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

<UserControl x:Class="TeamAAS_VP.Views.Product.PalletManage"
             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:enums="clr-namespace:TeamAAS_VP.Enums"
             xmlns:uControl="clr-namespace:TeamAAS_VP.Controls"
             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:convert="clr-namespace:TeamAAS_VP.ValueConverter"
             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:PalletManageViewModel}"
             d:Height="600"
             d:Width="1024"
             d:Background="White"
             FontFamily="{DynamicResource DefaultFont}">
    <prism:Dialog.WindowStyle>
        <Style TargetType="Window">
            <Setter Property="prism:Dialog.WindowStartupLocation"
                    Value="CenterScreen" />
            <Setter Property="ShowInTaskbar"
                    Value="True" />
            <Setter Property="WindowState"
                    Value="Maximized" />
            <Setter Property="Topmost"
                    Value="False" />
        </Style>
    </prism:Dialog.WindowStyle>

    <UserControl.Resources>
        <ObjectDataProvider x:Key="eRobotHand"
                            MethodName="GetNames"
                            ObjectType="{x:Type sys:Enum}">
            <ObjectDataProvider.MethodParameters>
                <x:Type TypeName="enums:RobotHand" />
            </ObjectDataProvider.MethodParameters>
        </ObjectDataProvider>
        <convert:JogConverter x:Key="JogConverter" />
        <convert:MultiParameterConverter x:Key="MultiParameterConverter" />
    </UserControl.Resources>
    <materialDesign:DialogHost DialogTheme="Inherit"
                               Identifier="PalletCalculateDialog">
        <Grid>
            <Grid.RowDefinitions>
                <RowDefinition Height="*" />
                <RowDefinition Height="auto" />
            </Grid.RowDefinitions>

            <DockPanel LastChildFill="True">

                <!--列表-->
                <Border DockPanel.Dock="Left"
                        Width="220"
                        Margin="2"
                        BorderBrush="#9e9e9e"
                        BorderThickness="1"
                        CornerRadius="0,10,10,0">
                    <Grid>
                        <Grid.RowDefinitions>
                            <RowDefinition Height="Auto" />
                            <RowDefinition Height="*" />
                        </Grid.RowDefinitions>
                        <!--头部-->
                        <Grid Grid.Row="0">
                            <Grid>
                                <Grid.ColumnDefinitions>
                                    <ColumnDefinition Width="*" />
                                    <ColumnDefinition Width="Auto" />
                                    <ColumnDefinition Width="Auto" />
                                    <ColumnDefinition Width="Auto" />
                                    <ColumnDefinition Width="Auto" />
                                </Grid.ColumnDefinitions>
                                <StackPanel Grid.Column="0"
                                            Margin="10,10,0,0"
                                            Orientation="Horizontal">
                                    <materialDesign:PackIcon Kind="FormatListBulleted"
                                                             VerticalAlignment="Top" />
                                    <TextBlock Text="{lex:Loc 托盘列表}"
                                               Margin="10,0,0,0"
                                               FontSize="12"
                                               VerticalAlignment="Top"
                                               TextAlignment="Center" />
                                </StackPanel>
                                <Button Height="35"
                                        Width="35"
                                        Grid.Column="1"
                                        Style="{StaticResource MaterialDesignIconButton}"
                                        Command="{Binding CreateCommand}">
                                    <StackPanel Orientation="Vertical">
                                        <materialDesign:PackIcon Kind="PlusCircle" />
                                        <TextBlock Text="{lex:Loc 增加}"
                                                   FontSize="8"
                                                   Foreground="Black"
                                                   HorizontalAlignment="Center" />
                                    </StackPanel>
                                </Button>

                                <Button Height="35"
                                        Width="35"
                                        Grid.Column="2"
                                        Style="{StaticResource MaterialDesignIconButton}"
                                        Command="{Binding RemoveCommand}"
                                        CommandParameter="{Binding ElementName=ModelsListBox,Path=SelectedItem}">
                                    <StackPanel Orientation="Vertical">
                                        <materialDesign:PackIcon Kind="DeleteForever" />
                                        <TextBlock Text="{lex:Loc 移除}"
                                                   FontSize="8"
                                                   Foreground="Black"
                                                   HorizontalAlignment="Center" />
                                    </StackPanel>
                                </Button>
                            </Grid>
                        </Grid>
                        <!--托盘列表-->
                        <ListBox x:Name="ModelsListBox"
                                 Grid.Row="1"
                                 Background="Transparent"
                                 ItemsSource="{Binding Pallets}"
                                 SelectedItem="{Binding SelectPallet}"
                                 BorderBrush="White"
                                 BorderThickness="1"
                                 Margin="2,2,2,10">
                            <b:Interaction.Triggers>
                                <b:EventTrigger EventName="SelectionChanged">
                                    <b:InvokeCommandAction Command="{Binding ProductSelectionChangedCommand}"
                                                           CommandParameter="{Binding ElementName=ModelsListBox,Path=SelectedItem}" />
                                </b:EventTrigger>
                            </b:Interaction.Triggers>
                            <ListBox.ItemContainerStyle>
                                <Style TargetType="ListBoxItem">
                                    <Setter Property="Background"
                                            Value="Transparent" />
                                </Style>
                            </ListBox.ItemContainerStyle>
                            <ListBox.ItemTemplate>
                                <DataTemplate>
                                    <Border x:Name="itemBorder"
                                            BorderThickness="1"
                                            CornerRadius="8"
                                            Opacity="1"
                                            BorderBrush="#CCCCCC">
                                        <StackPanel Orientation="Vertical"
                                                    Width="200"
                                                    Margin="5">
                                            <!--标题-->
                                            <StackPanel Orientation="Horizontal">
                                                <materialDesign:PackIcon Kind="TableLarge" />
                                                <TextBlock Text="{Binding Name}"
                                                           FontSize="12"
                                                           FontWeight="Bold"
                                                           Margin="5,1"
                                                           TextWrapping="Wrap"
                                                           VerticalAlignment="Center" />
                                            </StackPanel>
                                            <!--详情-->
                                            <StackPanel Orientation="Horizontal"
                                                        Margin="0,5">
                                                <materialDesign:PackIcon Kind="TableMultiple" />
                                                <TextBlock Text="{Binding Description}"
                                                           FontSize="10"
                                                           Margin="5,1"
                                                           TextWrapping="Wrap" />
                                                <TextBlock FontSize="10"
                                                           TextWrapping="Wrap">
                                                    <TextBlock.Text>
                                                        <MultiBinding StringFormat="{}{0}{1} X {2}">
                                                            <lex:BLoc Key="行X列" />
                                                            <Binding Path="Row" />
                                                            <Binding Path="Column" />
                                                        </MultiBinding>
                                                    </TextBlock.Text>
                                                </TextBlock>
                                            </StackPanel>

                                            <StackPanel.ContextMenu>
                                                <ContextMenu>
                                                    <MenuItem Header="{lex:Loc 新建}"
                                                              Command="{Binding CreateCommand}"
                                                              Icon="{materialDesign:PackIcon Kind=CreateNewFolderOutline}" />
                                                    <MenuItem Header="{lex:Loc 移除}"
                                                              Command="{Binding RemoveCommand}"
                                                              CommandParameter="{Binding ElementName=ModelsListBox,Path=SelectedItem}"
                                                              Icon="{materialDesign:PackIcon Kind=Remove}" />
                                                    <Separator />

                                                    <MenuItem Header="{lex:Loc 复制}"
                                                              Command="{Binding CopyCommand}"
                                                              CommandParameter="{Binding ElementName=ModelsListBox,Path=SelectedItem}"
                                                              Icon="{materialDesign:PackIcon Kind=ContentCopy}" />
                                                    <Separator />
                                                    <MenuItem Header="{lex:Loc 修改名称}"
                                                              Command="{Binding EditNameCommand}"
                                                              CommandParameter="{Binding ElementName=ModelsListBox,Path=SelectedItem}"
                                                              Icon="{materialDesign:PackIcon Kind=ContentCopy}" />
                                                </ContextMenu>
                                            </StackPanel.ContextMenu>
                                        </StackPanel>
                                    </Border>
                                    <DataTemplate.Triggers>
                                        <Trigger SourceName="itemBorder"
                                                 Property="IsMouseOver"
                                                 Value="True">
                                            <Setter TargetName="itemBorder"
                                                    Property="Background"
                                                    Value="#3DB8B8" />
                                        </Trigger>
                                    </DataTemplate.Triggers>
                                </DataTemplate>
                            </ListBox.ItemTemplate>
                            <ListBox.ContextMenu>
                                <ContextMenu>
                                    <MenuItem Header="{lex:Loc 新建}"
                                              Command="{Binding CreateCommand}"
                                              Icon="{materialDesign:PackIcon Kind=CreateNewFolderOutline}" />
                                </ContextMenu>
                            </ListBox.ContextMenu>
                        </ListBox>
                    </Grid>
                </Border>

                <!--内容-->
                <Grid>
                    <Grid.RowDefinitions>
                        <RowDefinition Height="*" />
                        <RowDefinition Height="auto" />
                    </Grid.RowDefinitions>
                    <Grid.ColumnDefinitions>
                        <ColumnDefinition Width="*" />
                        <ColumnDefinition Width="auto" />
                    </Grid.ColumnDefinitions>

                    <!--托盘表格-->
                    <Border Grid.Row="0"
                            Grid.Column="0"
                            Margin="60"
                            BorderThickness="1"
                            BorderBrush="Black">
                        <Grid x:Name="gridPalllet"
                              ShowGridLines="True">
                        </Grid>
                    </Border>
                    <TextBlock Text="{Binding SelectPallet.Name}"
                               VerticalAlignment="Top"
                               HorizontalAlignment="Center"
                               Margin="0,20,0,0" />
                    <TextBox Grid.Row="0"
                             Grid.Column="0"
                             HorizontalAlignment="Center"
                             VerticalAlignment="Bottom"
                             MinWidth="80"
                             materialDesign:HintAssist.Hint="{lex:Loc 列数}"
                             Text="{Binding Column}"
                             TextAlignment="Center"
                             materialDesign:HintAssist.HelperText="{lex:Loc 列数}"
                             Style="{StaticResource MaterialDesignOutlinedTextBox}">
                    </TextBox>
                    <TextBox Grid.Row="0"
                             Grid.Column="0"
                             Margin="50"
                             VerticalAlignment="Center"
                             HorizontalAlignment="Left"
                             MinWidth="80"
                             materialDesign:HintAssist.Hint="{lex:Loc 行数}"
                             Text="{Binding Row}"
                             TextAlignment="Center"
                             materialDesign:HintAssist.HelperText="{lex:Loc 行数}"
                             Style="{StaticResource MaterialDesignOutlinedTextBox}">
                        <TextBox.RenderTransform>
                            <RotateTransform Angle="90" />
                        </TextBox.RenderTransform>
                    </TextBox>
                    <StackPanel Grid.Row="0"
                                Grid.Column="0"
                                Margin="0,0,5,5"
                                Orientation="Horizontal"
                                HorizontalAlignment="Right"
                                VerticalAlignment="Bottom">
                        <TextBlock Text="{lex:Loc 排列方式,Converter={StaticResource StringFormatConverter},ConverterParameter='{}{0}: '}"
                                   VerticalAlignment="Center" />
                        <ComboBox Margin="5,0"
                                  Width="30"
                                  materialDesign:HintAssist.Hint="{lex:Loc 选择排列模式}"
                                  SelectedItem="{Binding Arrangement,Mode=TwoWay}"
                                  ItemsSource="{ext:EnumBindingSource EnumType=enums:PalletArrangement}" />
                        <Button Content="{lex:Loc 保存布局图}"
                                Command="{Binding SavePalletImage}"
                                Margin="0,0,5,0" />
                    </StackPanel>
                    <Button Grid.Row="0"
                            Grid.Column="1"
                            Content="{materialDesign:PackIcon Kind=CalculatorVariant}"
                            Style="{StaticResource MaterialDesignFloatingActionLightButton}"
                            ToolTip="{lex:Loc 托盘计算器}"
                            Margin="10"
                            HorizontalAlignment="Right"
                            VerticalAlignment="Bottom"
                            Command="{Binding CalculatePalletCommand}" />
                    <StackPanel Orientation="Vertical"
                                Grid.Row="1"
                                Grid.Column="0"
                                Grid.ColumnSpan="2">
                        <StackPanel Orientation="Horizontal"
                                    Margin="5"
                                    Visibility="{Binding SelectPallet.Extend,Converter={StaticResource ObjectToVisibilityConverter}}">
                            <materialDesign:PopupBox ToolTip="{lex:Loc 帮助}"
                                                     ToggleContent="{materialDesign:PackIcon Kind=HelpCircle}">
                                <Image Source="pack://application:,,,/TeamAAS-VP;component/Resources/Images/Palletlayout.png"
                                       Width="400"
                                       Height="400"
                                       Stretch="Fill" />
                            </materialDesign:PopupBox>
                            <TextBlock Text="{lex:Loc 组合托盘,Converter={StaticResource StringFormatConverter},ConverterParameter='{}{0}: '}"
                                       VerticalAlignment="Center" />
                            <TextBlock Text="{lex:Loc 行数,Converter={StaticResource StringFormatConverter},ConverterParameter='{}{0}(R): '}"
                                       VerticalAlignment="Center" />
                            <TextBox Text="{Binding SelectPallet.Extend.Pallet_Row}"
                                     MinWidth="30" />
                            <TextBlock Text="{lex:Loc 列数,Converter={StaticResource StringFormatConverter},ConverterParameter='{}{0}(C): '}"
                                       VerticalAlignment="Center" />
                            <TextBox Text="{Binding SelectPallet.Extend.Pallet_Column}"
                                     MinWidth="30" />
                            <TextBlock Text="{lex:Loc 行间距,Converter={StaticResource StringFormatConverter},ConverterParameter='{}{0}(IR)(mm): '}"
                                       VerticalAlignment="Center" />
                            <TextBox Text="{Binding SelectPallet.Extend.Pallet_X_Interval}"
                                     MinWidth="30" />
                            <TextBlock Text="{lex:Loc 列间距,Converter={StaticResource StringFormatConverter},ConverterParameter='{}{0}(IC)(mm): '}"
                                       VerticalAlignment="Center" />
                            <TextBox Text="{Binding SelectPallet.Extend.Pallet_Y_Interval}"
                                     MinWidth="30" />
                            <TextBlock Text="{lex:Loc 坐标系,Converter={StaticResource StringFormatConverter},ConverterParameter='{}{0}(C): '}"
                                       VerticalAlignment="Center" />
                            <ComboBox Margin="5,0"
                                      SelectedItem="{Binding SelectPallet.Extend.CoordinateModel,Mode=TwoWay}"
                                      ItemsSource="{ext:EnumBindingSource EnumType=enums:CoordinateModel}" />
                        </StackPanel>
                        <!--点位表-->
                        <DataGrid AutoGenerateColumns="False"
                                  CanUserAddRows="False"
                                  ColumnWidth="*"
                                  ItemsSource="{Binding 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}">
                                </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}" />
                                <DataGridTextColumn Header="Tool"
                                                    Binding="{Binding Tool, Mode=TwoWay}" />
                            </DataGrid.Columns>

                        </DataGrid>
                    </StackPanel>

                    <Grid Margin="20"
                          Grid.Column="1"
                          Grid.Row="0"
                          VerticalAlignment="Center">
                        <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>
                        <ComboBox Grid.Row="0"
                                  MinWidth="100"
                                  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 Grid.Row="0"
                                  Grid.Column="2"
                                  materialDesign:HintAssist.Hint="{lex:Loc 选择Tool}"
                                  materialDesign:HintAssist.HelperText="{lex:Loc 选择Tool}"
                                  SelectedItem="{Binding SelectTool,Mode=TwoWay}"
                                  ItemsSource="{Binding Tools}" />
                        <Button 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"
                                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"
                                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"
                                                      Margin="10"
                                                      Interval="0.1"
                                                      Minimum="0"
                                                      Maximum="100"
                                                      Value="{Binding Distance,Mode=TwoWay}"
                                                      StringFormat="{}{0:N3} mm"
                                                      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 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}" />
                        </Grid>

                        <Grid Grid.Row="0"
                              Grid.Column="4"
                              Grid.RowSpan="5"
                              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>
            </DockPanel>

            <StackPanel Grid.Row="1"
                        Orientation="Horizontal"
                        HorizontalAlignment="Right">
                <Button Height="30"
                        materialDesign:ButtonAssist.CornerRadius="10"
                        ToolTip="{lex:Loc 确定}"
                        Style="{StaticResource MaterialDesignRaisedButton}"
                        Command="{Binding ConfirmCommand}">
                    <TextBlock Text="{lex:Loc 确定}" />
                </Button>
                <Button Height="30"
                        Margin="20,0"
                        materialDesign:ButtonAssist.CornerRadius="10"
                        Style="{StaticResource MaterialDesignRaisedButton}"
                        ToolTip="{lex:Loc 取消}"
                        Command="{Binding CancelCommand}">
                    <TextBlock Text="{lex:Loc 取消}" />
                </Button>
            </StackPanel>
        </Grid>
    </materialDesign:DialogHost>
</UserControl>