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

namespace XHandler.Controls
{
    public class LoadTipsControl
    {
        private static LabwareBll getOrSetLabware = new LabwareBll();
        string strCurrentCulture = "";
        WellCalc wellCalc = new WellCalc();
        LatticeBll latticeBll = new LatticeBll();
        LoadTipsBll loadTipsBll = new LoadTipsBll();
        public static RunWnd launchView = null;
        public List<TipsTable> dteTips = new List<TipsTable>();//保存结束时吸头集合数据
        UIElement uIElement = new UIElement();
        WellCheck wellCheck = new WellCheck();
        public HxSocketClient socketTcpClientToRemote = null;

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

        #region 执行装载吸头，返回结果字符串
        /// <summary>
        /// 执行装载吸头，返回结果字符串
        /// </summary>
        /// <param name="platformNodeList">env下所有platform节点集合</param>
        /// <param name="methodNode">装载方法属性节点对象</param>
        /// <param name="isSimulator">false:连接；true：仿真</param>
        /// <returns></returns>
        public bool ExecuteLoadTips(XmlNodeList platformNodeList, XmlNode methodNode, bool isSimulator)
        {
            bool result = true;
            PlsToolTipWin plsToolTipWin = null;
            bool dialogResult = false;
            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

            try
            {
                #region 数据准备 
                string channelNums = methodNode.SelectSingleNode("channels").InnerText;
                string armName = methodNode.SelectSingleNode("arm/text").InnerText;
                string labwaretipId = methodNode.SelectSingleNode("labwaretip/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:【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strWithoutChannel.ToString());
                    }
                    else
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler:Channel wasn't set, please check!");
                    }
                    result = false;
                    //MethodMsg methodMsg = new MethodMsg(Guid.NewGuid().ToString(), "ID202_Choice_machine", 5, "", "ExecuteLoadTips", "1003",
                    //"安装枪头方法没有设置通道，安装方法终止运行。", 6, 0);
                    //if (socketTcpClientToRemote != null)
                    //{
                    //    socketTcpClientToRemote.sendmessageError(socketTcpClientToRemote.CreateSendMsgContent(methodMsg, false), launchView.isRemotingOper);
                    //}
                    if (launchView.isRemotingOper)
                    {
                        launchView.OnError?.Invoke(launchView.remoteObjectCmd, "EC-1003", 5, Properties.MachineRunResource.strWithoutChannel, 2);
                    }
                    return result;
                }
                #endregion

                #region 获取板位上孔板的所有孔位坐标集合对象
                Labware labwares = getOrSetLabware.GetLabware(methodNode.SelectSingleNode("labwaretip/value").InnerText);   // 特定枪头的信息
                List<Lattice> lstLatticeTipPlate = new List<Lattice>();             // 匹配枪头类型的所有枪头盒点位信息
                for (int i = 0; i < platformNodeList.Count; i++)                    // 查找枪头位置PN
                {
                    if(platformNodeList[i].SelectNodes("labware")==null)
                    {
                        continue;
                    }
                    if (platformNodeList[i].SelectSingleNode("labware[@id="+ platformNodeList[i].SelectNodes("labware").Count+ "]/labware_id").InnerText == labwares.labware_id)                 // 找同类型的枪头点位
                    {
                        string latticeIdTemp = platformNodeList[i].SelectSingleNode("lattice_id").InnerText;
                        TabletopTemplate tabletopTemplate = TabletopTemplateDB.GetCurrentAppTabletopTemplateCollectionFromdb();  //增加台面模板判断
                        int latticeId = 0;
                        if (tabletopTemplate == null)
                        {
                            latticeId = ControlCom.GetLatticeId(Convert.ToInt32(latticeIdTemp));
                        }
                        else
                        {
                            string latticeNumber = "P" + latticeIdTemp;
                            string armid = methodNode.SelectSingleNode("arm/value").InnerText;//Shared.DeviceArmList.FirstOrDefault(x => x.arm_type.Equals(1)).device_arm_id;
                            latticeId = Convert.ToInt32(LatticeDB.GetLatticeDataByLatticeNumAndTempIdFromdb(latticeNumber,Convert.ToInt32(armid),Shared.SoftwareInformation.software_device_number, tabletopTemplate.tabletopid).lattice_id);
                        }

                        // 获取枪头台面点位信息
                        Lattice latticeInfo = LatticeDB.GetLatticeDataByIdFromdb(latticeId.ToString());
                        //latticeInfo = LatticeDB.GetLatticeDataByIdFromdb(latticeInfo.lattice_num, Convert.ToInt32(methodNode.SelectSingleNode("arm/value").InnerText), Shared.SoftwareInformation.software_device_number);
                        lstLatticeTipPlate.Add(latticeInfo);
                    }
                }
                #endregion

                List<TipsTable> lstTipWellsNoUsedTemp = new List<TipsTable>();  // 未使用的枪头集合
                if (lstLatticeTipPlate.Count == 0)                              // 台面上没设置枪头盒
                {
                    if (strCurrentCulture.Equals("zh-CN"))
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler:【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.RunLoadTipsResource.strLoadTipsWithOutLabware.ToString());
                    }
                    else
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler:labware wasn't set, please check!");
                    }
                    result = false;
                    //MethodMsg methodMsg = new MethodMsg(Guid.NewGuid().ToString(), "ID202_Choice_machine", 5, "", "ExecuteLoadTips", "1004",
                    //"安装枪头方法设置的板位上未放枪头，安装方法终止运行。", 6, 0);
                    //if (socketTcpClientToRemote != null)
                    //{
                    //    socketTcpClientToRemote.sendmessageError(socketTcpClientToRemote.CreateSendMsgContent(methodMsg, false), launchView.isRemotingOper);
                    //}
                    if (launchView.isRemotingOper)
                    {
                        launchView.OnError?.Invoke(launchView.remoteObjectCmd, "EC-1004", 5, Properties.RunLoadTipsResource.strLoadTipsWithOutLabware, 2);
                    }
                    return result;
                }
                else
                {
                    //读取所有指定枪头类型和板位设定的可用枪头
                    int lapid = 1;

                    foreach (XmlNode platformNodeItem in platformNodeList)
                    {
                        if (!platformNodeItem.SelectSingleNode("labware[@id=" + platformNodeItem.SelectNodes("labware").Count + "]/labware_id").InnerText.Equals(labwares.labware_id))
                        {
                            continue;
                        }

                        #region 查找可用枪头孔位
                        string strWellStip = platformNodeItem.SelectSingleNode("labware[@id=" + platformNodeItem.SelectNodes("labware").Count + "]/residueValidWells").InnerText;        // 可用枪头孔位
                        string p = platformNodeItem.SelectSingleNode("lattice_id").InnerText;

                        string[] tipWells = strWellStip.Split(',');
                        for (int i = 0; i < tipWells.Length; i++)
                        {
                            TipsTable tipTable = new TipsTable();
                            tipTable.labware_id = labwares.labware_id;
                            tipTable.wellname = tipWells[i];
                            tipTable.axis_b_X = 0.0f;
                            tipTable.axis_b_Y = 0.0f;
                            tipTable.axis_b_Z = 0.0f;
                            tipTable.well_top_shape = 0;
                            tipTable.axis_b_r = 0.0f;

                            // 获取LatticeId
                            TabletopTemplate tabletopTemplate = TabletopTemplateDB.GetCurrentAppTabletopTemplateCollectionFromdb();  //增加台面模板判断
                            if (tabletopTemplate == null)
                            {
                                lapid = ControlCom.GetLatticeId(Convert.ToInt32(p), true);
                            }
                            else
                            {
                                string latticeNumber = "P" + p;
                                string armid = methodNode.SelectSingleNode("arm/value").InnerText;//Shared.DeviceArmList.FirstOrDefault(x => x.arm_type.Equals(1)).device_arm_id;
                                lapid = Convert.ToInt32(LatticeDB.GetLatticeDataByLatticeNumAndTempIdFromdb(latticeNumber, Convert.ToInt32(armid), Shared.SoftwareInformation.software_device_number, tabletopTemplate.tabletopid).lattice_id);
                            }
                            tipTable.lattice_num = lstLatticeTipPlate.FirstOrDefault(n => n.lattice_id.Equals(lapid.ToString())).lattice_num;
                            tipTable.lattice_id = lapid.ToString();

                            if (RunWnd.currentIsUsedWellLattice.Count > 0)
                            {
                                var v = RunWnd.currentIsUsedWellLattice.FirstOrDefault(q => q.dropdown_id.Equals(lstLatticeTipPlate.FirstOrDefault(n => n.lattice_id.Equals(lapid.ToString())).lattice_id) && q.dropdown_name.Equals(tipWells[i]));
                                if (v != null)
                                {
                                    tipTable.isUsed = 1;
                                }
                                else
                                {
                                    tipTable.isUsed = 0;
                                }
                            }
                            else
                            {
                                tipTable.isUsed = 0;
                            }

                            lstTipWellsNoUsedTemp.Add(tipTable);
                        }
                        #endregion
                    }
                }

                #region 获取孔位机械坐标
                DataTable dtWellCoordinate = null;
                if (!String.IsNullOrEmpty(labwares.labware_id))
                {
                    dtWellCoordinate = ControlCom.GenerateCurrentTablayoutWellCoordinate(labwares, lstLatticeTipPlate);
                }

                if (dtWellCoordinate == 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.RunLoadTipsResource.strWithoutLattice.ToString());
                    }
                    else
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler:Position of tip isn't set, please check!");
                    }

                    result = false;
                    //MethodMsg methodMsg = new MethodMsg(Guid.NewGuid().ToString(), "ID202_Choice_machine", 5, "", "ExecuteLoadTips", "1005",
                    //"安装枪头方法未设置板位，安装方法终止运行。", 6, 0);
                    //if (socketTcpClientToRemote != null)
                    //{
                    //    socketTcpClientToRemote.sendmessageError(socketTcpClientToRemote.CreateSendMsgContent(methodMsg, false), launchView.isRemotingOper);
                    //}
                    if (launchView.isRemotingOper)
                    {
                        launchView.OnError?.Invoke(launchView.remoteObjectCmd, "EC-1005", 5, Properties.RunLoadTipsResource.strWithoutLattice, 2);
                    }
                    return result;
                }
                #endregion

                #region 所有未使用枪头集合
                List<TipsTable> lstTipWellsNoUsed = new List<TipsTable>();        // 所有未使用枪头集合
                for (int i = 0; i < dtWellCoordinate.Rows.Count; i++)
                {
                    // 有效枪头孔位
                    var tipWellsNoUsed = lstTipWellsNoUsedTemp.FirstOrDefault(x => x.labware_id.Equals(dtWellCoordinate.Rows[i]["labware_id"].ToString()) &&
                                                x.lattice_id.Equals(dtWellCoordinate.Rows[i]["lattice_id"].ToString()) &&
                                                x.lattice_num.Equals(dtWellCoordinate.Rows[i]["lattice_num"].ToString()) &&
                                                x.wellname.Equals(dtWellCoordinate.Rows[i]["wellname"].ToString()) &&
                                                x.isUsed.Equals(0));
                    if (tipWellsNoUsed != null)
                    {
                        TipsTable tipsTable = new TipsTable();
                        tipsTable.labware_id = dtWellCoordinate.Rows[i]["labware_id"].ToString();
                        tipsTable.lattice_id = dtWellCoordinate.Rows[i]["lattice_id"].ToString();
                        tipsTable.wellname = dtWellCoordinate.Rows[i]["wellname"].ToString();
                        tipsTable.axis_b_X = (float)Convert.ToDouble(dtWellCoordinate.Rows[i]["axis_b_X"].ToString());
                        tipsTable.axis_b_Y = (float)Convert.ToDouble(dtWellCoordinate.Rows[i]["axis_b_Y"].ToString());
                        tipsTable.axis_b_Z = (float)Convert.ToDouble(dtWellCoordinate.Rows[i]["axis_b_Z"].ToString());
                        tipsTable.well_top_shape = Convert.ToInt32(dtWellCoordinate.Rows[i]["well_top_shape"].ToString());
                        tipsTable.axis_b_r = (float)Convert.ToDouble(dtWellCoordinate.Rows[i]["axis_b_r"].ToString());
                        tipsTable.isUsed = Convert.ToInt32(dtWellCoordinate.Rows[i]["isUsed"].ToString());
                        tipsTable.lattice_num = dtWellCoordinate.Rows[i]["lattice_num"].ToString();

                        //(远程时，从已使用的Tip头文件中查找出数据比较，删除已经用的
                        if ((launchView.isRemotingOper == true) && (RunWnd.currentIsUsedWellLattice.Count != 0))
                        {
                            var selectATip = RunWnd.currentIsUsedWellLattice.SingleOrDefault(x => x.dropdown_name.Equals(tipsTable.wellname) && x.dropdown_id.Equals(tipsTable.lattice_id));
                            if (selectATip != null && selectATip.dropdown_id != "")
                            {
                            }
                            else
                            {
                                lstTipWellsNoUsed.Add(tipsTable);
                            }
                        }
                        else
                        {
                            lstTipWellsNoUsed.Add(tipsTable);
                        }
                    }
                }
                #endregion

                #region 校验孔位是否和所用的通道匹配
                int[] chArry = Array.ConvertAll(channelNums.Split(','), int.Parse);

                #endregion

                #region 硬件上是单通道
                if (Shared.ChannelCount == 1)    //单通道的：微牧
                {
                    LoadTipsMParam loadTipsMParam = new LoadTipsMParam();
                    loadTipsMParam.armId = Convert.ToInt32(methodNode.SelectSingleNode("arm/value").InnerText);
                    loadTipsMParam.basezAxisVal = (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisSafeVal"]);
                    string labwareid = methodNode.SelectSingleNode("labwaretip/value").InnerText;

                    TipsTable tipsTable = lstTipWellsNoUsed.FirstOrDefault(t => t.isUsed.Equals(0));    // 取第一个未使用的枪头
                    if (tipsTable != null)
                    {
                        loadTipsMParam.xAxisVal = (float)Convert.ToDouble(tipsTable.axis_b_X.ToString());
                        loadTipsMParam.yAxisVal = (float)Convert.ToDouble(tipsTable.axis_b_Y.ToString());
                        loadTipsMParam.zAxisVal = (float)Convert.ToDouble(tipsTable.axis_b_Z.ToString());
                    }
                    else
                    {
                        if (strCurrentCulture.Equals("zh-CN"))
                        {
                            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress + Properties.RunLoadTipsResource.strWithoutCountOfTips);
                        }
                        else
                        {
                            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress: Load tips were failed! error information: Tips are running out!");
                        }
                        if (launchView.isRemotingOper)
                        {
                            launchView.OnError?.Invoke(launchView.remoteObjectCmd, "EC-1007", 5, Properties.RunLoadTipsResource.strWithoutCountOfTipsAndReset, 2);
                        }
                        result = false;
        
                        // 状态6 报错/急停 红闪/蜂鸣5S
                        CommonBll.StatusLamp(6, isSimulator);
                        if (!launchView.isRemotingOper)
                        {
                            System.Windows.Application.Current.Dispatcher.Invoke(new Action(() =>
                            {
                                if (strCurrentCulture.Equals("zh-CN"))
                                {
                                    plsToolTipWin = new PlsToolTipWin(Properties.RunLoadTipsResource.strWithoutCountOfTipsAndReset.ToString());
                                }
                                else
                                {
                                    plsToolTipWin = new PlsToolTipWin(string.Format("Tips are running out, {0}Please load the tips first, then click OK!", Environment.NewLine));
                                }
                                plsToolTipWin.Height = launchView.ActualHeight;
                                plsToolTipWin.Width = launchView.ActualWidth;
                                plsToolTipWin.btnClearData.Visibility = Visibility.Hidden;
                                plsToolTipWin.lauchView = launchView;

                                SolidColorBrush mybtn1_Brush = new SolidColorBrush(System.Windows.Media.Color.FromArgb(70, 0, 0, 0));
                                plsToolTipWin.Background = (System.Windows.Media.Brush)mybtn1_Brush;
                                plsToolTipWin.btnCancel.Visibility = Visibility.Hidden;
                                plsToolTipWin.ShowDialog();

                                if (plsToolTipWin.DialogResult == true)
                                {
                                    // 状态4 运行 绿色
                                    CommonBll.StatusLamp(4, isSimulator);
                                    // 清除Tip缓存数据
                                    ControlCom.ClearTipData(launchView);
                                }

                                dialogResult = (bool)plsToolTipWin.DialogResult;
                            }));
                        }
                        else
                        {
                            if (strCurrentCulture.Equals("zh-CN"))
                            {
                                plsToolTipWin = new PlsToolTipWin(Properties.RunLoadTipsResource.strWithoutCountOfTipsAndReset.ToString());
                            }
                            else
                            {
                                plsToolTipWin = new PlsToolTipWin(string.Format("Tips are running out, {0}Please load the tips first, then click OK!", Environment.NewLine));
                            }
                            plsToolTipWin.Height = launchView.ActualHeight;
                            plsToolTipWin.Width = launchView.ActualWidth;
                            plsToolTipWin.btnClearData.Visibility = Visibility.Hidden;
                            plsToolTipWin.lauchView = launchView;

                            SolidColorBrush mybtn1_Brush = new SolidColorBrush(System.Windows.Media.Color.FromArgb(70, 0, 0, 0));
                            plsToolTipWin.Background = (System.Windows.Media.Brush)mybtn1_Brush;
                            plsToolTipWin.btnCancel.Visibility = Visibility.Hidden;
                            plsToolTipWin.ShowDialog();

                            if (plsToolTipWin.DialogResult == true)
                            {
                                // 状态4 运行 绿色
                                CommonBll.StatusLamp(4, isSimulator);
                                // 清除Tip缓存数据
                                ControlCom.ClearTipData(launchView);
                            }

                            dialogResult = (bool)plsToolTipWin.DialogResult;
                        }

                        if (dialogResult)
                        {
                            return ExecuteLoadTips(platformNodeList, methodNode, isSimulator);
                        }

                        return result;
                    }

                    string strWell = tipsTable.wellname;

                    launchView.SetWaitOne();//暂停
                    ret = loadTipsBll.ExecuteLoadTips(loadTipsMParam, isSimulator);

                    if (ret.Result == ResultType.Success)
                    {
                        launchView.currentIsLoadingTips = true;
                        if (strCurrentCulture.Equals("zh-CN"))
                        {
                            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress + Properties.RunLoadTipsResource.strLoadTipsSuccess + "孔位：" + tipsTable.wellname + " 板位：" + tipsTable.lattice_num);
                        }
                        else
                        {
                            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress:loadtip is success from " + tipsTable.wellname + " well on " + tipsTable.lattice_num + " lattice!");
                        }
                        // 更新台面被装的枪头和当前运行时的xml文档
                        launchView.UpdateLabwaretips(tipsTable);
                        launchView.currentInValidWell = tipsTable.wellname;
                    }
                    else if (ret.Result != ResultType.Success)
                    {
                        OperateDialog plsConfirmOper = null;
                        if (!launchView.isRemotingOper)
                        {
                            System.Windows.Application.Current.Dispatcher.Invoke(new Action(() =>
                            {
                                plsConfirmOper = new OperateDialog(strCurrentCulture.Equals("zh-CN") ? Properties.RunLoadTipsResource.strFailWhatToDo : "loadtips are fail! What do you want to do?");
                                plsConfirmOper.ShowDialog();
                            }));
                        }
                        else
                        {

                            plsConfirmOper = new OperateDialog(strCurrentCulture.Equals("zh-CN") ? Properties.RunLoadTipsResource.strFailWhatToDo : "loadtips are fail! What do you want to do?");
                            launchView.OnError?.Invoke(launchView.remoteObjectCmd, "EC-1008", 5, Properties.RunLoadTipsResource.strLoadTipsError, 2);
                            plsConfirmOper.ShowDialog();
                        }

                        if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Retry)           // 重试
                        {
                            result = ExecuteLoadTips(platformNodeList, methodNode, isSimulator);
                            return result;
                        }
                        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: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress + Properties.RunLoadTipsResource.strLoadTipWasStopped);
                            }
                            else
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress:load tip was stopped!");
                            }
                            if (launchView.isRemotingOper)
                            {
                                launchView.OnError?.Invoke(launchView.remoteObjectCmd, "EC-1010", 5, Properties.RunLoadTipsResource.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: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress + Properties.RunLoadTipsResource.strLoadTipWasSkipped);
                            }
                            else
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress:load tip was skipped!");
                            }
                        }
                    }
                }
                #endregion

                #region 硬件上是多通道
                else if (Shared.ChannelCount > 1&&Shared.ChannelCount!=96)
                {
                    LoadTipsMParamSH loadTipsMParam = new LoadTipsMParamSH();
                    loadTipsMParam.armId = Convert.ToInt32(methodNode.SelectSingleNode("arm/value").InnerText);
                    loadTipsMParam.basezAxisVal = (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisSafeVal"]);

                    string labwareid = methodNode.SelectSingleNode("labwaretip/value").InnerText;
                    Labware currentLabware = getOrSetLabware.GetLabware(labwareid);
                    loadTipsMParam.presstippower = (float)currentLabware.press_tip_power;
                    //loadTipsMParam.yChannelGapVal = (float)currentLabware.a1_b1_distance;
                    TipsTable tipsTable = lstTipWellsNoUsed.FirstOrDefault(t => t.isUsed.Equals(0));
                    if (tipsTable != null)
                    {
                        List<TipsTable> tipsTableList = this.GetTipsByTopTips(chArry, lstTipWellsNoUsed);
                        if (chArry.Count() != tipsTableList.Count)
                        {
                            if (strCurrentCulture.Equals("zh-CN"))
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress + Properties.RunLoadTipsResource.strWithoutCountOfTips);
                            }
                            else
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress: Load tips were failed! error information: Tips are running out!");
                            }
                            if (launchView.isRemotingOper)
                            {
                                launchView.OnError?.Invoke(launchView.remoteObjectCmd, "EC-1007", 5, Properties.RunLoadTipsResource.strWithoutCountOfTips, 2);
                            }

                            // 状态6 报错/急停 红闪/蜂鸣5S
                            CommonBll.StatusLamp(6, isSimulator);
                            if (!launchView.isRemotingOper)
                            {
                                System.Windows.Application.Current.Dispatcher.Invoke(new Action(() =>
                                {
                                    if (strCurrentCulture.Equals("zh-CN"))
                                    {
                                        plsToolTipWin = new PlsToolTipWin(Properties.RunLoadTipsResource.strWithoutCountOfTipsAndReset.ToString());
                                    }
                                    else
                                    {
                                        plsToolTipWin = new PlsToolTipWin(string.Format("Tips are running out, {0}Please load the tips first, then click OK!", Environment.NewLine));
                                    }
                                    plsToolTipWin.Height = launchView.ActualHeight;
                                    plsToolTipWin.Width = launchView.ActualWidth;
                                    plsToolTipWin.btnClearData.Visibility = Visibility.Hidden;
                                    plsToolTipWin.lauchView = launchView;

                                    SolidColorBrush mybtn1_Brush = new SolidColorBrush(System.Windows.Media.Color.FromArgb(70, 0, 0, 0));
                                    plsToolTipWin.Background = (System.Windows.Media.Brush)mybtn1_Brush;
                                    plsToolTipWin.btnCancel.Visibility = Visibility.Hidden;
                                    plsToolTipWin.ShowDialog();

                                    if (plsToolTipWin.DialogResult == true)
                                    {
                                        // 状态4 运行 绿色
                                        CommonBll.StatusLamp(4, isSimulator);
                                        // 清除Tip缓存数据
                                        ControlCom.ClearTipData(launchView);
                                    }

                                    dialogResult = (bool)plsToolTipWin.DialogResult;
                                }));
                            }
                            else
                            {
                                if (strCurrentCulture.Equals("zh-CN"))
                                {
                                    plsToolTipWin = new PlsToolTipWin(Properties.RunLoadTipsResource.strWithoutCountOfTipsAndReset.ToString());
                                }
                                else
                                {
                                    plsToolTipWin = new PlsToolTipWin(string.Format("Tips are running out, {0}Please load the tips first, then click OK!", Environment.NewLine));
                                }
                                plsToolTipWin.Height = launchView.ActualHeight==0d?950d: launchView.ActualHeight;
                                plsToolTipWin.Width = launchView.ActualWidth == 0d ? 1850d : launchView.ActualWidth;
                                plsToolTipWin.btnClearData.Visibility = Visibility.Hidden;
                                plsToolTipWin.lauchView = launchView;

                                SolidColorBrush mybtn1_Brush = new SolidColorBrush(System.Windows.Media.Color.FromArgb(70, 0, 0, 0));
                                plsToolTipWin.Background = (System.Windows.Media.Brush)mybtn1_Brush;
                                plsToolTipWin.btnCancel.Visibility = Visibility.Hidden;
                                plsToolTipWin.ShowDialog();

                                if (plsToolTipWin.DialogResult == true)
                                {
                                    // 状态4 运行 绿色
                                    CommonBll.StatusLamp(4, isSimulator);
                                    // 清除Tip缓存数据
                                    ControlCom.ClearTipData(launchView);
                                }

                                dialogResult = (bool)plsToolTipWin.DialogResult;
                            }

                            if (dialogResult)
                            {
                                return ExecuteLoadTips(platformNodeList, methodNode, isSimulator);
                            }
                            return result;
                        }

                        List<List<TipsTable>> tipsTablesArr = this.GetGroupTipsByColumn(tipsTableList);

                        int counNumber = 0; //拆分次数
                        for (int iTipChanelIndex = 0; iTipChanelIndex < tipsTablesArr.Count; iTipChanelIndex++)
                        {
                            counNumber++;
                            var tipsTableOneEach = tipsTablesArr[iTipChanelIndex];
                            if (tipsTableOneEach.Count == Shared.ChannelsId.Length)
                            {
                                if (counNumber > 1)
                                {
                                    loadTipsMParam.yChannelGapVal = 20f;
                                }
                                else
                                {
                                    loadTipsMParam.yChannelGapVal = (float)currentLabware.a1_b1_distance;
                                }
                            }
                            else
                            {
                                if (counNumber == 1)
                                {
                                    loadTipsMParam.yChannelGapVal = (float)currentLabware.a1_b1_distance;
                                }
                                else
                                {
                                    loadTipsMParam.yChannelGapVal = 20f;
                                }
                            }

                            loadTipsMParam.xAxisVal = tipsTableOneEach.First().axis_b_X;
                            loadTipsMParam.yAxisVal = tipsTableOneEach.First().axis_b_Y;

                            float[] f = new float[tipsTableOneEach.Count];
                            int[] ch = new int[tipsTableOneEach.Count];
                            if (iTipChanelIndex == 0)
                            {
                                ch = chArry.Skip(iTipChanelIndex).Take(tipsTableOneEach.Count).ToArray();
                            }
                            else if(iTipChanelIndex == 1)
                            { 
                                ch = chArry.Skip(tipsTablesArr[iTipChanelIndex-1].Count).Take(tipsTableOneEach.Count).ToArray();
                            }
                            else if (iTipChanelIndex == 2)
                            {
                                int jumpNum = tipsTablesArr[iTipChanelIndex - 1].Count + tipsTablesArr[iTipChanelIndex - 2].Count;
                                ch = chArry.Skip(jumpNum).Take(tipsTableOneEach.Count).ToArray();
                            }
                            else if (iTipChanelIndex == 3)
                            {
                                int jumpNum = tipsTablesArr[iTipChanelIndex - 1].Count + tipsTablesArr[iTipChanelIndex - 2].Count + tipsTablesArr[iTipChanelIndex - 3].Count;
                                ch = chArry.Skip(jumpNum).Take(tipsTableOneEach.Count).ToArray();
                            }

                            for (int i = 0; i < tipsTableOneEach.Count; i++)
                            {
                                f[i] = tipsTableOneEach[i].axis_b_Z;
                            }
                            loadTipsMParam.zAxisVal = f;
                            loadTipsMParam.channelCount = tipsTableOneEach.Count;
                            loadTipsMParam.channelId = ch;
                            loadTipsMParam.loadModel = 3;
                            string strJson = JsonConvert.SerializeObject(loadTipsMParam);
                            LoggerHelper.InfoLog("安装枪头参数："+strJson);
                            result = ExecuteFunction(platformNodeList, methodNode, loadTipsMParam, tipsTableOneEach, methodNode.SelectSingleNode("name").InnerText, isSimulator);
                            if (!result)
                            {
                                return result;
                            }
                        }

                        #region Del
                        //if (tipsTablesArr[0].Count > 0)
                        //{
                        //    TipsTable tipsTableFirst = tipsTablesArr[0][0];

                        //    loadTipsMParam.xAxisVal = (float)Convert.ToDouble(tipsTableFirst.axis_b_X.ToString());
                        //    loadTipsMParam.yAxisVal = (float)Convert.ToDouble(tipsTableFirst.axis_b_Y.ToString());
                        //    float[] f = new float[tipsTablesArr[0].Count];
                        //    int[] ch = new int[tipsTablesArr[0].Count];
                        //    for (int i = 0; i < tipsTablesArr[0].Count; i++)
                        //    {
                        //        f[i] = tipsTablesArr[0][i].axis_b_Z;
                        //        ch[i] = chArry[i];
                        //    }
                        //    loadTipsMParam.zAxisVal = f;
                        //    loadTipsMParam.channelCount = tipsTablesArr[0].Count;
                        //    loadTipsMParam.channelId = ch;
                        //    loadTipsMParam.loadModel = 3;

                        //    result = ExecuteFunction(platformNodeList, methodNode, loadTipsMParam, tipsTablesArr[0], methodNode.SelectSingleNode("name").InnerText, isSimulator);
                        //}

                        //if (result && tipsTablesArr[1].Count > 0)
                        //{
                        //    loadTipsMParam.xAxisVal = (float)Convert.ToDouble(tipsTablesArr[1][0].axis_b_X.ToString());
                        //    loadTipsMParam.yAxisVal = (float)Convert.ToDouble(tipsTablesArr[1][0].axis_b_Y.ToString());
                        //    float[] f = new float[tipsTablesArr[1].Count];
                        //    int[] ch = new int[tipsTablesArr[1].Count];
                        //    for (int i = 0; i < tipsTablesArr[1].Count; i++)
                        //    {
                        //        f[i] = tipsTablesArr[1][i].axis_b_Z;
                        //        ch[i] = chArry[i + tipsTablesArr[0].Count];
                        //}
                        //    loadTipsMParam.zAxisVal = f;
                        //    loadTipsMParam.channelCount = tipsTablesArr[1].Count;
                        //    loadTipsMParam.channelId = ch;
                        //    loadTipsMParam.loadModel = 3;
                        //    result = ExecuteFunction(platformNodeList, methodNode, loadTipsMParam, tipsTablesArr[1], methodNode.SelectSingleNode("name").InnerText, isSimulator);
                        //}
                        #endregion
                    }
                    else
                    {
                        if (strCurrentCulture.Equals("zh-CN"))
                        {
                            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress + Properties.RunLoadTipsResource.strWithoutCountOfTips);
                        }
                        else
                        {
                            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress: Load tips were failed! error information: Tips are running out!");
                        }
                        if (launchView.isRemotingOper)
                        {
                            launchView.OnError?.Invoke(launchView.remoteObjectCmd, "EC-1007", 5, Properties.RunLoadTipsResource.strWithoutCountOfTips, 2);
                        }
                        result = false;

                        // 状态6 报错/急停 红闪/蜂鸣5S
                        CommonBll.StatusLamp(6, isSimulator);
                        if (!launchView.isRemotingOper)
                        {
                            System.Windows.Application.Current.Dispatcher.Invoke(new Action(() =>
                            {
                                if (strCurrentCulture.Equals("zh-CN"))
                                {
                                    plsToolTipWin = new PlsToolTipWin(Properties.RunLoadTipsResource.strWithoutCountOfTipsAndReset.ToString());
                                }
                                else
                                {
                                    plsToolTipWin = new PlsToolTipWin(string.Format("Tips are running out, {0}Please load the tips first, then click OK!", Environment.NewLine));
                                }
                                plsToolTipWin.Height = launchView.ActualHeight;
                                plsToolTipWin.Width = launchView.ActualWidth;
                                plsToolTipWin.btnClearData.Visibility = Visibility.Hidden;
                                plsToolTipWin.lauchView = launchView;

                                SolidColorBrush mybtn1_Brush = new SolidColorBrush(System.Windows.Media.Color.FromArgb(70, 0, 0, 0));
                                plsToolTipWin.Background = (System.Windows.Media.Brush)mybtn1_Brush;
                                plsToolTipWin.btnCancel.Visibility = Visibility.Hidden;
                                plsToolTipWin.ShowDialog();

                                if (plsToolTipWin.DialogResult == true)
                                {
                                    // 状态4 运行 绿色
                                    CommonBll.StatusLamp(4, isSimulator);
                                    // 清除Tip缓存数据
                                    ControlCom.ClearTipData(launchView);
                                }

                                dialogResult = (bool)plsToolTipWin.DialogResult;
                            }));
                        }
                        else
                        {
                            if (strCurrentCulture.Equals("zh-CN"))
                            {
                                plsToolTipWin = new PlsToolTipWin(Properties.RunLoadTipsResource.strWithoutCountOfTipsAndReset.ToString());
                            }
                            else
                            {
                                plsToolTipWin = new PlsToolTipWin(string.Format("Tips are running out, {0}Please load the tips first, then click OK!", Environment.NewLine));
                            }

                            launchView.OnError?.Invoke(launchView.remoteObjectCmd, "EC-1007", 5, Properties.RunLoadTipsResource.strWithoutCountOfTips, 2);
                            plsToolTipWin.Height = launchView.ActualHeight==0?950: launchView.ActualHeight;
                            plsToolTipWin.Width = launchView.ActualWidth==0?1880: launchView.ActualWidth;
                            plsToolTipWin.btnClearData.Visibility = Visibility.Visible;
                            plsToolTipWin.lauchView = launchView;

                            SolidColorBrush mybtn1_Brush = new SolidColorBrush(System.Windows.Media.Color.FromArgb(70, 0, 0, 0));
                            plsToolTipWin.Background = (System.Windows.Media.Brush)mybtn1_Brush;
                            plsToolTipWin.btnCancel.Visibility = Visibility.Hidden;
                            plsToolTipWin.ShowDialog();

                            if (plsToolTipWin.DialogResult == true)
                            {
                                // 状态4 运行 绿色
                                CommonBll.StatusLamp(4, isSimulator);
                                // 清除Tip缓存数据
                                ControlCom.ClearTipData(launchView);
                            }

                            dialogResult = (bool)plsToolTipWin.DialogResult;
                        }

                        if (dialogResult)
                        {
                            return ExecuteLoadTips(platformNodeList, methodNode, isSimulator);
                        }

                        return result;
                    }
                }
                #endregion

                #region 硬件上是96通道
                else if (Shared.ChannelCount == 96)
                {
                    LoadTipsMParam loadTipsMParam = new LoadTipsMParam();
                    loadTipsMParam.armId = Convert.ToInt32(methodNode.SelectSingleNode("arm/value").InnerText);
                    loadTipsMParam.basezAxisVal = (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisSafeVal"]);
                    string labwareid = methodNode.SelectSingleNode("labwaretip/value").InnerText;

                    TipsTable tipsTable = lstTipWellsNoUsed.FirstOrDefault(t => t.isUsed.Equals(0));    // 取第一个未使用的枪头
                    if (tipsTable != null)
                    {
                        if (!tipsTable.wellname.Equals("A1"))
                        {
                            if (strCurrentCulture.Equals("zh-CN"))
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress + Properties.RunLoadTipsResource.strWithoutCountOfTips);
                            }
                            else
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress: Load tips were failed! error information: Tips are running out!");
                            }
                            if (launchView.isRemotingOper)
                            {
                                launchView.OnError?.Invoke(launchView.remoteObjectCmd, "EC-1007", 5, Properties.RunLoadTipsResource.strWithoutCountOfTips, 2);
                            }
                            result = false;

                            // 状态6 报错/急停 红闪/蜂鸣5S
                            CommonBll.StatusLamp(6, isSimulator);

                            if (!launchView.isRemotingOper)
                            {
                                System.Windows.Application.Current.Dispatcher.Invoke(new Action(() =>
                                {
                                    if (strCurrentCulture.Equals("zh-CN"))
                                    {
                                        plsToolTipWin = new PlsToolTipWin(Properties.RunLoadTipsResource.strWithoutCountOfTipsAndReset.ToString());
                                    }
                                    else
                                    {
                                        plsToolTipWin = new PlsToolTipWin(string.Format("Tips are running out, {0}Please load the tips first, then click OK!", Environment.NewLine));
                                    }
                                    plsToolTipWin.Height = launchView.ActualHeight;
                                    plsToolTipWin.Width = launchView.ActualWidth;
                                    plsToolTipWin.btnClearData.Visibility = Visibility.Hidden;
                                    plsToolTipWin.lauchView = launchView;

                                    SolidColorBrush mybtn1_Brush = new SolidColorBrush(System.Windows.Media.Color.FromArgb(70, 0, 0, 0));
                                    plsToolTipWin.Background = (System.Windows.Media.Brush)mybtn1_Brush;
                                    plsToolTipWin.btnCancel.Visibility = Visibility.Hidden;
                                    plsToolTipWin.ShowDialog();

                                    if (plsToolTipWin.DialogResult == true)
                                    {
                                        // 状态4 运行 绿色
                                        CommonBll.StatusLamp(4, isSimulator);
                                        // 清除Tip缓存数据
                                        ControlCom.ClearTipData(launchView);
                                    }

                                    dialogResult = (bool)plsToolTipWin.DialogResult;
                                }));
                            }
                            else
                            {
                                if (strCurrentCulture.Equals("zh-CN"))
                                {
                                    plsToolTipWin = new PlsToolTipWin(Properties.RunLoadTipsResource.strWithoutCountOfTipsAndReset.ToString());
                                }
                                else
                                {
                                    plsToolTipWin = new PlsToolTipWin(string.Format("Tips are running out, {0}Please load the tips first, then click OK!", Environment.NewLine));
                                }
                                plsToolTipWin.Height = launchView.ActualHeight;
                                plsToolTipWin.Width = launchView.ActualWidth;
                                plsToolTipWin.btnClearData.Visibility = Visibility.Hidden;
                                plsToolTipWin.lauchView = launchView;

                                SolidColorBrush mybtn1_Brush = new SolidColorBrush(System.Windows.Media.Color.FromArgb(70, 0, 0, 0));
                                plsToolTipWin.Background = (System.Windows.Media.Brush)mybtn1_Brush;
                                plsToolTipWin.btnCancel.Visibility = Visibility.Hidden;
                                plsToolTipWin.ShowDialog();

                                if (plsToolTipWin.DialogResult == true)
                                {
                                    // 状态4 运行 绿色
                                    CommonBll.StatusLamp(4, isSimulator);
                                    // 清除Tip缓存数据
                                    ControlCom.ClearTipData(launchView);
                                }

                                dialogResult = (bool)plsToolTipWin.DialogResult;
                            }

                            if (dialogResult)
                            {
                                return ExecuteLoadTips(platformNodeList, methodNode, isSimulator);
                            }

                            return result;
                        }
                        else
                        {
                            loadTipsMParam.xAxisVal = (float)Convert.ToDouble(tipsTable.axis_b_X.ToString());
                            loadTipsMParam.yAxisVal = (float)Convert.ToDouble(tipsTable.axis_b_Y.ToString());
                            loadTipsMParam.zAxisVal = (float)Convert.ToDouble(tipsTable.axis_b_Z.ToString());
                        }
                    }
                    else
                    {
                        if (strCurrentCulture.Equals("zh-CN"))
                        {
                            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress + Properties.RunLoadTipsResource.strWithoutCountOfTips);
                        }
                        else
                        {
                            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress: Load tips were failed! error information: Tips are running out!");
                        }
                        if (launchView.isRemotingOper)
                        {
                            launchView.OnError?.Invoke(launchView.remoteObjectCmd, "EC-1007", 5, Properties.RunLoadTipsResource.strWithoutCountOfTips, 2);
                        }
                        result = false;

                        // 状态6 报错/急停 红闪/蜂鸣5S
                        CommonBll.StatusLamp(6, isSimulator);

                        if (!launchView.isRemotingOper)
                        {
                            System.Windows.Application.Current.Dispatcher.Invoke(new Action(() =>
                            {
                                if (strCurrentCulture.Equals("zh-CN"))
                                {
                                    plsToolTipWin = new PlsToolTipWin(Properties.RunLoadTipsResource.strWithoutCountOfTipsAndReset.ToString());
                                }
                                else
                                {
                                    plsToolTipWin = new PlsToolTipWin(string.Format("Tips are running out, {0}Please load the tips first, then click OK!", Environment.NewLine));
                                }
                                plsToolTipWin.Height = launchView.ActualHeight;
                                plsToolTipWin.Width = launchView.ActualWidth;
                                plsToolTipWin.btnClearData.Visibility = Visibility.Hidden;
                                plsToolTipWin.lauchView = launchView;

                                SolidColorBrush mybtn1_Brush = new SolidColorBrush(System.Windows.Media.Color.FromArgb(70, 0, 0, 0));
                                plsToolTipWin.Background = (System.Windows.Media.Brush)mybtn1_Brush;
                                plsToolTipWin.btnCancel.Visibility = Visibility.Hidden;
                                plsToolTipWin.ShowDialog();

                                if (plsToolTipWin.DialogResult == true)
                                {
                                    // 状态4 运行 绿色
                                    CommonBll.StatusLamp(4, isSimulator);
                                    // 清除Tip缓存数据
                                    ControlCom.ClearTipData(launchView);
                                }

                                dialogResult = (bool)plsToolTipWin.DialogResult;
                            }));
                        }
                        else
                        {
                            if (strCurrentCulture.Equals("zh-CN"))
                            {
                                plsToolTipWin = new PlsToolTipWin(Properties.RunLoadTipsResource.strWithoutCountOfTipsAndReset.ToString());
                            }
                            else
                            {
                                plsToolTipWin = new PlsToolTipWin(string.Format("Tips are running out, {0}Please load the tips first, then click OK!", Environment.NewLine));
                            }
                            plsToolTipWin.Height = launchView.ActualHeight;
                            plsToolTipWin.Width = launchView.ActualWidth;
                            plsToolTipWin.btnClearData.Visibility = Visibility.Hidden;
                            plsToolTipWin.lauchView = launchView;

                            SolidColorBrush mybtn1_Brush = new SolidColorBrush(System.Windows.Media.Color.FromArgb(70, 0, 0, 0));
                            plsToolTipWin.Background = (System.Windows.Media.Brush)mybtn1_Brush;
                            plsToolTipWin.btnCancel.Visibility = Visibility.Hidden;
                            plsToolTipWin.ShowDialog();

                            if (plsToolTipWin.DialogResult == true)
                            {
                                // 状态4 运行 绿色
                                CommonBll.StatusLamp(4, isSimulator);
                                // 清除Tip缓存数据
                                ControlCom.ClearTipData(launchView);
                            }

                            dialogResult = (bool)plsToolTipWin.DialogResult;
                        }

                        if (dialogResult)
                        {
                            return ExecuteLoadTips(platformNodeList, methodNode, isSimulator);
                        }

                        return result;
                    }

                    string strWell = tipsTable.wellname;

                    launchView.SetWaitOne();//暂停
                    ret = loadTipsBll.ExecuteLoadTips(loadTipsMParam, isSimulator);

                    if (ret.Result == ResultType.Success)
                    {
                        launchView.currentIsLoadingTips = true;
                        if (strCurrentCulture.Equals("zh-CN"))
                        {
                            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress + Properties.RunLoadTipsResource.strLoadTipsSuccess + "所有孔位 板位：" + tipsTable.lattice_num);
                        }
                        else
                        {
                            launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress:loadtip is success from all wells on " + tipsTable.lattice_num + " lattice!");
                        }
                        // 更新台面被装的枪头和当前运行时的xml文档
                        Labware labware = LabwareDB.GetLabware(tipsTable.labware_id);
                        strWell = ComUtility.GetValidWells(labware.number_row, labware.number_column);

                        //strWell = "A1,B1,C1,D1,E1,F1,G1,H1,A2,B2,C2,D2,E2,F2,G2,H2,A3,B3,C3,D3,E3,F3,G3,H3,A4,B4,C4,D4,E4,F4,G4,H4,A5,B5,C5,D5,E5,F5,G5,H5,A6,B6,C6,D6,E6,F6,G6,H6,A7,B7,C7,D7,E7,F7,G7,H7,A8,B8,C8,D8,E8,F8,G8,H8,A9,B9,C9,D9,E9,F9,G9,H9,A10,B10,C10,D10,E10,F10,G10,H10,A11,B11,C11,D11,E11,F11,G11,H11,A12,B12,C12,D12,E12,F12,G12,H12";
                        launchView.UpdateLabwaretips(tipsTable, strWell);
                        launchView.currentInValidWell = strWell;
                        launchView.currentWellLatticeId = tipsTable.lattice_id;
                    }
                    else if (ret.Result != ResultType.Success)
                    {
                        OperateDialog plsConfirmOper = null;
                        
                        if (!launchView.isRemotingOper)
                        {
                            System.Windows.Application.Current.Dispatcher.Invoke(new Action(() =>
                            {
                                plsConfirmOper = new OperateDialog(strCurrentCulture.Equals("zh-CN") ? Properties.RunLoadTipsResource.strFailWhatToDo : "loadtips are fail! What do you want to do?");
                                plsConfirmOper.ShowDialog();
                            }));
                        }
                        else
                        {
                            launchView.OnError?.Invoke(launchView.remoteObjectCmd, "EC-1008", 5, Properties.RunLoadTipsResource.strFailWhatToDo, 2);
                            plsConfirmOper = new OperateDialog(strCurrentCulture.Equals("zh-CN") ? Properties.RunLoadTipsResource.strFailWhatToDo : "loadtips are fail! What do you want to do?");
                            plsConfirmOper.ShowDialog();
                        }

                        if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Retry)           // 重试
                        {
                            result = ExecuteLoadTips(platformNodeList, methodNode, isSimulator);
                            return result;
                        }
                        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: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress + Properties.RunLoadTipsResource.strLoadTipWasStopped);
                            }
                            else
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress:load tip was stopped!");
                            }
                            result = false;
                            if (launchView.isRemotingOper)
                            {
                                launchView.OnError?.Invoke(launchView.remoteObjectCmd, "EC-1011", 5, Properties.RunLoadTipsResource.strLoadTipWasStopped, 2);
                            }
                            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: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress + Properties.RunLoadTipsResource.strLoadTipWasSkipped);
                            }
                            else
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress:load tip was skipped!");
                            }
                        }
                    }
                }
                #endregion

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

                if (launchView.isRemotingOper)
                {
                    launchView.OnError?.Invoke(launchView.remoteObjectCmd, "EC-1001", 5, "error:source:" + ex.Source + ";error:" + ex.Message + ";", 2);
                }
                //if (socketTcpClientToRemote != null)
                //{
                //    MethodMsg methodMsg = new MethodMsg(Guid.NewGuid().ToString(), "ID202_Choice_machine", 5, "", "ExecuteLoadTips", "1001",
                //        "error source:" + ex.Source + ";error:" + ex.Message, 6, 0);
                //    socketTcpClientToRemote.sendmessageError(socketTcpClientToRemote.CreateSendMsgContent(methodMsg, false), launchView.isRemotingOper);
                //}
                return result;
            }
            return result;
        }
        #endregion


        #region 根据剩余的可用Tip头，获取本次要装载的Tip对象集合
        private List<TipsTable> GetTipsByleftTips(string[] ch, List<TipsTable> tipsTables)
        {
            List<TipsTable> tipsTableList = new List<TipsTable>();

            List<TipsTable> tList = (List<TipsTable>)tipsTables.FindAll(x => x.isUsed.Equals(0));

            TipsTable a = tList.FirstOrDefault(t => t.isUsed.Equals(0));
            if (a != null)
            {

                string well = string.Empty;//保存前一个枪头的孔名称
                bool markNeighbour = false;//
                int currIndex = 0;//记录当前的孔位索引
                for (int i = 0; i < ch.Length; i++)
                {
                    //取出第一个
                    if (i != 0)
                    {
                        string wellnameFirst = well;
                        string prefix = wellnameFirst.Substring(0, 1);
                        string suffix = wellnameFirst.Substring(1, wellnameFirst.Length - 1);
                        int nextid = Convert.ToInt32(suffix) + 2;
                        string nextFix = prefix;
                        if (nextid > 12)
                        {
                            if ((nextid - 12) == 1)
                            {
                                nextid = 1;
                            }
                            else if ((nextid - 12) == 2)
                            {
                                nextid = 2;
                            }

                            nextFix = Convert.ToChar(Convert.ToInt32(Convert.ToChar(nextFix)) + 1).ToString();
                            int fixValue = Convert.ToInt32(Convert.ToChar(nextFix));
                            if (fixValue > 72)
                            {
                                nextFix = "A";
                            }
                        }

                        string nextName = nextFix + nextid.ToString();

                        if (tList[i].wellname == nextName)
                        {
                            if (i < tList.Count)
                            {
                                TipsTable t = new TipsTable();
                                t.labware_id = tList[i].labware_id;
                                t.lattice_id = tList[i].lattice_id;
                                t.lattice_num = tList[i].lattice_num;
                                t.axis_b_X = tList[i].axis_b_X;
                                t.axis_b_Y = tList[i].axis_b_Y;
                                t.axis_b_Z = tList[i].axis_b_Z;
                                t.axis_b_r = tList[i].axis_b_r;
                                t.isUsed = tList[i].isUsed;
                                t.isUsedCount = tList[i].isUsedCount;
                                t.wellname = tList[i].wellname.ToString();
                                well = t.wellname;
                                t.well_top_shape = tList[i].well_top_shape;
                                tipsTableList.Add(t);
                                markNeighbour = true;
                                currIndex = currIndex + 1;
                            }
                        }
                        else
                        {
                            while (tList[currIndex].wellname != nextName)
                            {
                                currIndex = currIndex + 1;
                            }

                            TipsTable t = new TipsTable();
                            t.labware_id = tList[currIndex].labware_id;
                            t.lattice_id = tList[currIndex].lattice_id;
                            t.lattice_num = tList[currIndex].lattice_num;
                            t.axis_b_X = tList[currIndex].axis_b_X;
                            t.axis_b_Y = tList[currIndex].axis_b_Y;
                            t.axis_b_Z = tList[currIndex].axis_b_Z;
                            t.axis_b_r = tList[currIndex].axis_b_r;
                            t.isUsed = tList[currIndex].isUsed;
                            t.isUsedCount = tList[currIndex].isUsedCount;
                            t.wellname = tList[currIndex].wellname.ToString();
                            well = t.wellname;
                            t.well_top_shape = tList[currIndex].well_top_shape;
                            tipsTableList.Add(t);

                            //if (markNeighbour)
                            //{
                            //    if ((i * 2-1) < tList.Count)
                            //    {
                            //        TipsTable t = new TipsTable();
                            //        t.labware_id = tList[i * 2-1].labware_id;
                            //        t.lattice_id = tList[i * 2-1].lattice_id;
                            //        t.lattice_num = tList[i * 2-1].lattice_num;
                            //        t.axis_b_X = tList[i * 2-1].axis_b_X;
                            //        t.axis_b_Y = tList[i * 2-1].axis_b_Y;
                            //        t.axis_b_Z = tList[i * 2-1].axis_b_Z;
                            //        t.axis_b_r = tList[i * 2-1].axis_b_r;
                            //        t.isUsed = tList[i * 2-1].isUsed;
                            //        t.isUsedCount = tList[i * 2-1].isUsedCount;
                            //        t.wellname = tList[i * 2-1].wellname.ToString();
                            //        well = t.wellname;
                            //        t.well_top_shape = tList[i * 2-1].well_top_shape;
                            //        tipsTableList.Add(t);
                            //    }
                            //}
                            //else
                            //{
                            //    if ((i * 2 ) < tList.Count)
                            //    {
                            //        TipsTable t = new TipsTable();
                            //        t.labware_id = tList[i * 2 ].labware_id;
                            //        t.lattice_id = tList[i * 2 ].lattice_id;
                            //        t.lattice_num = tList[i * 2].lattice_num;
                            //        t.axis_b_X = tList[i * 2 ].axis_b_X;
                            //        t.axis_b_Y = tList[i * 2 ].axis_b_Y;
                            //        t.axis_b_Z = tList[i * 2 ].axis_b_Z;
                            //        t.axis_b_r = tList[i * 2 ].axis_b_r;
                            //        t.isUsed = tList[i * 2 ].isUsed;
                            //        t.isUsedCount = tList[i * 2 ].isUsedCount;
                            //        t.wellname = tList[i * 2 ].wellname.ToString();
                            //        well = t.wellname;
                            //        t.well_top_shape = tList[i * 2 ].well_top_shape;
                            //        tipsTableList.Add(t);
                            //    }
                            //}
                        }
                    }
                    else
                    {
                        TipsTable t = new TipsTable();
                        t.labware_id = tList[i].labware_id;
                        t.lattice_id = tList[i].lattice_id;
                        t.lattice_num = tList[i].lattice_num;
                        t.axis_b_X = tList[i].axis_b_X;
                        t.axis_b_Y = tList[i].axis_b_Y;
                        t.axis_b_Z = tList[i].axis_b_Z;
                        t.axis_b_r = tList[i].axis_b_r;
                        t.isUsed = tList[i].isUsed;
                        t.isUsedCount = tList[i].isUsedCount;
                        t.wellname = tList[i].wellname.ToString();
                        well = t.wellname;
                        t.well_top_shape = tList[i].well_top_shape;
                        tipsTableList.Add(t);
                    }
                }
                markNeighbour = false;
            }
            return tipsTableList;
        }
        #endregion

        #region 把本次要装载的枪头孔位集合按行分开
        private List<TipsTable>[] GetGroupTipsByRow(List<TipsTable> tipsTables)
        {
            List<TipsTable>[] tipsTablesArr = new List<TipsTable>[2];
            List<TipsTable> tipsTables1 = new List<TipsTable>();
            List<TipsTable> tipsTables2 = new List<TipsTable>();
            if (tipsTables.Count > 0)
            {
                string prefix = tipsTables[0].wellname.Substring(0, 1);
                foreach (TipsTable t in tipsTables)
                {
                    string a = t.wellname.Substring(0, 1);
                    if (prefix == a)
                    {
                        tipsTables1.Add(t);
                    }
                    else
                    {
                        tipsTables2.Add(t);
                    }
                }
            }

            tipsTablesArr[0] = tipsTables1;
            tipsTablesArr[1] = tipsTables2;
            return tipsTablesArr;
        }
        #endregion


        #region 正常设备Tip头序列特殊处理
        #region 根据剩余的可用Tip头，获取本次要装载的Tip对象集合
        private List<TipsTable> GetTipsByTopTips(int[] chList, List<TipsTable> tipsTables)
        {
            return tipsTables.Take(chList.Length).ToList();


            //List<TipsTable> tipsTableList = new List<TipsTable>();

            //List<TipsTable> tList = (List<TipsTable>)tipsTables.FindAll(x => x.isUsed.Equals(0));

            //TipsTable a = tList.FirstOrDefault(t => t.isUsed.Equals(0));
            //if (a != null)
            //{

            //    string well = string.Empty;     // 保存前一个枪头的孔名称
            //    bool markNeighbour = false;
            //    int currIndex = 0;              // 记录当前的孔位索引
            //    for (int i = 0; i < chList.Length; i++)
            //    {
            //        // 取出第一个
            //        if (i != 0)
            //        {
            //            string wellnameFirst = well;
            //            string prefix = wellnameFirst.Substring(0, 1);//行字母
            //            // 根据输入的行名称，取得对应的行index
            //            int rowNum = ComUtility.GetRowIndex(prefix);
            //            string suffix = wellnameFirst.Substring(1, wellnameFirst.Length - 1);//列号
            //            int nextid = rowNum + 1;//行数字号

            //            string nextFix = suffix;//列号
            //            if (nextid > 7)
            //            {
            //                if ((nextid - 7) == 1)
            //                {
            //                    nextid = 0;
            //                }

            //                nextFix = (Convert.ToInt32(nextFix) + 1).ToString();
            //                if ((Convert.ToInt32(nextFix) + 1) > 12)
            //                {
            //                    nextFix = "1";
            //                }
            //            }

            //            string nextName = ComUtility.GetRowChar(nextid) + nextFix.ToString();

            //            if (tList[i].wellname == nextName)
            //            {
            //                if (i < tList.Count)
            //                {
            //                    TipsTable t = new TipsTable();
            //                    t.labware_id = tList[i].labware_id;
            //                    t.lattice_id = tList[i].lattice_id;
            //                    t.lattice_num = tList[i].lattice_num;
            //                    t.axis_b_X = tList[i].axis_b_X;
            //                    t.axis_b_Y = tList[i].axis_b_Y;
            //                    t.axis_b_Z = tList[i].axis_b_Z;
            //                    t.axis_b_r = tList[i].axis_b_r;
            //                    t.isUsed = tList[i].isUsed;
            //                    t.isUsedCount = tList[i].isUsedCount;
            //                    t.wellname = tList[i].wellname.ToString();
            //                    well = t.wellname;
            //                    t.well_top_shape = tList[i].well_top_shape;
            //                    tipsTableList.Add(t);
            //                    markNeighbour = true;
            //                    currIndex = currIndex + 1;
            //                }
            //            }
            //            else
            //            {
            //                while (tList[currIndex].wellname != nextName)
            //                {
            //                    currIndex = currIndex + 1;
            //                }

            //                TipsTable t = new TipsTable();
            //                t.labware_id = tList[currIndex].labware_id;
            //                t.lattice_id = tList[currIndex].lattice_id;
            //                t.lattice_num = tList[currIndex].lattice_num;
            //                t.axis_b_X = tList[currIndex].axis_b_X;
            //                t.axis_b_Y = tList[currIndex].axis_b_Y;
            //                t.axis_b_Z = tList[currIndex].axis_b_Z;
            //                t.axis_b_r = tList[currIndex].axis_b_r;
            //                t.isUsed = tList[currIndex].isUsed;
            //                t.isUsedCount = tList[currIndex].isUsedCount;
            //                t.wellname = tList[currIndex].wellname.ToString();
            //                well = t.wellname;
            //                t.well_top_shape = tList[currIndex].well_top_shape;
            //                tipsTableList.Add(t);
            //            }
            //        }
            //        else
            //        {
            //            TipsTable t = new TipsTable();
            //            t.labware_id = tList[i].labware_id;
            //            t.lattice_id = tList[i].lattice_id;
            //            t.lattice_num = tList[i].lattice_num;
            //            t.axis_b_X = tList[i].axis_b_X;
            //            t.axis_b_Y = tList[i].axis_b_Y;
            //            t.axis_b_Z = tList[i].axis_b_Z;
            //            t.axis_b_r = tList[i].axis_b_r;
            //            t.isUsed = tList[i].isUsed;
            //            t.isUsedCount = tList[i].isUsedCount;
            //            t.wellname = tList[i].wellname.ToString();
            //            well = t.wellname;
            //            t.well_top_shape = tList[i].well_top_shape;
            //            tipsTableList.Add(t);
            //        }
            //    }
            //    markNeighbour = false;
            //}
            //return tipsTableList;
        }
        #endregion

        #region 把本次要装载的枪头孔位集合按列分开
        private List<List<TipsTable>> GetGroupTipsByColumn(List<TipsTable> tipsTables)
        {
            List<List<TipsTable>> tipsTablesList = new List<List<TipsTable>>();
            //List<TipsTable> tipsTables1 = new List<TipsTable>();
            //List<TipsTable> tipsTables2 = new List<TipsTable>();
            //if (tipsTables.Count > 0)
            //{
            //    string suffix = tipsTables[0].wellname.Substring(1, tipsTables[0].wellname.Length - 1);
            //    foreach (TipsTable t in tipsTables)
            //    {
            //        string a = t.wellname.Substring(1, t.wellname.Length - 1);
            //        if (suffix == a)
            //        {
            //            tipsTables1.Add(t);
            //        }
            //        else
            //        {
            //            tipsTables2.Add(t);
            //        }
            //    }
            //}

            //tipsTablesArr[0] = tipsTables1;
            //tipsTablesArr[1] = tipsTables2;


            List<int> colNumList = new List<int>();
            foreach (var tipItem in tipsTables)
            {
                colNumList.Add(ComUtility.GetColNum(tipItem.wellname));
            }
            colNumList = colNumList.Distinct().ToList();

            int countNumber = 0;//计算拆分次数
            foreach (var colNumItem in colNumList)
            {
                countNumber++;
                var selColTips = tipsTables.Where(it => ComUtility.GetColNum(it.wellname) == colNumItem);
                if (selColTips.Any())
                {
                    List<TipsTable> colTipList = selColTips.ToList();
                    if (colTipList.Count != Shared.ChannelsId.Length)
                    {
                        if (countNumber == 1)
                        {
                            tipsTablesList.Add(colTipList);
                        }
                        else
                        {
                            foreach (var tipItem in colTipList)
                            {
                                List<TipsTable> newTipList = new List<TipsTable>();
                                newTipList.Add(tipItem);
                                tipsTablesList.Add(newTipList);
                            }
                        }
                    }
                    else
                    {
                        tipsTablesList.Add(colTipList);
                    }
                }
            }

            return tipsTablesList;
        }
        #endregion
        #endregion

        #region 执行方法装枪头的动作
        private bool ExecuteFunction(XmlNodeList platformNodeList, XmlNode methodNode, LoadTipsMParamSH loadTipsMParam, List<TipsTable> tipsTables, string methodName, bool isSimulator)
        {
            bool result = true;
            launchView.SetWaitOne();//暂停

            HxResult ret = loadTipsBll.ExecuteLoadTips(loadTipsMParam, isSimulator);

            List<string> wellNameList = tipsTables.Select(it => it.wellname).ToList();
            string strWell = string.Join(",", wellNameList);

            if (ret.Result == ResultType.Success)
            {
                launchView.currentIsLoadingTips = true;
                if (strCurrentCulture.Equals("zh-CN"))
                {
                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress + Properties.RunLoadTipsResource.strLoadTipsSuccess + "孔位：" + strWell + " 板位：" + tipsTables[0].lattice_num);
                }
                else
                {
                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodName + "】progress: load tips are success from " + strWell + " well on " + tipsTables[0].lattice_num + " lattice!");
                }
                launchView.UpdateLabwaretips(tipsTables[0], strWell);
                launchView.currentInValidWell = strWell;
                launchView.currentWellLatticeId = tipsTables[0].lattice_id;
            }
            else if (ret.Result != ResultType.Success)
            {
                OperateDialog plsConfirmOper = null;
                if (!launchView.isRemotingOper)
                {
                    System.Windows.Application.Current.Dispatcher.Invoke(new Action(() =>
                    {
                        plsConfirmOper = new OperateDialog(strCurrentCulture.Equals("zh-CN") ? Properties.RunLoadTipsResource.strFailWhatToDo : "loadtips are fail! What do you want to do?");
                        plsConfirmOper.ShowDialog();
                    }));
                }
                else
                {
                    plsConfirmOper = new OperateDialog(strCurrentCulture.Equals("zh-CN") ? Properties.RunLoadTipsResource.strFailWhatToDo : "loadtips are fail! What do you want to do?");
                    launchView.OnError?.Invoke(launchView.remoteObjectCmd, "EC-1008", 5, Properties.RunLoadTipsResource.strLoadTipsError, 2);
                    plsConfirmOper.ShowDialog();
                }


                if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Retry)           // 重试
                {
                    result = ExecuteFunction(platformNodeList, methodNode, loadTipsMParam, tipsTables, methodName, isSimulator);
                    return result;
                }
                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: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress + Properties.RunLoadTipsResource.strLoadTipWasStopped);
                    }
                    else
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress:load tip was stopped!");
                    }
                    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: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress + Properties.RunLoadTipsResource.strLoadTipWasSkipped);
                    }
                    else
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress:load tip was skipped!");
                    }
                }
            }

            return result;
        }
        #endregion


        #region 获取列的剩余的吸头集合，返回结果字符串
        /// <summary>
        /// 执行装载吸头，返回结果字符串
        /// </summary>
        /// <param name="platformNodeList">env下所有platform节点集合</param>
        /// <param name="methodNode">装载方法属性节点对象</param>
        /// <param name="isSimulator">false:连接；true：仿真</param>
        /// <returns></returns>
        public static List<TipsTable> GetLeftTipsByLoadTips(XmlNodeList platformNodeList, XmlNode methodNode)
        {
            List<TipsTable> result = new List<TipsTable>();

            try
            {
                #region 数据准备 
                string channelNums = methodNode.SelectSingleNode("channels").InnerText;
                string armName = methodNode.SelectSingleNode("arm/text").InnerText;
                string labwaretipId = methodNode.SelectSingleNode("labwaretip/value").InnerText;
                #endregion

                #region 获取板位上孔板的所有孔位坐标集合对象
                Labware labwares = getOrSetLabware.GetLabware(methodNode.SelectSingleNode("labwaretip/value").InnerText);  // 特定枪头的信息
                List<Lattice> lstLatticeTipPlate = new List<Lattice>();     // 匹配枪头类型的所有枪头盒点位信息
                for (int i = 0; i < platformNodeList.Count; i++)            // 查找枪头位置PN
                {
                    if (platformNodeList[i].SelectSingleNode("labware_id").InnerText == labwares.labware_id)      // 找同类型的枪头点位
                    {
                        string latticeIdTemp = platformNodeList[i].SelectSingleNode("lattice_id").InnerText;
                        TabletopTemplate tabletopTemplate = TabletopTemplateDB.GetCurrentAppTabletopTemplateCollectionFromdb();  //增加台面模板判断
                        int latticeId = 0;
                        if (tabletopTemplate == null)
                        {
                            latticeId = ControlCom.GetLatticeId(Convert.ToInt32(latticeIdTemp));
                        }
                        else
                        {
                            string latticeNumber = "P" + latticeIdTemp;
                            latticeId = Convert.ToInt32(LatticeDB.GetLatticeDataByLatticeNumAndTempIdFromdb(latticeNumber, Convert.ToInt32(Shared.DeviceArmList.SingleOrDefault(x => x.arm_type.Equals(1)).device_arm_id), Shared.SoftwareInformation.software_device_number, tabletopTemplate.tabletopid).lattice_id);
                        }

                        // 获取枪头点位信息
                        Lattice latticeInfo = LatticeDB.GetLatticeDataByIdFromdb(latticeId.ToString());
                        latticeInfo = LatticeDB.GetLatticeDataByIdFromdb(latticeInfo.lattice_num, Convert.ToInt32(methodNode.SelectSingleNode("arm/value").InnerText), Shared.SoftwareInformation.software_device_number);
                        lstLatticeTipPlate.Add(latticeInfo);
                    }
                }
                #endregion

                List<TipsTable> lstTipWellsNoUsedTemp = new List<TipsTable>();  // 未使用的枪头集合
                                                                                //读取所有指定枪头类型和板位设定的可用枪头
                int lapid = 1;
                foreach (XmlNode platformNodeItem in platformNodeList)
                {
                    if (platformNodeItem.SelectSingleNode("labware_id").InnerText == labwares.labware_id)
                    {
                        string strWellStip = platformNodeItem.SelectSingleNode("residueValidWells").InnerText;        // 可用枪头
                        string p = platformNodeItem.SelectSingleNode("lattice_id").InnerText;

                        string[] tipWells = strWellStip.Split(',');
                        for (int i = 0; i < tipWells.Length; i++)
                        {
                            TipsTable tipTable = new TipsTable();
                            tipTable.labware_id = labwares.labware_id;

                            tipTable.wellname = tipWells[i];
                            tipTable.axis_b_X = 0.0f;
                            tipTable.axis_b_Y = 0.0f;
                            tipTable.axis_b_Z = 0.0f;
                            tipTable.well_top_shape = 0;
                            tipTable.axis_b_r = 0.0f;

                            TabletopTemplate tabletopTemplate = TabletopTemplateDB.GetCurrentAppTabletopTemplateCollectionFromdb();  //增加台面模板判断
                            if (tabletopTemplate == null)
                            {
                                lapid = ControlCom.GetLatticeId(Convert.ToInt32(p));
                            }
                            else
                            {
                                string latticeNumber = "P" + p;
                                lapid = Convert.ToInt32(LatticeDB.GetLatticeDataByLatticeNumAndTempIdFromdb(latticeNumber, Convert.ToInt32(Shared.DeviceArmList.SingleOrDefault(x => x.arm_type.Equals(1)).device_arm_id), Shared.SoftwareInformation.software_device_number, tabletopTemplate.tabletopid).lattice_id);
                            }
                            
                            tipTable.lattice_num = lstLatticeTipPlate.FirstOrDefault(n => n.lattice_id.Equals(lapid.ToString())).lattice_num;
                            tipTable.lattice_id = lapid.ToString();

                            if (RunWnd.currentIsUsedWellLattice.Count > 0)
                            {
                                var v = RunWnd.currentIsUsedWellLattice.FirstOrDefault(q => q.dropdown_id.Equals(lstLatticeTipPlate.FirstOrDefault(n => n.lattice_id.Equals(lapid.ToString())).lattice_id) && q.dropdown_name.Equals(tipWells[i]));
                                if (v != null)
                                {
                                    tipTable.isUsed = 1;
                                }
                                else
                                {
                                    tipTable.isUsed = 0;
                                }
                            }
                            else
                            {
                                tipTable.isUsed = 0;
                            }

                            lstTipWellsNoUsedTemp.Add(tipTable);
                        }
                    }
                }

                DataTable dt = null;
                if (!String.IsNullOrEmpty(labwares.labware_id))
                {
                    dt = ControlCom.GenerateCurrentTablayoutWellCoordinate(labwares, lstLatticeTipPlate);
                }

                List<TipsTable> lstTipWellsNoUsed = new List<TipsTable>();        // 所有未使用枪头集合
                //dt 转化为实体类对象集合
                for (int i = 0; i < dt.Rows.Count; i++)
                {
                    // 有效枪头孔位
                    var tipWellsNoUsed = lstTipWellsNoUsedTemp.FirstOrDefault(x => x.labware_id.Equals(dt.Rows[i]["labware_id"].ToString()) &&
                                                x.lattice_id.Equals(dt.Rows[i]["lattice_id"].ToString()) &&
                                                x.lattice_num.Equals(dt.Rows[i]["lattice_num"].ToString()) &&
                                                x.wellname.Equals(dt.Rows[i]["wellname"].ToString()) &&
                                                x.isUsed.Equals(0));
                    if (tipWellsNoUsed != null)
                    {
                        TipsTable tipsTable = new TipsTable();
                        tipsTable.labware_id = dt.Rows[i]["labware_id"].ToString();
                        tipsTable.lattice_id = dt.Rows[i]["lattice_id"].ToString();
                        tipsTable.wellname = dt.Rows[i]["wellname"].ToString();
                        tipsTable.axis_b_X = (float)Convert.ToDouble(dt.Rows[i]["axis_b_X"].ToString());
                        tipsTable.axis_b_Y = (float)Convert.ToDouble(dt.Rows[i]["axis_b_Y"].ToString());
                        tipsTable.axis_b_Z = (float)Convert.ToDouble(dt.Rows[i]["axis_b_Z"].ToString());
                        tipsTable.well_top_shape = Convert.ToInt32(dt.Rows[i]["well_top_shape"].ToString());
                        tipsTable.axis_b_r = (float)Convert.ToDouble(dt.Rows[i]["axis_b_r"].ToString());
                        tipsTable.isUsed = Convert.ToInt32(dt.Rows[i]["isUsed"].ToString());
                        tipsTable.lattice_num = dt.Rows[i]["lattice_num"].ToString();

                        //(远程时，从已使用的Tip头文件中查找出数据比较，删除已经用的
                        if ((launchView.isRemotingOper == true) &&
                            (RunWnd.currentIsUsedWellLattice.Count != 0))
                        {
                            var selectATip = RunWnd.currentIsUsedWellLattice.SingleOrDefault(x => x.dropdown_name.Equals(tipsTable.wellname) && x.dropdown_id.Equals(tipsTable.lattice_id));
                            if (selectATip != null && selectATip.dropdown_id != "")
                            {

                            }
                            else
                            {
                                lstTipWellsNoUsed.Add(tipsTable);
                            }
                        }
                        else
                        {
                            lstTipWellsNoUsed.Add(tipsTable);
                        }
                    }
                }

                result = lstTipWellsNoUsed;
            }
            catch (Exception ex)
            {
                return result;
            }
            return result;
        }
        #endregion
    }
}