TeamAAS-2.5/TeamAAS/Views/CalibrationView.xaml

<UserControl x:Class="TeamAAS.Views.CalibrationView"
             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:loc="clr-namespace:TeamAAS.Localization"
             xmlns:conv="clr-namespace:TeamAAS.Converters">
    <UserControl.Resources>
        <conv:EnumDescriptionConverter x:Key="EnumDescConv"/>
        <conv:StepToVisibilityConverter x:Key="StepVisConv"/>
        <BooleanToVisibilityConverter x:Key="BoolToVis"/>
        <sys:Boolean x:Key="TrueVal">True</sys:Boolean>
        <sys:Boolean x:Key="FalseVal">False</sys:Boolean>
        <Style x:Key="FieldLabel" TargetType="TextBlock">
            <Setter Property="VerticalAlignment" Value="Center"/>
            <Setter Property="Margin" Value="0,0,8,0"/>
            <Setter Property="Foreground" Value="{DynamicResource SecondaryTextBrush}"/>
        </Style>
        <Style x:Key="FieldRow" TargetType="StackPanel">
            <Setter Property="Orientation" Value="Horizontal"/>
            <Setter Property="Margin" Value="0,4"/>
        </Style>
        <Style x:Key="EnumCombo" TargetType="ComboBox">
            <Setter Property="MinWidth" Value="160"/>
            <Setter Property="ItemTemplate">
                <Setter.Value>
                    <DataTemplate>
                        <TextBlock Text="{Binding Converter={StaticResource EnumDescConv}}"/>
                    </DataTemplate>
                </Setter.Value>
            </Setter>
        </Style>
    </UserControl.Resources>

    <Grid Margin="24,16">
        <Grid.RowDefinitions>
            <RowDefinition Height="Auto"/>
            <RowDefinition Height="Auto"/>
            <RowDefinition Height="*"/>
            <RowDefinition Height="Auto"/>
            <RowDefinition Height="Auto"/>
        </Grid.RowDefinitions>

        <!-- 标题 + 选择已有标定 + 新建 -->
        <Grid Grid.Row="0" Margin="0,0,0,12">
            <Grid.ColumnDefinitions>
                <ColumnDefinition Width="Auto"/>
                <ColumnDefinition Width="*"/>
                <ColumnDefinition Width="Auto"/>
            </Grid.ColumnDefinitions>
            <TextBlock Grid.Column="0" Text="{loc:Translate '标定向导'}" FontSize="20" FontWeight="Bold"
                       Foreground="{DynamicResource PrimaryTextBrush}" VerticalAlignment="Center"/>
            <StackPanel Grid.Column="1" Orientation="Horizontal" HorizontalAlignment="Right" VerticalAlignment="Center" Margin="0,0,12,0">
                <TextBlock Text="已有标定" Style="{StaticResource FieldLabel}"/>
                <ComboBox ItemsSource="{Binding Calibrations}" SelectedItem="{Binding SelectedCalibration}"
                          DisplayMemberPath="Name" MinWidth="220"/>
            </StackPanel>
            <Button Grid.Column="2" Content="新建标定" Command="{Binding NewCommand}" VerticalAlignment="Center" Padding="16,6"/>
        </Grid>

        <!-- 步骤指示 -->
        <hc:StepBar Grid.Row="1" StepIndex="{Binding StepIndex, Mode=TwoWay}" Margin="0,0,0,16">
            <hc:StepBarItem Content="基础设置"/>
            <hc:StepBarItem Content="视觉与相机"/>
            <hc:StepBarItem Content="示教点位"/>
            <hc:StepBarItem Content="工具坐标"/>
            <hc:StepBarItem Content="九点标定"/>
            <hc:StepBarItem Content="验证"/>
            <hc:StepBarItem Content="完成"/>
        </hc:StepBar>

        <!-- 内容区 -->
        <Border Grid.Row="2" Background="{DynamicResource RegionBrush}" CornerRadius="8" Padding="20">
            <Grid>
                <!-- 步骤 0：基础设置 -->
                <ScrollViewer Visibility="{Binding StepIndex, Converter={StaticResource StepVisConv}, ConverterParameter=0}"
                              VerticalScrollBarVisibility="Auto">
                    <StackPanel MaxWidth="560" HorizontalAlignment="Left">
                        <StackPanel Style="{StaticResource FieldRow}">
                            <TextBlock Text="标定名称" Style="{StaticResource FieldLabel}" Width="96"/>
                            <TextBox Text="{Binding Calib.Name, UpdateSourceTrigger=PropertyChanged}" MinWidth="240"/>
                        </StackPanel>
                        <StackPanel Style="{StaticResource FieldRow}">
                            <TextBlock Text="机器人" Style="{StaticResource FieldLabel}" Width="96"/>
                            <ComboBox ItemsSource="{Binding Robots}" SelectedItem="{Binding SelectedRobot}"
                                      DisplayMemberPath="RobotName" MinWidth="240"/>
                        </StackPanel>
                        <StackPanel Style="{StaticResource FieldRow}">
                            <TextBlock Text="相机" Style="{StaticResource FieldLabel}" Width="96"/>
                            <ComboBox ItemsSource="{Binding Cameras}" SelectedItem="{Binding SelectedCamera}"
                                      DisplayMemberPath="CameraName" MinWidth="240"/>
                        </StackPanel>
                        <StackPanel Style="{StaticResource FieldRow}">
                            <TextBlock Text="相机安装方式" Style="{StaticResource FieldLabel}" Width="96"/>
                            <ComboBox Style="{StaticResource EnumCombo}" ItemsSource="{Binding CameraMounts}"
                                      SelectedItem="{Binding Calib.CameraMount}"/>
                        </StackPanel>
                        <StackPanel Style="{StaticResource FieldRow}">
                            <TextBlock Text="取料方式" Style="{StaticResource FieldLabel}" Width="96"/>
                            <ComboBox Style="{StaticResource EnumCombo}" ItemsSource="{Binding PickModels}"
                                      SelectedItem="{Binding Calib.Pick.PickPlaceModel}"/>
                        </StackPanel>
                        <StackPanel Style="{StaticResource FieldRow}">
                            <TextBlock Text="吸气/夹紧 IO" Style="{StaticResource FieldLabel}" Width="96"/>
                            <TextBox Text="{Binding Calib.Pick.Inhal, UpdateSourceTrigger=PropertyChanged}" Width="70"/>
                            <TextBlock Text="吹气/松开 IO" Style="{StaticResource FieldLabel}" Margin="16,0,8,0"/>
                            <TextBox Text="{Binding Calib.Pick.Blow, UpdateSourceTrigger=PropertyChanged}" Width="70"/>
                        </StackPanel>
                        <StackPanel Style="{StaticResource FieldRow}">
                            <TextBlock Text="速度 / 加速度" Style="{StaticResource FieldLabel}" Width="96"/>
                            <TextBox Text="{Binding Calib.Speed, UpdateSourceTrigger=PropertyChanged}" Width="70"/>
                            <TextBox Text="{Binding Calib.Accel, UpdateSourceTrigger=PropertyChanged}" Width="70" Margin="8,0,0,0"/>
                        </StackPanel>
                        <StackPanel Style="{StaticResource FieldRow}">
                            <TextBlock Text="幅面 X / Y / U" Style="{StaticResource FieldLabel}" Width="96"/>
                            <TextBox Text="{Binding Calib.Width, UpdateSourceTrigger=PropertyChanged}" Width="70"/>
                            <TextBox Text="{Binding Calib.Height, UpdateSourceTrigger=PropertyChanged}" Width="70" Margin="8,0,0,0"/>
                            <TextBox Text="{Binding Calib.Angle, UpdateSourceTrigger=PropertyChanged}" Width="70" Margin="8,0,0,0"/>
                        </StackPanel>
                        <StackPanel Style="{StaticResource FieldRow}">
                            <TextBlock Text="吸真空/破真空/拍照延时(ms)" Style="{StaticResource FieldLabel}" Width="180"/>
                            <TextBox Text="{Binding Calib.WaitSuction, UpdateSourceTrigger=PropertyChanged}" Width="60"/>
                            <TextBox Text="{Binding Calib.WaitBlow, UpdateSourceTrigger=PropertyChanged}" Width="60" Margin="8,0,0,0"/>
                            <TextBox Text="{Binding Calib.WaitPhoto, UpdateSourceTrigger=PropertyChanged}" Width="60" Margin="8,0,0,0"/>
                        </StackPanel>
                    </StackPanel>
                </ScrollViewer>

                <!-- 步骤 1：视觉与相机（仅相机测试：参数 + 测试拍照取点 + 选择视觉工具；九点标定页已移至第 5 步） -->
                <StackPanel Visibility="{Binding StepIndex, Converter={StaticResource StepVisConv}, ConverterParameter=1}" MaxWidth="560" HorizontalAlignment="Left">
                    <StackPanel Style="{StaticResource FieldRow}">
                        <TextBlock Text="曝光时间" Style="{StaticResource FieldLabel}" Width="72"/>
                        <TextBox Text="{Binding Calib.ExposureTime, UpdateSourceTrigger=PropertyChanged}" Width="100"/>
                    </StackPanel>
                    <StackPanel Style="{StaticResource FieldRow}">
                        <TextBlock Text="增益" Style="{StaticResource FieldLabel}" Width="72"/>
                        <TextBox Text="{Binding Calib.Gain, UpdateSourceTrigger=PropertyChanged}" Width="100"/>
                    </StackPanel>
                    <StackPanel Style="{StaticResource FieldRow}">
                        <TextBlock Text="光源亮度" Style="{StaticResource FieldLabel}" Width="72"/>
                        <TextBox Text="{Binding Calib.Brightness, UpdateSourceTrigger=PropertyChanged}" Width="100"/>
                    </StackPanel>
                    <CheckBox Content="启用畸变校正" IsChecked="{Binding Calib.IsDistortionCorrection}" Margin="0,8"/>
                    <Button Content="测试拍照取点" Command="{Binding TestCaptureCommand}" Margin="0,8" Padding="16,6"
                            Style="{StaticResource ButtonPrimary}" HorizontalAlignment="Left"/>
                    <Button Content="选择视觉标定工具(.vpp)" Command="{Binding LoadVisionToolCommand}" Margin="0,4" Padding="16,6" HorizontalAlignment="Left"/>
                    <TextBlock Text="本步仅用于相机连通与取点测试（结果显示在下方状态栏）；九点标定请进入第 5 步。" TextWrapping="Wrap"
                               Foreground="{DynamicResource SecondaryTextBrush}" Margin="0,8,0,0"/>
                </StackPanel>

                <!-- 步骤 2：示教点位 -->
                <StackPanel Visibility="{Binding StepIndex, Converter={StaticResource StepVisConv}, ConverterParameter=2}" MaxWidth="640" HorizontalAlignment="Left">
                    <StackPanel Style="{StaticResource FieldRow}">
                        <TextBlock Text="P0 获取方式" Style="{StaticResource FieldLabel}" Width="96"/>
                        <ComboBox Style="{StaticResource EnumCombo}" ItemsSource="{Binding P0Modes}"
                                  SelectedItem="{Binding Calib.CalibTechP0Mode}"/>
                    </StackPanel>
                    <StackPanel Style="{StaticResource FieldRow}">
                        <Button Content="示教中心点" Command="{Binding TeachCenterCommand}" Padding="14,6" Margin="0,0,8,0"/>
                        <TextBlock VerticalAlignment="Center">
                            <Run Text="X="/><Run Text="{Binding Calib.CenterPoint.X, Mode=OneWay, StringFormat={}{0:F3}}"/>
                            <Run Text=" Y="/><Run Text="{Binding Calib.CenterPoint.Y, Mode=OneWay, StringFormat={}{0:F3}}"/>
                            <Run Text=" Z="/><Run Text="{Binding Calib.CenterPoint.Z, Mode=OneWay, StringFormat={}{0:F3}}"/>
                            <Run Text=" U="/><Run Text="{Binding Calib.CenterPoint.U, Mode=OneWay, StringFormat={}{0:F3}}"/>
                        </TextBlock>
                    </StackPanel>
                    <StackPanel Style="{StaticResource FieldRow}">
                        <Button Content="示教待机点" Command="{Binding TeachHomeCommand}" Padding="14,6" Margin="0,0,8,0"/>
                        <TextBlock VerticalAlignment="Center">
                            <Run Text="X="/><Run Text="{Binding Calib.HomePoint.X, Mode=OneWay, StringFormat={}{0:F3}}"/>
                            <Run Text=" Y="/><Run Text="{Binding Calib.HomePoint.Y, Mode=OneWay, StringFormat={}{0:F3}}"/>
                            <Run Text=" Z="/><Run Text="{Binding Calib.HomePoint.Z, Mode=OneWay, StringFormat={}{0:F3}}"/>
                        </TextBlock>
                    </StackPanel>
                    <StackPanel Style="{StaticResource FieldRow}">
                        <Button Content="示教 Mark 点" Command="{Binding TeachMarkCommand}" Padding="14,6" Margin="0,0,8,0"/>
                        <TextBlock VerticalAlignment="Center">
                            <Run Text="X="/><Run Text="{Binding Calib.MarkPoint.X, Mode=OneWay, StringFormat={}{0:F3}}"/>
                            <Run Text=" Y="/><Run Text="{Binding Calib.MarkPoint.Y, Mode=OneWay, StringFormat={}{0:F3}}"/>
                        </TextBlock>
                    </StackPanel>
                    <StackPanel Style="{StaticResource FieldRow}">
                        <TextBlock Text="夹爪/吸气测试" Style="{StaticResource FieldLabel}" Width="96"/>
                        <Button Content="吸气/夹紧" Command="{Binding GripperCommand}" CommandParameter="{StaticResource TrueVal}" Padding="14,6" Margin="0,0,8,0"/>
                        <Button Content="破真空/张开" Command="{Binding GripperCommand}" CommandParameter="{StaticResource FalseVal}" Padding="14,6"/>
                    </StackPanel>
                </StackPanel>

                <!-- 步骤 3：工具坐标 TCP -->
                <StackPanel Visibility="{Binding StepIndex, Converter={StaticResource StepVisConv}, ConverterParameter=3}" MaxWidth="640" HorizontalAlignment="Left">
                    <TextBlock TextWrapping="Wrap" Foreground="{DynamicResource SecondaryTextBrush}"
                               Text="按相机安装方式标定工具坐标(TCP)：固定向下/向上会提示摆放标定块并自动逼近中心；J4 随动模式自动求旋转中心。XY 模组无需此步（自动跳过）。"/>
                    <Button Content="运行工具坐标标定" Command="{Binding RunTcpCommand}" Padding="16,6" Margin="0,12,0,0"
                            Style="{StaticResource ButtonPrimary}" HorizontalAlignment="Left"/>
                    <StackPanel Style="{StaticResource FieldRow}" Margin="0,12,0,0">
                        <TextBlock Text="工具坐标 Tool" Style="{StaticResource FieldLabel}" Width="96"/>
                        <TextBlock VerticalAlignment="Center">
                            <Run Text="X="/><Run Text="{Binding Calib.Tool.X, Mode=OneWay, StringFormat={}{0:F3}}"/>
                            <Run Text=" Y="/><Run Text="{Binding Calib.Tool.Y, Mode=OneWay, StringFormat={}{0:F3}}"/>
                        </TextBlock>
                    </StackPanel>
                </StackPanel>

                <!-- 步骤 4：九点标定（左：机器人自动九点标定 / 右：当前视觉引擎的手动标定页） -->
                <Grid Visibility="{Binding StepIndex, Converter={StaticResource StepVisConv}, ConverterParameter=4}">
                    <Grid.ColumnDefinitions>
                        <ColumnDefinition Width="360"/>
                        <ColumnDefinition Width="*"/>
                    </Grid.ColumnDefinitions>
                    <StackPanel Grid.Column="0" Margin="0,0,16,0">
                        <TextBlock TextWrapping="Wrap" Foreground="{DynamicResource SecondaryTextBrush}"
                                   Text="以中心点为原点生成 3x3 九点，机器人逐点运动+拍照，OpenCV 求像素→机器人仿射矩阵并计算精度。"/>
                        <Button Content="运行九点标定" Command="{Binding RunNinePointCommand}" Padding="16,6" Margin="0,12,0,0"
                                Style="{StaticResource ButtonPrimary}" HorizontalAlignment="Left"/>
                        <StackPanel Style="{StaticResource FieldRow}" Margin="0,12,0,0">
                            <TextBlock VerticalAlignment="Center" TextWrapping="Wrap">
                                <Run Text="RMS="/><Run Text="{Binding Calib.CalibrationResult.RMS, Mode=OneWay, StringFormat={}{0:F4}}"/>
                                <Run Text=" mm   最大误差="/><Run Text="{Binding Calib.CalibrationResult.MaxErrorValue, Mode=OneWay, StringFormat={}{0:F4}}"/>
                                <Run Text=" mm   旋转="/><Run Text="{Binding Calib.CalibrationResult.Rotate, Mode=OneWay, StringFormat={}{0:F3}}"/>
                                <Run Text="°   ScaleX="/><Run Text="{Binding Calib.CalibrationResult.ScaleX, Mode=OneWay, StringFormat={}{0:F5}}"/>
                                <Run Text="   ScaleY="/><Run Text="{Binding Calib.CalibrationResult.ScaleY, Mode=OneWay, StringFormat={}{0:F5}}"/>
                            </TextBlock>
                        </StackPanel>
                    </StackPanel>
                    <Border Grid.Column="1" BorderThickness="1" BorderBrush="{DynamicResource BorderBrush}" CornerRadius="6">
                        <ContentControl Content="{Binding EngineCalibrationView}"/>
                    </Border>
                </Grid>

                <!-- 步骤 5：验证 -->
                <StackPanel Visibility="{Binding StepIndex, Converter={StaticResource StepVisConv}, ConverterParameter=5}" MaxWidth="640" HorizontalAlignment="Left">
                    <TextBlock TextWrapping="Wrap" Foreground="{DynamicResource SecondaryTextBrush}"
                               Text="在 5 个验证点上复算误差，评估标定质量。"/>
                    <Button Content="运行验证" Command="{Binding RunVerifyCommand}" Padding="16,6" Margin="0,12,0,0"
                            Style="{StaticResource ButtonPrimary}" HorizontalAlignment="Left"/>
                    <StackPanel Style="{StaticResource FieldRow}" Margin="0,12,0,0">
                        <TextBlock VerticalAlignment="Center">
                            <Run Text="RMSE X="/><Run Text="{Binding Calib.CalibrationTestResult.RMSEX, Mode=OneWay, StringFormat={}{0:F4}}"/>
                            <Run Text=" mm   RMSE Y="/><Run Text="{Binding Calib.CalibrationTestResult.RMSEY, Mode=OneWay, StringFormat={}{0:F4}}"/>
                            <Run Text=" mm"/>
                        </TextBlock>
                    </StackPanel>
                </StackPanel>

                <!-- 步骤 6：完成 -->
                <StackPanel Visibility="{Binding StepIndex, Converter={StaticResource StepVisConv}, ConverterParameter=6}" MaxWidth="640" HorizontalAlignment="Left">
                    <TextBlock TextWrapping="Wrap" Foreground="{DynamicResource SecondaryTextBrush}"
                               Text="保存标定配置（含视觉工具引用）到 Runtime\Calibration，供运行时像素→机器人坐标换算使用。"/>
                    <Button Content="保存标定" Command="{Binding SaveCommand}" Padding="16,6" Margin="0,12,0,0"
                            Style="{StaticResource ButtonPrimary}" HorizontalAlignment="Left"/>
                    <StackPanel Style="{StaticResource FieldRow}" Margin="0,12,0,0">
                        <TextBlock Text="名称" Style="{StaticResource FieldLabel}" Width="48"/>
                        <TextBlock Text="{Binding Calib.Name}" VerticalAlignment="Center"/>
                    </StackPanel>
                </StackPanel>
            </Grid>
        </Border>

        <!-- 状态栏 -->
        <Border Grid.Row="3" Background="{DynamicResource SecondaryRegionBrush}" CornerRadius="6" Padding="12,8" Margin="0,12,0,0">
            <StackPanel Orientation="Horizontal">
                <TextBlock Text="执行中…" VerticalAlignment="Center" Margin="0,0,8,0" FontWeight="Bold"
                           Foreground="{DynamicResource PrimaryTextBrush}"
                           Visibility="{Binding IsBusy, Converter={StaticResource BoolToVis}}"/>
                <TextBlock Text="{Binding StatusText}" VerticalAlignment="Center" TextWrapping="Wrap"
                           Foreground="{DynamicResource PrimaryTextBrush}"/>
            </StackPanel>
        </Border>

        <!-- 导航 -->
        <StackPanel Grid.Row="4" Orientation="Horizontal" HorizontalAlignment="Center" Margin="0,12,0,0">
            <Button Content="上一步" Command="{Binding BackCommand}" Padding="24,8" Margin="0,0,12,0"/>
            <Button Content="下一步" Command="{Binding NextCommand}" Style="{StaticResource ButtonPrimary}" Padding="24,8"/>
        </StackPanel>
    </Grid>
</UserControl>