using DataEntity.Rack;
using DataEntity.Share;
using DataRWDAL;
using DriverLib.Engine;
using HxEnum;
using HxSocket;
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.Configuration;
using System.Data;
using System.Linq;
using System.Windows;
using System.Windows.Media;
using System.Xml;
using XCommon;
using XCommon.Log;
using XCore;
using XHandler.Class;
using XHandler.Controls.Run.Com;
using XHandler.View;
using XHandler.View.MethodProperty;
using XImagingXhandler.XDAL;
using static HxEnum.OtherEnum;

namespace XHandler.Controls
{
    /// <summary>
    /// 涂布文件控制类
    /// </summary>
    public class CoatingFileControl
    {
        #region 变量
        private string strCurrentCulture = "";
        private WellCalc wellCalc = new WellCalc();

        #region BLL
        private LatticeBll latticeBll = new LatticeBll();
        private AspirateBll aspirateBll = new AspirateBll();
        private DispenseBll dispenseBll = new DispenseBll();
        private UltrasonicBll ultrasonicBll = new UltrasonicBll();
        #endregion

        private MethodFrame methodFrame = new MethodFrame();
        private CoatingFileBll coatingFileBll = new CoatingFileBll();
        private CoatingBll coatingBll = new CoatingBll();
        private LoadTipsBll loadTipsBll = new LoadTipsBll();
        private string circularBarcode = string.Empty;                          // 记录下当前圆皿
        private string plate1Barcode = string.Empty;                            // 记录下当前涂布的皿号
        private string plate2Barcode = string.Empty;
        private string choiceCenterPointVal = string.Empty;                     // 挑菌中心点位
        private List<string> listCoatingCoverLatticeId = new List<string>();    // 涂布的板放盖位号：P2,P3

        public RunWnd launchView = null;
        public HxSocketClient socketTcpClientToRemote = null;
        #endregion

        /// <summary>
        /// 构造函数
        /// </summary>
        public CoatingFileControl(string strCurrentCulture)
        {
            this.strCurrentCulture = strCurrentCulture;
            // 挑菌中心点位
            choiceCenterPointVal = ConfigurationManager.AppSettings["choiceCenterPointVal"].ToString();

            // 涂布的板放盖位号：P2,P3
            listCoatingCoverLatticeId = ComUtility.GetPlateCoverLatticeName();
        }

        #region 执行涂布文件，返回结果字符串
        /// <summary>
        /// 执行涂布文件，返回结果字符串
        /// </summary>
        /// <param name="xmlEnv"></param>
        /// <param name="methodNode"></param>
        /// <param name="zAxisVal"></param>
        /// <param name="isSimulator"></param>
        /// <returns></returns>
        public bool ExecuteCoatingFile(XmlNode xmlEnv, XmlNode methodNode, float zAxisVal, bool isSimulator)
        {
            bool result = true;
            var platformNodeList = xmlEnv.SelectNodes("platform");
            string strMethodName = methodNode.SelectSingleNode("name").InnerText;

            if (launchView._cancelSource.IsCancellationRequested)
            {
                result = false;
                return result;
            }
            if (strCurrentCulture.Equals("zh-CN"))
            {
                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + strMethodName + "】" + Properties.MachineRunResource.strStart.ToString());
            }
            else
            {
                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + strMethodName + "】start:");
            }

            try
            {
                #region 数据准备
                if (strCurrentCulture.Equals("zh-CN"))
                {
                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + strMethodName + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.MachineRunResource.strPrepareData);
                }
                else
                {
                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + strMethodName + "】progress: prepare data;");
                }
                MethodCoatingFile methodCoatingFile = coatingFileBll.GenerateMethodCoatingFileDataByXmlNode(methodNode);//获取涂布移液表
                methodCoatingFile.transferDataTable = SelectFile(methodNode.SelectSingleNode("filePath").InnerText);

                LoggerHelper.InfoLog($"[CoatingFileControl]:Args:  {JsonConvert.SerializeObject(methodCoatingFile)}");

                //从Excel文件读取当前挑选参数数据
                string filePath = ConfigurationManager.AppSettings["choiceFilePath"];
                DataTable dtParam = null;

                if (!launchView.isRemotingOper)
                {
                    // 单机运行时，作成 挑菌下发参数.xls
                    dtParam = DoUpdateCoatingMode(methodNode, filePath);
                }
                else
                {
                    dtParam = ExcelAndCsvHelper.GetDataTableFromExcelFile(filePath, true);
                }

                int choice_category = Convert.ToInt32(dtParam.Rows[29][2].ToString());                                                          // 挑选类别：0：点选; 1：穿刺
                int choice_distance_mode = Convert.ToInt32((dtParam.Rows[10][2] != "") ? dtParam.Rows[10][2].ToString() : "0");                 // 挑菌时离底或离菌表面，目前是离底
                float choice_distance_value = (float)Convert.ToDouble((dtParam.Rows[11][2] != "") ? dtParam.Rows[11][2].ToString() : "0");      // 离底或菌表面距离

                // 挑菌x、y轴偏移距离(毫米)
                float choice_xAxis_offsite = (float)Convert.ToDouble((dtParam.Rows[12][2] != "") ? dtParam.Rows[12][2].ToString() : "0");       // 挑菌时x坐标偏移
                float choice_yAxis_offsite = (float)Convert.ToDouble((dtParam.Rows[13][2] != "") ? dtParam.Rows[13][2].ToString() : "0");       // 挑菌时y坐标偏移
                float coating_bottom_distance = (float)Convert.ToDouble((dtParam.Rows[14][2] != "") ? dtParam.Rows[14][2].ToString() : "0");    // 涂布离底或菌表面距离
                float coating_xAxis_offsite = (float)Convert.ToDouble((dtParam.Rows[15][2] != "") ? dtParam.Rows[15][2].ToString() : "0");      // 涂布时x坐标偏移
                float coating_yAxis_offsite = (float)Convert.ToDouble((dtParam.Rows[16][2] != "") ? dtParam.Rows[16][2].ToString() : "0");      // 涂布时y坐标偏移
                int coating_mode = Convert.ToInt32((dtParam.Rows[17][2] != "") ? dtParam.Rows[17][2].ToString() : "0");                         // 涂布方式 1:回字型; 2:Z字型; 3:上下移动; 4：吸放液; 5：放液
                float press_distance = (float)Convert.ToDouble((dtParam.Rows[30][2] != "") ? dtParam.Rows[30][2].ToString() : "0");             // 挑菌时下压距离
                float coatingspeed = (float)Convert.ToDouble((dtParam.Rows[18][2] != "") ? dtParam.Rows[18][2].ToString() : "0");               // 涂布动作速度
                float fCircularDishMount = (float)Convert.ToDouble(ConfigurationManager.AppSettings["circularDishMount"]);                      // 圆形皿底托高度

                int[] charray = Shared.ChannelsId;
                string channelNums = Shared.ChannelsId.Count().ToString();

                methodNode.SelectSingleNode("channels").InnerText = channelNums;    // 更新一下枪通道数据
                int iChioceTotal = methodCoatingFile.transferDataTable.Rows.Count;  // 待涂布的数据总条目数
                int realChioceTotal = iChioceTotal / launchView.choiceTimes;        // 实际菌落的个数
                #endregion

                #region 数据验证
                if (strCurrentCulture.Equals("zh-CN"))
                {
                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + strMethodName + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.MachineRunResource.strCheckData);
                }
                else
                {
                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + strMethodName + "】progress: check data;");
                }
                #endregion

                //判断是否是双涂布的文件，如果是双涂布的文件数据则分通道的处理方式不同;如果是单涂布的文件数据则正常分通道涂布即可
                #region 挑菌+涂布

                #region Lite_Choice、T200
                if (Shared.ChannelCount == 1)
                {
                    if (methodCoatingFile.transferDataTable.Rows.Count == 0)
                    {
                        // 文件涂布不执行,继续执行后面的动作方法
                        result = true;
                        return result;
                    }

                    #region 准备参数
                    // 转移目标板到涂布位方法
                    string strTransferDesPlateMethodFileName = AppDomain.CurrentDomain.BaseDirectory +
                        "\\" + ConfigurationManager.AppSettings["transferDesPlateMethod"].ToString();
                    // 转移目标板盖到涂布放盖位方法
                    string strTransferDesPlateCoverMethodFileName = AppDomain.CurrentDomain.BaseDirectory +
                        "\\" + ConfigurationManager.AppSettings["transferDesPlateCoverMethod"].ToString();

                    // 待涂布的数据总条目数
                    iChioceTotal = methodCoatingFile.transferDataTable.Rows.Count;

                    DataTable dtCoatingFile = methodCoatingFile.transferDataTable;
                    string targetWellName = dtCoatingFile.Rows[0][methodCoatingFile.destinationWell].ToString();    // 目标板孔位: A1
                    List<CoatingLabware> lstDesPlateInfo = new List<CoatingLabware>();                              // 目标板已开盖的点位名称

                    // 所有目标板
                    DataView dvCoatingFile = new DataView(dtCoatingFile);
                    DataTable dtDistinct = dvCoatingFile.ToTable(true, methodCoatingFile.destinationLabware);

                    // 前回涂布板位
                    List<string> lstCoatingLastLabwareName = new List<string>();
                    string strLog = string.Empty;

                    // 拍照点位名称
                    string strSrcPlateName = ConfigurationManager.AppSettings["choiceLatticeId"].ToString();
                    #endregion

                    launchView.SetWaitOne();//暂停

                    #region 圆形皿超声
                    int nRtn = ControlCom.DoUltrasonicForFileCoating(launchView, xmlEnv, methodNode, methodCoatingFile, strSrcPlateName, isSimulator);
                    // 0：正常；1：继续；2：停止
                    if (nRtn == 2)
                    {
                        return false;
                    }
                    #endregion

                    #region 循环挑菌数量
                    for (int iChoiceIndex = 0; iChoiceIndex < iChioceTotal; iChoiceIndex++)  // 循环控制待挑选的所有菌落
                    {
                        DataRow rowItem = dtCoatingFile.Rows[iChoiceIndex];
                        string strSrcRealPlateName = rowItem[methodCoatingFile.sourceLabware].ToString();           // 来源板真实点位名称
                        string strSrcPlateBarcode = rowItem["SourceBarcode"].ToString();                            // 来源板Barcode
                        string strChoiceWellXYZ = rowItem[methodCoatingFile.sourceWell].ToString();                 // 挑菌板孔位坐标
                        string strDesPlateName = rowItem[methodCoatingFile.destinationLabware].ToString();          // 目标板名称:P4
                        string strDesWell = rowItem[methodCoatingFile.destinationWell].ToString();                  // 目标板孔位
                        bool isNewPlateBatch = bool.Parse(rowItem["IsNewPlateBatch"].ToString());                   // 是否是新一批次的目标板（目标板不够用时，需要弹窗，人工补充耗材后点击继续）
                        bool isPlateLastWell = bool.Parse(rowItem["IsPlateLastWell"].ToString());                   // 是否是一个板子最后的一个有效孔
                        bool isOpenCover = !lstDesPlateInfo.Exists(it => it.LabwarePositon.Equals(strDesPlateName));// 是否开盖
                        int diff = ((iChoiceIndex + 1) % launchView.choiceTimes);

                        launchView.SetWaitOne();//暂停

                        #region 是否为当前挑菌点的第一次涂布动作; 是否为当前挑菌点的最后一次涂布动作
                        bool isPointFirstTime = false;
                        bool isPointLastTime = false;

                        if (launchView.choiceTimes == 1)
                        {
                            isPointFirstTime = true;
                            isPointLastTime = true;
                        }
                        else
                        {
                            isPointFirstTime = ((iChoiceIndex + 1) % launchView.choiceTimes) != 0 ? true : false;
                            isPointLastTime = ((iChoiceIndex + 1) % launchView.choiceTimes) == 0 ? true : false;
                        }
                        #endregion

                        if (isPointFirstTime)
                        {
                            #region 判断台面上目标板是否够用
                            if ((isNewPlateBatch && iChoiceIndex != 0))
                            {
                                // 状态6 报错/急停 红闪/蜂鸣5S
                                CommonBll.StatusLamp(6, isSimulator);

                                SetBarcodeDlgForAddConsumables setBarcodeDlg = null;
                                bool bIsBreak = false;
                                Application.Current.Dispatcher.Invoke(new Action(() =>
                                {
                                    string strMsg = string.Format(Properties.CoatingResource.strNoValidConsumables, Environment.NewLine);
                                    setBarcodeDlg = new SetBarcodeDlgForAddConsumables(strMsg);
                                    setBarcodeDlg.launchView = launchView;
                                    setBarcodeDlg.dtCoatingFile = dtCoatingFile;
                                    setBarcodeDlg.StartIndex = iChoiceIndex;

                                    SolidColorBrush mybtn1_Brush = new SolidColorBrush(System.Windows.Media.Color.FromArgb(70, 0, 0, 0));
                                    setBarcodeDlg.Background = (System.Windows.Media.Brush)mybtn1_Brush;
                                    setBarcodeDlg.ShowDialog();

                                    if (setBarcodeDlg.DialogResult == true)
                                    {
                                        foreach (DataRow rowItemDes in dtDistinct.Rows)
                                        {
                                            // 更新已使用的涂布目标孔的颜色
                                            ControlCom.UpdateDesPlateWellsColor(xmlEnv, rowItemDes[methodCoatingFile.destinationLabware].ToString(), launchView);
                                        }

                                        // 继续执行

                                        // 状态4 运行 绿色
                                        CommonBll.StatusLamp(4, isSimulator);
                                    }
                                    else
                                    {
                                        bIsBreak = true;
                                    }
                                }));

                                if (bIsBreak)
                                {
                                    result = true;
                                    break;
                                }
                            }
                            #endregion

                            #region 目标板 开盖
                            // 涂布板位自动开关盖
                            if (isOpenCover && methodCoatingFile.autoOpenCloseCoverCoating)
                            {
                                for (int choiceTimeIndex = 0; choiceTimeIndex < launchView.choiceTimes; choiceTimeIndex++)
                                {
                                    #region Del
                                    //// 转移目标板到涂布位：PX->P10
                                    //result =ControlCom.DoReadMethodFileAndActionTransfer(strTransferDesPlateMethodFileName, strDesPlateName, coatingLatticeId, isSimulator, launchView);
                                    //if (!result)
                                    //{
                                    //    return result;
                                    //}
                                    //coatingPlate.LatticeNum = strDesPlateName;
                                    #endregion

                                    CoatingLabware coatingLabware = new CoatingLabware();
                                    coatingLabware.LabwarePositon = choiceTimeIndex == 0 ?
                                        strDesPlateName :
                                        dtCoatingFile.Rows[iChoiceIndex + 1][methodCoatingFile.destinationLabware].ToString();      // 耗材所在的位置
                                    coatingLabware.LabwareCoverPositon = listCoatingCoverLatticeId[choiceTimeIndex];                // 耗材开盖放置的位置
                                    lstDesPlateInfo.Add(coatingLabware);

                                    // 转移目标板的盖到涂布位放盖位：P10->P2
                                    result = ControlCom.DoReadMethodFileAndActionTransfer(strTransferDesPlateCoverMethodFileName, xmlEnv, coatingLabware.LabwarePositon, PositonTypeEnum.Desktop, GripperModelEnum.Right,
                                        coatingLabware.LabwareCoverPositon, PositonTypeEnum.Desktop, GripperModelEnum.Right, isSimulator, launchView, TransferTypeEnum.Open);
                                    if (!result)
                                    {
                                        return result;
                                    }
                                }
                            }
                            #endregion

                            #region 超声探测
                            if (methodCoatingFile.isEnableultrasonic && isOpenCover)      // 已开启超声 && 开盖
                            {
                                // N个目标板 先超声探测
                                bool bIsOk = DoUltrasonic(xmlEnv, methodNode, lstDesPlateInfo, methodCoatingFile, isSimulator);
                                if (!bIsOk)
                                {
                                    return false;
                                }
                            }
                            #endregion
                        }

                        #region 安装涂布头
                        // 当前挑菌点的第一次涂布动作
                        // 多块目标板挑菌前要换枪头
                        if (isPointFirstTime || methodCoatingFile.pickAgoChangeTipEveryTime)
                        {
                            // 先去安装枪头
                            float tipoffsetLength = float.Parse(methodNode.SelectSingleNode("coatingOffset").InnerText);
                            bool bLoadTipResult = ControlCom.LoadTipAutomation(xmlEnv.SelectNodes("platform"), methodNode,
                                isSimulator, launchView, socketTcpClientToRemote, tipoffsetLength);
                            if (!bLoadTipResult)
                            {
                                return false;
                            }
                        }
                        #endregion

                        #region 挑菌前吸液
                        MethodChoiceAgoAspirateChild aspirateData = methodCoatingFile.choiceAgoAspirateData;
                        aspirateData.armValue = methodCoatingFile.armValue;

                        if ((isPointFirstTime || methodCoatingFile.pickAgoChangeTipEveryTime) &&
                            aspirateData.bEnableBeforeAspirate)
                        {
                            // 获取吸液耗材板位
                            var latticeAspirateNode = xmlEnv.SelectSingleNode("platform[labware_id='" + aspirateData.labwareValue + "']");
                            // 获取当前台面板位信息
                            int nLatticeIdAspirate = ControlCom.GetLatticeId(Convert.ToInt32(latticeAspirateNode.SelectSingleNode("lattice_id").InnerText));
                            Lattice latticeAspirate = LatticeDB.GetLatticeDataByIdFromdb(nLatticeIdAspirate.ToString());

                            bool bBeforeAspirate = ControlCom.DoBeforeAspirate(launchView, xmlEnv, strMethodName, aspirateData, latticeAspirate,
                                aspirateData.wellarray, aspirateData.labwareValue, "None", isSimulator);
                            if (!bBeforeAspirate)
                            {
                                return false;
                            }
                        }
                        #endregion

                        #region 挑选
                        // 当前挑菌点的第一次涂布动作
                        // 每次涂布前都挑菌
                        if (isPointFirstTime || methodCoatingFile.pickEveryTime)
                        {
                            string strScrlabwareid = "";                                                                                // 来源板耗材ID;
                            string strScrLatticeid = "";                                                                                // 来源板位置ID

                            // 用来源板名字取查找来源板的类型
                            var latticeXn = xmlEnv.SelectSingleNode("platform[labware_sname='" + strSrcPlateName + "']");
                            if (latticeXn != null)
                            {
                                strScrlabwareid = latticeXn.SelectSingleNode("labware_id").InnerText;
                                strScrLatticeid = latticeXn.SelectSingleNode("lattice_id").InnerText;

                                // 获取拍照位的坐标
                                Labware labwareSrc = LabwareDB.GetLabware(strScrlabwareid);
                                int latticeIdSrc = ControlCom.GetLatticeId(Convert.ToInt32(strScrLatticeid));
                                Lattice latticeSrc = LatticeDB.GetLatticeDataByIdFromdb(latticeIdSrc.ToString());

                                if (labwareSrc != null)
                                {
                                    string[] vChoiceWellXYZSplit = strChoiceWellXYZ.Split(',');             // 分割后的挑菌板孔位坐标
                                    ChoiceMParam choiceMParam = new ChoiceMParam();
                                    choiceMParam.xAxisVal = (float)Convert.ToDouble(vChoiceWellXYZSplit[0]) + choice_xAxis_offsite;
                                    choiceMParam.yAxisVal = (float)Convert.ToDouble(vChoiceWellXYZSplit[1]) + choice_yAxis_offsite;

                                    choiceMParam.xAxisOffsetVal = 0;                                        // x轴移动到的坐标点距后再次动作偏移的x距离
                                    choiceMParam.yAxisOffsetVal = 0;                                        // y轴移动到的坐标点距后再次动作偏移的y距离
                                    choiceMParam.armId = Convert.ToInt32(methodCoatingFile.armValue);       // 挑选所用机械臂Id
                                    choiceMParam.channelId = 1;                                             // 挑选所用通道Id
                                    choiceMParam.choiceMode = choice_category;                              // 挑菌模式:1：单选; 2：穿刺
                                    choiceMParam.basezAxisVal = zAxisVal;                                   // z轴默认安全坐标点距
                                    choiceMParam.enableSupersonic = methodCoatingFile.isEnableultrasonic;   // 挑菌时是否开启超声波探测值作为Z轴值：true：用；false：不用
                                    choiceMParam.currentLengthOfTip = ControlCom.CurrentLengthOfTip;        // 当前挑菌安装枪头后，枪增加的长度
                                    choiceMParam.choiceTimeOnSameplace = 1;                                 // 同一个菌落点第几次挑选
                                    choiceMParam.latticeName = strSrcPlateName;                             // 挑菌板位名称

                                    if (methodCoatingFile.choiceCategory == EnumManagement.GetEnumValue(ChoiceModeEnum.SigleSelectMode))    // 单选
                                    {
                                        choiceMParam.xAxisOffsetVal = 0;
                                        choiceMParam.yAxisOffsetVal = 0;
                                        choiceMParam.zAxisVal = (float)Convert.ToDouble(vChoiceWellXYZSplit[2]) - choice_distance_value;
                                    }
                                    else if (methodCoatingFile.choiceCategory == EnumManagement.GetEnumValue(ChoiceModeEnum.PricksMode))    // 穿刺
                                    {
                                        choiceMParam.xAxisOffsetVal = choice_xAxis_offsite;
                                        choiceMParam.yAxisOffsetVal = choice_yAxis_offsite;

                                        // 丝状真菌:固定高度挑菌
                                        choiceMParam.zAxisVal = (float)latticeSrc.lattice_Z - (float)Convert.ToDouble(labwareSrc.well_bottom_height) - 
                                            ControlCom.CurrentLengthOfTip - choice_distance_value - fCircularDishMount;
                                    }

                                    choiceMParam.zPressDownVal = press_distance;

                                    // 执行挑菌动作
                                    bool bIsOk = ControlCom.RunChoice(launchView, strMethodName, choiceMParam, strChoiceWellXYZ,
                                        strSrcRealPlateName, strSrcPlateBarcode, isSimulator);
                                    if (!bIsOk)
                                    {
                                        return false;
                                    }
                                }
                            }
                            else
                            {
                                if (strCurrentCulture.Equals("zh-CN"))
                                {
                                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodCoatingFile.name + "】" + Properties.MachineRunResource.strProgress + Properties.RunCoatingFileResource.strChoiceLatticeWithout);
                                }
                                else
                                {
                                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodCoatingFile.name + "】progress:Can't find lattice!");
                                }
                                result = false;
                                return result;
                            }
                        }
                        else
                        {
                            DateTime startTime = DateTime.Now;
                            DateTime endTime = DateTime.Now;
                            launchView.addChoiceDataIntoReport(null, strSrcRealPlateName, "0", new string[] { strChoiceWellXYZ }, "pass", "",
                                startTime, endTime, "Choice", strSrcPlateBarcode);
                        }
                        #endregion

                        #region 涂布
                        string strDesLabwareName = strDesPlateName;         // 目标板名称:P10
                        string strDeslabwareid = "";                        // 目标板耗材id;
                        string strDesLatticeid = "";                        // 目标板位置Id
                        string strDesLabwareBarcode = "";                   // 目标板条码

                        var latticeDesXn = xmlEnv.SelectSingleNode("platform[labware_sname='" + strDesLabwareName + "']");
                        if (latticeDesXn != null)
                        {
                            strDeslabwareid = latticeDesXn.SelectSingleNode("labware_id").InnerText;
                            strDesLatticeid = latticeDesXn.SelectSingleNode("lattice_id").InnerText;
                            //strDesLabwareBarcode = latticeDesXn.SelectSingleNode("labware_barcode").InnerText;
                            strDesLabwareBarcode = rowItem["TargetBarcode"].ToString();                                 // 目标板条码

                            // 获取待涂布板位的坐标
                            Labware labwareDes = LabwareDB.GetLabware(strDeslabwareid);
                            int latticeIdDes = ControlCom.GetLatticeId(Convert.ToInt32(strDesLatticeid));

                            Lattice latticeDes = LatticeDB.GetLatticeDataByIdFromdb(latticeIdDes.ToString());

                            if (labwareDes != null)
                            {
                                // 获取孔位信息
                                TipsTable targetWellInfo = ControlCom.GetWellInfo(labwareDes, latticeDes, latticeIdDes, strDeslabwareid, strDesWell);

                                if (targetWellInfo != null)
                                {
                                    #region 涂布方式 1:回字型  2:Z字型;3:上下移动
                                    if (methodCoatingFile.coatingModeValue == EnumManagement.GetEnumValue(CoatingModeEnum.HuiziMode) ||
                                        methodCoatingFile.coatingModeValue == EnumManagement.GetEnumValue(CoatingModeEnum.ZMode) ||
                                        methodCoatingFile.coatingModeValue == EnumManagement.GetEnumValue(CoatingModeEnum.UpDownMode))
                                    {
                                        #region 涂布参数设置
                                        CoatingMParam coatingMParam = new CoatingMParam();
                                        coatingMParam.xAxisVal = (float)Convert.ToDouble(targetWellInfo.axis_b_X.ToString()) + coating_xAxis_offsite;
                                        coatingMParam.yAxisVal = (float)Convert.ToDouble(targetWellInfo.axis_b_Y.ToString()) + coating_yAxis_offsite;
                                        coatingMParam.armId = Convert.ToInt32(methodCoatingFile.armValue);
                                        coatingMParam.channelId = 1;
                                        float zVal = targetWellInfo.axis_b_Z - (float)coating_bottom_distance;
                                        coatingMParam.zAxisVal = zVal < 0 ? 0 : zVal;                       // 涂布主z轴移动坐标点距
                                        coatingMParam.zChAxisVal = coatingMParam.zAxisVal;                  // 涂布通道z轴移动坐标点距
                                        coatingMParam.coatingShape = coating_mode;                          // 涂布方式 1:回字型  2:Z字型;3:上下移动
                                                                                                            // 孔洞形状，1:圆柱体；2：立方体
                                                                                                            // 涂布范围值：如果是圆形孔值为半径；如是方形孔值为边长一半
                                        coatingMParam.rangeVal = labwareDes.well_shape == 1 ?
                                            ((float)labwareDes.well_mouth_radius) : ((float)(labwareDes.well_top_x / 2.0d));
                                        coatingMParam.basezAxisVal = zAxisVal;                              // 主z轴默认安全坐标点距
                                        coatingMParam.coatingSpeed = coatingspeed;                          // 涂布电机速度
                                        coatingMParam.coatingTipsOutWidth = ControlCom.OutWidthOfTip;       // 涂布枪头头部外宽度
                                        coatingMParam.coatingTipsInWidth = ControlCom.InWidthOfTip;         // 涂布枪头头部内宽度
                                                                                                            // isFirstSupersonic = true：本耗材第一次超声探测
                                        if (isNewPlateBatch && isPointFirstTime)
                                        {
                                            lstCoatingLastLabwareName.Clear();
                                        }
                                        coatingMParam.isFirstSupersonic = !lstCoatingLastLabwareName.Contains(strDesLabwareName);
                                        // 当前涂布板位更新到【前回涂布板位】
                                        if (!lstCoatingLastLabwareName.Contains(strDesLabwareName))
                                        {
                                            lstCoatingLastLabwareName.Add(strDesLabwareName);
                                        }

                                        coatingMParam.enableSupersonic = methodCoatingFile.isEnableultrasonic;      // 是否使用超声数据：true：是；false：否
                                        coatingMParam.currentLengthOfTip = ControlCom.CurrentLengthOfTip;           // 当前涂布安装枪头后，枪增加的长度
                                                                                                                    // 单孔板中心坐标x,y,z   字符串，逗号分割
                                        coatingMParam.centerPointVal = ((float)latticeDes.lattice_X + ((float)latticeDes.lattice_length / 2)).ToString() + "," + ((float)latticeDes.lattice_Y + ((float)latticeDes.lattice_width / 2)).ToString() + "," + coatingMParam.zAxisVal.ToString();
                                        //coatingMParam.xLengthOfGap = 10.0f;                                       // 超声波x方向间隙
                                        //coatingMParam.yLengthOfGap = 10.0f;                                       // 超声波y方向间隙
                                        coatingMParam.latticeName = strDesLabwareName;                              // 超声波探测涂布的板位名称
                                        #endregion

                                        // 执行涂布动作
                                        bool bIsOk = ControlCom.RunCoating(launchView, strMethodName, coatingMParam, targetWellInfo, strDesWell,
                                            strDesLabwareName, strDesLabwareBarcode, isSimulator);
                                        if (!bIsOk)
                                        {
                                            return false;
                                        }
                                    }
                                    #endregion

                                    #region 涂布方式 4:吸放液
                                    else if (methodCoatingFile.coatingModeValue == EnumManagement.GetEnumValue(CoatingModeEnum.AspirateDispenseMode))
                                    {
                                        #region 混合参数设置
                                        MixMParam mixMParam = new MixMParam();
                                        mixMParam.xAxisVal = (float)Convert.ToDouble(targetWellInfo.axis_b_X.ToString());       // x轴移动到的坐标点距
                                        mixMParam.yAxisVal = (float)Convert.ToDouble(targetWellInfo.axis_b_Y.ToString());       // y轴移动到的坐标点距
                                        mixMParam.armId = Convert.ToInt32(methodCoatingFile.armValue);                          // 吸液所用机械臂Id
                                        mixMParam.isSurvey = false;                                                             // 是否需要探测
                                        mixMParam.mixCount = methodCoatingFile.mixcount;                                        // 混合次数
                                        mixMParam.mixvolume = (float)methodCoatingFile.mixvolume;                               // 混合时体积
                                        mixMParam.mixAspiratePositionText = methodCoatingFile.mixAspiratePositionText;          // 吸液距离类型名称
                                        mixMParam.mixAspiratePositionValue = methodCoatingFile.mixAspiratePositionValue;        // 吸液距离类型Id，0：液面； 1顶部；2：底部

                                        if (methodCoatingFile.mixAspiratePositionValue == EnumManagement.GetEnumValue(MixPositionEnum.Top) ||
                                            methodCoatingFile.mixAspiratePositionValue == EnumManagement.GetEnumValue(MixPositionEnum.Bottom))      // top、bottom
                                        {
                                            mixMParam.mixAspirateDistance = (float)methodCoatingFile.mixAspirateDistance;       // 吸液距离
                                        }
                                        mixMParam.mixAspirateSpeed = (float)methodCoatingFile.mixAspirateSpeed;                 // 吸液速度

                                        // 液体参数
                                        string liquidpidValue = methodCoatingFile.liquidpidValue;
                                        Liquid liquid = LiquidDB.GetALiquidFromdb(liquidpidValue);
                                        mixMParam.beforeAirpAxisVal = (float)liquid.before_aspirate_volume;

                                        mixMParam.mixDispensePositionText = methodCoatingFile.mixDispensePositionText;          // 排液距离类型名称
                                        mixMParam.mixDispensePositionValue = methodCoatingFile.mixDispensePositionValue;        // 排液距离类型Id，0：液面； 1顶部；2：底部
                                        mixMParam.mixDispenseDistance = (float)methodCoatingFile.mixDispenseDistance;           // 排液距离
                                        mixMParam.mixDispenseSpeed = (float)methodCoatingFile.mixDispenseSpeed;                 // 排液速度
                                        //liquidVolumeType 未传值

                                        float zVal = targetWellInfo.axis_b_Z + ControlCom.CurrentLengthOfTipOffSetVal;
                                        mixMParam.zAxisVal = zVal;                                                              // 混合时z轴移动坐标点距
                                        mixMParam.wellzAxisVal = zVal - (float)labwareDes.well_height;
                                        mixMParam.basezAxisVal = (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisSafeVal"]);
                                        #endregion

                                        // 执行混合动作
                                        bool bIsOk = ControlCom.RunMix(launchView, strMethodName, mixMParam, targetWellInfo, strDesWell,
                                            strDesLabwareName, strDesLabwareBarcode, isSimulator);
                                        if (!bIsOk)
                                        {
                                            return false;
                                        }
                                    }
                                    #endregion

                                    #region 涂布方式 5:放液
                                    else if (methodCoatingFile.coatingModeValue == EnumManagement.GetEnumValue(CoatingModeEnum.DispenseMode))
                                    {
                                        // 放液
                                        bool bDispense = ControlCom.DoDispense(launchView, strMethodName, methodCoatingFile.choiceAgoAspirateData, labwareDes, latticeDes, targetWellInfo, strDesLabwareBarcode, isSimulator);
                                        if (!bDispense)
                                        {
                                            return false;
                                        }
                                    }
                                    #endregion
                                }
                            }
                            else
                            {
                                if (strCurrentCulture.Equals("zh-CN"))
                                {
                                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodCoatingFile.name + "】" + Properties.MachineRunResource.strProgress + Properties.RunCoatingFileResource.strChoiceLatticeWithout);
                                }
                                else
                                {
                                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodCoatingFile.name + "】progress:Can't find lattice!");
                                }
                                result = false;
                                return result;
                            }
                        }
                        else
                        {
                            if (strCurrentCulture.Equals("zh-CN"))
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + strMethodName + "】" + Properties.MachineRunResource.strProgress + Properties.RunCoatingFileResource.strCoatingLatticeWithout);
                            }
                            else
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + strMethodName + "】progress: lattice was wrong!");
                            }
                            result = false;
                            return result;
                        }
                        #endregion

                        #region 卸载Tip,丢在垃圾桶
                        if (isPointLastTime || methodCoatingFile.pickAgoChangeTipEveryTime)
                        {
                            UnloadTipsControl unloadTipsControl = new UnloadTipsControl(Shared.SoftwareInformation.currentculture);
                            unloadTipsControl.launchView = launchView;
                            unloadTipsControl.socketTcpClientToRemote = socketTcpClientToRemote;
                            bool bUnloadResult = unloadTipsControl.ExecuteUnloadTipsInToTrash(platformNodeList, methodNode, isSimulator);
                            launchView.currentIsLoadingTips = false;
                        }
                        #endregion

                        if (isPointLastTime)
                        {
                            #region 计算当前挑菌的个数
                            decimal dTemp = ((decimal)(iChoiceIndex + 1)) / (decimal)launchView.choiceTimes;
                            decimal realCurrentChioceCnt = Math.Ceiling(dTemp);

                            if (strCurrentCulture.Equals("zh-CN"))
                            {
                                strLog = string.Format("【{0}】>Xhandler: 【{1}】{2} {3}：{4}/{5}",
                                    DateTime.Now.ToString("HH:mm:ss:fff"), methodCoatingFile.name,
                                    Properties.MachineRunResource.strProgress, Properties.RunCoatingFileResource.strPickingBacteria, realCurrentChioceCnt, realChioceTotal);
                            }
                            else
                            {
                                strLog = string.Format("【{0}】>Xhandler: 【{1}】progress: picking bacteria：{2}/{3}",
                                    DateTime.Now.ToString("HH:mm:ss:fff"), methodCoatingFile.name, realCurrentChioceCnt, realChioceTotal);
                            }

                            launchView.AddLogs(strLog);
                            #endregion
                        }

                        #region 目标板 关盖
                        // 不论是单板涂布还是双板涂布，都是在最后块目标板涂布之后再关盖
                        if (isPlateLastWell && isPointLastTime && methodCoatingFile.autoOpenCloseCoverCoating)
                        {
                            for (int choiceTimeIndex = 0; choiceTimeIndex < lstDesPlateInfo.Count; choiceTimeIndex++)
                            {
                                // 转移耗材盖到目标位：P11->P10
                                result = ControlCom.DoReadMethodFileAndActionTransfer(strTransferDesPlateCoverMethodFileName, xmlEnv, lstDesPlateInfo[choiceTimeIndex].LabwareCoverPositon, PositonTypeEnum.Desktop, GripperModelEnum.Right,
                                    lstDesPlateInfo[choiceTimeIndex].LabwarePositon, PositonTypeEnum.Desktop, GripperModelEnum.Right, isSimulator, launchView, TransferTypeEnum.Close);
                                if (!result)
                                {
                                    return result;
                                }

                                #region Del
                                //// 转移涂布位耗材到原来位置：P10->PX
                                //result = ControlCom.DoReadMethodFileAndActionTransfer(strTransferDesPlateMethodFileName, coatingLatticeId, coatingPlate.LatticeNum, isSimulator, launchView);
                                //if (!result)
                                //{
                                //    return result;
                                //}
                                #endregion
                            }

                            lstDesPlateInfo.Clear();
                            // 继续执行
                        }

                        #endregion
                    }
                    #endregion
                }
                #endregion

                #endregion
            }
            catch (Exception ex)
            {
                LoggerHelper.ErrorLog("ERROR:", ex);

                #region Exception
                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + strMethodName + "】error:source:" + ex.Source + ";error:" + ex.Message + ";");

                result = false;
                MethodMsg methodMsg = new MethodMsg(
                    Guid.NewGuid().ToString(),
                    "ID202_Choice_machine",
                    5,
                    "",
                    "ExecuteCoatingFile",
                    "1001",
                    "error source:" + ex.Source + ";error:" + ex.Message,
                    6,
                    0
                );
                if (socketTcpClientToRemote != null)
                {
                    socketTcpClientToRemote.sendmessageError(socketTcpClientToRemote.CreateSendMsgContent(methodMsg, false), launchView.isRemotingOper);
                }
                #endregion
            }

            return result;
        }

        /// <summary>
        /// 执行超声探测
        /// </summary>
        /// <param name="plateNode"></param>
        /// <param name="methodNode"></param>
        /// <param name="lstDesPlateInfo"></param>
        /// <param name="methodCoatingFile"></param>
        /// <param name="isSimulator"></param>
        /// <returns></returns>
        private bool DoUltrasonic(XmlNode plateNode, XmlNode methodNode, List<CoatingLabware> lstDesPlateInfo, MethodCoatingFile methodCoatingFile, bool isSimulator)
        {
            // 1、2
            for (int choiceTimeIndex = 0; choiceTimeIndex < lstDesPlateInfo.Count; choiceTimeIndex++)
            {
                // 执行超声单步操作
                string labwarePositon = lstDesPlateInfo[choiceTimeIndex].LabwarePositon;
                int nRtn = ControlCom.DoUltrasonicForFileCoating(launchView, plateNode, methodNode, methodCoatingFile, labwarePositon, isSimulator);
                // 0：正常；1：继续；2：停止
                if (nRtn == 2)
                {
                    return false;
                }
            }

            return true;
        }

        /// <summary>
        /// 单机运行时，作成 挑菌下发参数.xls
        /// </summary>
        /// <param name="xmlNode"></param>
        /// <param name="filePath"></param>
        private DataTable DoUpdateCoatingMode(XmlNode xmlNode, string filePath)
        {
            DataTable dtCoatingParams = ExcelAndCsvHelper.GetDataTableFromExcelFile(filePath, true);
            string strValName = "属性值";

            #region 数据准备
            if (dtCoatingParams.Rows.Count > 29)
            {
                // 挑菌方式：0：单选; 1：穿刺; 2：吸放液; 3：放液
                dtCoatingParams.Rows[29][strValName] = xmlNode.SelectSingleNode("choiceCategory").InnerText;
            }
            // 涂布方式
            dtCoatingParams.Rows[17][strValName] = xmlNode.SelectSingleNode("coatingmodeValue").InnerText;        // 画面上涂布方式 0:回字型  1:Z字型;2:上下移动
            #endregion

            ExcelAndCsvHelper.WriteDataTableToExcelFile(dtCoatingParams, filePath);

            return dtCoatingParams;
        }
        #endregion

        #region 重新加载文件数据
        private DataTable SelectFile(string file)
        {
            string ext = System.IO.Path.GetExtension(file);
            DataTable transferData = null;
            if (string.Compare(ext, ".csv", true) == 0)
                transferData = ExcelAndCsvHelper.GetDataTableFromCsvFile(file, false);
            else
                transferData = ExcelAndCsvHelper.GetDataTableFromExcelFile(file, true);


            if (transferData == null)
            {
                transferData = new DataTable();
            }
            return transferData;
        }
        #endregion
    }
}