Display_D_HP/TeamAAS-VM/Controls/RobotManual.xaml

<UserControl x:Class="TeamAAS_VP.Controls.RobotManual"
             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
             xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
             xmlns:local="clr-namespace:TeamAAS_VP.Controls"
             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"
             mc:Ignorable="d"
             d:Background="White"
             FontFamily="{DynamicResource DefaultFont}">
    <UserControl.Resources>
        <convert:JogConverter x:Key="JogConverter" />
    </UserControl.Resources>
    <Grid VerticalAlignment="Center">
        <Grid VerticalAlignment="Center">
            <Grid.ColumnDefinitions>
                <ColumnDefinition Width="auto" />
                <ColumnDefinition Width="*" />
            </Grid.ColumnDefinitions>

            <Grid Grid.Column="0">
                <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>
                <Button Content="{lex:Loc 连接}"
                        Grid.Row="0"
                        materialDesign:ButtonAssist.CornerRadius="10"
                        Style="{StaticResource MaterialDesignRaisedDarkButton}"
                        Command="{Binding ConnectCommand}" />
                <Button Content="{lex:Loc 断开连接}"
                        Grid.Row="1"
                        Margin="0,10,0,10"
                        materialDesign:ButtonAssist.CornerRadius="10"
                        Style="{StaticResource MaterialDesignRaisedDarkButton}"
                        Command="{Binding DisConnectCommand}" />
                <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="0,10,0,10"
                        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}" />
                <Button Content="{lex:Loc 释放刹车}"
                        Grid.Row="5"
                        Margin="0,10,0,10"
                        materialDesign:ButtonAssist.CornerRadius="10"
                        Style="{StaticResource MaterialDesignRaisedDarkButton}"
                        Command="{Binding sFreeCommand}" />
                <Button Content="{lex:Loc 锁定刹车}"
                        Grid.Row="6"
                        materialDesign:ButtonAssist.CornerRadius="10"
                        Style="{StaticResource MaterialDesignRaisedDarkButton}"
                        Command="{Binding SLockCommand}" />
            </Grid>

            <Grid Grid.Column="1"
                  Margin="20">
                <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">
                    <ComboBox Grid.ColumnSpan="3"
                              Grid.Row="0"
                              Margin="10,5"
                              HorizontalAlignment="Left"
                              materialDesign:HintAssist.Hint="{lex:Loc 选择Tool}"
                              SelectedItem="{Binding SelectTool,Mode=TwoWay}"
                              ItemsSource="{Binding Tools}" />
                    <TextBlock 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>
                </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="0"
                        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="5"
                        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="6"
                            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>
            </Grid>


        </Grid>
        <materialDesign:Snackbar x:Name="snackbar"
                                 Opacity="0.9"
                                 HorizontalContentAlignment="Center"
                                 VerticalAlignment="Bottom" />
    </Grid>
</UserControl>