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

<UserControl x:Class="TeamAAS_VP.Views.Product.VisionDynamicAccuracyAnalyzer"
             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:uControl="clr-namespace:TeamAAS_VP.Controls"
             xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
             xmlns:vm="clr-namespace:TeamAAS_VP.ViewModels.Product"
             xmlns:mah="http://metro.mahapps.com/winfx/xaml/controls"
             xmlns:lex="http://wpflocalizeextension.codeplex.com"
             lex:LocalizeDictionary.DesignCulture="zh-CN"
             lex:ResxLocalizationProvider.DefaultAssembly="TeamAAS-VP"
             lex:ResxLocalizationProvider.DefaultDictionary="Lang"
             prism:ViewModelLocator.AutoWireViewModel="True"
             mc:Ignorable="d"
             d:DataContext="{d:DesignInstance Type=vm:VisionDynamicAccuracyAnalyzerViewModel}"
             d:Height="1080"
             d:Width="1920"
             MinHeight="500"
             MinWidth="500"
             d:Background="White"
             HorizontalAlignment="Stretch"
             VerticalAlignment="Stretch"
             FontFamily="{DynamicResource DefaultFont}">

    <prism:Dialog.WindowStyle>
        <Style TargetType="Window">
            <Setter Property="prism:Dialog.WindowStartupLocation"
                    Value="CenterScreen" />
            <Setter Property="AllowDrop"
                    Value="True" />
            <Setter Property="ShowInTaskbar"
                    Value="True" />
            <Setter Property="MinHeight"
                    Value="500" />
            <Setter Property="MinWidth"
                    Value="500" />
            <Setter Property="WindowState"
                    Value="Maximized" />
            <Setter Property="Topmost"
                    Value="True" />
        </Style>
    </prism:Dialog.WindowStyle>

    <UserControl.Resources>
        <!-- 复用静态测试的样式 -->
        <Style TargetType="Button"
               BasedOn="{StaticResource MaterialDesignFlatDarkBgButton}">
            <Setter Property="Padding"
                    Value="10 5" />
            <Setter Property="Margin"
                    Value="5" />
            <Setter Property="FontSize"
                    Value="14" />
            <Setter Property="BorderThickness"
                    Value="0" />
        </Style>

        <Style TargetType="TextBlock">
            <Setter Property="VerticalAlignment"
                    Value="Center" />
            <Setter Property="Margin"
                    Value="5" />
        </Style>

        <Style TargetType="TextBox"
               BasedOn="{StaticResource MaterialDesignTextBox}">
            <Setter Property="Margin"
                    Value="5" />
            <Setter Property="VerticalContentAlignment"
                    Value="Center" />
        </Style>

        <Style x:Key="DataGridStyle"
               TargetType="DataGrid"
               BasedOn="{StaticResource MaterialDesignDataGrid}">
            <Setter Property="Margin"
                    Value="5" />
            <Setter Property="AutoGenerateColumns"
                    Value="False" />
            <Setter Property="CanUserAddRows"
                    Value="False" />
            <Setter Property="CanUserDeleteRows"
                    Value="False" />
            <Setter Property="IsReadOnly"
                    Value="True" />
            <Setter Property="AlternatingRowBackground"
                    Value="#F5F5F5" />
        </Style>

        <Style x:Key="TitleStyle"
               TargetType="TextBlock">
            <Setter Property="FontSize"
                    Value="16" />
            <Setter Property="FontWeight"
                    Value="Bold" />
            <Setter Property="Margin"
                    Value="0 10 0 5" />
            <Setter Property="Foreground"
                    Value="#2C3E50" />
        </Style>
    </UserControl.Resources>

    <Grid>
        <Grid.ColumnDefinitions>
            <ColumnDefinition Width="45*" />
            <ColumnDefinition Width="55*" />
        </Grid.ColumnDefinitions>

        <!-- 左侧控制面板 -->
        <ScrollViewer >
            <Border Grid.Column="0"
        BorderBrush="#BDC3C7"
        BorderThickness="0 0 1 0">
                <Grid>
                    <Grid.RowDefinitions>
                        <RowDefinition Height="Auto" />
                        <RowDefinition Height="Auto" />
                        <RowDefinition Height="Auto" />
                        <RowDefinition Height="Auto" />
                        <RowDefinition Height="*"
                           MinHeight="150" />
                        <RowDefinition Height="Auto" />
                    </Grid.RowDefinitions>

                    <!-- 机器人位置设置 -->
                    <Border Grid.Row="0"
                Background="#ECF0F1"
                Padding="10">
                        <StackPanel>
                            <TextBlock Style="{StaticResource TitleStyle}"
                           Text="机器人位置设置" />

                            <Grid Margin="0 10 0 0">
                                <Grid.RowDefinitions>
                                    <RowDefinition Height="Auto" />
                                    <RowDefinition Height="Auto" />
                                    <RowDefinition Height="Auto" />
                                </Grid.RowDefinitions>

                                <!-- A点坐标 -->
                                <Grid Grid.Row="0"
                          Margin="0 0 0 10">
                                    <Grid.ColumnDefinitions>
                                        <ColumnDefinition Width="Auto" />
                                        <ColumnDefinition Width="*" />
                                        <ColumnDefinition Width="Auto" />
                                    </Grid.ColumnDefinitions>

                                    <TextBlock Text="A点坐标:"
                                   Grid.Column="0"
                                   VerticalAlignment="Center" />
                                    <TextBox Grid.Column="1"
                                 d:Text="X:0.000 Y:0.000 Z:0.000 U:0.000 V:0.000 W:0.000"
                                 ToolTip="机器人A点位置坐标"
                                 IsReadOnly="True"
                                 Background="#F8F9FA">
                                        <TextBox.Text>
                                            <MultiBinding StringFormat="X:{0:f3} Y:{1:f3} Z:{2:f3} U:{3:f3} V:{4:f3} W:{5:f3}">
                                                <Binding Path="PointA.X"/>
                                                <Binding Path="PointA.Y"/>
                                                <Binding Path="PointA.Z"/>
                                                <Binding Path="PointA.U"/>
                                                <Binding Path="PointA.V"/>
                                                <Binding Path="PointA.W"/>
                                            </MultiBinding>
                                        </TextBox.Text>
                                    </TextBox>
                                    <Button Grid.Column="2"
                                Content="示教"
                                Command="{Binding TeachPointACommand}"
                                Background="#3498DB"
                                Foreground="White"
                                Width="60"
                                Margin="5,0,0,0" />
                                </Grid>

                                <!-- B点坐标 -->
                                <Grid Grid.Row="1"
                          Margin="0 0 0 10">
                                    <Grid.ColumnDefinitions>
                                        <ColumnDefinition Width="Auto" />
                                        <ColumnDefinition Width="*" />
                                        <ColumnDefinition Width="Auto" />
                                    </Grid.ColumnDefinitions>

                                    <TextBlock Text="B点坐标:"
                                   Grid.Column="0"
                                   VerticalAlignment="Center" />
                                    <TextBox Grid.Column="1"
                                 d:Text="X:100.000 Y:50.000 Z:0.000 U:0.000 V:0.000 W:0.000"
                                 ToolTip="机器人B点拍照位置坐标"
                                 IsReadOnly="True"
                                 Background="#F8F9FA" >
                                        <TextBox.Text>
                                            <MultiBinding StringFormat="X:{0:f3} Y:{1:f3} Z:{2:f3} U:{3:f3} V:{4:f3} W:{5:f3}">
                                                <Binding Path="PointB.X"/>
                                                <Binding Path="PointB.Y"/>
                                                <Binding Path="PointB.Z"/>
                                                <Binding Path="PointB.U"/>
                                                <Binding Path="PointB.V"/>
                                                <Binding Path="PointB.W"/>
                                            </MultiBinding>
                                        </TextBox.Text>
                                    </TextBox>
                                    <Button Grid.Column="2"
                                Content="示教"
                                Command="{Binding TeachPointBCommand}"
                                Background="#3498DB"
                                Foreground="White"
                                Width="60"
                                Margin="5,0,0,0" />
                                </Grid>

                                <!-- 视觉流程选择 -->
                                <Grid Grid.Row="2">
                                    <Grid.ColumnDefinitions>
                                        <ColumnDefinition Width="Auto" />
                                        <ColumnDefinition Width="*" />
                                    </Grid.ColumnDefinitions>

                                    <TextBlock Text="视觉流程:"
                                   Grid.Column="0"
                                   VerticalAlignment="Center" />
                                    <ComboBox Grid.Column="1"
                                  ItemsSource="{Binding ProcedureModels}"
                                  SelectedItem="{Binding SelectProcedure, Mode=TwoWay}"
                                  ToolTip="选择视觉处理流程">
                                        <ComboBox.ItemTemplate>
                                            <DataTemplate>
                                                <TextBlock Text="{Binding Name}" />
                                            </DataTemplate>
                                        </ComboBox.ItemTemplate>
                                        <b:Interaction.Triggers>
                                            <b:EventTrigger EventName="SelectionChanged">
                                                <b:InvokeCommandAction Command="{Binding ProcedureSelectionChangedCommand}" />
                                            </b:EventTrigger>
                                        </b:Interaction.Triggers>
                                    </ComboBox>
                                </Grid>
                            </Grid>
                        </StackPanel>
                    </Border>

                    <!-- 测试参数设置 -->
                    <Border Grid.Row="1"
                Background="#F8F9FA"
                Padding="10">
                        <StackPanel>
                            <TextBlock Style="{StaticResource TitleStyle}"
                           Text="测试参数设置" />

                            <!-- 新增：2D/3D 选项 -->
                            <StackPanel Orientation="Horizontal"
                                        Margin="0 5 0 5">
                                <TextBlock Text="模式:" />
                                <RadioButton Content="2D"
                                             GroupName="VisionMode"
                                             Margin="10 0 0 0"
                                             IsEnabled="{Binding IsRunning, Converter={StaticResource InvertBooleanConverter}}"
                                             IsChecked="{Binding Is3DMode, Mode=TwoWay, Converter={StaticResource InvertBooleanConverter}}" />
                                <RadioButton Content="3D"
                                             GroupName="VisionMode"
                                             Margin="10 0 0 0"
                                             IsEnabled="{Binding IsRunning, Converter={StaticResource InvertBooleanConverter}}"
                                             IsChecked="{Binding Is3DMode, Mode=TwoWay}" />
                            </StackPanel>



                            <Grid Margin="0 10 0 0">
                                <Grid.ColumnDefinitions>
                                    <ColumnDefinition Width="*" />
                                    <ColumnDefinition Width="*" />
                                </Grid.ColumnDefinitions>

                                <!-- 重复次数 -->
                                <StackPanel Grid.Column="0">
                                    <TextBlock Text="重复次数:" />
                                    <mah:NumericUpDown Value="{Binding RepeatCount, Mode=TwoWay}"
                                           Minimum="1"
                                           Maximum="1000"
                                           d:Value="50"
                                           TextAlignment="Center"
                                           HorizontalContentAlignment="Center"
                                           HorizontalAlignment="Stretch"
                                           IsEnabled="{Binding IsRunning, Converter={StaticResource InvertBooleanConverter}}" />
                                </StackPanel>

                                <!-- 移动速度 -->
                                <StackPanel Grid.Column="1"
                                Margin="10,0,0,0">
                                    <TextBlock Text="移动速度(%):" />
                                    <mah:NumericUpDown Value="{Binding MoveSpeed, Mode=TwoWay}"
                                           Minimum="1"
                                           Maximum="100"
                                           d:Value="50"
                                           TextAlignment="Center"
                                           HorizontalContentAlignment="Center"
                                           HorizontalAlignment="Stretch"
                                           IsEnabled="{Binding IsRunning, Converter={StaticResource InvertBooleanConverter}}" />
                                </StackPanel>
                            </Grid>


                        </StackPanel>
                    </Border>

                    <!-- 测试控制区域 -->
                    <Border Grid.Row="2"
                Background="#ECF0F1"
                Padding="10">
                        <StackPanel>
                            <TextBlock Style="{StaticResource TitleStyle}"
                           Text="测试控制" />

                            <WrapPanel HorizontalAlignment="Center"
                           Margin="0 10 0 0">
                                <Button Content="单次测试"
                            Background="#3498DB"
                            Foreground="White"
                            MinWidth="100"
                            Height="35"
                            FontWeight="Bold"
                            Command="{Binding SingleTestCommand}"
                            IsEnabled="{Binding IsRunning, Converter={StaticResource InvertBooleanConverter}}" />

                                <Button Content="连续测试"
                            Background="#27AE60"
                            Foreground="White"
                            MinWidth="100"
                            Height="35"
                            FontWeight="Bold"
                            Command="{Binding StartTestCommand}" />

                                <Button Content="停止"
                            Background="#E74C3C"
                            Foreground="White"
                            MinWidth="100"
                            Height="35"
                            Command="{Binding StopTestCommand}" />

                                <Button Content="暂停"
                            Background="#F39C12"
                            Foreground="White"
                            MinWidth="100"
                            Height="35"
                            Command="{Binding PauseTestCommand}" />
                            </WrapPanel>
                        </StackPanel>
                    </Border>

                    <!-- 进度显示 -->
                    <Border Grid.Row="3"
                Background="White"
                Padding="10">
                        <StackPanel>
                            <TextBlock Style="{StaticResource TitleStyle}"
                           Text="测试进度" />

                            <Grid Margin="0 10 0 0">
                                <Grid.RowDefinitions>
                                    <RowDefinition Height="Auto" />
                                    <RowDefinition Height="Auto" />
                                </Grid.RowDefinitions>

                                <ProgressBar Grid.Row="0"
                                 Height="25"
                                 Margin="5"
                                 Minimum="0"
                                 Maximum="{Binding RepeatCount}"
                                 Value="{Binding CurrentProgress}"
                                 IsEnabled="False"
                                 d:Maximum="100"
                                 d:Value="50" />

                                <TextBlock Grid.Row="1"
                               HorizontalAlignment="Center"
                               FontSize="12"
                               Foreground="#7F8C8D"
                               d:Text="等待开始..."
                               Text="{Binding Message}" />
                            </Grid>

                            <!-- 实时统计信息 -->
                            <WrapPanel Margin="0 15 0 0"
                           HorizontalAlignment="Center">
                                <Border Background="#3498DB"
                            Padding="10 5"
                            Margin="5"
                            CornerRadius="3">
                                    <StackPanel>
                                        <TextBlock Text="当前循环"
                                       Foreground="White"
                                       FontSize="11" />
                                        <TextBlock Text="{Binding CurrentProgress}"
                                       d:Text="1"
                                       Foreground="White"
                                       FontSize="16"
                                       FontWeight="Bold"
                                       HorizontalAlignment="Center" />
                                    </StackPanel>
                                </Border>

                                <Border Background="#2ECC71"
                            Padding="10 5"
                            Margin="5"
                            CornerRadius="3">
                                    <StackPanel>
                                        <TextBlock Text="成功率"
                                       Foreground="White"
                                       FontSize="11" />
                                        <TextBlock Text="{Binding SuccessRate, StringFormat={}{0:F1}%}"
                                       d:Text="100%"
                                       Foreground="White"
                                       FontSize="16"
                                       FontWeight="Bold"
                                       HorizontalAlignment="Center" />
                                    </StackPanel>
                                </Border>

                                <Border Background="#9B59B6"
                            Padding="10 5"
                            Margin="5"
                            CornerRadius="3">
                                    <StackPanel>
                                        <TextBlock Text="往返时间"
                                       Foreground="White"
                                       FontSize="11" />
                                        <TextBlock Text="{Binding CycleTime, StringFormat={}{0:F2}s}"
                                       d:Text="2.34s"
                                       Foreground="White"
                                       FontSize="16"
                                       FontWeight="Bold"
                                       HorizontalAlignment="Center" />
                                    </StackPanel>
                                </Border>
                            </WrapPanel>
                        </StackPanel>
                    </Border>

                    <!-- 测试结果列表 -->
                    <Border Grid.Row="4"
                Background="White"
                Padding="10">
                        <Grid>
                            <Grid.RowDefinitions>
                                <RowDefinition Height="Auto" />
                                <RowDefinition Height="*" />
                            </Grid.RowDefinitions>

                            <StackPanel Grid.Row="0"
                            Orientation="Horizontal">
                                <TextBlock Style="{StaticResource TitleStyle}"
                               Text="测试结果列表" />
                                <TextBlock Margin="10,0,0,0"
                               VerticalAlignment="Center"
                               Foreground="#7F8C8D"
                               Text="(显示最近20次结果)" />
                            </StackPanel>

                            <DataGrid x:Name="dgResults"
                          Grid.Row="1"
                          Style="{StaticResource DataGridStyle}"
                          MaxHeight="250"
                          AutoGenerateColumns="False"
                          CanUserAddRows="False"
                          IsReadOnly="True"
                          ItemsSource="{Binding TestResults}">
                                <DataGrid.Columns>
                                    <DataGridTextColumn Header="序号"
                                            Binding="{Binding Index}"
                                            MinWidth="50" />
                                    <DataGridTextColumn Header="状态"
                                            Binding="{Binding IsPhotoSuccess}"
                                            MinWidth="60" />
                                    <DataGridTextColumn Header="像素X"
                                            Binding="{Binding PixelX, StringFormat={}{0:F3}}"
                                            MinWidth="70" />
                                    <DataGridTextColumn Header="像素Y"
                                            Binding="{Binding PixelY, StringFormat={}{0:F3}}"
                                            MinWidth="70" />
                                    <DataGridTextColumn Header="角度"
                                            Binding="{Binding AngleU, StringFormat={}{0:F2}}"
                                            MinWidth="60" />
                                    <DataGridTextColumn Header="绝对X"
                                            Binding="{Binding TransformX, StringFormat={}{0:F3}}"
                                            MinWidth="70" />
                                    <DataGridTextColumn Header="绝对Y"
                                            Binding="{Binding TransformY, StringFormat={}{0:F3}}"
                                            MinWidth="70" />
                                    <DataGridTextColumn Header="循环时间"
                                            Binding="{Binding CycleTime, StringFormat={}{0:F2}s}"
                                            MinWidth="80" />
                                    <DataGridTextColumn Header="时间戳"
                                            Binding="{Binding Timestamp}"
                                            MinWidth="120" />
                                </DataGrid.Columns>
                            </DataGrid>
                        </Grid>
                    </Border>

                    <!-- 导出和精度分析 -->
                    <Border Grid.Row="5"
                Background="#ECF0F1"
                Padding="10">
                        <StackPanel>
                            <!-- 导出按钮 -->
                            <WrapPanel HorizontalAlignment="Right">
                                <Button Content="导出CSV"
                            Background="#3498DB"
                            Foreground="White"
                            MinWidth="100"
                            Command="{Binding ExportCSVCommand}" />

                                <Button Content="生成报告"
                            Background="#9B59B6"
                            Foreground="White"
                            MinWidth="100"
                            Command="{Binding ExportReportCommand}" />

                                <Button Content="清空数据"
                            Background="#95A5A6"
                            Foreground="White"
                            MinWidth="100"
                            Command="{Binding ClearDataCommand}" />
                            </WrapPanel>

                            <!-- 动态精度分析 -->
                            <Border Margin="0 10 0 0"
                        Background="#F8F9FA"
                        Padding="10"
                        CornerRadius="5">
                                <StackPanel>
                                    <TextBlock Text="动态重复精度分析"
                                   FontWeight="Bold"
                                   Margin="0 0 0 5" />

                                    <Grid Margin="0 5 0 0">
                                        <Grid.ColumnDefinitions>
                                            <ColumnDefinition Width="*" />
                                            <ColumnDefinition Width="*" />
                                        </Grid.ColumnDefinitions>

                                        <StackPanel Grid.Column="0">
                                            <TextBlock>
                                    <Run Text="X方向精度: " />
                                    <Run Text="{Binding PrecisionResult.XPrecision, StringFormat={}{0:F3}mm}"
                                         d:Text="0.023mm"
                                         Foreground="#2C3E50"
                                         FontWeight="Bold" />
                                            </TextBlock>
                                            <TextBlock>
                                    <Run Text="Y方向精度: " />
                                    <Run Text="{Binding PrecisionResult.YPrecision, StringFormat={}{0:F3}mm}"
                                         d:Text="0.018mm"
                                         Foreground="#2C3E50"
                                         FontWeight="Bold" />
                                            </TextBlock>
                                            <TextBlock>
                                    <Run Text="角度精度: " />
                                    <Run Text="{Binding PrecisionResult.AnglePrecision, StringFormat={}{0:F2}°}"
                                         d:Text="0.12°"
                                         Foreground="#2C3E50"
                                         FontWeight="Bold" />
                                            </TextBlock>
                                        </StackPanel>

                                        <StackPanel Grid.Column="1">
                                            <TextBlock>
                                    <Run Text="3σ范围: " />
                                    <Run Text="{Binding PrecisionResult.OverallThreeSigmaRange, StringFormat={}±{0:F3}mm}"
                                         d:Text="±0.065mm"
                                         Foreground="#2C3E50"
                                         FontWeight="Bold" />
                                            </TextBlock>
                                            <TextBlock>
                                    <Run Text="CPK: " />
                                    <Run Text="{Binding PrecisionResult.OverallPrecision, StringFormat={}{0:F2}}"
                                         d:Text="1.85"
                                         Foreground="#2C3E50"
                                         FontWeight="Bold" />
                                            </TextBlock>
                                            <TextBlock>
                                    <Run Text="评级: " />
                                    <Run Text="{Binding ProcessRating}"
                                         d:Text="优秀"
                                         Foreground="#27AE60"
                                         FontWeight="Bold" />
                                            </TextBlock>
                                        </StackPanel>
                                    </Grid>

                                    <!-- 趋势图按钮 -->
                                    <Button Content="显示趋势图"
                                Background="#E67E22"
                                Foreground="White"
                                HorizontalAlignment="Right"
                                Margin="0 10 0 0"
                                MinWidth="100"
                                Command="{Binding ShowTrendChartCommand}" />
                                </StackPanel>
                            </Border>
                        </StackPanel>
                    </Border>
                </Grid>
            </Border>
        </ScrollViewer>

        <!-- 右侧图像和轨迹显示区域 -->
        <Grid Grid.Column="1">
            <Grid.RowDefinitions>
                <RowDefinition Height="*" />
                <RowDefinition Height="Auto" />
                <RowDefinition Height="Auto" />
            </Grid.RowDefinitions>

            <!-- 图像显示区域 -->
            <Border Background="#2C3E50">
                <Grid>
                    <Grid.RowDefinitions>
                        <RowDefinition Height="*" />
                        <RowDefinition Height="Auto" />
                    </Grid.RowDefinitions>

                    <!-- VisionPro图像显示 -->
                    <wf:WindowsFormsHost Grid.Row="0">
                        <vp:CogRecordDisplay x:Name="display"
                                             Dock="Fill" />
                    </wf:WindowsFormsHost>

                    <!-- 图像信息栏 -->
                    <!--<Border Grid.Row="1"
                            Background="#34495E"
                            Padding="10">
                        <Grid>
                            <Grid.ColumnDefinitions>
                                <ColumnDefinition Width="*" />
                                <ColumnDefinition Width="Auto" />
                            </Grid.ColumnDefinitions>

                            <StackPanel Grid.Column="0"
                                        Orientation="Horizontal">
                                <TextBlock Text="图像信息: "
                                           Foreground="White" />
                                <TextBlock Text="{Binding ImageInfo}"
                                           d:Text="第15次采集 - 检测成功"
                                           Foreground="#F1C40F"
                                           FontWeight="Bold" />
                            </StackPanel>

                            <StackPanel Grid.Column="1"
                                        Orientation="Horizontal">
                                <TextBlock Text="检测时间: "
                                           Foreground="White" />
                                <TextBlock Text="{Binding DetectTime, StringFormat={}{0:F3}s}"
                                           d:Text="0.123s"
                                           Foreground="#F1C40F"
                                           FontWeight="Bold"
                                           Width="60" />
                            </StackPanel>
                        </Grid>
                    </Border>-->
                </Grid>
            </Border>

            <!-- 轨迹可视化区域 -->
            <!--<Border Grid.Row="1"
                    Background="#ECF0F1"
                    Padding="10"
                    BorderBrush="#BDC3C7"
                    BorderThickness="0 1 0 0">
                <StackPanel>
                    <TextBlock Text="机器人轨迹可视化"
                               FontWeight="Bold"
                               Margin="0 0 0 5" />

                    <Grid>
                        <Grid.ColumnDefinitions>
                            <ColumnDefinition Width="*" />
                            <ColumnDefinition Width="Auto" />
                        </Grid.ColumnDefinitions>

                        -->
            <!-- 简化轨迹图 -->
            <!--
                        <Canvas x:Name="trajectoryCanvas"
                                Height="100"
                                Background="White"
                                Margin="0 5 0 0">
                            -->
            <!-- A点标记 -->
            <!--
                            <Ellipse Canvas.Left="50"
                                     Canvas.Top="50"
                                     Width="12"
                                     Height="12"
                                     Fill="#3498DB"
                                     Stroke="#2C3E50"
                                     StrokeThickness="1">
                                <Ellipse.ToolTip>
                                    <ToolTip>
                                        <StackPanel>
                                            <TextBlock Text="A点 - 起始位置"
                                                       FontWeight="Bold" />
                                            <TextBlock Text="{Binding PointA}" />
                                        </StackPanel>
                                    </ToolTip>
                                </Ellipse.ToolTip>
                            </Ellipse>
                            <TextBlock Canvas.Left="45"
                                       Canvas.Top="65"
                                       Text="A"
                                       FontWeight="Bold"
                                       Foreground="#2C3E50" />

                            -->
            <!-- B点标记 -->
            <!--
                            <Ellipse Canvas.Left="200"
                                     Canvas.Top="50"
                                     Width="12"
                                     Height="12"
                                     Fill="#E74C3C"
                                     Stroke="#2C3E50"
                                     StrokeThickness="1">
                                <Ellipse.ToolTip>
                                    <ToolTip>
                                        <StackPanel>
                                            <TextBlock Text="B点 - 拍照位置"
                                                       FontWeight="Bold" />
                                            <TextBlock Text="{Binding PointB}" />
                                        </StackPanel>
                                    </ToolTip>
                                </Ellipse.ToolTip>
                            </Ellipse>
                            <TextBlock Canvas.Left="195"
                                       Canvas.Top="65"
                                       Text="B"
                                       FontWeight="Bold"
                                       Foreground="#2C3E50" />

                            -->
            <!-- 移动轨迹线 -->
            <!--
                            <Line x:Name="trajectoryLine"
                                  X1="56"
                                  Y1="56"
                                  X2="194"
                                  Y2="56"
                                  Stroke="#7F8C8D"
                                  StrokeThickness="2"
                                  StrokeDashArray="5,3" />

                            -->
            <!-- 当前位置标记 -->
            <!--
                            <Ellipse x:Name="currentPositionMarker"
                                     Canvas.Left="125"
                                     Canvas.Top="50"
                                     Width="8"
                                     Height="8"
                                     Fill="#27AE60"
                                     Stroke="White"
                                     StrokeThickness="1"
                                     Visibility="Visible">
                                <Ellipse.ToolTip>
                                    <ToolTip>
                                        <StackPanel>
                                            <TextBlock Text="当前位置"
                                                       FontWeight="Bold" />
                                            <TextBlock Text="{Binding CurrentPosition}" />
                                        </StackPanel>
                                    </ToolTip>
                                </Ellipse.ToolTip>
                            </Ellipse>
                        </Canvas>

                        -->
            <!-- 轨迹控制 -->
            <!--
                        <StackPanel Grid.Column="1"
                                    Orientation="Vertical"
                                    Margin="10 0 0 0">
                            <CheckBox Content="显示轨迹"
                                      IsChecked="{Binding ShowTrajectory, Mode=TwoWay}"
                                      Margin="0 0 0 5" />
                            <CheckBox Content="实时更新"
                                      IsChecked="{Binding RealTimeUpdate, Mode=TwoWay}"
                                      Margin="0 0 0 5" />
                            <Button Content="重置视图"
                                    MinWidth="80"
                                    Height="25"
                                    Command="{Binding ResetTrajectoryViewCommand}" />
                        </StackPanel>
                    </Grid>
                </StackPanel>
            </Border>-->

            <!-- 底部按钮 -->
            <StackPanel Grid.Row="2"
                        Orientation="Horizontal"
                        VerticalAlignment="Center"
                        HorizontalAlignment="Right"
                        Margin="0 5 5 5">
                <Button Height="30"
                        MinWidth="100"
                        Content="{lex:Loc 确定}"
                        materialDesign:ButtonAssist.CornerRadius="10"
                        ToolTip="{lex:Loc 确定}"
                        Command="{Binding ConfirmCommand}" />
                <Button Height="30"
                        Margin="10,0"
                        MinWidth="100"
                        materialDesign:ButtonAssist.CornerRadius="10"
                        ToolTip="{lex:Loc 取消}"
                        Content="{lex:Loc 取消}"
                        Command="{Binding CancelCommand}" />
            </StackPanel>
        </Grid>

        <!-- 消息提示 -->
        <materialDesign:Snackbar Grid.ColumnSpan="2"
                                 Opacity="0.8"
                                 HorizontalContentAlignment="Center"
                                 FontSize="14"
                                 MessageQueue="{Binding MessageQueue}"
                                 VerticalAlignment="Bottom" />
    </Grid>
</UserControl>