using DataEntity;
using DataEntity.Share;
using DataRWDAL;
using DriverLib.Engine;
using System;
using System.Collections;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Configuration;
using System.Linq;
using System.Runtime.Remoting.Channels;
using System.Xml;
using XCommon;
using XCommon.Log;
using XCore;
using XCoreBLL;
using XHandler.Controls.Run.Com;
using XHandler.View;
using XHandler.View.Liquids;
using XImagingXhandler.XDAL;
namespace XHandler.Controls
{
    /// <summary>
    /// 文件开关盖移液执行
    /// </summary>
    public class FileMoveLiquidControl
    {
        string strCurrentCulture = "";
        WellCalc wellCalc = new WellCalc();
        LatticeBll latticeBll = new LatticeBll();
        FileMoveLiquidBll fileMoveLiquidBll = new FileMoveLiquidBll();
        public RunWnd launchView = null;
        LiquidAccuracyBll liquidAccuracyBll = new LiquidAccuracyBll();
        PumpDispenseBll pumpDispenseBll = new PumpDispenseBll();
        SwitchLidBll switchLidBll = new SwitchLidBll();
        DispenseBll dispenseBll= new DispenseBll();
        AspirateBll aspirateBll = new AspirateBll();

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

        #region 执行吸液，返回结果字符串
        /// <summary>
        /// 执行吸液，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 ExecuteFileMoveLiquid(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");
            MethodFileMoveLiquid methodFileMoveLiquid = fileMoveLiquidBll.GenerateMethodFileMoveLiquidDataByXmlNode(methodNode);
            int recordAllCount = methodFileMoveLiquid.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
            int changeTipsMode = methodFileMoveLiquid.changeTipsMode;
            bool bchannelTip=false;//是否更换了枪头； false: 已安装了枪头的状态；true：卸载了枪头的状态
            bool bIsFirstDataWithZero = false;//是否是第一条为零体积的移液且没有要求更换枪头
            #endregion

            #region 数据检查
            if (methodFileMoveLiquid == null)
            {
                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.RunFileMoveLiquidResource.strFileMoveLiquidDataCheckError.ToString());
                result = false;
                return result;
            }
            #endregion

            #region 数据执行
            //针对化学工作站，的移液枪，分别处理
            //泵加液，没有安装枪头、卸载枪头步骤
            if (methodFileMoveLiquid.armText.Equals("泵臂"))
            {
                while (recordIndex < recordAllCount)
                {
                    string targetLattice = methodFileMoveLiquid.transferDataTable.Rows[recordIndex][methodFileMoveLiquid.destinationLabware].ToString();
                    string globalVariableValue = "";
                    globalVariableValue = ControlCom.SearchValueOfGlobalVariable(launchView, targetLattice);
                    if (!string.IsNullOrEmpty(globalVariableValue))
                    {
                        targetLattice = globalVariableValue;
                    }
                    XmlNode desPlatformNode = ComUtility.GetXmlNodeByBoardName(xmlEnv.SelectNodes("platform"), targetLattice);
                    if (desPlatformNode == null)
                    {
                        if (strCurrentCulture.Equals("zh-CN"))
                        {
                            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodFileMoveLiquid.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunFileMoveLiquidResource.strWithoutLattice.ToString());
                        }
                        else
                        {
                            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodFileMoveLiquid.name + "】progress: the lattice of dispense liquid from pump is wrong! please check!");
                        }
                        result = false;
                        return result;
                    }
                    else
                    {


                        XmlNode desXml = desPlatformNode.SelectSingleNode("labware[@id='" + desPlatformNode.SelectNodes("labware").Count + "']");
                        string desLabwareId = desXml.SelectSingleNode("labware_id").InnerText;
                        string desLatticeId = desPlatformNode.SelectSingleNode("lattice_id").InnerText;//被截掉"P"的板位编号名

                        Lattice desLattice = null;
                        TabletopTemplate tabletopTemplate = TabletopTemplateDB.GetCurrentAppTabletopTemplateCollectionFromdb();  //增加台面模板判断
                        if (tabletopTemplate == null)
                        {
                            desLattice = LatticeDB.GetLatticeDataByIdFromdb("P"+ desLatticeId, Convert.ToInt32(methodFileMoveLiquid.armValue), Shared.SoftwareInformation.software_device_number);
                        }
                        else
                        {
                            desLattice = LatticeDB.GetLatticeDataByLatticeNumAndTempIdFromdb("P" + desLatticeId, Convert.ToInt32(methodFileMoveLiquid.armValue), Shared.SoftwareInformation.software_device_number, tabletopTemplate.tabletopid);
                        }

                        Labware labwares = LabwareDB.GetLabware(desLabwareId);  //目标耗材

                        // 获取当前台面的板子吸液列的坐标
                        Lattice slattice = DataRWDAL.LatticeDB.GetLatticeDataByIdFromdb(desLattice.lattice_id);  //目标板位
                        //获取板位孔的坐标数据
                        List<TipsTable> dtWells = ControlCom.GenerateWellCoordinate(labwares, slattice);     //目标板位孔坐标数据集

                        //根据循环处理孔位
                        string targetWell = methodFileMoveLiquid.transferDataTable.Rows[recordIndex][methodFileMoveLiquid.destinationWell].ToString();
                        string targetVolume= methodFileMoveLiquid.transferDataTable.Rows[recordIndex][methodFileMoveLiquid.dpsVolume].ToString();
                        globalVariableValue = "";
                        globalVariableValue = ControlCom.SearchValueOfGlobalVariable(launchView, targetWell);
                        if (!string.IsNullOrEmpty(globalVariableValue))
                        {
                            targetWell = globalVariableValue;
                        }

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

                        ScrewTubeCapMParam screwTubeCapMParam = new ScrewTubeCapMParam();
                        #region 判断执行开盖子
                        string dpsOpenLid = methodFileMoveLiquid.transferDataTable.Rows[recordIndex][methodFileMoveLiquid.dpsOpenLid].ToString();
                        if (dpsOpenLid.Equals("1"))
                        {
                            // 获取当前台面的夹爪坐标
                            List<GripperCoordinate> gripperCoordinates = DataRWDAL.GripperCoordinateDB.GetAGripperCoordinateFromdb(Shared.SoftwareInformation.software_information_id, Convert.ToInt32(methodFileMoveLiquid.armValue) - 1, desLattice.lattice_num);

                            //转化成夹爪板位
                            Lattice glattice = new Lattice();
                            glattice.lattice_X = gripperCoordinates[0].lattice_X;
                            glattice.lattice_Y = gripperCoordinates[0].lattice_Y;
                            glattice.lattice_Z = gripperCoordinates[0].lattice_Z;
                            glattice.lattice_num = gripperCoordinates[0].lattice_num;
                            glattice.lattice_id = "";

                            // 获取板开盖位孔的坐标数据
                            List<TipsTable> dtGripperWells = ControlCom.GenerateWellCoordinateForChemistry(labwares, glattice);

                            //离心管耗材对象
                            Labware centrifugalLabware = ControlCom.GetCentrifugalLabwer(labwares.piled_script);

                            //根据处理孔位
                            tipsTable = null;
                            tipsTable = dtGripperWells.SingleOrDefault(t => t.lattice_num.Equals(desLattice.lattice_num)
                                                                            && t.labware_id.Equals(desLabwareId)
                                                                            && t.wellname.Equals(targetWell));

                            
                            screwTubeCapMParam.tubeRackNo = Convert.ToInt32(desLattice.lattice_num.Substring(1)); //板位号，数字部分
                            screwTubeCapMParam.tubeCol = Convert.ToInt32(targetWell.Substring(1));               //孔所在列号，数字部分
                            screwTubeCapMParam.tubeScrewPitch = (float)centrifugalLabware.well_helical_distance;//螺纹螺距
                            screwTubeCapMParam.tubeDiameter = (float)centrifugalLabware.well_mouth_out_radius * 2;  //离心管主管外径

                            screwTubeCapMParam.tubeRow = 0;

                            screwTubeCapMParam.capDiameter = (float)centrifugalLabware.lid_out_radius * 2;
                            screwTubeCapMParam.capExpandDistance = (float)centrifugalLabware.upgripper_spread;
                            screwTubeCapMParam.capPushDistance = (float)centrifugalLabware.upgripper_squeeze;
                            screwTubeCapMParam.capPushForce = (float)centrifugalLabware.upgripper_power;
                            screwTubeCapMParam.capScrewAngle = new float[] { (float)centrifugalLabware.well_helical_circle * 360 };
                            screwTubeCapMParam.capScrewSpeed = (float)30;
                            screwTubeCapMParam.capScrewDistance = new float[] { (float)centrifugalLabware.well_helical_distance * (float)Math.Ceiling(centrifugalLabware.well_helical_circle) };
                            screwTubeCapMParam.slotNo = 1;
                            screwTubeCapMParam.basezAxisVal = 0;

                            //下夹爪
                            screwTubeCapMParam.x2AxisVal = 0;
                            screwTubeCapMParam.y2AxisVal = 0;
                            screwTubeCapMParam.tubePushDistance = (float)centrifugalLabware.downgripper_squeeze;
                            screwTubeCapMParam.tubeExpandDistance = (float)centrifugalLabware.downgripper_spread;
                            screwTubeCapMParam.tubePushForce = (float)centrifugalLabware.downgripper_power;
                            screwTubeCapMParam.isKeepLowerGripperClamped = true;

                            //上夹爪
                            screwTubeCapMParam.xAxisVal = tipsTable.axis_b_X;
                            screwTubeCapMParam.yAxisVal = tipsTable.axis_b_Y;

                            screwTubeCapMParam.zAxisVal = tipsTable.axis_b_Z - ((float)ControlCom.GetCentrifugalLabwer(labwares.piled_script).labware_height) + (float)centrifugalLabware.upgripper_zoffset;//孔口



                            launchView.SetWaitOne();//暂停
                            ret = switchLidBll.ExecuteSwitchLid(screwTubeCapMParam, 0, isSimulator);

                            if (ret.Result != ResultType.Success)
                            {
                                if (strCurrentCulture.Equals("zh-CN"))
                                {
                                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidOpenFailed.ToString() + ret.AlarmInfo + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                    LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidOpenFailed.ToString() + ret.AlarmInfo + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                }
                                else
                                {
                                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress: switch to open lid was failed on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice! Error info：" + ret.AlarmInfo);
                                    LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress: switch to open lid was failed on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice! Error info：" + ret.AlarmInfo);
                                }
                                result = false;
                                return result;
                            }
                            else
                            {
                                if (strCurrentCulture.Equals("zh-CN"))
                                {
                                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidOpenSuccess.ToString() + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                    LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidOpenSuccess.ToString() + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                }
                                else
                                {
                                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress:switch to open lid was successful on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice!");
                                    LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress:switch to open lid was successful on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice!");
                                }
                            }
                        }
                        #endregion

                        #region 构建参数执行泵排液
                        tipsTable = null;
                        tipsTable = dtWells.SingleOrDefault(t => t.lattice_id.Equals(desLattice.lattice_id)
                                                                        && t.labware_id.Equals(desLabwareId)
                                                                        && t.wellname.Equals(targetWell));

                        AddLiquidMParamSH addLiquidMParamSH = new AddLiquidMParamSH();
                        addLiquidMParamSH.armId = Convert.ToInt32(methodFileMoveLiquid.armValue);

                        int[] channels = new int[methodFileMoveLiquid.channels.Length];
                        float[] fVolumes = new float[methodFileMoveLiquid.channels.Length];
                        float[] xVals = new float[methodFileMoveLiquid.channels.Length];
                        float[] yVals = new float[methodFileMoveLiquid.channels.Length];
                        addLiquidMParamSH.channelId = channels;
                        addLiquidMParamSH.channelCount = methodFileMoveLiquid.channels.Length;
                        Liquid liquid = null;
                        for (int i = 0; i < methodFileMoveLiquid.channels.Length; i++)
                        {
                            channels[i] = Convert.ToInt32(methodFileMoveLiquid.channels[i]);
                            fVolumes[i] = (float)Convert.ToDouble(targetVolume);
                            xVals[i] = (float)tipsTable.axis_b_X;
                            yVals[i] = (float)tipsTable.axis_b_Y;

                            // 液体参数
                            liquid = LiquidDB.GetALiquidFromdb(methodFileMoveLiquid.liquidpidValue);

                        }

                        addLiquidMParamSH.volume = fVolumes;
                        addLiquidMParamSH.xAxisVal = xVals;
                        addLiquidMParamSH.yAxisVal = yVals;
                        addLiquidMParamSH.zAxisVal = tipsTable.axis_b_Z;
                        addLiquidMParamSH.speed = (float)liquid.dispense_speed;
                        addLiquidMParamSH.addLiquidAfterDelay = liquid.after_dispense_delay;
                        addLiquidMParamSH.basezAxisVal = 0;
                        launchView.SetWaitOne();//暂停
                        ret = pumpDispenseBll.ExecutePumpDispense(addLiquidMParamSH, isSimulator);

                        if (ret.Result != ResultType.Success)
                        {
                            //添加数据进入报表
                            string channelTxt = string.Join(",", channels);
                            launchView.addDataIntoReport("泵" + channelTxt, targetVolume, new string[1] { tipsTable.wellname }, "block");//来源泵
                            launchView.addFinishDataIntoReport(tipsTable, slattice.lattice_num, targetVolume, new string[1] { tipsTable.wellname }, "block", new string[1] { "" });//目标孔
                            if (strCurrentCulture.Equals("zh-CN"))
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunDispenseResource.strDispenseFail.ToString() + ret.AlarmInfo + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunDispenseResource.strDispenseFail.ToString() + ret.AlarmInfo + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                            }
                            else
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】progress: Pump dispense was failed on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice! Error info：" + ret.AlarmInfo);
                                LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】progress: Pump dispense was failed on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice! Error info：" + ret.AlarmInfo);
                            }
                            result = false;
                            return result;
                        }
                        else
                        {
                            //添加数据进入报表
                            string channelTxt = string.Join(",", channels);
                            launchView.addDataIntoReport("泵"+channelTxt, targetVolume, new string[1] { tipsTable.wellname }, "pass");//来源泵
                            launchView.addFinishDataIntoReport(tipsTable, slattice.lattice_num, targetVolume, new string[1] { tipsTable.wellname },"pass",new string[1] {""});//目标孔

                            if (strCurrentCulture.Equals("zh-CN"))
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunDispenseResource.strDispenseSuccess.ToString() + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunDispenseResource.strDispenseSuccess.ToString() + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                            }
                            else
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】progress:Pump dispense was successful on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice!");
                                LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】progress:Pump dispense was successful on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice!");
                            }
                        }
                        #endregion

                        #region 构建参数执行关盖
                        string dpsCloseLid = methodFileMoveLiquid.transferDataTable.Rows[recordIndex][methodFileMoveLiquid.dpsCloseLid].ToString();
                        if (dpsCloseLid.Equals("1"))
                        {
                            launchView.SetWaitOne();//暂停
                            ret = switchLidBll.ExecuteSwitchLid(screwTubeCapMParam, 1, isSimulator);
                            if (ret.Result != ResultType.Success)
                            {
                                if (strCurrentCulture.Equals("zh-CN"))
                                {
                                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidCloseFailed.ToString() + ret.AlarmInfo + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                    LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidCloseFailed.ToString() + ret.AlarmInfo + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                }
                                else
                                {
                                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress: switch to close lid was failed on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice! Error info：" + ret.AlarmInfo);
                                    LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress: switch to close lid was failed on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice! Error info：" + ret.AlarmInfo);
                                }
                                result = false;
                                return result;
                            }
                            else
                            {
                                if (strCurrentCulture.Equals("zh-CN"))
                                {
                                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidCloseSuccess.ToString() + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                    LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidCloseSuccess.ToString() + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                }
                                else
                                {
                                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress:switch to closed lid was successful on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice!");
                                    LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress:switch to closed lid was successful on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice!");
                                }
                            }
                        }
                        #endregion

                        recordIndex = recordIndex + 1;
                    }
                }

                if (strCurrentCulture.Equals("zh-CN"))
                {
                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】" + Properties.RunTransferFileResource.strAllStepsCompleted.ToString());
                    LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】" + Properties.RunTransferFileResource.strAllStepsCompleted.ToString());
                }
                else
                {
                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】All steps of " + methodFileMoveLiquid.name + " have been completed;");
                    LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】All steps of " + methodFileMoveLiquid.name + " have been completed;");
                }
            }
            else
            //非泵臂加液
            {
                
                while (recordIndex < recordAllCount)
                {
                    bool currentExecuteTargetOpenLid = false;//当前是否执行过目标孔开盖
                    string volumeTxt = methodFileMoveLiquid.transferDataTable.Rows[recordIndex][methodFileMoveLiquid.aspVolume].ToString();

                    string volumeVariableValue = "";
                    float aspvolume = 0f;
                    volumeVariableValue = ControlCom.SearchValueOfGlobalVariable(launchView, volumeTxt);
                    if (!string.IsNullOrEmpty(volumeVariableValue))
                    {
                        aspvolume = (float)Convert.ToInt32(volumeVariableValue);
                    }
                    else
                    {
                        aspvolume = (float)Convert.ToInt32(volumeTxt);
                    }
                    
                    if (aspvolume == 0f && methodFileMoveLiquid.jump0Volume)
                    {
                        #region 执行安装枪头
                        if (recordIndex == 0)
                        {
                            if (!bIsFirstDataWithZero)
                            {
                                // 自动计算位置安装Tip
                                bool bLoadTipResult = ControlCom.LoadTipAutomation(xmlEnv.SelectNodes("platform"), methodNode,
                                        isSimulator, launchView, null, 0);
                                if (!bLoadTipResult)
                                {
                                    return false;
                                }
                                bchannelTip = false;
                            }
                            if (changeTipsMode == 0)
                            {
                                bIsFirstDataWithZero = true;
                            }
                        }
                        else
                        {
                            //if (changeTipsMode == 0)
                            //{

                            //}
                            //else
                            //{
                            //    if (bchannelTip)
                            //    {
                            //        // 自动计算位置安装Tip
                            //        bool bLoadTipResult = ControlCom.LoadTipAutomation(xmlEnv.SelectNodes("platform"), methodNode,
                            //            isSimulator, launchView, null, 0);
                            //        if (!bLoadTipResult)
                            //        {
                            //            return false;
                            //        }
                            //    }
                            //}
                        }
                        #endregion
                    }
                    else
                    {
                        #region 来源过程处理
                        string sourceLattice = methodFileMoveLiquid.transferDataTable.Rows[recordIndex][methodFileMoveLiquid.sourceLabware].ToString();
                        string tipSet = methodFileMoveLiquid.transferDataTable.Rows[recordIndex][methodFileMoveLiquid.tipSet].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)
                        {
                            if (strCurrentCulture.Equals("zh-CN"))
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodFileMoveLiquid.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunFileMoveLiquidResource.strWithoutAapirateOfLattice.ToString());
                            }
                            else
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodFileMoveLiquid.name + "】progress: the lattice of aspirate liquid is wrong! please check!");
                            }
                            result = false;
                            return result;
                        }
                        else
                        {
                            XmlNode srcXml = srcPlatformNode.SelectSingleNode("labware[@id='" + srcPlatformNode.SelectNodes("labware").Count + "']");
                            string srcLabwareId = srcXml.SelectSingleNode("labware_id").InnerText;
                            string srcLatticeId = srcPlatformNode.SelectSingleNode("lattice_id").InnerText;//被截掉"P"的板位编号名

                            Lattice srcLattice = null;
                            TabletopTemplate tabletopTemplate = TabletopTemplateDB.GetCurrentAppTabletopTemplateCollectionFromdb();  //增加台面模板判断
                            if (tabletopTemplate == null)
                            {
                                srcLattice = LatticeDB.GetLatticeDataByIdFromdb("P" + srcLatticeId, Convert.ToInt32(methodFileMoveLiquid.armValue), Shared.SoftwareInformation.software_device_number);
                            }
                            else
                            {
                                srcLattice = LatticeDB.GetLatticeDataByLatticeNumAndTempIdFromdb("P" + srcLatticeId, Convert.ToInt32(methodFileMoveLiquid.armValue), Shared.SoftwareInformation.software_device_number, tabletopTemplate.tabletopid);
                            }

                            Labware labwares = LabwareDB.GetLabware(srcLabwareId);  //目标耗材

                            // 获取当前台面的板子吸液列的坐标
                            Lattice slattice = DataRWDAL.LatticeDB.GetLatticeDataByIdFromdb(srcLattice.lattice_id);  //目标板位
                                                                                                                     //获取板位孔的坐标数据
                            

                            //根据循环处理孔位
                            string sourceWell = methodFileMoveLiquid.transferDataTable.Rows[recordIndex][methodFileMoveLiquid.sourceWell].ToString();
                            string souceVolume = methodFileMoveLiquid.transferDataTable.Rows[recordIndex][methodFileMoveLiquid.aspVolume].ToString();
                            globalVariableValue = "";
                            globalVariableValue = ControlCom.SearchValueOfGlobalVariable(launchView, sourceWell);
                            if (!string.IsNullOrEmpty(globalVariableValue))
                            {
                                sourceWell = globalVariableValue;
                            }

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

                            #region 执行安装枪头
                            if (recordIndex == 0)
                            {
                                // 自动计算位置安装Tip
                                bool bLoadTipResult = ControlCom.LoadTipAutomation(xmlEnv.SelectNodes("platform"), methodNode,
                                        isSimulator, launchView, null, 0);
                                if (!bLoadTipResult)
                                {
                                    return false;
                                }
                                bchannelTip = false;
                            }
                            else
                            {
                                if (changeTipsMode == 0)
                                {

                                }
                                else
                                {
                                    if (bchannelTip)
                                    {
                                        // 自动计算位置安装Tip
                                        bool bLoadTipResult = ControlCom.LoadTipAutomation(xmlEnv.SelectNodes("platform"), methodNode,
                                            isSimulator, launchView, null, 0);
                                        if (!bLoadTipResult)
                                        {
                                            return false;
                                        }
                                    }
                                }
                            }
                            #endregion
                            List<TipsTable> dtsrcWells = ControlCom.GenerateWellCoordinate(labwares, slattice);     //目标板位孔坐标数据集
                            ScrewTubeCapMParam screwTubeCapMParam = new ScrewTubeCapMParam();
                            #region 判断执行开盖子
                            string aspOpenLid = methodFileMoveLiquid.transferDataTable.Rows[recordIndex][methodFileMoveLiquid.aspOpenLid].ToString();
                            if (aspOpenLid.Equals("1"))
                            {
                                // 获取当前台面的夹爪坐标
                                List<GripperCoordinate> gripperCoordinates = DataRWDAL.GripperCoordinateDB.GetAGripperCoordinateFromdb(Shared.SoftwareInformation.software_information_id, 19, srcLattice.lattice_num);

                                //转化成夹爪板位
                                Lattice glattice = new Lattice();
                                glattice.lattice_X = gripperCoordinates[0].lattice_X;
                                glattice.lattice_Y = gripperCoordinates[0].lattice_Y;
                                glattice.lattice_Z = gripperCoordinates[0].lattice_Z;
                                glattice.lattice_num = gripperCoordinates[0].lattice_num;
                                glattice.lattice_id = "";

                                // 获取板开盖位孔的坐标数据
                                List<TipsTable> dtGripperWells = ControlCom.GenerateWellCoordinateForChemistry(labwares, glattice);

                                //离心管耗材对象
                                Labware centrifugalLabware = ControlCom.GetCentrifugalLabwer(labwares.piled_script);

                                //根据处理孔位
                                tipsTable = null;
                                tipsTable = dtGripperWells.SingleOrDefault(t => t.lattice_num.Equals(srcLattice.lattice_num)
                                                                                && t.labware_id.Equals(srcLabwareId)
                                                                                && t.wellname.Equals(sourceWell));
                                tipsTable.axis_b_Z = tipsTable.axis_b_Z + ControlCom.CurrentLengthOfTip;//被减的枪头要加回来
                                screwTubeCapMParam.tubeRackNo = Convert.ToInt32(srcLattice.lattice_num.Substring(1)); //板位号，数字部分
                                screwTubeCapMParam.tubeCol = Convert.ToInt32(sourceWell.Substring(1));               //孔所在列号，数字部分
                                screwTubeCapMParam.tubeScrewPitch = (float)centrifugalLabware.well_helical_distance;//螺纹螺距
                                screwTubeCapMParam.tubeDiameter = (float)centrifugalLabware.well_mouth_out_radius * 2;  //离心管主管外径

                                screwTubeCapMParam.tubeRow = 0;

                                screwTubeCapMParam.capDiameter = (float)centrifugalLabware.lid_out_radius * 2;
                                screwTubeCapMParam.capExpandDistance = (float)centrifugalLabware.upgripper_spread;
                                screwTubeCapMParam.capPushDistance = (float)centrifugalLabware.upgripper_squeeze;
                                screwTubeCapMParam.capPushForce = (float)centrifugalLabware.upgripper_power;
                                screwTubeCapMParam.capScrewAngle = new float[] { (float)centrifugalLabware.well_helical_circle * 360 };
                                screwTubeCapMParam.capScrewSpeed = (float)30;
                                screwTubeCapMParam.capScrewDistance = new float[] { (float)centrifugalLabware.well_helical_distance * (float)Math.Ceiling(centrifugalLabware.well_helical_circle) };
                                screwTubeCapMParam.slotNo = 1;
                                screwTubeCapMParam.basezAxisVal = 0;

                                //下夹爪
                                screwTubeCapMParam.x2AxisVal = 0;
                                screwTubeCapMParam.y2AxisVal = 0;
                                screwTubeCapMParam.tubePushDistance = (float)centrifugalLabware.downgripper_squeeze;
                                screwTubeCapMParam.tubeExpandDistance = (float)centrifugalLabware.downgripper_spread;
                                screwTubeCapMParam.tubePushForce = (float)centrifugalLabware.downgripper_power;
                                screwTubeCapMParam.isKeepLowerGripperClamped = true;

                                //上夹爪
                                screwTubeCapMParam.xAxisVal = tipsTable.axis_b_X;
                                screwTubeCapMParam.yAxisVal = tipsTable.axis_b_Y;

                                screwTubeCapMParam.zAxisVal = tipsTable.axis_b_Z - ((float)ControlCom.GetCentrifugalLabwer(labwares.piled_script).labware_height) + (float)centrifugalLabware.upgripper_zoffset;//孔口



                                launchView.SetWaitOne();//暂停
                                ret = switchLidBll.ExecuteSwitchLid(screwTubeCapMParam, 0, isSimulator);
                                tipsTable.axis_b_Z = tipsTable.axis_b_Z - ControlCom.CurrentLengthOfTip;//被加的枪头要减回来
                                if (ret.Result != ResultType.Success)
                                {
                                    if (strCurrentCulture.Equals("zh-CN"))
                                    {
                                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidOpenFailed.ToString() + ret.AlarmInfo + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                        LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidOpenFailed.ToString() + ret.AlarmInfo + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                    }
                                    else
                                    {
                                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress: switch to open lid was failed on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice! Error info：" + ret.AlarmInfo);
                                        LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress: switch to open lid was failed on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice! Error info：" + ret.AlarmInfo);
                                    }
                                    result = false;
                                    return result;
                                }
                                else
                                {
                                    if (strCurrentCulture.Equals("zh-CN"))
                                    {
                                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidOpenSuccess.ToString() + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                        LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidOpenSuccess.ToString() + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                    }
                                    else
                                    {
                                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress:switch to open lid was successful on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice!");
                                        LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress:switch to open lid was successful on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice!");
                                    }
                                }
                            }
                            else
                            {
                                //判断目标孔是否要开盖子，要开就先开目标孔的盖子
                                string ProtargetLattice = methodFileMoveLiquid.transferDataTable.Rows[recordIndex][methodFileMoveLiquid.destinationLabware].ToString();
                                globalVariableValue = "";
                                globalVariableValue = ControlCom.SearchValueOfGlobalVariable(launchView, ProtargetLattice);
                                if (!string.IsNullOrEmpty(globalVariableValue))
                                {
                                    ProtargetLattice = globalVariableValue;
                                }
                                XmlNode ProdesPlatformNode = ComUtility.GetXmlNodeByBoardName(xmlEnv.SelectNodes("platform"), ProtargetLattice);
                                if (ProdesPlatformNode == null)
                                {
                                    if (strCurrentCulture.Equals("zh-CN"))
                                    {
                                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodFileMoveLiquid.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunFileMoveLiquidResource.strWithoutLattice.ToString());
                                    }
                                    else
                                    {
                                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodFileMoveLiquid.name + "】progress: the lattice of dispense liquid from pump is wrong! please check!");
                                    }
                                    result = false;
                                    return result;
                                }
                                else
                                {
                                    XmlNode desXml = ProdesPlatformNode.SelectSingleNode("labware[@id='" + ProdesPlatformNode.SelectNodes("labware").Count + "']");
                                    string desLabwareId = desXml.SelectSingleNode("labware_id").InnerText;
                                    string desLatticeId = ProdesPlatformNode.SelectSingleNode("lattice_id").InnerText;//被截掉"P"的板位编号名

                                    Lattice desLattice = null;
                                    TabletopTemplate ProtabletopTemplate = TabletopTemplateDB.GetCurrentAppTabletopTemplateCollectionFromdb();  //增加台面模板判断
                                    if (ProtabletopTemplate == null)
                                    {
                                        desLattice = LatticeDB.GetLatticeDataByIdFromdb("P" + desLatticeId, Convert.ToInt32(methodFileMoveLiquid.armValue), Shared.SoftwareInformation.software_device_number);
                                    }
                                    else
                                    {
                                        desLattice = LatticeDB.GetLatticeDataByLatticeNumAndTempIdFromdb("P" + desLatticeId, Convert.ToInt32(methodFileMoveLiquid.armValue), Shared.SoftwareInformation.software_device_number, ProtabletopTemplate.tabletopid);
                                    }

                                    Labware Prolabwares = LabwareDB.GetLabware(desLabwareId);  //目标耗材

                                    // 获取当前台面的板子吸液列的坐标
                                    Lattice Proslattice = DataRWDAL.LatticeDB.GetLatticeDataByIdFromdb(desLattice.lattice_id);  //目标板位
                                                                                                                             //获取板位孔的坐标数据
                                    List<TipsTable> dtWells = ControlCom.GenerateWellCoordinate(Prolabwares, Proslattice);     //目标板位孔坐标数据集

                                    //根据循环处理孔位
                                    string targetWell = methodFileMoveLiquid.transferDataTable.Rows[recordIndex][methodFileMoveLiquid.destinationWell].ToString();
                                    string targetVolume = methodFileMoveLiquid.transferDataTable.Rows[recordIndex][methodFileMoveLiquid.dpsVolume].ToString();
                                    globalVariableValue = "";
                                    globalVariableValue = ControlCom.SearchValueOfGlobalVariable(launchView, targetWell);
                                    if (!string.IsNullOrEmpty(globalVariableValue))
                                    {
                                        targetWell = globalVariableValue;
                                    }

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

                                    ScrewTubeCapMParam ProscrewTubeCapMParam = new ScrewTubeCapMParam();
                                    #region 判断执行开盖子
                                    string dpsOpenLid = methodFileMoveLiquid.transferDataTable.Rows[recordIndex][methodFileMoveLiquid.dpsOpenLid].ToString();
                                    if (dpsOpenLid.Equals("1"))
                                    {
                                        // 获取当前台面的夹爪坐标
                                        List<GripperCoordinate> gripperCoordinates = DataRWDAL.GripperCoordinateDB.GetAGripperCoordinateFromdb(Shared.SoftwareInformation.software_information_id, Shared.DeviceArmList.FirstOrDefault(x => x.arm_type.Equals(0)).device_arm_id, desLattice.lattice_num);

                                        //转化成夹爪板位
                                        Lattice glattice = new Lattice();
                                        glattice.lattice_X = gripperCoordinates[0].lattice_X;
                                        glattice.lattice_Y = gripperCoordinates[0].lattice_Y;
                                        glattice.lattice_Z = gripperCoordinates[0].lattice_Z;
                                        glattice.lattice_num = gripperCoordinates[0].lattice_num;
                                        glattice.lattice_id = "";

                                        // 获取板开盖位孔的坐标数据
                                        List<TipsTable> dtGripperWells = ControlCom.GenerateWellCoordinateForChemistry(Prolabwares, glattice);

                                        //离心管耗材对象
                                        Labware centrifugalLabware = ControlCom.GetCentrifugalLabwer(Prolabwares.piled_script);

                                        //根据处理孔位
                                        tipsTable = null;
                                        tipsTable = dtGripperWells.SingleOrDefault(t => t.lattice_num.Equals(desLattice.lattice_num)
                                                                                        && t.labware_id.Equals(desLabwareId)
                                                                                        && t.wellname.Equals(targetWell));
                                        tipsTable.axis_b_Z = tipsTable.axis_b_Z + ControlCom.CurrentLengthOfTip;//被减的枪头要加回来
                                        ProscrewTubeCapMParam.tubeRackNo = Convert.ToInt32(desLattice.lattice_num.Substring(1)); //板位号，数字部分
                                        ProscrewTubeCapMParam.tubeCol = Convert.ToInt32(targetWell.Substring(1));               //孔所在列号，数字部分
                                        ProscrewTubeCapMParam.tubeScrewPitch = (float)centrifugalLabware.well_helical_distance;//螺纹螺距
                                        ProscrewTubeCapMParam.tubeDiameter = (float)centrifugalLabware.well_mouth_out_radius * 2;  //离心管主管外径

                                        ProscrewTubeCapMParam.tubeRow = 0;

                                        ProscrewTubeCapMParam.capDiameter = (float)centrifugalLabware.lid_out_radius * 2;
                                        ProscrewTubeCapMParam.capExpandDistance = (float)centrifugalLabware.upgripper_spread;
                                        ProscrewTubeCapMParam.capPushDistance = (float)centrifugalLabware.upgripper_squeeze;
                                        ProscrewTubeCapMParam.capPushForce = (float)centrifugalLabware.upgripper_power;
                                        ProscrewTubeCapMParam.capScrewAngle = new float[] { (float)centrifugalLabware.well_helical_circle * 360 };
                                        ProscrewTubeCapMParam.capScrewSpeed = (float)30;
                                        ProscrewTubeCapMParam.capScrewDistance = new float[] { (float)centrifugalLabware.well_helical_distance * (float)Math.Ceiling(centrifugalLabware.well_helical_circle) };
                                        ProscrewTubeCapMParam.slotNo = 1;
                                        ProscrewTubeCapMParam.basezAxisVal = 0;

                                        //下夹爪
                                        ProscrewTubeCapMParam.x2AxisVal = 0;
                                        ProscrewTubeCapMParam.y2AxisVal = 0;
                                        ProscrewTubeCapMParam.tubePushDistance = (float)centrifugalLabware.downgripper_squeeze;
                                        ProscrewTubeCapMParam.tubeExpandDistance = (float)centrifugalLabware.downgripper_spread;
                                        ProscrewTubeCapMParam.tubePushForce = (float)centrifugalLabware.downgripper_power;
                                        ProscrewTubeCapMParam.isKeepLowerGripperClamped= true;

                                        //上夹爪
                                        ProscrewTubeCapMParam.xAxisVal = tipsTable.axis_b_X;
                                        ProscrewTubeCapMParam.yAxisVal = tipsTable.axis_b_Y;

                                        ProscrewTubeCapMParam.zAxisVal = tipsTable.axis_b_Z - ((float)ControlCom.GetCentrifugalLabwer(Prolabwares.piled_script).labware_height) + (float)centrifugalLabware.upgripper_zoffset;//孔口



                                        launchView.SetWaitOne();//暂停
                                        if (!currentExecuteTargetOpenLid)
                                        {
                                            ret = switchLidBll.ExecuteSwitchLid(ProscrewTubeCapMParam, 0, isSimulator);
                                            tipsTable.axis_b_Z = tipsTable.axis_b_Z - ControlCom.CurrentLengthOfTip;//被加的枪头要减回来
                                            if (ret.Result != ResultType.Success)
                                            {
                                                if (strCurrentCulture.Equals("zh-CN"))
                                                {
                                                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidOpenFailed.ToString() + ret.AlarmInfo + " 孔 " + tipsTable.wellname + " 板位 " + Proslattice.lattice_num);
                                                    LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidOpenFailed.ToString() + ret.AlarmInfo + " 孔 " + tipsTable.wellname + " 板位 " + Proslattice.lattice_num);
                                                }
                                                else
                                                {
                                                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress: switch to open lid was failed on " + tipsTable.wellname + " of " + Proslattice.lattice_num + " lattice! Error info：" + ret.AlarmInfo);
                                                    LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress: switch to open lid was failed on " + tipsTable.wellname + " of " + Proslattice.lattice_num + " lattice! Error info：" + ret.AlarmInfo);
                                                }
                                                result = false;
                                                return result;
                                            }
                                            else
                                            {
                                                if (strCurrentCulture.Equals("zh-CN"))
                                                {
                                                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidOpenSuccess.ToString() + " 孔 " + tipsTable.wellname + " 板位 " + Proslattice.lattice_num);
                                                    LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidOpenSuccess.ToString() + " 孔 " + tipsTable.wellname + " 板位 " + Proslattice.lattice_num);
                                                }
                                                else
                                                {
                                                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress:switch to open lid was successful on " + tipsTable.wellname + " of " + Proslattice.lattice_num + " lattice!");
                                                    LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress:switch to open lid was successful on " + tipsTable.wellname + " of " + Proslattice.lattice_num + " lattice!");
                                                }
                                                currentExecuteTargetOpenLid = true;
                                            }
                                        }
                                    }
                                    #endregion
                                }

                                currentExecuteTargetOpenLid = true;
                            }
                            #endregion

                            #region 构建参数执行枪吸液
                            tipsTable = null;
                            tipsTable = dtsrcWells.SingleOrDefault(t => t.lattice_id.Equals(srcLattice.lattice_id)
                                                                            && t.labware_id.Equals(srcLabwareId)
                                                                            && t.wellname.Equals(sourceWell));

                            AspirateMParam aspirateMParam = this.GenerateAspirateParam(methodNode, methodFileMoveLiquid, labwares, tipsTable, (float)Convert.ToDouble(souceVolume));

                            launchView.UpdateLabwareWells(tipsTable, new string[] { sourceWell }, 2);        // 2：正在吸液红色
                            launchView.SetWaitOne();//暂停
                            ret = aspirateBll.ExecuteAspirate(aspirateMParam, isSimulator);
                            if (ret.Result != ResultType.Success)
                            {
                                //添加数据进入报表
                                launchView.addDataIntoReport(slattice.lattice_num, souceVolume, new string[1] { sourceWell }, "block");
                                if (strCurrentCulture.Equals("zh-CN"))
                                {
                                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunAspirateResource.strAspirateFail.ToString() + ret.AlarmInfo + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                    LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunAspirateResource.strAspirateFail.ToString() + ret.AlarmInfo + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                }
                                else
                                {
                                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】progress: Aspirate was failed on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice! Error info：" + ret.AlarmInfo);
                                    LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】progress: Aspirate was failed on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice! Error info：" + ret.AlarmInfo);
                                }
                                result = false;
                                return result;
                            }
                            else
                            {
                                //添加数据进入报表
                                launchView.addDataIntoReport(slattice.lattice_num, souceVolume, new string[1] { sourceWell }, "pass");

                                if (strCurrentCulture.Equals("zh-CN"))
                                {
                                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunAspirateResource.strAspirateSuccess.ToString() + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                    LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunAspirateResource.strAspirateSuccess.ToString() + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                }
                                else
                                {
                                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】progress:Aspirate was successful on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice!");
                                    LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】progress:Aspirate was successful on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice!");
                                }
                            }
                            #endregion

                            #region 构建参数执行关盖
                            string aspCloseLid = methodFileMoveLiquid.transferDataTable.Rows[recordIndex][methodFileMoveLiquid.aspCloseLid].ToString();
                            if (aspCloseLid.Equals("1"))
                            {
                                tipsTable.axis_b_Z = tipsTable.axis_b_Z + ControlCom.CurrentLengthOfTip;//被减的枪头要加回来
                                launchView.SetWaitOne();//暂停
                                screwTubeCapMParam.isKeepLowerGripperClamped = false;
                                ret = switchLidBll.ExecuteSwitchLid(screwTubeCapMParam, 1, isSimulator);
                                if (ret.Result != ResultType.Success)
                                {
                                    if (strCurrentCulture.Equals("zh-CN"))
                                    {
                                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidCloseFailed.ToString() + ret.AlarmInfo + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                        LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidCloseFailed.ToString() + ret.AlarmInfo + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                    }
                                    else
                                    {
                                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress: switch to close lid was failed on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice! Error info：" + ret.AlarmInfo);
                                        LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress: switch to close lid was failed on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice! Error info：" + ret.AlarmInfo);
                                    }
                                    result = false;
                                    return result;
                                }
                                else
                                {
                                    if (strCurrentCulture.Equals("zh-CN"))
                                    {
                                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidCloseSuccess.ToString() + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                        LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidCloseSuccess.ToString() + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                    }
                                    else
                                    {
                                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress:switch to closed lid was successful on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice!");
                                        LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress:switch to closed lid was successful on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice!");
                                    }
                                }
                            }
                            #endregion

                        }
                        #endregion

                        #region 目标过程处理
                        string targetLattice = methodFileMoveLiquid.transferDataTable.Rows[recordIndex][methodFileMoveLiquid.destinationLabware].ToString();
                        globalVariableValue = "";
                        globalVariableValue = ControlCom.SearchValueOfGlobalVariable(launchView, targetLattice);
                        if (!string.IsNullOrEmpty(globalVariableValue))
                        {
                            targetLattice = globalVariableValue;
                        }
                        XmlNode desPlatformNode = ComUtility.GetXmlNodeByBoardName(xmlEnv.SelectNodes("platform"), targetLattice);
                        if (desPlatformNode == null)
                        {
                            if (strCurrentCulture.Equals("zh-CN"))
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodFileMoveLiquid.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunFileMoveLiquidResource.strWithoutLattice.ToString());
                            }
                            else
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodFileMoveLiquid.name + "】progress: the lattice of dispense liquid from pump is wrong! please check!");
                            }
                            result = false;
                            return result;
                        }
                        else
                        {
                            XmlNode desXml = desPlatformNode.SelectSingleNode("labware[@id='" + desPlatformNode.SelectNodes("labware").Count + "']");
                            string desLabwareId = desXml.SelectSingleNode("labware_id").InnerText;
                            string desLatticeId = desPlatformNode.SelectSingleNode("lattice_id").InnerText;//被截掉"P"的板位编号名

                            Lattice desLattice = null;
                            TabletopTemplate tabletopTemplate = TabletopTemplateDB.GetCurrentAppTabletopTemplateCollectionFromdb();  //增加台面模板判断
                            if (tabletopTemplate == null)
                            {
                                desLattice = LatticeDB.GetLatticeDataByIdFromdb("P" + desLatticeId, Convert.ToInt32(methodFileMoveLiquid.armValue), Shared.SoftwareInformation.software_device_number);
                            }
                            else
                            {
                                desLattice = LatticeDB.GetLatticeDataByLatticeNumAndTempIdFromdb("P" + desLatticeId, Convert.ToInt32(methodFileMoveLiquid.armValue), Shared.SoftwareInformation.software_device_number, tabletopTemplate.tabletopid);
                            }

                            Labware labwares = LabwareDB.GetLabware(desLabwareId);  //目标耗材

                            // 获取当前台面的板子吸液列的坐标
                            Lattice slattice = DataRWDAL.LatticeDB.GetLatticeDataByIdFromdb(desLattice.lattice_id);  //目标板位
                                                                                                                     //获取板位孔的坐标数据
                            List<TipsTable> dtWells = ControlCom.GenerateWellCoordinate(labwares, slattice);     //目标板位孔坐标数据集

                            //根据循环处理孔位
                            string targetWell = methodFileMoveLiquid.transferDataTable.Rows[recordIndex][methodFileMoveLiquid.destinationWell].ToString();
                            string targetVolume = methodFileMoveLiquid.transferDataTable.Rows[recordIndex][methodFileMoveLiquid.dpsVolume].ToString();
                            globalVariableValue = "";
                            globalVariableValue = ControlCom.SearchValueOfGlobalVariable(launchView, targetWell);
                            if (!string.IsNullOrEmpty(globalVariableValue))
                            {
                                targetWell = globalVariableValue;
                            }

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

                            ScrewTubeCapMParam screwTubeCapMParam = new ScrewTubeCapMParam();
                            #region 判断执行开盖子
                            string dpsOpenLid = methodFileMoveLiquid.transferDataTable.Rows[recordIndex][methodFileMoveLiquid.dpsOpenLid].ToString();
                            if (dpsOpenLid.Equals("1"))
                            {
                                // 获取当前台面的夹爪坐标
                                List<GripperCoordinate> gripperCoordinates = DataRWDAL.GripperCoordinateDB.GetAGripperCoordinateFromdb(Shared.SoftwareInformation.software_information_id, Shared.DeviceArmList.FirstOrDefault(x => x.arm_type.Equals(0)).device_arm_id, desLattice.lattice_num);

                                //转化成夹爪板位
                                Lattice glattice = new Lattice();
                                glattice.lattice_X = gripperCoordinates[0].lattice_X;
                                glattice.lattice_Y = gripperCoordinates[0].lattice_Y;
                                glattice.lattice_Z = gripperCoordinates[0].lattice_Z;
                                glattice.lattice_num = gripperCoordinates[0].lattice_num;
                                glattice.lattice_id = "";

                                // 获取板开盖位孔的坐标数据
                                List<TipsTable> dtGripperWells = ControlCom.GenerateWellCoordinateForChemistry(labwares, glattice);

                                //离心管耗材对象
                                Labware centrifugalLabware = ControlCom.GetCentrifugalLabwer(labwares.piled_script);

                                //根据处理孔位
                                tipsTable = null;
                                tipsTable = dtGripperWells.SingleOrDefault(t => t.lattice_num.Equals(desLattice.lattice_num)
                                                                                && t.labware_id.Equals(desLabwareId)
                                                                                && t.wellname.Equals(targetWell));
                                tipsTable.axis_b_Z = tipsTable.axis_b_Z + ControlCom.CurrentLengthOfTip;//被减的枪头要加回来
                                screwTubeCapMParam.tubeRackNo = Convert.ToInt32(desLattice.lattice_num.Substring(1)); //板位号，数字部分
                                screwTubeCapMParam.tubeCol = Convert.ToInt32(targetWell.Substring(1));               //孔所在列号，数字部分
                                screwTubeCapMParam.tubeScrewPitch = (float)centrifugalLabware.well_helical_distance;//螺纹螺距
                                screwTubeCapMParam.tubeDiameter = (float)centrifugalLabware.well_mouth_out_radius * 2;  //离心管主管外径

                                screwTubeCapMParam.tubeRow = 0;

                                screwTubeCapMParam.capDiameter = (float)centrifugalLabware.lid_out_radius * 2;
                                screwTubeCapMParam.capExpandDistance = (float)centrifugalLabware.upgripper_spread;
                                screwTubeCapMParam.capPushDistance = (float)centrifugalLabware.upgripper_squeeze;
                                screwTubeCapMParam.capPushForce = (float)centrifugalLabware.upgripper_power;
                                screwTubeCapMParam.capScrewAngle = new float[] { (float)centrifugalLabware.well_helical_circle * 360 };
                                screwTubeCapMParam.capScrewSpeed = (float)30;
                                screwTubeCapMParam.capScrewDistance = new float[] { (float)centrifugalLabware.well_helical_distance * (float)Math.Ceiling(centrifugalLabware.well_helical_circle) };
                                screwTubeCapMParam.slotNo = 1;
                                screwTubeCapMParam.basezAxisVal = 0;

                                //下夹爪
                                screwTubeCapMParam.x2AxisVal = 0;
                                screwTubeCapMParam.y2AxisVal = 0;
                                screwTubeCapMParam.tubePushDistance = (float)centrifugalLabware.downgripper_squeeze;
                                screwTubeCapMParam.tubeExpandDistance = (float)centrifugalLabware.downgripper_spread;
                                screwTubeCapMParam.tubePushForce = (float)centrifugalLabware.downgripper_power;
                                screwTubeCapMParam.isKeepLowerGripperClamped = true;

                                //上夹爪
                                screwTubeCapMParam.xAxisVal = tipsTable.axis_b_X;
                                screwTubeCapMParam.yAxisVal = tipsTable.axis_b_Y;

                                screwTubeCapMParam.zAxisVal = tipsTable.axis_b_Z - ((float)ControlCom.GetCentrifugalLabwer(labwares.piled_script).labware_height) + (float)centrifugalLabware.upgripper_zoffset;//孔口



                                launchView.SetWaitOne();//暂停
                                if (!currentExecuteTargetOpenLid)
                                {
                                    ret = switchLidBll.ExecuteSwitchLid(screwTubeCapMParam, 0, isSimulator);
                                    tipsTable.axis_b_Z = tipsTable.axis_b_Z - ControlCom.CurrentLengthOfTip;//被加的枪头要减回来
                                    if (ret.Result != ResultType.Success)
                                    {
                                        if (strCurrentCulture.Equals("zh-CN"))
                                        {
                                            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidOpenFailed.ToString() + ret.AlarmInfo + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                            LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidOpenFailed.ToString() + ret.AlarmInfo + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                        }
                                        else
                                        {
                                            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress: switch to open lid was failed on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice! Error info：" + ret.AlarmInfo);
                                            LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress: switch to open lid was failed on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice! Error info：" + ret.AlarmInfo);
                                        }
                                        result = false;
                                        return result;
                                    }
                                    else
                                    {
                                        if (strCurrentCulture.Equals("zh-CN"))
                                        {
                                            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidOpenSuccess.ToString() + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                            LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidOpenSuccess.ToString() + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                        }
                                        else
                                        {
                                            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress:switch to open lid was successful on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice!");
                                            LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress:switch to open lid was successful on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice!");
                                        }
                                        currentExecuteTargetOpenLid = true;
                                    }
                                }
                            }
                            #endregion

                            #region 构建参数执行枪排液
                            tipsTable = null;
                            tipsTable = dtWells.SingleOrDefault(t => t.lattice_id.Equals(desLattice.lattice_id)
                                                                            && t.labware_id.Equals(desLabwareId)
                                                                            && t.wellname.Equals(targetWell));

                            DispenseMParam dispenseMParam = this.GenerateDispenseParam(methodNode, methodFileMoveLiquid, labwares, tipsTable, (float)Convert.ToDouble(targetVolume));

                            launchView.UpdateLabwareWells(tipsTable, new string[] { targetWell }, 3);     // 正在放液水红色
                            DateTime startTime = DateTime.Now;
                            ret = dispenseBll.ExecuteDispense(dispenseMParam, isSimulator);
                            if (ret.Result != ResultType.Success)
                            {
                                launchView.addFinishDataIntoReport(tipsTable, slattice.lattice_num, targetVolume, new string[1] { tipsTable.wellname }, "block", new string[1] { "" });//目标孔
                                if (strCurrentCulture.Equals("zh-CN"))
                                {
                                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunDispenseResource.strDispenseFail.ToString() + ret.AlarmInfo + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                    LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunDispenseResource.strDispenseFail.ToString() + ret.AlarmInfo + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                }
                                else
                                {
                                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】progress: Dispense was failed on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice! Error info：" + ret.AlarmInfo);
                                    LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】progress: Dispense was failed on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice! Error info：" + ret.AlarmInfo);
                                }
                                result = false;
                                return result;
                            }
                            else
                            {
                                launchView.addFinishDataIntoReport(tipsTable, slattice.lattice_num, targetVolume, new string[1] { tipsTable.wellname }, "pass", new string[1] { "" });//目标孔
                                if (strCurrentCulture.Equals("zh-CN"))
                                {
                                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunDispenseResource.strDispenseSuccess.ToString() + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                    LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunDispenseResource.strDispenseSuccess.ToString() + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                }
                                else
                                {
                                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】progress:Dispense was successful on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice!");
                                    LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】progress:Dispense was successful on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice!");
                                }
                            }
                            #endregion

                            #region 构建参数执行关盖
                            string dpsCloseLid = methodFileMoveLiquid.transferDataTable.Rows[recordIndex][methodFileMoveLiquid.dpsCloseLid].ToString();
                            if (dpsCloseLid.Equals("1"))
                            {
                                tipsTable.axis_b_Z = tipsTable.axis_b_Z + ControlCom.CurrentLengthOfTip;//被减的枪头要加回来
                                launchView.SetWaitOne();//暂停
                                screwTubeCapMParam.isKeepLowerGripperClamped = false;
                                if (currentExecuteTargetOpenLid)
                                {
                                    ret = switchLidBll.ExecuteSwitchLid(screwTubeCapMParam, 1, isSimulator);
                                    if (ret.Result != ResultType.Success)
                                    {
                                        if (strCurrentCulture.Equals("zh-CN"))
                                        {
                                            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidCloseFailed.ToString() + ret.AlarmInfo + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                            LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidCloseFailed.ToString() + ret.AlarmInfo + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                        }
                                        else
                                        {
                                            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress: switch to close lid was failed on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice! Error info：" + ret.AlarmInfo);
                                            LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress: switch to close lid was failed on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice! Error info：" + ret.AlarmInfo);
                                        }
                                        result = false;
                                        return result;
                                    }
                                    else
                                    {
                                        if (strCurrentCulture.Equals("zh-CN"))
                                        {
                                            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidCloseSuccess.ToString() + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                            LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidCloseSuccess.ToString() + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                        }
                                        else
                                        {
                                            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress:switch to closed lid was successful on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice!");
                                            LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress:switch to closed lid was successful on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice!");
                                        }
                                    }
                                }
                            }
                            #endregion

                            #region 构建参数执行卸载枪头

                            if (changeTipsMode == 0)//不卸载
                            {

                            }
                            else if (changeTipsMode == 1)//根据文件内容卸载
                            {
                                if (tipSet.Equals("1"))
                                {
                                    UnloadTipsControl unloadTipsControl = new UnloadTipsControl(Shared.SoftwareInformation.currentculture);
                                    unloadTipsControl.launchView = launchView;
                                    bool bUnloadResult = unloadTipsControl.ExecuteUnloadTipsInToTrash(platformNodeList, methodNode, isSimulator);
                                    if (!bUnloadResult)
                                    {
                                        result = false;
                                        return result;
                                    }
                                    launchView.currentIsLoadingTips = false;
                                    bchannelTip = true;
                                }
                                else
                                {

                                }
                            }
                            else if (changeTipsMode == 2 || recordIndex == recordAllCount - 1)//最后一次都要下载枪头
                            {
                                UnloadTipsControl unloadTipsControl = new UnloadTipsControl(Shared.SoftwareInformation.currentculture);
                                unloadTipsControl.launchView = launchView;
                                bool bUnloadResult = unloadTipsControl.ExecuteUnloadTipsInToTrash(platformNodeList, methodNode, isSimulator);
                                if (!bUnloadResult)
                                {
                                    result = false;
                                    return result;
                                }
                                launchView.currentIsLoadingTips = false;
                                launchView.currentLengthOfTip = 0f;
                                bchannelTip = true;
                                bIsFirstDataWithZero = false;
                            }

                            if ((recordIndex == recordAllCount - 1) && changeTipsMode != 2)
                            {
                                UnloadTipsControl unloadTipsControl = new UnloadTipsControl(Shared.SoftwareInformation.currentculture);
                                unloadTipsControl.launchView = launchView;
                                bool bUnloadResult = unloadTipsControl.ExecuteUnloadTipsInToTrash(platformNodeList, methodNode, isSimulator);
                                if (!bUnloadResult)
                                {
                                    result = false;
                                    return result;
                                }
                                launchView.currentIsLoadingTips = false;
                                bchannelTip = true;
                                bIsFirstDataWithZero = false;
                            }
                            #endregion

                        }
                        #endregion
                    }

                    recordIndex = recordIndex + 1;
                }

                if (strCurrentCulture.Equals("zh-CN"))
                {
                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】" + Properties.RunTransferFileResource.strAllStepsCompleted.ToString());
                    LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】" + Properties.RunTransferFileResource.strAllStepsCompleted.ToString());
                }
                else
                {
                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】All steps of " + methodFileMoveLiquid.name + " have been completed;");
                    LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLiquid.name + "】All steps of " + methodFileMoveLiquid.name + " have been completed;");
                }
            }
            

            #endregion

            return result;
        }
        #endregion

        #region 吸液参数对象构建
        public AspirateMParam GenerateAspirateParam(XmlNode methodNode, MethodFileMoveLiquid methodFileMoveLiquid,
            Labware labware, TipsTable tipsTable, float pVolume)
        {
            #region 数据准备
            string liquididText = methodFileMoveLiquid.liquididText;
            string liquididValue = methodFileMoveLiquid.liquididValue;
            string liquidrangeidText = methodFileMoveLiquid.liquidrangeidText;
            string liquidrangeidValue = methodFileMoveLiquid.liquidrangeidValue;
            string liquidpidText = methodFileMoveLiquid.liquidpidText;
            string liquidpidValue = methodFileMoveLiquid.liquidpidValue;

            bool enableLiquidSensor = methodFileMoveLiquid.enableLiquidSensor;
            int liquidSensorCount = Convert.ToInt32(methodFileMoveLiquid.liquidSensorCount);
            double liquidSensorDistance = Convert.ToDouble(methodFileMoveLiquid.liquidSensorDistance);
            double liquidSensorEndDistance = Convert.ToDouble(methodFileMoveLiquid.liquidSensorEndDistance);
            double liquidSensorSpeed = Convert.ToDouble(methodFileMoveLiquid.liquidSensorSpeed);
            double liquidSensorRadio = Convert.ToDouble(methodFileMoveLiquid.liquidSensorRadio);
            string liquidSensorDisIdText = methodFileMoveLiquid.liquidSensorDisIdText;
            double liquidSensorDisIdValue = methodFileMoveLiquid.liquidSensorDisIdValue;
            bool enableLiquidFollow = methodFileMoveLiquid.enableLiquidFollow;
            int liquidFollowType = Convert.ToInt32(methodFileMoveLiquid.liquidFollowType);
            string liquidFollowTypeName = methodFileMoveLiquid.liquidFollowTypeName;
            double liquidFollowSpeed = Convert.ToDouble(methodFileMoveLiquid.liquidFollowSpeed);
            double liquidFollowDistance = Convert.ToDouble(methodFileMoveLiquid.liquidFollowDistance);
            double liquidFollowArea = Convert.ToDouble(methodFileMoveLiquid.liquidFollowArea);
            bool enableMixFollow = methodFileMoveLiquid.enableMixFollow;
            string channelNums = string.Join(",", methodFileMoveLiquid.channels);

            int[] chs = new int[methodFileMoveLiquid.channels.Length];
            for (int m = 0; m < methodFileMoveLiquid.channels.Length; m++)
            {
                chs[m] = methodFileMoveLiquid.channels[m];
            }
            string[] wellnames = new string[methodFileMoveLiquid.channels.Length];
            string[] indexLC = new string[methodFileMoveLiquid.channels.Length];
            string[] tagCodeLC = new string[methodFileMoveLiquid.channels.Length];
            float zAxisVals = 0f;
            float pVolmunVals = 0f;
            #endregion

            // 液体参数
            Liquid liquid = LiquidDB.GetALiquidFromdb(liquidpidValue);

            AspirateMParam aspirateMParam = new AspirateMParam();
            //aspirateMParam.channelCount = methodFileMoveLiquid.channels.Length;
            //aspirateMParam.channelId = chs;
            aspirateMParam.afterAirDelay = (int)liquid.after_aspirate_delay;
            aspirateMParam.armId = Convert.ToInt32(methodFileMoveLiquid.armValue);
            aspirateMParam.aspirateAcceleration = (float)liquid.aspirate_acceleration;
            aspirateMParam.aspirateDeceleration = (float)liquid.aspirate_deceleration;
            aspirateMParam.aspirateDelay = (int)liquid.aspirate_delay;
            aspirateMParam.aspirateEnterSpeed = (float)liquid.aspirate_enter_speed;
            aspirateMParam.aspirateOutSpeed = (float)liquid.aspirate_out_speed;
            aspirateMParam.aspirateSpeed = (float)liquid.aspirate_speed;
            aspirateMParam.basezAxisVal = (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisSafeVal"]);
            aspirateMParam.beforeAirDelay = (int)liquid.before_aspirate_delay;

            #region 后吸空气
            if ((float)liquid.after_aspirate_volume == 0f)
            {
                aspirateMParam.isAfterAir = false;
            }
            else
            {
                aspirateMParam.isAfterAir = true;
                aspirateMParam.afterAirpAxisVal = (float)liquid.after_aspirate_volume;
            }
            #endregion

            #region 前吸空气
            if (liquid.before_aspirate_volume == 0d)
            {
                aspirateMParam.isBeforeAir = false;
            }
            else
            {
                aspirateMParam.isBeforeAir = true;
                aspirateMParam.beforeAirpAxisVal = (float)liquid.before_aspirate_volume;
            }
            #endregion

            aspirateMParam.liquidVolumeType = (int)Convert.ToInt32((liquid.liquid_volume_type != null ? "1" : liquid.liquid_volume_type));
            //aspirateMParam.wellzAxisVal = (float)liquid.well_top_length;  // 孔位平面的z轴
            if (labware.labware_type_id.Equals("4"))
            {
                if (labware.labware_tubeshelf_type == 1)
                {
                    ObservableCollection<LabwareWellInfo> labwareWellInfoList = DataRWDAL.LabwareDB.GetSpecialLabwareWellInfo(labware.labware_id);
                    LabwareWellInfo currentWellInfo = labwareWellInfoList.FirstOrDefault(x => x.labware_well_name.Equals(tipsTable.wellname));
                    aspirateMParam.wellzAxisVal = tipsTable.axis_b_Z - ((float)DataRWDAL.LabwareDB.GetLabware(currentWellInfo.well_labware_id).labware_height);
                }
                else
                {
                    aspirateMParam.wellzAxisVal = tipsTable.axis_b_Z - ((float)ControlCom.GetCentrifugalLabwer(labware.piled_script).labware_height);
                }
            }
            else
            {
                aspirateMParam.wellzAxisVal = tipsTable.axis_b_Z - ((float)labware.well_height);// - (float)liquid.well_top_length);
            }
            #region 碰壁
            if (liquid.dispense_is_knock_wall == 0)
            {
                aspirateMParam.isKnockWall = false;
            }
            else
            {
                aspirateMParam.isKnockWall = true;
                aspirateMParam.knockDirection = (int)liquid.knock_direction;
                aspirateMParam.knockSpeed = Convert.ToInt32(liquid.knock_speed);
                aspirateMParam.knockWallDelay = (int)liquid.knock_wall_delay;
                aspirateMParam.knockWellxOryAxisVal = (float)liquid.knock_wall_length;
                aspirateMParam.knockWellzAxisVal = (float)liquid.knock_well_height;
            }
            #endregion

            aspirateMParam.isSurvey = false;// enableLiquidSensor;
            if (aspirateMParam.isSurvey == true)
            {
                if (labware.labware_type_id.Equals("4"))
                {
                    if (labware.labware_tubeshelf_type == 1)
                    {
                        ObservableCollection<LabwareWellInfo> labwareWellInfoList = DataRWDAL.LabwareDB.GetSpecialLabwareWellInfo(labware.labware_id);
                        LabwareWellInfo currentWellInfo = labwareWellInfoList.FirstOrDefault(x => x.labware_well_name.Equals(tipsTable.wellname));

                        aspirateMParam.surveyInitzVal = tipsTable.axis_b_Z - ((float)DataRWDAL.LabwareDB.GetLabware(currentWellInfo.well_labware_id).labware_height - (float)liquidSensorDistance);
                        aspirateMParam.surveyMaxzVal = tipsTable.axis_b_Z - ((float)DataRWDAL.LabwareDB.GetLabware(currentWellInfo.well_labware_id).labware_height - (float)liquidSensorEndDistance);
                        aspirateMParam.surveySpeed = (float)liquidSensorSpeed;

                        aspirateMParam.wellzAxisVal = tipsTable.axis_b_Z - ((float)DataRWDAL.LabwareDB.GetLabware(currentWellInfo.well_labware_id).labware_height);
                        aspirateMParam.wellBottomzAxisVal = tipsTable.axis_b_Z;
                    }
                    else
                    {
                        Labware centrifugalLabware = ControlCom.GetCentrifugalLabwer(labware.piled_script);
                        aspirateMParam.surveyInitzVal = tipsTable.axis_b_Z - ((float)ControlCom.GetCentrifugalLabwer(labware.piled_script).labware_height - (float)liquidSensorDistance);
                        aspirateMParam.surveyMaxzVal = tipsTable.axis_b_Z - ((float)ControlCom.GetCentrifugalLabwer(labware.piled_script).labware_height - (float)liquidSensorEndDistance);
                        aspirateMParam.surveySpeed = (float)liquidSensorSpeed;

                        aspirateMParam.wellzAxisVal = tipsTable.axis_b_Z - ((float)ControlCom.GetCentrifugalLabwer(labware.piled_script).labware_height);
                        aspirateMParam.wellBottomzAxisVal = tipsTable.axis_b_Z - ((float)ControlCom.GetCentrifugalLabwer(labware.piled_script).labware_height - (float)ControlCom.GetCentrifugalLabwer(labware.piled_script).well_height);
                    }

                    aspirateMParam.surveyFailHandleType = Convert.ToInt32(liquidSensorDisIdValue);
                    if (enableLiquidFollow)
                    {
                        aspirateMParam.followupType = liquidFollowType;
                        aspirateMParam.followupSpeed = (float)liquidFollowSpeed;
                        aspirateMParam.followupDistance = (float)liquidFollowDistance;
                        float area = 0.0f;
                        if (labware.well_shape == (int)WellSharpe.Round)
                        {
                            area = (float)(Math.PI * (float)ControlCom.GetCentrifugalLabwer(labware.piled_script).well_mouth_radius * (float)ControlCom.GetCentrifugalLabwer(labware.piled_script).well_mouth_radius);
                        }
                        else if (labware.well_shape == (int)WellSharpe.Rectangle)
                        {
                            area = (float)((float)ControlCom.GetCentrifugalLabwer(labware.piled_script).well_top_x * (float)ControlCom.GetCentrifugalLabwer(labware.piled_script).well_top_y);
                        }
                        aspirateMParam.sectionalArea = area;
                        aspirateMParam.isMixFollowup = enableMixFollow;
                    }
                    else
                    {

                    }
                }
                else
                {
                    //aspirateMParam.surveyRetryCount = liquidSensorCount;
                    aspirateMParam.surveyInitzVal = tipsTable.axis_b_Z - ((float)labware.well_height - (float)liquidSensorDistance);
                    aspirateMParam.surveyMaxzVal = tipsTable.axis_b_Z - ((float)labware.well_height - (float)liquidSensorEndDistance);
                    aspirateMParam.surveySpeed = (float)liquidSensorSpeed;
                    //aspirateMParam.surveyCoefficient =;
                    aspirateMParam.wellzAxisVal = tipsTable.axis_b_Z - ((float)labware.well_height);// - (float)liquid.well_top_length);
                    aspirateMParam.wellBottomzAxisVal = tipsTable.axis_b_Z;
                    aspirateMParam.surveyFailHandleType = Convert.ToInt32(liquidSensorDisIdValue);
                    if (enableLiquidFollow)
                    {
                        //aspirateMParam.followupType = liquidFollowType;
                        aspirateMParam.followupSpeed = (float)liquidFollowSpeed;
                        aspirateMParam.followupDistance = (float)liquidFollowDistance;
                        float area = 0.0f;
                        if (labware.well_shape == (int)WellSharpe.Round)
                        {
                            area = (float)(Math.PI * labware.well_mouth_radius * labware.well_mouth_radius);
                        }
                        else if (labware.well_shape == (int)WellSharpe.Rectangle)
                        {
                            area = (float)(labware.well_top_x * labware.well_top_y);
                        }
                        aspirateMParam.sectionalArea = area;
                        aspirateMParam.isMixFollowup = enableMixFollow;
                    }
                    else
                    {

                    }
                }
            }
            else
            {

            }

            aspirateMParam.isMix = methodFileMoveLiquid.baspMix;
            if (aspirateMParam.isMix)
            {
                aspirateMParam.mixAspiratePositionValue = Convert.ToInt32(methodFileMoveLiquid.aspmixAspiratePositionValue);
                aspirateMParam.mixAspiratePositionText = methodFileMoveLiquid.aspmixAspiratePositionText;
                if (aspirateMParam.mixAspiratePositionValue == 0)//liquid
                {

                }
                else if (aspirateMParam.mixAspiratePositionValue == 1)//top
                {
                    aspirateMParam.mixAspirateDistance = ((float)labware.well_height - (float)methodFileMoveLiquid.aspmixAspirateDistance);
                }
                else if (aspirateMParam.mixAspiratePositionValue == 2)//bottom
                {
                    aspirateMParam.mixAspirateDistance = (float)methodFileMoveLiquid.aspmixAspirateDistance;
                }
                aspirateMParam.mixAspirateSpeed = (float)Convert.ToDouble(methodFileMoveLiquid.aspmixAspirateSpeed);
                aspirateMParam.mixDispensePositionValue = Convert.ToInt32(methodFileMoveLiquid.aspmixDispensePositionValue);
                aspirateMParam.mixDispensePositionText = methodFileMoveLiquid.aspmixDispensePositionText;
                if (aspirateMParam.mixDispensePositionValue == 0)//liquid
                {

                }
                else if (aspirateMParam.mixDispensePositionValue == 1)//top
                {
                    aspirateMParam.mixDispenseDistance = ((float)labware.well_height - (float)methodFileMoveLiquid.aspmixDispenseDistance);
                }
                else if (aspirateMParam.mixDispensePositionValue == 2)//bottom
                {
                    aspirateMParam.mixDispenseDistance = (float)methodFileMoveLiquid.aspmixDispenseDistance;
                }
                aspirateMParam.mixDispenseSpeed = (float)Convert.ToDouble(methodFileMoveLiquid.aspmixDispenseSpeed);

                aspirateMParam.mixvolume = (float)methodFileMoveLiquid.aspmixvolume;
                aspirateMParam.mixCount = methodFileMoveLiquid.aspmixcount;
                
            }
            else
            {
                aspirateMParam.isMix = false;
                aspirateMParam.mixAspirateDistance = 0;
                aspirateMParam.mixAspirateSpeed = 100;
                aspirateMParam.mixDispenseDistance = 0;
                aspirateMParam.mixDispenseSpeed = 100;
                aspirateMParam.mixvolume = 0;
                aspirateMParam.mixCount = 0;
                aspirateMParam.mixzAxisVal = 0f;
            }
            aspirateMParam.zAxisVal = zAxisVals;
            aspirateMParam.pAxisVal = pVolmunVals;
            

            float pVolumnVas = 0f;
            for (int k = 0; k < methodFileMoveLiquid.channels.Length; k++)
            {
                pVolumnVas = pVolume;        // 体积
                if (k == 0)
                {
                    aspirateMParam.xAxisVal = tipsTable.axis_b_X;
                    aspirateMParam.yAxisVal = tipsTable.axis_b_Y;
                }

                // 孔位平面的z轴
                float zVal = aspirateMParam.wellzAxisVal;//tipsTableRemoteArrayList[n][k].axis_b_Z + ControlCom.CurrentLengthOfTipOffSetVal;
                //aspirateMParam.wellzAxisVal = zVal - (float)labware.well_height;

                #region 孔位的z轴
                if (liquid.aspirate_position_type == 0)
                {
                }
                else if (liquid.aspirate_position_type == 1)
                {
                    zVal = zVal + (float)Convert.ToDouble(liquid.aspirate_well_bottom_length);
                }
                else if (liquid.aspirate_position_type == 2)
                {
                    //zVal = aspirateMParam.wellzAxisVal + (float)liquid.aspirate_well_bottom_length;
                    if (labware.labware_type_id.Equals("4"))
                    {
                        if(labware.labware_tubeshelf_type==1)
                        {
                            ObservableCollection<LabwareWellInfo> labwareWellInfoList = DataRWDAL.LabwareDB.GetSpecialLabwareWellInfo(labware.labware_id);
                            LabwareWellInfo currentWellInfo = labwareWellInfoList.FirstOrDefault(x => x.labware_well_name.Equals(tipsTable.wellname));
                            Labware currentWellLabware = DataRWDAL.LabwareDB.GetLabware(currentWellInfo.well_labware_id);
                            zVal = tipsTable.axis_b_Z - (float)Convert.ToDouble(liquid.aspirate_well_bottom_length) - ((float)currentWellLabware.labware_height- (float)currentWellLabware.well_height);
                        }
                        else
                        {
                            zVal = tipsTable.axis_b_Z - (float)Convert.ToDouble(liquid.aspirate_well_bottom_length) - ControlCom.CalculateWellBottomThickness(labware.piled_script);
                        }
                    }
                    else
                    {
                        zVal = tipsTable.axis_b_Z - (float)Convert.ToDouble(liquid.aspirate_well_bottom_length);
                    }
                }
                zAxisVals = zVal < 0 ? 0 : zVal;
                #endregion
                aspirateMParam.mixzAxisVal = (float)Convert.ToDouble(aspirateMParam.zAxisVal);
                wellnames[k] = tipsTable.wellname;         // 孔位

                // 精度校准后的体积
                LiquidAccuracy liquidAccuracy = liquidAccuracyBll.GetLiquidAccuracyFromdb(Convert.ToInt32(liquidrangeidValue), Convert.ToInt32(aspirateMParam.armId), Convert.ToDouble(pVolume), liquididValue);
                double targetVolume = liquidAccuracyBll.CalculateAspirateParamVolume(Convert.ToDouble(pVolumnVas), liquidAccuracy);
                pVolmunVals = (float)targetVolume == 0f ? 20f : (float)targetVolume;
            }

            aspirateMParam.mixzAxisVal = zAxisVals;
            aspirateMParam.zAxisVal = zAxisVals;
            aspirateMParam.pAxisVal = pVolmunVals;
            return aspirateMParam;
        }
        #endregion

        #region 放液参数对象构建
        public DispenseMParam GenerateDispenseParam(XmlNode methodNode, MethodFileMoveLiquid methodFileMoveLiquid,
            Labware labware, TipsTable tipsTable, float pVolume)
        {
            #region 数据准备
            string liquididText = methodFileMoveLiquid.liquididText;
            string liquididValue = methodFileMoveLiquid.liquididValue;
            string liquidrangeidText = methodFileMoveLiquid.liquidrangeidText;
            string liquidrangeidValue = methodFileMoveLiquid.liquidrangeidValue;
            string liquidpidText = methodFileMoveLiquid.liquidpidText;
            string liquidpidValue = methodFileMoveLiquid.liquidpidValue;

            bool enableLiquidSensor = methodFileMoveLiquid.enableLiquidSensor;
            int liquidSensorCount = Convert.ToInt32(methodFileMoveLiquid.liquidSensorCount);
            double liquidSensorDistance = Convert.ToDouble(methodFileMoveLiquid.liquidSensorDistance);
            double liquidSensorEndDistance = Convert.ToDouble(methodFileMoveLiquid.liquidSensorEndDistance);
            double liquidSensorSpeed = Convert.ToDouble(methodFileMoveLiquid.liquidSensorSpeed);
            double liquidSensorRadio = Convert.ToDouble(methodFileMoveLiquid.liquidSensorRadio);
            string liquidSensorDisIdText = methodFileMoveLiquid.liquidSensorDisIdText;
            double liquidSensorDisIdValue = methodFileMoveLiquid.liquidSensorDisIdValue;
            bool enableLiquidFollow = methodFileMoveLiquid.enableLiquidFollow;
            int liquidFollowType = Convert.ToInt32(methodFileMoveLiquid.liquidFollowType);
            string liquidFollowTypeName = methodFileMoveLiquid.liquidFollowTypeName;
            double liquidFollowSpeed = Convert.ToDouble(methodFileMoveLiquid.liquidFollowSpeed);
            double liquidFollowDistance = Convert.ToDouble(methodFileMoveLiquid.liquidFollowDistance);
            double liquidFollowArea = Convert.ToDouble(methodFileMoveLiquid.liquidFollowArea);
            bool enableMixFollow = methodFileMoveLiquid.enableMixFollow;
            string channelNums = string.Join(",", methodFileMoveLiquid.channels);

            int[] chs = new int[methodFileMoveLiquid.channels.Length];
            for (int m = 0; m < methodFileMoveLiquid.channels.Length; m++)
            {
                chs[m] = methodFileMoveLiquid.channels[m];
            }
            string[] wellnames = new string[methodFileMoveLiquid.channels.Length];
            string[] indexLC = new string[methodFileMoveLiquid.channels.Length];
            string[] tagCodeLC = new string[methodFileMoveLiquid.channels.Length];
            float zAxisVals = 0f;
            float pVolmunVals = 0f;
            #endregion

            // 液体参数
            Liquid liquid = LiquidDB.GetALiquidFromdb(liquidpidValue);

            DispenseMParam dispenseMParam = new DispenseMParam();
            //dispenseMParam.channelCount = methodFileMoveLiquid.channels.Length;
            //dispenseMParam.channelId = chs;
            dispenseMParam.afterAirDelay = (int)liquid.after_dispense_delay;
            dispenseMParam.armId = Convert.ToInt32(methodFileMoveLiquid.armValue);
            dispenseMParam.dispenseAcceleration = (float)liquid.dispense_acceleration;
            dispenseMParam.dispenseDeceleration = (float)liquid.dispense_deceleration;
            dispenseMParam.dispenseDelay = (int)liquid.dispense_delay;
            dispenseMParam.dispenseEnterSpeed = (float)liquid.dispense_enter_speed;
            dispenseMParam.dispenseOutSpeed = (float)liquid.dispense_out_speed;
            dispenseMParam.dispenseSpeed = (float)liquid.dispense_speed;
            dispenseMParam.basezAxisVal = (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisSafeVal"]);
            dispenseMParam.beforeAirDelay = (int)liquid.before_dispense_delay;

            #region 后吸空气
            if ((float)liquid.after_dispense_volume == 0f)
            {
                dispenseMParam.isAfterAir = false;
            }
            else
            {
                dispenseMParam.isAfterAir = true;
                dispenseMParam.afterAirpAxisVal = (float)liquid.after_dispense_volume;
            }
            #endregion

            #region 前吸空气
            if (liquid.before_dispense_volume == 0d)
            {
                dispenseMParam.isBeforeAir = false;
            }
            else
            {
                dispenseMParam.isBeforeAir = true;
                dispenseMParam.beforeAirpAxisVal = (float)liquid.before_dispense_volume;
            }
            #endregion

            //dispenseMParam.liquidVolumeType = (int)Convert.ToInt32((liquid.liquid_volume_type != null ? "1" : liquid.liquid_volume_type));
            //dispenseMParam.wellzAxisVal = (float)liquid.well_top_length;  // 孔位平面的z轴
            if (labware.labware_type_id.Equals("4"))
            {
                if (labware.labware_tubeshelf_type == 1)
                {
                    ObservableCollection<LabwareWellInfo> labwareWellInfoList = DataRWDAL.LabwareDB.GetSpecialLabwareWellInfo(labware.labware_id);
                    LabwareWellInfo currentWellInfo = labwareWellInfoList.FirstOrDefault(x => x.labware_well_name.Equals(tipsTable.wellname));
                    dispenseMParam.wellzAxisVal = tipsTable.axis_b_Z - ((float)DataRWDAL.LabwareDB.GetLabware(currentWellInfo.well_labware_id).labware_height);
                }
                else
                {
                    dispenseMParam.wellzAxisVal = tipsTable.axis_b_Z - ((float)ControlCom.GetCentrifugalLabwer(labware.piled_script).labware_height);
                }
            }
            else
            {
                dispenseMParam.wellzAxisVal = tipsTable.axis_b_Z - ((float)labware.well_height);// - (float)liquid.well_top_length);
            }
            #region 碰壁
            if (liquid.dispense_is_knock_wall == 0)
            {
                dispenseMParam.isKnockWall = false;
            }
            else
            {
                dispenseMParam.isKnockWall = true;
                dispenseMParam.knockDirection = (int)liquid.knock_direction;
                dispenseMParam.knockSpeed = (float)liquid.knock_speed;
                dispenseMParam.knockWallDelay = (int)liquid.knock_wall_delay;
                dispenseMParam.knockWellxOryAxisVal = (float)liquid.knock_wall_length;
                dispenseMParam.knockWellzAxisVal = (float)liquid.knock_well_height;
            }
            #endregion

            dispenseMParam.isSurvey = false;// enableLiquidSensor;
            if (dispenseMParam.isSurvey == true)
            {
                if (labware.labware_type_id.Equals("4"))
                {
                    if (labware.labware_tubeshelf_type == 1)
                    {
                        ObservableCollection<LabwareWellInfo> labwareWellInfoList = DataRWDAL.LabwareDB.GetSpecialLabwareWellInfo(labware.labware_id);
                        LabwareWellInfo currentWellInfo = labwareWellInfoList.FirstOrDefault(x => x.labware_well_name.Equals(tipsTable.wellname));
                        dispenseMParam.surveyInitzVal = tipsTable.axis_b_Z - ((float)DataRWDAL.LabwareDB.GetLabware(currentWellInfo.well_labware_id).labware_height - (float)liquidSensorDistance);
                        dispenseMParam.surveyMaxzVal = tipsTable.axis_b_Z - ((float)DataRWDAL.LabwareDB.GetLabware(currentWellInfo.well_labware_id).labware_height - (float)liquidSensorEndDistance);
                        dispenseMParam.surveySpeed = (float)liquidSensorSpeed;

                        dispenseMParam.wellzAxisVal = tipsTable.axis_b_Z - ((float)DataRWDAL.LabwareDB.GetLabware(currentWellInfo.well_labware_id).labware_height);
                        dispenseMParam.wellBottomzAxisVal = tipsTable.axis_b_Z;
                    }
                    else
                    {
                        Labware centrifugalLabware = ControlCom.GetCentrifugalLabwer(labware.piled_script);
                        dispenseMParam.surveyInitzVal = tipsTable.axis_b_Z - ((float)ControlCom.GetCentrifugalLabwer(labware.piled_script).labware_height - (float)liquidSensorDistance);
                        dispenseMParam.surveyMaxzVal = tipsTable.axis_b_Z - ((float)ControlCom.GetCentrifugalLabwer(labware.piled_script).labware_height - (float)liquidSensorEndDistance);
                        dispenseMParam.surveySpeed = (float)liquidSensorSpeed;

                        dispenseMParam.wellzAxisVal = tipsTable.axis_b_Z - ((float)ControlCom.GetCentrifugalLabwer(labware.piled_script).labware_height);
                        dispenseMParam.wellBottomzAxisVal = tipsTable.axis_b_Z - ((float)ControlCom.GetCentrifugalLabwer(labware.piled_script).labware_height - (float)ControlCom.GetCentrifugalLabwer(labware.piled_script).well_height);
                    }

                    dispenseMParam.surveyFailHandleType = Convert.ToInt32(liquidSensorDisIdValue);
                    if (enableLiquidFollow)
                    {
                        dispenseMParam.followupType = liquidFollowType;
                        dispenseMParam.followupSpeed = (float)liquidFollowSpeed;
                        dispenseMParam.followupDistance = (float)liquidFollowDistance;
                        float area = 0.0f;
                        if (labware.well_shape == (int)WellSharpe.Round)
                        {
                            area = (float)(Math.PI * (float)ControlCom.GetCentrifugalLabwer(labware.piled_script).well_mouth_radius * (float)ControlCom.GetCentrifugalLabwer(labware.piled_script).well_mouth_radius);
                        }
                        else if (labware.well_shape == (int)WellSharpe.Rectangle)
                        {
                            area = (float)((float)ControlCom.GetCentrifugalLabwer(labware.piled_script).well_top_x * (float)ControlCom.GetCentrifugalLabwer(labware.piled_script).well_top_y);
                        }
                        dispenseMParam.sectionalArea = area;
                        dispenseMParam.isMixFollowup = enableMixFollow;
                    }
                    else
                    {

                    }
                }
                else
                {
                    //dispenseMParam.surveyRetryCount = liquidSensorCount;
                    dispenseMParam.surveyInitzVal = tipsTable.axis_b_Z - ((float)labware.well_height - (float)liquidSensorDistance);
                    dispenseMParam.surveyMaxzVal = tipsTable.axis_b_Z - ((float)labware.well_height - (float)liquidSensorEndDistance);
                    dispenseMParam.surveySpeed = (float)liquidSensorSpeed;
                    //aspirateMParam.surveyCoefficient =;
                    dispenseMParam.wellzAxisVal = tipsTable.axis_b_Z - ((float)labware.well_height);// - (float)liquid.well_top_length);
                    dispenseMParam.wellBottomzAxisVal = tipsTable.axis_b_Z;
                    dispenseMParam.surveyFailHandleType = Convert.ToInt32(liquidSensorDisIdValue);
                    if (enableLiquidFollow)
                    {
                        //dispenseMParam.followupType = liquidFollowType;
                        dispenseMParam.followupSpeed = (float)liquidFollowSpeed;
                        dispenseMParam.followupDistance = (float)liquidFollowDistance;
                        float area = 0.0f;
                        if (labware.well_shape == (int)WellSharpe.Round)
                        {
                            area = (float)(Math.PI * labware.well_mouth_radius * labware.well_mouth_radius);
                        }
                        else if (labware.well_shape == (int)WellSharpe.Rectangle)
                        {
                            area = (float)(labware.well_top_x * labware.well_top_y);
                        }
                        dispenseMParam.sectionalArea = area;
                        dispenseMParam.isMixFollowup = enableMixFollow;
                    }
                    else
                    {

                    }
                }
            }
            else
            {

            }

            dispenseMParam.isMix = methodFileMoveLiquid.bdpsMix;
            if (dispenseMParam.isMix)
            {
                dispenseMParam.mixAspiratePositionValue = Convert.ToInt32(methodFileMoveLiquid.dpsmixAspiratePositionValue);
                dispenseMParam.mixAspiratePositionText = methodFileMoveLiquid.dpsmixAspiratePositionText;

                if (labware.labware_type_id.Equals("4"))
                {
                    if (methodFileMoveLiquid.dpsmixAspiratePositionValue == 0)//liquid
                    {
                    }
                    else if (methodFileMoveLiquid.dpsmixAspiratePositionValue == 1)//top
                    {
                        dispenseMParam.mixAspirateDistance = ((float)ControlCom.GetCentrifugalLabwer(labware.piled_script).well_height - (float)methodFileMoveLiquid.dpsmixAspirateDistance);
                    }
                    else if (methodFileMoveLiquid.dpsmixAspiratePositionValue == 2)//bottom
                    {
                        dispenseMParam.mixAspirateDistance = (float)methodFileMoveLiquid.dpsmixAspirateDistance;
                    }
                }
                else
                {
                    if (methodFileMoveLiquid.dpsmixAspiratePositionValue == 0)//liquid
                    {

                    }
                    else if (methodFileMoveLiquid.dpsmixAspiratePositionValue == 1)//top
                    {
                        dispenseMParam.mixAspirateDistance = ((float)labware.well_height - (float)methodFileMoveLiquid.dpsmixAspirateDistance);
                    }
                    else if (methodFileMoveLiquid.dpsmixAspiratePositionValue == 2)//bottom
                    {
                        dispenseMParam.mixAspirateDistance = (float)methodFileMoveLiquid.dpsmixAspirateDistance;
                    }
                }
                dispenseMParam.mixAspirateSpeed = (float)Convert.ToDouble(methodFileMoveLiquid.dpsmixAspirateSpeed);
                dispenseMParam.mixDispensePositionValue = Convert.ToInt32(methodFileMoveLiquid.dpsmixDispensePositionValue);
                dispenseMParam.mixDispensePositionText = methodFileMoveLiquid.dpsmixDispensePositionText;
                if (labware.labware_type_id.Equals("4"))
                {
                    if (methodFileMoveLiquid.dpsmixDispensePositionValue == 0)//liquid
                    {

                    }
                    else if (methodFileMoveLiquid.dpsmixDispensePositionValue == 1)//top
                    {
                        dispenseMParam.mixDispenseDistance = ((float)ControlCom.GetCentrifugalLabwer(labware.piled_script).well_height - (float)methodFileMoveLiquid.dpsmixDispenseDistance);
                    }
                    else if (methodFileMoveLiquid.dpsmixDispensePositionValue == 2)//bottom
                    {
                        dispenseMParam.mixDispenseDistance = (float)methodFileMoveLiquid.dpsmixDispenseDistance;
                    }
                }
                else
                {
                    if (methodFileMoveLiquid.dpsmixDispensePositionValue == 0)//liquid
                    {

                    }
                    else if (methodFileMoveLiquid.dpsmixDispensePositionValue == 1)//top
                    {
                        dispenseMParam.mixDispenseDistance = ((float)labware.well_height - (float)methodFileMoveLiquid.dpsmixDispenseDistance);
                    }
                    else if (methodFileMoveLiquid.dpsmixDispensePositionValue == 2)//bottom
                    {
                        dispenseMParam.mixDispenseDistance = (float)methodFileMoveLiquid.dpsmixDispenseDistance;
                    }
                }
                dispenseMParam.mixDispenseSpeed = (float)Convert.ToDouble(methodFileMoveLiquid.dpsmixDispenseSpeed);

                dispenseMParam.mixvolume = (float)methodFileMoveLiquid.dpsmixvolume;
                dispenseMParam.mixCount = methodFileMoveLiquid.dpsmixcount;
            }
            else
            {
                dispenseMParam.mixAspirateDistance = 0;
                dispenseMParam.mixAspirateSpeed = 100;
                dispenseMParam.mixDispenseDistance = 0;
                dispenseMParam.mixDispenseSpeed = 100;
                dispenseMParam.enableVolumeToNull = true;
                dispenseMParam.zAxisVal = zAxisVals;
                dispenseMParam.pAxisVal = pVolmunVals;
                dispenseMParam.mixzAxisVal = 0f;
            }

            float pVolumnVas = 0f;
            for (int k = 0; k < methodFileMoveLiquid.channels.Length; k++)
            {
                pVolumnVas = pVolume;        // 体积
                if (k == 0)
                {
                    dispenseMParam.xAxisVal = tipsTable.axis_b_X;
                    dispenseMParam.yAxisVal = tipsTable.axis_b_Y;
                }

                // 孔位平面的z轴
                float zVal = dispenseMParam.wellzAxisVal;//tipsTableRemoteArrayList[n][k].axis_b_Z + ControlCom.CurrentLengthOfTipOffSetVal;
                //dispenseMParam.wellzAxisVal = zVal - (float)labware.well_height;

                #region 孔位的z轴
                if (liquid.dispense_position_type == 0)
                {
                }
                else if (liquid.dispense_position_type == 1)
                {
                    zVal = zVal + (float)liquid.dispense_well_bottom_length;
                }
                else if (liquid.dispense_position_type == 2)
                {
                    //zVal = dispenseMParam.wellzAxisVal + (float)liquid.dispense_well_bottom_length;
                    if (labware.labware_type_id.Equals("4"))
                    {
                        if (labware.labware_tubeshelf_type == 1)
                        {
                            ObservableCollection<LabwareWellInfo> labwareWellInfoList = DataRWDAL.LabwareDB.GetSpecialLabwareWellInfo(labware.labware_id);
                            LabwareWellInfo currentWellInfo = labwareWellInfoList.FirstOrDefault(x => x.labware_well_name.Equals(tipsTable.wellname));
                            Labware currentWellLabware = DataRWDAL.LabwareDB.GetLabware(currentWellInfo.well_labware_id);
                            zVal = tipsTable.axis_b_Z - (float)Convert.ToDouble(liquid.dispense_well_bottom_length) - ((float)currentWellLabware.labware_height- (float)currentWellLabware.well_height);
                        }
                        else
                        {
                            zVal = tipsTable.axis_b_Z - (float)Convert.ToDouble(liquid.dispense_well_bottom_length) - ControlCom.CalculateWellBottomThickness(labware.piled_script);
                        }
                    }
                    else
                    {
                        zVal = tipsTable.axis_b_Z - (float)Convert.ToDouble(liquid.dispense_well_bottom_length);
                    }
                }
                zAxisVals = zVal < 0 ? 0 : zVal;
                #endregion

                wellnames[k] = tipsTable.wellname;         // 孔位
                dispenseMParam.mixzAxisVal = (float)Convert.ToDouble(dispenseMParam.zAxisVal);
                // 精度校准后的体积
                LiquidAccuracy liquidAccuracy = liquidAccuracyBll.GetLiquidAccuracyFromdb(Convert.ToInt32(liquidrangeidValue), Convert.ToInt32(dispenseMParam.armId), Convert.ToDouble(pVolume), liquididValue);
                double targetVolume = liquidAccuracyBll.CalculateAspirateParamVolume(Convert.ToDouble(pVolumnVas), liquidAccuracy);
                pVolmunVals = (float)targetVolume == 0f ? 20f : (float)targetVolume;
            }

            dispenseMParam.mixzAxisVal = zAxisVals;
            dispenseMParam.zAxisVal = zAxisVals;
            dispenseMParam.pAxisVal = pVolmunVals;
            return dispenseMParam;
        }
        #endregion


    }
}