using BiosenSocketService.Runtime;
using Newtonsoft.Json;
using Newtonsoft.Json.Linq;
using NPOI.SS.Formula.Functions;
using Sodao.FastSocket.Server.Messaging;
using System;
using System.Collections.Generic;
using System.Configuration;
using System.Data;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using XHandler.Class;
using XImaging.Automation.Service;
using XImaging.Automation.Service.Interface;
using static System.Net.Mime.MediaTypeNames;
using System.Xml;
using XHandler.View;
using XCore;
using XHandler.Controls;
using XImagingXhandler.XDAL;
using System.Reflection;
using System.Xaml;
using XCommon.Log;
using XHandler.Controls.Run.Com;
using DataRWDAL;
using DataEntity.Share;
using DataEntity;
using System.Windows.Controls;
using XImaging.Automation.Service.Instruction;

namespace XHandler.Runtime
{
    class DeviceSimulator:ISimulator, IRuntime
    {
        public ErrorHandleDelegate errorHandle { get; set; }
        public ErrorHandleDelegate abortHandle { get; set; }
        public FinishHandleDelegate finishHandle { get; set; }

        public string ErrorState { get; set; }
        public RuntimeState State { get; set; }
        public int TroubleShoot { get; set; }

        RuntimeMsgBLL runtimeMsgBLL = new RuntimeMsgBLL();


        /// <summary>
        /// 设置挑菌参数
        /// </summary>
        /// <param name="obj"></param>
        /// <returns></returns>
        public JObject Method_PhotoParam(Object obj)
        {
            State = RuntimeState.OnBusy;
            JObject result = new JObject();

            try
            {
                string path = ConfigurationManager.AppSettings.Get("choiceFilePath");
                if (File.Exists(path))
                {
                    File.Delete(path);
                }

                JObject Obj = obj as JObject;

                string strParams = Obj["parameters"].ToString();
                JObject objParam = JObject.Parse(strParams);

                string experiment_id = objParam["experiment_id"].ToString();
                string barcode = objParam["barcode"].ToString();
                string bacterias = objParam["bacterias"].ToString();
                string shape = objParam["shape"].ToString();
                string edge = objParam["edge"].ToString();
                string color = objParam["color"].ToString();
                string min_diameterSize = objParam["min_diameterSize"].ToString();
                string max_diameterSize = objParam["max_diameterSize"].ToString();
                string proximity = objParam["proximity"].ToString();
                string choice_mode = objParam["choice_mode"].ToString();
                string choice_distance_mode = objParam["choice_distance_mode"].ToString();
                string choice_distance_value = objParam["choice_distance_value"].ToString();
                string choice_xAxis_offsite = objParam["choice_xAxis_offsite"].ToString();
                string choice_yAxis_offsite = objParam["choice_yAxis_offsite"].ToString();
                string coating_bottom_distance = objParam["coating_bottom_distance"].ToString();
                string coating_xAxis_offsite = objParam["coating_xAxis_offsite"].ToString();
                string coating_yAxis_offsite = objParam["coating_yAxis_offsite"].ToString();
                string coating_mode = objParam["coating_mode"].ToString();

                DataTable dtResult=GenerateDataTableByChoiceParams(objParam);

                bool bRet = ExcelAndCsvHelper.WriteDataTableToExcelFile(dtResult, path);
                LoggerHelper.InfoLog("write file=" + path + ", return=" + bRet.ToString());

                result = JObject.Parse("{method_status:2}");

                State = RuntimeState.OnIdle;
            }
            catch(Exception ex)
            {
                LoggerHelper.ErrorLog("ERROR:", ex);
            }
            return result;
        }

        public DataTable GenerateDataTableByChoiceParams(JObject objParam)
        {
            //构建datatable
            DataTable dataResult = new DataTable();
            DataColumn dc = new DataColumn();
            dc.ColumnName = "中文名";
            dataResult.Columns.Add(dc);

            dc = new DataColumn();
            dc.ColumnName = "属性名";
            dataResult.Columns.Add(dc);

            dc = new DataColumn();
            dc.ColumnName = "属性值";
            dataResult.Columns.Add(dc);

            DataRow dr = dataResult.NewRow();
            dr["中文名"] = "实验ID";
            dr["属性名"] = "experiment_id";
            dr["属性值"]= objParam["experiment_id"].ToString();
            dataResult.Rows.Add(dr);

            dr = dataResult.NewRow();
            dr["中文名"] = "皿的二维码信息";
            dr["属性名"] = "barcode";
            dr["属性值"] = objParam["barcode"].ToString();
            dataResult.Rows.Add(dr);

            dr = dataResult.NewRow();
            dr["中文名"] = "菌名称";
            dr["属性名"] = "bacterias";
            dr["属性值"] = objParam["bacterias"].ToString();
            dataResult.Rows.Add(dr);

            dr = dataResult.NewRow();
            dr["中文名"] = "形状";
            dr["属性名"] = "shape";
            dr["属性值"] = objParam["shape"].ToString();
            dataResult.Rows.Add(dr);

            dr = dataResult.NewRow();
            dr["中文名"] = "边缘";
            dr["属性名"] = "edge";
            dr["属性值"] = objParam["edge"].ToString();
            dataResult.Rows.Add(dr);

            dr = dataResult.NewRow();
            dr["中文名"] = "颜色";
            dr["属性名"] = "color";
            dr["属性值"] = objParam["color"].ToString();
            dataResult.Rows.Add(dr);

            dr = dataResult.NewRow();
            dr["中文名"] = "最小直径";
            dr["属性名"] = "min_diameterSize";
            dr["属性值"] = objParam["min_diameterSize"].ToString();
            dataResult.Rows.Add(dr);

            dr = dataResult.NewRow();
            dr["中文名"] = "最大直径";
            dr["属性名"] = "max_diameterSize";
            dr["属性值"] = objParam["max_diameterSize"].ToString();
            dataResult.Rows.Add(dr);

            dr = dataResult.NewRow();
            dr["中文名"] = "临近度";
            dr["属性名"] = "proximity";
            dr["属性值"] = objParam["proximity"].ToString();
            dataResult.Rows.Add(dr);

            dr = dataResult.NewRow();
            dr["中文名"] = "挑菌模式";
            dr["属性名"] = "choice_mode";
            dr["属性值"] = objParam["choice_mode"].ToString();
            dataResult.Rows.Add(dr);

            dr = dataResult.NewRow();
            dr["中文名"] = "挑菌距离底部或菌类形";
            dr["属性名"] = "choice_distance_mode";
            dr["属性值"] = objParam["choice_distance_mode"].ToString();
            dataResult.Rows.Add(dr);

            dr = dataResult.NewRow();
            dr["中文名"] = "挑菌距离底部或菌类距离";
            dr["属性名"] = "choice_distance_value";
            dr["属性值"] = objParam["choice_distance_value"].ToString();
            dataResult.Rows.Add(dr);

            dr = dataResult.NewRow();
            dr["中文名"] = "挑菌时x轴偏移量";
            dr["属性名"] = "choice_xAxis_offsite";
            dr["属性值"] = objParam["choice_xAxis_offsite"].ToString();
            dataResult.Rows.Add(dr);

            dr = dataResult.NewRow();
            dr["中文名"] = "挑菌时y轴偏移量";
            dr["属性名"] = "choice_yAxis_offsite";
            dr["属性值"] = objParam["choice_yAxis_offsite"].ToString();
            dataResult.Rows.Add(dr);

            dr = dataResult.NewRow();
            dr["中文名"] = "涂布距离底部距离";
            dr["属性名"] = "coating_bottom_distance";
            dr["属性值"] = objParam["coating_bottom_distance"].ToString();
            dataResult.Rows.Add(dr);

            dr = dataResult.NewRow();
            dr["中文名"] = "涂布时x轴偏移量";
            dr["属性名"] = "coating_xAxis_offsite";
            dr["属性值"] = objParam["coating_xAxis_offsite"].ToString();
            dataResult.Rows.Add(dr);

            dr = dataResult.NewRow();
            dr["中文名"] = "涂布时y轴偏移量";
            dr["属性名"] = "coating_yAxis_offsite";
            dr["属性值"] = objParam["coating_yAxis_offsite"].ToString();
            dataResult.Rows.Add(dr);

            dr = dataResult.NewRow();
            dr["中文名"] = "涂布方式";
            dr["属性名"] = "coating_mode";
            dr["属性值"] = objParam["coating_mode"].ToString();
            dataResult.Rows.Add(dr);

            dr = dataResult.NewRow();
            dr["中文名"] = "涂布速度";
            dr["属性名"] = "coating_speed";
            dr["属性值"] = objParam["coating_speed"].ToString();
            dataResult.Rows.Add(dr);

            dr = dataResult.NewRow();
            dr["中文名"] = "模型类型";
            dr["属性名"] = "model_type";
            dr["属性值"] = objParam["model_type"].ToString();
            dataResult.Rows.Add(dr);

            dr = dataResult.NewRow();
            dr["中文名"] = "合并识别";
            dr["属性名"] = "merge_masks";
            dr["属性值"] = objParam["merge_masks"].ToString();
            dataResult.Rows.Add(dr);

            dr = dataResult.NewRow();
            dr["中文名"] = "降采样率";
            dr["属性名"] = "ds_ratio";
            dr["属性值"] = objParam["ds_ratio"].ToString();
            dataResult.Rows.Add(dr);

            dr = dataResult.NewRow();
            dr["中文名"] = "平均直径";
            dr["属性名"] = "mean_diam";
            dr["属性值"] = objParam["mean_diam"].ToString();
            dataResult.Rows.Add(dr);

            dr = dataResult.NewRow();
            dr["中文名"] = "到边缘距离";
            dr["属性名"] = "dist_to_edge";
            dr["属性值"] = objParam["dist_to_edge"].ToString();
            dataResult.Rows.Add(dr);

            dr = dataResult.NewRow();
            dr["中文名"] = "菌标记颜色";
            dr["属性名"] = "mark_color";
            dr["属性值"] = objParam["mark_color"].ToString();
            dataResult.Rows.Add(dr);

            dr = dataResult.NewRow();
            dr["中文名"] = "菌标记序号";
            dr["属性名"] = "draw_label";
            dr["属性值"] = objParam["draw_label"].ToString();
            dataResult.Rows.Add(dr);

            dr = dataResult.NewRow();
            dr["中文名"] = "菌标记字体大小";
            dr["属性名"] = "fontsize";
            dr["属性值"] = objParam["fontsize"].ToString();
            dataResult.Rows.Add(dr);

            dr = dataResult.NewRow();
            dr["中文名"] = "顶部背光亮度";
            dr["属性名"] = "top_light";
            dr["属性值"] = objParam["top_light"].ToString();
            dataResult.Rows.Add(dr);

            dr = dataResult.NewRow();
            dr["中文名"] = "底部背光亮度";
            dr["属性名"] = "bottom_light";
            dr["属性值"] = objParam["bottom_light"].ToString();
            dataResult.Rows.Add(dr);

            return dataResult;
        }

        /// <summary>
        /// 设置涂布数据
        /// </summary>
        /// <param name="obj"></param>
        /// <returns></returns>
        public JObject Method_RunDataParam(Object obj)
        {
            JObject result = new JObject();

            try
            {

                State = RuntimeState.OnBusy;



                DataTable dt = new DataTable();
                dt.Columns.Add("来源板", typeof(string));
                dt.Columns.Add("来源板码", typeof(string));
                dt.Columns.Add("来源孔", typeof(string));
                dt.Columns.Add("目标板", typeof(string));
                dt.Columns.Add("目标板码", typeof(string));
                dt.Columns.Add("目标孔", typeof(string));
                dt.Columns.Add("移液体积", typeof(string));
                dt.Columns.Add("是否更换吸头", typeof(string));

                JObject Obj = obj as JObject;
                string objstr = Obj["parameters"].ToString();
                //objstr = objstr.Replace("\\","");
                Dictionary<string, object> strdata = JsonConvert.DeserializeObject<Dictionary<string, object>>(objstr);

                List<SetCoatingData_param> strdata1 = JsonConvert.DeserializeObject<List<SetCoatingData_param>>(strdata["Method_Coatingfile_Param"].ToString());
                //JObject jObjAll = JObject.Parse(strdata["Method_Coatingfile_Param"].ToString());
                //string objstr1 = jObjAll["Method_Coatingfile_Param"].ToString();

                //JArray jary = (JArray)Obj["parameters"]["Method_Coatingfile_Param"];
                foreach (SetCoatingData_param sd in strdata1)
                {
                    DataRow dr = dt.NewRow();
                    int i = 0;
                    dr["来源板"] = sd.SourcePlateID.ToString();
                    dr["来源板码"] = sd.SourcePlateBarcode.ToString();
                    dr["来源孔"] = sd.SourcePlateWell.ToString();

                    dr["目标板"] = sd.TargetPlateID.ToString();
                    dr["目标板码"] = sd.TargetPlateBarcode.ToString();
                    dr["目标孔"] = sd.TargetPlateWell.ToString();
                    dr["移液体积"] = sd.Volume.ToString();
                    dr["是否更换吸头"] = sd.changetips.ToString();
                    dt.Rows.Add(dr);
                }
                string filePath = strdata["PickAndCoatTable"].ToString();

                string file = filePath;

                string path = file.Substring(0, file.LastIndexOf('\\'));
                if (!Directory.Exists(path))
                {
                    Directory.CreateDirectory(path);
                    LoggerHelper.InfoLog("creat directory: " + path);
                }
                ExcelAndCsvHelper.WriteDataTableToCSV(dt, file);
                bool bRet = true;
                LoggerHelper.InfoLog("write file=" + file + ", return=" + bRet.ToString());
                //if (File.Exists(profile.Data_file))
                //{
                //    File.Delete(profile.Data_file);
                //    BiosenLogger.Debug("delete file: " + profile.Data_file);
                //}
                //File.Copy(file, profile.Data_file, true);
                //BiosenLogger.Debug("copy file: " + profile.Data_file);

                if (!bRet)
                {
                    State = RuntimeState.OnError;
                    result = JObject.Parse("{method_status:3}");
                    throw new Exception("Execute was failed!");
                }
                else if (bRet)
                {
                    State = RuntimeState.OnIdle;
                    result = JObject.Parse("{method_status:2}");
                }

                State = RuntimeState.OnIdle;
            }
            catch (Exception ex)
            {
                LoggerHelper.ErrorLog("ERROR:", ex);
            }
            return result;
        }

        /// <summary>
        /// 运行方法
        /// </summary>
        /// <param name="obj"></param>
        /// <returns></returns>
        public JObject Method_Run(Object obj)
        {
            State = RuntimeState.OnBusy;
            JObject result = new JObject();
            try
            {
                JObject job = obj as JObject;
                string strParam = string.Empty;
                string methodFileName = string.Empty;
                strParam = job["parameters"].ToString();

                JObject jobParms = JObject.Parse(strParam);
                methodFileName = jobParms["FlowName"].ToString();

                string shortDir = ConfigurationManager.AppSettings["MethodFileBasePath"].ToString();
                string fullName = shortDir + "\\" + methodFileName + ".xmed";
                if (File.Exists(fullName))
                {
                    XmlDocument xmlDocument = new XmlDocument();
                    //XmlDocument
                    xmlDocument.Load(fullName);

                    App.Current.Dispatcher.Invoke(new Action(() =>
                    {
                        RunWnd runWnd = new RunWnd();
                        //runWnd.OnError += (p1, p2, p3,p4,p5) => { this.errorHandle(p1, p2, p3,p4,p5); };
                        runWnd.xmlDocument = xmlDocument;
                        runWnd.isRemotingOper = true;
                        runWnd.EnableSimulator = ConfigurationManager.AppSettings["IsSimulator"].ToString().ToLower() == "true" ? true : false;

                        TaskFactory taskFactory = new TaskFactory();
                        int iresult = runWnd.LoadLabwareOnRunningRemote();

                        if (iresult == 0)
                        {
                            State = RuntimeState.OnError;
                            result = JObject.Parse("{method_status:3}");
                            throw new Exception("Execute was failed!");
                        }
                        else if (iresult == 1)
                        {
                            State = RuntimeState.OnIdle;
                            string j = JsonConvert.SerializeObject(runWnd.dataTableTotal);

                            result = JObject.Parse("{data:" + j + "}");
                        }
                        else if (iresult == 2)
                        {
                            State = RuntimeState.OnIdle;
                            result = JObject.Parse("{method_status:4}");
                        }
                    }));
                }
                else
                {
                    //弹出窗口提示所执行的方法不存在
                }

                State = RuntimeState.OnIdle;
            }
            catch (Exception ex)
            {
                LoggerHelper.ErrorLog("ERROR:", ex);
                State = RuntimeState.OnError;
                throw new Exception() { };
            }
            return result;
        }

        /// <summary>
        /// 运行抓板方法,抓耗材命令
        /// </summary>
        /// <param name="obj"></param>
        /// <returns></returns>
        public JObject Method_Move(Object obj)
        {
            State = RuntimeState.OnBusy;
            JObject result = new JObject();
            try
            {
                JObject job = obj as JObject;
                string strParam = string.Empty;
                string methodFileName = string.Empty;
                string strSrouceLatticeName = string.Empty;
                string strTargetLatticeName = string.Empty;
                int iGripperLabwarePos = 1;
                int iGripperLatticeDriector = 1;
                strParam = job["parameters"].ToString();

                JObject jobParms = JObject.Parse(strParam);
                strSrouceLatticeName = jobParms["SrcPosition"].ToString();
                strTargetLatticeName = jobParms["TarPosition"].ToString();
                iGripperLatticeDriector = Convert.ToInt32(jobParms["Griperpos"].ToString());
                iGripperLabwarePos = Convert.ToInt32(jobParms["IsOpenlid"].ToString());
                methodFileName = jobParms["FlowName"].ToString();


                string shortDir = ConfigurationManager.AppSettings["MethodFileBasePath"].ToString();
                string fullName = shortDir + "\\" + methodFileName + ".xmed";
                if (File.Exists(fullName))
                {
                    XmlDocument xmlDocument = new XmlDocument();
                    //XmlDocument
                    xmlDocument.Load(fullName);
                    xmlDocument = UpdateGripMoveParamByxml(xmlDocument, jobParms);
                    App.Current.Dispatcher.Invoke(new Action(() =>
                    {
                        RunWnd runWnd = new RunWnd();
                        runWnd.xmlDocument = xmlDocument;
                        runWnd.isRemotingOper = true;
                        runWnd.EnableSimulator = ConfigurationManager.AppSettings["IsSimulator"].ToString().ToLower() == "true" ? true : false;

                        TaskFactory taskFactory = new TaskFactory();
                        int iresult = runWnd.LoadLabwareOnRunningRemote();

                        if (iresult == 0)
                        {
                            State = RuntimeState.OnError;
                            result = JObject.Parse("{method_status:3}");
                        }
                        else if (iresult == 1)
                        {
                            State = RuntimeState.OnError;
                            result = JObject.Parse("{method_status:2}");
                        }
                        else if (iresult == 2)
                        {
                            State = RuntimeState.OnError;
                            result = JObject.Parse("{method_status:4}");
                        }
                    }));

                }
                else
                {
                    //弹出窗口提示所执行的方法不存在
                }

                State = RuntimeState.OnIdle;
            }
            catch(Exception ex)
            {
                LoggerHelper.ErrorLog("ERROR:", ex);
            }
            return result;
        }

        public XmlDocument UpdateGripMoveParamByxml(XmlDocument xmlDocument,JObject jobParms)
        {
            XmlDocument xmlResult = new XmlDocument();
            MethodListBll methodListBll = new MethodListBll();
            XmlNodeList xmlNodeMethodList = xmlDocument.SelectNodes("root/method[@id>=3]");

            //清空方法列表
            for (int n = 0; n < xmlNodeMethodList.Count; n++)
            {

                string MethodName = xmlNodeMethodList[n].SelectSingleNode("name").InnerText;

                string id = xmlNodeMethodList[n].Attributes["id"].Value.ToString();

                int iNum = methodListBll.getNumByMethodName(MethodName);

                switch (iNum)
                {
                    case (int)MethodNameEnum.griptransport:
                        if (xmlNodeMethodList[n].SelectSingleNode("status").InnerText == "enable")
                        {
                            //xmlNodeMethodList[n].SelectSingleNode("sourceLattice/value").InnerText = jobParms["SrcPosition"].ToString();
                            xmlNodeMethodList[n].SelectSingleNode("sourceLattice/text").InnerText = jobParms["SrcPosition"].ToString();
                            TabletopTemplate tabletopTemplate = TabletopTemplateDB.GetCurrentAppTabletopTemplateCollectionFromdb();  //增加台面模板判断
                            Lattice srcLattice = null;
                            if (tabletopTemplate == null)
                            {
                                srcLattice = LatticeDB.GetLatticeDataByIdFromdb(jobParms["SrcPosition"].ToString(), Shared.ChanelArmId, Shared.SoftwareInformation.software_device_number);
                            }
                            else
                            {
                                srcLattice = LatticeDB.GetLatticeDataByLatticeNumAndTempIdFromdb(jobParms["SrcPosition"].ToString(), Convert.ToInt32(Shared.ChanelArmId), Shared.SoftwareInformation.software_device_number, tabletopTemplate.tabletopid);
                            }
                            xmlNodeMethodList[n].SelectSingleNode("sourceLattice/value").InnerText = srcLattice.lattice_id;
                            xmlNodeMethodList[n].SelectSingleNode("sourceLattice/type").InnerText = "2";
                            //xmlNodeMethodList[n].SelectSingleNode("destinationLattice/value").InnerText = jobParms["TarPosition"].ToString();
                            xmlNodeMethodList[n].SelectSingleNode("destinationLattice/text").InnerText = jobParms["TarPosition"].ToString();
                            Lattice desLattice = null;
                            if (tabletopTemplate == null)
                            {
                                desLattice = LatticeDB.GetLatticeDataByIdFromdb(jobParms["TarPosition"].ToString(), Shared.ChanelArmId, Shared.SoftwareInformation.software_device_number);
                            }
                            else
                            {
                                desLattice = LatticeDB.GetLatticeDataByLatticeNumAndTempIdFromdb(jobParms["SrcPosition"].ToString(), Convert.ToInt32(Shared.ChanelArmId), Shared.SoftwareInformation.software_device_number, tabletopTemplate.tabletopid);
                            }
                            xmlNodeMethodList[n].SelectSingleNode("destinationLattice/value").InnerText = desLattice.lattice_id;
                            xmlNodeMethodList[n].SelectSingleNode("destinationLattice/type").InnerText = "2";

                            if (jobParms["SrcGriperpos"].ToString()=="1")
                            {
                                xmlNodeMethodList[n].SelectSingleNode("gripModel/text").InnerText = "夹爪轴心在板位右侧";
                            }
                            else if (jobParms["SrcGriperpos"].ToString() == "2")
                            {
                                xmlNodeMethodList[n].SelectSingleNode("gripModel/text").InnerText = "夹爪轴心在板位左侧";
                            }
                            else if (jobParms["SrcGriperpos"].ToString() == "3")
                            {
                                xmlNodeMethodList[n].SelectSingleNode("gripModel/text").InnerText = "夹爪轴心在板位上侧";
                            }
                            else
                            {
                                xmlNodeMethodList[n].SelectSingleNode("gripModel/text").InnerText = "夹爪轴心在板位下侧";
                            }
                            xmlNodeMethodList[n].SelectSingleNode("gripModel/value").InnerText = jobParms["SrcGriperpos"].ToString();

                            if (jobParms["TarGriperpos"].ToString() == "1")
                            {
                                xmlNodeMethodList[n].SelectSingleNode("gripModelSet/text").InnerText = "夹爪轴心在板位右侧";
                            }
                            else if (jobParms["TarGriperpos"].ToString() == "2")
                            {
                                xmlNodeMethodList[n].SelectSingleNode("gripModelSet/text").InnerText = "夹爪轴心在板位左侧";
                            }
                            else if (jobParms["TarGriperpos"].ToString() == "3")
                            {
                                xmlNodeMethodList[n].SelectSingleNode("gripModelSet/text").InnerText = "夹爪轴心在板位上侧";
                            }
                            else
                            {
                                xmlNodeMethodList[n].SelectSingleNode("gripModelSet/text").InnerText = "夹爪轴心在板位下侧";
                            }
                            xmlNodeMethodList[n].SelectSingleNode("gripModelSet/value").InnerText = jobParms["TarGriperpos"].ToString();


                            if (jobParms["Boardpos"].ToString()=="1")
                            {
                                xmlNodeMethodList[n].SelectSingleNode("gripModelPos/text").InnerText = "底部";
                            }
                            else
                            {
                                xmlNodeMethodList[n].SelectSingleNode("gripModelPos/text").InnerText = "顶部";
                            }
                            xmlNodeMethodList[n].SelectSingleNode("gripModelPos/value").InnerText = jobParms["Boardpos"].ToString();

                            //if (jobParms["TargetType"].ToString() == "1")
                            //{
                            //    xmlNodeMethodList[n].SelectSingleNode("gripPickObject/text").InnerText = "圆形皿";
                            //    xmlNodeMethodList[n].SelectSingleNode("gripPickObject/value").InnerText = "1";
                            //}
                            //else if (jobParms["TargetType"].ToString() == "3")
                            //{
                            //    xmlNodeMethodList[n].SelectSingleNode("gripPickObject/text").InnerText = "短底耗材";
                            //    xmlNodeMethodList[n].SelectSingleNode("gripPickObject/value").InnerText = "3";
                            //}
                            //else
                            //{
                            //    xmlNodeMethodList[n].SelectSingleNode("gripPickObject/text").InnerText = "正常耗材";
                            //    xmlNodeMethodList[n].SelectSingleNode("gripPickObject/value").InnerText = "2";
                            //}
                            xmlNodeMethodList[n].SelectSingleNode("gripPickObject/text").InnerText = "耗材";
                            xmlNodeMethodList[n].SelectSingleNode("gripPickObject/value").InnerText = jobParms["BoardId"].ToString();

                        }
                        break;
                    default:
                        break;
                }
            }
            return xmlDocument;
        }

        /// <summary>
        /// 拍照
        /// </summary>
        /// <param name="obj"></param>
        /// <returns></returns>
        public JObject Method_TakePhoto(Object obj)
        {
            State = RuntimeState.OnBusy;
            JObject result = new JObject();
            try
            {


                JObject job = obj as JObject;
                //string strParam = string.Empty;
                //string methodFileName = string.Empty;
                //string strSrouceLatticeName = string.Empty;
                //string strTargetLatticeName = string.Empty;
                //int iGripperLabwarePos = 1;
                //int iGripperLatticeDriector = 1;
                //strParam = job["parameters"].ToString();

                //JObject jobParms = JObject.Parse(strParam);
                //strSrouceLatticeName = jobParms["SrcPosition"].ToString();
                //strTargetLatticeName = jobParms["TarPosition"].ToString();
                //iGripperLatticeDriector = Convert.ToInt32(jobParms["Griperpos"].ToString());
                //iGripperLabwarePos = Convert.ToInt32(jobParms["IsOpenlid"].ToString());
                //methodFileName = jobParms["FlowName"].ToString();

                //string shortDir = ConfigurationManager.AppSettings["MethodFileBasePath"].ToString();
                //string fullName = AppDomain.CurrentDomain.BaseDirectory + shortDir + "\\" + methodFileName + ".xmed";
                //if (File.Exists(fullName))
                //{
                //    XmlDocument xmlDocument = new XmlDocument();
                //    //XmlDocument
                //    xmlDocument.Load(fullName);

                //    xmlDocument = UpdateGripMoveParamByxml(xmlDocument, jobParms);
                //    App.Current.Dispatcher.Invoke(new Action(async () =>
                //    {
                //        RunWnd runWnd = new RunWnd();
                //        runWnd.xmlDocument = xmlDocument;
                //        runWnd.isRemotingOper = true;
                //        runWnd.EnableSimulator = ConfigurationManager.AppSettings["IsSimulator"].ToString().ToLower() == "true" ? true : false;
                //        await Task.Factory.StartNew(() => runWnd.LoadLabwareOnRunning(), runWnd._cancelSource.Token);
                //    }));
                //    result = JObject.Parse("{method_status:2}");
                //}
                //else
                //{
                //    //弹出窗口提示所执行的方法不存在
                //}
                result = JObject.Parse("{method_status:2}");

                State = RuntimeState.OnIdle;
            }
            catch (Exception ex)
            {
                LoggerHelper.ErrorLog("ERROR:", ex);
            }
            return result;
        }


        public void RunTest(Object obj)
        {
            State = RuntimeState.OnBusy;
            JObject result = new JObject();

            JObject Obj = obj as JObject;


            State = RuntimeState.OnIdle;
        }


        #region 接口中的3个方法
        public void ReplyAbort()
        {

        }
        public void ReplyRetry()
        {

        }
        public void ReplyIgnore()
        {

        }
        #endregion

        public void Dispose(string methodName)
        {
            if (errorHandle == null)
                return;
            var list = errorHandle.GetInvocationList();
            foreach (Delegate del in list)
            {
                TaskInstruction taskInstruction = del.Target as TaskInstruction;
                if (taskInstruction.InsName == methodName)
                {
                    object delObj = del.GetType().GetProperty("Method").GetValue(del, null);
                    string funcName = (string)delObj.GetType().GetProperty("Name").GetValue(delObj, null);
                    Console.WriteLine(funcName);
                    errorHandle -= del as ErrorHandleDelegate;
                }
            }
        }
    }
}