TeamAAS-2.5/TeamAAS.Core/TeamAAS.Feeder/UI/DefaultFeederDebugPage.xaml

<UserControl x:Class="TeamAAS.Feeder.UI.DefaultFeederDebugPage"
             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
             xmlns:hc="https://handyorg.github.io/handycontrol"
             xmlns:sys="clr-namespace:System;assembly=mscorlib"
             xmlns:fe="clr-namespace:TeamAAS.Feeder.Enums"
             xmlns:fm="clr-namespace:TeamAAS.Feeder.Models"
             xmlns:local="clr-namespace:TeamAAS.Feeder.UI"
             xmlns:loc="clr-namespace:TeamAAS.Localization;assembly=TeamAAS.Global">

    <UserControl.Resources>
        <local:EnumDescriptionConverter x:Key="EnumDescriptionConverter"/>
        <BooleanToVisibilityConverter x:Key="BoolToVis"/>
        <ObjectDataProvider x:Key="FeederActionEnum" MethodName="GetValues" ObjectType="{x:Type sys:Enum}">
            <ObjectDataProvider.MethodParameters>
                <x:Type TypeName="fe:FeederAction"/>
            </ObjectDataProvider.MethodParameters>
        </ObjectDataProvider>
        <ObjectDataProvider x:Key="SequenceStepTypeEnum" MethodName="GetValues" ObjectType="{x:Type sys:Enum}">
            <ObjectDataProvider.MethodParameters>
                <x:Type TypeName="fm:SequenceStepType"/>
            </ObjectDataProvider.MethodParameters>
        </ObjectDataProvider>
    </UserControl.Resources>

    <!-- 主调试区：左面板（方向控制）+ 右面板（参数 Tab）。DataContext = FeederDebugViewModel -->
    <Grid>
        <Grid.ColumnDefinitions>
            <ColumnDefinition Width="340"/>
            <ColumnDefinition Width="*"/>
        </Grid.ColumnDefinitions>

        <!-- 左面板：方向九宫格 + 功能竖列 -->
        <Border Grid.Column="0" Background="{DynamicResource RegionBrush}" CornerRadius="8" Padding="16" Margin="0,0,6,0">
            <Grid HorizontalAlignment="Center" VerticalAlignment="Center">
                <Grid.ColumnDefinitions>
                    <ColumnDefinition Width="Auto"/>
                    <ColumnDefinition Width="16"/>
                    <ColumnDefinition Width="Auto"/>
                </Grid.ColumnDefinitions>

                <UniformGrid Grid.Column="0" Columns="3" Rows="3">
                    <Button Command="{Binding FeederDirectionCommand}" CommandParameter="6"
                            Style="{DynamicResource ButtonDefault}" Width="60" Height="60" Padding="0">
                        <StackPanel HorizontalAlignment="Center" VerticalAlignment="Center">
                            <TextBlock Text="↘" FontSize="24" HorizontalAlignment="Center"/>
                            <TextBlock Text="G" FontSize="12" Foreground="{DynamicResource SecondaryTextBrush}" HorizontalAlignment="Center" Margin="0,2,0,0"/>
                        </StackPanel>
                    </Button>
                    <Button Command="{Binding FeederDirectionCommand}" CommandParameter="3"
                            Style="{DynamicResource ButtonDefault}" Width="60" Height="60" Padding="0">
                        <StackPanel HorizontalAlignment="Center" VerticalAlignment="Center">
                            <TextBlock Text="↓" FontSize="24" HorizontalAlignment="Center"/>
                            <TextBlock Text="D" FontSize="12" Foreground="{DynamicResource SecondaryTextBrush}" HorizontalAlignment="Center" Margin="0,2,0,0"/>
                        </StackPanel>
                    </Button>
                    <Button Command="{Binding FeederDirectionCommand}" CommandParameter="1"
                            Style="{DynamicResource ButtonDefault}" Width="60" Height="60" Padding="0">
                        <StackPanel HorizontalAlignment="Center" VerticalAlignment="Center">
                            <TextBlock Text="↙" FontSize="24" HorizontalAlignment="Center"/>
                            <TextBlock Text="B" FontSize="12" Foreground="{DynamicResource SecondaryTextBrush}" HorizontalAlignment="Center" Margin="0,2,0,0"/>
                        </StackPanel>
                    </Button>
                    <Button Command="{Binding FeederDirectionCommand}" CommandParameter="5"
                            Style="{DynamicResource ButtonDefault}" Width="60" Height="60" Padding="0">
                        <StackPanel HorizontalAlignment="Center" VerticalAlignment="Center">
                            <TextBlock Text="→" FontSize="24" HorizontalAlignment="Center"/>
                            <TextBlock Text="F" FontSize="12" Foreground="{DynamicResource SecondaryTextBrush}" HorizontalAlignment="Center" Margin="0,2,0,0"/>
                        </StackPanel>
                    </Button>
                    <Button Command="{Binding FeederDirectionCommand}" CommandParameter="8"
                            Style="{DynamicResource ButtonDefault}" Width="60" Height="60" Padding="0">
                        <StackPanel HorizontalAlignment="Center" VerticalAlignment="Center">
                            <TextBlock Text="⛶" FontSize="24" HorizontalAlignment="Center"/>
                            <TextBlock Text="I" FontSize="12" Foreground="{DynamicResource SecondaryTextBrush}" HorizontalAlignment="Center" Margin="0,2,0,0"/>
                        </StackPanel>
                    </Button>
                    <Button Command="{Binding FeederDirectionCommand}" CommandParameter="0"
                            Style="{DynamicResource ButtonDefault}" Width="60" Height="60" Padding="0">
                        <StackPanel HorizontalAlignment="Center" VerticalAlignment="Center">
                            <TextBlock Text="←" FontSize="24" HorizontalAlignment="Center"/>
                            <TextBlock Text="A" FontSize="12" Foreground="{DynamicResource SecondaryTextBrush}" HorizontalAlignment="Center" Margin="0,2,0,0"/>
                        </StackPanel>
                    </Button>
                    <Button Command="{Binding FeederDirectionCommand}" CommandParameter="7"
                            Style="{DynamicResource ButtonDefault}" Width="60" Height="60" Padding="0">
                        <StackPanel HorizontalAlignment="Center" VerticalAlignment="Center">
                            <TextBlock Text="↗" FontSize="24" HorizontalAlignment="Center"/>
                            <TextBlock Text="H" FontSize="12" Foreground="{DynamicResource SecondaryTextBrush}" HorizontalAlignment="Center" Margin="0,2,0,0"/>
                        </StackPanel>
                    </Button>
                    <Button Command="{Binding FeederDirectionCommand}" CommandParameter="4"
                            Style="{DynamicResource ButtonDefault}" Width="60" Height="60" Padding="0">
                        <StackPanel HorizontalAlignment="Center" VerticalAlignment="Center">
                            <TextBlock Text="↑" FontSize="24" HorizontalAlignment="Center"/>
                            <TextBlock Text="E" FontSize="12" Foreground="{DynamicResource SecondaryTextBrush}" HorizontalAlignment="Center" Margin="0,2,0,0"/>
                        </StackPanel>
                    </Button>
                    <Button Command="{Binding FeederDirectionCommand}" CommandParameter="2"
                            Style="{DynamicResource ButtonDefault}" Width="60" Height="60" Padding="0">
                        <StackPanel HorizontalAlignment="Center" VerticalAlignment="Center">
                            <TextBlock Text="↖" FontSize="24" HorizontalAlignment="Center"/>
                            <TextBlock Text="C" FontSize="12" Foreground="{DynamicResource SecondaryTextBrush}" HorizontalAlignment="Center" Margin="0,2,0,0"/>
                        </StackPanel>
                    </Button>
                </UniformGrid>

                <StackPanel Grid.Column="2" VerticalAlignment="Center">
                    <Button Command="{Binding FeederDirectionCommand}" CommandParameter="9"
                            Style="{DynamicResource ButtonDefault}" Width="60" Height="60" Margin="0,3">
                        <StackPanel HorizontalAlignment="Center" VerticalAlignment="Center">
                            <TextBlock Text="⇔" FontSize="22" HorizontalAlignment="Center"/>
                            <TextBlock Text="J" FontSize="12" Foreground="{DynamicResource SecondaryTextBrush}" HorizontalAlignment="Center" Margin="0,2,0,0"/>
                        </StackPanel>
                    </Button>
                    <Button Command="{Binding FeederDirectionCommand}" CommandParameter="10"
                            Style="{DynamicResource ButtonDefault}" Width="60" Height="60" Margin="0,3">
                        <StackPanel HorizontalAlignment="Center" VerticalAlignment="Center">
                            <TextBlock Text="⇕" FontSize="22" HorizontalAlignment="Center"/>
                            <TextBlock Text="K" FontSize="12" Foreground="{DynamicResource SecondaryTextBrush}" HorizontalAlignment="Center" Margin="0,2,0,0"/>
                        </StackPanel>
                    </Button>
                    <Button Command="{Binding ToggleBacklightCommand}"
                            Style="{DynamicResource ButtonDefault}" Width="60" Height="60" Margin="0,3">
                        <StackPanel HorizontalAlignment="Center" VerticalAlignment="Center">
                            <TextBlock FontSize="22" HorizontalAlignment="Center">
                                <TextBlock.Style>
                                    <Style TargetType="TextBlock">
                                        <Setter Property="Text" Value="💡"/>
                                        <Style.Triggers>
                                            <DataTrigger Binding="{Binding Info.IsBacklightOn}" Value="True">
                                                <Setter Property="Text" Value="🔆"/>
                                            </DataTrigger>
                                        </Style.Triggers>
                                    </Style>
                                </TextBlock.Style>
                            </TextBlock>
                            <TextBlock Text="{loc:Translate '灯'}" FontSize="12" Foreground="{DynamicResource SecondaryTextBrush}" HorizontalAlignment="Center" Margin="0,2,0,0"/>
                        </StackPanel>
                    </Button>
                    <Button Command="{Binding StopFeederActionCommand}"
                            Style="{DynamicResource ButtonDanger}" Width="60" Height="60" Margin="0,6,0,0">
                        <StackPanel HorizontalAlignment="Center" VerticalAlignment="Center">
                            <TextBlock Text="⏹" FontSize="22" HorizontalAlignment="Center"/>
                            <TextBlock Text="{loc:Translate '停'}" FontSize="12" Foreground="White" HorizontalAlignment="Center" Margin="0,2,0,0"/>
                        </StackPanel>
                    </Button>
                </StackPanel>
            </Grid>
        </Border>

        <!-- 右面板：TabControl -->
        <Border Grid.Column="1" Background="{DynamicResource RegionBrush}" CornerRadius="8" Padding="12">
            <TabControl Background="Transparent" BorderThickness="0">
                <TabItem Header="{loc:Translate '🔧 振动集调试'}" FontSize="13">
                    <ScrollViewer VerticalScrollBarVisibility="Auto" HorizontalScrollBarVisibility="Auto">
                        <Grid Margin="8">
                            <Grid.RowDefinitions>
                                <RowDefinition Height="Auto"/>
                                <RowDefinition Height="*"/>
                                <RowDefinition Height="Auto"/>
                            </Grid.RowDefinitions>

                            <StackPanel Grid.Row="0" Orientation="Horizontal" Margin="0,0,0,12">
                                <TextBlock Text="{loc:Translate '振动集:'}" VerticalAlignment="Center"/>
                                <ComboBox ItemsSource="{Binding VibrationSetList}" SelectedIndex="{Binding SelectedVibrationSetIndex}"
                                          MinWidth="70" Margin="6,0,16,0" Padding="6,2"/>
                                <TextBlock Text="{loc:Translate '动作:'}" VerticalAlignment="Center"/>
                                <ComboBox ItemsSource="{Binding ActionLetterList}" SelectedIndex="{Binding SelectedActionIndex}"
                                          MinWidth="70" Margin="6,0,16,0" Padding="6,2"/>
                                <TextBlock Text="{loc:Translate '持续(ms):'}" VerticalAlignment="Center"/>
                                <hc:NumericUpDown Value="{Binding CurrentDuration}" Minimum="0" Maximum="20000" Increment="100" Width="110" Margin="6,0,16,0"/>
                                <Button Content="{loc:Translate '▶ 执行'}" Command="{Binding ExecuteActionCommand}"
                                        Style="{DynamicResource ButtonPrimary}" Margin="0,0,4,0" Padding="10,3"/>
                                <Button Content="{loc:Translate '⏹ 停止'}" Command="{Binding StopFeederActionCommand}"
                                        Style="{DynamicResource ButtonDefault}" Margin="4,0" Padding="10,3"/>
                                <Button Content="{loc:Translate '💾 下载参数'}" Command="{Binding DownloadParamCommand}"
                                        Style="{DynamicResource ButtonDefault}" Margin="4,0" Padding="10,3"/>
                            </StackPanel>

                            <UniformGrid Grid.Row="1" Columns="2" Rows="2">
                                <GroupBox Header="{loc:Translate '马达1'}" Margin="4" Padding="8" FontSize="16">
                                    <UniformGrid Columns="2">
                                        <TextBlock Text="{loc:Translate '振幅(%)'}" VerticalAlignment="Center"/>
                                        <hc:NumericUpDown Value="{Binding CurrentAction.Motor1.Amplitude, Mode=TwoWay}" Minimum="0" Maximum="100" Width="150"/>
                                        <TextBlock Text="{loc:Translate '频率(Hz)'}" VerticalAlignment="Center"/>
                                        <hc:NumericUpDown Value="{Binding CurrentAction.Motor1.Frequency, Mode=TwoWay}" Minimum="0" Maximum="250" Width="150"/>
                                        <TextBlock Text="{loc:Translate '相位(°)'}" VerticalAlignment="Center"/>
                                        <hc:NumericUpDown Value="{Binding CurrentAction.Motor1.Phase, Mode=TwoWay}" Minimum="0" Maximum="359" Width="150"/>
                                        <TextBlock Text="{loc:Translate '波形'}" VerticalAlignment="Center"/>
                                        <hc:ButtonGroup Padding="2">
                                            <ToggleButton Content="{loc:Translate '不启用'}" IsChecked="{Binding CurrentAction.Motor1.IsWaveNone, Mode=TwoWay}" Padding="4,2"/>
                                            <ToggleButton Content="∿" IsChecked="{Binding CurrentAction.Motor1.IsWaveSin, Mode=TwoWay}" Padding="6,2"/>
                                            <ToggleButton Content="⧊" IsChecked="{Binding CurrentAction.Motor1.IsWaveSaw, Mode=TwoWay}" Padding="6,2"/>
                                            <ToggleButton Content="⧋" IsChecked="{Binding CurrentAction.Motor1.IsWaveTri, Mode=TwoWay}" Padding="6,2"/>
                                        </hc:ButtonGroup>
                                    </UniformGrid>
                                </GroupBox>
                                <GroupBox Header="{loc:Translate '马达2'}" Margin="4" Padding="8">
                                    <UniformGrid Columns="2">
                                        <TextBlock Text="{loc:Translate '振幅(%)'}" VerticalAlignment="Center"/>
                                        <hc:NumericUpDown Value="{Binding CurrentAction.Motor2.Amplitude, Mode=TwoWay}" Minimum="0" Maximum="100" Width="150"/>
                                        <TextBlock Text="{loc:Translate '频率(Hz)'}" VerticalAlignment="Center"/>
                                        <hc:NumericUpDown Value="{Binding CurrentAction.Motor2.Frequency, Mode=TwoWay}" Minimum="0" Maximum="250" Width="150"/>
                                        <TextBlock Text="{loc:Translate '相位(°)'}" VerticalAlignment="Center"/>
                                        <hc:NumericUpDown Value="{Binding CurrentAction.Motor2.Phase, Mode=TwoWay}" Minimum="0" Maximum="359" Width="150"/>
                                        <TextBlock Text="{loc:Translate '波形'}" VerticalAlignment="Center"/>
                                        <hc:ButtonGroup Padding="2">
                                            <ToggleButton Content="{loc:Translate '不启用'}" IsChecked="{Binding CurrentAction.Motor2.IsWaveNone, Mode=TwoWay}" Padding="4,2"/>
                                            <ToggleButton Content="∿" IsChecked="{Binding CurrentAction.Motor2.IsWaveSin, Mode=TwoWay}" Padding="6,2"/>
                                            <ToggleButton Content="⧊" IsChecked="{Binding CurrentAction.Motor2.IsWaveSaw, Mode=TwoWay}" Padding="6,2"/>
                                            <ToggleButton Content="⧋" IsChecked="{Binding CurrentAction.Motor2.IsWaveTri, Mode=TwoWay}" Padding="6,2"/>
                                        </hc:ButtonGroup>
                                    </UniformGrid>
                                </GroupBox>
                                <GroupBox Header="{loc:Translate '马达3'}" Margin="4" Padding="8">
                                    <UniformGrid Columns="2">
                                        <TextBlock Text="{loc:Translate '振幅(%)'}" VerticalAlignment="Center"/>
                                        <hc:NumericUpDown Value="{Binding CurrentAction.Motor3.Amplitude, Mode=TwoWay}" Minimum="0" Maximum="100" Width="150"/>
                                        <TextBlock Text="{loc:Translate '频率(Hz)'}" VerticalAlignment="Center"/>
                                        <hc:NumericUpDown Value="{Binding CurrentAction.Motor3.Frequency, Mode=TwoWay}" Minimum="0" Maximum="250" Width="150"/>
                                        <TextBlock Text="{loc:Translate '相位(°)'}" VerticalAlignment="Center"/>
                                        <hc:NumericUpDown Value="{Binding CurrentAction.Motor3.Phase, Mode=TwoWay}" Minimum="0" Maximum="359" Width="150"/>
                                        <TextBlock Text="{loc:Translate '波形'}" VerticalAlignment="Center"/>
                                        <hc:ButtonGroup Padding="2">
                                            <ToggleButton Content="{loc:Translate '不启用'}" IsChecked="{Binding CurrentAction.Motor3.IsWaveNone, Mode=TwoWay}" Padding="4,2"/>
                                            <ToggleButton Content="∿" IsChecked="{Binding CurrentAction.Motor3.IsWaveSin, Mode=TwoWay}" Padding="6,2"/>
                                            <ToggleButton Content="⧊" IsChecked="{Binding CurrentAction.Motor3.IsWaveSaw, Mode=TwoWay}" Padding="6,2"/>
                                            <ToggleButton Content="⧋" IsChecked="{Binding CurrentAction.Motor3.IsWaveTri, Mode=TwoWay}" Padding="6,2"/>
                                        </hc:ButtonGroup>
                                    </UniformGrid>
                                </GroupBox>
                                <GroupBox Header="{loc:Translate '马达4'}" Margin="4" Padding="8">
                                    <UniformGrid Columns="2">
                                        <TextBlock Text="{loc:Translate '振幅(%)'}" VerticalAlignment="Center"/>
                                        <hc:NumericUpDown Value="{Binding CurrentAction.Motor4.Amplitude, Mode=TwoWay}" Minimum="0" Maximum="100" Width="150"/>
                                        <TextBlock Text="{loc:Translate '频率(Hz)'}" VerticalAlignment="Center"/>
                                        <hc:NumericUpDown Value="{Binding CurrentAction.Motor4.Frequency, Mode=TwoWay}" Minimum="0" Maximum="250" Width="150"/>
                                        <TextBlock Text="{loc:Translate '相位(°)'}" VerticalAlignment="Center"/>
                                        <hc:NumericUpDown Value="{Binding CurrentAction.Motor4.Phase, Mode=TwoWay}" Minimum="0" Maximum="359" Width="150"/>
                                        <TextBlock Text="{loc:Translate '波形'}" VerticalAlignment="Center"/>
                                        <hc:ButtonGroup Padding="2">
                                            <ToggleButton Content="{loc:Translate '不启用'}" IsChecked="{Binding CurrentAction.Motor4.IsWaveNone, Mode=TwoWay}" Padding="4,2"/>
                                            <ToggleButton Content="∿" IsChecked="{Binding CurrentAction.Motor4.IsWaveSin, Mode=TwoWay}" Padding="6,2"/>
                                            <ToggleButton Content="⧊" IsChecked="{Binding CurrentAction.Motor4.IsWaveSaw, Mode=TwoWay}" Padding="6,2"/>
                                            <ToggleButton Content="⧋" IsChecked="{Binding CurrentAction.Motor4.IsWaveTri, Mode=TwoWay}" Padding="6,2"/>
                                        </hc:ButtonGroup>
                                    </UniformGrid>
                                </GroupBox>
                            </UniformGrid>

                            <GroupBox Grid.Row="2" Header="{loc:Translate '关于'}" Margin="4,12,4,4" Padding="8">
                                <Grid>
                                    <Grid.ColumnDefinitions>
                                        <ColumnDefinition Width="100"/>
                                        <ColumnDefinition Width="*"/>
                                    </Grid.ColumnDefinitions>
                                    <StackPanel Grid.Column="0">
                                        <CheckBox Content="{loc:Translate '同步变化'}" IsChecked="{Binding IsSyncChanging}" Margin="0,4" HorizontalAlignment="Center" VerticalAlignment="Center"/>
                                    </StackPanel>
                                    <StackPanel Grid.Column="1" Margin="12,0,0,0">
                                        <StackPanel Orientation="Horizontal" Margin="0,2">
                                            <TextBlock Text="{loc:Translate '全局振幅:'}" VerticalAlignment="Center" MinWidth="60"/>
                                            <Slider Minimum="0" Maximum="100" Value="{Binding GlobalAmplitude}" Width="400" Margin="0,0,8,0"/>
                                            <TextBlock Text="{Binding GlobalAmplitude}" Width="38" VerticalAlignment="Center"/>
                                        </StackPanel>
                                        <StackPanel Orientation="Horizontal" Margin="0,4">
                                            <TextBlock Text="{loc:Translate '全局频率:'}" VerticalAlignment="Center" MinWidth="60"/>
                                            <Slider Minimum="0" Maximum="250" Value="{Binding GlobalFrequency}" Width="400" Margin="0,0,8,0"/>
                                            <TextBlock Text="{Binding GlobalFrequency}" Width="38" VerticalAlignment="Center"/>
                                        </StackPanel>
                                    </StackPanel>
                                </Grid>
                            </GroupBox>
                        </Grid>
                    </ScrollViewer>
                </TabItem>

                <TabItem Header="{loc:Translate '📜 序列集（送料流程）'}" FontSize="13">
                    <Grid Margin="4">
                        <Grid.RowDefinitions>
                            <RowDefinition Height="Auto"/>
                            <RowDefinition Height="*"/>
                            <RowDefinition Height="Auto"/>
                        </Grid.RowDefinitions>

                        <StackPanel Grid.Row="0" Orientation="Horizontal" Margin="0,4,0,8">
                            <TextBlock Text="{loc:Translate '流程:'}" VerticalAlignment="Center"/>
                            <ComboBox ItemsSource="{Binding CurrentSequences}" SelectedItem="{Binding SelectedSequence}"
                                      DisplayMemberPath="Name" MinWidth="140" Margin="6,0" Padding="6,2"/>
                            <Button Content="{loc:Translate '➕ 新流程'}" Command="{Binding AddSequenceCommand}"
                                    Style="{DynamicResource ButtonPrimary}" Margin="0,0,4,0" Padding="10,3"/>
                            <Button Content="{loc:Translate '🗑 删流程'}" Command="{Binding DeleteSequenceCommand}"
                                    Style="{DynamicResource ButtonDanger}" Margin="4,0" Padding="10,3"/>
                            <Button Content="{loc:Translate '📝 重命名'}" Command="{Binding RenameSequenceCommand}"
                                    Style="{DynamicResource ButtonDefault}" Margin="4,0" Padding="10,3"/>
                            <Rectangle Width="1" Height="22" Fill="{DynamicResource BorderBrush}" Margin="8,0"/>
                            <TextBlock Text="{loc:Translate '添加步骤:'}" VerticalAlignment="Center"/>
                            <Button Content="{loc:Translate '↔ 方向振动'}" Command="{Binding AddSequenceStepCommand}" CommandParameter="Direction"
                                    Style="{DynamicResource ButtonDefault}" Margin="6,0,4,0" Padding="10,3"/>
                            <Button Content="{loc:Translate '⏱ 延时等待'}" Command="{Binding AddSequenceStepCommand}" CommandParameter="Delay"
                                    Style="{DynamicResource ButtonDefault}" Margin="4,0" Padding="10,3"/>
                            <Rectangle Width="1" Height="22" Fill="{DynamicResource BorderBrush}" Margin="8,0"/>
                            <Button Content="⬆" Command="{Binding MoveUpStepCommand}" Style="{DynamicResource ButtonDefault}" Margin="0,0,4,0" Padding="8,3" IsEnabled="{Binding HasSelectedStep}"/>
                            <Button Content="⬇" Command="{Binding MoveDownStepCommand}" Style="{DynamicResource ButtonDefault}" Margin="4,0" Padding="8,3" IsEnabled="{Binding HasSelectedStep}"/>
                            <Button Content="🗑" Command="{Binding DeleteStepCommand}" Style="{DynamicResource ButtonDanger}" Margin="4,0" Padding="8,3" IsEnabled="{Binding HasSelectedStep}"/>
                        </StackPanel>

                        <DataGrid Grid.Row="1" ItemsSource="{Binding CurrentSequenceSteps}" SelectedItem="{Binding SelectedStep}"
                                  AutoGenerateColumns="False" CanUserAddRows="False"
                                  AlternatingRowBackground="{DynamicResource SecondaryRegionBrush}">
                            <DataGrid.Columns>
                                <DataGridTextColumn Header="#" Binding="{Binding Index}" Width="auto" IsReadOnly="True"/>
                                <DataGridCheckBoxColumn Header="{loc:Translate '启用'}" Binding="{Binding Enabled}" Width="auto"/>
                                <DataGridTemplateColumn Header="{loc:Translate '类型'}" Width="auto">
                                    <DataGridTemplateColumn.CellTemplate>
                                        <DataTemplate>
                                            <ComboBox ItemsSource="{Binding Source={StaticResource SequenceStepTypeEnum}}" SelectedItem="{Binding StepType}">
                                                <ComboBox.ItemTemplate>
                                                    <DataTemplate>
                                                        <TextBlock Text="{Binding Converter={StaticResource EnumDescriptionConverter}}"/>
                                                    </DataTemplate>
                                                </ComboBox.ItemTemplate>
                                            </ComboBox>
                                        </DataTemplate>
                                    </DataGridTemplateColumn.CellTemplate>
                                </DataGridTemplateColumn>
                                <DataGridTemplateColumn Header="{loc:Translate '方向'}" Width="auto">
                                    <DataGridTemplateColumn.CellTemplate>
                                        <DataTemplate>
                                            <ComboBox ItemsSource="{Binding Source={StaticResource FeederActionEnum}}" SelectedItem="{Binding Direction}">
                                                <ComboBox.ItemTemplate>
                                                    <DataTemplate>
                                                        <TextBlock Text="{Binding Converter={StaticResource EnumDescriptionConverter}}"/>
                                                    </DataTemplate>
                                                </ComboBox.ItemTemplate>
                                            </ComboBox>
                                        </DataTemplate>
                                    </DataGridTemplateColumn.CellTemplate>
                                </DataGridTemplateColumn>
                                <DataGridTemplateColumn Header="{loc:Translate '时间(ms)'}" Width="auto">
                                    <DataGridTemplateColumn.CellTemplate>
                                        <DataTemplate>
                                            <hc:NumericUpDown Value="{Binding TimeMs}" Minimum="0" Maximum="30000" Increment="50" Width="80"/>
                                        </DataTemplate>
                                    </DataGridTemplateColumn.CellTemplate>
                                </DataGridTemplateColumn>
                                <DataGridTextColumn Header="{loc:Translate '备注'}" Binding="{Binding Note}" Width="*"/>
                            </DataGrid.Columns>
                        </DataGrid>

                        <StackPanel Grid.Row="2" Orientation="Horizontal" Margin="0,8,0,0">
                            <Button Content="{loc:Translate '▶ 执行流程'}" Command="{Binding ExecuteSequenceCommand}"
                                    Style="{DynamicResource ButtonPrimary}" Padding="14,5" Margin="0,0,8,0"/>
                            <Button Content="{loc:Translate '⏹ 停止流程'}" Command="{Binding StopSequenceCommand}"
                                    Style="{DynamicResource ButtonDanger}" Padding="14,5"/>
                            <TextBlock Text="{Binding SequenceStatusText}" VerticalAlignment="Center" Margin="20,0,0,0"
                                       Foreground="{DynamicResource PrimaryBrush}" FontWeight="Bold"/>
                        </StackPanel>
                    </Grid>
                </TabItem>

                <TabItem Header="{loc:Translate '📥 输入输出'}" FontSize="13">
                    <ScrollViewer VerticalScrollBarVisibility="Auto" HorizontalScrollBarVisibility="Auto">
                        <StackPanel Margin="8">
                            <GroupBox Header="{loc:Translate '料斗输出参数'}" Margin="4" Padding="8">
                                <StackPanel>
                                    <StackPanel Orientation="Horizontal" Margin="0,0,0,10">
                                        <TextBlock Text="{loc:Translate '输出组:'}" VerticalAlignment="Center"/>
                                        <ComboBox ItemsSource="{Binding HopperGroupList}" SelectedItem="{Binding SelectedHopperGroup}" MinWidth="70" Margin="6,0,12,0" Padding="6,2"/>
                                        <Button Content="{loc:Translate '⬇ 读取'}" Command="{Binding ReadHopperParamCommand}" Style="{DynamicResource ButtonDefault}" Margin="4,0" Padding="10,3"/>
                                        <Button Content="{loc:Translate '⬆ 下载'}" Command="{Binding WriteHopperParamCommand}" Style="{DynamicResource ButtonPrimary}" Margin="4,0" Padding="10,3"/>
                                    </StackPanel>
                                    <UniformGrid Columns="2">
                                        <CheckBox Content="{loc:Translate '数字量输出1'}" IsChecked="{Binding HopperParam.HopperDigitalOutput1}" VerticalAlignment="Center" Margin="4,6"/>
                                        <StackPanel Orientation="Horizontal" Margin="4,6">
                                            <TextBlock Text="{loc:Translate '模拟量输出1:'}" VerticalAlignment="Center" MinWidth="90"/>
                                            <hc:NumericUpDown Value="{Binding HopperParam.HopperAnalogOutput1}" Minimum="0" Maximum="10" Width="120"/>
                                        </StackPanel>
                                        <CheckBox Content="{loc:Translate '数字量输出2'}" IsChecked="{Binding HopperParam.HopperDigitalOutput2}" VerticalAlignment="Center" Margin="4,6"/>
                                        <StackPanel Orientation="Horizontal" Margin="4,6">
                                            <TextBlock Text="{loc:Translate '模拟量输出2:'}" VerticalAlignment="Center" MinWidth="90"/>
                                            <hc:NumericUpDown Value="{Binding HopperParam.HopperAnalogOutput2}" Minimum="0" Maximum="10" Width="120"/>
                                        </StackPanel>
                                    </UniformGrid>
                                    <StackPanel Orientation="Horizontal" Margin="4,6">
                                        <TextBlock Text="{loc:Translate '振动持续时间(ms):'}" VerticalAlignment="Center" MinWidth="130"/>
                                        <hc:NumericUpDown Value="{Binding HopperParam.HopperDuration}" Minimum="0" Maximum="60000" Increment="100" Width="140"/>
                                    </StackPanel>
                                    <StackPanel Orientation="Horizontal" Margin="0,8,0,0">
                                        <Button Content="{loc:Translate '▶ 执行料斗'}" Command="{Binding RunHopperOutputCommand}" Style="{DynamicResource ButtonPrimary}" Margin="0,0,8,0" Padding="12,4"/>
                                        <Button Content="{loc:Translate '⏹ 停止料斗'}" Command="{Binding StopHopperOutputCommand}" Style="{DynamicResource ButtonDanger}" Padding="12,4"/>
                                    </StackPanel>
                                </StackPanel>
                            </GroupBox>
                            <GroupBox Header="{loc:Translate '输入触发（外部信号触发序列）'}" Margin="4,12,4,4" Padding="8">
                                <StackPanel>
                                    <StackPanel Orientation="Horizontal" Margin="4,6">
                                        <TextBlock Text="{loc:Translate '输入1触发序列ID:'}" VerticalAlignment="Center" MinWidth="140"/>
                                        <hc:NumericUpDown Value="{Binding InputTrigger1}" Minimum="0" Maximum="26" Width="120"/>
                                    </StackPanel>
                                    <StackPanel Orientation="Horizontal" Margin="4,6">
                                        <TextBlock Text="{loc:Translate '输入2触发序列ID:'}" VerticalAlignment="Center" MinWidth="140"/>
                                        <hc:NumericUpDown Value="{Binding InputTrigger2}" Minimum="0" Maximum="26" Width="120"/>
                                    </StackPanel>
                                    <StackPanel Orientation="Horizontal" Margin="0,8,0,0">
                                        <Button Content="{loc:Translate '⬇ 读取'}" Command="{Binding ReadInputTriggerCommand}" Style="{DynamicResource ButtonDefault}" Margin="0,0,8,0" Padding="12,4"/>
                                        <Button Content="{loc:Translate '⬆ 写入'}" Command="{Binding WriteInputTriggerCommand}" Style="{DynamicResource ButtonPrimary}" Padding="12,4"/>
                                    </StackPanel>
                                </StackPanel>
                            </GroupBox>
                        </StackPanel>
                    </ScrollViewer>
                </TabItem>

                <TabItem Header="{loc:Translate '⚙ 系统参数（超时）'}" FontSize="13">
                    <ScrollViewer VerticalScrollBarVisibility="Auto">
                        <StackPanel Margin="8">
                            <GroupBox Header="{loc:Translate '振动超时（关键：过短会导致动作被提前中断）'}" Margin="4" Padding="8">
                                <StackPanel>
                                    <StackPanel Orientation="Horizontal" Margin="4,6">
                                        <TextBlock Text="{loc:Translate '平台振动超时(ms):'}" VerticalAlignment="Center" MinWidth="150"/>
                                        <hc:NumericUpDown Value="{Binding SystemParam.PlatShakeTimeout}" Minimum="1" Maximum="65535" Increment="100" Width="140"/>
                                    </StackPanel>
                                    <StackPanel Orientation="Horizontal" Margin="4,6">
                                        <TextBlock Text="{loc:Translate '料斗振动超时(ms):'}" VerticalAlignment="Center" MinWidth="150"/>
                                        <hc:NumericUpDown Value="{Binding SystemParam.HopperShakeTimeout}" Minimum="1" Maximum="65535" Increment="100" Width="140"/>
                                    </StackPanel>
                                </StackPanel>
                            </GroupBox>
                            <GroupBox Header="{loc:Translate '背光参数'}" Margin="4,12,4,4" Padding="8">
                                <StackPanel>
                                    <StackPanel Orientation="Horizontal" Margin="4,6">
                                        <TextBlock Text="{loc:Translate '背光超时(ms):'}" VerticalAlignment="Center" MinWidth="150"/>
                                        <hc:NumericUpDown Value="{Binding SystemParam.LightTimeout}" Minimum="1" Maximum="65535" Increment="100" Width="140"/>
                                    </StackPanel>
                                    <StackPanel Orientation="Horizontal" Margin="4,6">
                                        <TextBlock Text="{loc:Translate '光源亮度(%):'}" VerticalAlignment="Center" MinWidth="150"/>
                                        <hc:NumericUpDown Value="{Binding SystemParam.LightBrightness}" Minimum="1" Maximum="100" Width="140"/>
                                    </StackPanel>
                                    <StackPanel Orientation="Horizontal" Margin="4,6">
                                        <TextBlock Text="{loc:Translate '背光闪烁时间(ms):'}" VerticalAlignment="Center" MinWidth="150"/>
                                        <hc:NumericUpDown Value="{Binding SystemParam.LightFlashTime}" Minimum="1" Maximum="65535" Increment="100" Width="140"/>
                                    </StackPanel>
                                </StackPanel>
                            </GroupBox>
                            <StackPanel Orientation="Horizontal" Margin="4,12,0,0">
                                <Button Content="{loc:Translate '⬇ 读取系统参数'}" Command="{Binding ReadSystemParamCommand}" Style="{DynamicResource ButtonDefault}" Margin="0,0,8,0" Padding="14,5"/>
                                <Button Content="{loc:Translate '⬆ 写入并保存'}" Command="{Binding WriteSystemParamCommand}" Style="{DynamicResource ButtonPrimary}" Padding="14,5"/>
                            </StackPanel>
                        </StackPanel>
                    </ScrollViewer>
                </TabItem>
            </TabControl>
        </Border>
    </Grid>
</UserControl>