#include "stdafx.h"
#include "CEFEM.h"
#include "Log.h"


#define ADD_EQ_PORT_STATUS_STEP(name,ws,index,psd) {							\
	CEqCassetteTransferStateStep* pStep = new CEqCassetteTransferStateStep();	\
	pStep->setName(name);														\
	pStep->setWriteSignalDev(ws);												\
	pStep->setPortStatusDev(psd);												\
	if (addStep(index, pStep) != 0) {											\
		delete pStep;															\
	}																			\
}

namespace SERVO {
	CEFEM::CEFEM() : CEquipment()
	{
		m_pPort[0] = nullptr;
		m_pPort[1] = nullptr;
		m_pPort[2] = nullptr;
		m_pPort[3] = nullptr;
		m_pAligner = nullptr;
		m_pFliper = nullptr;
		m_robotData.status = ROBOT_STATUS::Setup;
		m_robotData.position = ROBOT_POSITION::Port1;
		m_robotData.armState[0] = FALSE;
		m_robotData.armState[1] = FALSE;
		m_pActiveContext = nullptr;
	}

	CEFEM::~CEFEM()
	{
		if (m_pActiveContext != nullptr) {
			m_pActiveContext->release();
			m_pActiveContext = nullptr;
		}
	}

	const char* CEFEM::getClassName()
	{
		static char* pszName = "CEFEM";
		return pszName;
	}

	void CEFEM::setContext(CContext* pContext)
	{
		if (m_pActiveContext != nullptr) {
			m_pActiveContext->release();
		}
		m_pActiveContext = pContext;
		m_pActiveContext->addRef();
	}

	void CEFEM::setPort(unsigned int index, CLoadPort* pPort)
	{
		if (index < 4) {
			m_pPort[index] = pPort;
		}
	}

	void CEFEM::setAligner(CAligner* pAligner)
	{
		m_pAligner = pAligner;
	}

	void CEFEM::setFliper(CFliper* pFliper)
	{
		m_pFliper = pFliper;
	}

	void CEFEM::setArmTray(unsigned int index, CArmTray* pArmTray)
	{
		if (index < 2) {
			m_pArmTray[index] = pArmTray;
		}
	}

	int CEFEM::robotCmd(ROBOT_CMD_PARAM& robotCmdParam, ONWRITED onWritedBlock/* = nullptr*/)
	{
		SERVO::CEqWriteStep* pStep = (SERVO::CEqWriteStep*)getStepWithName(STEP_EFEM_ROBOT_CMD);
		if (pStep == nullptr) {
			return -1;
		}

		LOGI("<CEFEM-%s>×¼±¸·¢ËÍRobotCmd<%d>", m_strName.c_str(), (int)robotCmdParam.rcmd);
		if (onWritedBlock != nullptr) {
			pStep->writeDataEx((const char*)&robotCmdParam, ROBOT_CMD_PARAM_SIZE, onWritedBlock);
		}
		else {
			pStep->writeDataEx((const char*)&robotCmdParam, ROBOT_CMD_PARAM_SIZE, [&](int code) -> int {
				if (code == WOK) {
					LOGI("<CEFEM-%s>·¢ËÍRobotCmd³É¹¦.", m_strName.c_str());
				}
				else {
					LOGI("<CEFEM-%s>·¢ËÍRobotCmdʧ°Ü£¬code:%d", m_strName.c_str(), code);
				}

				return 0;
				});
		}

		return 0;
	}

	int CEFEM::robotCmds(ROBOT_CMD_PARAM* robotCmdParam, unsigned int count, ONWRITED onWritedBlock/* = nullptr*/)
	{
		SERVO::CEqWriteStep* pStep = (SERVO::CEqWriteStep*)getStepWithName(STEP_EFEM_ROBOT_CMD);
		if (pStep == nullptr) {
			return -1;
		}


		// ƽÆ̵½ÄÚ´æÖУ¬Èç¹ûROBOT_CMD_PARAM²»ÊÇ4µÄÕûÊý±¶£¬Ö»ÄÜÒ»¸öÒ»¸ö¸´ÖÆ
		std::string strLog = "×¼±¸·¢ËÍRobotCmds<";
		char szBuffer[ROBOT_CMD_PARAM_SIZE * 4];
		for (int i = 0; i < min(4, count); i++) {
			memcpy(&szBuffer[i * ROBOT_CMD_PARAM_SIZE], (robotCmdParam + i), ROBOT_CMD_PARAM_SIZE);
			strLog += std::to_string((robotCmdParam + i)->rcmd);
			strLog += ",";
			LOGI("%d", (robotCmdParam + 1)->rcmd);
		}
		strLog += ">.";
		LOGI("<CEFEM-%s>%s", m_strName.c_str(), strLog.c_str());


		if (onWritedBlock != nullptr) {
			pStep->writeDataEx(szBuffer, ROBOT_CMD_PARAM_SIZE * min(4, count), onWritedBlock);
		}
		else {
			pStep->writeDataEx(szBuffer, ROBOT_CMD_PARAM_SIZE * min(4, count), [&](int code) -> int {
				if (code == WOK) {
					LOGI("<CEquipment-%s>·¢ËÍRobotCmdS³É¹¦.", m_strName.c_str());
				}
				else {
					LOGI("<CEquipment-%s>·¢ËÍRobotCmdsʧ°Ü£¬code:%d", m_strName.c_str(), code);
				}

				return 0;
			});
		}

		return 0;
	}

	int CEFEM::robotSendHome(int seq, ONWRITED onWritedBlock/* = nullptr*/)
	{
		SERVO::ROBOT_CMD_PARAM cmd = {};
		cmd.sequenceNo = static_cast<short>(seq);
		cmd.rcmd = static_cast<short>(SERVO::RCMD::Robot_home);
		return robotCmd(cmd, onWritedBlock);
	}

	int CEFEM::robotSendTransfer(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot, ONWRITED onWritedBlock/* = nullptr*/)
	{
		SERVO::ROBOT_CMD_PARAM cmd = {};
		cmd.sequenceNo = static_cast<short>(seq);
		cmd.rcmd = static_cast<short>(SERVO::RCMD::Transfer);
		cmd.armNo = static_cast<short>(armNo);
		cmd.getPosition = static_cast<short>(fromPos);
		cmd.getSlotNo = static_cast<short>(fromSlot);
		cmd.putPosition = static_cast<short>(toPos);
		cmd.putSlotNo = static_cast<short>(toSlot);
		return robotCmd(cmd, onWritedBlock);
	}

	int CEFEM::robotSendMoveToGet(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock/* = nullptr*/)
	{
		SERVO::ROBOT_CMD_PARAM cmd = {};
		cmd.sequenceNo = static_cast<short>(seq);
		cmd.rcmd = static_cast<short>(SERVO::RCMD::Move);
		cmd.armNo = static_cast<short>(armNo);
		cmd.getPosition = static_cast<short>(pos);
		cmd.getSlotNo = static_cast<short>(slot);
		cmd.subCmd = 1;
		return robotCmd(cmd, onWritedBlock);
	}

	int CEFEM::robotSendMoveToPut(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock/* = nullptr*/)
	{
		SERVO::ROBOT_CMD_PARAM cmd = {};
		cmd.sequenceNo = static_cast<short>(seq);
		cmd.rcmd = static_cast<short>(SERVO::RCMD::Move);
		cmd.armNo = static_cast<short>(armNo);
		cmd.putPosition = static_cast<short>(pos);
		cmd.putSlotNo = static_cast<short>(slot);
		cmd.subCmd = 2;
		return robotCmd(cmd, onWritedBlock);
	}

	int CEFEM::robotSendGet(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock/* = nullptr*/)
	{
		SERVO::ROBOT_CMD_PARAM cmd = {};
		cmd.sequenceNo = static_cast<short>(seq);
		cmd.rcmd = static_cast<short>(SERVO::RCMD::Get);
		cmd.armNo = static_cast<short>(armNo);
		cmd.getPosition = static_cast<short>(pos);
		cmd.getSlotNo = static_cast<short>(slot);
		return robotCmd(cmd, onWritedBlock);
	}

	int CEFEM::robotSendPut(int seq, int armNo, int pos, int slot, ONWRITED onWritedBlock/* = nullptr*/)
	{
		SERVO::ROBOT_CMD_PARAM cmd = {};
		cmd.sequenceNo = static_cast<short>(seq);
		cmd.rcmd = static_cast<short>(SERVO::RCMD::Put);
		cmd.armNo = static_cast<short>(armNo);
		cmd.putPosition = static_cast<short>(pos);
		cmd.putSlotNo = static_cast<short>(slot);
		return robotCmd(cmd, onWritedBlock);
	}

	int CEFEM::robotSendExchange(int seq, int armNo, int pos, int getSlot, int putSlot, ONWRITED onWritedBlock/* = nullptr*/)
	{
		SERVO::ROBOT_CMD_PARAM cmd = {};
		cmd.sequenceNo = static_cast<short>(seq);
		cmd.rcmd = static_cast<short>(SERVO::RCMD::One_Action_Exchange);
		cmd.armNo = static_cast<short>(armNo);
		cmd.getPosition = static_cast<short>(pos);
		cmd.putPosition = static_cast<short>(pos);
		cmd.getSlotNo = static_cast<short>(getSlot);
		cmd.putSlotNo = static_cast<short>(putSlot);
		return robotCmd(cmd, onWritedBlock);
	}

	int CEFEM::robotSendCommandClear(int seq, ONWRITED onWritedBlock/* = nullptr*/)
	{
		SERVO::ROBOT_CMD_PARAM cmd = {};
		cmd.sequenceNo = static_cast<short>(seq);
		cmd.rcmd = static_cast<short>(SERVO::RCMD::Command_Clear);
		return robotCmd(cmd, onWritedBlock);
	}

	int CEFEM::robotSendBatchGet(int seq, int getPos, int getSlot, ONWRITED onWritedBlock/* = nullptr*/)
	{
		SERVO::ROBOT_CMD_PARAM cmd = {};
		cmd.sequenceNo = static_cast<short>(seq);
		cmd.rcmd = static_cast<short>(SERVO::RCMD::Batch_get);
		cmd.armNo = ARM_ALL;
		cmd.getPosition = static_cast<short>(getPos);
		cmd.getSlotNo = static_cast<short>(getSlot);
		return robotCmd(cmd, onWritedBlock);
	}

	int CEFEM::robotSendBatchPut(int seq, int putPos, int putSlot, ONWRITED onWritedBlock/* = nullptr*/)
	{
		SERVO::ROBOT_CMD_PARAM cmd = {};
		cmd.sequenceNo = static_cast<short>(seq);
		cmd.rcmd = static_cast<short>(SERVO::RCMD::Batch_put);
		cmd.armNo = ARM_ALL;
		cmd.putPosition = static_cast<short>(putPos);
		cmd.putSlotNo = static_cast<short>(putSlot);
		return robotCmd(cmd, onWritedBlock);
	}

	int CEFEM::robotSendMoveToGetAndHome(int seq, int armNo, int getPos, int getSlot, ONWRITED onWritedBlock/* = nullptr*/)
	{
		SERVO::ROBOT_CMD_PARAM cmds[2] = {};

		// Move to Get
		cmds[0].sequenceNo = static_cast<short>(seq);
		cmds[0].rcmd = static_cast<short>(SERVO::RCMD::Move);
		cmds[0].armNo = static_cast<short>(armNo);
		cmds[0].getPosition = static_cast<short>(getPos);
		cmds[0].getSlotNo = static_cast<short>(getSlot);
		cmds[0].subCmd = 1;

		// Home
		cmds[1].sequenceNo = static_cast<short>(seq + 1);
		cmds[1].rcmd = static_cast<short>(SERVO::RCMD::Robot_home);

		return robotCmds(cmds, 2, onWritedBlock);
	}

	int CEFEM::robotSendMoveToPutAndHome(int seq, int armNo, int putPos, int putSlot, ONWRITED onWritedBlock/* = nullptr*/)
	{
		SERVO::ROBOT_CMD_PARAM cmds[2] = {};

		// Move to Put
		cmds[0].sequenceNo = static_cast<short>(seq);
		cmds[0].rcmd = static_cast<short>(SERVO::RCMD::Move);
		cmds[0].armNo = static_cast<short>(armNo);
		cmds[0].putPosition = static_cast<short>(putPos);
		cmds[0].putSlotNo = static_cast<short>(putSlot);
		cmds[0].subCmd = 2;

		// Home
		cmds[1].sequenceNo = static_cast<short>(seq + 1);
		cmds[1].rcmd = static_cast<short>(SERVO::RCMD::Robot_home);

		return robotCmds(cmds, 2, onWritedBlock);
	}

	int CEFEM::robotSendTransferAndHome(int seq, int armNo, int fromPos, int toPos, int fromSlot, int toSlot, ONWRITED onWritedBlock/* = nullptr*/)
	{
		SERVO::ROBOT_CMD_PARAM cmds[2] = {};

		// Transfer
		cmds[0].sequenceNo = static_cast<short>(seq);
		cmds[0].rcmd = static_cast<short>(SERVO::RCMD::Transfer);
		cmds[0].armNo = static_cast<short>(armNo);
		cmds[0].getPosition = static_cast<short>(fromPos);
		cmds[0].getSlotNo = static_cast<short>(fromSlot);
		cmds[0].putPosition = static_cast<short>(toPos);
		cmds[0].putSlotNo = static_cast<short>(toSlot);

		// Home
		cmds[1].sequenceNo = static_cast<short>(seq + 1);
		cmds[1].rcmd = static_cast<short>(SERVO::RCMD::Robot_home);

		return robotCmds(cmds, 2, onWritedBlock);
	}

	int CEFEM::robotSendGetAndPut(int seq, int armNo, int getPos, int getSlot, int putPos, int putSlot, ONWRITED onWritedBlock/* = nullptr*/)
	{
		SERVO::ROBOT_CMD_PARAM cmds[2] = {};

		cmds[0].sequenceNo = static_cast<short>(seq);
		cmds[0].rcmd = static_cast<short>(SERVO::RCMD::Get);
		cmds[0].armNo = static_cast<short>(armNo);
		cmds[0].getPosition = static_cast<short>(getPos);
		cmds[0].getSlotNo = static_cast<short>(getSlot);

		cmds[1].sequenceNo = static_cast<short>(seq + 1);
		cmds[1].rcmd = static_cast<short>(SERVO::RCMD::Put);
		cmds[1].armNo = static_cast<short>(armNo);
		cmds[1].putPosition = static_cast<short>(putPos);
		cmds[1].putSlotNo = static_cast<short>(putSlot);

		return robotCmds(cmds, 2, onWritedBlock);
	}

	int CEFEM::robotSendPutAndHome(int seq, int armNo, int putPos, int putSlot, ONWRITED onWritedBlock/* = nullptr*/)
	{
		SERVO::ROBOT_CMD_PARAM cmds[2] = {};

		// Put
		cmds[0].sequenceNo = static_cast<short>(seq);
		cmds[0].rcmd = static_cast<short>(SERVO::RCMD::Put);
		cmds[0].armNo = static_cast<short>(armNo);
		cmds[0].putPosition = static_cast<short>(putPos);
		cmds[0].putSlotNo = static_cast<short>(putSlot);

		// Home
		cmds[1].sequenceNo = static_cast<short>(seq + 1);
		cmds[1].rcmd = static_cast<short>(SERVO::RCMD::Robot_home);

		return robotCmds(cmds, 2, onWritedBlock);
	}

	RMDATA& CEFEM::getRobotMonitoringData()
	{
		return m_robotData;
	}

	void CEFEM::init()
	{
		CEquipment::init();
	}

	void CEFEM::term()
	{
		CEquipment::term();
	}

	// ±ØÐëҪʵÏÖµÄÐ麯Êý£¬Ôڴ˳õʼ»¯PinÁбí
	void CEFEM::initPins()
	{
		// ¼ÓÈëPin³õʼ»¯´úÂë
		LOGI("<CEFEM>initPins");
	}

	void CEFEM::initSteps()
	{
		CEquipment::initSteps();


		{
			// Eq mode
			CEqModeStep* pStep = new CEqModeStep();
			pStep->setName(STEP_MODE);
			pStep->setWriteSignalDev(0x40);
			pStep->setModeDev(0x5d7d);
			if (addStep(STEP_ID_EQMODE_CHANGED, pStep) != 0) {
				delete pStep;
			}
		}

		{
			// Eq Status
			CEqStatusStep* pStep = new CEqStatusStep();
			pStep->setName(STEP_STATUS);
			pStep->setWriteSignalDev(0x41);
			pStep->setStatusDev(0x5d59);
			if (addStep(STEP_ID_EQSTATUS_CHANGED, pStep) != 0) {
				delete pStep;
			}
		}

		{
			// Eq Alarm
			static char* pszName[] = { STEP_ALARM_BLOCK1, STEP_ALARM_BLOCK2, STEP_ALARM_BLOCK3, STEP_ALARM_BLOCK4, STEP_ALARM_BLOCK5 };
			static int dev[] = { 0x5f0e , 0x5f3b, 0x5f68, 0x5f95, 0x5fc2 };
			static int writeSignalDev[] = { 0x42, 0x43, 0x44, 0x45, 0x46 };
			static int addr[] = { STEP_ID_EQALARM1, STEP_ID_EQALARM2, STEP_ID_EQALARM3, STEP_ID_EQALARM4, STEP_ID_EQALARM5 };

			for (int i = 0; i < 5; i++) {
				CEqAlarmStep* pStep = new CEqAlarmStep();
				pStep->setName(pszName[i]);
				pStep->setWriteSignalDev(writeSignalDev[i]);
				pStep->setAlarmDev(dev[i]);
				if (addStep(addr[i], pStep) != 0) {
					delete pStep;
				}
			}

		}

		{
			// eq process
			CEqProcessStep* pStep = new CEqProcessStep();
			pStep->setName(STEP_PROCESS);
			pStep->setWriteSignalDev(0x47);
			pStep->setProcessDev(0x6b55);
			if (addStep(STEP_ID_PROCESS_DATA_REPORT, pStep) != 0) {
				delete pStep;
			}
		}

		{
			// eq cim mode change
			CEqCimModeChangeStep* pStep = new CEqCimModeChangeStep();
			pStep->setName(STEP_CIM_MODE_CHANGE);
			pStep->setWriteSignalDev(0x60);
			pStep->setCimModeDev(0x15);
			if (addStep(STEP_ID_CIMMODE_CHANGED_CMD_REPLY, pStep) != 0) {
				delete pStep;
			}
		}

		{
			// eq cim message
			CEqCimMessageCmdStep* pStep = new CEqCimMessageCmdStep();
			pStep->setName(STEP_CIM_MESSAGE_CMD);
			pStep->setWriteSignalDev(0x61);
			pStep->setCimMessageDev(0x0);
			if (addStep(STEP_ID_CIM_MSG_SET_CMD_REPLY, pStep) != 0) {
				delete pStep;
			}
		}


		{
			// CIM Message Confirm
			CEqReadIntStep* pStep = new CEqReadIntStep(__INT32, 0x5d80);
			pStep->setName(STEP_EQ_CIM_MESSAGE_CONFIRM);
			pStep->setWriteSignalDev(0x49);
			if (addStep(STEP_ID_CIM_MSG_CONFIRM_REPORT, pStep) != 0) {
				delete pStep;
			}
		}

		{
			// VCR Event Report
			// »úÆ÷Éϱ¨É¨Âë½á¹û£¬É¨ÂëÆ÷Ô¤¼Æ°²×°ÔÚѲ±ß¼ì»úÆ÷ÉÏ
			CEqReadStep* pStep = new CEqReadStep(0x5fef, 15 * 2,
				[&](void* pFrom, int code, const char* pszData, size_t size) -> int {
					if (code == ROK && pszData != nullptr && size > 0) {
						decodeVCREventReport((CStep*)pFrom, pszData, size);
					}
					return -1;
				});
			pStep->setName(STEP_EQ_VCR1_EVENT_REPORT);
			pStep->setProp("Port", (void*)1);
			pStep->setWriteSignalDev(0x4a);
			pStep->setReturnDev(0x91e);
			if (addStep(STEP_ID_VCR1_EVENT_REPORT, pStep) != 0) {
				delete pStep;
			}
		}

		{
			// eq cim message clear
			CEqCimMessageClearStep* pStep = new CEqCimMessageClearStep();
			pStep->setName(STEP_CIM_MESSAGE_CLEAR);
			pStep->setWriteSignalDev(0x62);
			pStep->setClearCimMessageDev(0x13);
			if (addStep(STEP_ID_CIM_MSG_CLEAR_CMD_REPLY, pStep) != 0) {
				delete pStep;
			}
		}

		{
			// datetime set cmd
			CEqDateTimeSetCmdStep* pStep = new CEqDateTimeSetCmdStep();
			pStep->setName(STEP_DATETIME_SET_CMD);
			pStep->setWriteSignalDev(0x63);
			pStep->setDateTimeDev(0x16);
			if (addStep(STEP_ID_DATETIME_SET_CMD_REPLY, pStep) != 0) {
				delete pStep;
			}
		}

		{
			// vcr enable
			CEqVCREnableStep* pStep = new CEqVCREnableStep();
			pStep->setName(STEP_EQ_VCR_ENABLE);
			pStep->setWriteSignalDev(0x64);
			pStep->setEqVCRModeDev(0x1F);
			if (addStep(STEP_ID_VCR_ENABLE_CMD_REPLY, pStep) != 0) {
				delete pStep;
			}
		}

		{
			// eq mode change
			CEqModeChangeStep* pStep = new CEqModeChangeStep();
			pStep->setName(STEP_EQ_MODE_CHANGE);
			pStep->setWriteSignalDev(0x40);
			pStep->setEqModeDev(0x1E);
			if (addStep(STEP_ID_EQMODE_CHANGE_CMD_REPLY, pStep) != 0) {
				delete pStep;
			}
		}

		{
			// current recipe change
			CEqCurrentRecipeChangeStep* pStep = new CEqCurrentRecipeChangeStep();
			pStep->setName(STEP_EQ_RURRENT_RECIPE_CHANGE);
			pStep->setWriteSignalDev(0x48);
			pStep->setDataDev(0x6850);
			if (addStep(STEP_ID_CURRENT_RECIPE_CHANGE_REPORT, pStep) != 0) {
				delete pStep;
			}
		}

		{
			// ÇëÇóÖ÷Åä·½ÁбíµÄstep
			CEqWriteStep* pStep = new CEqWriteStep();
			pStep->setName(STEP_EQ_MASTER_RECIPE_LIST_REQ);
			pStep->setWriteSignalDev(0x66);
			pStep->setDataDev(0x90a);
			if (addStep(STEP_ID_MASTER_RECIPE_LIST_CMD_REPLY, pStep) != 0) {
				delete pStep;
			}
		}

		{
			// master recipe list report
			CEqReadStep* pStep = new CEqReadStep(0x6955, 255 * 2,
				[&](void* pFrom, int code, const char* pszData, size_t size) -> int {
					CEqReadStep* pTmpStep = (CEqReadStep*)pFrom;
					short ret = MRLRC_OK;
					if (code == ROK && pszData != nullptr && size > 0) {
						// ´Ë´¦½âÊÍÅä·½Êý¾Ý
						ret = decodeRecipeListReport(pszData, size);
					}
					pTmpStep->setReturnCode(ret);
					return -1;
				});
			pStep->setName(STEP_EQ_MASTER_RECIPE_LIST);
			pStep->setWriteSignalDev(0x4b);
			pStep->setReturnDev(0x91d);
			if (addStep(STEP_ID_MASTER_RECIPE_LIST_REPORT, pStep) != 0) {
				delete pStep;
			}
		}

		// ʹÓÃCEqReadStepÌæ»»CEqJobEventStep
		{
			// Received Job Report Upstream #1~9
			char szBuffer[256];
			for (int i = 0; i < 8; i++) {
				CEqReadStep* pStep = new CEqReadStep(0x4c90 + 320 * i, 320 * 2,
					[&](void* pFrom, int code, const char* pszData, size_t size) -> int {
						if (code == ROK && pszData != nullptr && size > 0) {
							int port = (int)(__int64)((CEqReadStep*)pFrom)->getProp("Port");
							if (port > 0) {
								decodeReceivedJobReport((CStep*)pFrom, port, pszData, size);
							}
						}
						return -1;
					});
				sprintf_s(szBuffer, "%s%d", STEP_EQ_RECEIVED_JOB_UPSn, i + 1);
				pStep->setName(szBuffer);
				pStep->setProp("Port", (void*)(__int64)(i + 1));
				pStep->setWriteSignalDev(0x0 + i);
				if (addStep(STEP_ID_RECIVE_JOB_UPS1 + i, pStep) != 0) {
					delete pStep;
				}
			}
		}
		{
			// Sent Out Job Report Downstream #1~9
			char szBuffer[256];
			for (int i = 0; i < 8; i++) {
				CEqReadStep* pStep = new CEqReadStep(0x4000 + 320 * i, 320 * 2,
					[&](void* pFrom, int code, const char* pszData, size_t size) -> int {
						if (code == ROK && pszData != nullptr && size > 0) {
							int port = (int)(__int64)((CEqReadStep*)pFrom)->getProp("Port");
							if (port > 0) {
								decodeSentOutJobReport((CStep*)pFrom, port, pszData, size);
							}
						}
						return -1;
					});
				sprintf_s(szBuffer, "%s%d", STEP_EQ_SENT_OUT_JOB_DOWNSn, i + 1);
				pStep->setName(szBuffer);
				pStep->setProp("Port", (void*)(__int64)(i + 1));
				pStep->setWriteSignalDev(0x00a + i);
				if (addStep(STEP_ID_SENT_OUT_JOB_DOWNS1 + i, pStep) != 0) {
					delete pStep;
				}
			}
		}

		{
			// Fetched Out Job Report #1~15
			char szBuffer[256];
			for (int i = 0; i < 8; i++) {
				CEqReadStep* pStep = new CEqReadStep(0x5c31 + 18 * i, 18 * 2,
					[&](void* pFrom, int code, const char* pszData, size_t size) -> int {
						if (code == ROK && pszData != nullptr && size > 0) {
							int port = (int)(__int64)((CEqReadStep*)pFrom)->getProp("Port");
							if (port > 0) {
								decodeFetchedOutJobReport((CStep*)pFrom, port, pszData, size);
							}
						}
						return -1;
					});
				sprintf_s(szBuffer, "%s%d", STEP_EQ_FETCHED_OUT_JOBn, i + 1);
				pStep->setName(szBuffer);
				pStep->setProp("Port", (void*)(__int64)(i + 1));
				pStep->setWriteSignalDev(0x023 + i);
				if (addStep(STEP_ID_FETCHED_OUT_JOB_REPORT1 + i, pStep) != 0) {
					delete pStep;
				}
			}
		}

		{
			// Stored Job Report #1~15
			char szBuffer[256];
			for (int i = 0; i < 8; i++) {
				CEqReadStep* pStep = new CEqReadStep(0x5b23 + 18 * i, 18 * 2,
					[&](void* pFrom, int code, const char* pszData, size_t size) -> int {
						if (code == ROK && pszData != nullptr && size > 0) {
							int port = (int)(__int64)((CEqReadStep*)pFrom)->getProp("Port");
							if (port > 0) {
								decodeStoredJobReport((CStep*)pFrom, port, pszData, size);
							}
						}
						return -1;
					});
				sprintf_s(szBuffer, "%s%d", STEP_EQ_STORED_JOBn, i + 1);
				pStep->setName(szBuffer);
				pStep->setProp("Port", (void*)(__int64)(i + 1));
				pStep->setWriteSignalDev(0x014 + i);
				if (addStep(STEP_ID_STORE_JOB_REPORT1 + i, pStep) != 0) {
					delete pStep;
				}
			}
		}


		{
			// Dispatching Mode Change Command
			CEqWriteStep* pStep = new CEqWriteStep();
			pStep->setName(STEP_EQ_DISPATCHINT_MODE_CHANGE);
			pStep->setWriteSignalDev(0x071);
			pStep->setDataDev(0x5c6);
			if (addStep(STEP_ID_DISPATCHING_MODE_CHANGE_REPLY, pStep) != 0) {
				delete pStep;
			}
		}

		{
			// Robot CMD
			CEqWriteStep* pStep = new CEqWriteStep();
			pStep->setName(STEP_EFEM_ROBOT_CMD);
			pStep->setWriteSignalDev(0x14D);
			pStep->setDataDev(0x5c7);
			if (addStep(STEP_ID_ROBOT_CMD_REPLY, pStep) != 0) {
				delete pStep;
			}
		}

		{
			// Indexer Operation Mode Change
			CEqWriteStep* pStep = new CEqWriteStep();
			pStep->setName(STEP_EQ_IN_OP_MODE_CHANGE);
			pStep->setWriteSignalDev(0x070);
			pStep->setDataDev(0x023);
			pStep->setRetDataDev(0x600e, 2);
			if (addStep(STEP_ID_IN_OP_CMD_REPLY, pStep) != 0) {
				delete pStep;
			}
		}

		{
			// FAC Data Report
			CEqReadStep* pStep = new CEqReadStep(0x6301, 108 * 2,
				[&](void* pFrom, int code, const char* pszData, size_t size) -> int {
					if (code == ROK && pszData != nullptr && size > 0) {
						decodeFacDataReport((CStep*)pFrom, pszData, size);
					}
					return -1;
				});
			pStep->setName(STEP_EQ_FAC_DATA_REPORT);
			pStep->setProp("Port", (void*)1);
			pStep->setWriteSignalDev(0x04d);
			if (addStep(STEP_ID_FAC_DATA_REPORT, pStep) != 0) {
				delete pStep;
			}
		}

		{
			// JOB Data Request
			CEqReadStep* pStep = new CEqReadStep(0x0, 0,
				[&](void* pFrom, int code, const char* pszData, size_t size) -> int {
					if (code == ROK /* && pszData != nullptr && size > 0*/) {
						// ÓÉÓÚEFEMûÓз¢ËͲÎÊýµ½master, ÎÒÃÇÖ»ÐèÒª·µ»ØÊý¾Ý
						// Cassette Sequence NoºÍJob Sequence No¸ù¾ÝÉÏÒ»´Îµ÷ÊÔ»º´æ¶øÀ´
						// decodeJobDataRequest((CStep*)pFrom, pszData, size);

						// »ñÈ¡Êý¾Ýºó·µ»Ø¸øEFEM
						// Job DataS				320W
						// ACK						1W
						// Reserved					15W
						short ack = (short)JobDataRequestAck::NG;		// ²»´æÔÚjobData
						char szBuffer[1024] = { 0 };
						if (m_pActiveContext != nullptr) {
							CJobDataS* pJobDataS = ((CGlass*)m_pActiveContext)->getJobDataS();
							if (pJobDataS != nullptr) {
								pJobDataS->serialize(szBuffer, 1024);
								ack = (short)JobDataRequestAck::OK;
							}
						}
						memcpy(&szBuffer[320 * 2], &ack, sizeof(short));
						((CEqReadStep*)pFrom)->setReturnData(szBuffer, 336 * 2);
					}
					return -1;
				});
			pStep->setName(STEP_EFEM_PANEL_DATA_REQUEST);
			pStep->setProp("Port", (void*)1);
			pStep->setWriteSignalDev(0x35);
			pStep->setReturnDev(0x5EA);
			if (addStep(STEP_ID_JOB_DATA_REQUEST, pStep) != 0) {
				delete pStep;
			}
		}
	}

	// ±ØÐëҪʵÏÖµÄÐ麯Êý£¬Ôڴ˳õʼ»¯SlotÐÅÏ¢
	void CEFEM::initSlots()
	{

	}

	void CEFEM::onTimer(UINT nTimerid)
	{
		CEquipment::onTimer(nTimerid);
	}

	void CEFEM::serialize(CArchive& ar)
	{
		CEquipment::serialize(ar);
	}

	void CEFEM::getAttributeVector(CAttributeVector& attrubutes)
	{
		__super::getAttributeVector(attrubutes);
	}

	int CEFEM::recvIntent(CPin* pPin, CIntent* pIntent)
	{
		return __super::recvIntent(pPin, pIntent);
	}

	void CEFEM::onReceiveLBData(const char* pszData, size_t size)
	{
		__super::onReceiveLBData(pszData, size);

		// ½âÊ͵õ½Robot״̬
		// µØÖ·´Ó(0x3500 - 0x3000)¿ªÊ¼
		int index = 0x500;
		for (int i = 0; i < 6; i++) {
			if (isBitOn(pszData, size, index + i)) {
				m_robotData.status = (ROBOT_STATUS)i;
				break;
			}
		}
		index += 8;

		for (int i = 0; i < 11; i++) {
			if (isBitOn(pszData, size, index + i)) {
				m_robotData.position = (ROBOT_POSITION)i;
				break;
			}
		}
		index += 16;
		m_robotData.armState[0] = isBitOn(pszData, size, index);
		m_robotData.armState[1] = isBitOn(pszData, size, index + 1);


		for (unsigned int i = 0; i < 4; i++) {
			if (m_pPort[i] != nullptr) {
				m_pPort[i]->onReceiveLBData(pszData, size);
			}
		}
		m_pAligner->onReceiveLBData(pszData, size);


		// ¸üÐÂÐźŵ½LoadPort, Robot, Aligner, Fliper
		m_pPort[0]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[0][0]);
		m_pPort[1]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[1][0]);
		m_pPort[2]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[2][0]);
		m_pPort[3]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[3][0]);
		m_pArmTray[0]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[4][0]);
		m_pArmTray[1]->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[5][0]);
		m_pAligner->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[6][0]);
		m_pFliper->setLinkSignalUpstreamBlock(0, &m_bLinkSignalToUpstream[7][0]);

		m_pPort[0]->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[0][0]);
		m_pPort[1]->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[1][0]);
		m_pPort[2]->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[2][0]);
		m_pPort[3]->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[3][0]);
		m_pArmTray[0]->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[4][0]);
		m_pArmTray[1]->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[5][0]);
		m_pAligner->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[6][0]);
		m_pFliper->setLinkSignalDownstreamBlock(0, &m_bLinkSignalToDownstream[7][0]);
	}

	int CEFEM::onReceivedJob(int port, CJobDataS* pJobDataS)
	{
		// ת·¢µ½×Óµ¥ÔªÉ豸
		CEquipment* pEqs[] = { m_pPort[0], m_pPort[1], m_pPort[2], m_pPort[3], m_pArmTray[0], m_pArmTray[1],
			m_pAligner, m_pFliper };
		if (1 <= port && port <= 8) {
			pEqs[port - 1]->onReceivedJob(port, pJobDataS);
		}


		return 0;
	}

	int CEFEM::onSentOutJob(int port, CJobDataS* pJobDataS)
	{
		// ת·¢µ½×Óµ¥ÔªÉ豸
		CEquipment* pEqs[] = { m_pPort[0], m_pPort[1], m_pPort[2], m_pPort[3], m_pArmTray[0], m_pArmTray[1],
			m_pAligner, m_pFliper };
		if (1 <= port && port <= 8) {
			pEqs[port - 1]->onSentOutJob(port, pJobDataS);
		}


		return 0;
	}

	int CEFEM::onFetchedOutJob(int port, CJobDataB* pJobDataB)
	{
		// ת·¢µ½×Óµ¥ÔªÉ豸
		CEquipment* pEqs[] = { m_pPort[0], m_pPort[1], m_pPort[2], m_pPort[3], m_pArmTray[0], m_pArmTray[1],
			m_pAligner, m_pFliper };
		if (1 <= port && port <= 8) {
			pEqs[port - 1]->onFetchedOutJob(port, pJobDataB);
		}


		return 0;
	}

	int CEFEM::onStoredJob(int port, CJobDataB* pJobDataB)
	{
		// ת·¢µ½×Óµ¥ÔªÉ豸
		CEquipment* pEqs[] = { m_pPort[0], m_pPort[1], m_pPort[2], m_pPort[3], m_pArmTray[0], m_pArmTray[1],
			m_pAligner, m_pFliper };
		if (1 <= port && port <= 8) {
			pEqs[port - 1]->onStoredJob(port, pJobDataB);
		}


		return 0;
	}

	int CEFEM::getIndexerOperationModeBaseValue()
	{
		return 10000;
	}

	void CEFEM::printDebugRobotState()
	{
		LOGI("<CEFEM>Robot status:%d, ARM1:%s, ARM2:%s",
			m_robotData.status,
			m_robotData.armState[0] ? _T("ON") : _T("OFF"),
			m_robotData.armState[1] ? _T("ON") : _T("OFF"));
	}
}