Display_D_HP/TeamAAS-VM/Views/DebugMod/PlcRobotManualStep.xaml

<UserControl x:Class="TeamAAS_VP.Views.DebugMod.PlcRobotManualStep"
             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
             xmlns:prism="http://prismlibrary.com/"
             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.DebugMod"
             xmlns:materialDesign="http://materialdesigninxaml.net/winfx/xaml/themes"
             xmlns:mah="http://metro.mahapps.com/winfx/xaml/controls"
             xmlns:b="http://schemas.microsoft.com/xaml/behaviors"
             xmlns:sys="clr-namespace:System;assembly=mscorlib"
             xmlns:uControl="clr-namespace:TeamAAS_VP.Controls"
             xmlns:convert="clr-namespace:TeamAAS_VP.ValueConverter"
             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:Background="White"
             d:DataContext="{d:DesignInstance Type=vm:PlcRobotManualStepViewModel}"
             FontFamily="{DynamicResource DefaultFont}">
    <UserControl.Resources>
        <convert:JogConverter x:Key="JogConverter" />
    </UserControl.Resources>
    <ScrollViewer HorizontalAlignment="Stretch"
                  VerticalAlignment="Stretch">
        <Grid HorizontalAlignment="Stretch"
              VerticalAlignment="Top"
              IsEnabled="{Binding IsAllowEdit}">
            <Grid.RowDefinitions>
                <RowDefinition Height="auto" />
                <RowDefinition Height="auto" />
            </Grid.RowDefinitions>

            <Grid Grid.Row="0"
                  Margin="10"
                  HorizontalAlignment="Center">
                <Grid.ColumnDefinitions>
                    <ColumnDefinition Width="auto" />
                    <ColumnDefinition Width="auto" />
                    <ColumnDefinition Width="auto" />
                    <ColumnDefinition Width="auto" />
                </Grid.ColumnDefinitions>
                <Grid.RowDefinitions>
                    <RowDefinition Height="auto" />
                    <RowDefinition Height="auto" />
                    <RowDefinition Height="auto" />
                    <RowDefinition Height="auto" />
                    <RowDefinition Height="auto" />
                    <RowDefinition Height="auto" />
                    <RowDefinition Height="auto" />
                </Grid.RowDefinitions>
                <Grid.Resources>
                    <Style TargetType="Button"
                           BasedOn="{StaticResource MaterialDesignRaisedDarkButton}">
                        <Setter Property="Width"
                                Value="60" />
                        <Setter Property="Height"
                                Value="60" />
                        <Setter Property="FontSize"
                                Value="13" />
                        <Setter Property="Padding"
                                Value="0" />
                        <Setter Property="HorizontalAlignment"
                                Value="Center" />
                        <Setter Property="VerticalAlignment"
                                Value="Center" />
                        <Setter Property="Margin"
                                Value="2" />
                        <Setter Property="materialDesign:ButtonAssist.CornerRadius"
                                Value="10" />
                    </Style>
                </Grid.Resources>
                <StackPanel Grid.ColumnSpan="4"
                            Grid.Row="0"
                            Grid.Column="0"
                            VerticalAlignment="Center"
                            Orientation="Horizontal">
                    <Button Content="{lex:Loc 上使能}"
                            Grid.Row="2"
                            materialDesign:ButtonAssist.CornerRadius="10"
                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                            Command="{Binding MotorCommand}"
                            CommandParameter="True" />
                    <Button Content="{lex:Loc 下使能}"
                            Grid.Row="3"
                            Margin="10"
                            materialDesign:ButtonAssist.CornerRadius="10"
                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                            Command="{Binding MotorCommand}"
                            CommandParameter="False" />
                    <Button Content="{lex:Loc 复位错误}"
                            Grid.Row="4"
                            materialDesign:ButtonAssist.CornerRadius="10"
                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                            Command="{Binding ResetCommand}" />
                </StackPanel>
                <Button Grid.Row="2"
                        Grid.Column="0"
                        Command="{Binding JogCommand}"
                        CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=X-}">
                    <StackPanel Orientation="Vertical">
                        <materialDesign:PackIcon Kind="ArrowLeftBold"
                                                 Width="26"
                                                 Height="26" />
                        <TextBlock Text="-X"
                                   HorizontalAlignment="Center" />
                    </StackPanel>
                </Button>
                <Button Grid.Row="2"
                        Grid.Column="2"
                        Command="{Binding JogCommand}"
                        CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=X+}">
                    <StackPanel Orientation="Vertical">
                        <materialDesign:PackIcon Kind="ArrowRightBold"
                                                 Width="26"
                                                 Height="26" />
                        <TextBlock Text="+X"
                                   HorizontalAlignment="Center" />
                    </StackPanel>
                </Button>
                <Button Grid.Row="1"
                        Grid.Column="1"
                        Command="{Binding JogCommand}"
                        CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=Y+}">
                    <StackPanel Orientation="Vertical">
                        <materialDesign:PackIcon Kind="ArrowTopBold"
                                                 Width="26"
                                                 Height="26" />
                        <TextBlock Text="+Y"
                                   HorizontalAlignment="Center" />
                    </StackPanel>
                </Button>
                <Button Grid.Row="3"
                        Grid.Column="1"
                        Command="{Binding JogCommand}"
                        CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=Y-}">
                    <StackPanel Orientation="Vertical">
                        <materialDesign:PackIcon Kind="ArrowBottomBold"
                                                 Width="26"
                                                 Height="26" />
                        <TextBlock Text="-Y"
                                   HorizontalAlignment="Center" />
                    </StackPanel>
                </Button>
                <Button Grid.Row="1"
                        Grid.Column="3"
                        Command="{Binding JogCommand}"
                        CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=Z+}">
                    <StackPanel Orientation="Vertical">
                        <materialDesign:PackIcon Kind="ArrowTopBold"
                                                 Width="26"
                                                 Height="26" />
                        <TextBlock Text="+Z"
                                   HorizontalAlignment="Center" />
                    </StackPanel>
                </Button>
                <Button Grid.Row="3"
                        Grid.Column="3"
                        Command="{Binding JogCommand}"
                        CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=Z-}">
                    <StackPanel Orientation="Vertical">
                        <materialDesign:PackIcon Kind="ArrowBottomBold"
                                                 Width="26"
                                                 Height="26" />
                        <TextBlock Text="-Z"
                                   HorizontalAlignment="Center" />
                    </StackPanel>
                </Button>
                <Button Grid.Row="4"
                        Grid.Column="3"
                        Command="{Binding JogCommand}"
                        CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=U+}">
                    <StackPanel Orientation="Vertical">
                        <materialDesign:PackIcon Kind="AxisZRotateCounterclockwise"
                                                 Width="26"
                                                 Height="26" />
                        <TextBlock Text="+U"
                                   HorizontalAlignment="Center" />
                    </StackPanel>
                </Button>
                <Button Grid.Row="4"
                        Grid.Column="0"
                        Command="{Binding JogCommand}"
                        CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=U-}">
                    <StackPanel Orientation="Vertical">
                        <materialDesign:PackIcon Kind="AxisZRotateClockwise"
                                                 Width="26"
                                                 Height="26" />
                        <TextBlock Text="-U"
                                   HorizontalAlignment="Center" />
                    </StackPanel>
                </Button>
                <!--<Button Grid.Row="4"
                    Grid.Column="1"
                    Grid.ColumnSpan="2"
                    Command="{Binding JogCommand}"
                    CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=V+}">
                <StackPanel Orientation="Vertical">
                    <materialDesign:PackIcon Kind="AxisYRotateCounterclockwise"
                                             Width="26"
                                             Height="26" />
                    <TextBlock Text="+V"
                               HorizontalAlignment="Center" />
                </StackPanel>
            </Button>
            <Button Grid.Row="5"
                    Grid.Column="1"
                    Grid.ColumnSpan="2"
                    Command="{Binding JogCommand}"
                    CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=V-}">
                <StackPanel Orientation="Vertical">
                    <materialDesign:PackIcon Kind="AxisYRotateClockwise"
                                             Width="26"
                                             Height="26" />
                    <TextBlock Text="-V"
                               HorizontalAlignment="Center" />
                </StackPanel>
            </Button>
            <Button Grid.Row="4"
                    Grid.Column="3"
                    Command="{Binding JogCommand}"
                    CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=W+}">
                <StackPanel Orientation="Vertical">
                    <materialDesign:PackIcon Kind="AxisXRotateCounterclockwise"
                                             Width="26"
                                             Height="26" />
                    <TextBlock Text="+W"
                               HorizontalAlignment="Center" />
                </StackPanel>
            </Button>
            <Button Grid.Row="5"
                    Grid.Column="3"
                    Command="{Binding JogCommand}"
                    CommandParameter="{Binding ElementName=txtDistance,Path=Value,Converter={StaticResource JogConverter}, ConverterParameter=W-}">
                <StackPanel Orientation="Vertical">
                    <materialDesign:PackIcon Kind="AxisXRotateClockwise"
                                             Width="26"
                                             Height="26" />
                    <TextBlock Text="-W"
                               HorizontalAlignment="Center" />
                </StackPanel>
            </Button>-->
                <StackPanel Grid.Row="5"
                            Grid.ColumnSpan="7"
                            Margin="10,10,0,10"
                            Grid.Column="0"
                            VerticalAlignment="Center"
                            Orientation="Horizontal">
                    <TextBlock Text="{lex:Loc 步进距离}"
                               VerticalAlignment="Center" />
                    <uControl:myNumericUpDowm x:Name="txtDistance"
                                              MinWidth="100"
                                              Interval="0.1"
                                              Minimum="0"
                                              Maximum="100"
                                              StringFormat="{}{0:N3} mm"
                                              Value="{Binding Distance,Mode=TwoWay}"
                                              Margin="10,0" />
                </StackPanel>
                <TextBlock Grid.Row="6"
                           Grid.ColumnSpan="7"
                           VerticalAlignment="Center"
                           Margin="10,0">
                    <TextBlock.Text>
                        <MultiBinding StringFormat="{}CurPos X: {0:F3} mm Y: {1:F3} mm Z: {2:F3} mm U: {3:F3} mm">
                            <Binding Path="Robot.CurrentPosition.X" />
                            <Binding Path="Robot.CurrentPosition.Y" />
                            <Binding Path="Robot.CurrentPosition.Z" />
                            <Binding Path="Robot.CurrentPosition.U" />
                        </MultiBinding>
                    </TextBlock.Text>
                </TextBlock>
            </Grid>

            <!-- 附加轴列表：绑定到视图模型中的 ExtraAxes 集合（每项假定有 Name、Position） -->
            <ItemsControl Grid.Row="1"
                          ItemsSource="{Binding AdditionalAxisList}">
                <ItemsControl.ItemTemplate>
                    <DataTemplate>
                        <Border Padding="6"
                                Margin="0,2"
                                Background="{DynamicResource MaterialDesignPaper}">
                            <DockPanel LastChildFill="False"
                                       VerticalAlignment="Center">
                                <StackPanel Orientation="Horizontal"
                                            DockPanel.Dock="Left"
                                            VerticalAlignment="Center">
                                    <TextBlock Text="{Binding Index}"
                                               FontWeight="Bold"
                                               VerticalAlignment="Center" />
                                    <TextBlock Text="{Binding Name}"
                                               FontWeight="Bold"
                                               Margin="2,0"
                                               VerticalAlignment="Center" />

                                    <TextBlock Text="当前位置："
                                               Margin="30,0"
                                               VerticalAlignment="Center" />
                                    <TextBlock Text="{Binding CurrentPosition, StringFormat='{}{0:F3} mm'}"
                                               Width="140"
                                               VerticalAlignment="Center" />
                                </StackPanel>
                                <StackPanel Orientation="Horizontal"
                                            HorizontalAlignment="Right"
                                            DockPanel.Dock="Right">
                                    <StackPanel.Resources>
                                        <Style TargetType="Button"
                                               BasedOn="{StaticResource MaterialDesignRaisedDarkButton}">
                                            <Setter Property="Width"
                                                    Value="60" />
                                            <Setter Property="Height"
                                                    Value="60" />
                                            <Setter Property="FontSize"
                                                    Value="13" />
                                            <Setter Property="Padding"
                                                    Value="0" />
                                            <Setter Property="HorizontalAlignment"
                                                    Value="Center" />
                                            <Setter Property="VerticalAlignment"
                                                    Value="Center" />
                                            <Setter Property="Margin"
                                                    Value="2" />
                                            <Setter Property="materialDesign:ButtonAssist.CornerRadius"
                                                    Value="10" />
                                        </Style>
                                    </StackPanel.Resources>
                                    <Button Width="60"
                                            Height="36"
                                            Margin="6,0"
                                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                            Command="{Binding DataContext.AdditionalAxisJogPlusCommand, RelativeSource={RelativeSource AncestorType=UserControl}}"
                                            CommandParameter="{Binding}">
                                        <StackPanel Orientation="Vertical">
                                            <materialDesign:PackIcon Kind="ArrowLeftBold"
                                                                     Width="26"
                                                                     Height="26" />
                                            <TextBlock Text="+"
                                                       HorizontalAlignment="Center" />
                                        </StackPanel>
                                    </Button>
                                    <Button Width="60"
                                            Height="36"
                                            Margin="6,0"
                                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                            Command="{Binding DataContext.AdditionalAxisJogMinusCommand, RelativeSource={RelativeSource AncestorType=UserControl}}"
                                            CommandParameter="{Binding}">
                                        <StackPanel Orientation="Vertical">
                                            <materialDesign:PackIcon Kind="ArrowRightBold"
                                                                     Width="26"
                                                                     Height="26" />
                                            <TextBlock Text="-"
                                                       HorizontalAlignment="Center" />
                                        </StackPanel>
                                    </Button>
                                    <Button Content="{lex:Loc 上使能}"
                                            Width="60"
                                            Height="36"
                                            Margin="6,0"
                                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                            Command="{Binding DataContext.AdditionalAxisMotorOnCommand, RelativeSource={RelativeSource AncestorType=UserControl}}"
                                            CommandParameter="{Binding}" />
                                    <Button Content="{lex:Loc 下使能}"
                                            Width="60"
                                            Height="36"
                                            Margin="6,0"
                                            Style="{StaticResource MaterialDesignRaisedDarkButton}"
                                            Command="{Binding DataContext.AdditionalAxisMotorOffCommand, RelativeSource={RelativeSource AncestorType=UserControl}}"
                                            CommandParameter="{Binding}" />
                                </StackPanel>
                            </DockPanel>
                        </Border>
                    </DataTemplate>
                </ItemsControl.ItemTemplate>
            </ItemsControl>

            <materialDesign:Snackbar Grid.RowSpan="2"
                                     x:Name="snackbar"
                                     Opacity="0.9"
                                     HorizontalContentAlignment="Center"
                                     VerticalAlignment="Top" />
        </Grid>
    </ScrollViewer>
</UserControl>