using DataEntity;
using DataEntity.Share;
using DataRWDAL;
using DriverLib.Engine;
using MySqlX.XDevAPI.Common;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Reflection;
using System.Windows;
using System.Xml;
using XCommon;
using XCommon.Log;
using XCore;
using XCoreBLL;
using XHandler.Controls.Run.Com;
using XHandler.View;
using XHandler.View.MethodProperty;
using XImaging.Automation.Service.Interface;
using XImagingXhandler.XDAL;
using static HxEnum.OperationTypeEnum;

namespace XHandler.Controls
{
    /// <summary>
    /// 开关盖
    /// </summary>
    public class SwitchLidControl
    {
        string strCurrentCulture = "";
        WellCalc wellCalc = new WellCalc();
        LatticeBll latticeBll = new LatticeBll();
        SwitchLidBll switchLidBll = new SwitchLidBll();
        public RunWnd launchView = null;

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

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

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

            #region 数据准备 
            MethodSwitchLid methodSwitchLid = switchLidBll.GenerateMethodSwitchLidDataByXmlNode(methodNode);
            #endregion

            #region 数据验证
            Labware labwares = LabwareDB.GetLabware(methodSwitchLid.labwareValue);
            string strWells = methodSwitchLid.wellarray;
            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("="))
                {
                }
            }

            else if (strWells.Contains("="))
            {
                wellVariable = strWells.Substring(strWells.LastIndexOf('=') + 1, (strWells.Length - strWells.LastIndexOf('=') - 1));

                Variable variable = new Variable();
                Stack<Variable> stackTem = new Stack<Variable>();//临时存储变量过得对象
                int totalLoop = launchView.gloadVariable.Count;
                // 从当前变量字典中取出变量的值
                for (int i = 0; i < totalLoop; i++)
                {
                    Variable v = launchView.gloadVariable.Pop();         //取出最近的一个匹配变量   
                    stackTem.Push(v);

                    if (v.variablename == wellVariable)
                    {
                        variable = v;
                        break;
                    }
                }
                int totalLoopTem = stackTem.Count;
                for (int i = 0; i < totalLoopTem; i++)
                {
                    Variable v = stackTem.Pop();
                    launchView.gloadVariable.Push(v);
                }
            }


            // 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)
                {

                }
            }
            else if (!string.IsNullOrEmpty(strWells) &&
                !strWells.Contains(',') &&
                !strWells.Contains("="))        // 只有一个孔位
            {
                wells = new string[] { strWells };
            }
            else if (strWells.Contains("="))    // 利用循环
            {
                string strvariable = strWells.Substring(strWells.LastIndexOf('=') + 1, (strWells.Length - strWells.LastIndexOf('=') - 1));
                Variable variable = new Variable();
                Stack<Variable> stackTem = new Stack<Variable>();//临时存储变量过得对象
                int totalLoop = launchView.gloadVariable.Count;
                // 从当前变量字典中取出变量的值
                for (int i = 0; i < totalLoop; i++)
                {
                    Variable v = launchView.gloadVariable.Pop();         //取出最近的一个匹配变量   
                    stackTem.Push(v);

                    if (v.variablename == strvariable)
                    {
                        variable = v;
                        break;
                    }
                }
                int totalLoopTem = stackTem.Count;
                for (int i = 0; i < totalLoopTem; i++)
                {
                    Variable v = stackTem.Pop();
                    launchView.gloadVariable.Push(v);
                }

                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
                {
                    totalLoop = launchView.gloadVariable.Count;
                    List<Variable> variablelist = new List<Variable>();
                    stackTem = new Stack<Variable>();//临时存储变量过得对象
                    for (int i = 0; i < totalLoop; i++) //看看表达式中包不包含变量，如果包含就把变量全部替换成值
                    {
                        Variable v = launchView.gloadVariable.Pop();
                        variablelist.Add(v);
                        stackTem.Push(v);
                    }
                    for(int i=0;i< variablelist.Count;i++)
                    { 
                        if (strvariable.Contains(variablelist[i].variablename))
                        {
                            strvariable = strvariable.Replace(variable.variablename, variable.variablecurval);
                            break;
                        }
                    }

                    //恢复全局变量
                    for (int i = 0; i < variablelist.Count; i++)
                    {
                        Variable v = stackTem.Pop();
                        launchView.gloadVariable.Push(v);
                    }

                    Microsoft.JScript.Vsa.VsaEngine ve = Microsoft.JScript.Vsa.VsaEngine.CreateEngine();
                    variable.variablecurval = Microsoft.JScript.Eval.JScriptEvaluate(strvariable, ve).ToString();
                }

                List<string> sortWellName = new List<string>();
                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);
                    }
                }
                wells = new string[1];
                wells[0] = sortWellName[Convert.ToInt32(variable.variablecurval) - 1];
            }

            // 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();

            string armId = Shared.DeviceArmList.FirstOrDefault(x => x.arm_type.Equals(1)).device_arm_id.ToString();
            string latticenum = methodSwitchLid.positionText.ToString();
            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);
            }
            else
            {
                lattice = LatticeDB.GetLatticeDataByLatticeNumAndTempIdFromdb(latticenum, Convert.ToInt32(armId), Shared.SoftwareInformation.software_device_number, tabletopTemplate.tabletopid);
            }
            int xmlLatticeId = Convert.ToInt32(latticenum.Substring(1));

            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.RunAspirateResource.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!");
                }
                result = false;
                return result;
            }
            //}
            #endregion

            #region 执行构建
            try
            {

                // 获取当前台面的夹爪坐标
                List<GripperCoordinate> gripperCoordinates = DataRWDAL.GripperCoordinateDB.GetAGripperCoordinateFromdb(Shared.SoftwareInformation.software_information_id, Convert.ToInt32(methodSwitchLid.armValue),lattice.lattice_num);

                //转化成板位
                Lattice slattice = new Lattice();
                slattice.lattice_X = gripperCoordinates[0].lattice_X;
                slattice.lattice_Y = gripperCoordinates[0].lattice_Y;
                slattice.lattice_Z = gripperCoordinates[0].lattice_Z;
                slattice.lattice_num = gripperCoordinates[0].lattice_num;
                slattice.lattice_id = "";

                // 获取板位孔的坐标数据
                List<TipsTable> dtWells = ControlCom.GenerateWellCoordinateForChemistry(labwares, slattice);

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

                //根据循环处理孔位
                TipsTable tipsTable = null;
                tipsTable = dtWells.SingleOrDefault(t => t.lattice_num.Equals(lattice.lattice_num)
                                                                && t.labware_id.Equals(labwares.labware_id)
                                                                && t.wellname.Equals(wells[0]));
                tipsTable.axis_b_Z = tipsTable.axis_b_Z + ControlCom.CurrentLengthOfTip;//被减的枪头要加回来

                if (methodSwitchLid.armText == "夹爪臂")
                {
                    ScrewTubeCapMParam screwTubeCapMParam = new ScrewTubeCapMParam();
                    screwTubeCapMParam.tubeRackNo = Convert.ToInt32(lattice.lattice_num.Substring(1)); //板位号，数字部分
                    screwTubeCapMParam.tubeCol = Convert.ToInt32(wells[0].Substring(1));               //孔所在列号，数字部分
                    screwTubeCapMParam.tubeScrewPitch = (float)centrifugalLabware.well_helical_distance;//螺纹螺距
                    screwTubeCapMParam.tubeDiameter = (float)centrifugalLabware.well_mouth_out_radius*2;  //离心管主管外径

                    screwTubeCapMParam.tubeRow = 0;

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

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

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

                    //Labware centrifugalLabware = ControlCom.GetCentrifugalLabwer(labwares.piled_script);
                    screwTubeCapMParam.zAxisVal = tipsTable.axis_b_Z-((float)centrifugalLabware.labware_height+3f)+(float)centrifugalLabware.upgripper_zoffset;//孔口

                    

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

                    if (ret.Result != ResultType.Success)
                    {
                        if (strCurrentCulture.Equals("zh-CN"))
                        {
                            if (methodSwitchLid.switchState == 0)
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidOpenFailed.ToString() + ret.AlarmInfo + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidOpenFailed.ToString() + ret.AlarmInfo + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                            }
                            else if (methodSwitchLid.switchState == 1)
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidCloseFailed.ToString() + ret.AlarmInfo + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidCloseFailed.ToString() + ret.AlarmInfo + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                            }
                        }
                        else
                        {
                            if (methodSwitchLid.switchState == 0)
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress: switch to open lid was failed on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice! Error info：" + ret.AlarmInfo);
                                LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress: switch to open lid was failed on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice! Error info：" + ret.AlarmInfo);
                            }
                            else if (methodSwitchLid.switchState == 1)
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress: switch to close lid was failed on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice! Error info：" + ret.AlarmInfo);
                                LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress: switch to close lid was failed on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice! Error info：" + ret.AlarmInfo);
                            }
                        }
                        result = false;
                        OperateDialog plsConfirmOper = null;
                        if (!launchView.isRemotingOper)
                        {
                            Application.Current.Dispatcher.Invoke(new Action(() =>
                            {
                                plsConfirmOper = new OperateDialog(strCurrentCulture.Equals("zh-CN") ? Properties.GripTransportResource.strPickFailWhatToDo : "The action of pick was fail! What do you want to do?");
                                plsConfirmOper.ShowDialog();
                            }));
                        }
                        else
                        {
                            launchView.OnError?.Invoke(launchView.remoteObjectCmd, "EC-1027", 5, Properties.GripTransportResource.strPickFailWhatToDo, 2);
                            plsConfirmOper = new OperateDialog(strCurrentCulture.Equals("zh-CN") ? Properties.GripTransportResource.strPickFailWhatToDo : "The action of pick was fail! What do you want to do?");
                            plsConfirmOper.ShowDialog();
                        }

                        if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Retry)           // 重试
                        {
                            return ExecuteSwitchLidReTry(lattice, wells, centrifugalLabware, methodSwitchLid, isSimulator, tipsTable);
                        }
                        else if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Cancel)     // 终止
                        {
                            if (launchView.isRemotingOper)
                            {
                                launchView.OnError?.Invoke(launchView.remoteObjectCmd, "EC-1045", 5, Properties.GripTransportResource.strPickWasStopped, 2);
                            }
                            result = false;
                            return result;
                        }
                        else if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Continue)   // 跳过
                        {
                            result = true;
                            return result;
                        }
                        return result;
                    }
                    else
                    {
                        if (methodSwitchLid.switchState == 0)
                        {
                            if (strCurrentCulture.Equals("zh-CN"))
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidOpenSuccess.ToString() + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidOpenSuccess.ToString() + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                            }
                            else
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress:switch to open lid was successful on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice!");
                                LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress:switch to open lid was successful on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice!");
                            }
                        }
                        else if (methodSwitchLid.switchState == 1)
                        {
                            if (strCurrentCulture.Equals("zh-CN"))
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidCloseSuccess.ToString() + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                                LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidCloseSuccess.ToString() + " 孔 " + tipsTable.wellname + " 板位 " + slattice.lattice_num);
                            }
                            else
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress:switch to closed lid was successful on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice!");
                                LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress:switch to closed lid was successful on " + tipsTable.wellname + " of " + slattice.lattice_num + " lattice!");
                            }
                        }
                    }
                }
            }
            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 + ";");
                }
                result = false;
            }

            #endregion

            return result;
        }
        #endregion

        #region 开关盖重试函数
        public bool ExecuteSwitchLidReTry(Lattice lattice,string[] wells, Labware centrifugalLabware,MethodSwitchLid methodSwitchLid,bool isSimulator,TipsTable tipsTable)
        {
            bool result = true;
            ScrewTubeCapMParam screwTubeCapMParam = new ScrewTubeCapMParam();
            screwTubeCapMParam.tubeRackNo = Convert.ToInt32(lattice.lattice_num.Substring(1)); //板位号，数字部分
            screwTubeCapMParam.tubeCol = Convert.ToInt32(wells[0].Substring(1));               //孔所在列号，数字部分
            screwTubeCapMParam.tubeScrewPitch = (float)centrifugalLabware.well_helical_distance;//螺纹螺距
            screwTubeCapMParam.tubeDiameter = (float)centrifugalLabware.well_mouth_out_radius * 2;  //离心管主管外径

            screwTubeCapMParam.tubeRow = 0;

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

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

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

            //Labware centrifugalLabware = ControlCom.GetCentrifugalLabwer(labwares.piled_script);
            screwTubeCapMParam.zAxisVal = tipsTable.axis_b_Z - ((float)centrifugalLabware.labware_height + 3f) + (float)centrifugalLabware.upgripper_zoffset;//孔口



            launchView.SetWaitOne();//暂停
            HxResult  ret = switchLidBll.ExecuteSwitchLid(screwTubeCapMParam, methodSwitchLid.switchState, isSimulator);

            if (ret.Result != ResultType.Success)
            {
                if (strCurrentCulture.Equals("zh-CN"))
                {
                    if (methodSwitchLid.switchState == 0)
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodSwitchLid.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidOpenFailed.ToString() + ret.AlarmInfo + " 孔 " + tipsTable.wellname + " 板位 " + lattice.lattice_num);
                        LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodSwitchLid.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidOpenFailed.ToString() + ret.AlarmInfo + " 孔 " + tipsTable.wellname + " 板位 " + lattice.lattice_num);
                    }
                    else if (methodSwitchLid.switchState == 1)
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodSwitchLid.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidCloseFailed.ToString() + ret.AlarmInfo + " 孔 " + tipsTable.wellname + " 板位 " + lattice.lattice_num);
                        LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodSwitchLid.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidCloseFailed.ToString() + ret.AlarmInfo + " 孔 " + tipsTable.wellname + " 板位 " + lattice.lattice_num);
                    }
                }
                else
                {
                    if (methodSwitchLid.switchState == 0)
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodSwitchLid.name + "】progress: switch to open lid was failed on " + tipsTable.wellname + " of " + lattice.lattice_num + " lattice! Error info：" + ret.AlarmInfo);
                        LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodSwitchLid.name + "】progress: switch to open lid was failed on " + tipsTable.wellname + " of " + lattice.lattice_num + " lattice! Error info：" + ret.AlarmInfo);
                    }
                    else if (methodSwitchLid.switchState == 1)
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodSwitchLid.name + "】progress: switch to close lid was failed on " + tipsTable.wellname + " of " + lattice.lattice_num + " lattice! Error info：" + ret.AlarmInfo);
                        LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodSwitchLid.name + "】progress: switch to close lid was failed on " + tipsTable.wellname + " of " + lattice.lattice_num + " lattice! Error info：" + ret.AlarmInfo);
                    }
                }
                result = false;
                OperateDialog plsConfirmOper = null;
                if (!launchView.isRemotingOper)
                {
                    Application.Current.Dispatcher.Invoke(new Action(() =>
                    {
                        if (methodSwitchLid.switchState == 0)
                        {
                            plsConfirmOper = new OperateDialog(strCurrentCulture.Equals("zh-CN") ? Properties.SwitchLidResource.strSwitchOpenFailWhatToDo : "The action of switch open was fail! What do you want to do?");
                        }
                        else
                        {
                            plsConfirmOper = new OperateDialog(strCurrentCulture.Equals("zh-CN") ? Properties.SwitchLidResource.strSwitchCloseFailWhatToDo : "The action of switch close was fail! What do you want to do?");
                        }
                        plsConfirmOper.ShowDialog();
                    }));
                }
                else
                {
                    if (methodSwitchLid.switchState == 0)
                    {
                        launchView.OnError?.Invoke(launchView.remoteObjectCmd, "EC-1027", 5, Properties.SwitchLidResource.strSwitchOpenFailWhatToDo, 2);
                        plsConfirmOper = new OperateDialog(strCurrentCulture.Equals("zh-CN") ? Properties.SwitchLidResource.strSwitchOpenFailWhatToDo : "The action of switch open was fail! What do you want to do?");
                    }
                    else
                    {
                        launchView.OnError?.Invoke(launchView.remoteObjectCmd, "EC-1027", 5, Properties.SwitchLidResource.strSwitchCloseFailWhatToDo, 2);
                        plsConfirmOper = new OperateDialog(strCurrentCulture.Equals("zh-CN") ? Properties.SwitchLidResource.strSwitchCloseFailWhatToDo : "The action of switch close was fail! What do you want to do?");
                    }
                    plsConfirmOper.ShowDialog();
                }

                if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Retry)           // 重试
                {
                    return ExecuteSwitchLidReTry(lattice, wells, centrifugalLabware, methodSwitchLid, isSimulator, tipsTable);
                }
                else if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Cancel)     // 终止
                {
                    if (launchView.isRemotingOper)
                    {
                        launchView.OnError?.Invoke(launchView.remoteObjectCmd, "EC-1045", 5, Properties.SwitchLidResource.strSwitchWasStopped, 2);
                    }
                    result = false;
                    return result;
                }
                else if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Continue)   // 跳过
                {
                    result = true;
                    return result;
                }
                return result;
            }
            else
            {
                if (methodSwitchLid.switchState == 0)
                {
                    if (strCurrentCulture.Equals("zh-CN"))
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodSwitchLid.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidOpenSuccess.ToString() + " 孔 " + tipsTable.wellname + " 板位 " + lattice.lattice_num);
                        LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodSwitchLid.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidOpenSuccess.ToString() + " 孔 " + tipsTable.wellname + " 板位 " + lattice.lattice_num);
                    }
                    else
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodSwitchLid.name + "】progress:switch to open lid was successful on " + tipsTable.wellname + " of " + lattice.lattice_num + " lattice!");
                        LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodSwitchLid.name + "】progress:switch to open lid was successful on " + tipsTable.wellname + " of " + lattice.lattice_num + " lattice!");
                    }
                }
                else if (methodSwitchLid.switchState == 1)
                {
                    if (strCurrentCulture.Equals("zh-CN"))
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodSwitchLid.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidCloseSuccess.ToString() + " 孔 " + tipsTable.wellname + " 板位 " + lattice.lattice_num);
                        LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodSwitchLid.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.SwitchLidResource.strSwitchLidCloseSuccess.ToString() + " 孔 " + tipsTable.wellname + " 板位 " + lattice.lattice_num);
                    }
                    else
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodSwitchLid.name + "】progress:switch to closed lid was successful on " + tipsTable.wellname + " of " + lattice.lattice_num + " lattice!");
                        LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodSwitchLid.name + "】progress:switch to closed lid was successful on " + tipsTable.wellname + " of " + lattice.lattice_num + " lattice!");
                    }
                }
            }

            return result;
        }
        #endregion
    }
}