TeamAAS-2.5/TeamAAS.Core/TeamAAS.Motion/UI/MotionDebugView.xaml

<UserControl x:Class="TeamAAS.Motion.MotionDebugView"
             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
             xmlns:loc="clr-namespace:TeamAAS.Localization;assembly=TeamAAS.Global"
             Background="Transparent">
    <UserControl.Resources>
        <Style x:Key="SectionCard" TargetType="Border">
            <Setter Property="Background" Value="{DynamicResource SecondaryRegionBrush}"/>
            <Setter Property="CornerRadius" Value="6"/>
            <Setter Property="Padding" Value="12"/>
            <Setter Property="Margin" Value="0,0,0,10"/>
        </Style>
        <Style x:Key="SectionTitle" TargetType="TextBlock">
            <Setter Property="FontSize" Value="11"/>
            <Setter Property="FontWeight" Value="SemiBold"/>
            <Setter Property="Foreground" Value="{DynamicResource SecondaryTextBrush}"/>
            <Setter Property="Margin" Value="0,0,0,8"/>
        </Style>
        <Style x:Key="MetricLabel" TargetType="TextBlock">
            <Setter Property="FontSize" Value="11"/>
            <Setter Property="Foreground" Value="{DynamicResource SecondaryTextBrush}"/>
        </Style>
        <Style x:Key="MetricValue" TargetType="TextBlock">
            <Setter Property="FontFamily" Value="Consolas"/>
            <Setter Property="Foreground" Value="{DynamicResource PrimaryTextBrush}"/>
        </Style>
        <Style x:Key="FieldLabel" TargetType="TextBlock">
            <Setter Property="FontSize" Value="12"/>
            <Setter Property="VerticalAlignment" Value="Center"/>
            <Setter Property="Margin" Value="0,0,8,0"/>
            <Setter Property="Foreground" Value="{DynamicResource PrimaryTextBrush}"/>
        </Style>
        <Style x:Key="FieldBox" TargetType="TextBox">
            <Setter Property="MinWidth" Value="88"/>
            <Setter Property="Height" Value="28"/>
            <Setter Property="VerticalContentAlignment" Value="Center"/>
            <Setter Property="Padding" Value="6,2"/>
        </Style>
        <Style x:Key="StatusTile" TargetType="Border">
            <Setter Property="CornerRadius" Value="6"/>
            <Setter Property="Padding" Value="10,12"/>
            <Setter Property="Margin" Value="0,0,8,0"/>
            <Setter Property="MinHeight" Value="72"/>
        </Style>
        <Style x:Key="IoBitButton" TargetType="ToggleButton">
            <Setter Property="Foreground" Value="White"/>
            <Setter Property="BorderThickness" Value="0"/>
            <Setter Property="Cursor" Value="Hand"/>
            <Setter Property="Template">
                <Setter.Value>
                    <ControlTemplate TargetType="ToggleButton">
                        <Border Background="{TemplateBinding Background}" CornerRadius="4"
                                Padding="2" Opacity="{TemplateBinding Opacity}">
                            <ContentPresenter HorizontalAlignment="Center" VerticalAlignment="Center"/>
                        </Border>
                    </ControlTemplate>
                </Setter.Value>
            </Setter>
        </Style>
    </UserControl.Resources>

    <DockPanel Margin="4">
            <DockPanel DockPanel.Dock="Top" Margin="4,2,4,10">
                <TextBlock DockPanel.Dock="Left" Text="{loc:Translate '运动调试'}"
                           FontSize="15" FontWeight="Bold" VerticalAlignment="Center"
                           Foreground="{DynamicResource PrimaryTextBrush}"/>
                <StackPanel Orientation="Horizontal" HorizontalAlignment="Right" VerticalAlignment="Center">
                    <TextBlock Text="{loc:Translate '当前轴'}" Style="{StaticResource FieldLabel}"/>
                    <ComboBox x:Name="CmbAxis" Width="160" Height="28"
                              SelectionChanged="CmbAxis_SelectionChanged">
                        <ComboBox.ItemTemplate>
                            <DataTemplate>
                                <TextBlock>
                                    <TextBlock.Text>
                                        <MultiBinding StringFormat="{}{0}  (轴{1})">
                                            <Binding Path="Name"/>
                                            <Binding Path="AxisNo"/>
                                        </MultiBinding>
                                    </TextBlock.Text>
                                </TextBlock>
                            </DataTemplate>
                        </ComboBox.ItemTemplate>
                    </ComboBox>
                </StackPanel>
            </DockPanel>

            <Border DockPanel.Dock="Top" Style="{StaticResource SectionCard}" Padding="12,8" Margin="0,0,0,10">
                <DockPanel>
                    <StackPanel DockPanel.Dock="Left" Orientation="Horizontal" VerticalAlignment="Center">
                        <Ellipse x:Name="DotConn" Width="9" Height="9" Fill="#9E9E9E" Margin="0,0,8,0"/>
                        <TextBlock Text="{loc:Translate '状态'}" FontSize="12"
                                   Foreground="{DynamicResource SecondaryTextBrush}" Margin="0,0,6,0"/>
                        <TextBlock x:Name="TxtStatus" FontSize="12" FontWeight="Bold"
                                   Foreground="{DynamicResource PrimaryTextBrush}" Text="---"/>
                    </StackPanel>
                    <TextBlock x:Name="TxtMessage" FontSize="12" TextWrapping="Wrap"
                               VerticalAlignment="Center" Margin="16,0,0,0"
                               Foreground="{DynamicResource SecondaryTextBrush}"/>
                </DockPanel>
            </Border>

            <TabControl x:Name="TabsMain">
                <TabItem Header="{loc:Translate '轴'}">
                    <ScrollViewer VerticalScrollBarVisibility="Auto" HorizontalScrollBarVisibility="Disabled" Padding="4,8,4,4">
                        <Grid>
                <Grid.ColumnDefinitions>
                    <ColumnDefinition Width="1.1*"/>
                    <ColumnDefinition Width="16"/>
                    <ColumnDefinition Width="1.2*"/>
                </Grid.ColumnDefinitions>

                <!-- 左侧：实时状态 -->
                <StackPanel Grid.Column="0">
                    <Border x:Name="BannerSafety" CornerRadius="6" Padding="16,18" Margin="0,0,0,10"
                            Background="#B71C1C" Visibility="Collapsed">
                        <StackPanel>
                            <TextBlock x:Name="TxtSafetyHeadline" Text="急停有效"
                                       FontSize="26" FontWeight="Bold" Foreground="White"/>
                            <TextBlock x:Name="TxtSafetyHint"
                                       Text="所有轴已下使能，手动/自动使能与运动均被禁止。"
                                       FontSize="14" FontWeight="SemiBold" Foreground="#FFECB3"
                                       Margin="0,8,0,0" TextWrapping="Wrap"/>
                        </StackPanel>
                    </Border>

                    <Border x:Name="BannerState" CornerRadius="6" Padding="14,16" Margin="0,0,0,10" Background="#616161">
                        <StackPanel>
                            <TextBlock x:Name="TxtAxisTitle" Text="---" FontSize="12" Foreground="#E0E0E0" Margin="0,0,0,6"/>
                            <TextBlock x:Name="TxtStateHeadline" Text="未选择轴" FontSize="22" FontWeight="Bold" Foreground="White"/>
                            <TextBlock x:Name="TxtStateHint" Text="请选择轴并连接控制卡" FontSize="12" Foreground="#F5F5F5" Margin="0,6,0,0" TextWrapping="Wrap"/>
                        </StackPanel>
                    </Border>

                    <UniformGrid Columns="3" Margin="0,0,0,10">
                        <Border x:Name="TileEnable" Style="{StaticResource StatusTile}" Margin="0,0,6,0" Background="#757575">
                            <StackPanel VerticalAlignment="Center">
                                <TextBlock Text="{loc:Translate '使能'}" FontSize="11" Foreground="#EEEEEE"/>
                                <TextBlock x:Name="TxtEnable" Text="未使能" FontSize="16" FontWeight="Bold" Foreground="White" Margin="0,4,0,0"/>
                            </StackPanel>
                        </Border>
                        <Border x:Name="TileMoving" Style="{StaticResource StatusTile}" Margin="3,0,3,0" Background="#757575">
                            <StackPanel VerticalAlignment="Center">
                                <TextBlock Text="{loc:Translate '运动'}" FontSize="11" Foreground="#EEEEEE"/>
                                <TextBlock x:Name="TxtMoving" Text="静止" FontSize="16" FontWeight="Bold" Foreground="White" Margin="0,4,0,0"/>
                            </StackPanel>
                        </Border>
                        <Border x:Name="TileHomed" Style="{StaticResource StatusTile}" Margin="6,0,0,0" Background="#757575">
                            <StackPanel VerticalAlignment="Center">
                                <TextBlock Text="{loc:Translate '回零'}" FontSize="11" Foreground="#EEEEEE"/>
                                <TextBlock x:Name="TxtHomed" Text="未回零" FontSize="16" FontWeight="Bold" Foreground="White" Margin="0,4,0,0"/>
                            </StackPanel>
                        </Border>
                    </UniformGrid>

                    <Border Style="{StaticResource SectionCard}">
                        <StackPanel>
                            <TextBlock Text="{loc:Translate '位置 / 速度'}" Style="{StaticResource SectionTitle}"/>
                            <TextBlock Text="{loc:Translate '实际位置'}" Style="{StaticResource MetricLabel}"/>
                            <TextBlock x:Name="TxtPosActual" Text="---" FontSize="28" FontWeight="Bold"
                                       Style="{StaticResource MetricValue}" Margin="0,2,0,10"/>
                            <Grid>
                                <Grid.ColumnDefinitions>
                                    <ColumnDefinition Width="*"/>
                                    <ColumnDefinition Width="*"/>
                                </Grid.ColumnDefinitions>
                                <StackPanel Grid.Column="0">
                                    <TextBlock Text="{loc:Translate '指令位置'}" Style="{StaticResource MetricLabel}"/>
                                    <TextBlock x:Name="TxtPosCommand" Text="---" FontSize="16"
                                               Style="{StaticResource MetricValue}" Margin="0,2,0,0"/>
                                </StackPanel>
                                <StackPanel Grid.Column="1">
                                    <TextBlock Text="{loc:Translate '实际速度'}" Style="{StaticResource MetricLabel}"/>
                                    <TextBlock x:Name="TxtVelocity" Text="---" FontSize="16"
                                               Style="{StaticResource MetricValue}" Margin="0,2,0,0"/>
                                </StackPanel>
                            </Grid>
                        </StackPanel>
                    </Border>
                </StackPanel>

                <!-- 右侧：操作 -->
                <StackPanel x:Name="OpsRoot" Grid.Column="2" IsEnabled="False">
                    <Border Style="{StaticResource SectionCard}">
                        <StackPanel>
                            <TextBlock Text="{loc:Translate '轴控制'}" Style="{StaticResource SectionTitle}"/>
                            <WrapPanel>
                                <Button x:Name="BtnEnable" Content="{loc:Translate '使能'}" Style="{DynamicResource ButtonPrimary}"
                                        Padding="16,6" Margin="0,0,8,8" Click="BtnEnable_Click"/>
                                <Button x:Name="BtnDisable" Content="{loc:Translate '下使能'}" Style="{DynamicResource ButtonDefault}"
                                        Padding="16,6" Margin="0,0,8,8" Click="BtnDisable_Click"/>
                                <Button x:Name="BtnStop" Content="{loc:Translate '停止'}" Style="{DynamicResource ButtonDefault}"
                                        Padding="16,6" Margin="0,0,8,8" Click="BtnStop_Click"/>
                                <Button Content="{loc:Translate '急停'}" Style="{DynamicResource ButtonDanger}"
                                        Padding="16,6" Margin="0,0,0,8" Click="BtnEStop_Click"/>
                            </WrapPanel>
                        </StackPanel>
                    </Border>

                    <TextBlock x:Name="TxtNeedEnable" Text="{loc:Translate '当前未使能，请先点击「使能」后再点动或定位'}"
                               FontSize="12" FontWeight="SemiBold" Foreground="#E53935" Margin="0,0,0,8"
                               TextWrapping="Wrap" Visibility="Collapsed"/>

                    <StackPanel x:Name="MotionOps">
                        <Border Style="{StaticResource SectionCard}">
                            <StackPanel>
                                <DockPanel Margin="0,0,0,4">
                                    <TextBlock Text="{loc:Translate '点动'}" Style="{StaticResource SectionTitle}" Margin="0"/>
                                    <TextBlock DockPanel.Dock="Right" HorizontalAlignment="Right"
                                               Text="{loc:Translate '按住移动，松开停止'}"
                                               FontSize="11" Foreground="{DynamicResource SecondaryTextBrush}"/>
                                </DockPanel>
                                <StackPanel Orientation="Horizontal" Margin="0,8,0,10">
                                    <TextBlock Text="{loc:Translate '速度'}" Style="{StaticResource FieldLabel}"/>
                                    <TextBox x:Name="TxtJogVel" Text="50" Style="{StaticResource FieldBox}"/>
                                </StackPanel>
                                <StackPanel Orientation="Horizontal" HorizontalAlignment="Center">
                                    <Button Content="−" Tag="-" Style="{DynamicResource ButtonDefault}"
                                            Width="88" Height="48" FontSize="20" FontWeight="Bold" Margin="0,0,8,0"
                                            PreviewMouseLeftButtonDown="BtnJog_Down"
                                            PreviewMouseLeftButtonUp="BtnJog_Up"
                                            LostMouseCapture="BtnJog_LostCapture"/>
                                    <Button Content="+" Tag="+" Style="{DynamicResource ButtonPrimary}"
                                            Width="88" Height="48" FontSize="20" FontWeight="Bold"
                                            PreviewMouseLeftButtonDown="BtnJog_Down"
                                            PreviewMouseLeftButtonUp="BtnJog_Up"
                                            LostMouseCapture="BtnJog_LostCapture"/>
                                </StackPanel>
                            </StackPanel>
                        </Border>

                        <Border Style="{StaticResource SectionCard}">
                            <StackPanel>
                                <TextBlock Text="{loc:Translate '定位'}" Style="{StaticResource SectionTitle}"/>
                                <Grid>
                                    <Grid.ColumnDefinitions>
                                        <ColumnDefinition Width="Auto"/>
                                        <ColumnDefinition Width="*"/>
                                        <ColumnDefinition Width="Auto"/>
                                    </Grid.ColumnDefinitions>
                                    <Grid.RowDefinitions>
                                        <RowDefinition Height="Auto"/>
                                        <RowDefinition Height="Auto"/>
                                        <RowDefinition Height="Auto"/>
                                    </Grid.RowDefinitions>

                                    <TextBlock Grid.Row="0" Grid.Column="0" Text="{loc:Translate '定位速度'}" Style="{StaticResource FieldLabel}" Margin="0,0,8,8"/>
                                    <TextBox x:Name="TxtMoveVel" Grid.Row="0" Grid.Column="1" Text="100" Style="{StaticResource FieldBox}" Margin="0,0,8,8"/>

                                    <TextBlock Grid.Row="1" Grid.Column="0" Text="{loc:Translate '目标位置'}" Style="{StaticResource FieldLabel}" Margin="0,0,8,8"/>
                                    <TextBox x:Name="TxtTargetPos" Grid.Row="1" Grid.Column="1" Text="0" Style="{StaticResource FieldBox}" Margin="0,0,8,8"/>
                                    <Button Grid.Row="1" Grid.Column="2" Content="{loc:Translate '绝对定位'}"
                                            Style="{DynamicResource ButtonPrimary}" Padding="16,6" Margin="0,0,0,8"
                                            Click="BtnMoveAbs_Click"/>

                                    <TextBlock Grid.Row="2" Grid.Column="0" Text="{loc:Translate '相对距离'}" Style="{StaticResource FieldLabel}" Margin="0,0,8,0"/>
                                    <TextBox x:Name="TxtRelativeDist" Grid.Row="2" Grid.Column="1" Text="10" Style="{StaticResource FieldBox}" Margin="0,0,8,0"/>
                                    <Button Grid.Row="2" Grid.Column="2" Content="{loc:Translate '相对定位'}"
                                            Style="{DynamicResource ButtonDefault}" Padding="16,6" Margin="0"
                                            Click="BtnMoveRel_Click"/>
                                </Grid>
                                <WrapPanel Margin="0,10,0,0">
                                    <Button Content="{loc:Translate '回零'}" Style="{DynamicResource ButtonDefault}"
                                            Padding="16,6" Margin="0,0,8,0" Click="BtnHome_Click"/>
                                    <Button Content="{loc:Translate '位置清零'}" Style="{DynamicResource ButtonDefault}"
                                            Padding="16,6" Click="BtnSetZero_Click"/>
                                </WrapPanel>
                            </StackPanel>
                        </Border>
                    </StackPanel>
                </StackPanel>
            </Grid>
                    </ScrollViewer>
                </TabItem>

                <TabItem Header="{loc:Translate 'IO'}">
                    <ScrollViewer VerticalScrollBarVisibility="Auto" HorizontalScrollBarVisibility="Disabled" Padding="4,8,4,4">
                        <StackPanel x:Name="IoRoot" IsEnabled="False">
                            <TextBlock x:Name="TxtIoHint"
                                       Text="{loc:Translate '本地端子与 EtherCAT 扩展点号相互独立。仿真卡可点击 DI 模拟输入；真实卡 DI 只读，DO 点击翻转。急停/停止点会标红或橙色。'}"
                                       TextWrapping="Wrap" FontSize="12" Margin="0,0,0,12"
                                       Foreground="{DynamicResource SecondaryTextBrush}"/>

                            <Border Style="{StaticResource SectionCard}">
                                <StackPanel>
                                    <TextBlock Text="{loc:Translate '本地 DI'}" Style="{StaticResource SectionTitle}"/>
                                    <WrapPanel x:Name="PanelLocalDi"/>
                                </StackPanel>
                            </Border>
                            <Border Style="{StaticResource SectionCard}">
                                <StackPanel>
                                    <TextBlock Text="{loc:Translate '本地 DO'}" Style="{StaticResource SectionTitle}"/>
                                    <WrapPanel x:Name="PanelLocalDo"/>
                                </StackPanel>
                            </Border>
                            <Border Style="{StaticResource SectionCard}">
                                <StackPanel>
                                    <TextBlock Text="{loc:Translate 'EtherCAT DI'}" Style="{StaticResource SectionTitle}"/>
                                    <WrapPanel x:Name="PanelEcatDi"/>
                                </StackPanel>
                            </Border>
                            <Border Style="{StaticResource SectionCard}">
                                <StackPanel>
                                    <TextBlock Text="{loc:Translate 'EtherCAT DO'}" Style="{StaticResource SectionTitle}"/>
                                    <WrapPanel x:Name="PanelEcatDo"/>
                                </StackPanel>
                            </Border>
                        </StackPanel>
                    </ScrollViewer>
                </TabItem>
            </TabControl>
        </DockPanel>
</UserControl>