StepModules
                        .Contains(ModuleName.PM1) || wafer.ProcessJob.Sequence.Steps[i].StepModules
                        .Contains(ModuleName.PM2))
                {
                    if (processIn == ModuleName.System)
                        return true;

                    //if (_mapLpPm[(ModuleName)wafer.OriginStation] != processIn)
                    //    return false;

                    if (wafer.ProcessJob.Sequence.Steps[i].StepModules
                        .Contains(processIn))
                        return true;
                }
            }

            return false;
        }
        private List<Tuple<WaferType, int>> GetWaferTypeSlots()
        {
            List<Tuple<WaferType, int>> slots = new List<Tuple<WaferType, int>>();

            var pj = _lstProcessJobs.FirstOrDefault(x => x.State == EnumProcessJobState.Processing);
            if (pj == null)
                return slots;

            if (pj.SideDummySlots != null && pj.SideDummySlots.Count > 0)
            {
                pj.SideDummySlots.ForEach(x => slots.Add(Tuple.Create(WaferType.SD, x)));
            }

            if (pj.ExtraDummySlots != null && pj.ExtraDummySlots.Count > 0)
            {
                pj.ExtraDummySlots.ForEach(x => slots.Add(Tuple.Create(WaferType.ED, x)));
            }

            if (pj.ProductSlots != null && pj.ProductSlots.Count > 0)
            {
                pj.ProductSlots.ForEach(x => slots.Add(Tuple.Create(WaferType.P, x)));
            }

            if (pj.Monitor1Slots != null && pj.Monitor1Slots.Count > 0)
            {
                pj.Monitor1Slots.ForEach(x => slots.Add(Tuple.Create(WaferType.M1, x)));
            }

            if (pj.Monitor2Slots != null && pj.Monitor2Slots.Count > 0)
            {
                pj.Monitor2Slots.ForEach(x => slots.Add(Tuple.Create(WaferType.M2, x)));
            }

            return slots.OrderByDescending(x => x.Item2).ToList();
        }

        private string GetMappingSlot(ModuleName module)
        {
            string mappingSlot = string.Empty;
            var wafers = WaferManager.Instance.GetWafers(module);
            if (wafers != null)
            {
                for (int i = 0; i < wafers.Length; i++)
                {
                    if (!wafers[i].IsEmpty)
                        mappingSlot += "1";
                    else
                        mappingSlot += "0";
                }
            }
            return mappingSlot;
        }

        private void AdjustDischargeSlots()
        {
            _sideDummySlots.Clear();
            _extraDummySlots.Clear();
            _productSlots.Clear();
            _monitor1Slots.Clear();
            _monitor2Slots.Clear();

            for (int i = 0; i < SC.GetValue<int>($"Boat.SlotCount"); i++)
            {
                if (!WaferManager.Instance.CheckHasWafer(_pm1.Module, i))
                    continue;

                var wafer = WaferManager.Instance.GetWafer(_pm1.Module, i);
                if (wafer == null || wafer.IsEmpty)
                    continue;
                switch (wafer.WaferType)
                {
                    case WaferType.SD:
                        _sideDummySlots.Add(i);
                        break;
                    case WaferType.ED:
                        _extraDummySlots.Add(i);
                        break;
                    case WaferType.P:
                        _productSlots.Add(i);
                        break;
                    case WaferType.M1:
                        _monitor1Slots.Add(i);
                        break;
                    case WaferType.M2:
                        _monitor2Slots.Add(i);
                        break;
                }
            }

            if (SC.GetStringValue("System.ChargingOrderToBoat") == "FromTopToBottom")
            {
                _productSlots.Sort((x, y) => x.CompareTo(y));//升序
                _monitor1Slots.Sort((x, y) => x.CompareTo(y));//升序
                _monitor2Slots.Sort((x, y) => x.CompareTo(y));//升序
                _extraDummySlots.Sort((x, y) => x.CompareTo(y));//升序
                _sideDummySlots.Sort((x, y) => x.CompareTo(y));//升序
            }
            else
            {
                _productSlots.Sort((x, y) => -x.CompareTo(y));//降序
                _monitor1Slots.Sort((x, y) => -x.CompareTo(y));//降序
                _monitor2Slots.Sort((x, y) => -x.CompareTo(y));//降序
                _extraDummySlots.Sort((x, y) => -x.CompareTo(y));//降序
                _sideDummySlots.Sort((x, y) => -x.CompareTo(y));//降序
            }
        }

        public void CreatePj(string processName)
        {
            _dbCallback.PjCreated(processName);
        }

        public void StartPj()
        {
            _dbCallback.PjStart();
        }

        public void EndPj(string endStatus)
        {
            _dbCallback.PjUpdated();
            _dbCallback.PjFinished(endStatus);
        }

        public void PjUpdated()
        {
            _dbCallback.PjUpdated();
        }

        public void PjFinished(string endStatus)
        {
            _dbCallback.PjFinished(endStatus);
        }

        #endregion Logic Check
        public void CoolingSkip()
        {
            _isCoolingSkip = true;
        }
    }
}