Display_D_HP/TeamAAS-VM/Views/Product/PlcPointParams.xaml

<UserControl x:Class="TeamAAS_VP.Views.Product.PlcPointParams"
             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
             xmlns:prism="http://prismlibrary.com/"
             xmlns:wf="clr-namespace:System.Windows.Forms.Integration;assembly=WindowsFormsIntegration"
             xmlns:vp="clr-namespace:Cognex.VisionPro;assembly=Cognex.VisionPro.Controls"
             xmlns:materialDesign="http://materialdesigninxaml.net/winfx/xaml/themes"
             xmlns:b="http://schemas.microsoft.com/xaml/behaviors"
             xmlns:sys="clr-namespace:System;assembly=mscorlib"
             xmlns:mah="http://metro.mahapps.com/winfx/xaml/controls"
             xmlns:enums="clr-namespace:TeamAAS_VP.Enums"
             xmlns:uControl="clr-namespace:TeamAAS_VP.Controls"
             xmlns:convert="clr-namespace:TeamAAS_VP.ValueConverter"
             xmlns:local="clr-namespace:TeamAAS_VP.Views.Product"
             xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
             xmlns:vm="clr-namespace:TeamAAS_VP.ViewModels.Product"
             xmlns:ext="clr-namespace:TeamAAS_VP.Extension"
             xmlns:lex="http://wpflocalizeextension.codeplex.com"
             xmlns:localRobot="clr-namespace:TeamAAS_VP.Models.Robot"
             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:PlcPointParamsViewModel}"
             d:Height="600"
             d:Width="1024"
             d:Background="White"
             FontFamily="{DynamicResource DefaultFont}">
    <b:Interaction.Triggers>
        <b:EventTrigger EventName="Loaded">
            <b:InvokeCommandAction Command="{Binding LoadedCommand}" />
        </b:EventTrigger>
    </b:Interaction.Triggers>

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

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

        <materialDesign:DrawerHost Grid.Row="1"
                                   OpenMode="Standard"
                                   x:Name="DrawerHost"
                                   IsLeftDrawerOpen="{Binding IsLeftDrawerOpen,Mode=TwoWay}"
                                   d:IsLeftDrawerOpen="false"
                                   IsEnabled="{Binding IsAllowEdit}">
            <materialDesign:DrawerHost.LeftDrawerContent>
                <Grid Width="600">
                    <Grid.RowDefinitions>
                        <RowDefinition Height="*" />
                        <RowDefinition Height=" auto" />
                    </Grid.RowDefinitions>
                    <wf:WindowsFormsHost Grid.Row="0"
                                         Margin="0,40">
                        <vp:CogRecordDisplay x:Name="display" />
                    </wf:WindowsFormsHost>
                    <StackPanel Grid.Row="1"
                                HorizontalAlignment="Left"
                                VerticalAlignment="Bottom"
                                Orientation="Horizontal">
                        <TextBlock Text="{lex:Loc 相机,Converter={StaticResource StringFormatConverter},ConverterParameter='{}{0}: '}"
                                   FontWeight="Bold"
                                   VerticalAlignment="Center" />
                        <ComboBox Margin="5,0,10,0"
                                  IsEnabled="{Binding IsGrap,Converter={StaticResource InvertBooleanConverter}}"
                                  ItemsSource="{Binding CameraList}"
                                  SelectedItem="{Binding SelectedCamera}"
                                  materialDesign:HintAssist.Hint="{lex:Loc 选择相机}">
                            <ComboBox.ItemTemplate>
                                <DataTemplate>
                                    <StackPanel Orientation="Horizontal">
                                        <materialDesign:PackIcon Kind="Camera" />
                                        <TextBlock Text="{Binding CameraName}"
                                                   Margin="6,0" />
                                    </StackPanel>
                                </DataTemplate>
                            </ComboBox.ItemTemplate>
                        </ComboBox>
                        <Button Grid.Column="0"
                                Content="{lex:Loc 开始采集}"
                                MinWidth="100"
                                materialDesign:ButtonAssist.CornerRadius="10"
                                Style="{StaticResource MaterialDesignRaisedButton}"
                                Command="{Binding StartGrabbingCommand}" />
                        <Button Grid.Column="0"
                                Content="{lex:Loc 停止采集}"
                                IsEnabled="{Binding IsAllowEdit}"
                                MinWidth="100"
                                Margin="10,0"
                                materialDesign:ButtonAssist.CornerRadius="10"
                                Style="{StaticResource MaterialDesignRaisedButton}"
                                Command="{Binding StopGrabbingCommand}" />

                        <TextBlock Text="{Binding Message}"
                                   VerticalAlignment="Center"
                                   Foreground="Gray" />
                    </StackPanel>
                </Grid>

            </materialDesign:DrawerHost.LeftDrawerContent>
            <Grid>
                <Grid.ColumnDefinitions>
                    <ColumnDefinition Width="auto" />
                    <ColumnDefinition Width="*" />
                </Grid.ColumnDefinitions>
                <Expander Grid.Column="0"
                          ExpandDirection="Right"
                          Background="Transparent">
                    <Expander.Header>
                        <TextBlock RenderTransformOrigin=".5,.5"
                                   Text="Navigation Description">
                            <TextBlock.LayoutTransform>
                                <RotateTransform Angle="90" />
                            </TextBlock.LayoutTransform>
                        </TextBlock>
                    </Expander.Header>
                    <ScrollViewer>
                        <StackPanel Margin="8,24,16,24"
                                    Orientation="Vertical">
                            <Image Source="pack://application:,,,/TeamAAS-VP;component/Resources/Images/9机器人点位.png"
                                   Stretch="Uniform"
                                   Width="350"
                                   HorizontalAlignment="Center"
                                   VerticalAlignment="Top" />
                            <TextBlock Text="{lex:Loc 机器人点位示教}" />
                            <TextBlock Foreground="Gray"
                                       TextWrapping="Wrap"
                                       Text="{lex:Loc 机器人点位示教描述}" />
                        </StackPanel>
                    </ScrollViewer>
                </Expander>

                <Grid Grid.Column="1">
                    <Grid.ColumnDefinitions>
                        <ColumnDefinition Width="*" />
                        <ColumnDefinition Width="auto" />
                    </Grid.ColumnDefinitions>
                    <DockPanel Grid.Column="0">
                        <!--选项列表-->
                        <ListBox Height="80"
                                 DockPanel.Dock="Top"
                                 d:SelectedIndex="0"
                                 SelectedIndex="{Binding SelectedIndex}"
                                 Style="{StaticResource MaterialDesign3.NavigationBarPrimaryListBox}">
                            <b:Interaction.Triggers>
                                <b:EventTrigger EventName="SelectionChanged">
                                    <b:InvokeCommandAction Command="{Binding SelectionChangedCommand}" />
                                </b:EventTrigger>
                            </b:Interaction.Triggers>
                            <!--取料拍照点位-->
                            <ListBoxItem>
                                <ListBoxItem.Style>
                                    <Style TargetType="ListBoxItem"
                                           BasedOn="{StaticResource MaterialDesign3.NavigationBarPrimaryListBoxItem}">
                                        <Setter Property="materialDesign:NavigationBarAssist.SelectedIcon"
                                                Value="Circle" />
                                        <Setter Property="materialDesign:NavigationBarAssist.UnselectedIcon"
                                                Value="CircleOutline" />
                                    </Style>
                                </ListBoxItem.Style>
                                <TextBlock Text="取料拍照点位" />
                            </ListBoxItem>
                            <!--取料点位-->
                            <ListBoxItem>
                                <ListBoxItem.Style>
                                    <Style TargetType="ListBoxItem"
                                           BasedOn="{StaticResource MaterialDesign3.NavigationBarPrimaryListBoxItem}">
                                        <Setter Property="materialDesign:NavigationBarAssist.SelectedIcon"
                                                Value="Circle" />
                                        <Setter Property="materialDesign:NavigationBarAssist.UnselectedIcon"
                                                Value="CircleOutline" />
                                    </Style>
                                </ListBoxItem.Style>
                                <TextBlock Text="取料点位" />
                            </ListBoxItem>
                            <!--下相机二次定位点位-->
                            <ListBoxItem>
                                <ListBoxItem.Style>
                                    <Style TargetType="ListBoxItem"
                                           BasedOn="{StaticResource MaterialDesign3.NavigationBarPrimaryListBoxItem}">
                                        <Setter Property="materialDesign:NavigationBarAssist.SelectedIcon"
                                                Value="Circle" />
                                        <Setter Property="materialDesign:NavigationBarAssist.UnselectedIcon"
                                                Value="CircleOutline" />
                                    </Style>
                                </ListBoxItem.Style>
                                <TextBlock Text="下相机二次定位点位" />
                            </ListBoxItem>
                            <!--锁附拍照点位-->
                            <ListBoxItem>
                                <ListBoxItem.Style>
                                    <Style TargetType="ListBoxItem"
                                           BasedOn="{StaticResource MaterialDesign3.NavigationBarPrimaryListBoxItem}">
                                        <Setter Property="materialDesign:NavigationBarAssist.SelectedIcon"
                                                Value="Circle" />
                                        <Setter Property="materialDesign:NavigationBarAssist.UnselectedIcon"
                                                Value="CircleOutline" />
                                    </Style>
                                </ListBoxItem.Style>
                                <TextBlock Text="产品拍照点位" />
                            </ListBoxItem>
                            <!--锁附点位-->
                            <ListBoxItem>
                                <ListBoxItem.Style>
                                    <Style TargetType="ListBoxItem"
                                           BasedOn="{StaticResource MaterialDesign3.NavigationBarPrimaryListBoxItem}">
                                        <Setter Property="materialDesign:NavigationBarAssist.SelectedIcon"
                                                Value="Circle" />
                                        <Setter Property="materialDesign:NavigationBarAssist.UnselectedIcon"
                                                Value="CircleOutline" />
                                    </Style>
                                </ListBoxItem.Style>
                                <TextBlock Text="产品贴附点位" />
                            </ListBoxItem>
                            <!--复检点位-->
                            <ListBoxItem>
                                <ListBoxItem.Style>
                                    <Style TargetType="ListBoxItem"
                                           BasedOn="{StaticResource MaterialDesign3.NavigationBarPrimaryListBoxItem}">
                                        <Setter Property="materialDesign:NavigationBarAssist.SelectedIcon"
                                                Value="Circle" />
                                        <Setter Property="materialDesign:NavigationBarAssist.UnselectedIcon"
                                                Value="CircleOutline" />
                                    </Style>
                                </ListBoxItem.Style>
                                <TextBlock Text="复检点位" />
                            </ListBoxItem>
                        </ListBox>
                        <!--点位列表操作按钮面板-->
                        <StackPanel DockPanel.Dock="Bottom"
                                    Orientation="Horizontal">
                            <Button Content="添加点"
                                    Margin="5,2"
                                    MinWidth="80"
                                    materialDesign:ButtonAssist.CornerRadius="5"
                                    Command="{Binding AddPointCommand}" />
                            <Button Content="删除点"
                                    Margin="5,2"
                                    MinWidth="80"
                                    materialDesign:ButtonAssist.CornerRadius="5"
                                    Command="{Binding DeletePointCommand}" />
                            <Button Content="上移"
                                    Margin="5,2"
                                    MinWidth="80"
                                    materialDesign:ButtonAssist.CornerRadius="5"
                                    Command="{Binding MovePointUpCommand}" />
                            <Button Content="下移"
                                    Margin="5,2"
                                    MinWidth="80"
                                    materialDesign:ButtonAssist.CornerRadius="5"
                                    Command="{Binding MovePointDownCommand}" />
                            <!--<Button Content="CAD导入点位"
                                    Margin="5,2"
                                    MinWidth="80"
                                    d:Visibility="Visible"
                                    materialDesign:ButtonAssist.CornerRadius="5"
                                    Command="{Binding ImportCadPointCommand}">
                                <Button.Style>
                                    <Style TargetType="Button"
                                           BasedOn="{StaticResource MaterialDesignRaisedDarkButton}">
                                        <Setter Property="Visibility"
                                                Value="Collapsed" />
                                        <Style.Triggers>
                                            -->
                            <!-- 当 SelectedIndex == 0 时显示此面板 -->
                            <!--
                                            <DataTrigger Binding="{Binding SelectedIndex}"
                                                         Value="4">
                                                <Setter Property="Visibility"
                                                        Value="Visible" />
                                            </DataTrigger>
                                        </Style.Triggers>
                                    </Style>
                                </Button.Style>
                            </Button>-->
                        </StackPanel>
                        <Border BorderBrush="LightGray"
                                BorderThickness="1"
                                Height="1"
                                DockPanel.Dock="Bottom" />

                        <DockPanel>
                            <!--不同点位类型的操作面板-->
                            <StackPanel DockPanel.Dock="Bottom"
                                        Orientation="Vertical">
                                <!--取料点位面板-->
                                <StackPanel x:Name="AutoCorrectPickPointPanel"
                                            Orientation="Vertical"
                                            d:Visibility="Visible">
                                    <StackPanel.Style>
                                        <Style TargetType="StackPanel">
                                            <Setter Property="Visibility"
                                                    Value="Collapsed" />
                                            <Style.Triggers>
                                                <!--当 SelectedIndex == 1 时显示此面板-->
                                                <DataTrigger Binding="{Binding SelectedIndex}"
                                                             Value="1">
                                                    <Setter Property="Visibility"
                                                            Value="Visible" />
                                                </DataTrigger>
                                            </Style.Triggers>
                                        </Style>
                                    </StackPanel.Style>
                                    <ScrollViewer HorizontalScrollBarVisibility="Auto"
                                                  VerticalScrollBarVisibility="Disabled">

                                        <StackPanel Orientation="Vertical"
                                                    HorizontalAlignment="Left">
                                            <ScrollViewer>
                                                <StackPanel Orientation="Horizontal">
                                                    <GroupBox Header="托盘1">
                                                        <Grid>
                                                            <Grid.RowDefinitions>
                                                                <RowDefinition Height="auto" />
                                                                <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" />
                                                                <ColumnDefinition Width="auto" />
                                                                <ColumnDefinition Width="auto" />
                                                                <ColumnDefinition Width="auto" />
                                                                <ColumnDefinition Width="auto" />
                                                                <ColumnDefinition Width="auto" />
                                                            </Grid.ColumnDefinitions>
                                                            <Grid.Resources>
                                                                <Style TargetType="TextBlock">
                                                                    <Setter Property="HorizontalAlignment"
                                                                            Value="Center" />
                                                                    <Setter Property="VerticalAlignment"
                                                                            Value="Center" />
                                                                </Style>
                                                                <Style TargetType="TextBox">
                                                                    <Setter Property="HorizontalAlignment"
                                                                            Value="Center" />
                                                                    <Setter Property="VerticalAlignment"
                                                                            Value="Center" />
                                                                    <Setter Property="MinWidth"
                                                                            Value="50" />
                                                                </Style>
                                                            </Grid.Resources>
                                                            <TextBlock Text="X"
                                                                       Grid.Column="1" />
                                                            <TextBlock Text="Y"
                                                                       Grid.Column="2" />
                                                            <TextBlock Text="Z"
                                                                       Grid.Column="3" />
                                                            <TextBlock Text="U"
                                                                       Grid.Column="4" />
                                                            <TextBlock Text="附加轴"
                                                                       Grid.Column="5" />
                                                            <TextBlock Text="点1:"
                                                                       Grid.Row="1"
                                                                       Grid.Column="0" />
                                                            <TextBlock Text="点2:"
                                                                       Grid.Row="2"
                                                                       Grid.Column="0" />
                                                            <TextBlock Text="点3:"
                                                                       Grid.Row="3"
                                                                       Grid.Column="0" />
                                                            <TextBox Text="{Binding Pallet1.P0.X_Position}"
                                                                     Grid.Row="1"
                                                                     Grid.Column="1" />
                                                            <TextBox Text="{Binding Pallet1.P0.Y_Position}"
                                                                     Grid.Row="1"
                                                                     Grid.Column="2" />
                                                            <TextBox Text="{Binding Pallet1.P0.Z_Position_Start}"
                                                                     Grid.Row="1"
                                                                     Grid.Column="3" />
                                                            <TextBox Text="{Binding Pallet1.P0.U_Position}"
                                                                     Grid.Row="1"
                                                                     Grid.Column="4" />
                                                            <TextBox Text="{Binding Pallet1.P0.Z_Position_Stop}"
                                                                     Grid.Row="1"
                                                                     Grid.Column="5" />
                                                            <Button Content="示教"
                                                                    Grid.Row="1"
                                                                    Grid.Column="6"
                                                                    Margin="5,0"
                                                                    Command="{Binding PickTechCommand}"
                                                                    CommandParameter="1-1" />
                                                            <Button Content="移动"
                                                                    Grid.Row="1"
                                                                    Grid.Column="7"
                                                                    Command="{Binding PickMoveCommand}"
                                                                    CommandParameter="1-1" />
                                                            <TextBox Text="{Binding Pallet1.P1.X_Position}"
                                                                     Grid.Row="2"
                                                                     Grid.Column="1" />
                                                            <TextBox Text="{Binding Pallet1.P1.Y_Position}"
                                                                     Grid.Row="2"
                                                                     Grid.Column="2" />
                                                            <TextBox Text="{Binding Pallet1.P1.Z_Position_Start}"
                                                                     Grid.Row="2"
                                                                     Grid.Column="3" />
                                                            <TextBox Text="{Binding Pallet1.P1.U_Position}"
                                                                     Grid.Row="2"
                                                                     Grid.Column="4" />
                                                            <TextBox Text="{Binding Pallet1.P1.Z_Position_Stop}"
                                                                     Grid.Row="2"
                                                                     Grid.Column="5" />
                                                            <Button Content="示教"
                                                                    Grid.Row="2"
                                                                    Grid.Column="6"
                                                                    Margin="5,0"
                                                                    Command="{Binding PickTechCommand}"
                                                                    CommandParameter="1-2" />
                                                            <Button Content="移动"
                                                                    Grid.Row="2"
                                                                    Grid.Column="7"
                                                                    Command="{Binding PickMoveCommand}"
                                                                    CommandParameter="1-2" />
                                                            <TextBox Text="{Binding Pallet1.P2.X_Position}"
                                                                     Grid.Row="3"
                                                                     Grid.Column="1" />
                                                            <TextBox Text="{Binding Pallet1.P2.Y_Position}"
                                                                     Grid.Row="3"
                                                                     Grid.Column="2" />
                                                            <TextBox Text="{Binding Pallet1.P2.Z_Position_Start}"
                                                                     Grid.Row="3"
                                                                     Grid.Column="3" />
                                                            <TextBox Text="{Binding Pallet1.P2.U_Position}"
                                                                     Grid.Row="3"
                                                                     Grid.Column="4" />
                                                            <TextBox Text="{Binding Pallet1.P2.Z_Position_Stop}"
                                                                     Grid.Row="3"
                                                                     Grid.Column="5" />
                                                            <Button Content="示教"
                                                                    Grid.Row="3"
                                                                    Grid.Column="6"
                                                                    Margin="5,0"
                                                                    Command="{Binding PickTechCommand}"
                                                                    CommandParameter="1-3" />
                                                            <Button Content="移动"
                                                                    Grid.Row="3"
                                                                    Grid.Column="7"
                                                                    Command="{Binding PickMoveCommand}"
                                                                    CommandParameter="1-3" />
                                                            <TextBlock Text="行数："
                                                                       Grid.Row="4"
                                                                       Grid.Column="0" />
                                                            <TextBox Text="{Binding Pallet1.Row}"
                                                                     Grid.Row="4"
                                                                     Grid.Column="1" />
                                                            <TextBlock Text="列数："
                                                                       Grid.Row="4"
                                                                       Grid.Column="2" />
                                                            <TextBox Text="{Binding Pallet1.Column}"
                                                                     Grid.Row="4"
                                                                     Grid.Column="3" />
                                                            <Button Content="计算取料点"
                                                                    Grid.Row="4"
                                                                    Grid.ColumnSpan="4"
                                                                    Margin="5,0"
                                                                    HorizontalAlignment="Left"
                                                                    Grid.Column="4"
                                                                    Command="{Binding CalPickPosCommand}" 
                                                                    CommandParameter="1"/>
                                                        </Grid>
                                                    </GroupBox>
                                                    <GroupBox Header="托盘2" Margin="2,0">
                                                        <Grid>
                                                            <Grid.RowDefinitions>
                                                                <RowDefinition Height="auto" />
                                                                <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" />
                                                                <ColumnDefinition Width="auto" />
                                                                <ColumnDefinition Width="auto" />
                                                                <ColumnDefinition Width="auto" />
                                                                <ColumnDefinition Width="auto" />
                                                                <ColumnDefinition Width="auto" />
                                                            </Grid.ColumnDefinitions>
                                                            <Grid.Resources>
                                                                <Style TargetType="TextBlock">
                                                                    <Setter Property="HorizontalAlignment"
                                                                            Value="Center" />
                                                                    <Setter Property="VerticalAlignment"
                                                                            Value="Center" />
                                                                </Style>
                                                                <Style TargetType="TextBox">
                                                                    <Setter Property="HorizontalAlignment"
                                                                            Value="Center" />
                                                                    <Setter Property="VerticalAlignment"
                                                                            Value="Center" />
                                                                    <Setter Property="MinWidth"
                                                                            Value="50" />
                                                                </Style>
                                                            </Grid.Resources>
                                                            <TextBlock Text="X"
                                                                       Grid.Column="1" />
                                                            <TextBlock Text="Y"
                                                                       Grid.Column="2" />
                                                            <TextBlock Text="Z"
                                                                       Grid.Column="3" />
                                                            <TextBlock Text="U"
                                                                       Grid.Column="4" />
                                                            <TextBlock Text="附加轴"
                                                                       Grid.Column="5" />
                                                            <TextBlock Text="点1:"
                                                                       Grid.Row="1"
                                                                       Grid.Column="0" />
                                                            <TextBlock Text="点2:"
                                                                       Grid.Row="2"
                                                                       Grid.Column="0" />
                                                            <TextBlock Text="点3:"
                                                                       Grid.Row="3"
                                                                       Grid.Column="0" />
                                                            <TextBox Text="{Binding Pallet2.P0.X_Position}"
                                                                     Grid.Row="1"
                                                                     Grid.Column="1" />
                                                            <TextBox Text="{Binding Pallet2.P0.Y_Position}"
                                                                     Grid.Row="1"
                                                                     Grid.Column="2" />
                                                            <TextBox Text="{Binding Pallet2.P0.Z_Position_Start}"
                                                                     Grid.Row="1"
                                                                     Grid.Column="3" />
                                                            <TextBox Text="{Binding Pallet2.P0.U_Position}"
                                                                     Grid.Row="1"
                                                                     Grid.Column="4" />
                                                            <TextBox Text="{Binding Pallet2.P0.Z_Position_Stop}"
                                                                     Grid.Row="1"
                                                                     Grid.Column="5" />
                                                            <Button Content="示教"
                                                                    Grid.Row="1"
                                                                    Grid.Column="6"
                                                                    Margin="5,0"
                                                                    Command="{Binding PickTechCommand}"
                                                                    CommandParameter="2-1" />
                                                            <Button Content="移动"
                                                                    Grid.Row="1"
                                                                    Grid.Column="7"
                                                                    Command="{Binding PickMoveCommand}"
                                                                    CommandParameter="2-1" />
                                                            <TextBox Text="{Binding Pallet2.P1.X_Position}"
                                                                     Grid.Row="2"
                                                                     Grid.Column="1" />
                                                            <TextBox Text="{Binding Pallet2.P1.Y_Position}"
                                                                     Grid.Row="2"
                                                                     Grid.Column="2" />
                                                            <TextBox Text="{Binding Pallet2.P1.Z_Position_Start}"
                                                                     Grid.Row="2"
                                                                     Grid.Column="3" />
                                                            <TextBox Text="{Binding Pallet2.P1.U_Position}"
                                                                     Grid.Row="2"
                                                                     Grid.Column="4" />
                                                            <TextBox Text="{Binding Pallet2.P1.Z_Position_Stop}"
                                                                     Grid.Row="2"
                                                                     Grid.Column="5" />
                                                            <Button Content="示教"
                                                                    Grid.Row="2"
                                                                    Grid.Column="6"
                                                                    Margin="5,0"
                                                                    Command="{Binding PickTechCommand}"
                                                                    CommandParameter="2-2" />
                                                            <Button Content="移动"
                                                                    Grid.Row="2"
                                                                    Grid.Column="7"
                                                                    Command="{Binding PickMoveCommand}"
                                                                    CommandParameter="2-2" />
                                                            <TextBox Text="{Binding Pallet2.P2.X_Position}"
                                                                     Grid.Row="3"
                                                                     Grid.Column="1" />
                                                            <TextBox Text="{Binding Pallet2.P2.Y_Position}"
                                                                     Grid.Row="3"
                                                                     Grid.Column="2" />
                                                            <TextBox Text="{Binding Pallet2.P2.Z_Position_Start}"
                                                                     Grid.Row="3"
                                                                     Grid.Column="3" />
                                                            <TextBox Text="{Binding Pallet2.P2.U_Position}"
                                                                     Grid.Row="3"
                                                                     Grid.Column="4" />
                                                            <TextBox Text="{Binding Pallet2.P2.Z_Position_Stop}"
                                                                     Grid.Row="3"
                                                                     Grid.Column="5" />
                                                            <Button Content="示教"
                                                                    Grid.Row="3"
                                                                    Grid.Column="6"
                                                                    Margin="5,0"
                                                                    Command="{Binding PickTechCommand}"
                                                                    CommandParameter="2-3" />
                                                            <Button Content="移动"
                                                                    Grid.Row="3"
                                                                    Grid.Column="7"
                                                                    Command="{Binding PickMoveCommand}"
                                                                    CommandParameter="2-3" />
                                                            <TextBlock Text="行数："
                                                                       Grid.Row="4"
                                                                       Grid.Column="0" />
                                                            <TextBox Text="{Binding Pallet2.Row}"
                                                                     Grid.Row="4"
                                                                     Grid.Column="1" />
                                                            <TextBlock Text="列数："
                                                                       Grid.Row="4"
                                                                       Grid.Column="2" />
                                                            <TextBox Text="{Binding Pallet2.Column}"
                                                                     Grid.Row="4"
                                                                     Grid.Column="3" />
                                                            <Button Content="计算取料点"
                                                                    Grid.Row="4"
                                                                    Grid.ColumnSpan="4"
                                                                    Margin="5,0"
                                                                    HorizontalAlignment="Left"
                                                                    Grid.Column="4"
                                                                    Command="{Binding CalPickPosCommand}"
                                                                    CommandParameter="2"/>
                                                        </Grid>
                                                    </GroupBox>
                                                </StackPanel>
                                            </ScrollViewer>
                                            <StackPanel Orientation="Horizontal">
                                                <TextBlock Text="吸真空编号："
                                                           VerticalAlignment="Center" />
                                                <mah:NumericUpDown MinWidth="100"
                                                                   HorizontalContentAlignment="Center"
                                                                   VerticalContentAlignment="Center"
                                                                   Minimum="0"
                                                                   Maximum="100"
                                                                   Value="{Binding Inhal,Mode=OneWay}"
                                                                   Margin="5,0,0,0" />

                                                <Button Content="执行取料"
                                                        Margin="10,0,0,0"
                                                        materialDesign:ButtonAssist.CornerRadius="5"
                                                        Command="{Binding GoPickCommand}" />
                                            </StackPanel>
                                        </StackPanel>
                                    </ScrollViewer>
                                </StackPanel>

                                <!--下相机二次定位-->
                                <StackPanel x:Name="DownCameraRepositionPanel"
                                            Orientation="Vertical"
                                            d:Visibility="Visible">
                                    <StackPanel.Style>
                                        <Style TargetType="StackPanel">
                                            <Setter Property="Visibility"
                                                    Value="Collapsed" />
                                            <Style.Triggers>
                                                <!--当 SelectedIndex == 2 时显示此面板-->
                                                <DataTrigger Binding="{Binding SelectedIndex}"
                                                             Value="2">
                                                    <Setter Property="Visibility"
                                                            Value="Visible" />
                                                </DataTrigger>
                                            </Style.Triggers>
                                        </Style>
                                    </StackPanel.Style>
                                    <ScrollViewer HorizontalScrollBarVisibility="Auto"
                                                  VerticalScrollBarVisibility="Disabled">
                                        <StackPanel Orientation="Horizontal"
                                                    HorizontalAlignment="Left">
                                            <Button Content="执行二次定位"
                                                    Margin="10,0,0,0"
                                                    materialDesign:ButtonAssist.CornerRadius="5"
                                                    Command="{Binding GoRepositionCommand}" />
                                        </StackPanel>
                                    </ScrollViewer>
                                </StackPanel>
                                <!--产品拍照-->
                                <StackPanel Orientation="Vertical"
                                            d:Visibility="Visible">
                                    <StackPanel.Style>
                                        <Style TargetType="StackPanel">
                                            <Setter Property="Visibility"
                                                    Value="Collapsed" />
                                            <Style.Triggers>
                                                <!--当 SelectedIndex == 3 时显示此面板-->
                                                <DataTrigger Binding="{Binding SelectedIndex}"
                                                             Value="3">
                                                    <Setter Property="Visibility"
                                                            Value="Visible" />
                                                </DataTrigger>
                                            </Style.Triggers>
                                        </Style>
                                    </StackPanel.Style>
                                    <ScrollViewer HorizontalScrollBarVisibility="Auto"
                                                  VerticalScrollBarVisibility="Disabled">
                                        <StackPanel Orientation="Horizontal"
                                                    HorizontalAlignment="Left">
                                            <Button Content="执行产品拍照"
                                                    Margin="10,0,0,0"
                                                    materialDesign:ButtonAssist.CornerRadius="5"
                                                    Command="{Binding TakeProductPhotoCommand}" />
                                        </StackPanel>
                                    </ScrollViewer>
                                </StackPanel>


                            </StackPanel>
                            <!--点位表-->
                            <DataGrid x:Name="dgPoints"
                                      AutoGenerateColumns="False"
                                      CanUserAddRows="False"
                                      CanUserDeleteRows="False"
                                      ColumnWidth="*"
                                      SelectionUnit="FullRow"
                                      SelectionMode="Single"
                                      SelectedItem="{Binding SelectedPointInDataGrid,Mode=TwoWay}"
                                      ItemsSource="{Binding Points}"
                                      HeadersVisibility="Column"
                                      HorizontalScrollBarVisibility="Auto"
                                      ScrollViewer.CanContentScroll="True"
                                      ScrollViewer.HorizontalScrollBarVisibility="Auto"
                                      GridLinesVisibility="All"
                                      VerticalGridLinesBrush="#D0D0D0">
                                <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" />
                                        <Setter Property="TextBlock.TextAlignment"
                                                Value="Center" />
                                        <Setter Property="Padding"
                                                Value="0" />
                                        <Style.Triggers>
                                            <Trigger Property="IsSelected"
                                                     Value="True">
                                                <Setter Property="Foreground"
                                                        Value="White" />
                                            </Trigger>
                                        </Style.Triggers>
                                    </Style>

                                    <!-- 为 TextBlock 添加默认居中样式 -->
                                    <Style TargetType="TextBlock">
                                        <Setter Property="TextAlignment"
                                                Value="Center" />
                                        <Setter Property="HorizontalAlignment"
                                                Value="Center" />
                                        <Setter Property="VerticalAlignment"
                                                Value="Center" />
                                    </Style>
                                </DataGrid.Resources>
                                <DataGrid.Columns>
                                    <DataGridTextColumn Header="{lex:Loc 编号}"
                                                        IsReadOnly="True"
                                                        MinWidth="60"
                                                        Width="Auto"
                                                        Binding="{Binding Number, Mode=TwoWay, StringFormat={}{0:F0}}">
                                    </DataGridTextColumn>
                                    <DataGridTextColumn Header="{lex:Loc 标签}"
                                                        MinWidth="100"
                                                        Width="Auto"
                                                        Binding="{Binding Label, Mode=TwoWay}" />
                                    <!--X 坐标-->
                                    <DataGridTemplateColumn Header="X位置"
                                                            MinWidth="60"
                                                            Width="Auto">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock Text="{Binding X_Position, StringFormat={}{0:F3}}"
                                                           HorizontalAlignment="Center"
                                                           VerticalAlignment="Center" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown Value="{Binding X_Position, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
                                                                   Minimum="-9999.000"
                                                                   Maximum="9999.000"
                                                                   Interval="0.1"
                                                                   StringFormat="F3"
                                                                   HorizontalAlignment="Stretch"
                                                                   VerticalAlignment="Center"
                                                                   Margin="0"
                                                                   Padding="2" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>
                                    <!--X 速度-->
                                    <DataGridTemplateColumn Header="X速度"
                                                            MinWidth="60"
                                                            Width="Auto">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock Text="{Binding X_Velocity, StringFormat={}{0:F0}}"
                                                           HorizontalAlignment="Center"
                                                           VerticalAlignment="Center" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown Value="{Binding X_Velocity, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
                                                                   Minimum="0"
                                                                   Maximum="9999.000"
                                                                   Interval="1"
                                                                   StringFormat="F3"
                                                                   HorizontalAlignment="Stretch"
                                                                   VerticalAlignment="Center"
                                                                   Margin="0"
                                                                   Padding="2" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>
                                    <!--Y 坐标-->
                                    <DataGridTemplateColumn Header="Y位置"
                                                            MinWidth="60"
                                                            Width="Auto">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock Text="{Binding Y_Position, StringFormat={}{0:F3}}"
                                                           HorizontalAlignment="Center"
                                                           VerticalAlignment="Center" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown Value="{Binding Y_Position, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
                                                                   Minimum="-9999.000"
                                                                   Maximum="9999.000"
                                                                   Interval="0.1"
                                                                   StringFormat="F3"
                                                                   HorizontalAlignment="Stretch"
                                                                   VerticalAlignment="Center"
                                                                   Margin="0"
                                                                   Padding="2" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>
                                    <!--Y 速度-->
                                    <DataGridTemplateColumn Header="Y速度"
                                                            MinWidth="60"
                                                            Width="Auto">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock Text="{Binding Y_Velocity, StringFormat={}{0:F0}}"
                                                           HorizontalAlignment="Center"
                                                           VerticalAlignment="Center" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown Value="{Binding Y_Velocity, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
                                                                   Minimum="0"
                                                                   Maximum="9999.000"
                                                                   Interval="1"
                                                                   StringFormat="F3"
                                                                   HorizontalAlignment="Stretch"
                                                                   VerticalAlignment="Center"
                                                                   Margin="0"
                                                                   Padding="2" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>
                                    <!--Z 起点坐标-->
                                    <DataGridTemplateColumn Header="Z起点位置"
                                                            MinWidth="60"
                                                            Width="Auto">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock Text="{Binding Z_Position_Start, StringFormat={}{0:F3}}"
                                                           HorizontalAlignment="Center"
                                                           VerticalAlignment="Center" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown Value="{Binding Z_Position_Start, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
                                                                   Minimum="-9999.000"
                                                                   Maximum="9999.000"
                                                                   Interval="0.1"
                                                                   StringFormat="F3"
                                                                   HorizontalAlignment="Stretch"
                                                                   VerticalAlignment="Center"
                                                                   Margin="0"
                                                                   Padding="2" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>
                                    <!--Z 起点速度-->
                                    <DataGridTemplateColumn Header="Z起点速度"
                                                            MinWidth="60"
                                                            Width="Auto">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock Text="{Binding Z_Velocity_Start, StringFormat={}{0:F0}}"
                                                           HorizontalAlignment="Center"
                                                           VerticalAlignment="Center" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown Value="{Binding Z_Velocity_Start, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
                                                                   Minimum="0"
                                                                   Maximum="9999.000"
                                                                   Interval="1"
                                                                   StringFormat="F3"
                                                                   HorizontalAlignment="Stretch"
                                                                   VerticalAlignment="Center"
                                                                   Margin="0"
                                                                   Padding="2" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>
                                    <!--Z 终点坐标-->
                                    <DataGridTemplateColumn Header="Z终点位置"
                                                            MinWidth="60"
                                                            Width="Auto">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock Text="{Binding Z_Position_Stop, StringFormat={}{0:F3}}"
                                                           HorizontalAlignment="Center"
                                                           VerticalAlignment="Center" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown Value="{Binding Z_Position_Stop, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
                                                                   Minimum="-9999.000"
                                                                   Maximum="9999.000"
                                                                   Interval="0.1"
                                                                   StringFormat="F3"
                                                                   HorizontalAlignment="Stretch"
                                                                   VerticalAlignment="Center"
                                                                   Margin="0"
                                                                   Padding="2" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>
                                    <!--Z 终点速度-->
                                    <DataGridTemplateColumn Header="Z终点速度"
                                                            MinWidth="60"
                                                            Width="Auto">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock Text="{Binding Z_Velocity_Stop, StringFormat={}{0:F0}}"
                                                           HorizontalAlignment="Center"
                                                           VerticalAlignment="Center" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown Value="{Binding Z_Velocity_Stop, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
                                                                   Minimum="0"
                                                                   Maximum="9999.000"
                                                                   Interval="1"
                                                                   StringFormat="F3"
                                                                   HorizontalAlignment="Stretch"
                                                                   VerticalAlignment="Center"
                                                                   Margin="0"
                                                                   Padding="2" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>
                                    <!--U 坐标-->
                                    <DataGridTemplateColumn Header="U位置"
                                                            MinWidth="60"
                                                            Width="Auto">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock Text="{Binding U_Position, StringFormat={}{0:F3}}"
                                                           HorizontalAlignment="Center"
                                                           VerticalAlignment="Center" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown Value="{Binding U_Position, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
                                                                   Minimum="-9999.000"
                                                                   Maximum="9999.000"
                                                                   Interval="0.1"
                                                                   StringFormat="F3"
                                                                   HorizontalAlignment="Stretch"
                                                                   VerticalAlignment="Center"
                                                                   Margin="0"
                                                                   Padding="2" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>
                                    <!--U 速度-->
                                    <DataGridTemplateColumn Header="U速度"
                                                            MinWidth="60"
                                                            Width="Auto">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock Text="{Binding U_Velocity, StringFormat={}{0:F0}}"
                                                           HorizontalAlignment="Center"
                                                           VerticalAlignment="Center" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown Value="{Binding U_Velocity, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
                                                                   Minimum="0"
                                                                   Maximum="9999.000"
                                                                   Interval="1"
                                                                   StringFormat="F3"
                                                                   HorizontalAlignment="Stretch"
                                                                   VerticalAlignment="Center"
                                                                   Margin="0"
                                                                   Padding="2" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>
                                    <!--R 坐标-->
                                    <DataGridTemplateColumn Header="R位置"
                                                            MinWidth="60"
                                                            Width="Auto">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock Text="{Binding R_Position, StringFormat={}{0:F3}}"
                                                           HorizontalAlignment="Center"
                                                           VerticalAlignment="Center" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown Value="{Binding R_Position, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
                                                                   Minimum="-9999.000"
                                                                   Maximum="9999.000"
                                                                   Interval="0.1"
                                                                   StringFormat="F3"
                                                                   HorizontalAlignment="Stretch"
                                                                   VerticalAlignment="Center"
                                                                   Margin="0"
                                                                   Padding="2" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>
                                    <!--R 速度-->
                                    <DataGridTemplateColumn Header="R速度"
                                                            MinWidth="60"
                                                            Width="Auto">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock Text="{Binding R_Velocity, StringFormat={}{0:F0}}"
                                                           HorizontalAlignment="Center"
                                                           VerticalAlignment="Center" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown Value="{Binding R_Velocity, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
                                                                   Minimum="0"
                                                                   Maximum="9999.000"
                                                                   Interval="1"
                                                                   StringFormat="F3"
                                                                   HorizontalAlignment="Stretch"
                                                                   VerticalAlignment="Center"
                                                                   Margin="0"
                                                                   Padding="2" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>
                                    <!--扭矩-->
                                    <DataGridTemplateColumn Header="扭矩"
                                                            MinWidth="60"
                                                            Width="Auto">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock Text="{Binding Torque, StringFormat={}{0:F3}}"
                                                           HorizontalAlignment="Center"
                                                           VerticalAlignment="Center" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown Value="{Binding Torque, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
                                                                   Minimum="-9999.000"
                                                                   Maximum="9999.000"
                                                                   Interval="0.1"
                                                                   StringFormat="F3"
                                                                   HorizontalAlignment="Stretch"
                                                                   VerticalAlignment="Center"
                                                                   Margin="0"
                                                                   Padding="2" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>
                                    <!--供料器-->
                                    <!--<DataGridTemplateColumn Header="供料器"
                                                            MinWidth="60"
                                                            Width="Auto">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock Text="{Binding Feeder, StringFormat={}{0:F0}}"
                                                           HorizontalAlignment="Center"
                                                           VerticalAlignment="Center" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown Value="{Binding Feeder, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
                                                                   Minimum="0"
                                                                   Maximum="9999.000"
                                                                   Interval="1"
                                                                   StringFormat="F0"
                                                                   HorizontalAlignment="Stretch"
                                                                   VerticalAlignment="Center"
                                                                   Margin="0"
                                                                   Padding="2" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>-->
                                    <!--电批程序号-->
                                    <!--<DataGridTemplateColumn Header="电批程序号"
                                                            MinWidth="60"
                                                            Width="Auto">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock Text="{Binding ScrewProNum, StringFormat={}{0:F0}}"
                                                           HorizontalAlignment="Center"
                                                           VerticalAlignment="Center" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown Value="{Binding ScrewProNum, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
                                                                   Minimum="0"
                                                                   Maximum="9999.000"
                                                                   Interval="1"
                                                                   StringFormat="F0"
                                                                   HorizontalAlignment="Stretch"
                                                                   VerticalAlignment="Center"
                                                                   Margin="0"
                                                                   Padding="2" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>-->

                                    <DataGridTextColumn Header="{lex:Loc 描述}"
                                                        MinWidth="100"
                                                        Width="200"
                                                        Binding="{Binding Description, Mode=TwoWay}" />
                                </DataGrid.Columns>
                            </DataGrid>
                        </DockPanel>
                    </DockPanel>
                    <GridSplitter Grid.Column="0"
                                  Grid.Row="0"
                                  Grid.RowSpan="2"
                                  Width="2"
                                  Background="DeepSkyBlue"
                                  VerticalAlignment="Stretch"
                                  HorizontalAlignment="Right" />

                    <!--运动控制区-->
                    <Viewbox Grid.Column="1">
                        <Grid>
                            <Grid.RowDefinitions>
                                <RowDefinition Height="auto" />
                                <RowDefinition Height="auto" />
                                <RowDefinition Height="auto" />
                                <RowDefinition Height="auto" />
                            </Grid.RowDefinitions>

                            <ToggleButton Grid.ColumnSpan="2"
                                          HorizontalAlignment="Left"
                                          VerticalAlignment="Top"
                                          materialDesign:ToggleButtonAssist.OnContent="{materialDesign:PackIcon Kind=ArrowLeft}"
                                          Content="{materialDesign:PackIcon Kind=Camera}"
                                          Style="{StaticResource MaterialDesignActionToggleButton}"
                                          ToolTip="相机图像"
                                          Margin="5,0"
                                          IsChecked="{Binding IsLeftDrawerOpen,ElementName=DrawerHost}" />

                            <Grid Grid.Row="0"
                                  Margin="10"
                                  HorizontalAlignment="Center">
                                <Grid.ColumnDefinitions>
                                    <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" />
                                    <RowDefinition Height="auto" />
                                    <RowDefinition Height="auto" />
                                </Grid.RowDefinitions>
                                <Grid.Resources>
                                    <Style TargetType="Button"
                                           BasedOn="{StaticResource MaterialDesignRaisedDarkButton}">
                                        <Setter Property="Width"
                                                Value="60" />
                                        <Setter Property="Height"
                                                Value="60" />
                                        <Setter Property="FontSize"
                                                Value="13" />
                                        <Setter Property="Padding"
                                                Value="0" />
                                        <Setter Property="HorizontalAlignment"
                                                Value="Center" />
                                        <Setter Property="VerticalAlignment"
                                                Value="Center" />
                                        <Setter Property="Margin"
                                                Value="2" />
                                        <Setter Property="materialDesign:ButtonAssist.CornerRadius"
                                                Value="10" />
                                    </Style>
                                </Grid.Resources>
                                <StackPanel Grid.ColumnSpan="4"
                                            Grid.Row="0"
                                            Grid.Column="0"
                                            VerticalAlignment="Center"
                                            Orientation="Horizontal"
                                            Margin="30,0,0,0">
                                    <Button Content="{lex:Loc 上使能}"
                                            Grid.Row="2"
                                            materialDesign:ButtonAssist.CornerRadius="10"
                                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                            Command="{Binding MotorCommand}"
                                            CommandParameter="True" />
                                    <Button Content="{lex:Loc 下使能}"
                                            Grid.Row="3"
                                            Margin="10"
                                            materialDesign:ButtonAssist.CornerRadius="10"
                                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                            Command="{Binding MotorCommand}"
                                            CommandParameter="False" />
                                    <Button Content="{lex:Loc 复位错误}"
                                            Grid.Row="4"
                                            materialDesign:ButtonAssist.CornerRadius="10"
                                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                            Command="{Binding ResetCommand}" />
                                </StackPanel>
                                <Button Grid.Row="2"
                                        Grid.Column="0"
                                        Command="{Binding JogCommand}"
                                        CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=X-}">
                                    <StackPanel Orientation="Vertical">
                                        <materialDesign:PackIcon Kind="ArrowLeftBold"
                                                                 Width="26"
                                                                 Height="26" />
                                        <TextBlock Text="-X"
                                                   HorizontalAlignment="Center" />
                                    </StackPanel>
                                </Button>
                                <Button Grid.Row="2"
                                        Grid.Column="2"
                                        Command="{Binding JogCommand}"
                                        CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=X+}">
                                    <StackPanel Orientation="Vertical">
                                        <materialDesign:PackIcon Kind="ArrowRightBold"
                                                                 Width="26"
                                                                 Height="26" />
                                        <TextBlock Text="+X"
                                                   HorizontalAlignment="Center" />
                                    </StackPanel>
                                </Button>
                                <Button Grid.Row="1"
                                        Grid.Column="1"
                                        Command="{Binding JogCommand}"
                                        CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=Y+}">
                                    <StackPanel Orientation="Vertical">
                                        <materialDesign:PackIcon Kind="ArrowTopBold"
                                                                 Width="26"
                                                                 Height="26" />
                                        <TextBlock Text="+Y"
                                                   HorizontalAlignment="Center" />
                                    </StackPanel>
                                </Button>
                                <Button Grid.Row="3"
                                        Grid.Column="1"
                                        Command="{Binding JogCommand}"
                                        CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=Y-}">
                                    <StackPanel Orientation="Vertical">
                                        <materialDesign:PackIcon Kind="ArrowBottomBold"
                                                                 Width="26"
                                                                 Height="26" />
                                        <TextBlock Text="-Y"
                                                   HorizontalAlignment="Center" />
                                    </StackPanel>
                                </Button>
                                <Button Grid.Row="1"
                                        Grid.Column="3"
                                        Command="{Binding JogCommand}"
                                        CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=Z+}">
                                    <StackPanel Orientation="Vertical">
                                        <materialDesign:PackIcon Kind="ArrowTopBold"
                                                                 Width="26"
                                                                 Height="26" />
                                        <TextBlock Text="+Z"
                                                   HorizontalAlignment="Center" />
                                    </StackPanel>
                                </Button>
                                <Button Grid.Row="3"
                                        Grid.Column="3"
                                        Command="{Binding JogCommand}"
                                        CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=Z-}">
                                    <StackPanel Orientation="Vertical">
                                        <materialDesign:PackIcon Kind="ArrowBottomBold"
                                                                 Width="26"
                                                                 Height="26" />
                                        <TextBlock Text="-Z"
                                                   HorizontalAlignment="Center" />
                                    </StackPanel>
                                </Button>
                                <Button Grid.Row="4"
                                        Grid.Column="3"
                                        Command="{Binding JogCommand}"
                                        CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=U+}">
                                    <StackPanel Orientation="Vertical">
                                        <materialDesign:PackIcon Kind="AxisZRotateCounterclockwise"
                                                                 Width="26"
                                                                 Height="26" />
                                        <TextBlock Text="+U"
                                                   HorizontalAlignment="Center" />
                                    </StackPanel>
                                </Button>
                                <Button Grid.Row="4"
                                        Grid.Column="0"
                                        Command="{Binding JogCommand}"
                                        CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=U-}">
                                    <StackPanel Orientation="Vertical">
                                        <materialDesign:PackIcon Kind="AxisZRotateClockwise"
                                                                 Width="26"
                                                                 Height="26" />
                                        <TextBlock Text="-U"
                                                   HorizontalAlignment="Center" />
                                    </StackPanel>
                                </Button>

                                <StackPanel Grid.Row="6"
                                            Grid.ColumnSpan="7"
                                            Margin="10,0"
                                            Grid.Column="0"
                                            VerticalAlignment="Center"
                                            Orientation="Horizontal">
                                    <TextBlock Text="{lex:Loc 步进距离}"
                                               VerticalAlignment="Center" />
                                    <uControl:myNumericUpDowm x:Name="txtDistance"
                                                              MinWidth="100"
                                                              Interval="0.1"
                                                              Minimum="0"
                                                              Maximum="100"
                                                              StringFormat="{}{0:N3} mm"
                                                              Value="{Binding Distance,Mode=TwoWay}"
                                                              Margin="10,0" />
                                </StackPanel>

                                <TextBlock Grid.Row="7"
                                           Grid.ColumnSpan="7"
                                           Margin="10,0"
                                           Grid.Column="0"
                                           VerticalAlignment="Center"
                                           HorizontalAlignment="Center">
                                    <TextBlock.Text>
                                        <MultiBinding StringFormat="{}CurPos X: {0:F3} mm Y: {1:F3} mm Z: {2:F3} mm U: {3:F3} mm">
                                            <Binding Path="Robot.CurrentPosition.X" />
                                            <Binding Path="Robot.CurrentPosition.Y" />
                                            <Binding Path="Robot.CurrentPosition.Z" />
                                            <Binding Path="Robot.CurrentPosition.U" />
                                        </MultiBinding>
                                    </TextBlock.Text>
                                </TextBlock>
                            </Grid>

                            <Grid Grid.Row="1"
                                  Grid.ColumnSpan="7">
                                <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="1"
                                           Grid.Column="0"
                                           Text="{lex:Loc 点编号,Converter={StaticResource StringFormatConverter},ConverterParameter='{}{0}: '}"
                                           Margin="10,0"
                                           VerticalAlignment="Center" />
                                <ComboBox x:Name="cmbSelectPoint"
                                          Grid.Row="2"
                                          Grid.Column="0"
                                          MinWidth="80"
                                          materialDesign:HintAssist.Hint="{lex:Loc 选择点}"
                                          Margin="10,0"
                                          ItemsSource="{Binding Points}"
                                          SelectedItem="{Binding SelectedPointInComboBox,Mode=TwoWay}">
                                    <ComboBox.ItemTemplate>
                                        <DataTemplate>
                                            <StackPanel HorizontalAlignment="Left"
                                                        Orientation="Horizontal">
                                                <TextBlock Text="{Binding Number,StringFormat={}{0}:}" />
                                                <TextBlock Text="{Binding Label}" />
                                            </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="10,0"
                                           VerticalAlignment="Center" />
                                <ComboBox x:Name="cmbSelectMotioncmd"
                                          Grid.Row="2"
                                          Grid.Column="1"
                                          MinWidth="80"
                                          Margin="10,0"
                                          materialDesign:HintAssist.Hint="{lex:Loc 动作指令}"
                                          ItemsSource="{ext:EnumBindingSource EnumType=enums:MotionCommand}"
                                          SelectedItem="{Binding DataContext.SelectMotionCommand,RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}" />

                                <Button Grid.Row="2"
                                        Grid.Column="2"
                                        Content="{lex:Loc 执行动作}"
                                        Margin="2.0"
                                        Command="{Binding DataContext.ExecuteMotion,RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}">
                                    <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="2,0"
                                        HorizontalAlignment="Right"
                                        Command="{Binding DataContext.TechPointCommand,RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}" />
                            </Grid>
                            <ItemsControl Grid.Row="2"
                                          ItemsSource="{Binding AdditionalAxisList}">
                                <ItemsControl.ItemTemplate>
                                    <DataTemplate>
                                        <Border Padding="6"
                                                Margin="0,2"
                                                Background="{DynamicResource MaterialDesignPaper}">
                                            <DockPanel LastChildFill="False"
                                                       VerticalAlignment="Center">
                                                <StackPanel Orientation="Horizontal"
                                                            DockPanel.Dock="Left"
                                                            VerticalAlignment="Center">
                                                    <TextBlock Text="{Binding Name}"
                                                               Width="140"
                                                               VerticalAlignment="Center" />
                                                    <TextBlock Text="{Binding CurrentPosition, StringFormat='{}{0:F3} mm'}"
                                                               Width="140"
                                                               Margin="10,0"
                                                               VerticalAlignment="Center" />
                                                </StackPanel>
                                                <StackPanel Orientation="Horizontal"
                                                            HorizontalAlignment="Right"
                                                            DockPanel.Dock="Right">
                                                    <Button Width="60"
                                                            Height="36"
                                                            Margin="6,0"
                                                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                                            Command="{Binding DataContext.AdditionalAxisJogMinusCommand, RelativeSource={RelativeSource AncestorType=UserControl}}"
                                                            CommandParameter="{Binding}">
                                                        <StackPanel Orientation="Vertical">
                                                            <materialDesign:PackIcon Kind="ArrowLeftBold"
                                                                                     Width="26"
                                                                                     Height="26" />
                                                            <TextBlock Text="-"
                                                                       HorizontalAlignment="Center" />
                                                        </StackPanel>
                                                    </Button>
                                                    <Button Width="60"
                                                            Height="36"
                                                            Margin="6,0"
                                                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                                            Command="{Binding DataContext.AdditionalAxisJogPlusCommand, RelativeSource={RelativeSource AncestorType=UserControl}}"
                                                            CommandParameter="{Binding}">
                                                        <StackPanel Orientation="Vertical">
                                                            <materialDesign:PackIcon Kind="ArrowRightBold"
                                                                                     Width="26"
                                                                                     Height="26" />
                                                            <TextBlock Text="+"
                                                                       HorizontalAlignment="Center" />
                                                        </StackPanel>
                                                    </Button>
                                                    <Button Content="上使能"
                                                            Width="60"
                                                            Height="36"
                                                            Margin="6,0"
                                                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                                            Command="{Binding DataContext.AdditionalAxisMotorOnCommand, RelativeSource={RelativeSource AncestorType=UserControl}}"
                                                            CommandParameter="{Binding}" />
                                                    <Button Content="下使能"
                                                            Width="60"
                                                            Height="36"
                                                            Margin="6,0"
                                                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                                            Command="{Binding DataContext.AdditionalAxisMotorOffCommand, RelativeSource={RelativeSource AncestorType=UserControl}}"
                                                            CommandParameter="{Binding}" />
                                                </StackPanel>
                                            </DockPanel>
                                        </Border>
                                    </DataTemplate>
                                </ItemsControl.ItemTemplate>
                            </ItemsControl>
                        </Grid>
                    </Viewbox>
                </Grid>
            </Grid>
        </materialDesign:DrawerHost>

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