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

<UserControl
    x:Class="TeamAAS_VP.Views.Product.PlcPointParams"
    xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
    xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
    xmlns:b="http://schemas.microsoft.com/xaml/behaviors"
    xmlns:convert="clr-namespace:TeamAAS_VP.ValueConverter"
    xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
    xmlns:enums="clr-namespace:TeamAAS_VP.Enums"
    xmlns:ext="clr-namespace:TeamAAS_VP.Extension"
    xmlns:lex="http://wpflocalizeextension.codeplex.com"
    xmlns:local="clr-namespace:TeamAAS_VP.Views.Product"
    xmlns:localRobot="clr-namespace:TeamAAS_VP.Models.Robot"
    xmlns:mah="http://metro.mahapps.com/winfx/xaml/controls"
    xmlns:materialDesign="http://materialdesigninxaml.net/winfx/xaml/themes"
    xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
    xmlns:prism="http://prismlibrary.com/"
    xmlns:sys="clr-namespace:System;assembly=mscorlib"
    xmlns:uControl="clr-namespace:TeamAAS_VP.Controls"
    xmlns:vm="clr-namespace:TeamAAS_VP.ViewModels.Product"
    xmlns:vp="clr-namespace:Cognex.VisionPro;assembly=Cognex.VisionPro.Controls"
    xmlns:wf="clr-namespace:System.Windows.Forms.Integration;assembly=WindowsFormsIntegration"
    d:Background="White"
    d:DataContext="{d:DesignInstance Type=vm:PlcPointParamsViewModel}"
    d:Height="600"
    d:Width="1024"
    lex:LocalizeDictionary.DesignCulture="zh-CN"
    lex:ResxLocalizationProvider.DefaultAssembly="TeamAAS-VP"
    lex:ResxLocalizationProvider.DefaultDictionary="Lang"
    prism:ViewModelLocator.AutoWireViewModel="True"
    FontFamily="{DynamicResource DefaultFont}"
    mc:Ignorable="d">
    <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"
            Width="50"
            HorizontalAlignment="Left"
            VerticalAlignment="Top"
            Command="{Binding BackCommand}"
            Content="{materialDesign:PackIcon Kind=ArrowLeftCircle}"
            Style="{StaticResource MaterialDesignIconButton}"
            ToolTip="{lex:Loc 返回}" />
        <StackPanel
            Grid.Row="0"
            Margin="50,0"
            VerticalAlignment="Center"
            Orientation="Horizontal">
            <materialDesign:PackIcon
                Width="30"
                Height="30"
                Kind="CubeOutline" />
            <TextBlock VerticalAlignment="Center" Text="{Binding SelectProduct.Name}" />
            <TextBlock VerticalAlignment="Center" Text="{lex:Loc 机器人点位, Converter={StaticResource StringFormatConverter}, ConverterParameter=' - {0}'}" />
        </StackPanel>
        <Button
            Grid.Row="0"
            MinWidth="100"
            Margin="5,3"
            HorizontalAlignment="Right"
            VerticalAlignment="Center"
            Command="{Binding DynamicTestAnalyzerCommand}"
            Content="动态精度分析" />
        <Border
            Height="1"
            VerticalAlignment="Bottom"
            BorderThickness="1,1,1,1">
            <Border.BorderBrush>
                <VisualBrush>
                    <VisualBrush.Visual>
                        <Rectangle
                            Width="{Binding RelativeSource={RelativeSource AncestorType={x:Type Border}}, Path=ActualWidth}"
                            Height="{Binding RelativeSource={RelativeSource AncestorType={x:Type Border}}, Path=ActualHeight}"
                            Stroke="LightGray"
                            StrokeDashArray="4 4"
                            StrokeThickness="1" />
                    </VisualBrush.Visual>
                </VisualBrush>
            </Border.BorderBrush>
        </Border>

        <materialDesign:DrawerHost
            x:Name="DrawerHost"
            Grid.Row="1"
            d:IsLeftDrawerOpen="false"
            IsEnabled="{Binding IsAllowEdit}"
            IsLeftDrawerOpen="{Binding IsLeftDrawerOpen, Mode=TwoWay}"
            OpenMode="Standard">
            <materialDesign:DrawerHost.LeftDrawerContent>
                <Grid Width="600">
                    <Grid.RowDefinitions>
                        <RowDefinition Height="*" />
                        <RowDefinition Height=" auto" />
                    </Grid.RowDefinitions>
                    <wf:WindowsFormsHost Grid.Row="0" Margin="0,40">
                        <vp:CogRecordDisplay x:Name="display" />
                    </wf:WindowsFormsHost>
                    <StackPanel
                        Grid.Row="1"
                        HorizontalAlignment="Left"
                        VerticalAlignment="Bottom"
                        Orientation="Horizontal">
                        <TextBlock
                            VerticalAlignment="Center"
                            FontWeight="Bold"
                            Text="{lex:Loc 相机,
                                           Converter={StaticResource StringFormatConverter},
                                           ConverterParameter='{}{0}: '}" />
                        <ComboBox
                            Margin="5,0,10,0"
                            materialDesign:HintAssist.Hint="{lex:Loc 选择相机}"
                            IsEnabled="{Binding IsGrap, Converter={StaticResource InvertBooleanConverter}}"
                            ItemsSource="{Binding CameraList}"
                            SelectedItem="{Binding SelectedCamera}">
                            <ComboBox.ItemTemplate>
                                <DataTemplate>
                                    <StackPanel Orientation="Horizontal">
                                        <materialDesign:PackIcon Kind="Camera" />
                                        <TextBlock Margin="6,0" Text="{Binding CameraName}" />
                                    </StackPanel>
                                </DataTemplate>
                            </ComboBox.ItemTemplate>
                        </ComboBox>
                        <Button
                            Grid.Column="0"
                            MinWidth="100"
                            materialDesign:ButtonAssist.CornerRadius="10"
                            Command="{Binding StartGrabbingCommand}"
                            Content="{lex:Loc 开始采集}"
                            Style="{StaticResource MaterialDesignRaisedButton}" />
                        <Button
                            Grid.Column="0"
                            MinWidth="100"
                            Margin="10,0"
                            materialDesign:ButtonAssist.CornerRadius="10"
                            Command="{Binding StopGrabbingCommand}"
                            Content="{lex:Loc 停止采集}"
                            IsEnabled="{Binding IsAllowEdit}"
                            Style="{StaticResource MaterialDesignRaisedButton}" />

                        <TextBlock
                            VerticalAlignment="Center"
                            Foreground="Gray"
                            Text="{Binding Message}" />
                    </StackPanel>
                </Grid>

            </materialDesign:DrawerHost.LeftDrawerContent>
            <Grid>
                <Grid.ColumnDefinitions>
                    <ColumnDefinition Width="auto" />
                    <ColumnDefinition Width="*" />
                </Grid.ColumnDefinitions>
                <Expander
                    Grid.Column="0"
                    Background="Transparent"
                    ExpandDirection="Right">
                    <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
                                Width="350"
                                HorizontalAlignment="Center"
                                VerticalAlignment="Top"
                                Source="pack://application:,,,/TeamAAS-VP;component/Resources/Images/9机器人点位.png"
                                Stretch="Uniform" />
                            <TextBlock Text="{lex:Loc 机器人点位示教}" />
                            <TextBlock
                                Foreground="Gray"
                                Text="{lex:Loc 机器人点位示教描述}"
                                TextWrapping="Wrap" />
                        </StackPanel>
                    </ScrollViewer>
                </Expander>

                <Grid Grid.Column="1">
                    <Grid.ColumnDefinitions>
                        <ColumnDefinition Width="*" />
                        <ColumnDefinition Width="auto" />
                    </Grid.ColumnDefinitions>
                    <DockPanel Grid.Column="0">
                        <!--  选项列表  -->
                        <ListBox
                            Height="80"
                            DockPanel.Dock="Top"
                            SelectedIndex="{Binding SelectedIndex}"
                            Style="{StaticResource MaterialDesign3.NavigationBarPrimaryListBox}">
                            <b:Interaction.Triggers>
                                <b:EventTrigger EventName="SelectionChanged">
                                    <b:InvokeCommandAction Command="{Binding SelectionChangedCommand}" />
                                </b:EventTrigger>
                            </b:Interaction.Triggers>
                            <ListBoxItem>
                                <ListBoxItem.Style>
                                    <Style BasedOn="{StaticResource MaterialDesign3.NavigationBarPrimaryListBoxItem}" TargetType="ListBoxItem">
                                        <Setter Property="materialDesign:NavigationBarAssist.SelectedIcon" Value="Circle" />
                                        <Setter Property="materialDesign:NavigationBarAssist.UnselectedIcon" Value="CircleOutline" />
                                    </Style>
                                </ListBoxItem.Style>
                                <TextBlock Text="{lex:Loc 取料拍照点位}" />
                            </ListBoxItem>
                            <ListBoxItem>
                                <ListBoxItem.Style>
                                    <Style BasedOn="{StaticResource MaterialDesign3.NavigationBarPrimaryListBoxItem}" TargetType="ListBoxItem">
                                        <Setter Property="materialDesign:NavigationBarAssist.SelectedIcon" Value="Circle" />
                                        <Setter Property="materialDesign:NavigationBarAssist.UnselectedIcon" Value="CircleOutline" />
                                    </Style>
                                </ListBoxItem.Style>
                                <TextBlock Text="{lex:Loc 取料点位}" />
                            </ListBoxItem>
                            <ListBoxItem>
                                <ListBoxItem.Style>
                                    <Style BasedOn="{StaticResource MaterialDesign3.NavigationBarPrimaryListBoxItem}" TargetType="ListBoxItem">
                                        <Setter Property="materialDesign:NavigationBarAssist.SelectedIcon" Value="Circle" />
                                        <Setter Property="materialDesign:NavigationBarAssist.UnselectedIcon" Value="CircleOutline" />
                                    </Style>
                                </ListBoxItem.Style>
                                <TextBlock Text="{lex:Loc 下相机二次定位点位}" />
                            </ListBoxItem>
                            <ListBoxItem>
                                <ListBoxItem.Style>
                                    <Style BasedOn="{StaticResource MaterialDesign3.NavigationBarPrimaryListBoxItem}" TargetType="ListBoxItem">
                                        <Setter Property="materialDesign:NavigationBarAssist.SelectedIcon" Value="Circle" />
                                        <Setter Property="materialDesign:NavigationBarAssist.UnselectedIcon" Value="CircleOutline" />
                                    </Style>
                                </ListBoxItem.Style>
                                <TextBlock Text="{lex:Loc 锁附拍照点位}" />
                            </ListBoxItem>
                            <ListBoxItem>
                                <ListBoxItem.Style>
                                    <Style BasedOn="{StaticResource MaterialDesign3.NavigationBarPrimaryListBoxItem}" TargetType="ListBoxItem">
                                        <Setter Property="materialDesign:NavigationBarAssist.SelectedIcon" Value="Circle" />
                                        <Setter Property="materialDesign:NavigationBarAssist.UnselectedIcon" Value="CircleOutline" />
                                    </Style>
                                </ListBoxItem.Style>
                                <TextBlock Text="{lex:Loc 锁附点位}" />
                            </ListBoxItem>
                            <ListBoxItem>
                                <ListBoxItem.Style>
                                    <Style BasedOn="{StaticResource MaterialDesign3.NavigationBarPrimaryListBoxItem}" TargetType="ListBoxItem">
                                        <Setter Property="materialDesign:NavigationBarAssist.SelectedIcon" Value="Circle" />
                                        <Setter Property="materialDesign:NavigationBarAssist.UnselectedIcon" Value="CircleOutline" />
                                    </Style>
                                </ListBoxItem.Style>
                                <TextBlock Text="{lex:Loc 复检点位}" />
                            </ListBoxItem>
                            <ListBoxItem>
                                <ListBoxItem.Style>
                                    <Style BasedOn="{StaticResource MaterialDesign3.NavigationBarPrimaryListBoxItem}" TargetType="ListBoxItem">
                                        <Setter Property="materialDesign:NavigationBarAssist.SelectedIcon" Value="Circle" />
                                        <Setter Property="materialDesign:NavigationBarAssist.UnselectedIcon" Value="CircleOutline" />
                                    </Style>
                                </ListBoxItem.Style>
                                <TextBlock Text="{lex:Loc 二维码拍照点位}" />
                            </ListBoxItem>
                        </ListBox>
                        <!--  点位列表操作按钮面板  -->
                        <StackPanel DockPanel.Dock="Bottom" Orientation="Horizontal">
                            <Button
                                MinWidth="80"
                                Margin="5,2"
                                materialDesign:ButtonAssist.CornerRadius="5"
                                Command="{Binding AddPointCommand}"
                                Content="{lex:Loc 添加点}" />
                            <Button
                                MinWidth="80"
                                Margin="5,2"
                                materialDesign:ButtonAssist.CornerRadius="5"
                                Command="{Binding DeletePointCommand}"
                                Content="{lex:Loc 删除点}" />
                            <Button
                                MinWidth="80"
                                Margin="5,2"
                                materialDesign:ButtonAssist.CornerRadius="5"
                                Command="{Binding MovePointUpCommand}"
                                Content="{lex:Loc 上移}" />
                            <Button
                                MinWidth="80"
                                Margin="5,2"
                                materialDesign:ButtonAssist.CornerRadius="5"
                                Command="{Binding MovePointDownCommand}"
                                Content="{lex:Loc 下移}" />
                            <!--  导入/导出点位文件  -->
                            <Button
                                MinWidth="120"
                                Margin="5,2"
                                materialDesign:ButtonAssist.CornerRadius="5"
                                Command="{Binding ImportPointsCommand}"
                                Content="导入点位文件" />
                            <Button
                                MinWidth="120"
                                Margin="5,2"
                                materialDesign:ButtonAssist.CornerRadius="5"
                                Command="{Binding ExportAllPointsCommand}"
                                Content="导出所有点位" />
                            <Button
                                MinWidth="80"
                                Margin="5,2"
                                d:Visibility="Visible"
                                materialDesign:ButtonAssist.CornerRadius="5"
                                Command="{Binding ImportCadPointCommand}"
                                Content="{lex:Loc CAD导入点位}">
                                <Button.Style>
                                    <Style BasedOn="{StaticResource MaterialDesignRaisedDarkButton}" TargetType="Button">
                                        <Setter Property="Visibility" Value="Collapsed" />
                                        <Style.Triggers>
                                            <!--  当 SelectedIndex == 0 时显示此面板  -->
                                            <DataTrigger Binding="{Binding SelectedIndex}" Value="4">
                                                <Setter Property="Visibility" Value="Visible" />
                                            </DataTrigger>
                                        </Style.Triggers>
                                    </Style>
                                </Button.Style>
                            </Button>
                            <!--  设置补偿值  -->
                            <Button
                                MinWidth="80"
                                Margin="5,2"
                                d:Visibility="Visible"
                                materialDesign:ButtonAssist.CornerRadius="5"
                                Command="{Binding SetOffsetCommand}"
                                Content="设置补偿值">
                                <!--<Button.Style>
                                    <Style TargetType="Button"
                                           BasedOn="{StaticResource MaterialDesignRaisedDarkButton}">
                                        <Setter Property="Visibility"
                                                Value="Collapsed" />
                                        <Style.Triggers>
                                -->
                                <!--  当 SelectedIndex == 0 时显示此面板  -->
                                <!--
                                            <DataTrigger Binding="{Binding SelectedIndex}"
                                                         Value="1">
                                                <Setter Property="Visibility"
                                                        Value="Visible" />
                                            </DataTrigger>
                                        </Style.Triggers>
                                    </Style>
                                </Button.Style>-->
                            </Button>
                        </StackPanel>
                        <Border
                            Height="1"
                            BorderBrush="LightGray"
                            BorderThickness="1"
                            DockPanel.Dock="Bottom" />

                        <DockPanel>
                            <!--  不同点位类型的操作面板  -->
                            <StackPanel DockPanel.Dock="Bottom" Orientation="Vertical">
                                <!--  取料拍照点位面板  -->
                                <StackPanel
                                    x:Name="AutoCorrectPickPointPanel"
                                    d:Visibility="Visible"
                                    Orientation="Vertical">
                                    <StackPanel.Style>
                                        <Style TargetType="StackPanel">
                                            <Setter Property="Visibility" Value="Collapsed" />
                                            <Style.Triggers>
                                                <!--  当 SelectedIndex == 0 时显示此面板  -->
                                                <DataTrigger Binding="{Binding SelectedIndex}" Value="0">
                                                    <Setter Property="Visibility" Value="Visible" />
                                                </DataTrigger>
                                            </Style.Triggers>
                                        </Style>
                                    </StackPanel.Style>
                                    <StackPanel Orientation="Horizontal">
                                        <ToggleButton
                                            x:Name="btn_AutoCorrectPickPoint"
                                            d:IsChecked="True"
                                            Style="{StaticResource MaterialDesignSwitchToggleButton}">
                                            <materialDesign:PackIcon Kind="Pin" RenderTransformOrigin=".5,.5">
                                                <materialDesign:PackIcon.RenderTransform>
                                                    <RotateTransform Angle="45" />
                                                </materialDesign:PackIcon.RenderTransform>
                                            </materialDesign:PackIcon>
                                            <materialDesign:ToggleButtonAssist.OnContent>
                                                <materialDesign:PackIcon Kind="Pin" />
                                            </materialDesign:ToggleButtonAssist.OnContent>
                                        </ToggleButton>
                                        <TextBlock
                                            Margin="0,10,0,5"
                                            FontWeight="Bold"
                                            Text="{lex:Loc 通过相机自动矫正取料点位}" />
                                    </StackPanel>
                                    <ScrollViewer HorizontalScrollBarVisibility="Auto" VerticalScrollBarVisibility="Disabled">
                                        <StackPanel
                                            HorizontalAlignment="Left"
                                            Orientation="Horizontal"
                                            Visibility="{Binding ElementName=btn_AutoCorrectPickPoint, Path=IsChecked, Converter={StaticResource BooleanToVisibilityConverter}}">
                                            <TextBlock VerticalAlignment="Center" Text="{lex:Loc 选择拍照点}" />
                                            <ComboBox
                                                MinWidth="50"
                                                Margin="5,0,0,0"
                                                ItemsSource="{Binding Points}"
                                                SelectedItem="{Binding SelectedCameraForPickPoint}">
                                                <ComboBox.ItemTemplate>
                                                    <DataTemplate>
                                                        <StackPanel HorizontalAlignment="Left" Orientation="Horizontal">
                                                            <TextBlock Text="{Binding Number, StringFormat={}{0}:}" />
                                                            <TextBlock Text="{Binding Label}" />
                                                        </StackPanel>
                                                    </DataTemplate>
                                                </ComboBox.ItemTemplate>
                                            </ComboBox>
                                            <TextBlock
                                                Margin="5,0,0,0"
                                                VerticalAlignment="Center"
                                                Text="{lex:Loc 选择移动视觉流程}" />
                                            <ComboBox
                                                MinWidth="50"
                                                Margin="5,0,0,0"
                                                ItemsSource="{Binding ProcedureModels}"
                                                SelectedItem="{Binding SelectProcedure}">
                                                <ComboBox.ItemTemplate>
                                                    <DataTemplate>
                                                        <StackPanel Orientation="Horizontal">
                                                            <materialDesign:PackIcon Kind="VideoOutline" />
                                                            <TextBlock Margin="6,0" Text="{Binding CameraName}" />
                                                            <materialDesign:PackIcon Kind="ProgressWrench" />
                                                            <TextBlock Margin="6,0" Text="{Binding Name}" />
                                                        </StackPanel>
                                                    </DataTemplate>
                                                </ComboBox.ItemTemplate>
                                            </ComboBox>
                                            <TextBlock
                                                Margin="5,0,0,0"
                                                VerticalAlignment="Center"
                                                Text="{lex:Loc 选择要校准的取料位}" />
                                            <ComboBox
                                                MinWidth="50"
                                                Margin="5,0,0,0"
                                                ItemsSource="{Binding PickPoints}"
                                                SelectedItem="{Binding SelectedPickPoint}">
                                                <ComboBox.ItemTemplate>
                                                    <DataTemplate>
                                                        <StackPanel HorizontalAlignment="Left" Orientation="Horizontal">
                                                            <TextBlock Text="{Binding Number, StringFormat={}{0}:}" />
                                                            <TextBlock Text="{Binding Label}" />
                                                        </StackPanel>
                                                    </DataTemplate>
                                                </ComboBox.ItemTemplate>
                                            </ComboBox>
                                            <Button
                                                Margin="10,0,0,0"
                                                materialDesign:ButtonAssist.CornerRadius="5"
                                                Command="{Binding AutoCorrectPickPointCommand}"
                                                Content="{lex:Loc 执行校准}" />
                                        </StackPanel>
                                    </ScrollViewer>
                                </StackPanel>

                                <!--  锁付拍照面板  -->
                                <StackPanel
                                    x:Name="LockCameraPanel"
                                    d:Visibility="Visible"
                                    Orientation="Vertical">
                                    <StackPanel.Style>
                                        <Style TargetType="StackPanel">
                                            <Setter Property="Visibility" Value="Collapsed" />
                                            <Style.Triggers>
                                                <!--  当 SelectedIndex == 4 时显示此面板  -->
                                                <DataTrigger Binding="{Binding SelectedIndex}" Value="3">
                                                    <Setter Property="Visibility" Value="Visible" />
                                                </DataTrigger>
                                            </Style.Triggers>
                                        </Style>
                                    </StackPanel.Style>
                                    <ScrollViewer HorizontalScrollBarVisibility="Auto" VerticalScrollBarVisibility="Disabled">
                                        <StackPanel Orientation="Vertical">
                                            <TextBlock Text="{lex:Loc 拍1锁多时相机拍照位置对应的产品坐标系中位置}" />
                                            <Grid HorizontalAlignment="Left">
                                                <Grid.ColumnDefinitions>
                                                    <ColumnDefinition Width="Auto" />
                                                    <ColumnDefinition Width="Auto" />
                                                    <ColumnDefinition Width="Auto" />
                                                    <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" />
                                                </Grid.RowDefinitions>
                                                <!--  拍照1  -->
                                                <TextBlock
                                                    Grid.Row="0"
                                                    Grid.Column="0"
                                                    VerticalAlignment="Center"
                                                    Text="{lex:Loc 拍照1}" />

                                                <TextBlock
                                                    Grid.Row="0"
                                                    Grid.Column="1"
                                                    Margin="5,0,0,0"
                                                    VerticalAlignment="Center"
                                                    Text="X：" />
                                                <mah:NumericUpDown
                                                    Grid.Row="0"
                                                    Grid.Column="2"
                                                    MinWidth="60"
                                                    Margin="0"
                                                    Padding="2"
                                                    HorizontalAlignment="Stretch"
                                                    VerticalAlignment="Center"
                                                    Interval="0.1"
                                                    Maximum="9999.000"
                                                    Minimum="-9999.000"
                                                    StringFormat="F3"
                                                    Value="{Binding SelectProduct.ScrewCameraLocalPos1.X_Position, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                                <TextBlock
                                                    Grid.Row="0"
                                                    Grid.Column="3"
                                                    Margin="5,0,0,0"
                                                    VerticalAlignment="Center"
                                                    Text="Y：" />
                                                <mah:NumericUpDown
                                                    Grid.Row="0"
                                                    Grid.Column="4"
                                                    MinWidth="60"
                                                    Margin="0"
                                                    Padding="2"
                                                    HorizontalAlignment="Stretch"
                                                    VerticalAlignment="Center"
                                                    Interval="0.1"
                                                    Maximum="9999.000"
                                                    Minimum="-9999.000"
                                                    StringFormat="F3"
                                                    Value="{Binding SelectProduct.ScrewCameraLocalPos1.Y_Position, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                                <TextBlock
                                                    Grid.Row="0"
                                                    Grid.Column="5"
                                                    Margin="5,0,0,0"
                                                    VerticalAlignment="Center"
                                                    Text="Z：" />
                                                <mah:NumericUpDown
                                                    Grid.Row="0"
                                                    Grid.Column="6"
                                                    MinWidth="60"
                                                    Margin="0"
                                                    Padding="2"
                                                    HorizontalAlignment="Stretch"
                                                    VerticalAlignment="Center"
                                                    Interval="0.1"
                                                    Maximum="9999.000"
                                                    Minimum="-9999.000"
                                                    StringFormat="F3"
                                                    Value="{Binding SelectProduct.ScrewCameraLocalPos1.Z_Position_Start, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                                <!--  拍照2  -->
                                                <TextBlock
                                                    Grid.Row="1"
                                                    Grid.Column="0"
                                                    VerticalAlignment="Center"
                                                    Text="{lex:Loc 拍照2}" />

                                                <TextBlock
                                                    Grid.Row="1"
                                                    Grid.Column="1"
                                                    Margin="5,0,0,0"
                                                    VerticalAlignment="Center"
                                                    Text="X：" />
                                                <mah:NumericUpDown
                                                    Grid.Row="1"
                                                    Grid.Column="2"
                                                    MinWidth="60"
                                                    Margin="0"
                                                    Padding="2"
                                                    HorizontalAlignment="Stretch"
                                                    VerticalAlignment="Center"
                                                    Interval="0.1"
                                                    Maximum="9999.000"
                                                    Minimum="-9999.000"
                                                    StringFormat="F3"
                                                    Value="{Binding SelectProduct.ScrewCameraLocalPos2.X_Position, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                                <TextBlock
                                                    Grid.Row="1"
                                                    Grid.Column="3"
                                                    Margin="5,0,0,0"
                                                    VerticalAlignment="Center"
                                                    Text="Y：" />
                                                <mah:NumericUpDown
                                                    Grid.Row="1"
                                                    Grid.Column="4"
                                                    MinWidth="60"
                                                    Margin="0"
                                                    Padding="2"
                                                    HorizontalAlignment="Stretch"
                                                    VerticalAlignment="Center"
                                                    Interval="0.1"
                                                    Maximum="9999.000"
                                                    Minimum="-9999.000"
                                                    StringFormat="F3"
                                                    Value="{Binding SelectProduct.ScrewCameraLocalPos2.Y_Position, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                                <TextBlock
                                                    Grid.Row="1"
                                                    Grid.Column="5"
                                                    Margin="5,0,0,0"
                                                    VerticalAlignment="Center"
                                                    Text="Z：" />
                                                <mah:NumericUpDown
                                                    Grid.Row="1"
                                                    Grid.Column="6"
                                                    MinWidth="60"
                                                    Margin="0"
                                                    Padding="2"
                                                    HorizontalAlignment="Stretch"
                                                    VerticalAlignment="Center"
                                                    Interval="0.1"
                                                    Maximum="9999.000"
                                                    Minimum="-9999.000"
                                                    StringFormat="F3"
                                                    Value="{Binding SelectProduct.ScrewCameraLocalPos2.Z_Position_Start, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                                <!--  通过CAD导入点位按钮  -->
                                                <Button
                                                    Grid.Row="0"
                                                    Grid.RowSpan="2"
                                                    Grid.Column="7"
                                                    MinWidth="100"
                                                    Margin="10,0"
                                                    HorizontalAlignment="Left"
                                                    materialDesign:ButtonAssist.CornerRadius="5"
                                                    Command="{Binding ImportCadLockCameraPointCommand}"
                                                    Content="{lex:Loc 通过CAD导入点位}" />
                                                <!--  通过相机自动矫正锁附点位  -->
                                                <Button
                                                    Grid.Row="0"
                                                    Grid.RowSpan="2"
                                                    Grid.Column="8"
                                                    MinWidth="150"
                                                    Margin="10,0"
                                                    HorizontalAlignment="Left"
                                                    materialDesign:ButtonAssist.CornerRadius="5"
                                                    Command="{Binding AutoCorrectLockPointCommand}"
                                                    Content="{lex:Loc 通过相机自动矫正锁附点位}" />

                                                <StackPanel
                                                    Grid.Row="2"
                                                    Grid.ColumnSpan="9"
                                                    HorizontalAlignment="Left"
                                                    Orientation="Horizontal">
                                                    <TextBlock VerticalAlignment="Center" Text="{lex:Loc 批量设置所有锁付点的各轴速度}" />
                                                    <TextBlock
                                                        Margin="5,0,0,0"
                                                        VerticalAlignment="Center"
                                                        Text="{lex:Loc X轴速度}" />
                                                    <mah:NumericUpDown
                                                        MinWidth="60"
                                                        Margin="0"
                                                        Padding="2"
                                                        HorizontalAlignment="Stretch"
                                                        VerticalAlignment="Center"
                                                        Interval="1"
                                                        Maximum="20000"
                                                        Minimum="0"
                                                        StringFormat="F1"
                                                        Value="{Binding LockXSpeed, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                                    <TextBlock
                                                        Margin="0"
                                                        VerticalAlignment="Center"
                                                        Text="mm/s" />
                                                    <TextBlock
                                                        Margin="5,0,0,0"
                                                        VerticalAlignment="Center"
                                                        Text="{lex:Loc Y轴速度}" />
                                                    <mah:NumericUpDown
                                                        MinWidth="60"
                                                        Margin="0"
                                                        Padding="2"
                                                        HorizontalAlignment="Stretch"
                                                        VerticalAlignment="Center"
                                                        Interval="1"
                                                        Maximum="20000"
                                                        Minimum="0"
                                                        StringFormat="F1"
                                                        Value="{Binding LockYSpeed, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                                    <TextBlock
                                                        Margin="0"
                                                        VerticalAlignment="Center"
                                                        Text="mm/s" />
                                                    <TextBlock
                                                        Margin="5,0,0,0"
                                                        VerticalAlignment="Center"
                                                        Text="{lex:Loc Z轴速度}" />
                                                    <mah:NumericUpDown
                                                        MinWidth="60"
                                                        Margin="0"
                                                        Padding="2"
                                                        HorizontalAlignment="Stretch"
                                                        VerticalAlignment="Center"
                                                        Interval="1"
                                                        Maximum="20000"
                                                        Minimum="0"
                                                        StringFormat="F1"
                                                        Value="{Binding LockZSpeed, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                                    <TextBlock
                                                        Margin="0"
                                                        VerticalAlignment="Center"
                                                        Text="mm/s" />
                                                    <!--  应用按钮  -->
                                                    <Button
                                                        MinWidth="60"
                                                        Margin="10,0,0,0"
                                                        HorizontalAlignment="Left"
                                                        materialDesign:ButtonAssist.CornerRadius="5"
                                                        Command="{Binding ApplyLockPointSpeedCommand}"
                                                        Content="{lex:Loc 应用}" />
                                                </StackPanel>
                                            </Grid>
                                        </StackPanel>
                                    </ScrollViewer>
                                </StackPanel>

                                <!--  锁付点位面板  -->
                                <StackPanel
                                    x:Name="LockPointPanel"
                                    d:Visibility="Visible"
                                    Orientation="Vertical">
                                    <StackPanel.Style>
                                        <Style TargetType="StackPanel">
                                            <Setter Property="Visibility" Value="Collapsed" />
                                            <Style.Triggers>
                                                <!--  当 SelectedIndex == 4 时显示此面板  -->
                                                <DataTrigger Binding="{Binding SelectedIndex}" Value="4">
                                                    <Setter Property="Visibility" Value="Visible" />
                                                </DataTrigger>
                                            </Style.Triggers>
                                        </Style>
                                    </StackPanel.Style>
                                    <ScrollViewer HorizontalScrollBarVisibility="Auto" VerticalScrollBarVisibility="Disabled">
                                        <StackPanel Orientation="Vertical">

                                            <StackPanel HorizontalAlignment="Left" Orientation="Horizontal">
                                                <TextBlock VerticalAlignment="Center" Text="{lex:Loc 批量设置所有锁付点的起始Z轴高度}" />
                                                <TextBlock
                                                    Margin="5,0,0,0"
                                                    VerticalAlignment="Center"
                                                    Text="{lex:Loc 起始Z轴高度}" />
                                                <mah:NumericUpDown
                                                    MinWidth="60"
                                                    Margin="0"
                                                    Padding="2"
                                                    HorizontalAlignment="Stretch"
                                                    VerticalAlignment="Center"
                                                    Interval="0.1"
                                                    Maximum="9999.000"
                                                    Minimum="-9999.000"
                                                    StringFormat="F3"
                                                    Value="{Binding LockPointStartZ, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                                <TextBlock
                                                    Margin="0"
                                                    VerticalAlignment="Center"
                                                    Text="mm" />
                                                <!--  应用按钮  -->
                                                <Button
                                                    MinWidth="60"
                                                    Margin="10,0,0,0"
                                                    HorizontalAlignment="Left"
                                                    materialDesign:ButtonAssist.CornerRadius="5"
                                                    Command="{Binding ApplyLockPointStartZCommand}"
                                                    Content="{lex:Loc 应用}" />
                                            </StackPanel>
                                            <StackPanel HorizontalAlignment="Left" Orientation="Horizontal">
                                                <TextBlock VerticalAlignment="Center" Text="{lex:Loc 批量设置所有锁付点的锁付深度}" />
                                                <TextBlock
                                                    Margin="5,0,0,0"
                                                    VerticalAlignment="Center"
                                                    Text="{lex:Loc 锁付深度}" />
                                                <mah:NumericUpDown
                                                    MinWidth="60"
                                                    Margin="0"
                                                    Padding="2"
                                                    HorizontalAlignment="Stretch"
                                                    VerticalAlignment="Center"
                                                    Interval="0.1"
                                                    Maximum="10.000"
                                                    Minimum="0.000"
                                                    StringFormat="F3"
                                                    Value="{Binding LockZDepth, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                                <TextBlock
                                                    Margin="0"
                                                    VerticalAlignment="Center"
                                                    Text="mm" />
                                                <!--  应用按钮  -->
                                                <Button
                                                    MinWidth="60"
                                                    Margin="10,0,0,0"
                                                    HorizontalAlignment="Left"
                                                    materialDesign:ButtonAssist.CornerRadius="5"
                                                    Command="{Binding ApplyLockPointDepthCommand}"
                                                    Content="{lex:Loc 应用}" />
                                            </StackPanel>
                                            <StackPanel HorizontalAlignment="Left" Orientation="Horizontal">
                                                <TextBlock VerticalAlignment="Center" Text="{lex:Loc 批量设置所有锁付点的各轴速度}" />
                                                <TextBlock
                                                    Margin="5,0,0,0"
                                                    VerticalAlignment="Center"
                                                    Text="{lex:Loc X轴速度}" />
                                                <mah:NumericUpDown
                                                    MinWidth="60"
                                                    Margin="0"
                                                    Padding="2"
                                                    HorizontalAlignment="Stretch"
                                                    VerticalAlignment="Center"
                                                    Interval="1"
                                                    Maximum="20000"
                                                    Minimum="0"
                                                    StringFormat="F1"
                                                    Value="{Binding LockXSpeed, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                                <TextBlock
                                                    Margin="0"
                                                    VerticalAlignment="Center"
                                                    Text="mm/s" />
                                                <TextBlock
                                                    Margin="5,0,0,0"
                                                    VerticalAlignment="Center"
                                                    Text="{lex:Loc Y轴速度}" />
                                                <mah:NumericUpDown
                                                    MinWidth="60"
                                                    Margin="0"
                                                    Padding="2"
                                                    HorizontalAlignment="Stretch"
                                                    VerticalAlignment="Center"
                                                    Interval="1"
                                                    Maximum="20000"
                                                    Minimum="0"
                                                    StringFormat="F1"
                                                    Value="{Binding LockYSpeed, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                                <TextBlock
                                                    Margin="0"
                                                    VerticalAlignment="Center"
                                                    Text="mm/s" />
                                                <TextBlock
                                                    Margin="5,0,0,0"
                                                    VerticalAlignment="Center"
                                                    Text="{lex:Loc Z轴速度}" />
                                                <mah:NumericUpDown
                                                    MinWidth="60"
                                                    Margin="0"
                                                    Padding="2"
                                                    HorizontalAlignment="Stretch"
                                                    VerticalAlignment="Center"
                                                    Interval="1"
                                                    Maximum="20000"
                                                    Minimum="0"
                                                    StringFormat="F1"
                                                    Value="{Binding LockZSpeed, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                                <TextBlock
                                                    Margin="0"
                                                    VerticalAlignment="Center"
                                                    Text="mm/s" />
                                                <TextBlock
                                                    Margin="5,0,0,0"
                                                    VerticalAlignment="Center"
                                                    Text="{lex:Loc Z轴锁付下降速度}" />
                                                <mah:NumericUpDown
                                                    MinWidth="60"
                                                    Margin="0"
                                                    Padding="2"
                                                    HorizontalAlignment="Stretch"
                                                    VerticalAlignment="Center"
                                                    Interval="1"
                                                    Maximum="20000"
                                                    Minimum="0"
                                                    StringFormat="F1"
                                                    Value="{Binding LockZDescendSpeed, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                                <TextBlock
                                                    Margin="0"
                                                    VerticalAlignment="Center"
                                                    Text="mm/s" />
                                                <!--  应用按钮  -->
                                                <Button
                                                    MinWidth="60"
                                                    Margin="10,0,0,0"
                                                    HorizontalAlignment="Left"
                                                    materialDesign:ButtonAssist.CornerRadius="5"
                                                    Command="{Binding ApplyLockPointSpeedCommand}"
                                                    Content="{lex:Loc 应用}" />
                                            </StackPanel>
                                            <!--  批量设置所有锁付点的供料器编号和电批程序编号  -->
                                            <StackPanel HorizontalAlignment="Left" Orientation="Horizontal">
                                                <TextBlock VerticalAlignment="Center" Text="{lex:Loc 批量设置所有锁付点的供料器编号和电批程序编号}" />
                                                <TextBlock
                                                    Margin="5,0,0,0"
                                                    VerticalAlignment="Center"
                                                    Text="{lex:Loc 供料器编号}" />
                                                <mah:NumericUpDown
                                                    MinWidth="60"
                                                    Margin="0"
                                                    Padding="2"
                                                    HorizontalAlignment="Stretch"
                                                    VerticalAlignment="Center"
                                                    Interval="1"
                                                    Maximum="9999"
                                                    Minimum="0"
                                                    StringFormat="F0"
                                                    Value="{Binding LockFeederNumber, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                                <TextBlock
                                                    Margin="5,0,0,0"
                                                    VerticalAlignment="Center"
                                                    Text="{lex:Loc 电批程序编号}" />
                                                <mah:NumericUpDown
                                                    MinWidth="60"
                                                    Margin="0"
                                                    Padding="2"
                                                    HorizontalAlignment="Stretch"
                                                    VerticalAlignment="Center"
                                                    Interval="1"
                                                    Maximum="100"
                                                    Minimum="0"
                                                    StringFormat="F0"
                                                    Value="{Binding LockScrewProgramNumber, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                                <!--  应用按钮  -->
                                                <Button
                                                    MinWidth="60"
                                                    Margin="10,0,0,0"
                                                    HorizontalAlignment="Left"
                                                    materialDesign:ButtonAssist.CornerRadius="5"
                                                    Command="{Binding ApplyLockPointFeederAndScrewProgramCommand}"
                                                    Content="{lex:Loc 应用}" />
                                            </StackPanel>

                                        </StackPanel>
                                    </ScrollViewer>
                                </StackPanel>


                            </StackPanel>
                            <!--  点位表  -->
                            <DataGrid
                                x:Name="dgPoints"
                                AutoGenerateColumns="False"
                                CanUserAddRows="False"
                                CanUserDeleteRows="False"
                                ColumnWidth="*"
                                GridLinesVisibility="All"
                                HeadersVisibility="Column"
                                HorizontalScrollBarVisibility="Auto"
                                ItemsSource="{Binding Points}"
                                ScrollViewer.CanContentScroll="True"
                                ScrollViewer.HorizontalScrollBarVisibility="Auto"
                                SelectedItem="{Binding SelectedPointInDataGrid, Mode=TwoWay}"
                                SelectionMode="Single"
                                SelectionUnit="FullRow"
                                VerticalGridLinesBrush="#D0D0D0">
                                <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
                                        Width="Auto"
                                        MinWidth="60"
                                        Binding="{Binding Number, Mode=TwoWay, StringFormat={}{0:F0}}"
                                        Header="{lex:Loc 编号}"
                                        IsReadOnly="True" />
                                    <DataGridTextColumn
                                        Width="Auto"
                                        MinWidth="100"
                                        Binding="{Binding Label, Mode=TwoWay}"
                                        Header="{lex:Loc 标签}" />
                                    <!--  X 坐标  -->
                                    <DataGridTemplateColumn
                                        Width="Auto"
                                        MinWidth="60"
                                        Header="X位置">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock
                                                    HorizontalAlignment="Center"
                                                    VerticalAlignment="Center"
                                                    Text="{Binding X_Position, StringFormat={}{0:F3}}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown
                                                    Margin="0"
                                                    Padding="2"
                                                    HorizontalAlignment="Stretch"
                                                    VerticalAlignment="Center"
                                                    Interval="0.1"
                                                    Maximum="9999.000"
                                                    Minimum="-9999.000"
                                                    StringFormat="F3"
                                                    Value="{Binding X_Position, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>
                                    <!--  X 速度  -->
                                    <DataGridTemplateColumn
                                        Width="Auto"
                                        MinWidth="60"
                                        Header="{lex:Loc X速度}">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock
                                                    HorizontalAlignment="Center"
                                                    VerticalAlignment="Center"
                                                    Text="{Binding X_Velocity, StringFormat={}{0:F0}}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown
                                                    Margin="0"
                                                    Padding="2"
                                                    HorizontalAlignment="Stretch"
                                                    VerticalAlignment="Center"
                                                    Interval="1"
                                                    Maximum="9999.000"
                                                    Minimum="0"
                                                    StringFormat="F3"
                                                    Value="{Binding X_Velocity, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>
                                    <!--  Y 坐标  -->
                                    <DataGridTemplateColumn
                                        Width="Auto"
                                        MinWidth="60"
                                        Header="{lex:Loc Y位置}">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock
                                                    HorizontalAlignment="Center"
                                                    VerticalAlignment="Center"
                                                    Text="{Binding Y_Position, StringFormat={}{0:F3}}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown
                                                    Margin="0"
                                                    Padding="2"
                                                    HorizontalAlignment="Stretch"
                                                    VerticalAlignment="Center"
                                                    Interval="0.1"
                                                    Maximum="9999.000"
                                                    Minimum="-9999.000"
                                                    StringFormat="F3"
                                                    Value="{Binding Y_Position, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>
                                    <!--  Y 速度  -->
                                    <DataGridTemplateColumn
                                        Width="Auto"
                                        MinWidth="60"
                                        Header="{lex:Loc Y速度}">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock
                                                    HorizontalAlignment="Center"
                                                    VerticalAlignment="Center"
                                                    Text="{Binding Y_Velocity, StringFormat={}{0:F0}}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown
                                                    Margin="0"
                                                    Padding="2"
                                                    HorizontalAlignment="Stretch"
                                                    VerticalAlignment="Center"
                                                    Interval="1"
                                                    Maximum="9999.000"
                                                    Minimum="0"
                                                    StringFormat="F3"
                                                    Value="{Binding Y_Velocity, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>
                                    <!--  Z 起点坐标  -->
                                    <DataGridTemplateColumn
                                        Width="Auto"
                                        MinWidth="60"
                                        Header="{lex:Loc Z起点位置}">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock
                                                    HorizontalAlignment="Center"
                                                    VerticalAlignment="Center"
                                                    Text="{Binding Z_Position_Start, StringFormat={}{0:F3}}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown
                                                    Margin="0"
                                                    Padding="2"
                                                    HorizontalAlignment="Stretch"
                                                    VerticalAlignment="Center"
                                                    Interval="0.1"
                                                    Maximum="9999.000"
                                                    Minimum="-9999.000"
                                                    StringFormat="F3"
                                                    Value="{Binding Z_Position_Start, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>
                                    <!--  Z 起点速度  -->
                                    <DataGridTemplateColumn
                                        Width="Auto"
                                        MinWidth="60"
                                        Header="{lex:Loc Z起点速度}">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock
                                                    HorizontalAlignment="Center"
                                                    VerticalAlignment="Center"
                                                    Text="{Binding Z_Velocity_Start, StringFormat={}{0:F0}}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown
                                                    Margin="0"
                                                    Padding="2"
                                                    HorizontalAlignment="Stretch"
                                                    VerticalAlignment="Center"
                                                    Interval="1"
                                                    Maximum="9999.000"
                                                    Minimum="0"
                                                    StringFormat="F3"
                                                    Value="{Binding Z_Velocity_Start, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>
                                    <!--  Z 终点坐标  -->
                                    <DataGridTemplateColumn
                                        Width="Auto"
                                        MinWidth="60"
                                        Header="{lex:Loc Z终点位置}">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock
                                                    HorizontalAlignment="Center"
                                                    VerticalAlignment="Center"
                                                    Text="{Binding Z_Position_Stop, StringFormat={}{0:F3}}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown
                                                    Margin="0"
                                                    Padding="2"
                                                    HorizontalAlignment="Stretch"
                                                    VerticalAlignment="Center"
                                                    Interval="0.1"
                                                    Maximum="9999.000"
                                                    Minimum="-9999.000"
                                                    StringFormat="F3"
                                                    Value="{Binding Z_Position_Stop, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>
                                    <!--  Z 终点速度  -->
                                    <DataGridTemplateColumn
                                        Width="Auto"
                                        MinWidth="60"
                                        Header="{lex:Loc Z终点速度}">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock
                                                    HorizontalAlignment="Center"
                                                    VerticalAlignment="Center"
                                                    Text="{Binding Z_Velocity_Stop, StringFormat={}{0:F0}}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown
                                                    Margin="0"
                                                    Padding="2"
                                                    HorizontalAlignment="Stretch"
                                                    VerticalAlignment="Center"
                                                    Interval="1"
                                                    Maximum="9999.000"
                                                    Minimum="0"
                                                    StringFormat="F3"
                                                    Value="{Binding Z_Velocity_Stop, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>
                                    <!--  U 坐标  -->
                                    <DataGridTemplateColumn
                                        Width="Auto"
                                        MinWidth="60"
                                        Header="{lex:Loc U位置}">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock
                                                    HorizontalAlignment="Center"
                                                    VerticalAlignment="Center"
                                                    Text="{Binding U_Position, StringFormat={}{0:F3}}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown
                                                    Margin="0"
                                                    Padding="2"
                                                    HorizontalAlignment="Stretch"
                                                    VerticalAlignment="Center"
                                                    Interval="0.1"
                                                    Maximum="9999.000"
                                                    Minimum="-9999.000"
                                                    StringFormat="F3"
                                                    Value="{Binding U_Position, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>
                                    <!--  U 速度  -->
                                    <DataGridTemplateColumn
                                        Width="Auto"
                                        MinWidth="60"
                                        Header="{lex:Loc U速度}">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock
                                                    HorizontalAlignment="Center"
                                                    VerticalAlignment="Center"
                                                    Text="{Binding U_Velocity, StringFormat={}{0:F0}}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown
                                                    Margin="0"
                                                    Padding="2"
                                                    HorizontalAlignment="Stretch"
                                                    VerticalAlignment="Center"
                                                    Interval="1"
                                                    Maximum="9999.000"
                                                    Minimum="0"
                                                    StringFormat="F3"
                                                    Value="{Binding U_Velocity, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>
                                    <!--  R 坐标  -->
                                    <DataGridTemplateColumn
                                        Width="Auto"
                                        MinWidth="60"
                                        Header="{lex:Loc R位置}">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock
                                                    HorizontalAlignment="Center"
                                                    VerticalAlignment="Center"
                                                    Text="{Binding R_Position, StringFormat={}{0:F3}}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown
                                                    Margin="0"
                                                    Padding="2"
                                                    HorizontalAlignment="Stretch"
                                                    VerticalAlignment="Center"
                                                    Interval="0.1"
                                                    Maximum="9999.000"
                                                    Minimum="-9999.000"
                                                    StringFormat="F3"
                                                    Value="{Binding R_Position, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>
                                    <!--  R 速度  -->
                                    <DataGridTemplateColumn
                                        Width="Auto"
                                        MinWidth="60"
                                        Header="{lex:Loc R速度}">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock
                                                    HorizontalAlignment="Center"
                                                    VerticalAlignment="Center"
                                                    Text="{Binding R_Velocity, StringFormat={}{0:F0}}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown
                                                    Margin="0"
                                                    Padding="2"
                                                    HorizontalAlignment="Stretch"
                                                    VerticalAlignment="Center"
                                                    Interval="1"
                                                    Maximum="9999.000"
                                                    Minimum="0"
                                                    StringFormat="F3"
                                                    Value="{Binding R_Velocity, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>
                                    <!--  扭矩  -->
                                    <DataGridTemplateColumn
                                        Width="Auto"
                                        MinWidth="60"
                                        Header="{lex:Loc 扭矩}">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock
                                                    HorizontalAlignment="Center"
                                                    VerticalAlignment="Center"
                                                    Text="{Binding Torque, StringFormat={}{0:F3}}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown
                                                    Margin="0"
                                                    Padding="2"
                                                    HorizontalAlignment="Stretch"
                                                    VerticalAlignment="Center"
                                                    Interval="0.1"
                                                    Maximum="9999.000"
                                                    Minimum="-9999.000"
                                                    StringFormat="F3"
                                                    Value="{Binding Torque, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>
                                    <!--  供料器  -->
                                    <DataGridTemplateColumn
                                        Width="Auto"
                                        MinWidth="60"
                                        Header="{lex:Loc 供料器}">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock
                                                    HorizontalAlignment="Center"
                                                    VerticalAlignment="Center"
                                                    Text="{Binding Feeder, StringFormat={}{0:F0}}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown
                                                    Margin="0"
                                                    Padding="2"
                                                    HorizontalAlignment="Stretch"
                                                    VerticalAlignment="Center"
                                                    Interval="1"
                                                    Maximum="9999.000"
                                                    Minimum="0"
                                                    StringFormat="F0"
                                                    Value="{Binding Feeder, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>
                                    <!--  电批程序号  -->
                                    <DataGridTemplateColumn
                                        Width="Auto"
                                        MinWidth="60"
                                        Header="{lex:Loc 电批程序号}">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock
                                                    HorizontalAlignment="Center"
                                                    VerticalAlignment="Center"
                                                    Text="{Binding ScrewProNum, StringFormat={}{0:F0}}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown
                                                    Margin="0"
                                                    Padding="2"
                                                    HorizontalAlignment="Stretch"
                                                    VerticalAlignment="Center"
                                                    Interval="1"
                                                    Maximum="9999.000"
                                                    Minimum="0"
                                                    StringFormat="F0"
                                                    Value="{Binding ScrewProNum, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>
                                    <!--  视觉流程  -->
                                    <DataGridTemplateColumn
                                        x:Name="colProcedure"
                                        Width="Auto"
                                        MinWidth="60"
                                        Header="视觉流程">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <ComboBox
                                                    MinWidth="50"
                                                    Margin="5,0,0,0"
                                                    ItemsSource="{Binding DataContext.ProcedureModels, RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                                    SelectedValue="{Binding VisionProcessID, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"
                                                    SelectedValuePath="Id"
                                                    SelectionChanged="ProcedureCombo_SelectionChanged">
                                                    <ComboBox.ItemTemplate>
                                                        <DataTemplate>
                                                            <StackPanel Orientation="Horizontal">
                                                                <materialDesign:PackIcon Kind="VideoOutline" />
                                                                <TextBlock Margin="6,0" Text="{Binding CameraName}" />
                                                                <materialDesign:PackIcon Kind="ProgressWrench" />
                                                                <TextBlock Margin="6,0" Text="{Binding Name}" />
                                                            </StackPanel>
                                                        </DataTemplate>
                                                    </ComboBox.ItemTemplate>
                                                </ComboBox>
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                    </DataGridTemplateColumn>

                                    <DataGridTemplateColumn
                                        x:Name="colIsUse"
                                        Width="Auto"
                                        MinWidth="60"
                                        Header="是否启用">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <CheckBox
                                                    HorizontalAlignment="Center"
                                                    VerticalAlignment="Center"
                                                    IsChecked="{Binding IsUse, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                    </DataGridTemplateColumn>

                                    <!--  是否需要取螺丝  -->
                                    <DataGridTemplateColumn
                                        x:Name="colPickScrew"
                                        Width="Auto"
                                        MinWidth="60"
                                        Header="是否取螺丝">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock
                                                    HorizontalAlignment="Center"
                                                    VerticalAlignment="Center"
                                                    Text="{Binding PickScrew, StringFormat={}{0:F0}}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                        <DataGridTemplateColumn.CellEditingTemplate>
                                            <DataTemplate>
                                                <mah:NumericUpDown
                                                    Margin="0"
                                                    Padding="2"
                                                    HorizontalAlignment="Stretch"
                                                    VerticalAlignment="Center"
                                                    Interval="1"
                                                    Maximum="1"
                                                    Minimum="0"
                                                    StringFormat="F0"
                                                    Value="{Binding PickScrew, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellEditingTemplate>
                                    </DataGridTemplateColumn>

                                    <DataGridTextColumn
                                        Width="200"
                                        MinWidth="100"
                                        Binding="{Binding Description, Mode=TwoWay}"
                                        Header="{lex:Loc 描述}" />
                                </DataGrid.Columns>
                            </DataGrid>
                        </DockPanel>
                    </DockPanel>
                    <GridSplitter
                        Grid.Row="0"
                        Grid.RowSpan="2"
                        Grid.Column="0"
                        Width="2"
                        HorizontalAlignment="Right"
                        VerticalAlignment="Stretch"
                        Background="DeepSkyBlue" />

                    <!--  运动控制区  -->
                    <Viewbox Grid.Column="1">
                        <Grid Grid.Row="1">
                            <Grid.RowDefinitions>
                                <RowDefinition Height="auto" />
                                <RowDefinition Height="auto" />
                            </Grid.RowDefinitions>
                            <Grid.ColumnDefinitions>
                                <ColumnDefinition Width="auto" />
                                <ColumnDefinition Width="auto" />
                            </Grid.ColumnDefinitions>
                            <ToggleButton
                                Grid.ColumnSpan="2"
                                Margin="5,0"
                                HorizontalAlignment="Left"
                                VerticalAlignment="Top"
                                materialDesign:ToggleButtonAssist.OnContent="{materialDesign:PackIcon Kind=ArrowLeft}"
                                Content="{materialDesign:PackIcon Kind=Camera}"
                                IsChecked="{Binding IsLeftDrawerOpen, ElementName=DrawerHost}"
                                Style="{StaticResource MaterialDesignActionToggleButton}"
                                ToolTip="{lex:Loc 相机图像}" />
                            <StackPanel
                                Grid.Row="0"
                                Grid.ColumnSpan="2"
                                Margin="58,0,5,10"
                                HorizontalAlignment="Left"
                                Orientation="Horizontal">
                                <GroupBox
                                    MinWidth="230"
                                    Margin="0,0,10,0"
                                    Padding="10"
                                    Header="接料模组1">
                                    <StackPanel Orientation="Vertical">
                                        <TextBlock
                                            Margin="0,0,0,5"
                                            HorizontalAlignment="Left"
                                            Text="W终点位置" />
                                        <mah:NumericUpDown
                                            MinWidth="110"
                                            Margin="0,0,0,8"
                                            Padding="2"
                                            HorizontalAlignment="Stretch"
                                            Interval="0.1"
                                            Maximum="9999"
                                            Minimum="-9999"
                                            StringFormat="F3"
                                            Value="{Binding SelectProduct.RobotPoint.W_Position, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                        <StackPanel HorizontalAlignment="Center" Orientation="Horizontal">
                                            <Button
                                                MinWidth="70"
                                                Margin="0,0,8,0"
                                                materialDesign:ButtonAssist.CornerRadius="8"
                                                Command="{Binding DataContext.JogCommand, RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                                CommandParameter="{Binding ElementName=txtDistance, Path=Value, Converter={StaticResource JogConverter}, ConverterParameter=W-}"
                                                Style="{StaticResource MaterialDesignRaisedDarkButton}">
                                                <StackPanel Orientation="Vertical">
                                                    <materialDesign:PackIcon
                                                        Width="26"
                                                        Height="26"
                                                        Kind="ArrowLeftBold" />
                                                    <TextBlock HorizontalAlignment="Center" Text="-W" />
                                                </StackPanel>
                                            </Button>
                                            <Button
                                                MinWidth="70"
                                                materialDesign:ButtonAssist.CornerRadius="8"
                                                Command="{Binding DataContext.JogCommand, RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                                CommandParameter="{Binding ElementName=txtDistance, Path=Value, Converter={StaticResource JogConverter}, ConverterParameter=W+}"
                                                Style="{StaticResource MaterialDesignRaisedDarkButton}">
                                                <StackPanel Orientation="Vertical">
                                                    <materialDesign:PackIcon
                                                        Width="26"
                                                        Height="26"
                                                        Kind="ArrowRightBold" />
                                                    <TextBlock HorizontalAlignment="Center" Text="+X" />
                                                </StackPanel>
                                            </Button>
                                        </StackPanel>
                                    </StackPanel>
                                </GroupBox>
                                <GroupBox
                                    MinWidth="230"
                                    Padding="10"
                                    Header="接料模组2">
                                    <StackPanel Orientation="Vertical">
                                        <TextBlock
                                            Margin="0,0,0,5"
                                            HorizontalAlignment="Left"
                                            Text="V终点位置" />
                                        <mah:NumericUpDown
                                            MinWidth="110"
                                            Margin="0,0,0,8"
                                            Padding="2"
                                            HorizontalAlignment="Stretch"
                                          Interval="0.1"
                                            Maximum="9999"
                                            Minimum="-9999"
                                            StringFormat="F3"
                                            Value="{Binding SelectProduct.RobotPoint.V_Position, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" />
                                        <StackPanel HorizontalAlignment="Center" Orientation="Horizontal">
                                            <Button
                                                MinWidth="70"
                                                Margin="0,0,8,0"
                                                materialDesign:ButtonAssist.CornerRadius="8"
                                                Command="{Binding DataContext.JogCommand, RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                                CommandParameter="{Binding ElementName=txtDistance, Path=Value, Converter={StaticResource JogConverter}, ConverterParameter=V-}"
                                                Style="{StaticResource MaterialDesignRaisedDarkButton}">
                                                <StackPanel Orientation="Vertical">
                                                    <materialDesign:PackIcon
                                                        Width="26"
                                                        Height="26"
                                                        Kind="ArrowLeftBold" />
                                                    <TextBlock HorizontalAlignment="Center" Text="-X" />
                                                </StackPanel>
                                            </Button>
                                            <Button
                                                MinWidth="70"
                                                materialDesign:ButtonAssist.CornerRadius="8"
                                                Command="{Binding DataContext.JogCommand, RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                                CommandParameter="{Binding ElementName=txtDistance, Path=Value, Converter={StaticResource JogConverter}, ConverterParameter=V+}"
                                                Style="{StaticResource MaterialDesignRaisedDarkButton}">
                                                <StackPanel Orientation="Vertical">
                                                    <materialDesign:PackIcon
                                                        Width="26"
                                                        Height="26"
                                                        Kind="ArrowRightBold" />
                                                    <TextBlock HorizontalAlignment="Center" Text="+X" />
                                                </StackPanel>
                                            </Button>
                                        </StackPanel>
                                    </StackPanel>
                                </GroupBox>
                            </StackPanel>
                            <Grid
                                Grid.Row="1"
                                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
                                    Grid.Row="0"
                                    materialDesign:ButtonAssist.CornerRadius="10"
                                    Command="{Binding DataContext.MotorCommand, RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                    CommandParameter="True"
                                    Content="{lex:Loc 上使能}"
                                    Style="{StaticResource MaterialDesignRaisedDarkButton}" />
                                <Button
                                    Grid.Row="1"
                                    Margin="0,10,0,10"
                                    materialDesign:ButtonAssist.CornerRadius="10"
                                    Command="{Binding DataContext.MotorCommand, RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                    CommandParameter="False"
                                    Content="{lex:Loc 下使能}"
                                    Style="{StaticResource MaterialDesignRaisedDarkButton}" />
                                <Button
                                    Grid.Row="2"
                                    materialDesign:ButtonAssist.CornerRadius="10"
                                    Command="{Binding DataContext.ResetCommand, RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                    Content="{lex:Loc 复位错误}"
                                    Style="{StaticResource MaterialDesignRaisedDarkButton}" />
                                <Button
                                    Grid.Row="3"
                                    Margin="0,10,0,10"
                                    materialDesign:ButtonAssist.CornerRadius="10"
                                    Command="{Binding DataContext.sFreeCommand, RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                    Content="{lex:Loc 释放刹车}"
                                    Style="{StaticResource MaterialDesignRaisedDarkButton}" />
                                <Button
                                    Grid.Row="4"
                                    materialDesign:ButtonAssist.CornerRadius="10"
                                    Command="{Binding DataContext.SLockCommand, RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                    Content="{lex:Loc 锁定刹车}"
                                    Style="{StaticResource MaterialDesignRaisedDarkButton}" />
                            </Grid>
                            <Grid Grid.Row="1" Grid.Column="1">
                                <Grid.RowDefinitions>
                                    <RowDefinition Height="auto" />
                                    <RowDefinition Height="*" />
                                </Grid.RowDefinitions>
                                <TextBlock Margin="10,0" VerticalAlignment="Center">
                                    <TextBlock.Text>
                                        <MultiBinding StringFormat="{}CurPos X: {0:F3} mm Y: {1:F3} mm Z: {2:F3} mm U: {3:F3} mm R: {4:F3} mm W: {5:F3} mm V: {6:F3} mm">
                                            <Binding Path="Robot.CurrentPosition.X" />
                                            <Binding Path="Robot.CurrentPosition.Y" />
                                            <Binding Path="Robot.CurrentPosition.Z" />
                                            <Binding Path="Robot.CurrentPosition.U" />
                                            <Binding Path="Robot.CurrentPosition.R" />
                                            <Binding Path="Robot.CurrentPosition.W" />
                                            <Binding Path="Robot.CurrentPosition.V" />
                                        </MultiBinding>
                                    </TextBlock.Text>
                                </TextBlock>
                                <Grid Grid.Row="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>
                                    <Grid.Resources>
                                        <Style BasedOn="{StaticResource MaterialDesignRaisedDarkButton}" TargetType="Button">
                                            <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>

                                    <Button
                                        x:Name="btn_x"
                                        Grid.Row="1"
                                        Grid.Column="0"
                                        Command="{Binding DataContext.JogCommand, RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                        CommandParameter="{Binding ElementName=txtDistance, Path=Value, Converter={StaticResource JogConverter}, ConverterParameter=X-}">
                                        <StackPanel Orientation="Vertical">
                                            <materialDesign:PackIcon
                                                Width="26"
                                                Height="26"
                                                Kind="ArrowLeftBold" />
                                            <TextBlock HorizontalAlignment="Center" Text="-X" />
                                        </StackPanel>
                                    </Button>
                                    <Button
                                        Grid.Row="1"
                                        Grid.Column="2"
                                        Command="{Binding DataContext.JogCommand, RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                        CommandParameter="{Binding ElementName=txtDistance, Path=Value, Converter={StaticResource JogConverter}, ConverterParameter=X+}">
                                        <StackPanel Orientation="Vertical">
                                            <materialDesign:PackIcon
                                                Width="26"
                                                Height="26"
                                                Kind="ArrowRightBold" />
                                            <TextBlock HorizontalAlignment="Center" Text="+X" />
                                        </StackPanel>
                                    </Button>
                                    <Button
                                        Grid.Row="0"
                                        Grid.Column="1"
                                        Command="{Binding DataContext.JogCommand, RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                        CommandParameter="{Binding ElementName=txtDistance, Path=Value, Converter={StaticResource JogConverter}, ConverterParameter=Y+}">
                                        <StackPanel Orientation="Vertical">
                                            <materialDesign:PackIcon
                                                Width="26"
                                                Height="26"
                                                Kind="ArrowTopBold" />
                                            <TextBlock HorizontalAlignment="Center" Text="+Y" />
                                        </StackPanel>
                                    </Button>
                                    <Button
                                        Grid.Row="2"
                                        Grid.Column="1"
                                        Command="{Binding DataContext.JogCommand, RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                        CommandParameter="{Binding ElementName=txtDistance, Path=Value, Converter={StaticResource JogConverter}, ConverterParameter=Y-}">
                                        <StackPanel Orientation="Vertical">
                                            <materialDesign:PackIcon
                                                Width="26"
                                                Height="26"
                                                Kind="ArrowBottomBold" />
                                            <TextBlock HorizontalAlignment="Center" Text="-Y" />
                                        </StackPanel>
                                    </Button>
                                    <Button
                                        Grid.Row="0"
                                        Grid.Column="3"
                                        Command="{Binding DataContext.JogCommand, RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                        CommandParameter="{Binding ElementName=txtDistance, Path=Value, Converter={StaticResource JogConverter}, ConverterParameter=Z+}">
                                        <StackPanel Orientation="Vertical">
                                            <materialDesign:PackIcon
                                                Width="26"
                                                Height="26"
                                                Kind="ArrowTopBold" />
                                            <TextBlock HorizontalAlignment="Center" Text="+Z" />
                                        </StackPanel>
                                    </Button>
                                    <Button
                                        Grid.Row="2"
                                        Grid.Column="3"
                                        Command="{Binding DataContext.JogCommand, RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                        CommandParameter="{Binding ElementName=txtDistance, Path=Value, Converter={StaticResource JogConverter}, ConverterParameter=Z-}">
                                        <StackPanel Orientation="Vertical">
                                            <materialDesign:PackIcon
                                                Width="26"
                                                Height="26"
                                                Kind="ArrowBottomBold" />
                                            <TextBlock HorizontalAlignment="Center" Text="-Z" />
                                        </StackPanel>
                                    </Button>
                                    <Button
                                        Grid.Row="3"
                                        Grid.Column="0"
                                        Command="{Binding DataContext.JogCommand, RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                        CommandParameter="{Binding ElementName=txtDistance, Path=Value, Converter={StaticResource JogConverter}, ConverterParameter=U+}">
                                        <StackPanel Orientation="Vertical">
                                            <materialDesign:PackIcon
                                                Width="26"
                                                Height="26"
                                                Kind="AxisZRotateCounterclockwise" />
                                            <TextBlock HorizontalAlignment="Center" Text="+U" />
                                        </StackPanel>
                                    </Button>
                                    <Button
                                        Grid.Row="4"
                                        Grid.Column="0"
                                        Command="{Binding DataContext.JogCommand, RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                        CommandParameter="{Binding ElementName=txtDistance, Path=Value, Converter={StaticResource JogConverter}, ConverterParameter=U-}">
                                        <StackPanel Orientation="Vertical">
                                            <materialDesign:PackIcon
                                                Width="26"
                                                Height="26"
                                                Kind="AxisZRotateClockwise" />
                                            <TextBlock HorizontalAlignment="Center" Text="-U" />
                                        </StackPanel>
                                    </Button>
                                    <Button
                                        Grid.Row="3"
                                        Grid.Column="1"
                                        Grid.ColumnSpan="2"
                                        Command="{Binding DataContext.JogCommand, RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                        CommandParameter="{Binding ElementName=txtDistance, Path=Value, Converter={StaticResource JogConverter}, ConverterParameter=R+}">
                                        <StackPanel Orientation="Vertical">
                                            <materialDesign:PackIcon
                                                Width="26"
                                                Height="26"
                                                Kind="AxisZRotateCounterclockwise" />
                                            <TextBlock HorizontalAlignment="Center" Text="+R" />
                                        </StackPanel>
                                    </Button>
                                    <Button
                                        Grid.Row="4"
                                        Grid.Column="1"
                                        Grid.ColumnSpan="2"
                                        Command="{Binding DataContext.JogCommand, RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                        CommandParameter="{Binding ElementName=txtDistance, Path=Value, Converter={StaticResource JogConverter}, ConverterParameter=R-}">
                                        <StackPanel Orientation="Vertical">
                                            <materialDesign:PackIcon
                                                Width="26"
                                                Height="26"
                                                Kind="AxisZRotateClockwise" />
                                            <TextBlock HorizontalAlignment="Center" Text="-R" />
                                        </StackPanel>
                                    </Button>

                                    <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"
                                            Margin="10"
                                            HorizontalAlignment="Right"
                                            VerticalAlignment="Center"
                                            Text="{lex:Loc 步进距离,
                                                           Converter={StaticResource StringFormatConverter},
                                                           ConverterParameter='{}{0}: '}" />
                                        <uControl:myNumericUpDowm
                                            x:Name="txtDistance"
                                            Grid.Row="0"
                                            Grid.Column="1"
                                            MinWidth="100"
                                            Margin="10"
                                            materialDesign:HintAssist.Hint="{lex:Loc 步进距离}"
                                            Interval="0.1"
                                            Maximum="100"
                                            Minimum="0"
                                            StringFormat="{}{0:N3} mm"
                                            Value="{Binding DataContext.Distance, RelativeSource={RelativeSource AncestorType={x:Type UserControl}}, Mode=TwoWay}" />

                                        <TextBlock
                                            Grid.Row="1"
                                            Grid.Column="0"
                                            Margin="10"
                                            VerticalAlignment="Center"
                                            Text="{lex:Loc 点编号,
                                                           Converter={StaticResource StringFormatConverter},
                                                           ConverterParameter='{}{0}: '}" />
                                        <ComboBox
                                            x:Name="cmbSelectPoint"
                                            Grid.Row="2"
                                            Grid.Column="0"
                                            MinWidth="80"
                                            Margin="10,5"
                                            materialDesign:HintAssist.Hint="{lex:Loc 选择点}"
                                            ItemsSource="{Binding Points}"
                                            SelectedItem="{Binding SelectedPointInComboBox, Mode=TwoWay}">
                                            <ComboBox.ItemTemplate>
                                                <DataTemplate>
                                                    <StackPanel HorizontalAlignment="Left" Orientation="Horizontal">
                                                        <TextBlock Text="{Binding Number, StringFormat={}{0}:}" />
                                                        <TextBlock Text="{Binding Label}" />
                                                    </StackPanel>
                                                </DataTemplate>
                                            </ComboBox.ItemTemplate>
                                        </ComboBox>

                                        <TextBlock
                                            Grid.Row="1"
                                            Grid.Column="1"
                                            Margin="10"
                                            VerticalAlignment="Center"
                                            Text="{lex:Loc 动作指令,
                                                           Converter={StaticResource StringFormatConverter},
                                                           ConverterParameter='{}{0}: '}" />
                                        <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"
                                            Margin="2"
                                            Command="{Binding DataContext.ExecuteMotion, RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                            Content="{lex:Loc 执行动作}">
                                            <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"
                                            Margin="2"
                                            HorizontalAlignment="Right"
                                            Command="{Binding DataContext.TechPointCommand, RelativeSource={RelativeSource AncestorType={x:Type UserControl}}}"
                                            Content="{lex:Loc 示教}" />
                                        <!--<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>
            </Grid>
        </materialDesign:DrawerHost>

        <StackPanel
            Grid.Row="2"
            Margin="20"
            HorizontalAlignment="Center"
            VerticalAlignment="Center"
            Orientation="Horizontal">
            <Button
                MinWidth="100"
                HorizontalAlignment="Center"
                VerticalAlignment="Center"
                materialDesign:ButtonAssist.CornerRadius="10"
                Command="{Binding NextCommand}"
                Content="{lex:Loc 下一步}"
                IsEnabled="{Binding IsAllowEdit}"
                Style="{StaticResource MaterialDesignRaisedButton}" />
        </StackPanel>
    </Grid>
</UserControl>