Display_D_HP/TeamAAS-VM/Views/Calibration/FixedUpCameraFindP0.xaml

<UserControl x:Class="TeamAAS_VP.Views.Calibration.FixedUpCameraFindP0"
             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:materialDesign="http://materialdesigninxaml.net/winfx/xaml/themes"
             xmlns:b="http://schemas.microsoft.com/xaml/behaviors"
             xmlns:mah="http://metro.mahapps.com/winfx/xaml/controls"
             xmlns:wf="clr-namespace:System.Windows.Forms.Integration;assembly=WindowsFormsIntegration"
             xmlns:vp="clr-namespace:Cognex.VisionPro.ToolBlock;assembly=Cognex.VisionPro.ToolGroup.Controls"
             xmlns:uControl="clr-namespace:TeamAAS_VP.Controls"
             xmlns:vm="clr-namespace:TeamAAS_VP.ViewModels.Calibration"
             xmlns:enums="clr-namespace:TeamAAS_VP.Enums"
             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:DataContext="{d:DesignInstance Type=vm:FixedUpCameraFindP0ViewModel}"
             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>
        <convert:JogConverter x:Key="JogConverter" />
    </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="CrosshairsGps"
                                     Width="30"
                                     Height="30" />
            <TextBlock Text="{Binding SelectCalibration.Name,Converter={StaticResource StringFormatConverter},ConverterParameter=' [{0}] '}"
                       VerticalAlignment="Center" />
            <TextBlock Text="{lex:Loc 校准视觉处理,Converter={StaticResource StringFormatConverter},ConverterParameter='- {0}'}"
                       VerticalAlignment="Center" />
        </StackPanel>

        <materialDesign:DrawerHost Grid.Row="1"
                                   IsEnabled="{Binding IsAllowEdit}"
                                   OpenMode="Standard"
                                   x:Name="DrawerHost">
            <materialDesign:DrawerHost.RightDrawerContent>
                <uControl:RobotManual x:Name="robotManual" />
            </materialDesign:DrawerHost.RightDrawerContent>

            <Grid>
                <Grid.ColumnDefinitions>
                    <ColumnDefinition Width="*" />
                    <ColumnDefinition Width="auto" />
                </Grid.ColumnDefinitions>
                <wf:WindowsFormsHost Grid.Column="0"
                                     Margin="0,0,0,35">
                    <vp:CogToolBlockEditV2 x:Name="ToolBlockEditV2" />
                </wf:WindowsFormsHost>
                <Button Content="{lex:Loc 运行流程}"
                        Width="100"
                        HorizontalAlignment="Left"
                        VerticalAlignment="Bottom"
                        Margin="5,3"
                        Command="{Binding RunVisionProcessCommand}" />
                <Grid Grid.Column="1">
                    <Grid.RowDefinitions>
                        <RowDefinition Height="auto" />
                        <RowDefinition Height="auto" />
                        <RowDefinition Height="auto" />
                        <RowDefinition Height="auto" />
                        <RowDefinition Height="auto" />
                        <RowDefinition Height="auto" />
                        <RowDefinition Height="auto" />
                        <RowDefinition Height="auto" />
                    </Grid.RowDefinitions>
                    <Grid.ColumnDefinitions>
                        <ColumnDefinition Width="auto" />
                        <ColumnDefinition Width="*" />
                    </Grid.ColumnDefinitions>
                    <TextBlock Text="选择下相机："
                               FontWeight="Bold"
                               Grid.Row="0"
                               VerticalAlignment="Center"
                               Grid.Column="0" />
                    <ComboBox Grid.Row="0"
                              Grid.Column="1"
                              ItemsSource="{Binding Cameras}"
                              SelectedItem="{Binding SelectCamera}"
                              materialDesign:HintAssist.Hint="{lex:Loc 选择相机}">
                        <ComboBox.ItemTemplate>
                            <DataTemplate>
                                <StackPanel Orientation="Horizontal">
                                    <materialDesign:PackIcon Kind="Camera" />
                                    <TextBlock Text="{Binding CameraName}"
                                               Margin="6,0" />
                                </StackPanel>
                            </DataTemplate>
                        </ComboBox.ItemTemplate>
                    </ComboBox>
                    <TextBlock Text="{lex:Loc 相机参数设置}"
                               Grid.Row="1"
                               FontWeight="Bold"
                               Margin="0,10"
                               Grid.ColumnSpan="2" />
                    <TextBlock Grid.Row="2"
                               Grid.Column="0"
                               Margin="5"
                               VerticalAlignment="Center"
                               Text="{lex:Loc 曝光时间,Converter={StaticResource StringFormatConverter},ConverterParameter='{}{0}: '}" />
                    <mah:NumericUpDown Grid.Row="2"
                                       Grid.Column="1"
                                       Margin="5"
                                       Minimum="35"
                                       Maximum="999985"
                                       Interval="35"
                                       StringFormat="{}{0:N0} us"
                                       Value="{Binding ExposureTime,Mode=TwoWay}" />
                    <TextBlock Grid.Row="3"
                               Grid.Column="0"
                               Margin="5"
                               VerticalAlignment="Center"
                               Text="{lex:Loc 增益,Converter={StaticResource StringFormatConverter},ConverterParameter='{}{0}: '}" />
                    <mah:NumericUpDown Grid.Row="3"
                                       Grid.Column="1"
                                       Margin="5"
                                       Minimum="0"
                                       Maximum="63"
                                       Interval="1"
                                       StringFormat="{}{0:N2} db"
                                       Value="{Binding Gain,Mode=TwoWay}" />

                    <TextBlock Text="选择校准："
                               FontWeight="Bold"
                               Grid.Row="4"
                               VerticalAlignment="Center"
                               Grid.Column="0" />
                    <ComboBox Grid.Row="4"
                              Grid.Column="1"
                              ItemsSource="{Binding CalibrationList}"
                              SelectedItem="{Binding SelectedCalibration}"
                              materialDesign:HintAssist.Hint="选择校准">
                        <ComboBox.ItemTemplate>
                            <DataTemplate>
                                <StackPanel Orientation="Horizontal">
                                    <materialDesign:PackIcon Kind="Camera" />
                                    <TextBlock Text="{Binding Name}"
                                               Margin="6,0" />
                                </StackPanel>
                            </DataTemplate>
                        </ComboBox.ItemTemplate>
                    </ComboBox>
                    <StackPanel Grid.Row="6"
                                Grid.ColumnSpan="2"
                                VerticalAlignment="Center"
                                Margin="0,10">
                        <!--上下相机对拍获取P0-->
                        <Grid d:Visibility="Visible">
                            <Grid.RowDefinitions>
                                <RowDefinition Height="auto" />
                                <RowDefinition Height=" auto" />
                            </Grid.RowDefinitions>
                            <Grid.ColumnDefinitions>
                                <ColumnDefinition Width="auto" />
                                <ColumnDefinition Width="auto" />
                            </Grid.ColumnDefinitions>
                            <TextBlock Text="获取P0点："
                                       FontWeight="Bold"
                                       Grid.Row="0"
                                       VerticalAlignment="Center"
                                       Grid.Column="0" />
                            <Button Content="获取P0点"
                                    Grid.Row="0"
                                    Margin="0,10"
                                    Grid.Column="1"
                                    Command="{Binding FindP0Command}" />
                            <TextBlock Grid.Row="1"
                                       Grid.ColumnSpan="2">
                                <TextBlock.Text>
                                    <MultiBinding StringFormat="{}P0点 X:{0:F3} Y:{1:F3}">
                                        <Binding Path="SelectCalibration.MarkPoint.X"
                                                 TargetNullValue="0.000"
                                                 FallbackValue="0.000" />
                                        <Binding Path="SelectCalibration.MarkPoint.Y"
                                                 TargetNullValue="0.000"
                                                 FallbackValue="0.000" />
                                    </MultiBinding>
                                </TextBlock.Text>
                            </TextBlock>
                            <Grid.Style>
                                <Style TargetType="Grid">
                                    <Setter Property="Visibility"
                                            Value="Collapsed" />
                                    <Style.Triggers>
                                        <!-- 当 SelectedIndex == 0 时显示此面板 -->
                                        <DataTrigger Binding="{Binding SelectCalibration.CalibTechP0Mode}"
                                                     Value="{x:Static enums:CalibTechP0Mode.CameraFindP0}">
                                            <Setter Property="Visibility"
                                                    Value="Visible" />
                                        </DataTrigger>
                                    </Style.Triggers>
                                </Style>
                            </Grid.Style>
                        </Grid>
                        <!--通过移动至下相机拍照获取P0-->
                        <Grid d:Visibility="Visible">
                            <Grid.RowDefinitions>
                                <RowDefinition Height="auto" />
                                <RowDefinition Height=" auto" />
                                <RowDefinition Height="auto" />
                                <RowDefinition Height=" auto" />
                                <RowDefinition Height="auto" />
                                <RowDefinition Height=" auto" />
                                <RowDefinition Height=" auto" />
                                <RowDefinition Height=" auto" />
                            </Grid.RowDefinitions>
                            <Grid.ColumnDefinitions>
                                <ColumnDefinition Width="auto" />
                                <ColumnDefinition Width="auto" />
                                <ColumnDefinition Width="auto" />
                            </Grid.ColumnDefinitions>
                            <TextBlock Text="放置产品的位置："
                                       FontWeight="Bold"
                                       Grid.Row="0"
                                       VerticalAlignment="Center"
                                       Grid.Column="0" />
                            <Button Content="示教"
                                    Grid.Row="0"
                                    Margin="0,5"
                                    Grid.Column="1"
                                    Command="{Binding TeachPutPosCommand}" />
                            <Button Content="移动至"
                                    Grid.Row="0"
                                    Margin="5,5"
                                    Grid.Column="2"
                                    Command="{Binding MovePutPosCommand}" />
                            <TextBlock Grid.Row="1"
                                       Grid.ColumnSpan="3">
                                <TextBlock.Text>
                                    <MultiBinding StringFormat="{}X:{0:F3} Y:{1:F3} Z:{2:F3} U:{3:F3}">
                                        <Binding Path="SelectCalibration.PutPoint.X"
                                                 TargetNullValue="0.000"
                                                 FallbackValue="0.000" />
                                        <Binding Path="SelectCalibration.PutPoint.Y"
                                                 TargetNullValue="0.000"
                                                 FallbackValue="0.000" />
                                        <Binding Path="SelectCalibration.PutPoint.Z"
                                                 TargetNullValue="0.000"
                                                 FallbackValue="0.000" />
                                        <Binding Path="SelectCalibration.PutPoint.U"
                                                 TargetNullValue="0.000"
                                                 FallbackValue="0.000" />
                                    </MultiBinding>
                                </TextBlock.Text>
                            </TextBlock>
                            <TextBlock Text="下相机拍照的位置："
                                       FontWeight="Bold"
                                       Grid.Row="2"
                                       VerticalAlignment="Center"
                                       Grid.Column="0" />
                            <Button Content="示教"
                                    Grid.Row="2"
                                    Margin="0,5"
                                    Grid.Column="1"
                                    Command="{Binding TeachDownCameraPosCommand}" />
                            <Button Content="移动至"
                                    Grid.Row="2"
                                    Margin="5,5"
                                    Grid.Column="2"
                                    Command="{Binding MoveDownCameraPosCommand}" />
                            <TextBlock Grid.Row="3"
                                       Grid.ColumnSpan="3">
                                <TextBlock.Text>
                                    <MultiBinding StringFormat="{}X:{0:F3} Y:{1:F3} Z:{2:F3} U:{3:F3}">
                                        <Binding Path="SelectCalibration.DownCameraPoint.X"
                                                 TargetNullValue="0.000"
                                                 FallbackValue="0.000" />
                                        <Binding Path="SelectCalibration.DownCameraPoint.Y"
                                                 TargetNullValue="0.000"
                                                 FallbackValue="0.000" />
                                        <Binding Path="SelectCalibration.DownCameraPoint.Z"
                                                 TargetNullValue="0.000"
                                                 FallbackValue="0.000" />
                                        <Binding Path="SelectCalibration.DownCameraPoint.U"
                                                 TargetNullValue="0.000"
                                                 FallbackValue="0.000" />
                                    </MultiBinding>
                                </TextBlock.Text>
                            </TextBlock>
                            <Button Content="开始校准"
                                    Grid.Row="4"
                                    Margin="5,5"
                                    
                                    Grid.ColumnSpan="3"
                                    Command="{Binding StartCalibP0Command}" />
                            <TextBlock Grid.Row="5"
                                       Grid.ColumnSpan="3">
                                <TextBlock.Text>
                                    <MultiBinding StringFormat="{}P0点 X:{0:F3} Y:{1:F3}">
                                        <Binding Path="SelectCalibration.MarkPoint.X"
                                                 TargetNullValue="0.000"
                                                 FallbackValue="0.000" />
                                        <Binding Path="SelectCalibration.MarkPoint.Y"
                                                 TargetNullValue="0.000"
                                                 FallbackValue="0.000" />
                                    </MultiBinding>
                                </TextBlock.Text>
                            </TextBlock>
                            <Grid.Style>
                                <Style TargetType="Grid">
                                    <Setter Property="Visibility"
                                            Value="Collapsed" />
                                    <Style.Triggers>
                                        <!-- 当 SelectedIndex == 0 时显示此面板 -->
                                        <DataTrigger Binding="{Binding SelectCalibration.CalibTechP0Mode}"
                                                     Value="{x:Static enums:CalibTechP0Mode.CameraFindP0}">
                                            <Setter Property="Visibility"
                                                    Value="Visible" />
                                        </DataTrigger>
                                    </Style.Triggers>
                                </Style>
                            </Grid.Style>
                        </Grid>
                    </StackPanel>
                </Grid>
            </Grid>


        </materialDesign:DrawerHost>

        <StackPanel Orientation="Horizontal"
                    HorizontalAlignment="Right"
                    VerticalAlignment="Bottom">
            <ToggleButton materialDesign:ToggleButtonAssist.OnContent="{materialDesign:PackIcon Kind=ArrowRight}"
                          Content="{materialDesign:PackIcon Kind=RobotIndustrial}"
                          IsEnabled="{Binding IsAllowEdit}"
                          Style="{StaticResource MaterialDesignActionToggleButton}"
                          ToolTip="{lex:Loc 机器人步进}"
                          Margin="2,0"
                          IsChecked="{Binding IsRightDrawerOpen,ElementName=DrawerHost}" />
        </StackPanel>

        <StackPanel Grid.Row="2"
                    Orientation="Horizontal"
                    HorizontalAlignment="Center"
                    VerticalAlignment="Center"
                    Margin="20">
            <Button Content="{lex:Loc 下一步}"
                    IsEnabled="{Binding IsAllowEdit}"
                    MinWidth="150"
                    Margin="10,0"
                    HorizontalAlignment="Center"
                    VerticalAlignment="Center"
                    materialDesign:ButtonAssist.CornerRadius="10"
                    Style="{StaticResource MaterialDesignRaisedButton}"
                    Command="{Binding NextCommand}" />
        </StackPanel>
    </Grid>
</UserControl>