TeamAAS-VP-HeShuo/TeamAAS-VM/Views/Product/RobotPointParams.xaml

<UserControl x:Class="TeamAAS_VP.Views.Product.RobotPointParams"
             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
             xmlns:prism="http://prismlibrary.com/"
             xmlns:materialDesign="http://materialdesigninxaml.net/winfx/xaml/themes"
             xmlns:b="http://schemas.microsoft.com/xaml/behaviors"
             xmlns:sys="clr-namespace:System;assembly=mscorlib"
             xmlns:mah="http://metro.mahapps.com/winfx/xaml/controls"
             xmlns:enums="clr-namespace:TeamAAS_VP.Enums"
             xmlns:uControl="clr-namespace:TeamAAS_VP.Controls"
             xmlns:convert="clr-namespace:TeamAAS_VP.ValueConverter"
             xmlns:local="clr-namespace:TeamAAS_VP.Views.Product"
             xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
             xmlns:vm="clr-namespace:TeamAAS_VP.ViewModels.Product"
             xmlns:ext="clr-namespace:TeamAAS_VP.Extension"
             xmlns:lex="http://wpflocalizeextension.codeplex.com"
             lex:LocalizeDictionary.DesignCulture="zh-CN"
             lex:ResxLocalizationProvider.DefaultAssembly="TeamAAS-VP"
             lex:ResxLocalizationProvider.DefaultDictionary="Lang"
             prism:ViewModelLocator.AutoWireViewModel="True"
             mc:Ignorable="d"
             d:DataContext="{d:DesignInstance Type=vm:RobotPointParamsViewModel}"
             d:Height="600"
             d:Width="1024"
             d:Background="White"
             FontFamily="{DynamicResource DefaultFont}">

    <b:Interaction.Triggers>
        <b:EventTrigger EventName="Loaded">
            <b:InvokeCommandAction Command="{Binding LoadedCommand}" />
        </b:EventTrigger>
    </b:Interaction.Triggers>

    <UserControl.Resources>
        <ObjectDataProvider x:Key="eRobotHand"
                            MethodName="GetValues"
                            ObjectType="{x:Type sys:Enum}">
            <ObjectDataProvider.MethodParameters>
                <x:Type TypeName="enums:RobotHand" />
            </ObjectDataProvider.MethodParameters>
        </ObjectDataProvider>
        <ObjectDataProvider x:Key="eMotionCommand"
                            MethodName="GetValues"
                            ObjectType="{x:Type sys:Enum}">
            <ObjectDataProvider.MethodParameters>
                <x:Type TypeName="enums:MotionCommand" />
            </ObjectDataProvider.MethodParameters>
        </ObjectDataProvider>
        <convert:JogConverter x:Key="JogConverter" />
        <convert:MultiParameterConverter x:Key="MultiParameterConverter" />
        <convert:RobotConverter x:Key="RobotConverter" />
    </UserControl.Resources>

    <Grid>
        <Grid.RowDefinitions>
            <RowDefinition Height="auto" />
            <RowDefinition Height="*" />
            <RowDefinition Height="auto" />
        </Grid.RowDefinitions>
        <Button Grid.Row="0"
                Content="{materialDesign:PackIcon Kind=ArrowLeftCircle}"
                Width="50"
                HorizontalAlignment="Left"
                VerticalAlignment="Top"
                ToolTip="{lex:Loc 返回}"
                Style="{StaticResource MaterialDesignIconButton}"
                Command="{Binding BackCommand}" />
        <StackPanel Grid.Row="0"
                    Orientation="Horizontal"
                    Margin="50,0"
                    VerticalAlignment="Center">
            <materialDesign:PackIcon Kind="CubeOutline"
                                     Width="30"
                                     Height="30" />
            <TextBlock Text="{Binding SelectProduct.Name}"
                       VerticalAlignment="Center" />
            <TextBlock Text="{lex:Loc 机器人点位,Converter={StaticResource StringFormatConverter},ConverterParameter=' - {0}'}"
                       VerticalAlignment="Center" />
        </StackPanel>
        <Border BorderThickness="1,1,1,1"
                VerticalAlignment="Bottom"
                Height="1">
            <Border.BorderBrush>
                <VisualBrush>
                    <VisualBrush.Visual>
                        <Rectangle StrokeDashArray="4 4"
                                   Stroke="LightGray"
                                   StrokeThickness="1"
                                   Width="{Binding RelativeSource={RelativeSource AncestorType={x:Type Border}}, Path=ActualWidth}"
                                   Height="{Binding RelativeSource={RelativeSource AncestorType={x:Type Border}}, Path=ActualHeight}" />
                    </VisualBrush.Visual>
                </VisualBrush>
            </Border.BorderBrush>
        </Border>

        <materialDesign:DrawerHost Grid.Row="1"
                                   OpenMode="Modal"
                                   x:Name="DrawerHost"
                                   IsEnabled="{Binding IsAllowEdit}">
            <materialDesign:DrawerHost.RightDrawerContent>
                <local:TestProductPage Visibility="{Binding IsHaveRobot,Converter={StaticResource BooleanToVisibilityConverter}}" />
            </materialDesign:DrawerHost.RightDrawerContent>
            <Grid>
                <Grid.ColumnDefinitions>
                    <ColumnDefinition Width="auto" />
                    <ColumnDefinition Width="*" />
                </Grid.ColumnDefinitions>
                <Expander Grid.Column="0"
                          ExpandDirection="Right"
                          Background="Transparent">
                    <Expander.Header>
                        <TextBlock RenderTransformOrigin=".5,.5"
                                   Text="Navigation Description">
                            <TextBlock.LayoutTransform>
                                <RotateTransform Angle="90" />
                            </TextBlock.LayoutTransform>
                        </TextBlock>
                    </Expander.Header>
                    <ScrollViewer>
                        <StackPanel Margin="8,24,16,24"
                                    Orientation="Vertical">
                            <Image Source="pack://application:,,,/TeamAAS-VP;component/Resources/Images/9机器人点位.png"
                                   Stretch="Uniform"
                                   Width="350"
                                   HorizontalAlignment="Center"
                                   VerticalAlignment="Top" />
                            <TextBlock Text="{lex:Loc 机器人点位示教}" />
                            <TextBlock Foreground="Gray"
                                       TextWrapping="Wrap"
                                       Text="{lex:Loc 机器人点位示教描述}" />
                        </StackPanel>
                    </ScrollViewer>
                </Expander>
                <Grid Grid.Column="1"
                      IsEnabled="{Binding IsAllowEdit}">
                    <Grid.RowDefinitions>
                        <RowDefinition Height="*" />
                        <RowDefinition Height="auto" />
                    </Grid.RowDefinitions>
                    <Grid.ColumnDefinitions>
                        <ColumnDefinition Width="*" />
                        <ColumnDefinition Width="auto" />
                    </Grid.ColumnDefinitions>
                    <DataGrid AutoGenerateColumns="False"
                              CanUserAddRows="False"
                              ColumnWidth="*"
                              SelectionUnit="FullRow"
                              SelectionMode="Single"
                              SelectedIndex="{Binding SelectPointIndex}"
                              SelectedItem="{Binding SelectPoint}"
                              ItemsSource="{Binding SelectProduct.RobotPoint.Points}"
                              HeadersVisibility="All">
                        <DataGrid.Resources>
                            <Style TargetType="DataGridCell">
                                <Style.Resources>
                                    <SolidColorBrush  x:Key="{x:Static SystemColors.InactiveSelectionHighlightBrushKey}"
                                                      Color="#0078D7" />
                                </Style.Resources>
                                <Setter Property="MinHeight"
                                        Value="25" />
                                <Setter Property="VerticalContentAlignment"
                                        Value="Center" />
                                <Setter Property="HorizontalContentAlignment"
                                        Value="Center" />
                                <Setter Property="VerticalAlignment"
                                        Value="Center" />
                                <Style.Triggers>
                                    <Trigger Property="IsSelected"
                                             Value="True">
                                        <Setter Property="Foreground"
                                                Value="White" />
                                    </Trigger>
                                </Style.Triggers>
                            </Style>
                        </DataGrid.Resources>
                        <DataGrid.Columns>
                            <DataGridTextColumn Header="{lex:Loc 编号}"
                                                IsReadOnly="True"
                                                Binding="{Binding Number, Mode=TwoWay, StringFormat={}{0:F0}}">
                            </DataGridTextColumn>
                            <DataGridTextColumn Header="{lex:Loc 标签}"
                                                Binding="{Binding Description, Mode=TwoWay}" />
                            <DataGridTextColumn Header="X"
                                                Binding="{Binding X, Mode=TwoWay, StringFormat={}{0:F3}}" />
                            <DataGridTextColumn Header="Y"
                                                Binding="{Binding Y, Mode=TwoWay, StringFormat={}{0:F3}}" />
                            <DataGridTextColumn Header="Z"
                                                Binding="{Binding Z, Mode=TwoWay, StringFormat={}{0:F3}}" />
                            <DataGridTextColumn Header="U"
                                                Binding="{Binding U, Mode=TwoWay, StringFormat={}{0:F3}}" />
                            <DataGridTextColumn Header="V"
                                                Binding="{Binding V, Mode=TwoWay, StringFormat={}{0:F3}}" />
                            <DataGridTextColumn Header="W"
                                                Binding="{Binding W, Mode=TwoWay, StringFormat={}{0:F3}}" />
                            <materialDesign:DataGridComboBoxColumn Width="100"
                                                                   Header="Hand"
                                                                   IsEditable="True"
                                                                   ItemsSourceBinding="{Binding Source={StaticResource eRobotHand}}"
                                                                   SelectedValueBinding="{Binding Hand}">
                            </materialDesign:DataGridComboBoxColumn>
                            <DataGridTextColumn Header="Local"
                                                Binding="{Binding Local, Mode=TwoWay, StringFormat={}{0:F0}}" />
                            <DataGridTextColumn Header="Tool"
                                                Binding="{Binding Tool, Mode=TwoWay, StringFormat={}{0:F0}}" />
                            <DataGridTextColumn Header="Robot">
                                <DataGridTextColumn.Binding>
                                    <MultiBinding Converter="{StaticResource RobotConverter}"
                                                  Mode="TwoWay">
                                        <Binding Path="RobotId" />
                                        <Binding Path="DataContext.Robots"
                                                 RelativeSource="{RelativeSource AncestorType=UserControl}" />
                                    </MultiBinding>
                                </DataGridTextColumn.Binding>
                            </DataGridTextColumn>
                        </DataGrid.Columns>
                    </DataGrid>
                    <StackPanel Grid.Row="1"
                                Orientation="Vertical">
                        <StackPanel Orientation="Horizontal">
                            <Button Content="{lex:Loc 增加}"
                                    Margin="10"
                                    Command="{Binding AddPointCommand}" />
                            <Button Content="{lex:Loc 移除}"
                                    Command="{Binding RemovePointCommand}" />
                            <Button Content="{lex:Loc 托盘}"
                                    Margin="10"
                                    Command="{Binding GoPalletCommand}" />
                        </StackPanel>
                    </StackPanel>

                    <GridSplitter Grid.Column="0"
                                  Grid.Row="0"
                                  Grid.RowSpan="2"
                                  Width="2"
                                  Background="DeepSkyBlue"
                                  VerticalAlignment="Stretch"
                                  HorizontalAlignment="Right" />

                    <Viewbox Grid.Column="1"
                             Grid.RowSpan="2">
                        <Grid>
                            <Grid.RowDefinitions>
                                <RowDefinition Height="auto" />
                                <RowDefinition Height="*" />
                            </Grid.RowDefinitions>
                            <StackPanel Orientation="Horizontal"
                                        Grid.Row="0">
                                <ComboBox MinWidth="100"
                                          Margin="10,0"
                                          materialDesign:HintAssist.Hint="{lex:Loc 选择机器人}"
                                          materialDesign:HintAssist.HelperText="{lex:Loc 选择机器人}"
                                          HorizontalAlignment="Left"
                                          ItemsSource="{Binding Robots}"
                                          SelectedItem="{Binding SelectRobotInfo}">
                                    <ComboBox.ItemTemplate>
                                        <DataTemplate>
                                            <StackPanel Orientation="Horizontal">
                                                <materialDesign:PackIcon Kind="RobotIndustrialOutline" />
                                                <TextBlock Text="{Binding RobotName}" />
                                            </StackPanel>
                                        </DataTemplate>
                                    </ComboBox.ItemTemplate>
                                </ComboBox>

                                <ComboBox materialDesign:HintAssist.Hint="{lex:Loc 选择Tool}"
                                          materialDesign:HintAssist.HelperText="{lex:Loc 选择Tool}"
                                          SelectedItem="{Binding SelectTool,Mode=TwoWay}"
                                          ItemsSource="{Binding Tools}" />
                            </StackPanel>

                            <Grid Grid.Row="1">
                                <Grid.ColumnDefinitions>
                                    <ColumnDefinition Width="auto" />
                                    <ColumnDefinition Width="auto" />
                                </Grid.ColumnDefinitions>
                                <Grid Grid.Column="0"
                                      VerticalAlignment="Center">
                                    <Grid.RowDefinitions>
                                        <RowDefinition Height="auto" />
                                        <RowDefinition Height="auto" />
                                        <RowDefinition Height="auto" />
                                        <RowDefinition Height="auto" />
                                        <RowDefinition Height="auto" />
                                    </Grid.RowDefinitions>
                                    <Button Content="{lex:Loc 上使能}"
                                            Grid.Row="0"
                                            materialDesign:ButtonAssist.CornerRadius="10"
                                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                            Command="{Binding MotorCommand}"
                                            CommandParameter="True" />
                                    <Button Content="{lex:Loc 下使能}"
                                            Grid.Row="1"
                                            Margin="0,10,0,10"
                                            materialDesign:ButtonAssist.CornerRadius="10"
                                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                            Command="{Binding MotorCommand}"
                                            CommandParameter="False" />
                                    <Button Content="{lex:Loc 复位错误}"
                                            Grid.Row="2"
                                            materialDesign:ButtonAssist.CornerRadius="10"
                                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                            Command="{Binding ResetCommand}" />
                                    <Button Content="{lex:Loc 释放刹车}"
                                            Grid.Row="3"
                                            Margin="0,10,0,10"
                                            materialDesign:ButtonAssist.CornerRadius="10"
                                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                            Command="{Binding sFreeCommand}" />
                                    <Button Content="{lex:Loc 锁定刹车}"
                                            Grid.Row="4"
                                            materialDesign:ButtonAssist.CornerRadius="10"
                                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                            Command="{Binding SLockCommand}" />
                                </Grid>
                                <Grid Grid.Column="1">
                                    <Grid.ColumnDefinitions>
                                        <ColumnDefinition Width="auto" />
                                        <ColumnDefinition Width="auto" />
                                        <ColumnDefinition Width="auto" />
                                        <ColumnDefinition Width="auto" />
                                        <ColumnDefinition Width="auto" />
                                        <ColumnDefinition Width="auto" />
                                    </Grid.ColumnDefinitions>
                                    <Grid.RowDefinitions>
                                        <RowDefinition Height="auto" />
                                        <RowDefinition Height="auto" />
                                        <RowDefinition Height="auto" />
                                        <RowDefinition Height="auto" />
                                        <RowDefinition Height="auto" />
                                        <RowDefinition Height="auto" />
                                    </Grid.RowDefinitions>

                                    <Button x:Name="btn_x"
                                            Content="X-"
                                            Grid.Row="1"
                                            Grid.Column="0"
                                            Margin="10,10,10,10"
                                            materialDesign:ButtonAssist.CornerRadius="10"
                                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                            Command="{Binding JogCommand}"
                                            CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=X-}" />
                                    <Button Content="X+"
                                            Grid.Row="1"
                                            Grid.Column="2"
                                            Margin="10,10,10,10"
                                            materialDesign:ButtonAssist.CornerRadius="10"
                                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                            Command="{Binding JogCommand}"
                                            CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=X+}" />
                                    <Button Content="Y+"
                                            Grid.Row="0"
                                            Grid.Column="1"
                                            Margin="10,10,10,10"
                                            materialDesign:ButtonAssist.CornerRadius="10"
                                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                            Command="{Binding JogCommand}"
                                            CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=Y+}" />
                                    <Button Content="Y-"
                                            Grid.Row="2"
                                            Grid.Column="1"
                                            Margin="10,10,10,10"
                                            materialDesign:ButtonAssist.CornerRadius="10"
                                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                            Command="{Binding JogCommand}"
                                            CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=Y-}" />
                                    <Button Content="Z+"
                                            Grid.Row="0"
                                            Grid.Column="3"
                                            Margin="10,10,10,10"
                                            materialDesign:ButtonAssist.CornerRadius="10"
                                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                            Command="{Binding JogCommand}"
                                            CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=Z+}" />
                                    <Button Content="Z-"
                                            Grid.Row="2"
                                            Grid.Column="3"
                                            Margin="10,10,10,10"
                                            materialDesign:ButtonAssist.CornerRadius="10"
                                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                            Command="{Binding JogCommand}"
                                            CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=Z-}" />
                                    <Button Content="U+"
                                            Grid.Row="3"
                                            Grid.Column="0"
                                            Margin="10,10,10,10"
                                            materialDesign:ButtonAssist.CornerRadius="10"
                                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                            Command="{Binding JogCommand}"
                                            CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=U+}" />
                                    <Button Content="U-"
                                            Grid.Row="4"
                                            Grid.Column="0"
                                            Margin="10,10,10,10"
                                            materialDesign:ButtonAssist.CornerRadius="10"
                                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                            Command="{Binding JogCommand}"
                                            CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=U-}" />
                                    <Button Content="V+"
                                            Grid.Row="3"
                                            Grid.Column="1"
                                            Grid.ColumnSpan="2"
                                            Width="{Binding ElementName=btn_x,Path=Width}"
                                            Margin="10,10,10,10"
                                            materialDesign:ButtonAssist.CornerRadius="10"
                                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                            Command="{Binding JogCommand}"
                                            CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=V+}" />
                                    <Button Content="V-"
                                            Grid.Row="4"
                                            Grid.Column="1"
                                            Grid.ColumnSpan="2"
                                            Width="{Binding ElementName=btn_x,Path=Width}"
                                            Margin="10,10,10,10"
                                            materialDesign:ButtonAssist.CornerRadius="10"
                                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                            Command="{Binding JogCommand}"
                                            CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=V-}" />
                                    <Button Content="W+"
                                            Grid.Row="3"
                                            Grid.Column="3"
                                            Margin="10,10,10,10"
                                            materialDesign:ButtonAssist.CornerRadius="10"
                                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                            Command="{Binding JogCommand}"
                                            CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=W+}" />
                                    <Button Content="W-"
                                            Grid.Row="4"
                                            Grid.Column="3"
                                            Margin="10,10,10,10"
                                            materialDesign:ButtonAssist.CornerRadius="10"
                                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                            Command="{Binding JogCommand}"
                                            CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=W-}" />
                                    <Grid Grid.Row="5"
                                          Grid.ColumnSpan="7"
                                          Margin="10">
                                        <Grid.RowDefinitions>
                                            <RowDefinition Height="auto" />
                                            <RowDefinition Height="auto" />
                                            <RowDefinition Height="auto" />
                                            <RowDefinition Height="auto" />
                                        </Grid.RowDefinitions>
                                        <Grid.ColumnDefinitions>
                                            <ColumnDefinition Width="auto" />
                                            <ColumnDefinition Width="auto" />
                                            <ColumnDefinition Width="auto" />
                                        </Grid.ColumnDefinitions>
                                        <TextBlock Grid.Row="0"
                                                   Grid.Column="0"
                                                   Text="{lex:Loc 步进距离,Converter={StaticResource StringFormatConverter},ConverterParameter='{}{0}: '}"
                                                   Margin="10"
                                                   VerticalAlignment="Center"
                                                   HorizontalAlignment="Right" />
                                        <uControl:myNumericUpDowm x:Name="txtDistance"
                                                                  Grid.Row="0"
                                                                  Grid.Column="1"
                                                                  MinWidth="100"
                                                                  Value="{Binding Distance,Mode=TwoWay}"
                                                                  Interval="0.1"
                                                                  Minimum="0"
                                                                  Maximum="100"
                                                                  StringFormat="{}{0:N3} mm"
                                                                  Margin="10"
                                                                  materialDesign:HintAssist.Hint="{lex:Loc 步进距离}" />

                                        <TextBlock Grid.Row="1"
                                                   Grid.Column="0"
                                                   Text="{lex:Loc 点编号,Converter={StaticResource StringFormatConverter},ConverterParameter='{}{0}: '}"
                                                   Margin="10"
                                                   VerticalAlignment="Center" />
                                        <ComboBox x:Name="cmbSelectPoint"
                                                  Grid.Row="2"
                                                  Grid.Column="0"
                                                  MinWidth="80"
                                                  materialDesign:HintAssist.Hint="{lex:Loc 选择点}"
                                                  Margin="10,5"
                                                  ItemsSource="{Binding SelectProduct.RobotPoint.Points}"
                                                  SelectedItem="{Binding SelectPoint}">
                                            <ComboBox.ItemTemplate>
                                                <DataTemplate>
                                                    <StackPanel HorizontalAlignment="Left"
                                                                Orientation="Horizontal">
                                                        <TextBlock Text="{Binding Number,StringFormat={}{0}:}" />
                                                        <TextBlock Text="{Binding Description}" />
                                                    </StackPanel>
                                                </DataTemplate>
                                            </ComboBox.ItemTemplate>
                                        </ComboBox>

                                        <TextBlock Grid.Row="1"
                                                   Grid.Column="1"
                                                   Text="{lex:Loc 动作指令,Converter={StaticResource StringFormatConverter},ConverterParameter='{}{0}: '}"
                                                   Margin="10"
                                                   VerticalAlignment="Center" />
                                        <ComboBox x:Name="cmbSelectMotioncmd"
                                                  Grid.Row="2"
                                                  Grid.Column="1"
                                                  MinWidth="80"
                                                  Margin="10,5"
                                                  materialDesign:HintAssist.Hint="{lex:Loc 动作指令}"
                                                  ItemsSource="{ext:EnumBindingSource EnumType=enums:MotionCommand}"
                                                  SelectedItem="{Binding SelectMotionCommand}" />

                                        <Button Grid.Row="2"
                                                Grid.Column="2"
                                                Content="{lex:Loc 执行动作}"
                                                Margin="10,5"
                                                Command="{Binding ExecuteMotion}">
                                            <Button.CommandParameter>
                                                <MultiBinding Converter="{StaticResource MultiParameterConverter}">
                                                    <Binding ElementName="cmbSelectPoint"
                                                             Path="SelectedItem" />
                                                    <Binding ElementName="cmbSelectMotioncmd"
                                                             Path="SelectedItem" />
                                                </MultiBinding>
                                            </Button.CommandParameter>
                                        </Button>

                                        <Button Grid.Row="3"
                                                Grid.Column="0"
                                                Content="{lex:Loc 示教}"
                                                Margin="10"
                                                HorizontalAlignment="Right"
                                                Command="{Binding TechPointCommand}"
                                                CommandParameter="{Binding ElementName=cmbSelectPoint,Path=SelectedItem}" />
                                        <ToggleButton Grid.Row="3"
                                                      Grid.Column="2"
                                                      HorizontalAlignment="Right"
                                                      VerticalAlignment="Center"
                                                      Visibility="{Binding IsHaveRobot,Converter={StaticResource BooleanToVisibilityConverter}}"
                                                      materialDesign:ToggleButtonAssist.OnContent="{materialDesign:PackIcon Kind=ArrowRight}"
                                                      Content="{materialDesign:PackIcon Kind=ProgressWrench}"
                                                      Style="{StaticResource MaterialDesignActionToggleButton}"
                                                      ToolTip="{lex:Loc 手动验证流程}"
                                                      Margin="5,0"
                                                      IsChecked="{Binding IsRightDrawerOpen,ElementName=DrawerHost}" />
                                    </Grid>
                                </Grid>
                            </Grid>
                        </Grid>
                    </Viewbox>
                </Grid>
            </Grid>
        </materialDesign:DrawerHost>

        <StackPanel Grid.Row="2"
                    Orientation="Horizontal"
                    HorizontalAlignment="Center"
                    VerticalAlignment="Center"
                    Margin="20">
            <Button Content="{lex:Loc 下一步}"
                    IsEnabled="{Binding IsAllowEdit}"
                    MinWidth="100"
                    HorizontalAlignment="Center"
                    VerticalAlignment="Center"
                    materialDesign:ButtonAssist.CornerRadius="10"
                    Style="{StaticResource MaterialDesignRaisedButton}"
                    Command="{Binding NextCommand}" />
        </StackPanel>
    </Grid>
</UserControl>