using DriverLib.Engine;
using System;
using System.Collections.Generic;
using System.Configuration;
using System.Data;
using System.Linq;
using System.Reflection;
using System.Runtime.Remoting.Channels;
using System.Text;
using System.Threading.Tasks;
using System.Xml;
using XCore;
using XImagingXhandler.XDAL;
using XHandler.View.MethodProperty;
using XHandler.View;
using XHandler.Class.DataEx;
using HxSocket;
using DataEntity.Share;
using XCommon.Log;
using XHandler.Controls.Run.Com;
using static HxEnum.OperationTypeEnum;
using MySqlX.XDevAPI.Common;
using SqlSugar;
using XImaging.Automation.Service.Interface;
using DataRWDAL;
using DataEntity;
using System.Runtime.Remoting.Metadata.W3cXsd2001;

namespace XHandler.Controls
{
    public class UnloadTipsControl
    {
        string strCurrentCulture = "";
        WellCalc wellCalc = new WellCalc();
        LatticeBll latticeBll = new LatticeBll();
        UnloadTipsBll unloadTipsBll = new UnloadTipsBll();
        public RunWnd launchView = null;
        public HxSocketClient socketTcpClientToRemote = null;

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

        #region 执行卸载吸头，返回结果字符串
        /// <summary>
        /// 执行卸载吸头，返回结果字符串
        /// </summary>
        /// <param name="platformNodeList"></param>
        /// <param name="methodNode">装载方法属性节点对象</param>
        /// <param name="isSimulator">0:连接谁；1：仿真</param>
        /// <returns></returns>
        public bool ExecuteUnloadTips(XmlNodeList platformNodeList, XmlNode methodNode, bool isSimulator)
        {
            bool result = true;

            if (launchView._cancelSource.IsCancellationRequested)
            {
                result = false;
                return result;
            }

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

                #region 数据准备 
                string channelNums = methodNode.SelectSingleNode("channels").InnerText;
                string armName = methodNode.SelectSingleNode("arm/text").InnerText;
                string armId = methodNode.SelectSingleNode("arm/value").InnerText;
                string latticeid = methodNode.SelectSingleNode("position/value").InnerText;
                string latticenum = methodNode.SelectSingleNode("position/text").InnerText;
                bool isputToSource = methodNode.SelectSingleNode("isputToSource").InnerText.ToLower() == "true" ? true : false;
                #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!");
                    }
                    if (launchView.isRemotingOper)
                    {
                        launchView.OnError?.Invoke(launchView.remoteObjectCmd, "EC-1019", 5, Properties.MachineRunResource.strWithoutChannel, 2);
                    }
                    result = false;
                    return result;
                }
                #endregion

                DataTable dt = null;
                List<TipsTable> dtTipBase = new List<TipsTable>();
                Lattice lattice = new Lattice();
                TabletopTemplate tabletopTemplate = TabletopTemplateDB.GetCurrentAppTabletopTemplateCollectionFromdb();  //增加台面模板判断
                if (tabletopTemplate == null)
                {
                    lattice = LatticeDB.GetLatticeDataByIdFromdb(latticenum, Convert.ToInt32(armId), Shared.SoftwareInformation.software_device_number); // 卸载位
                }
                else
                {
                    string armid = methodNode.SelectSingleNode("arm/value").InnerText;
                    lattice = LatticeDB.GetLatticeDataByLatticeNumAndTempIdFromdb(latticenum, Convert.ToInt32(armid), Shared.SoftwareInformation.software_device_number, tabletopTemplate.tabletopid);
                }
                //Lattice lattice = LatticeDB.GetLatticeDataByIdFromdb(latticenum, Convert.ToInt32(armId), Shared.SoftwareInformation.software_device_number); // 卸载位
                if (isputToSource)      // 原孔位放置
                {
                    //查询板位上是否有空闲的耗材孔
                    foreach (XmlNode x in platformNodeList)
                    {
                        if (launchView.currentWellLatticeId != string.Empty)
                        {
                            string a = x.ChildNodes[0].InnerText;

                            
                            int latticeId = 0;
                            if (tabletopTemplate == null)
                            {
                                a = ControlCom.GetLatticeId(Convert.ToInt32(a)).ToString();
                            }
                            else
                            {
                                string latticeNumber = "P" + a;
                                a = LatticeDB.GetLatticeDataByLatticeNumAndTempIdFromdb(latticeNumber, Convert.ToInt32(Shared.DeviceArmList.SingleOrDefault(t => t.arm_type.Equals(1)).device_arm_id), Shared.SoftwareInformation.software_device_number, tabletopTemplate.tabletopid).lattice_id;
                            }
                            
                            if (a == launchView.currentWellLatticeId)
                            {
                                lattice = LatticeDB.GetLatticeDataByIdFromdb(launchView.currentWellLatticeId);

                                if (!string.IsNullOrEmpty(launchView.currentInValidWell))
                                {
                                    XmlNodeList xmlNodeList = x.SelectNodes("labware");
                                    Labware labware = LabwareDB.GetLabware(xmlNodeList[xmlNodeList.Count-1].ChildNodes[0].InnerText);

                                    string t1 = launchView.currentInValidWell;
                                    string p = lattice.lattice_id;
                                    string[] tWells = t1.Split(',');
                                    for (int i = 0; i < tWells.Length; i++)
                                    {
                                        TipsTable t = new TipsTable();
                                        t.labware_id = labware.labware_id;
                                        t.lattice_id = p;
                                        t.wellname = tWells[i];
                                        t.axis_b_X = 0.0f;
                                        t.axis_b_Y = 0.0f;
                                        t.axis_b_Z = 0.0f;
                                        t.well_top_shape = 0;
                                        t.axis_b_r = 0.0f;
                                        t.isUsed = 0;
                                        t.lattice_num = lattice.lattice_num;
                                        dtTipBase.Add(t);
                                    }

                                    List<Lattice> lattices = new List<Lattice>();
                                    lattices.Add(lattice);
                                    dt = ControlCom.GenerateCurrentTablayoutWellCoordinate(labware, lattices);
                                }
                                else
                                {
                                    result = false;
                                    return result;
                                }
                                break;
                            }
                            else
                            {
                                continue;
                            }
                        }
                    }

                    List<TipsTable> dtsTips = new List<TipsTable>();

                    if(dt==null)
                    {
                        result = false;
                        return result;
                    }
                    // dt 转化为实体类对象集合
                    for (int i = 0; i < dt.Rows.Count; i++)
                    {
                        //去除未被选中的孔位（即非可用枪头孔位）
                        var a = dtTipBase.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()));
                        if (a != 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();
                            dtsTips.Add(tipsTable);
                        }
                    }

                    // 通道号
                    string[] strCh = channelNums.Split(',');
                    UnloadTipsMParam unloadTipsMParam = new UnloadTipsMParam();
                    unloadTipsMParam.basezAxisVal = (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisSafeVal"]);

                    TipsTable tipsTableSource = dtsTips.FirstOrDefault(t => t.lattice_num.Equals(lattice.lattice_num));

                    string strWell = launchView.currentInValidWell;
                    unloadTipsMParam.xAxisVal = (float)tipsTableSource.axis_b_X;
                    unloadTipsMParam.yAxisVal = (float)tipsTableSource.axis_b_Y;
                    unloadTipsMParam.zAxisVal = (float)tipsTableSource.axis_b_Z - 10f;
                    unloadTipsMParam.armId = Convert.ToInt32(armId);

                    launchView.SetWaitOne();    // 暂停
                    HxResult ret = unloadTipsBll.ExecuteUnLoadTips(unloadTipsMParam, isSimulator);

                    #region 错误处理
                    result = DoError(platformNodeList, methodNode, isSimulator, ret, tipsTableSource, strWell, latticenum);
                    #endregion
                }
                else//选定垃圾桶板位退枪头
                {
                    if (!string.IsNullOrEmpty(latticenum))
                    {
                        //判断是否是垃圾桶板位
                        if (lattice.is_trash == 1)
                        {
                            if (Shared.ChannelCount == 1)
                            {
                                UnloadTipsMParam unloadTipsMParam = new UnloadTipsMParam();
                                unloadTipsMParam.xAxisVal = (float)lattice.lattice_X+ (float)lattice.lattice_length/2f;
                                unloadTipsMParam.yAxisVal = (float)lattice.lattice_Y + (float)lattice.lattice_width / 2f;
                                unloadTipsMParam.zAxisVal = (float)lattice.lattice_Z - ControlCom.CurrentLengthOfTip - 50 - (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisWasteVal"].ToString());

                                unloadTipsMParam.armId = Convert.ToInt32(methodNode.SelectSingleNode("arm/value").InnerText);
                                unloadTipsMParam.basezAxisVal = (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisSafeVal"]);

                                launchView.SetWaitOne();//暂停
                                HxResult ret = unloadTipsBll.ExecuteUnLoadTips(unloadTipsMParam, isSimulator);
                                
                                #region 错误处理
                                result = DoError(platformNodeList, methodNode, isSimulator, ret, null, string.Empty, latticenum);
                                #endregion
                            }
                            else if (Shared.ChannelCount > 1&&!Shared.ChannelCount.Equals(96))
                            {
                                UnloadTipsMParamSH unloadTipsMParam = new UnloadTipsMParamSH();
                                unloadTipsMParam.yAxisVal = (float)lattice.lattice_Y + 30f;
                                float[] f = new float[channelNums.Split(',').Length];
                                for (int i = 0; i < f.Length; i++)
                                {
                                    f[i] = (float)lattice.lattice_Z-ControlCom.CurrentLengthOfTip-50- (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisWasteVal"].ToString());
                                }

                                unloadTipsMParam.channelCount = f.Length;
                                int[] c = new int[channelNums.Split(',').Length];
                                string[] cn = channelNums.Split(',');
                                for (int j = 0; j < c.Length; j++)
                                {
                                    c[j] = Convert.ToInt32(cn[j]);
                                }

                                unloadTipsMParam.channelId = c;
                                unloadTipsMParam.zAxisVal = f;

                                unloadTipsMParam.yChannelGapVal = 9;
                                unloadTipsMParam.armId = Convert.ToInt32(methodNode.SelectSingleNode("arm/value").InnerText);
                                unloadTipsMParam.basezAxisVal = (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisSafeVal"]);

                                launchView.SetWaitOne();//暂停
                                HxResult ret = unloadTipsBll.ExecuteUnLoadTips(unloadTipsMParam, isSimulator);

                                #region 错误处理
                                result = DoError(platformNodeList, methodNode, isSimulator, ret, null, string.Empty, latticenum);
                                #endregion
                            }
                            else if (Shared.ChannelCount.Equals(96))
                            {
                                UnloadTipsMParam unloadTipsMParam = new UnloadTipsMParam();
                                unloadTipsMParam.xAxisVal = (float)lattice.lattice_X;
                                unloadTipsMParam.yAxisVal = (float)lattice.lattice_Y+13;
                                unloadTipsMParam.zAxisVal = (float)lattice.lattice_Z-80;

                                unloadTipsMParam.armId = Convert.ToInt32(methodNode.SelectSingleNode("arm/value").InnerText);
                                unloadTipsMParam.basezAxisVal = (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisSafeVal"]);

                                launchView.SetWaitOne();//暂停
                                HxResult ret = unloadTipsBll.ExecuteUnLoadTips(unloadTipsMParam, isSimulator);

                                #region 错误处理
                                result = DoError(platformNodeList, methodNode, isSimulator, ret, null, string.Empty, latticenum);
                                #endregion
                            }
                        }
                        else
                        {
                            if (strCurrentCulture.Equals("zh-CN"))
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.RunUnloadTipsResource.strUnloadTipTargetWrong);
                            }
                            else
                            {
                                launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】Target lattice isn't trash, please task will stop!");
                            }
                            if (launchView.isRemotingOper)
                            {
                                launchView.OnError?.Invoke(launchView.remoteObjectCmd, "EC-1019", 5, Properties.RunUnloadTipsResource.strWithoutLattice, 2);
                            }
                            result = false;
                            return result;
                        }
                    }
                    else
                    {
                        result = ExecuteUnloadTipsInToTrash(platformNodeList, methodNode, isSimulator);
                    }
                }
            }
            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 + ";");
                }
                if (launchView.isRemotingOper)
                {
                    launchView.OnError?.Invoke(launchView.remoteObjectCmd, "EC-1001", 5, "error:source:" + ex.Source + ";error:" + ex.Message + ";", 2);
                }
                result = false;
            }


            return result;
        }

        private bool DoError(XmlNodeList labwareNode, XmlNode methodNode, bool isSimulator, HxResult ret, TipsTable tipsTableSource, string strWell, string latticenum)
        {
            bool result = true;

            if (ret.Result != ResultType.Success)
            {
                #region 错误处理
                OperateDialog plsConfirmOper = null;
                if (!launchView.isRemotingOper)
                {
                    System.Windows.Application.Current.Dispatcher.Invoke(new Action(() =>
                    {
                        plsConfirmOper = new OperateDialog(strCurrentCulture.Equals("zh-CN") ? Properties.RunUnloadTipsResource.strFailWhatToDo : "unloadtips are fail! What do you want to do?");
                        plsConfirmOper.ShowDialog();
                    }));
                }
                else
                {
                    launchView.OnError?.Invoke(launchView.remoteObjectCmd, "EC-1043", 5, Properties.RunUnloadTipsResource.strFailWhatToDo, 2);
                    plsConfirmOper = new OperateDialog(strCurrentCulture.Equals("zh-CN") ? Properties.RunUnloadTipsResource.strFailWhatToDo : "unloadtips are fail! What do you want to do?");
                    plsConfirmOper.ShowDialog();
                }

                if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Retry)           // 重试
                {
                    result = ExecuteUnloadTips(labwareNode, 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.RunUnloadTipsResource.strUnLoadTipWasStopped);
                    }
                    else
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress:unload tip was stopped!");
                    }
                    if (launchView.isRemotingOper)
                    {
                        launchView.OnError?.Invoke(launchView.remoteObjectCmd, "EC-1044", 5, Properties.RunUnloadTipsResource.strUnLoadTipWasStopped, 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.RunUnloadTipsResource.strUnLoadTipWasSkipped);
                    }
                    else
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress:unload tip was skipped!");
                    }
                }
                #endregion
            }
            else
            {
                if (tipsTableSource != null)
                {
                    launchView.UpdateLabwaretipsPutIntoSrc(tipsTableSource, strWell);
                }
                launchView.currentIsLoadingTips = false;
                ControlCom.CurrentLengthOfTip = 0f;
                if (strCurrentCulture.Equals("zh-CN"))
                {
                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strProgress + Properties.RunUnloadTipsResource.strUnloadTipSuccess + "卸载到板位 " + latticenum);
                }
                else
                {
                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】progress:unload tips are success from " + latticenum + " lattice!");
                }
            }

            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;");
            }

            return result;
        }
        #endregion

        #region 执行卸载吸头到垃圾桶板位，返回结果字符串
        /// <summary>
        /// 执行卸载吸头到垃圾桶板位，返回结果字符串
        /// </summary>
        /// <param name="platformNodeList"></param>
        /// <param name="methodNode">装载方法属性节点对象</param>
        /// <param name="isSimulator">0:连接谁；1：仿真</param>
        /// <returns></returns>
        public bool ExecuteUnloadTipsInToTrash(XmlNodeList platformNodeList, XmlNode methodNode, bool isSimulator)
        {
            bool result = true;
            try
            {
                if (launchView._cancelSource.IsCancellationRequested)
                {
                    result = false;
                    return result;
                }

                if (strCurrentCulture.Equals("zh-CN"))
                {
                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【卸载枪头】" + Properties.MachineRunResource.strStart.ToString());
                }
                else
                {
                    launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【unloadtip method】start:");
                }

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

                #region 数据验证
                if (channelNums == "")
                {
                    //MethodMsg methodMsg = new MethodMsg(Guid.NewGuid().ToString(), "ID202_Choice_machine", 5, "", "ExecuteUnloadTipsInToTrash", "1019",
                    //                                    "卸载枪头方法未指定卸载的通道，卸载枪头方法终止运行。", 6, 0);
                    //if (socketTcpClientToRemote != null)
                    //{
                    //    socketTcpClientToRemote.sendmessageError(socketTcpClientToRemote.CreateSendMsgContent(methodMsg, false), launchView.isRemotingOper);
                    //}
                    if (strCurrentCulture.Equals("zh-CN"))
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler:【卸载枪头】" + Properties.MachineRunResource.strWithoutChannel.ToString());
                    }
                    else
                    {
                        launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler:Channel wasn't set, please check!");
                    }
                    if (launchView.isRemotingOper)
                    {
                        launchView.OnError?.Invoke(launchView.remoteObjectCmd, "EC-1019", 5, Properties.MachineRunResource.strWithoutChannel, 2);
                    }
                    result = false;
                    return result;
                }
                #endregion

                List<Lattice> lattice = LatticeDB.GetTrashLatticeDataByIdFromdb(armId, Shared.SoftwareInformation.software_device_number);       // 获取当前垃圾桶台面板位信息

                Random random = new Random();
                int i = random.Next(0, lattice.Count);

                launchView.SetWaitOne();//暂停
                if (Shared.ChannelCount == 1)
                {
                    UnloadTipsMParam unloadTipsMParam = new UnloadTipsMParam();
                    //unloadTipsMParam.xAxisVal = (float)lattice[i].lattice_X;
                    //unloadTipsMParam.yAxisVal = (float)lattice[i].lattice_Y;
                    //unloadTipsMParam.zAxisVal = (float)lattice[i].lattice_Z;
                    unloadTipsMParam.xAxisVal = (float)lattice[i].lattice_X + ((float)lattice[i].lattice_length / (float)2f);
                    unloadTipsMParam.yAxisVal = (float)lattice[i].lattice_Y + ((float)lattice[i].lattice_width / (float)2f);
                    unloadTipsMParam.zAxisVal = (float)lattice[i].lattice_Z - ControlCom.CurrentLengthOfTip - 50 - (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisWasteVal"].ToString());


                    unloadTipsMParam.armId = Convert.ToInt32(armId);
                    unloadTipsMParam.basezAxisVal = (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisSafeVal"]);

                    launchView.SetWaitOne();//暂停
                    HxResult ret = unloadTipsBll.ExecuteUnLoadTips(unloadTipsMParam, isSimulator);

                    #region 错误处理
                    result = DoError(platformNodeList, methodNode, isSimulator, ret, null, string.Empty, lattice[i].lattice_num);
                    #endregion
                }
                else if(Shared.ChannelCount > 1)
                {
                    UnloadTipsMParamSH unloadTipsMParam = new UnloadTipsMParamSH();
                    unloadTipsMParam.xAxisVal = (float)lattice[i].lattice_X;
                    unloadTipsMParam.yAxisVal = (float)lattice[i].lattice_Y;

                    float[] f = new float[channelNums.Split(',').Length];
                    for (int j = 0; j < f.Length; j++)
                    {
                        f[j] = (float)lattice[i].lattice_Z - ControlCom.CurrentLengthOfTip - 50- (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisWasteVal"].ToString());
                    }

                    unloadTipsMParam.channelCount = f.Length;
                    int[] c = new int[channelNums.Split(',').Length];
                    string[] cn = channelNums.Split(',');
                    for (int j = 0; j < c.Length; j++)
                    {
                        c[j] = Convert.ToInt32(cn[j]);
                    }

                    unloadTipsMParam.channelId = c;
                    unloadTipsMParam.zAxisVal = f;

                    unloadTipsMParam.armId = Convert.ToInt32(armId);
                    unloadTipsMParam.basezAxisVal = (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisSafeVal"]);
                    unloadTipsMParam.yChannelGapVal = (float)9f;

                    launchView.SetWaitOne();//暂停
                    HxResult ret = unloadTipsBll.ExecuteUnLoadTips(unloadTipsMParam, isSimulator);

                    #region 错误处理
                    result = DoError(platformNodeList, methodNode, isSimulator, ret, null, string.Empty, lattice[i].lattice_num);
                    #endregion
                }
            }
            catch (Exception ex)
            {
                LoggerHelper.ErrorLog("ERROR:", ex);
                result = false;
            }

            return result;
        }
        #endregion

        #region 控制面板用
        /// <summary>
        /// 卸载枪头
        /// </summary>
        /// <returns></returns>
        public string UnLoadTip(string armValue="0")
        {
            string strMsg = string.Empty;
            string currentArmValue = string.Empty;

            // 获取当前垃圾桶台面板位信息
            List<Lattice> lattice = new List<Lattice>();
            if (armValue != "0" || armValue != Shared.ChanelArmId.ToString())
            {
                currentArmValue = armValue;
                lattice = LatticeDB.GetTrashLatticeDataByIdFromdb(armValue, Shared.SoftwareInformation.software_device_number);
            }
            else
            {
                currentArmValue = Shared.ChanelArmId.ToString();
                lattice = LatticeDB.GetTrashLatticeDataByIdFromdb(Shared.ChanelArmId.ToString(), Shared.SoftwareInformation.software_device_number);
            }
            Random random = new Random();
            int index = random.Next(0, lattice.Count);
            HxResult ret = new HxResult();

            if (Shared.ChannelCount == 1)
            {
                UnloadTipsMParam unloadTipsMParam = new UnloadTipsMParam();
                if (Shared.SoftwareInformation.software_device_number == DeviceCategory.DeviceHXFX)
                {
                    unloadTipsMParam.xAxisVal = (float)lattice[index].lattice_X + (float)lattice[index].lattice_length / 2f;
                    unloadTipsMParam.yAxisVal = (float)lattice[index].lattice_Y + (float)lattice[index].lattice_length / 2f;
                }
                else
                {
                    unloadTipsMParam.xAxisVal = (float)lattice[index].lattice_X;
                    unloadTipsMParam.yAxisVal = (float)lattice[index].lattice_Y + 30f;
                }
                unloadTipsMParam.zAxisVal = (float)lattice[index].lattice_Z - ControlCom.CurrentLengthOfTip - 50 - (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisWasteVal"].ToString());

                unloadTipsMParam.armId = Convert.ToInt32(currentArmValue);//Shared.ChanelArmId;
                unloadTipsMParam.basezAxisVal = (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisSafeVal"]);
                ret = unloadTipsBll.ExecuteUnLoadTips(unloadTipsMParam, false);
            }
            else if (Shared.ChannelCount > 1)
            {
                UnloadTipsMParamSH unloadTipsMParam = new UnloadTipsMParamSH();
                unloadTipsMParam.yAxisVal = (float)lattice[index].lattice_Y + 30f;
                float[] f = new float[Shared.ChannelsId.Length];
                for (int i = 0; i < f.Length; i++)
                {
                    f[i] = (float)lattice[index].lattice_Z - ControlCom.CurrentLengthOfTip - 50-(float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisWasteVal"].ToString());
                }

                unloadTipsMParam.channelCount = f.Length;
                unloadTipsMParam.channelId = Shared.ChannelsId;
                unloadTipsMParam.zAxisVal = f;
                unloadTipsMParam.yChannelGapVal = 9;
                unloadTipsMParam.armId = Convert.ToInt32(currentArmValue);// Shared.ChanelArmId;
                unloadTipsMParam.basezAxisVal = (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisSafeVal"]);

                ret = unloadTipsBll.ExecuteUnLoadTips(unloadTipsMParam, false);
            }

            if (ret.Result != ResultType.Success)
            {
                strMsg = string.Format("卸载Tip失败：{0}", ret.AlarmInfo);
            }

            return strMsg;
        }

        #endregion

        #region 控制面板用
        /// <summary>
        /// 卸载所有臂通道枪头
        /// </summary>
        /// <returns></returns>
        public string UnLoadTipFromAllArm()
        {
            string strMsg = string.Empty;
            List<DeviceArm> deviceArmList = DeviceArmDB.GetDeviceArmFromdb(Shared.SoftwareInformation.software_information_id);
            Shared.DeviceArmList = deviceArmList;
            List<DeviceArm> deviceArmArray= Shared.DeviceArmList.Where(x => x.software_information_id.Equals(Shared.SoftwareInformation.software_information_id) && x.arm_type.Equals(1)).ToList();
            foreach (DeviceArm decArm in deviceArmArray)
            {
                DeviceArm deviceArm = decArm;

                // 获取当前垃圾桶台面板位信息
                List<Lattice> lattice = LatticeDB.GetTrashLatticeDataByIdFromdb(deviceArm.device_arm_id.ToString(), Shared.SoftwareInformation.software_device_number);
                Random random = new Random();
                int index = random.Next(0, lattice.Count);
                HxResult ret = new HxResult();

                if (deviceArm.channels == 1)
                {
                    UnloadTipsMParam unloadTipsMParam = new UnloadTipsMParam();
                    unloadTipsMParam.xAxisVal = (float)lattice[index].lattice_X;
                    unloadTipsMParam.yAxisVal = (float)lattice[index].lattice_Y + 30f;
                    unloadTipsMParam.zAxisVal = (float)lattice[index].lattice_Z - ControlCom.CurrentLengthOfTip - 50 - (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisWasteVal"].ToString());

                    unloadTipsMParam.armId = deviceArm.device_arm_id;
                    unloadTipsMParam.basezAxisVal = (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisSafeVal"]);
                    ret = unloadTipsBll.ExecuteUnLoadTips(unloadTipsMParam, false);
                }
                else if (deviceArm.channels > 1)
                {
                    UnloadTipsMParamSH unloadTipsMParam = new UnloadTipsMParamSH();
                    unloadTipsMParam.yAxisVal = (float)lattice[index].lattice_X;
                    unloadTipsMParam.yAxisVal = (float)lattice[index].lattice_Y + 30f;

                    if (deviceArm.device_arm_property == "")
                    {
                        continue;
                    }
                    string[] strChannels = deviceArm.device_arm_property.Trim().Split(',');
                    int[] iChannels = new int[strChannels.Length];
                    for (int j = 0; j < strChannels.Length; j++)
                    {
                        iChannels[j] = Convert.ToInt32(strChannels[j]);
                    }

                    float[] f = new float[iChannels.Length];
                    for (int i = 0; i < f.Length; i++)
                    {
                        f[i] = (float)lattice[index].lattice_Z - ControlCom.CurrentLengthOfTip - 50 - (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisWasteVal"].ToString());
                    }

                    unloadTipsMParam.channelCount = f.Length;
                    unloadTipsMParam.channelId = iChannels;
                    unloadTipsMParam.zAxisVal = f;
                    unloadTipsMParam.yChannelGapVal = 9;
                    unloadTipsMParam.armId = deviceArm.device_arm_id;
                    unloadTipsMParam.basezAxisVal = (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisSafeVal"]);

                    ret = unloadTipsBll.ExecuteUnLoadTips(unloadTipsMParam, false);
                }

                if (ret.Result != ResultType.Success)
                {
                    strMsg = string.Format("卸载Tip失败：{0}", ret.AlarmInfo);
                    break;
                }
            }

            return strMsg;
        }

        #endregion
    }
}