using DataEntity;
using DataEntity.Share;
using DataRWDAL;
using DriverLib.Engine;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
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.Controls.Run.Com;
using XHandler.View;
using XHandler.View.Liquids;
using XHandler.View.MethodProperty;
using XImagingXhandler.XDAL;
using static HxEnum.OperationTypeEnum;

namespace XHandler.Controls
{
    public class DispenseControl
    {
        string strCurrentCulture = "";
        WellCalc wellCalc = new WellCalc();
        LatticeBll latticeBll = new LatticeBll();
        DispenseBll dispenseBll = new DispenseBll();
        public RunWnd launchView = null;
        MethodFrame methodFrame = new MethodFrame();
        LiquidAccuracyBll liquidAccuracyBll = new LiquidAccuracyBll();

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


        #region 执行放液，返回结果字符串
        /// <summary>
        /// 执行放液，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="Wells">本次吸液的孔位</param>
        /// <param name="channelNums">当前使用通道号，逗号分割</param>
        /// <param name="currentLengthOfTip">加载枪头后多出出来的长度</param>
        /// <param name="zAxisVal">z轴安全距离</param>
        /// <param name="software_device_number">设备号</param>
        /// <param name="isSimulator">0:连接谁；1：仿真</param>
        /// <returns></returns>
        public bool ExecuteDispense(XmlNode xmlEnv, XmlNode methodNode, float currentLengthOfTip, float zAxisVal, bool isSimulator)
        {
            bool result = true;
            HxResult ret = new HxResult();
            if (launchView._cancelSource.IsCancellationRequested)
            {
                result = false;
                return result;
            }

            try
            {

                #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

                if (currentLengthOfTip == 0f)//枪上没有Tip不允许排液
                {
                    if (strCurrentCulture.Equals("zh-CN"))
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.MachineRunResource.strWithTipInfo.ToString());
                    }
                    else
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress: it seems without loaded tip! please check!");
                    }
                    result = false;
                    return result;
                }

                #region 数据准备 
                string labwareText = methodNode.SelectSingleNode("labware/text").InnerText;
                string strLabwareid = methodNode.SelectSingleNode("labware/value").InnerText;
                string channelNums = methodNode.SelectSingleNode("channels").InnerText;
                string armName = methodNode.SelectSingleNode("arm/text").InnerText;
                string armId = methodNode.SelectSingleNode("arm/value").InnerText;
                string latticenum = methodNode.SelectSingleNode("position/text").InnerText;
                string latticeId = methodNode.SelectSingleNode("position/value").InnerText;
                string strWells = methodNode.SelectSingleNode("wellarray").InnerText;
                bool enableSingleWellvolume = methodNode.SelectSingleNode("enableSingleWellvolume").InnerText.ToLower() == "true" ? true : false;
                //每孔体积
                List<DropdownName> dropdownNames = new List<DropdownName>();
                var drops = methodNode.SelectNodes("SingleWellvolume");
                if (drops != null)
                {
                    foreach (XmlNode x in drops)
                    {
                        DropdownName d = new DropdownName();
                        d.dropdown_id = x.SelectSingleNode("channel").InnerText;
                        d.dropdown_name = x.SelectSingleNode("name").InnerText;
                        dropdownNames.Add(d);
                    }
                }

                double wellvolume = Convert.ToDouble(methodNode.SelectSingleNode("wellvolume").InnerText);
                bool isNull = methodNode.SelectSingleNode("isNull").InnerText.ToLower() == "true" ? true : false;
                string liquididText = methodNode.SelectSingleNode("liquidid/text").InnerText;
                string liquididValue = methodNode.SelectSingleNode("liquidid/value").InnerText;
                string liquidrangeidText = methodNode.SelectSingleNode("liquidrangeid/text").InnerText;
                string liquidrangeidValue = methodNode.SelectSingleNode("liquidrangeid/value").InnerText;
                string liquidpidText = methodNode.SelectSingleNode("liquidpid/text").InnerText;
                string liquidpidValue = methodNode.SelectSingleNode("liquidpid/value").InnerText;
                bool enableMix = methodNode.SelectSingleNode("enableMix").InnerText.ToLower() == "true" ? true : false;
                bool enableMultiMix = methodNode.SelectSingleNode("enableMultiMix").InnerText.ToLower() == "true" ? true : false;
                double mixvolume = Convert.ToDouble(methodNode.SelectSingleNode("mixvolume").InnerText);
                int mixcount = Convert.ToInt32(methodNode.SelectSingleNode("mixcount").InnerText);
                string mixAspiratePositionText = methodNode.SelectSingleNode("mixAspiratePosition/text").InnerText;
                string mixAspiratePositionValue = methodNode.SelectSingleNode("mixAspiratePosition/value").InnerText;
                double mixAspirateDistance = Convert.ToDouble(methodNode.SelectSingleNode("mixAspirateDistance").InnerText);
                double mixAspirateSpeed = Convert.ToDouble(methodNode.SelectSingleNode("mixAspirateSpeed").InnerText);

                string mixDispensePositionText = methodNode.SelectSingleNode("mixDispensePosition/text").InnerText;
                string mixDispensePositionValue = methodNode.SelectSingleNode("mixDispensePosition/value").InnerText;
                double mixDispenseDistance = Convert.ToDouble(methodNode.SelectSingleNode("mixDispenseDistance").InnerText);
                double mixDispenseSpeed = Convert.ToDouble(methodNode.SelectSingleNode("mixDispenseSpeed").InnerText);

                bool enableLiquidSensor = methodNode.SelectSingleNode("enableLiquidSensor").InnerText.ToLower() == "true" ? true : false;
                int liquidSensorCount = Convert.ToInt32(methodNode.SelectSingleNode("liquidSensorCount").InnerText);
                double liquidSensorDistance = Convert.ToDouble(methodNode.SelectSingleNode("liquidSensorDistance").InnerText);
                double liquidSensorEndDistance = Convert.ToDouble(methodNode.SelectSingleNode("liquidSensorEndDistance").InnerText);
                double liquidSensorSpeed = Convert.ToDouble(methodNode.SelectSingleNode("liquidSensorSpeed").InnerText);
                double liquidSensorRadio = Convert.ToDouble(methodNode.SelectSingleNode("liquidSensorRadio").InnerText);
                string liquidSensorDisIdText = methodNode.SelectSingleNode("liquidSensorDisId/text").InnerText;
                string liquidSensorDisIdValue = methodNode.SelectSingleNode("liquidSensorDisId/value").InnerText;
                bool enableLiquidFollow = methodNode.SelectSingleNode("enableLiquidFollow").InnerText.ToLower() == "true" ? true : false;
                int liquidFollowType = Convert.ToInt32(methodNode.SelectSingleNode("liquidFollowType/value").InnerText);
                string liquidFollowTypeName = methodNode.SelectSingleNode("liquidFollowType/text").InnerText;
                double liquidFollowSpeed = Convert.ToDouble(methodNode.SelectSingleNode("liquidFollowSpeed").InnerText);
                double liquidFollowDistance = Convert.ToDouble(methodNode.SelectSingleNode("liquidFollowDistance").InnerText);
                double liquidFollowArea = Convert.ToDouble(methodNode.SelectSingleNode("liquidFollowArea").InnerText);
                bool enableMixFollow = methodNode.SelectSingleNode("enableMixFollow").InnerText.ToLower() == "true" ? true : false;

                bool enableSensorBlock = methodNode.SelectSingleNode("enableSensorBlock").InnerText.ToLower() == "true" ? true : false;
                //double liquidSensorBlockDistance = Convert.ToDouble(methodNode.SelectSingleNode("liquidSensorBlockDistance").InnerText);
                string dispenseBlockDisIdText = methodNode.SelectSingleNode("dispenseBlockDisId/text").InnerText;
                string dispenseBlockDisIdValue = methodNode.SelectSingleNode("dispenseBlockDisId/value").InnerText;
                #endregion

                #region 数据验证
                if (channelNums == "")
                {
                    if (strCurrentCulture.Equals("zh-CN"))
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler:" + Properties.MachineRunResource.strWithoutChannel.ToString());
                    }
                    else
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler:Channel wasn't set, please check!");
                    }
                    result = false;
                    return result;
                }

                string[] wells = new string[] { };
                string wellVariable = string.Empty;
                if (!string.IsNullOrEmpty(strWells))
                {
                    //判断是否包含等号，如果是包含等号的，则是变量控制孔位
                    if (strWells.Contains(","))
                    {
                        wells = strWells.Split(',');
                    }
                    else if (strWells.Contains("="))
                    {
                    }
                }

                Labware labwares = LabwareDB.GetLabware(strLabwareid);
                string[] chs = channelNums.Split(',');
                if (strWells.Contains(","))
                {
                    if (labwares.labware_type_id.Equals("3"))
                    {

                    }
                    else
                    {
                        if (chs.Length != wells.Length)
                        {
                            if (strCurrentCulture.Equals("zh-CN"))
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler:" + Properties.MachineRunResource.strOverWell.ToString());
                            }
                            else
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler:Total of channel isn't same with total of wells, please check!");
                            }
                            result = false;
                            return result;
                        }
                    }
                }
                else if (strWells.Contains("="))
                {
                    wellVariable = strWells.Substring(strWells.LastIndexOf('=') + 1, (strWells.Length - strWells.LastIndexOf('=') - 1));

                    Variable variable = new Variable();
                    //从当前变量字典中取出变量的值
                    for (int i = 0; i < launchView.gloadVariable.Count; i++)
                    {
                        Variable v = launchView.gloadVariable.Peek();

                        if (v.variablename == wellVariable)
                        {
                            variable = v;
                            break;
                        }
                    }
                }

                
                // 给孔位排序
                if (strWells.Contains(','))
                {
                    string suffix = wells[0].Substring(1, wells[0].Length - 1);
                    List<string> sortWellName = new List<string>();
                    if (Shared.ChannelCount == 1)
                    {
                        for (int i = 0; i < labwares.number_row; i++)
                        {
                            string rowName = ComUtility.GetRowChar(i);
                            string rowWellName = rowName + suffix;
                            if (wells.Contains(rowWellName))
                            {
                                sortWellName.Add(rowWellName);
                            }
                        }

                        wells = sortWellName.ToArray();
                    }
                    else if (Shared.ChannelCount > 1)
                    {
                        List<string> sortWellNameSH = new List<string>();//用来按列的孔位名称

                        #region Del
                        ////上海的移液枪正常排列,A1,B1,C1,D1,E1,F1,G1,H1
                        //for (int j = 1; j < labwares.number_column; j++)
                        //{
                        //    int countWell = 0;//当前选择的孔位数量
                        //    sortWellNameSH.Clear();
                        //    for (int i = 0; i <= labwares.number_row; i++)
                        //    {
                        //        string rowName = ComUtility.GetRowChar(i);//创建行号
                        //        string rowWellName = rowName + j;
                        //        if (wells.Contains(rowWellName))
                        //        {
                        //            sortWellNameSH.Add(rowWellName);
                        //            countWell++;
                        //        }
                        //    }

                        //    if (wells.Length == countWell && countWell == chs.Length)
                        //    {
                        //        wells = sortWellNameSH.ToArray();
                        //        break;
                        //    }
                        //    else
                        //    {
                        //        if (strCurrentCulture.Equals("zh-CN"))
                        //        {
                        //            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler:" + Properties.MachineRunResource.strError.ToString() + Properties.RunAspirateResource.strChannelMatch.ToString());
                        //            LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler:" + Properties.MachineRunResource.strError.ToString() + Properties.RunAspirateResource.strChannelMatch.ToString());
                        //        }
                        //        else
                        //        {
                        //            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler:Channels aren't match with these wells, please check!");
                        //            LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler:Channel aren't match with these wells, please check!");
                        //        }
                        //        result = false;
                        //        return result;
                        //    }
                        //}

                        #endregion
                    }
                }
                else if (!string.IsNullOrEmpty(strWells) && !strWells.Contains(',') && !strWells.Contains("="))
                {
                    wells = new string[] { strWells };
                }
                else if (strWells.Contains("="))
                {
                    Variable variable = new Variable();
                    string strvariable = strWells.Substring(strWells.LastIndexOf('=') + 1, (strWells.Length - strWells.LastIndexOf('=') - 1));
                    for (int i = 0; i < launchView.gloadVariable.Count; i++)
                    {
                        Variable v = launchView.gloadVariable.Peek();
                        if (strvariable == v.variablename)
                        {
                            variable = v;
                            break;
                        }
                    }

                    if (variable.variablename.Equals(string.Empty) && strvariable.Length >= 1)//没有查找到变量名,看看是不是表达式,并求出表达式值
                    {
                        for (int i = 0; i < launchView.gloadVariable.Count; i++)
                        {
                            Variable v = launchView.gloadVariable.Peek();
                            if (strvariable.Contains(v.variablename))
                            {
                                variable = v;
                                break;
                            }
                        }

                        Microsoft.JScript.Vsa.VsaEngine ve = Microsoft.JScript.Vsa.VsaEngine.CreateEngine();
                        //return Microsoft.JScript.Eval.JScriptEvaluate(s, ve);
                        string strExpress = strvariable.Replace(variable.variablename, variable.variablecurval);
                        variable.variablecurval = Microsoft.JScript.Eval.JScriptEvaluate(strExpress, ve).ToString();

                        //ScriptControlClass sc = new ScriptControlClass();
                        //sc.Language = "JavasSript";
                        //string strExpress = strvariable.Replace(variable.variablename, variable.variablecurval);
                        //variable.variablecurval = sc.Eval(strExpress).ToString();
                    }

                    List<string> sortWellName = new List<string>();
                    if (chs.Length == 8)
                    {
                        for (int i = 0; i < labwares.number_row; i++)
                        {
                            string rowName = ComUtility.GetRowChar(i);
                            string rowWellName = rowName + variable.variablecurval;
                            //if (wells.Contains(rowWellName))
                            //{
                            sortWellName.Add(rowWellName);
                            //}
                        }
                        wells = sortWellName.ToArray();
                    }
                    else if(chs.Length>1&&chs.Length<8)
                    {
                        //根据枪头通道计算在第几个孔位
                        int startNum = chs.Length * (Convert.ToInt32(variable.variablecurval) - 1);
                        int columnCount = (int)(Math.Ceiling((double)startNum / (double)labwares.number_row));
                        if (columnCount == 0)
                        {
                            columnCount++;
                        }
                        int totalCount = (int)labwares.number_row * columnCount;
                        
                        //选中列剩余多少个孔
                        int leftCount = totalCount - startNum;
                        int startRowNum = (int)labwares.number_row - leftCount;
                        if (leftCount == chs.Length)
                        {
                            for (int i = startRowNum; i < labwares.number_row; i++)
                            {
                                string rowName = ComUtility.GetRowChar(i);
                                string rowWellName = rowName + columnCount.ToString();
                                sortWellName.Add(rowWellName);
                            }
                        }
                        else
                        {
                            if (chs.Length >= labwares.number_row)
                            {
                                for (int i = startRowNum; i < labwares.number_row; i++)
                                {
                                    string rowName = ComUtility.GetRowChar(i);
                                    string rowWellName = rowName + columnCount.ToString();
                                    sortWellName.Add(rowWellName);
                                }

                                for (int i = 0; i < chs.Length - leftCount; i++)
                                {
                                    string rowName = ComUtility.GetRowChar(i);
                                    string rowWellName = rowName + (columnCount + 1).ToString();
                                    sortWellName.Add(rowWellName);
                                }
                            }
                            else
                            {
                                int countNum = 0;
                                for (int i = startRowNum; i < labwares.number_row; i++)
                                {
                                    if (countNum >= chs.Length)
                                    {
                                        break;
                                    }
                                    countNum++;
                                    string rowName = ComUtility.GetRowChar(i);
                                    string rowWellName = rowName + columnCount.ToString();
                                    sortWellName.Add(rowWellName);
                                }

                                for (int i = 0; i < chs.Length - leftCount; i++)
                                {
                                    string rowName = ComUtility.GetRowChar(i);
                                    string rowWellName = rowName + (columnCount + 1).ToString();
                                    sortWellName.Add(rowWellName);
                                }
                            }
                        }
                        wells = sortWellName.ToArray();
                    }
                    else if (chs.Length == 1)
                    {
                        for (int j = 1; j <= labwares.number_column; j++)
                        {
                            for (int i = 0; i < labwares.number_row; i++)
                            {
                                string rowName = ComUtility.GetRowChar(i);

                                string rowWellName = rowName + j;
                                sortWellName.Add(rowWellName);
                            }
                        }
                        if (Convert.ToInt32(variable.variablecurval) - 1 >= 0)
                        {
                            wells = new string[1];
                            wells[0] = sortWellName[Convert.ToInt32(variable.variablecurval) - 1];
                        }
                        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.RunDispenseResource.strLoopOutOfRange.ToString());
                            }
                            else
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress: the value of variable is wrong! please check!");
                            }
                            result = false;
                            return result;
                        }
                    }
                }

                // 判断方法中的板位和板子是否能对应上设置的台面
                Lattice lattice = new Lattice();
                if (Shared.ChannelCount >= 1)
                {
                    TabletopTemplate tabletopTemplate = TabletopTemplateDB.GetCurrentAppTabletopTemplateCollectionFromdb();  //增加台面模板判断
                    if (tabletopTemplate == null)
                    {
                        lattice = LatticeDB.GetLatticeDataByIdFromdb(latticenum, Convert.ToInt32(armId), Shared.SoftwareInformation.software_device_number);//arm1
                    }
                    else
                    {
                        lattice = LatticeDB.GetLatticeDataByLatticeNumAndTempIdFromdb(latticenum, Convert.ToInt32(armId), Shared.SoftwareInformation.software_device_number, tabletopTemplate.tabletopid);
                    }

                    int xmlLatticeId = Convert.ToInt32(latticenum.Substring(1));//ControlCom.GetLatticeId(Convert.ToInt32(lattice.lattice_id), false);
                    var latticeXn = xmlEnv.SelectSingleNode("platform[lattice_id='" + xmlLatticeId.ToString() + "']");
                    if (latticeXn != null)
                    {
                        labwares.labware_sname = latticeXn.SelectNodes("labware")[0].SelectSingleNode("labware_sname").InnerText;
                    }
                    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.RunDispenseResource.strWithoutLattice.ToString());
                            LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunDispenseResource.strWithoutLattice.ToString());
                        }
                        else
                        {
                            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress: the lattice of aspirate liquid is wrong! please check!");
                            LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress: the lattice of aspirate liquid is wrong! please check!");
                        }
                        result = false;
                        return result;
                    }
                }
                #endregion

                string[] charray = chs;
                // 获取板位信息
                Lattice slattice = LatticeDB.GetLatticeDataByIdFromdb(lattice.lattice_id);
                // 获取板位孔的坐标数据
                List<TipsTable> dtWells = ControlCom.GenerateWellCoordinate(labwares, slattice);
                //液体参数
                Liquid liquid = LiquidDB.GetALiquidFromdb(liquidpidValue);
                // 根据循环处理孔位
                TipsTable aData = dtWells.SingleOrDefault(t => t.lattice_id.Equals(slattice.lattice_id)
                                                            && t.labware_id.Equals(strLabwareid)
                                                            && t.wellname.Equals(wells[0]));
                if (aData == null)
                {
                    if (strCurrentCulture.Equals("zh-CN"))
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunDispenseResource.strWithoutWellInfo.ToString());
                    }
                    else
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress: the well on lattice of dispense liquid is wrong! please check!");
                    }
                    result = false;
                    return result;
                }
                if (Shared.ChannelCount.Equals(96))
                {
                    if (labwares.labware_type_id.Equals("3"))
                    {
                        if (!wells.Contains("A1"))
                        {
                            if (strCurrentCulture.Equals("zh-CN"))
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunDispenseResource.strWithoutWellInfo.ToString());
                            }
                            else
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress: the wells on lattice of dispense liquid is wrong! please check!");
                            }
                            result = false;
                            return result;
                        }
                    }
                    else
                    {
                        if (!wells.Contains("A1") || !wells.Length.Equals(96))
                        {
                            if (strCurrentCulture.Equals("zh-CN"))
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunDispenseResource.strWithoutWellInfo.ToString());
                            }
                            else
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress: the wells on lattice of dispense liquid is wrong! please check!");
                            }
                            result = false;
                            return result;
                        }
                    }
                }
                aData.lattice_num = slattice.lattice_num;

                string strWell = string.Join(",", wells);
                if (Shared.ChannelCount == 1)
                {
                    #region DispenseMParam
                    DispenseMParam dispenseMParam = new DispenseMParam();
                    dispenseMParam.afterAirDelay = (int)liquid.after_dispense_delay;
                    dispenseMParam.armId = Convert.ToInt32(armId);
                    dispenseMParam.basezAxisVal = zAxisVal;
                    dispenseMParam.beforeAirDelay = (int)liquid.before_dispense_delay;
                    dispenseMParam.afterAirDelay = (int)liquid.after_dispense_delay;
                    if ((float)liquid.after_dispense_volume == 0.0f)
                    {
                        dispenseMParam.isAfterAir = false;
                    }
                    else
                    {
                        dispenseMParam.isAfterAir = true;
                        dispenseMParam.afterAirpAxisVal = (float)liquid.after_dispense_volume;
                    }

                    if (liquid.before_dispense_volume == 0.0d)
                    {
                        dispenseMParam.isBeforeAir = false;
                    }
                    else
                    {
                        dispenseMParam.isBeforeAir = true;
                        dispenseMParam.beforeAirpAxisVal = (float)liquid.before_dispense_volume;
                    }

                    if (liquid.dispense_is_knock_wall == 0)
                    {
                        dispenseMParam.isKnockWall = false;
                    }
                    else
                    {
                        dispenseMParam.isKnockWall = true;
                        dispenseMParam.knockDirection = (int)liquid.dispense_knock_direction;
                        dispenseMParam.knockSpeed = (float)liquid.dispense_knock_speed;
                        dispenseMParam.knockWallDelay = (int)liquid.dispense_knock_wall_delay;
                        dispenseMParam.knockWellxOryAxisVal = (float)liquid.dispense_knock_wall_length;
                        dispenseMParam.knockWellzAxisVal = (float)liquid.dispense_knock_well_height;
                    }

                    if (isNull)
                    {
                        dispenseMParam.pAxisVal = ((float)Convert.ToDouble(wellvolume) + dispenseMParam.afterAirpAxisVal + dispenseMParam.beforeAirpAxisVal);
                    }
                    else
                    {
                        dispenseMParam.pAxisVal = (float)Convert.ToDouble(wellvolume);
                    }

                    dispenseMParam.dispenseSpeed = (float)liquid.dispense_speed;
                    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.wellzAxisVal = (float)liquid.well_top_length;
                    dispenseMParam.xAxisVal = aData.axis_b_X;
                    dispenseMParam.yAxisVal = aData.axis_b_Y;

                    float zVal = 0f;
                    if (liquid.dispense_well_bottom_length != 0)
                    {
                        string[] zOffsiteArray = liquid.dispense_well_bottom_length.ToString().Split(',');

                        if (liquid.dispense_position_type == 0)//液体液面
                        {
                            zVal = aData.axis_b_Z - (float)Convert.ToDouble(zOffsiteArray[0]);//底层用探测到的液面一下用aspirateMParam.zAxisAspirateOffsetVal
                        }
                        else if (liquid.dispense_position_type == 1)//孔口
                        {
                            zVal = dispenseMParam.wellzAxisVal + (float)Convert.ToDouble(zOffsiteArray[0]);
                        }
                        else if (liquid.dispense_position_type == 2)//孔底
                        {
                            if (labwares.labware_type_id.Equals("4"))
                            {
                                if (labwares.labware_tubeshelf_type == 1)
                                {
                                    ObservableCollection<LabwareWellInfo> labwareWellInfoList = DataRWDAL.LabwareDB.GetSpecialLabwareWellInfo(labwares.labware_id);
                                    LabwareWellInfo currentWellInfo = labwareWellInfoList.FirstOrDefault(x => x.labware_well_name.Equals(aData.wellname));
                                    Labware currentWellLabware = DataRWDAL.LabwareDB.GetLabware(currentWellInfo.well_labware_id);

                                    zVal = aData.axis_b_Z - (float)Convert.ToDouble(zOffsiteArray[0]) - ((float)currentWellLabware.labware_height-(float)currentWellLabware.well_height);
                                }
                                else
                                {
                                    zVal = aData.axis_b_Z - (float)Convert.ToDouble(zOffsiteArray[0]) - ControlCom.CalculateWellBottomThickness(labwares.piled_script);
                                }
                            }
                            else
                            {
                                zVal = aData.axis_b_Z - (float)Convert.ToDouble(zOffsiteArray[0]);
                            }
                        }
                    }
                    dispenseMParam.zAxisVal = zVal < 0 ? 0 : zVal;
                    //dispenseMParam.zAxisVal = aData.axis_b_Z - (float)liquid.dispense_well_bottom_length;
                    dispenseMParam.isMix = enableMix;
                    if (dispenseMParam.isMix == true)
                    {
                        dispenseMParam.mixAspiratePositionValue = Convert.ToInt32(mixAspiratePositionValue);
                        dispenseMParam.mixAspiratePositionText = mixAspiratePositionText;
                        if (mixAspiratePositionValue == "0")//liquid
                        {

                        }
                        else if (mixAspiratePositionValue == "1")//top
                        {
                            dispenseMParam.mixAspirateDistance = ((float)labwares.well_height - (float)mixAspirateDistance);
                        }
                        else if (mixAspiratePositionValue == "2")//bottom
                        {
                            dispenseMParam.mixAspirateDistance = (float)mixAspirateDistance;
                        }
                        dispenseMParam.mixAspirateSpeed = (float)Convert.ToDouble(mixAspirateSpeed);
                        dispenseMParam.mixDispensePositionValue = Convert.ToInt32(mixDispensePositionValue);
                        dispenseMParam.mixDispensePositionText = mixDispensePositionText;
                        if (mixDispensePositionValue == "0")//liquid
                        {

                        }
                        else if (mixDispensePositionValue == "1")//top
                        {
                            dispenseMParam.mixDispenseDistance = ((float)labwares.well_height - (float)mixDispenseDistance);
                        }
                        else if (mixDispensePositionValue == "2")//bottom
                        {
                            dispenseMParam.mixDispenseDistance = (float)mixDispenseDistance;
                        }
                        dispenseMParam.mixDispenseSpeed = (float)Convert.ToDouble(mixDispenseSpeed);

                        dispenseMParam.mixvolume = (float)mixvolume;
                        dispenseMParam.mixCount = mixcount;
                    }
                    else
                    {
                        dispenseMParam.mixAspirateDistance = 0;
                        dispenseMParam.mixAspirateSpeed = 100;
                        dispenseMParam.mixDispenseDistance = 0;
                        dispenseMParam.mixDispenseSpeed = 100;
                    }
                    dispenseMParam.mixzAxisVal = (float)Convert.ToDouble(dispenseMParam.zAxisVal);
                    //dispenseMParam.wellzAxisVal= aData.
                    #endregion

                    launchView.UpdateLabwareWells(aData, wells, 3);
                    launchView.SetWaitOne();//暂停
                    ret = dispenseBll.ExecuteDispense(dispenseMParam, isSimulator);

                    #region 错误处理
                    result = DoError(ret, methodNode, strWell, xmlEnv, currentLengthOfTip, zAxisVal, isSimulator, dispenseMParam.pAxisVal);
                    #endregion
                }
                else if (Shared.ChannelCount > 1&&!Shared.ChannelCount.Equals(96))
                {
                    //// 判断是否是12孔板，12孔板就转变为4个枪头放液4次
                    //if (labwares.number_row.Equals(3) && labwares.number_column.Equals(4))
                    //{
                    //    charray = new string[] { "1", "2", "3", "4" };
                    //}

                    #region 拆分目标孔位
                    List<TipsTable> tipsTableList = new List<TipsTable>();
                    for (int i = 0; i < charray.Length; i++)
                    {
                        aData = dtWells.SingleOrDefault(t => t.lattice_id.Equals(lattice.lattice_id)
                                                                && t.labware_id.Equals(strLabwareid)
                                                                && t.wellname.Equals(wells[i]));
                        if (aData != null)
                        {
                            tipsTableList.Add(aData);
                        }
                    }
                    List<List<TipsTable>> tipsTablesArr = ControlCom.GetGroupTipsByColumn(tipsTableList);
                    if((float)labwares.a1_b1_distance<20f&& tipsTablesArr.Count>1)//枪限制增加判断
                    {
                        tipsTablesArr.Clear();
                        tipsTableList.Clear();
                        for (int i = 0; i < charray.Length; i++)
                        {
                            tipsTableList = new List<TipsTable>();
                            aData = dtWells.SingleOrDefault(t => t.lattice_id.Equals(lattice.lattice_id)
                                                                    && t.labware_id.Equals(strLabwareid)
                                                                    && t.wellname.Equals(wells[i]));
                            if (aData != null)
                            {
                                tipsTableList.Add(aData);
                                tipsTablesArr.Add(tipsTableList);
                            }
                        }
                    }
                    #endregion

                    #region DispenseMParamSH
                    for (int iTipChanelIndex = 0; iTipChanelIndex < tipsTablesArr.Count; iTipChanelIndex++)
                    {
                        DispenseMParamSH dispenseMParam = new DispenseMParamSH();
                        dispenseMParam.afterAirDelay = (int)liquid.after_dispense_delay;
                        dispenseMParam.armId = Convert.ToInt32(armId);

                        dispenseMParam.basezAxisVal = zAxisVal;
                        dispenseMParam.beforeAirDelay = (int)liquid.before_dispense_delay;
                        dispenseMParam.afterAirDelay = (int)liquid.after_dispense_delay;
                        if ((float)liquid.after_dispense_volume == 0.0f)
                        {
                            dispenseMParam.isAfterAir = false;
                        }
                        else
                        {
                            dispenseMParam.isAfterAir = true;
                            dispenseMParam.afterAirpAxisVal = (float)liquid.after_dispense_volume;
                        }

                        if (liquid.before_dispense_volume == 0.0d)
                        {
                            dispenseMParam.isBeforeAir = false;
                        }
                        else
                        {
                            dispenseMParam.isBeforeAir = true;
                            dispenseMParam.beforeAirpAxisVal = (float)liquid.before_dispense_volume;

                        }

                        if (liquid.dispense_is_knock_wall == 0)
                        {
                            dispenseMParam.isKnockWall = false;
                        }
                        else
                        {
                            dispenseMParam.isKnockWall = true;
                            dispenseMParam.knockDirection = (int)liquid.dispense_knock_direction;
                            dispenseMParam.knockSpeed = (float)liquid.dispense_knock_speed;
                            dispenseMParam.knockWallDelay = (int)liquid.dispense_knock_wall_delay;
                            dispenseMParam.knockWellxOryAxisVal = (float)liquid.dispense_knock_wall_length;
                            dispenseMParam.knockWellzAxisVal = (float)liquid.dispense_knock_well_height;
                            dispenseMParam.knockWellzAxisVal = (float)liquid.knock_well_height;
                            //dispenseMParam.xAxisKnockOffsetVal = (float)liquid.knock_wall_x;
                            //dispenseMParam.yAxisKnockOffsetVal = (float)liquid.knock_wall_y;
                            dispenseMParam.wellDiameter = (float)liquid.knock_wall_y;
                            if (labwares.well_shape == 2)
                            {
                                dispenseMParam.wellDiameter = (float)labwares.well_top_x;
                            }
                            else if (labwares.well_shape == 1)
                            {
                                dispenseMParam.wellDiameter = (float)(labwares.well_mouth_radius * 2);
                            }
                        }

                        //string strIsEmpty = methodNode.SelectSingleNode("isNull").InnerText;
                        if (isNull)
                        {
                            dispenseMParam.enableVolumeToNull = true;

                            float[] pAxisVal = new float[tipsTablesArr[iTipChanelIndex].Count];
                            for (int i = 0; i < tipsTablesArr[iTipChanelIndex].Count; i++)
                            {
                                pAxisVal[i] = (float)Convert.ToDouble(wellvolume);
                            }
                            dispenseMParam.pAxisVal = pAxisVal;
                            //DataRow dataRow = launchView.dataTableTotal.Rows[launchView.dataTableTotal.Rows.Count - 1];
                            wellvolume = launchView.fVolumeToNull;
                        }
                        else
                        {
                            dispenseMParam.enableVolumeToNull = false;
                            LiquidAccuracy liquidAccuracy = liquidAccuracyBll.GetLiquidAccuracyFromdb(Convert.ToInt32(liquidrangeidValue), Convert.ToInt32(armId), Convert.ToDouble(wellvolume), liquididValue);
                            double targetVolume = liquidAccuracyBll.CalculateAspirateParamVolume(Convert.ToDouble(wellvolume), liquidAccuracy);

                            float[] pAxisVal = new float[tipsTablesArr[iTipChanelIndex].Count];
                            for (int i = 0; i < tipsTablesArr[iTipChanelIndex].Count; i++)
                            {
                                pAxisVal[i] = (float)targetVolume;
                            }
                            dispenseMParam.pAxisVal = pAxisVal;

                            launchView.fVolumeToNull = launchView.fVolumeToNull - (float)Convert.ToDouble(wellvolume);
                        }

                        launchView.fVolumeToNull = (float)Convert.ToDouble(wellvolume);

                        dispenseMParam.dispenseSpeed = (float)liquid.dispense_speed;
                        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.wellzAxisVal = (float)liquid.well_top_length;
                        if (labwares.labware_type_id.Equals("4"))
                        {
                            dispenseMParam.wellzAxisVal = tipsTablesArr[iTipChanelIndex][0].axis_b_Z - ((float)ControlCom.GetCentrifugalLabwer(labwares.piled_script).labware_height);
                        }
                        else
                        {
                            dispenseMParam.wellzAxisVal = tipsTablesArr[iTipChanelIndex][0].axis_b_Z - ((float)labwares.well_height);// - (float)liquid.well_top_length) ;
                        }
                        dispenseMParam.xAxisVal = tipsTablesArr[iTipChanelIndex][0].axis_b_X;
                        dispenseMParam.yAxisVal = tipsTablesArr[iTipChanelIndex][0].axis_b_Y;

                        dispenseMParam.isMix = enableMix;
                        if (dispenseMParam.isMix == true)
                        {
                            dispenseMParam.mixAspiratePositionValue = Convert.ToInt32(mixAspiratePositionValue);
                            dispenseMParam.mixAspiratePositionText = mixAspiratePositionText;

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

                                }
                                else if (mixAspiratePositionValue == "1")//top
                                {
                                    dispenseMParam.mixAspirateDistance = ((float)labwares.well_height - (float)mixAspirateDistance);
                                }
                                else if (mixAspiratePositionValue == "2")//bottom
                                {
                                    dispenseMParam.mixAspirateDistance = (float)mixAspirateDistance;
                                }
                            }
                            dispenseMParam.mixAspirateSpeed = (float)Convert.ToDouble(mixAspirateSpeed);
                            dispenseMParam.mixDispensePositionValue = Convert.ToInt32(mixDispensePositionValue);
                            dispenseMParam.mixDispensePositionText = mixDispensePositionText;
                            if (labwares.labware_type_id.Equals("4"))
                            {
                                if (mixDispensePositionValue == "0")//liquid
                                {

                                }
                                else if (mixDispensePositionValue == "1")//top
                                {
                                    dispenseMParam.mixDispenseDistance = ((float)ControlCom.GetCentrifugalLabwer(labwares.piled_script).well_height - (float)mixDispenseDistance);
                                }
                                else if (mixDispensePositionValue == "2")//bottom
                                {
                                    dispenseMParam.mixDispenseDistance = (float)mixDispenseDistance;
                                }
                            }
                            else
                            {
                                if (mixDispensePositionValue == "0")//liquid
                                {

                                }
                                else if (mixDispensePositionValue == "1")//top
                                {
                                    dispenseMParam.mixDispenseDistance = ((float)labwares.well_height - (float)mixDispenseDistance);
                                }
                                else if (mixDispensePositionValue == "2")//bottom
                                {
                                    dispenseMParam.mixDispenseDistance = (float)mixDispenseDistance;
                                }
                            }
                            dispenseMParam.mixDispenseSpeed = (float)Convert.ToDouble(mixDispenseSpeed);

                            dispenseMParam.mixvolume = (float)mixvolume;
                            dispenseMParam.mixCount = mixcount;
                        }
                        else
                        {
                            dispenseMParam.mixAspirateDistance = 0;
                            dispenseMParam.mixAspirateSpeed = 100;
                            dispenseMParam.mixDispenseDistance = 0;
                            dispenseMParam.mixDispenseSpeed = 100;
                        }

                        dispenseMParam.isSurvey = enableLiquidSensor;
                        if (dispenseMParam.isSurvey == true)
                        {
                            if (labwares.labware_type_id.Equals("4"))
                            {
                                Labware centrifugalLabware = ControlCom.GetCentrifugalLabwer(labwares.piled_script);
                                dispenseMParam.surveyInitzVal = tipsTablesArr[iTipChanelIndex][0].axis_b_Z - ((float)ControlCom.GetCentrifugalLabwer(labwares.piled_script).labware_height - (float)liquidSensorDistance);
                                dispenseMParam.surveyMaxzVal = tipsTablesArr[iTipChanelIndex][0].axis_b_Z - ((float)ControlCom.GetCentrifugalLabwer(labwares.piled_script).labware_height - (float)liquidSensorEndDistance);
                                dispenseMParam.surveySpeed = (float)liquidSensorSpeed;

                                dispenseMParam.wellzAxisVal = tipsTablesArr[iTipChanelIndex][0].axis_b_Z - ((float)ControlCom.GetCentrifugalLabwer(labwares.piled_script).labware_height);
                                dispenseMParam.wellBottomzAxisVal = tipsTablesArr[iTipChanelIndex][0].axis_b_Z - ((float)ControlCom.GetCentrifugalLabwer(labwares.piled_script).labware_height - (float)ControlCom.GetCentrifugalLabwer(labwares.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 (labwares.well_shape == (int)WellSharpe.Round)
                                    {
                                        area = (float)(Math.PI * (float)ControlCom.GetCentrifugalLabwer(labwares.piled_script).well_mouth_radius * (float)ControlCom.GetCentrifugalLabwer(labwares.piled_script).well_mouth_radius);
                                    }
                                    else if (labwares.well_shape == (int)WellSharpe.Rectangle)
                                    {
                                        area = (float)((float)ControlCom.GetCentrifugalLabwer(labwares.piled_script).well_top_x * (float)ControlCom.GetCentrifugalLabwer(labwares.piled_script).well_top_y);
                                    }
                                    dispenseMParam.sectionalArea = area;
                                    dispenseMParam.isMixFollowup = enableMixFollow;
                                }
                                else
                                {

                                }
                            }
                            else
                            {
                                //dispenseMParam.surveyRetryCount = liquidSensorCount;
                                dispenseMParam.surveyInitzVal = tipsTablesArr[iTipChanelIndex][0].axis_b_Z - ((float)labwares.well_height - (float)liquidSensorDistance);
                                dispenseMParam.surveyMaxzVal = tipsTablesArr[iTipChanelIndex][0].axis_b_Z - ((float)labwares.well_height - (float)liquidSensorEndDistance);
                                dispenseMParam.surveySpeed = (float)liquidSensorSpeed;
                                //aspirateMParam.surveyCoefficient =;
                                dispenseMParam.wellzAxisVal = tipsTablesArr[iTipChanelIndex][0].axis_b_Z - ((float)labwares.well_height);// - (float)liquid.well_top_length);
                                dispenseMParam.wellBottomzAxisVal = tipsTablesArr[iTipChanelIndex][0].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 (labwares.well_shape == (int)WellSharpe.Round)
                                    {
                                        area = (float)(Math.PI * labwares.well_mouth_radius * labwares.well_mouth_radius);
                                    }
                                    else if (labwares.well_shape == (int)WellSharpe.Rectangle)
                                    {
                                        area = (float)(labwares.well_top_x * labwares.well_top_y);
                                    }
                                    dispenseMParam.sectionalArea = area;
                                    dispenseMParam.isMixFollowup = enableMixFollow;
                                }
                                else
                                {

                                }
                            }
                        }
                        else
                        {

                        }

                        float[] fzAxisVal = new float[tipsTablesArr[iTipChanelIndex].Count];
                        int[] channelIds = new int[tipsTablesArr[iTipChanelIndex].Count];
                        //计算已用的通道号
                        int startChannelNum = 0;
                        for (int k = 0; k < iTipChanelIndex; k++)
                        {
                            startChannelNum += tipsTablesArr[k].Count;
                        }
                        
                        for (int i = 0; i < tipsTablesArr[iTipChanelIndex].Count; i++)
                        {
                            float zVal = tipsTablesArr[iTipChanelIndex][i].axis_b_Z;
                            //dispenseMParam.wellzAxisVal = zVal - (float)labwares.well_height;
                            if (liquid.dispense_position_type == 0)//液面开始探测时用，
                            {
                                zVal = tipsTablesArr[iTipChanelIndex][i].axis_b_Z - (float)labwares.labware_height;
                            }
                            else if (liquid.dispense_position_type == 1)//孔口
                            {
                                zVal = dispenseMParam.wellzAxisVal + (float)liquid.dispense_well_bottom_length;
                            }
                            else if (liquid.dispense_position_type == 2)//孔底
                            {
                                if (labwares.labware_type_id.Equals("4"))
                                {
                                    zVal = tipsTablesArr[iTipChanelIndex][i].axis_b_Z - (float)Convert.ToDouble(liquid.dispense_well_bottom_length) - ControlCom.CalculateWellBottomThickness(labwares.piled_script);
                                }
                                else
                                {
                                    zVal = tipsTablesArr[iTipChanelIndex][i].axis_b_Z - (float)Convert.ToDouble(liquid.dispense_well_bottom_length);
                                }
                            }
                            //float zVal = tipsTable.axis_b_Z - (float)liquid.aspirate_well_bottom_length;
                            //aspirateMParam.zAxisVal = 
                            fzAxisVal[i] = zVal < 0 ? 0 : zVal;//aData.axis_b_Z - (float)liquid.dispense_well_bottom_length;
                            channelIds[i] = Convert.ToInt32(charray[i + startChannelNum]);
                        }
                        dispenseMParam.zAxisVal = fzAxisVal;

                        dispenseMParam.channelId = channelIds;
                        dispenseMParam.channelCount = channelIds.Length;
                        dispenseMParam.mixzAxisVal = (float)Convert.ToDouble(dispenseMParam.zAxisVal[0]);
                        //dispenseMParam.wellzAxisVal= aData.
                        if (tipsTablesArr.Count > 1 && (float)labwares.a1_b1_distance < 20f)
                        {
                            dispenseMParam.yChannelGapVal = 25f;
                        }
                        else
                        {
                            dispenseMParam.yChannelGapVal = ((float)labwares.a1_b1_distance).Equals(0f) ? 9f : (float)labwares.a1_b1_distance;
                        }
                        #endregion

                        wells = new string[tipsTablesArr[iTipChanelIndex].Count];
                        for (int k = 0; k < tipsTablesArr[iTipChanelIndex].Count; k++)
                        {
                            wells[k] = tipsTablesArr[iTipChanelIndex][k].wellname;
                        }

                        launchView.UpdateLabwareWells(aData, wells, 3);
                        launchView.SetWaitOne();//暂停
                        ret = dispenseBll.ExecuteDispense(dispenseMParam, isSimulator);

                        #region 错误处理
                        result = DoError(ret, methodNode, strWell, xmlEnv, currentLengthOfTip, zAxisVal, isSimulator, dispenseMParam.pAxisVal[0]);
                        #endregion
                    }
                }
                else if (Shared.ChannelCount.Equals(96))
                {
                    #region DispenseMParam
                    DispenseMParam dispenseMParam = new DispenseMParam();
                    dispenseMParam.afterAirDelay = (int)liquid.after_dispense_delay;
                    dispenseMParam.armId = Convert.ToInt32(armId);
                    dispenseMParam.basezAxisVal = zAxisVal;
                    dispenseMParam.beforeAirDelay = (int)liquid.before_dispense_delay;
                    dispenseMParam.afterAirDelay = (int)liquid.after_dispense_delay;
                    if ((float)liquid.after_dispense_volume == 0.0f)
                    {
                        dispenseMParam.isAfterAir = false;
                    }
                    else
                    {
                        dispenseMParam.isAfterAir = true;
                        dispenseMParam.afterAirpAxisVal = (float)liquid.after_dispense_volume;
                    }

                    if (liquid.before_dispense_volume == 0.0d)
                    {
                        dispenseMParam.isBeforeAir = false;
                    }
                    else
                    {
                        dispenseMParam.isBeforeAir = true;
                        dispenseMParam.beforeAirpAxisVal = (float)liquid.before_dispense_volume;
                    }

                    if (liquid.dispense_is_knock_wall == 0)
                    {
                        dispenseMParam.isKnockWall = false;
                    }
                    else
                    {
                        dispenseMParam.isKnockWall = true;
                        dispenseMParam.knockDirection = (int)liquid.dispense_knock_direction;
                        dispenseMParam.knockSpeed = (float)liquid.dispense_knock_speed;
                        dispenseMParam.knockWallDelay = (int)liquid.dispense_knock_wall_delay;
                        dispenseMParam.knockWellxOryAxisVal = (float)liquid.dispense_knock_wall_length;
                        dispenseMParam.knockWellzAxisVal = (float)liquid.dispense_knock_well_height;
                    }

                    if (isNull)
                    {
                        dispenseMParam.enableVolumeToNull = true;

                        DataRow dataRow = launchView.dataTableTotal.Rows[launchView.dataTableTotal.Rows.Count - 1];
                        wellvolume = launchView.fVolumeToNull;

                        dispenseMParam.pAxisVal = ((float)Convert.ToDouble(wellvolume) + dispenseMParam.afterAirpAxisVal + dispenseMParam.beforeAirpAxisVal);
                    }
                    else
                    {
                        dispenseMParam.enableVolumeToNull = false;
                        LiquidAccuracy liquidAccuracy = liquidAccuracyBll.GetLiquidAccuracyFromdb(Convert.ToInt32(liquidrangeidValue), Convert.ToInt32(armId), Convert.ToDouble(wellvolume), liquididValue);
                        double targetVolume = liquidAccuracyBll.CalculateAspirateParamVolume(Convert.ToDouble(wellvolume), liquidAccuracy);
                        launchView.fVolumeToNull = launchView.fVolumeToNull - (float)Convert.ToDouble(wellvolume);
                        dispenseMParam.pAxisVal = (float)Convert.ToDouble(targetVolume);
                    }

                    dispenseMParam.dispenseSpeed = (float)liquid.dispense_speed;
                    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.wellzAxisVal = (float)liquid.well_top_length;
                    dispenseMParam.xAxisVal = aData.axis_b_X;
                    dispenseMParam.yAxisVal = aData.axis_b_Y;
                    dispenseMParam.zAxisVal = aData.axis_b_Z- currentLengthOfTip - (float)liquid.dispense_well_bottom_length;
                    dispenseMParam.isMix = enableMix;
                    if (dispenseMParam.isMix == true)
                    {
                        dispenseMParam.mixAspiratePositionValue = Convert.ToInt32(mixAspiratePositionValue);
                        dispenseMParam.mixAspiratePositionText = mixAspiratePositionText;
                        if (mixAspiratePositionValue == "0")//liquid
                        {

                        }
                        else if (mixAspiratePositionValue == "1")//top
                        {
                            dispenseMParam.mixAspirateDistance = ((float)labwares.well_height - (float)mixAspirateDistance);
                        }
                        else if (mixAspiratePositionValue == "2")//bottom
                        {
                            dispenseMParam.mixAspirateDistance = (float)mixAspirateDistance;
                        }
                        dispenseMParam.mixAspirateSpeed = (float)Convert.ToDouble(mixAspirateSpeed);
                        dispenseMParam.mixDispensePositionValue = Convert.ToInt32(mixDispensePositionValue);
                        dispenseMParam.mixDispensePositionText = mixDispensePositionText;
                        if (mixDispensePositionValue == "0")//liquid
                        {

                        }
                        else if (mixDispensePositionValue == "1")//top
                        {
                            dispenseMParam.mixDispenseDistance = ((float)labwares.well_height - (float)mixDispenseDistance);
                        }
                        else if (mixDispensePositionValue == "2")//bottom
                        {
                            dispenseMParam.mixDispenseDistance = (float)mixDispenseDistance;
                        }
                        dispenseMParam.mixDispenseSpeed = (float)Convert.ToDouble(mixDispenseSpeed);

                        dispenseMParam.mixvolume = (float)mixvolume;
                        dispenseMParam.mixCount = mixcount;
                    }
                    else
                    {
                        dispenseMParam.mixAspirateDistance = 0;
                        dispenseMParam.mixAspirateSpeed = 100;
                        dispenseMParam.mixDispenseDistance = 0;
                        dispenseMParam.mixDispenseSpeed = 100;
                    }
                    dispenseMParam.mixzAxisVal = (float)Convert.ToDouble(dispenseMParam.zAxisVal);
                    //dispenseMParam.wellzAxisVal= aData.
                    #endregion

                    launchView.UpdateLabwareWells(aData, wells, 3);
                    launchView.SetWaitOne();//暂停
                    ret = dispenseBll.ExecuteDispense(dispenseMParam, isSimulator);

                    #region 错误处理
                    result = DoError(ret, methodNode, strWell, xmlEnv, currentLengthOfTip, zAxisVal, isSimulator, dispenseMParam.pAxisVal);
                    #endregion
                }
            }
            catch (Exception ex)
            {
                LoggerHelper.ErrorLog("ERROR:", ex);

                if (strCurrentCulture.Equals("zh-CN"))
                {
                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strError.ToString() + " 源 " + ex.Source + " 错误信息 " + ex.Message + ";");
                }
                else
                {
                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】error:source:" + ex.Source + ";error:" + ex.Message + ";");
                }
                if (launchView.isRemotingOper)
                {
                    launchView.OnError?.Invoke(launchView.remoteObjectCmd, "EC-1001", 5, "error:source:" + ex.Source + ";error:" + ex.Message + ";", 2);
                }
                result = false;
            }
            return result;
        }
        #endregion

        #region 错误处理
        private bool DoError(HxResult ret, XmlNode methodNode, string strWell, XmlNode xmlEnv, float currentLengthOfTip, float zAxisVal, bool isSimulator, float pAxisVal)
        {
            bool result = true;
            string methodName = methodNode.SelectSingleNode("name").InnerText;
            string position = methodNode.SelectSingleNode("position/text").InnerText;
            #region 错误处理
            if (ret.Result != ResultType.Success)
            {
                if (strCurrentCulture.Equals("zh-CN"))
                {
                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodName + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunDispenseResource.strDispenseFail.ToString() + ret.AlarmInfo + "孔 " + strWell + " 板位 " + position);
                }
                else
                {
                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodName + "】progress: dispense liquid progress is fail from" + strWell + " well on " + position + "lattice! error information:" + ret.AlarmInfo);
                }

                OperateDialog plsConfirmOper = null;
                if (!launchView.isRemotingOper)
                {
                    System.Windows.Application.Current.Dispatcher.Invoke(new Action(() =>
                    {
                        plsConfirmOper = new OperateDialog(strCurrentCulture.Equals("zh-CN") ? Properties.RunDispenseResource.strFailWhatToDo : "dispense liquid is fail! What do you want to do?");
                        plsConfirmOper.ShowDialog();
                    }));
                }
                else
                {
                    launchView.OnError?.Invoke(launchView.remoteObjectCmd, "EC-1052", 5, Properties.RunDispenseResource.strFailWhatToDo, 2);
                    plsConfirmOper = new OperateDialog(strCurrentCulture.Equals("zh-CN") ? Properties.RunDispenseResource.strFailWhatToDo : "dispense liquid is fail! What do you want to do?");
                    plsConfirmOper.ShowDialog();
                }

                if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Retry)           // 重试
                {
                    return ExecuteDispense(xmlEnv, methodNode, currentLengthOfTip, zAxisVal, isSimulator);
                }
                else if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Cancel)     // 终止
                {
                    if (strCurrentCulture.Equals("zh-CN"))
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodName + "】" + Properties.MachineRunResource.strProgress + Properties.RunDispenseResource.strLoadTipWasStopped);
                    }
                    else
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodName + "】progress:dispense liquid was stopped!");
                    }
                    if (launchView.isRemotingOper)
                    {
                        launchView.OnError?.Invoke(launchView.remoteObjectCmd, "EC-1053", 5, Properties.RunDispenseResource.strLoadTipWasStopped, 2);
                    }
                    result = false;
                    return result;
                }
                else if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Continue)   // 跳过
                {
                    if (strCurrentCulture.Equals("zh-CN"))
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodName + "】" + Properties.MachineRunResource.strProgress + Properties.RunDispenseResource.strLoadTipWasSkipped);
                    }
                    else
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodName + "】progress:dispense liquid was skipped!");
                    }
                }
            }
            else
            {
                if (strCurrentCulture.Equals("zh-CN"))
                {
                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodName + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunDispenseResource.strDispenseSuccess.ToString() + " 体积 " + pAxisVal.ToString() + "ul 孔 " + strWell + " 板位 " + position);
                }
                else
                {
                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodName + "】progress:aspirate " + pAxisVal.ToString() + "ul liquid is success from " + strWell + " well on " + position + " lattice!");
                }
            }
            #endregion

            return result;
        }
        #endregion
    }
}