using DataEntity;
using DataEntity.Share;
using DataRWDAL;
using DriverLib.Engine;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Xml;
using XCommon;
using XCommon.Log;
using XCore;
using XCoreBLL;
using XHandler.Controls.Run.Com;
using XHandler.View;
using XImagingXhandler.XDAL;
using DataCalcDAL;
using System.Configuration;
using HxEnum;
using XHandler.Class.DataEx;
using NPOI.SS.Formula.Eval;
using DataEntity.Rack;
using static HxEnum.OperationTypeEnum;
using System.Reflection;
using XHandler.View.MethodProperty;
using MySqlX.XDevAPI.Common;
using XImaging.Automation.Service.Interface;
using System.Windows;
using System.Collections.ObjectModel;

namespace XHandler.Controls
{
    /// <summary>
    /// 文件转板执行
    /// </summary>
    public class FileMoveLabwareControl
    {
        string strCurrentCulture = "";
        WellCalc wellCalc = new WellCalc();
        LatticeBll latticeBll = new LatticeBll();
        FileMoveLabwareBll fileMoveLabwareBll = new FileMoveLabwareBll();
        public RunWnd launchView = null;
        LiquidAccuracyBll liquidAccuracyBll = new LiquidAccuracyBll();
        WellCalcOfGripper wellCalcOfGripper= new WellCalcOfGripper();
        GripTransportBll gripTransportBll=new GripTransportBll();

        public FileMoveLabwareControl(string strCurrentCulture)
        {
            this.strCurrentCulture = strCurrentCulture;
        }

        #region 执行文件转板，返回结果字符串
        /// <summary>
        /// 执行文件转板，返回结果字符串
        /// </summary>
        /// <param name="xmlEnv">板位节点信息</param>
        /// <param name="methodNode">装载方法属性节点对象</param>
        /// <param name="zAxisVal">z轴安全距离</param>
        /// <param name="isSimulator">0:连接谁；1：仿真</param>
        /// <returns></returns>
        public bool ExecuteFileMoveLabware(XmlNode xmlEnv, XmlNode methodNode, float zAxisVal, bool isSimulator)
        {
            bool result = true;
            HxResult ret = new HxResult();
            if (launchView._cancelSource.IsCancellationRequested)
            {
                result = false;
                return result;
            }

            #region Start Log
            if (strCurrentCulture.Equals("zh-CN"))
            {
                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strStart.ToString());
            }
            else
            {
                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】start:");
            }
            #endregion

            #region 数据准备 
            var platformNodeList = xmlEnv.SelectNodes("platform");
            MethodFileMoveLabware methodFileMoveLabware = fileMoveLabwareBll.GenerateMethodFileMoveLabwareDataByXmlNode(methodNode);
            int recordAllCount = methodFileMoveLabware.transferDataTable.Rows.Count;     // 文件记录总数
            int recordIndex = 0;                    // 循环控制总的切分次数
            TipsTable tipsTable = new TipsTable();  // 执行的孔数据对象
            #endregion

            #region 数据检查
            //只有选择夹爪臂才可以执行转板
            if (methodFileMoveLabware == null)
            {
                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.RunFileMoveLiquidResource.strFileMoveLiquidDataCheckError.ToString());
                result = false;
                return result;
            }
            else
            {
                if (methodFileMoveLabware.armText.Equals("夹爪臂"))
                {
                }
                else
                {
                    if (strCurrentCulture.Equals("zh-CN"))
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLabware.name + "】" + Properties.RunFileMoveLabwareResource.strFileMoveLabwareArmError.ToString());
                        LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLabware.name + "】" + Properties.RunFileMoveLabwareResource.strFileMoveLabwareArmError.ToString());
                    }
                    else
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLabware.name + "】selected arm of device isn't support pick board.");
                        LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLabware.name + "】selected arm of device isn't support pick board.");
                    }
                    result = false;
                    return result;
                }
            }
            #endregion
            bool shakerExecuteFinish=false;// 震荡位是否执行过

            #region 数据执行
            while (recordIndex < recordAllCount)
            {
                #region 抓板处理过程
                string sourceLattice = methodFileMoveLabware.transferDataTable.Rows[recordIndex][methodFileMoveLabware.pickLattice].ToString();
                string globalVariableValue = "";
                globalVariableValue = ControlCom.SearchValueOfGlobalVariable(launchView, sourceLattice);
                if (!string.IsNullOrEmpty(globalVariableValue))
                {
                    sourceLattice = globalVariableValue;
                }
                XmlNode srcPlatformNode = ComUtility.GetXmlNodeByBoardName(xmlEnv.SelectNodes("platform"), sourceLattice);
                if (srcPlatformNode == null&& !sourceLattice.Equals("P0"))
                {
                    if (strCurrentCulture.Equals("zh-CN"))
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodFileMoveLabware.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunFileMoveLabwareResource.strFileMoveLabwareOfLatticeError.ToString());
                    }
                    else
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodFileMoveLabware.name + "】progress: the lattice of pick board is wrong! please check!");
                    }
                    result = false;
                    return result;
                }
                else
                {
                    string sourceWell = methodFileMoveLabware.transferDataTable.Rows[recordIndex][methodFileMoveLabware.pickWell].ToString();
                    string sourceColumn = methodFileMoveLabware.transferDataTable.Rows[recordIndex][methodFileMoveLabware.pickColumn].ToString();
                    globalVariableValue = "";
                    globalVariableValue = ControlCom.SearchValueOfGlobalVariable(launchView, sourceWell);
                    if (!string.IsNullOrEmpty(globalVariableValue))
                    {
                        sourceWell = globalVariableValue;
                    }

                    globalVariableValue = "";
                    globalVariableValue = ControlCom.SearchValueOfGlobalVariable(launchView, sourceColumn);
                    if (!string.IsNullOrEmpty(globalVariableValue))
                    {
                        sourceColumn = globalVariableValue;
                    }

                    // 获取当前台面的夹爪坐标
                    List<GripperCoordinate> gripperCoordinates = new List<GripperCoordinate>();
                    GripperCoordinate gripperCoordinate = new GripperCoordinate();

                    Labware labwares = new Labware();
                    Lattice slattice = new Lattice();
                    string srcLatticeId = "0";
                    if (sourceColumn == "请选择" && sourceWell == "请选择")
                    {
                        if (strCurrentCulture.Equals("zh-CN"))
                        {
                            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodFileMoveLabware.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunFileMoveLabwareResource.strFileMoveLabwareSettingPickCol.ToString());
                        }
                        else
                        {
                            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodFileMoveLabware.name + "】progress: the column or well on picking lattice is wrong! please check!");
                        }
                        result = false;
                        return result;
                    }
                    else
                    {
                        Labware centrifugalLabware = new Labware();
                        if (sourceLattice.Equals("P0"))
                        {
                            gripperCoordinates = DataRWDAL.GripperCoordinateDB.GetAGripperCoordinateFromdb(Shared.SoftwareInformation.software_information_id, Convert.ToInt32(methodFileMoveLabware.armValue), sourceLattice);
                            gripperCoordinate = gripperCoordinates.SingleOrDefault(x => x.lattice_num.Equals(sourceLattice));
                            string srcLabwareId = DataRWDAL.GripperCoordinateDB.GetAGripperCoordinateLabwareFromdb(gripperCoordinate.gripper_lattice_id).labware_id.ToString();//获取夹爪关联的耗材Id;
                            labwares = LabwareDB.GetLabware(srcLabwareId);
                            slattice.lattice_num = "P0";
                            //关联孔位的耗材对象
                            ObservableCollection<LabwareWellInfo> labwareWellInfoList = DataRWDAL.LabwareDB.GetSpecialLabwareWellInfo(labwares.labware_id);
                            var targetWellOnLattice = labwareWellInfoList.SingleOrDefault(x => x.labware_well_name.Equals(sourceWell));
                            if (targetWellOnLattice != null)
                            {
                                centrifugalLabware = LabwareDB.GetLabware(targetWellOnLattice.well_labware_id);
                            }
                        }
                        else
                        {
                            XmlNode srcXml = srcPlatformNode.SelectSingleNode("labware[@id='" + srcPlatformNode.SelectNodes("labware").Count + "']");
                            string srcLabwareId = srcXml.SelectSingleNode("labware_id").InnerText;
                            srcLatticeId = srcPlatformNode.SelectSingleNode("lattice_id").InnerText;//被截掉"P"的板位编号名
                            if (srcLatticeId == "1")
                            {
                                MethodShake methodShake = new MethodShake();
                                methodShake.modeVal = 1;
                                methodShake.shakeMoveSpeed = 50;
                                methodShake.shakeMoveAngle = 230;

                                launchView.SetWaitOne();//暂停
                                if (!shakerExecuteFinish)
                                {
                                    ret = new ShakerBll().ExecuteShake(methodShake, isSimulator);
                                    if (ret.Result != ResultType.Success)
                                    {
                                        if (strCurrentCulture.Equals("zh-CN"))
                                        {
                                            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLabware.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunShakeResource.strShakeMoveFailed.ToString() + ret.AlarmInfo);
                                            LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLabware.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunShakeResource.strShakeMoveFailed.ToString() + ret.AlarmInfo);
                                        }
                                        else
                                        {
                                            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLabware.name + "】progress: shake was failed! Error info：" + ret.AlarmInfo);
                                            LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLabware.name + "】progress: shake was failed! Error info：" + ret.AlarmInfo);
                                        }
                                        result = false;
                                        return result;
                                    }
                                    shakerExecuteFinish = true;
                                }
                            }

                            Lattice srcLattice = null;
                            TabletopTemplate tabletopTemplate = TabletopTemplateDB.GetCurrentAppTabletopTemplateCollectionFromdb();  //增加台面模板判断
                            int armId = Shared.DeviceArmList.FirstOrDefault(x => x.arm_type.Equals(1)).device_arm_id;
                            if (tabletopTemplate == null)
                            {
                                srcLattice = LatticeDB.GetLatticeDataByIdFromdb("P" + srcLatticeId, Convert.ToInt32(armId), Shared.SoftwareInformation.software_device_number);
                            }
                            else
                            {
                                srcLattice = LatticeDB.GetLatticeDataByLatticeNumAndTempIdFromdb("P" + srcLatticeId, Convert.ToInt32(armId), Shared.SoftwareInformation.software_device_number, tabletopTemplate.tabletopid);
                            }

                            labwares = LabwareDB.GetLabware(srcLabwareId);

                            // 获取当前台面的板子的坐标
                            slattice = DataRWDAL.LatticeDB.GetLatticeDataByIdFromdb(srcLattice.lattice_id);
                            List<TipsTable> dtWells = ControlCom.GenerateWellCoordinate(labwares, slattice);     //板位孔坐标数据集
                                                                                                                 // 获取当前台面的夹爪坐标
                            gripperCoordinates = DataRWDAL.GripperCoordinateDB.GetAGripperCoordinateFromdb(Shared.SoftwareInformation.software_information_id, Convert.ToInt32(methodFileMoveLabware.armValue), srcLattice.lattice_num);

                            gripperCoordinate = gripperCoordinates.SingleOrDefault(x => x.lattice_num.Equals(slattice.lattice_num));
                            //离心管耗材对象
                            if (labwares.labware_tubeshelf_type == 1)
                            {
                                //关联孔位的耗材对象
                                ObservableCollection<LabwareWellInfo> labwareWellInfoList = DataRWDAL.LabwareDB.GetSpecialLabwareWellInfo(labwares.labware_id);
                                var targetWellOnLattice = labwareWellInfoList.SingleOrDefault(x => x.labware_well_name.Equals(sourceWell));
                                if (targetWellOnLattice != null)
                                {
                                    centrifugalLabware = LabwareDB.GetLabware(targetWellOnLattice.well_labware_id);
                                }
                            }
                            else
                            {
                                centrifugalLabware = ControlCom.GetCentrifugalLabwer(labwares.piled_script);
                            }
                        }

                        //以孔位为目标抓取
                        if (sourceWell != "请选择")
                        {
                            //转化成夹爪板位
                            List<GripperCoordinateForWell> gripperCoordinateForWells = wellCalcOfGripper.GetReallyWellsLabwareCoordinatesOnLattice(labwares, gripperCoordinate);
                            GripperCoordinateForWell gripperPickCoordinateForWell = null;
                            gripperPickCoordinateForWell = gripperCoordinateForWells.SingleOrDefault(t => t.lattice_num.Equals(slattice.lattice_num)
                                                                && t.gripper_model.Equals(Convert.ToInt32(methodFileMoveLabware.transferDataTable.Rows[recordIndex][methodFileMoveLabware.pickDirect]))
                                                                && t.wellname.Equals(sourceWell));
                            int pickPart = 0;
                            pickPart = Convert.ToInt32(methodFileMoveLabware.transferDataTable.Rows[recordIndex][methodFileMoveLabware.pickPart]);

                            GripTransportMParam gripTransportMParam = new GripTransportMParam();


                            // 判断当前的形式和角度
                            gripTransportMParam.xAxisVal = (float)gripperPickCoordinateForWell.lattice_X + (float)labwares.gripper_x_offset;
                            gripTransportMParam.yAxisVal = (float)gripperPickCoordinateForWell.lattice_Y + (float)labwares.gripper_y_offset;
                            gripTransportMParam.zAxisVal = (float)gripperPickCoordinateForWell.lattice_Z + (float)labwares.gripper_z_offset;

                            #region 耗材总高度
                            float labwareMainHeight = 0.0f;
                            
                            float heightOfBottomLabware = 0f;//要抓的那层的底部离板位的平面距离

                            //按设定的层次抓耗材
                            if (methodFileMoveLabware.transportMode == (int)GripTransportModeEnum.TransportAll)
                            {
                                if (labwares.labware_tubeshelf_type == 0)
                                {
                                    if (centrifugalLabware.lid_in_radius < 10d)
                                    {
                                        labwareMainHeight = (float)Convert.ToDouble(centrifugalLabware.labware_height);
                                    }
                                    else
                                    {
                                        labwareMainHeight = (float)Convert.ToDouble(centrifugalLabware.labware_height);
                                    }
                                }
                                else
                                {
                                    labwareMainHeight = (float)Convert.ToDouble(centrifugalLabware.labware_height);
                                }
                            }
                            else if (methodFileMoveLabware.transportMode == (int)GripTransportModeEnum.TransportExceptOne)//总高度要增加最底层的高度
                            {
                                var latticeDes = xmlEnv.SelectSingleNode("platform[lattice_id=" + ControlCom.GetLatticeId(Convert.ToInt32(slattice.lattice_num), false) + "]/labware[@id=1]");
                                Labware bottomLabware = new Labware();
                                if (latticeDes != null)
                                {
                                    bottomLabware = LabwareDB.GetLabware(latticeDes.SelectSingleNode("labware_id").InnerText);
                                    heightOfBottomLabware = (float)Convert.ToDouble(bottomLabware.piled_height);
                                }
                                if (labwares.labware_tubeshelf_type == 0)
                                {
                                    if (centrifugalLabware.lid_in_radius < 10d)
                                    {
                                        labwareMainHeight = (float)Convert.ToDouble(centrifugalLabware.labware_height) + heightOfBottomLabware;
                                    }
                                    else
                                    {
                                        labwareMainHeight = (float)Convert.ToDouble(centrifugalLabware.labware_height) + heightOfBottomLabware;
                                    }
                                }
                                else
                                {
                                    labwareMainHeight = (float)Convert.ToDouble(labwares.labware_height) + heightOfBottomLabware;
                                }

                            }
                            else if (methodFileMoveLabware.transportMode == (int)GripTransportModeEnum.TransportCount)
                            {

                                XmlNodeList labwareNode = xmlEnv.SelectNodes("platform[lattice_id=" + ControlCom.GetLatticeId(Convert.ToInt32(slattice.lattice_num), false) + "]/labware");
                                int countOfLabware = labwareNode.Count;
                                int loopCount = countOfLabware - methodFileMoveLabware.transportCount + 1;
                                for (int i = 1; i <= loopCount; i++)
                                {
                                    Labware bottomLabware = new Labware();
                                    var latticeDes = xmlEnv.SelectSingleNode("platform[lattice_id=" + ControlCom.GetLatticeId(Convert.ToInt32(slattice.lattice_num), false) + "]/labware[@id=" + (i).ToString() + "]");

                                    if (latticeDes != null)
                                    {
                                        bottomLabware = LabwareDB.GetLabware(latticeDes.SelectSingleNode("labware_id").InnerText);
                                        heightOfBottomLabware += (float)Convert.ToDouble(bottomLabware.piled_height);
                                    }
                                }
                                if (labwares.labware_tubeshelf_type == 0)
                                {
                                    if (centrifugalLabware.lid_in_radius < 10d)
                                    {
                                        labwareMainHeight = (float)Convert.ToDouble(centrifugalLabware.labware_height) + heightOfBottomLabware;
                                    }
                                    else
                                    {
                                        labwareMainHeight = (float)Convert.ToDouble(centrifugalLabware.labware_height) + heightOfBottomLabware;
                                    }
                                }
                                else
                                {
                                    labwareMainHeight = (float)Convert.ToDouble(labwares.labware_height) + heightOfBottomLabware;
                                }
                            }
                            #endregion

                            if (pickPart == 0) //抓底部
                            {
                                gripTransportMParam.zAxisVal = (float)gripperPickCoordinateForWell.lattice_Z - heightOfBottomLabware;
                                gripTransportMParam.zAxisVal = gripTransportMParam.zAxisVal - heightOfBottomLabware - 1f;
                            }
                            else if (pickPart == 1) //抓顶部
                            {
                                if (srcLatticeId == "1")
                                {
                                    if (centrifugalLabware.lid_in_radius < 10d)
                                    {
                                        if (sourceLattice.Equals("P0"))
                                        {
                                            gripTransportMParam.zAxisVal = (float)gripperPickCoordinateForWell.lattice_Z - labwareMainHeight + (float)centrifugalLabware.gripper_z_offset + 8f;
                                        }
                                        else
                                        {
                                            gripTransportMParam.zAxisVal = (float)gripperPickCoordinateForWell.lattice_Z + (float)labwares.gripper_z_offset - labwareMainHeight + (float)centrifugalLabware.gripper_z_offset + 13f;
                                        }
                                    }
                                    else
                                    {
                                        gripTransportMParam.zAxisVal = (float)gripperPickCoordinateForWell.lattice_Z + (float)labwares.gripper_z_offset - labwareMainHeight + (float)centrifugalLabware.gripper_z_offset;
                                    }
                                }
                                else
                                {
                                    if (centrifugalLabware.lid_in_radius < 10d)
                                    {
                                        if (sourceLattice.Equals("P0"))
                                        {
                                            gripTransportMParam.zAxisVal = (float)gripperPickCoordinateForWell.lattice_Z + (float)labwares.gripper_z_offset - labwareMainHeight + (float)centrifugalLabware.gripper_z_offset+12f;
                                        }
                                        else
                                        {
                                            gripTransportMParam.zAxisVal = (float)gripperPickCoordinateForWell.lattice_Z + (float)labwares.gripper_z_offset - labwareMainHeight + (float)centrifugalLabware.gripper_z_offset + 0f;
                                        }
                                    }
                                    else
                                    {
                                        gripTransportMParam.zAxisVal = (float)gripperPickCoordinateForWell.lattice_Z + (float)labwares.gripper_z_offset - labwareMainHeight + (float)centrifugalLabware.gripper_z_offset;
                                    }
                                }
                            }

                            gripTransportMParam.angleVal = (float)gripperPickCoordinateForWell.gripper_rotational;
                            gripTransportMParam.basezAxisVal = (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisSafeVal"]);
                            gripTransportMParam.squeezeVal = (float)gripperPickCoordinateForWell.squeezeVal;
                            gripTransportMParam.spreadVal = (float)gripperPickCoordinateForWell.spreadVal;
                            gripTransportMParam.gripSpeed = (float)gripperPickCoordinateForWell.gripSpeed;
                            gripTransportMParam.gripModel = Convert.ToInt32(methodFileMoveLabware.transferDataTable.Rows[recordIndex][methodFileMoveLabware.pickDirect]);
                            gripTransportMParam.gripState = 1;                                          // 请求夹爪的状态：1：向内夹紧；2：向外张开
                            gripTransportMParam.gripperpowerVal = (float)gripperPickCoordinateForWell.gripperpowerVal;
                            gripTransportMParam.objectWidth = (float)Convert.ToDouble(gripperPickCoordinateForWell.objectwidth);

                            //调用抓取方法
                            launchView.SetWaitOne();//暂停
                            ret = gripTransportBll.ExecuteGripTransportPick(gripTransportMParam, isSimulator);

                            string log = string.Empty;
                            if (ret.Result != ResultType.Success)
                            {
                                if (strCurrentCulture.Equals("zh-CN"))
                                {
                                    log = string.Format("【{0}】>Xhandler: 【{1}】{2}{3}{4}.{5}{6} of {7}", DateTime.Now.ToString("HH:mm:ss:fff"),
                                        methodFileMoveLabware.name, Properties.MachineRunResource.strProgress, Properties.GripTransportResource.strPickError, ret.AlarmInfo, Properties.Resources.strBoardPosition, sourceWell, slattice.lattice_num);
                                    launchView.AddLogs(log);
                                }
                                else
                                {
                                    log = string.Format("【{0}】>Xhandler: 【{1}】progress: the action of pick is fail! error information:{2}.lattice:{3}", DateTime.Now.ToString("HH:mm:ss:fff"),
                                        methodFileMoveLabware.name, ret.AlarmInfo, sourceWell, slattice.lattice_num);
                                    launchView.AddLogs(log);
                                }

                                OperateDialog plsConfirmOper = null;
                                Application.Current.Dispatcher.Invoke(new Action(() =>
                                {
                                    plsConfirmOper = new OperateDialog(strCurrentCulture.Equals("zh-CN") ? Properties.GripTransportResource.strPickFailWhatToDo : "The action of pick was fail! What do you want to do?");
                                    plsConfirmOper.ShowDialog();
                                }));

                                if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Retry)           // 重试
                                {
                                    return ExecutePickAgain(methodFileMoveLabware, recordIndex, labwares, sourceWell, heightOfBottomLabware, slattice, gripTransportMParam, isSimulator);
                                }
                                else if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Cancel)     // 终止
                                {
                                    result = false;
                                    return result;
                                }
                                else if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Continue)   // 跳过
                                {
                                    result = true;
                                    return result;
                                }
                            }
                            else
                            {
                                if (strCurrentCulture.Equals("zh-CN"))
                                {
                                    log = string.Format("【{0}】>Xhandler: 【{1}】{2}{3}{4}{5} of {6}", DateTime.Now.ToString("HH:mm:ss:fff"),
                                        methodFileMoveLabware.name, Properties.MachineRunResource.strProgress, Properties.GripTransportResource.strPickOk, Properties.Resources.strBoardPosition, slattice.lattice_num, sourceWell);
                                    launchView.AddLogs(log);
                                }
                                else
                                {
                                    log = string.Format("【{0}】>Xhandler: 【{1}】progress: the action of pick is success! lattice:{2}", DateTime.Now.ToString("HH:mm:ss:fff"),
                                        methodFileMoveLabware.name, slattice.lattice_num, sourceWell);
                                    launchView.AddLogs(log);
                                }
                            }
                        }
                        else
                        //以板列为目标抓取
                        {

                        }
                    }

                }

                #endregion

                #region 放板处理过程
                string targetLattice = methodFileMoveLabware.transferDataTable.Rows[recordIndex][methodFileMoveLabware.placeLattice].ToString();
                globalVariableValue = "";
                globalVariableValue = ControlCom.SearchValueOfGlobalVariable(launchView, targetLattice);
                if (!string.IsNullOrEmpty(globalVariableValue))
                {
                    targetLattice = globalVariableValue;
                }
                XmlNode tarPlatformNode = ComUtility.GetXmlNodeByBoardName(xmlEnv.SelectNodes("platform"), targetLattice);
                if (tarPlatformNode == null&&!targetLattice.Equals("P0"))
                {
                    if (strCurrentCulture.Equals("zh-CN"))
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodFileMoveLabware.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunFileMoveLabwareResource.strFileMoveLabwareOfLatticeError.ToString());
                    }
                    else
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodFileMoveLabware.name + "】progress: the lattice of place board is wrong! please check!");
                    }
                    result = false;
                    return result;
                }
                else
                {
                    List<GripperCoordinate> gripperCoordinates = new List<GripperCoordinate>();
                    GripperCoordinate gripperCoordinate = new GripperCoordinate();
                    Labware labwares = new Labware();
                    Lattice slattice = new Lattice();
                    string tarLatticeId = "0";
                    string targetWell = methodFileMoveLabware.transferDataTable.Rows[recordIndex][methodFileMoveLabware.placeWell].ToString();
                    string targetColumn = methodFileMoveLabware.transferDataTable.Rows[recordIndex][methodFileMoveLabware.placeColumn].ToString();
                    globalVariableValue = "";
                    globalVariableValue = ControlCom.SearchValueOfGlobalVariable(launchView, targetWell);
                    if (!string.IsNullOrEmpty(globalVariableValue))
                    {
                        targetWell = globalVariableValue;
                    }

                    globalVariableValue = "";
                    globalVariableValue = ControlCom.SearchValueOfGlobalVariable(launchView, targetColumn);
                    if (!string.IsNullOrEmpty(globalVariableValue))
                    {
                        targetColumn = globalVariableValue;
                    }
                    if (targetColumn == "请选择" && targetWell == "请选择")
                    {
                        if (strCurrentCulture.Equals("zh-CN"))
                        {
                            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodFileMoveLabware.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunFileMoveLabwareResource.strFileMoveLabwareSettingPlaceCol.ToString());
                        }
                        else
                        {
                            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodFileMoveLabware.name + "】progress: the column or well on placing lattice is wrong! please check!");
                        }
                        result = false;
                        return result;
                    }
                    else
                    {
                        Labware centrifugalTargetLabware = new Labware();
                        if (targetLattice.Equals("P0"))
                        {
                            gripperCoordinates = DataRWDAL.GripperCoordinateDB.GetAGripperCoordinateFromdb(Shared.SoftwareInformation.software_information_id, Convert.ToInt32(methodFileMoveLabware.armValue), targetLattice);
                            gripperCoordinate = gripperCoordinates.SingleOrDefault(x => x.lattice_num.Equals(targetLattice));
                            string tarLabwareId = DataRWDAL.GripperCoordinateDB.GetAGripperCoordinateLabwareFromdb(gripperCoordinate.gripper_lattice_id).labware_id.ToString();//获取夹爪关联的耗材Id;
                            labwares = LabwareDB.GetLabware(tarLabwareId);
                            slattice.lattice_num = "P0";
                            //关联孔位的耗材对象
                            ObservableCollection<LabwareWellInfo>  labwareWellInfoList = DataRWDAL.LabwareDB.GetSpecialLabwareWellInfo(labwares.labware_id);
                            var targetWellOnLattice = labwareWellInfoList.SingleOrDefault(x => x.labware_well_name.Equals(targetWell));
                            if(targetWellOnLattice!=null)
                            {
                                centrifugalTargetLabware = LabwareDB.GetLabware(targetWellOnLattice.well_labware_id);
                            }
                        }
                        else
                        {
                            XmlNode tarXml = tarPlatformNode.SelectSingleNode("labware[@id='" + tarPlatformNode.SelectNodes("labware").Count + "']");
                            string tarLabwareId = tarXml.SelectSingleNode("labware_id").InnerText;
                            tarLatticeId = tarPlatformNode.SelectSingleNode("lattice_id").InnerText;//被截掉"P"的板位编号名
                            if (tarLatticeId == "1")
                            {
                                MethodShake methodShake = new MethodShake();
                                methodShake.modeVal = 1;
                                methodShake.shakeMoveSpeed = 50;
                                methodShake.shakeMoveAngle = 230;

                                launchView.SetWaitOne();//暂停
                                if (!shakerExecuteFinish)
                                {
                                    ret = new ShakerBll().ExecuteShake(methodShake, isSimulator);
                                    if (ret.Result != ResultType.Success)
                                    {
                                        if (strCurrentCulture.Equals("zh-CN"))
                                        {
                                            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLabware.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunShakeResource.strShakeMoveFailed.ToString() + ret.AlarmInfo);
                                            LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLabware.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunShakeResource.strShakeMoveFailed.ToString() + ret.AlarmInfo);
                                        }
                                        else
                                        {
                                            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLabware.name + "】progress: shake was failed! Error info：" + ret.AlarmInfo);
                                            LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLabware.name + "】progress: shake was failed! Error info：" + ret.AlarmInfo);
                                        }
                                        result = false;
                                        return result;
                                    }
                                    shakerExecuteFinish = true;
                                }
                            }

                            Lattice tarLattice = null;
                            TabletopTemplate tabletopTemplate = TabletopTemplateDB.GetCurrentAppTabletopTemplateCollectionFromdb();  //增加台面模板判断
                            int armId = Shared.DeviceArmList.FirstOrDefault(x => x.arm_type.Equals(1)).device_arm_id;
                            if (tabletopTemplate == null)
                            {
                                tarLattice = LatticeDB.GetLatticeDataByIdFromdb("P" + tarLatticeId, Convert.ToInt32(armId), Shared.SoftwareInformation.software_device_number);
                            }
                            else
                            {
                                tarLattice = LatticeDB.GetLatticeDataByLatticeNumAndTempIdFromdb("P" + tarLatticeId, Convert.ToInt32(armId), Shared.SoftwareInformation.software_device_number, tabletopTemplate.tabletopid);
                            }

                            labwares = LabwareDB.GetLabware(tarLabwareId);

                            // 获取当前台面的板子的坐标
                            slattice = DataRWDAL.LatticeDB.GetLatticeDataByIdFromdb(tarLattice.lattice_id);
                            if (labwares.labware_tubeshelf_type == 1)
                            {
                                //关联孔位的耗材对象
                                ObservableCollection<LabwareWellInfo> labwareWellInfoList = DataRWDAL.LabwareDB.GetSpecialLabwareWellInfo(labwares.labware_id);
                                var targetWellOnLattice = labwareWellInfoList.SingleOrDefault(x => x.labware_well_name.Equals(targetWell));
                                if (targetWellOnLattice != null)
                                {
                                    centrifugalTargetLabware = LabwareDB.GetLabware(targetWellOnLattice.well_labware_id);
                                }
                            }
                            else
                            {
                                //离心管耗材对象
                                centrifugalTargetLabware = ControlCom.GetCentrifugalLabwer(labwares.piled_script);
                            }
                        }

                        ////离心管耗材对象
                        //Labware centrifugalTargetLabware = ControlCom.GetCentrifugalLabwer(labwares.piled_script);
                        //求出目标板位上的现有耗材总高度
                        float labwareMainHeight = 0.0f;
                        float heightOfBottomLabware = 0f;//要抓的那层的底部离板位的平面距离

                        XmlNodeList labwareNode = xmlEnv.SelectNodes("platform[lattice_id=" + slattice.lattice_num.Substring(1) + "]/labware");
                        int countOfLabware = labwareNode.Count;
                        int loopCount = countOfLabware;
                        for (int i = 1; i <= loopCount; i++)
                        {
                            Labware bottomLabware = new Labware();
                            var latticeDes = xmlEnv.SelectSingleNode("platform[lattice_id=" + slattice.lattice_num.Substring(1) + "]/labware[@id=" + (i).ToString() + "]");

                            if (latticeDes != null)
                            {
                                bottomLabware = LabwareDB.GetLabware(latticeDes.SelectSingleNode("labware_id").InnerText);
                                heightOfBottomLabware += (float)Convert.ToDouble(bottomLabware.piled_height);
                            }
                        }

                        if (labwares.labware_tubeshelf_type == 0)
                        {
                            if (centrifugalTargetLabware.lid_in_radius < 10d)
                            {
                                labwareMainHeight = (float)Convert.ToDouble(centrifugalTargetLabware.labware_height);
                            }
                            else
                            {
                                labwareMainHeight = (float)Convert.ToDouble(centrifugalTargetLabware.labware_height);
                            }
                        }
                        else
                        {

                            labwareMainHeight = (float)Convert.ToDouble(centrifugalTargetLabware.labware_height) + heightOfBottomLabware;
                        }

                        // 获取当前台面的夹爪坐标
                        gripperCoordinates = DataRWDAL.GripperCoordinateDB.GetAGripperCoordinateFromdb(Shared.SoftwareInformation.software_information_id, Convert.ToInt32(methodFileMoveLabware.armValue), slattice.lattice_num);

                        gripperCoordinate = gripperCoordinates.SingleOrDefault(x => x.lattice_num.Equals(slattice.lattice_num));


                        //以孔位为目标放置
                        if (targetWell != "请选择")
                        {
                            //转化成夹爪板位
                            List<GripperCoordinateForWell> gripperCoordinateForWells = wellCalcOfGripper.GetReallyWellsLabwareCoordinatesOnLattice(labwares, gripperCoordinate);
                            GripperCoordinateForWell gripperPlaceCoordinateForWell = null;
                            gripperPlaceCoordinateForWell = gripperCoordinateForWells.SingleOrDefault(t => t.lattice_num.Equals(slattice.lattice_num)
                                                                && t.gripper_model.Equals(Convert.ToInt32(methodFileMoveLabware.transferDataTable.Rows[recordIndex][methodFileMoveLabware.placeColumn]))
                                                                && t.wellname.Equals(targetWell));

                            GripTransportMParam gripTransportMParam = new GripTransportMParam();


                            // 判断当前的形式和角度
                            gripTransportMParam.xAxisVal = (float)gripperPlaceCoordinateForWell.lattice_X + (float)labwares.gripper_x_offset;
                            gripTransportMParam.yAxisVal = (float)gripperPlaceCoordinateForWell.lattice_Y + (float)labwares.gripper_y_offset;
                            gripTransportMParam.zAxisVal = (float)gripperPlaceCoordinateForWell.lattice_Z + (float)labwares.gripper_z_offset;
                            if (tarLatticeId == "1")
                            {
                                //if (centrifugalTargetLabware.lid_in_radius < 10d)
                                //{
                                gripTransportMParam.zAxisVal = (float)gripperPlaceCoordinateForWell.lattice_Z - labwareMainHeight;
                                //}
                            }
                            else
                            {
                                if (centrifugalTargetLabware.lid_in_radius < 10d)
                                {
                                    if (targetLattice.Equals("P0"))
                                    {
                                        gripTransportMParam.zAxisVal = (float)gripperPlaceCoordinateForWell.lattice_Z - labwareMainHeight + (float)centrifugalTargetLabware.gripper_z_offset+8f;
                                    }
                                    else
                                    {
                                        gripTransportMParam.zAxisVal = (float)gripperPlaceCoordinateForWell.lattice_Z - labwareMainHeight + (float)centrifugalTargetLabware.gripper_z_offset - 10f;
                                    }
                                }
                                else
                                {
                                    gripTransportMParam.zAxisVal = (float)gripperPlaceCoordinateForWell.lattice_Z - labwareMainHeight + (float)centrifugalTargetLabware.gripper_z_offset-3f;
                                }
                            }
                            gripTransportMParam.angleVal = (float)gripperPlaceCoordinateForWell.gripper_rotational;
                            gripTransportMParam.basezAxisVal = (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisSafeVal"]);
                            gripTransportMParam.squeezeVal = (float)gripperPlaceCoordinateForWell.squeezeVal;
                            gripTransportMParam.spreadVal = (float)gripperPlaceCoordinateForWell.spreadVal;
                            gripTransportMParam.gripSpeed = (float)gripperPlaceCoordinateForWell.gripSpeed;
                            gripTransportMParam.gripModel = Convert.ToInt32(methodFileMoveLabware.transferDataTable.Rows[recordIndex][methodFileMoveLabware.pickDirect]);
                            gripTransportMParam.gripState = 2;                                          // 请求夹爪的状态：1：向内夹紧；2：向外张开
                            gripTransportMParam.gripperpowerVal = (float)gripperPlaceCoordinateForWell.gripperpowerVal;
                            gripTransportMParam.objectWidth = (float)Convert.ToDouble(gripperPlaceCoordinateForWell.objectwidth);

                            //调用抓取方法
                            launchView.SetWaitOne();//暂停
                            ret = gripTransportBll.ExecuteGripTransportPlace(gripTransportMParam, isSimulator);

                            string log = string.Empty;
                            if (ret.Result != ResultType.Success)
                            {
                                if (strCurrentCulture.Equals("zh-CN"))
                                {
                                    log = string.Format("【{0}】>Xhandler: 【{1}】{2}{3}{4}.{5}{6} of {7}", DateTime.Now.ToString("HH:mm:ss:fff"),
                                        methodFileMoveLabware.name, Properties.MachineRunResource.strProgress, Properties.GripTransportResource.strPlacekError, ret.AlarmInfo, Properties.Resources.strBoardPosition, targetWell, slattice.lattice_num);
                                    launchView.AddLogs(log);
                                }
                                else
                                {
                                    log = string.Format("【{0}】>Xhandler: 【{1}】progress: the action of pick is fail! error information:{2}.lattice:{3}", DateTime.Now.ToString("HH:mm:ss:fff"),
                                        methodFileMoveLabware.name, ret.AlarmInfo, targetWell, slattice.lattice_num);
                                    launchView.AddLogs(log);
                                }

                                OperateDialog plsConfirmOper = null;
                                Application.Current.Dispatcher.Invoke(new Action(() =>
                                {
                                    plsConfirmOper = new OperateDialog(strCurrentCulture.Equals("zh-CN") ? Properties.GripTransportResource.strPlaceFailWhatToDo : "The action of pick was fail! What do you want to do?");
                                    plsConfirmOper.ShowDialog();
                                }));

                                if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Retry)           // 重试
                                {
                                    return ExecutePlaceAgain(methodFileMoveLabware, recordIndex, labwares, targetWell, heightOfBottomLabware, slattice, gripTransportMParam, isSimulator);
                                }
                                else if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Cancel)     // 终止
                                {
                                    result = false;
                                    return result;
                                }
                                else if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Continue)   // 跳过
                                {
                                    result = true;
                                    return result;
                                }
                            }
                            else
                            {
                                if (strCurrentCulture.Equals("zh-CN"))
                                {
                                    log = string.Format("【{0}】>Xhandler: 【{1}】{2}{3}{4}{5} of {6}", DateTime.Now.ToString("HH:mm:ss:fff"),
                                        methodFileMoveLabware.name, Properties.MachineRunResource.strProgress, Properties.GripTransportResource.strPlaceOk, Properties.Resources.strBoardPosition, slattice.lattice_num, targetWell);
                                    launchView.AddLogs(log);
                                }
                                else
                                {
                                    log = string.Format("【{0}】>Xhandler: 【{1}】progress: the action of pick is success! lattice:{2}", DateTime.Now.ToString("HH:mm:ss:fff"),
                                        methodFileMoveLabware.name, slattice.lattice_num, targetWell);
                                    launchView.AddLogs(log);
                                }
                            }
                        }
                        else
                        //以板列为目标抓取
                        {

                        }
                    }
                }
                #endregion

                recordIndex = recordIndex + 1;
            }

            #endregion

            return result;
        }
        #endregion

        #region 抓板失败后循环函数
        public bool ExecutePickAgain(MethodFileMoveLabware methodFileMoveLabware,int recordIndex, Labware labwares,string sourceWell,float heightOfBottomLabware, Lattice slattice, GripTransportMParam pickMParam, bool isSimulator)
        {
            HxResult ret = null;
            bool result = true;

            List<GripperCoordinate> gripperCoordinates = DataRWDAL.GripperCoordinateDB.GetAGripperCoordinateFromdb(Shared.SoftwareInformation.software_information_id, Convert.ToInt32(methodFileMoveLabware.armValue), slattice.lattice_num);
            GripperCoordinate gripperCoordinate = gripperCoordinates.SingleOrDefault(x => x.lattice_num.Equals(slattice.lattice_num));
            //转化成夹爪板位
            List<GripperCoordinateForWell> gripperCoordinateForWells = wellCalcOfGripper.GetReallyWellsLabwareCoordinatesOnLattice(labwares, gripperCoordinate);

            GripperCoordinateForWell gripperPickCoordinateForWell = gripperCoordinateForWells.SingleOrDefault(t => t.lattice_num.Equals(slattice.lattice_num)
                                                && t.gripper_model.Equals(Convert.ToInt32(methodFileMoveLabware.transferDataTable.Rows[recordIndex][methodFileMoveLabware.pickDirect]))
                                                && t.wellname.Equals(sourceWell));

            GripTransportMParam gripTransportMParam = new GripTransportMParam();

            gripTransportMParam.xAxisVal = pickMParam.xAxisVal;
            gripTransportMParam.yAxisVal = pickMParam.yAxisVal;

            gripTransportMParam.zAxisVal = (float)gripperPickCoordinateForWell.lattice_Z - heightOfBottomLabware;
            gripTransportMParam.zAxisVal = gripTransportMParam.zAxisVal - heightOfBottomLabware - 1f;

            gripTransportMParam.angleVal = pickMParam.angleVal;
            gripTransportMParam.basezAxisVal = pickMParam.basezAxisVal;
            gripTransportMParam.squeezeVal = (float)gripperPickCoordinateForWell.squeezeVal;
            gripTransportMParam.spreadVal = (float)gripperPickCoordinateForWell.spreadVal;
            gripTransportMParam.gripSpeed = (float)gripperPickCoordinateForWell.gripSpeed;
            gripTransportMParam.gripModel = pickMParam.gripModel;
            gripTransportMParam.gripState = 1;                                          // 请求夹爪的状态：1：向内夹紧；2：向外张开
            gripTransportMParam.gripperpowerVal = (float)gripperPickCoordinateForWell.gripperpowerVal;
            gripTransportMParam.objectWidth = (float)Convert.ToDouble(gripperPickCoordinateForWell.objectwidth);

            //调用抓取方法
            launchView.SetWaitOne();//暂停
            ret = gripTransportBll.ExecuteGripTransportPick(gripTransportMParam, isSimulator);

            string log = string.Empty;
            if (ret.Result != ResultType.Success)
            {
                if (strCurrentCulture.Equals("zh-CN"))
                {
                    log = string.Format("【{0}】>Xhandler: 【{1}】{2}{3}{4}.{5}{6} of {7}", DateTime.Now.ToString("HH:mm:ss:fff"),
                        methodFileMoveLabware.name, Properties.MachineRunResource.strProgress, Properties.GripTransportResource.strPickError, ret.AlarmInfo, Properties.Resources.strBoardPosition, sourceWell, slattice.lattice_num);
                    launchView.AddLogs(log);
                }
                else
                {
                    log = string.Format("【{0}】>Xhandler: 【{1}】progress: the action of pick is fail! error information:{2}.lattice:{3} well:{4}", DateTime.Now.ToString("HH:mm:ss:fff"),
                        methodFileMoveLabware.name, ret.AlarmInfo, sourceWell, slattice.lattice_num,sourceWell);
                    launchView.AddLogs(log);
                }

                OperateDialog plsConfirmOper = null;
                Application.Current.Dispatcher.Invoke(new Action(() =>
                {
                    plsConfirmOper = new OperateDialog(strCurrentCulture.Equals("zh-CN") ? Properties.GripTransportResource.strPickFailWhatToDo : "The action of pick was fail! What do you want to do?");
                    plsConfirmOper.ShowDialog();
                }));

                if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Retry)           // 重试
                {
                    return ExecutePickAgain(methodFileMoveLabware, recordIndex, labwares, sourceWell, heightOfBottomLabware, slattice, pickMParam, isSimulator);
                }
                else if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Cancel)     // 终止
                {
                    result = false;
                    return result;
                }
                else if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Continue)   // 跳过
                {
                    result = true;
                    return result;
                }
            }
            else
            {
                if (strCurrentCulture.Equals("zh-CN"))
                {
                    log = string.Format("【{0}】>Xhandler: 【{1}】{2}{3}{4}{5} of {6}", DateTime.Now.ToString("HH:mm:ss:fff"),
                        methodFileMoveLabware.name, Properties.MachineRunResource.strProgress, Properties.GripTransportResource.strPickOk, Properties.Resources.strBoardPosition,slattice.lattice_num,sourceWell);
                    launchView.AddLogs(log);
                }
                else
                {
                    log = string.Format("【{0}】>Xhandler: 【{1}】progress: the action of pick is success! lattice:{2} well:{3}", DateTime.Now.ToString("HH:mm:ss:fff"),
                        methodFileMoveLabware.name, slattice.lattice_num, sourceWell);
                    launchView.AddLogs(log);
                }
            }
            return result;
        }
        #endregion

        #region 放板失败后循环函数
        public bool ExecutePlaceAgain(MethodFileMoveLabware methodFileMoveLabware, int recordIndex, Labware labwares, string targetWell, float heightOfBottomLabware, Lattice slattice, GripTransportMParam pickMParam, bool isSimulator)
        {
            HxResult ret = null;
            bool result = true;

            List<GripperCoordinate> gripperCoordinates = DataRWDAL.GripperCoordinateDB.GetAGripperCoordinateFromdb(Shared.SoftwareInformation.software_information_id, Convert.ToInt32(methodFileMoveLabware.armValue), slattice.lattice_num);
            GripperCoordinate gripperCoordinate = gripperCoordinates.SingleOrDefault(x => x.lattice_num.Equals(slattice.lattice_num));
            //转化成夹爪板位
            List<GripperCoordinateForWell> gripperCoordinateForWells = wellCalcOfGripper.GetReallyWellsLabwareCoordinatesOnLattice(labwares, gripperCoordinate);

            GripperCoordinateForWell gripperPickCoordinateForWell = gripperCoordinateForWells.SingleOrDefault(t => t.lattice_num.Equals(slattice.lattice_num)
                                                && t.gripper_model.Equals(Convert.ToInt32(methodFileMoveLabware.transferDataTable.Rows[recordIndex][methodFileMoveLabware.pickDirect]))
                                                && t.wellname.Equals(targetWell));

            GripTransportMParam gripTransportMParam = new GripTransportMParam();

            gripTransportMParam.xAxisVal = pickMParam.xAxisVal;
            gripTransportMParam.yAxisVal = pickMParam.yAxisVal;

            gripTransportMParam.zAxisVal = (float)gripperPickCoordinateForWell.lattice_Z - heightOfBottomLabware;
            gripTransportMParam.zAxisVal = gripTransportMParam.zAxisVal - heightOfBottomLabware - 1f;

            gripTransportMParam.angleVal = pickMParam.angleVal;
            gripTransportMParam.basezAxisVal = pickMParam.basezAxisVal;
            gripTransportMParam.squeezeVal = (float)gripperPickCoordinateForWell.squeezeVal;
            gripTransportMParam.spreadVal = (float)gripperPickCoordinateForWell.spreadVal;
            gripTransportMParam.gripSpeed = (float)gripperPickCoordinateForWell.gripSpeed;
            gripTransportMParam.gripModel = pickMParam.gripModel;
            gripTransportMParam.gripState = 1;                                          // 请求夹爪的状态：1：向内夹紧；2：向外张开
            gripTransportMParam.gripperpowerVal = (float)gripperPickCoordinateForWell.gripperpowerVal;
            gripTransportMParam.objectWidth = (float)Convert.ToDouble(gripperPickCoordinateForWell.objectwidth);

            //调用抓取方法
            launchView.SetWaitOne();//暂停
            ret = gripTransportBll.ExecuteGripTransportPick(gripTransportMParam, isSimulator);

            string log = string.Empty;
            if (ret.Result != ResultType.Success)
            {
                if (strCurrentCulture.Equals("zh-CN"))
                {
                    log = string.Format("【{0}】>Xhandler: 【{1}】{2}{3}{4}.{5}{6} of {7}", DateTime.Now.ToString("HH:mm:ss:fff"),
                        methodFileMoveLabware.name, Properties.MachineRunResource.strProgress, Properties.GripTransportResource.strPlacekError, ret.AlarmInfo, Properties.Resources.strBoardPosition, targetWell, slattice.lattice_num);
                    launchView.AddLogs(log);
                }
                else
                {
                    log = string.Format("【{0}】>Xhandler: 【{1}】progress: the action of pick is fail! error information:{2}.lattice:{3} well:{4}", DateTime.Now.ToString("HH:mm:ss:fff"),
                        methodFileMoveLabware.name, ret.AlarmInfo, targetWell, slattice.lattice_num, targetWell);
                    launchView.AddLogs(log);
                }

                OperateDialog plsConfirmOper = null;
                Application.Current.Dispatcher.Invoke(new Action(() =>
                {
                    plsConfirmOper = new OperateDialog(strCurrentCulture.Equals("zh-CN") ? Properties.GripTransportResource.strPlaceFailWhatToDo : "The action of pick was fail! What do you want to do?");
                    plsConfirmOper.ShowDialog();
                }));

                if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Retry)           // 重试
                {
                    return ExecutePlaceAgain(methodFileMoveLabware, recordIndex, labwares, targetWell, heightOfBottomLabware, slattice, pickMParam, isSimulator);
                }
                else if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Cancel)     // 终止
                {
                    result = false;
                    return result;
                }
                else if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Continue)   // 跳过
                {
                    result = true;
                    return result;
                }
            }
            else
            {
                if (strCurrentCulture.Equals("zh-CN"))
                {
                    log = string.Format("【{0}】>Xhandler: 【{1}】{2}{3}{4}{5} of {6}", DateTime.Now.ToString("HH:mm:ss:fff"),
                        methodFileMoveLabware.name, Properties.MachineRunResource.strProgress, Properties.GripTransportResource.strPlaceOk, Properties.Resources.strBoardPosition, slattice.lattice_num, targetWell);
                    launchView.AddLogs(log);
                }
                else
                {
                    log = string.Format("【{0}】>Xhandler: 【{1}】progress: the action of pick is success! lattice:{2} well:{3}", DateTime.Now.ToString("HH:mm:ss:fff"),
                        methodFileMoveLabware.name, slattice.lattice_num, targetWell);
                    launchView.AddLogs(log);
                }
            }
            return result;
        }
        #endregion
    }
}