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

<UserControl x:Class="TeamAAS_VP.Views.Product.RobotPointParams"
             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
             xmlns:prism="http://prismlibrary.com/"
             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:RobotPointParamsViewModel}"
             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="Modal"
                                   x:Name="DrawerHost"
                                   IsEnabled="{Binding IsAllowEdit}">
            <materialDesign:DrawerHost.RightDrawerContent>
                <local:TestProductPage Visibility="{Binding IsHaveRobot,Converter={StaticResource BooleanToVisibilityConverter}}" />
            </materialDesign:DrawerHost.RightDrawerContent>
            <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>

                <TabControl Grid.Column="1"
                            ItemsSource="{Binding SelectProduct.RobotPoint.Robots}"
                            SelectedItem="{Binding SelectedRobot, Mode=OneWayToSource}">
                    <b:Interaction.Triggers>
                        <b:EventTrigger EventName="SelectionChanged">
                            <b:InvokeCommandAction Command="{Binding RobotSelectedChangedCommand}" />
                        </b:EventTrigger>
                    </b:Interaction.Triggers>
                    <TabControl.Resources>
                        <!-- 机器人类型转换器（可选） -->
                        <DataTemplate DataType="{x:Type localRobot:RobotPointStore}">
                            <StackPanel Orientation="Horizontal">
                                <TextBlock Text="{Binding Name}"
                                           FontWeight="Bold" />
                                <TextBlock Text=" ("
                                           Margin="5,0,0,0"
                                           Foreground="Gray" />
                                <TextBlock Text="{Binding Points.Count}"
                                           Foreground="Gray" />
                                <TextBlock Text=" 个点位)"
                                           Foreground="Gray" />
                            </StackPanel>
                        </DataTemplate>
                    </TabControl.Resources>
                    <TabControl.ContentTemplate>
                        <DataTemplate DataType="{x:Type localRobot:RobotPointStore}">
                            <Grid IsEnabled="{Binding DataContext.IsAllowEdit,RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}">
                                <Grid.RowDefinitions>
                                    <RowDefinition Height="*" />
                                    <RowDefinition Height="auto" />
                                </Grid.RowDefinitions>
                                <Grid.ColumnDefinitions>
                                    <ColumnDefinition Width="60*" />
                                    <ColumnDefinition Width="40*" />
                                </Grid.ColumnDefinitions>
                                <DataGrid x:Name="dgPoints"
                                          AutoGenerateColumns="False"
                                          CanUserAddRows="False"
                                          CanUserDeleteRows="False"
                                          ColumnWidth="*"
                                          SelectionUnit="FullRow"
                                          SelectionMode="Single"
                                          SelectedItem="{Binding DataContext.SelectedPointInDataGrid,RelativeSource={RelativeSource AncestorType={x:Type UserControl}},Mode=TwoWay}"
                                          ItemsSource="{Binding Points}"
                                          HeadersVisibility="Column"
                                          HorizontalScrollBarVisibility="Auto"
                                          ScrollViewer.CanContentScroll="True"
                                          ScrollViewer.HorizontalScrollBarVisibility="Auto"
                                          GridLinesVisibility="All"
                                          VerticalGridLinesBrush="#D0D0D0"
                                          PreviewKeyDown="dgPoints_PreviewKeyDown">
                                    <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"
                                                                MinWidth="60"
                                                                Width="Auto">
                                            <DataGridTemplateColumn.CellTemplate>
                                                <DataTemplate>
                                                    <TextBlock Text="{Binding X, StringFormat={}{0:F3}}"
                                                               HorizontalAlignment="Center"
                                                               VerticalAlignment="Center" />
                                                </DataTemplate>
                                            </DataGridTemplateColumn.CellTemplate>
                                            <DataGridTemplateColumn.CellEditingTemplate>
                                                <DataTemplate>
                                                    <mah:NumericUpDown Value="{Binding X, 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 坐标-->
                                        <DataGridTemplateColumn Header="Y"
                                                                MinWidth="60"
                                                                Width="Auto">
                                            <DataGridTemplateColumn.CellTemplate>
                                                <DataTemplate>
                                                    <TextBlock Text="{Binding Y, StringFormat={}{0:F3}}"
                                                               HorizontalAlignment="Center"
                                                               VerticalAlignment="Center" />
                                                </DataTemplate>
                                            </DataGridTemplateColumn.CellTemplate>
                                            <DataGridTemplateColumn.CellEditingTemplate>
                                                <DataTemplate>
                                                    <mah:NumericUpDown Value="{Binding Y, 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 坐标-->
                                        <DataGridTemplateColumn Header="Z"
                                                                MinWidth="60"
                                                                Width="Auto">
                                            <DataGridTemplateColumn.CellTemplate>
                                                <DataTemplate>
                                                    <TextBlock Text="{Binding Z, StringFormat={}{0:F3}}"
                                                               HorizontalAlignment="Center"
                                                               VerticalAlignment="Center" />
                                                </DataTemplate>
                                            </DataGridTemplateColumn.CellTemplate>
                                            <DataGridTemplateColumn.CellEditingTemplate>
                                                <DataTemplate>
                                                    <mah:NumericUpDown Value="{Binding Z, 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 坐标-->
                                        <DataGridTemplateColumn Header="U"
                                                                MinWidth="60"
                                                                Width="Auto">
                                            <DataGridTemplateColumn.CellTemplate>
                                                <DataTemplate>
                                                    <TextBlock Text="{Binding U, StringFormat={}{0:F3}}"
                                                               HorizontalAlignment="Center"
                                                               VerticalAlignment="Center" />
                                                </DataTemplate>
                                            </DataGridTemplateColumn.CellTemplate>
                                            <DataGridTemplateColumn.CellEditingTemplate>
                                                <DataTemplate>
                                                    <mah:NumericUpDown Value="{Binding U, 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>
                                        <!--V 坐标-->
                                        <DataGridTemplateColumn Header="V"
                                                                MinWidth="60"
                                                                Width="Auto">
                                            <DataGridTemplateColumn.CellTemplate>
                                                <DataTemplate>
                                                    <TextBlock Text="{Binding V, StringFormat={}{0:F3}}"
                                                               HorizontalAlignment="Center"
                                                               VerticalAlignment="Center" />
                                                </DataTemplate>
                                            </DataGridTemplateColumn.CellTemplate>
                                            <DataGridTemplateColumn.CellEditingTemplate>
                                                <DataTemplate>
                                                    <mah:NumericUpDown Value="{Binding V, 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 坐标-->
                                        <DataGridTemplateColumn Header="W"
                                                                MinWidth="60"
                                                                Width="Auto">
                                            <DataGridTemplateColumn.CellTemplate>
                                                <DataTemplate>
                                                    <TextBlock Text="{Binding W, StringFormat={}{0:F3}}"
                                                               HorizontalAlignment="Center"
                                                               VerticalAlignment="Center" />
                                                </DataTemplate>
                                            </DataGridTemplateColumn.CellTemplate>
                                            <DataGridTemplateColumn.CellEditingTemplate>
                                                <DataTemplate>
                                                    <mah:NumericUpDown Value="{Binding W, 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>
                                        <materialDesign:DataGridComboBoxColumn Width="Auto"
                                                                               Header="Hand"
                                                                               IsEditable="True"
                                                                               MinWidth="60"
                                                                               ItemsSourceBinding="{Binding Source={StaticResource eRobotHand}}"
                                                                               SelectedValueBinding="{Binding Hand}">
                                        </materialDesign:DataGridComboBoxColumn>
                                        <DataGridTextColumn Header="Local"
                                                            MinWidth="60"
                                                            Width="Auto"
                                                            Binding="{Binding Local, Mode=TwoWay, StringFormat={}{0:F0}}" />
                                        <DataGridTextColumn Header="Tool"
                                                            MinWidth="60"
                                                            Width="Auto"
                                                            Binding="{Binding Tool, Mode=TwoWay, StringFormat={}{0:F0}}" />
                                        <DataGridTextColumn Header="{lex:Loc 描述}"
                                                            MinWidth="100"
                                                            Width="200"
                                                            Binding="{Binding Description, Mode=TwoWay}" />
                                    </DataGrid.Columns>
                                </DataGrid>
                                <StackPanel Grid.Row="1"
                                            Orientation="Vertical">
                                    <StackPanel Orientation="Horizontal">
                                        <!--<Button Content="{lex:Loc 增加}"
                    Margin="10"
                    Command="{Binding AddPointCommand}" />
            <Button Content="{lex:Loc 移除}"
                    Command="{Binding RemovePointCommand}" />-->
                                        <Button Content="{lex:Loc 托盘}"
                                                Margin="10"
                                                Command="{Binding DataContext.GoPalletCommand,RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}" />
                                    </StackPanel>
                                </StackPanel>

                                <GridSplitter Grid.Column="0"
                                              Grid.Row="0"
                                              Grid.RowSpan="2"
                                              Width="2"
                                              Background="DeepSkyBlue"
                                              VerticalAlignment="Stretch"
                                              HorizontalAlignment="Right" />

                                <Viewbox Grid.Column="1"
                                         Grid.RowSpan="2">
                                    <Grid>
                                        <Grid.RowDefinitions>
                                            <RowDefinition Height="auto" />
                                            <RowDefinition Height="*" />
                                        </Grid.RowDefinitions>
                                        <StackPanel Orientation="Horizontal"
                                                    Grid.Row="0">
                                            <ComboBox materialDesign:HintAssist.Hint="{lex:Loc 选择Tool}"
                                                      materialDesign:HintAssist.HelperText="{lex:Loc 选择Tool}"
                                                      SelectedItem="{Binding DataContext.SelectTool,RelativeSource={RelativeSource AncestorType={x:Type UserControl}},Mode=TwoWay}"
                                                      ItemsSource="{Binding DataContext.Tools,RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}" />
                                        </StackPanel>

                                        <Grid Grid.Row="1">
                                            <Grid.ColumnDefinitions>
                                                <ColumnDefinition Width="auto" />
                                                <ColumnDefinition Width="auto" />
                                            </Grid.ColumnDefinitions>
                                            <Grid Grid.Column="0"
                                                  VerticalAlignment="Center">
                                                <Grid.RowDefinitions>
                                                    <RowDefinition Height="auto" />
                                                    <RowDefinition Height="auto" />
                                                    <RowDefinition Height="auto" />
                                                    <RowDefinition Height="auto" />
                                                    <RowDefinition Height="auto" />
                                                </Grid.RowDefinitions>
                                                <Button Content="{lex:Loc 上使能}"
                                                        Grid.Row="0"
                                                        materialDesign:ButtonAssist.CornerRadius="10"
                                                        Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                                        Command="{Binding DataContext.MotorCommand,RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                                        CommandParameter="True" />
                                                <Button Content="{lex:Loc 下使能}"
                                                        Grid.Row="1"
                                                        Margin="0,10,0,10"
                                                        materialDesign:ButtonAssist.CornerRadius="10"
                                                        Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                                        Command="{Binding DataContext.MotorCommand,RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                                        CommandParameter="False" />
                                                <Button Content="{lex:Loc 复位错误}"
                                                        Grid.Row="2"
                                                        materialDesign:ButtonAssist.CornerRadius="10"
                                                        Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                                        Command="{Binding DataContext.ResetCommand,RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}" />
                                                <Button Content="{lex:Loc 释放刹车}"
                                                        Grid.Row="3"
                                                        Margin="0,10,0,10"
                                                        materialDesign:ButtonAssist.CornerRadius="10"
                                                        Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                                        Command="{Binding DataContext.sFreeCommand,RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}" />
                                                <Button Content="{lex:Loc 锁定刹车}"
                                                        Grid.Row="4"
                                                        materialDesign:ButtonAssist.CornerRadius="10"
                                                        Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                                        Command="{Binding DataContext.SLockCommand,RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}" />
                                            </Grid>
                                            <Grid Grid.Column="1">
                                                <Grid.ColumnDefinitions>
                                                    <ColumnDefinition Width="auto" />
                                                    <ColumnDefinition Width="auto" />
                                                    <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" />
                                                </Grid.RowDefinitions>

                                                <Button x:Name="btn_x"
                                                        Content="X-"
                                                        Grid.Row="1"
                                                        Grid.Column="0"
                                                        Margin="10,10,10,10"
                                                        materialDesign:ButtonAssist.CornerRadius="10"
                                                        Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                                        Command="{Binding DataContext.JogCommand,RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                                        CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=X-}" />
                                                <Button Content="X+"
                                                        Grid.Row="1"
                                                        Grid.Column="2"
                                                        Margin="10,10,10,10"
                                                        materialDesign:ButtonAssist.CornerRadius="10"
                                                        Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                                        Command="{Binding DataContext.JogCommand,RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                                        CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=X+}" />
                                                <Button Content="Y+"
                                                        Grid.Row="0"
                                                        Grid.Column="1"
                                                        Margin="10,10,10,10"
                                                        materialDesign:ButtonAssist.CornerRadius="10"
                                                        Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                                        Command="{Binding DataContext.JogCommand,RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                                        CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=Y+}" />
                                                <Button Content="Y-"
                                                        Grid.Row="2"
                                                        Grid.Column="1"
                                                        Margin="10,10,10,10"
                                                        materialDesign:ButtonAssist.CornerRadius="10"
                                                        Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                                        Command="{Binding DataContext.JogCommand,RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                                        CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=Y-}" />
                                                <Button Content="Z+"
                                                        Grid.Row="0"
                                                        Grid.Column="3"
                                                        Margin="10,10,10,10"
                                                        materialDesign:ButtonAssist.CornerRadius="10"
                                                        Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                                        Command="{Binding DataContext.JogCommand,RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                                        CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=Z+}" />
                                                <Button Content="Z-"
                                                        Grid.Row="2"
                                                        Grid.Column="3"
                                                        Margin="10,10,10,10"
                                                        materialDesign:ButtonAssist.CornerRadius="10"
                                                        Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                                        Command="{Binding DataContext.JogCommand,RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                                        CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=Z-}" />
                                                <Button Content="U+"
                                                        Grid.Row="3"
                                                        Grid.Column="0"
                                                        Margin="10,10,10,10"
                                                        materialDesign:ButtonAssist.CornerRadius="10"
                                                        Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                                        Command="{Binding DataContext.JogCommand,RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                                        CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=U+}" />
                                                <Button Content="U-"
                                                        Grid.Row="4"
                                                        Grid.Column="0"
                                                        Margin="10,10,10,10"
                                                        materialDesign:ButtonAssist.CornerRadius="10"
                                                        Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                                        Command="{Binding DataContext.JogCommand,RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                                        CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=U-}" />
                                                <Button Content="V+"
                                                        Grid.Row="3"
                                                        Grid.Column="1"
                                                        Grid.ColumnSpan="2"
                                                        Width="{Binding ElementName=btn_x,Path=Width}"
                                                        Margin="10,10,10,10"
                                                        materialDesign:ButtonAssist.CornerRadius="10"
                                                        Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                                        Command="{Binding DataContext.JogCommand,RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                                        CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=V+}" />
                                                <Button Content="V-"
                                                        Grid.Row="4"
                                                        Grid.Column="1"
                                                        Grid.ColumnSpan="2"
                                                        Width="{Binding ElementName=btn_x,Path=Width}"
                                                        Margin="10,10,10,10"
                                                        materialDesign:ButtonAssist.CornerRadius="10"
                                                        Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                                        Command="{Binding DataContext.JogCommand,RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                                        CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=V-}" />
                                                <Button Content="W+"
                                                        Grid.Row="3"
                                                        Grid.Column="3"
                                                        Margin="10,10,10,10"
                                                        materialDesign:ButtonAssist.CornerRadius="10"
                                                        Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                                        Command="{Binding DataContext.JogCommand,RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                                        CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=W+}" />
                                                <Button Content="W-"
                                                        Grid.Row="4"
                                                        Grid.Column="3"
                                                        Margin="10,10,10,10"
                                                        materialDesign:ButtonAssist.CornerRadius="10"
                                                        Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                                        Command="{Binding DataContext.JogCommand,RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                                        CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=W-}" />
                                                <Grid Grid.Row="5"
                                                      Grid.ColumnSpan="7"
                                                      Margin="10">
                                                    <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="0"
                                                               Grid.Column="0"
                                                               Text="{lex:Loc 步进距离,Converter={StaticResource StringFormatConverter},ConverterParameter='{}{0}: '}"
                                                               Margin="10"
                                                               VerticalAlignment="Center"
                                                               HorizontalAlignment="Right" />
                                                    <uControl:myNumericUpDowm x:Name="txtDistance"
                                                                              Grid.Row="0"
                                                                              Grid.Column="1"
                                                                              MinWidth="100"
                                                                              Value="{Binding DataContext.Distance,RelativeSource={RelativeSource AncestorType={x:Type UserControl}},Mode=TwoWay}"
                                                                              Interval="0.1"
                                                                              Minimum="0"
                                                                              Maximum="100"
                                                                              StringFormat="{}{0:N3} mm"
                                                                              Margin="10"
                                                                              materialDesign:HintAssist.Hint="{lex:Loc 步进距离}" />

                                                    <TextBlock Grid.Row="1"
                                                               Grid.Column="0"
                                                               Text="{lex:Loc 点编号,Converter={StaticResource StringFormatConverter},ConverterParameter='{}{0}: '}"
                                                               Margin="10"
                                                               VerticalAlignment="Center" />
                                                    <ComboBox x:Name="cmbSelectPoint"
                                                              Grid.Row="2"
                                                              Grid.Column="0"
                                                              MinWidth="80"
                                                              materialDesign:HintAssist.Hint="{lex:Loc 选择点}"
                                                              Margin="10,5"
                                                              ItemsSource="{Binding Points}"
                                                              SelectedItem="{Binding DataContext.SelectedPointInComboBox,RelativeSource={RelativeSource AncestorType={x:Type UserControl}},Mode=TwoWay}">
                                                        <ComboBox.ItemTemplate>
                                                            <DataTemplate>
                                                                <StackPanel HorizontalAlignment="Left"
                                                                            Orientation="Horizontal">
                                                                    <TextBlock Text="{Binding Number,StringFormat={}{0}:}" />
                                                                    <TextBlock Text="{Binding Description}" />
                                                                </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"
                                                               VerticalAlignment="Center" />
                                                    <ComboBox x:Name="cmbSelectMotioncmd"
                                                              Grid.Row="2"
                                                              Grid.Column="1"
                                                              MinWidth="80"
                                                              Margin="10,5"
                                                              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="10,5"
                                                            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="10"
                                                            HorizontalAlignment="Right"
                                                            Command="{Binding DataContext.TechPointCommand,RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                                            CommandParameter="{Binding ElementName=cmbSelectPoint,Path=SelectedItem}" />
                                                    <ToggleButton Grid.Row="3"
                                                                  Grid.Column="2"
                                                                  HorizontalAlignment="Right"
                                                                  VerticalAlignment="Center"
                                                                  Visibility="{Binding IsHaveRobot,Converter={StaticResource BooleanToVisibilityConverter}}"
                                                                  materialDesign:ToggleButtonAssist.OnContent="{materialDesign:PackIcon Kind=ArrowRight}"
                                                                  Content="{materialDesign:PackIcon Kind=ProgressWrench}"
                                                                  Style="{StaticResource MaterialDesignActionToggleButton}"
                                                                  ToolTip="{lex:Loc 手动验证流程}"
                                                                  Margin="5,0"
                                                                  IsChecked="{Binding IsRightDrawerOpen,ElementName=DrawerHost}" />
                                                </Grid>
                                            </Grid>
                                        </Grid>
                                    </Grid>
                                </Viewbox>
                            </Grid>
                        </DataTemplate>
                    </TabControl.ContentTemplate>
                </TabControl>
            </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>