BPASmartClient/BPASmartClient.JXJFoodSmallStation/View/RobotView.xaml

<UserControl x:Class="BPASmartClient.JXJFoodSmallStation.View.RobotView"
             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
             xmlns:pry="clr-namespace:BPASmartClient.CustomResource.UserControls;assembly=BPASmartClient.CustomResource"
             xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
             xmlns:vm="clr-namespace:BPASmartClient.JXJFoodSmallStation.ViewModel"
             mc:Ignorable="d" 
             d:DesignHeight="1080" d:DesignWidth="1920">
    <UserControl.Resources>
        <Style x:Key="radioButtonStyle" TargetType="RadioButton">
            <Setter Property="Template">
                <Setter.Value>
                    <ControlTemplate TargetType="RadioButton">
                        <Grid Name="gr" Opacity="0.8">
                            <ContentControl
                                Margin="{TemplateBinding Margin}"
                                HorizontalAlignment="Center"
                                VerticalAlignment="Center"
                                HorizontalContentAlignment="Center"
                                VerticalContentAlignment="Center"
                                Content="{TemplateBinding Content}"
                                FontSize="{TemplateBinding FontSize}"
                                Foreground="{TemplateBinding Foreground}" />
                            <Image
                                Name="image"
                                Source="/BPASmartClient.CustomResource;component/Image/边框线.png"
                                Stretch="Fill" />

                        </Grid>
                        <ControlTemplate.Triggers>
                            <Trigger Property="IsChecked" Value="False">
                                <Setter TargetName="image" Property="Source" Value="/BPASmartClient.CustomResource;component/Image/边框线.png" />
                            </Trigger>
                            <Trigger Property="IsChecked" Value="True">
                                <Setter TargetName="image" Property="Source" Value="/BPASmartClient.CustomResource;component/Image/透明背景.png" />
                            </Trigger>
                            <Trigger Property="IsMouseOver" Value="True">
                                <Setter TargetName="gr" Property="Opacity" Value="1" />
                            </Trigger>
                        </ControlTemplate.Triggers>
                    </ControlTemplate>
                </Setter.Value>
            </Setter>
        </Style>
    </UserControl.Resources>
    <UserControl.DataContext>
        <vm:RobotViewModel/>
    </UserControl.DataContext>

    <Grid Margin="10">
        <Grid.ColumnDefinitions>
            <ColumnDefinition Width="4*"/>
            <ColumnDefinition Width="4*"/>
            <ColumnDefinition Width="4*"/>
        </Grid.ColumnDefinitions>
        <!--#region 表格标题栏设置-->
        <Grid>
            <StackPanel>
                <WrapPanel>
                    <TextBlock Margin="5" FontSize="22" Foreground="Aqua" Text="机器人自动运行模式："></TextBlock>
                    <TextBlock Margin="5" FontSize="22" Foreground="Aqua" Text="{Binding RobotIsAutoMode}"></TextBlock>
                </WrapPanel>
                <WrapPanel>
                    <TextBlock Margin="5"  FontSize="22" Foreground="Aqua" Text="机器人正在自动运行："></TextBlock>
                    <TextBlock Margin="5" FontSize="22" Foreground="Aqua" Text="{Binding RobotIsAutoRun}"></TextBlock>
                </WrapPanel>
                <WrapPanel>
                    <TextBlock Margin="5"  FontSize="22" Foreground="Aqua" Text="机器人停止状态："></TextBlock>
                    <TextBlock Margin="5" FontSize="22" Foreground="Aqua" Text="{Binding RobotIsStop}"></TextBlock>
                </WrapPanel>
                <WrapPanel>
                    <TextBlock Margin="5"  FontSize="22" Foreground="Aqua" Text="机器人运行正常："></TextBlock>
                    <TextBlock Margin="5" FontSize="22" Foreground="Aqua" Text="{Binding RobotIsRun}"></TextBlock>
                </WrapPanel>
                <WrapPanel>
                    <TextBlock Margin="5"  FontSize="22" Foreground="Aqua" Text="机器人运行故障："></TextBlock>
                    <TextBlock Margin="5" FontSize="22" Foreground="Aqua" Text="{Binding RobotIsAlarm}"></TextBlock>
                </WrapPanel>
                <WrapPanel>
                    <TextBlock Margin="5"  FontSize="22" Foreground="Aqua" Text="机器人在Home点："></TextBlock>
                    <TextBlock Margin="5" FontSize="22" Foreground="Aqua" Text="{Binding RobotIsHomed}"></TextBlock>
                </WrapPanel>
                <WrapPanel>
                    <TextBlock Margin="5"  FontSize="22" Foreground="Aqua" Text="抓空桶完成："></TextBlock>
                    <TextBlock Margin="5" FontSize="22" Foreground="Aqua" Text="{Binding RobotGetEmptyBarrelComplete}"></TextBlock>
                </WrapPanel>
                <WrapPanel>
                    <TextBlock Margin="5"  FontSize="22" Foreground="Aqua" Text="放空桶完成："></TextBlock>
                    <TextBlock Margin="5" FontSize="22" Foreground="Aqua" Text="{Binding RobotPutEmptyBarrelComplete}"></TextBlock>
                </WrapPanel>
                <WrapPanel>
                    <TextBlock Margin="5"  FontSize="22" Foreground="Aqua" Text="抓满桶完成："></TextBlock>
                    <TextBlock Margin="5" FontSize="22" Foreground="Aqua" Text="{Binding RobotGetFullBarrelComplete}"></TextBlock>
                </WrapPanel>
                <WrapPanel>
                    <TextBlock Margin="5"  FontSize="22" Foreground="Aqua" Text="放满桶完成："></TextBlock>
                    <TextBlock Margin="5" FontSize="22" Foreground="Aqua" Text="{Binding RobotPutFullBarrelComplete}"></TextBlock>
                </WrapPanel>
            </StackPanel>
        </Grid>
        <Grid Grid.Column="1">
            <Grid.RowDefinitions>
                <RowDefinition Height="1*"></RowDefinition>
                <RowDefinition Height="7*"></RowDefinition>
            </Grid.RowDefinitions>
            <Grid>
                <Grid.ColumnDefinitions>
                    <ColumnDefinition></ColumnDefinition>
                    <ColumnDefinition></ColumnDefinition>
                    <ColumnDefinition></ColumnDefinition>
                    <ColumnDefinition></ColumnDefinition>
                </Grid.ColumnDefinitions>
                <Button
                    Margin="20,15"
                    Command="{Binding SystemStart}"
                    Content="启动"
                    FontSize="40"
                    Background="LightGreen"></Button>
                <Button
                    Grid.Column="1"
                    Margin="20,15"
                    Command="{Binding SystemStop}"
                    Content="停止"
                    FontSize="40"
                    Background="OrangeRed"></Button>
                <Button
                    Grid.Column="2"
                    Grid.ColumnSpan="2"
                    Margin="20,15"
                    Command="{Binding EStopReset}"
                    Content="急停复位"
                    FontSize="40"
                    Background="DodgerBlue"></Button>
            </Grid>
        </Grid>
        <Grid Grid.Column="2">
            <Grid.RowDefinitions>
                <RowDefinition></RowDefinition>
                <RowDefinition></RowDefinition>
                <RowDefinition></RowDefinition>
            </Grid.RowDefinitions>
            <Grid>
                <Grid.ColumnDefinitions>
                    <ColumnDefinition></ColumnDefinition>
                    <ColumnDefinition></ColumnDefinition>
                </Grid.ColumnDefinitions>
                <Grid.RowDefinitions>
                    <RowDefinition></RowDefinition>
                    <RowDefinition></RowDefinition>
                    <RowDefinition></RowDefinition>
                </Grid.RowDefinitions>
                <Button
                    Margin="20,5"
                    Command="{Binding AutoMode}"
                    Content="自动模式"
                    FontSize="32"
                    Panel.ZIndex="0"
                    Style="{StaticResource ImageButtonStyle}"></Button>
                <Button
                    Grid.Column="1"
                    Margin="20,5"
                    Command="{Binding TestMode}"
                    Content="测试模式"
                    FontSize="32"
                    Panel.ZIndex="0"
                    Style="{StaticResource ImageButtonStyle}"></Button>
                <Grid Grid.Row="1" Grid.ColumnSpan="2">
                    <StackPanel Orientation="Vertical">
                        <WrapPanel Orientation="Horizontal">
                            <TextBlock  Text="机器人正在运行程序号：" Foreground="#FF2AB2E7" FontSize="25" Margin="10" HorizontalAlignment="Left"></TextBlock>
                            <TextBlock  Text="{Binding IsRunProgramNum}" Foreground="#FF2AB2E7" FontSize="25" Margin="10" HorizontalAlignment="Left" TextAlignment="Center"></TextBlock>
                        </WrapPanel>
                        <WrapPanel Orientation="Horizontal" VerticalAlignment="Center">
                            <TextBlock   Text="机器人需要运行程序号：" Foreground="#FF2AB2E7" FontSize="25" Margin="10" HorizontalAlignment="Left"></TextBlock>
                            <TextBox  Text="{Binding SetProgramNum}" Width="50" Foreground="#FF2AB2E7" FontSize="25" Margin="10" HorizontalAlignment="Left" TextAlignment="Center"></TextBox>
                            <Button  FontSize="20" Height="40" Command="{Binding SetProgramNumCommand}" Content="设置" Style="{StaticResource ImageButtonStyle}"></Button>
                        </WrapPanel>
                    </StackPanel>
                </Grid>
                <Button
                    Grid.Row="2"
                    Margin="20,5"
                    Command="{Binding TestRobotRun}"
                    Content="测试抓桶程序"
                    FontSize="32"
                    Style="{StaticResource ImageButtonStyle}"></Button>
            </Grid>
            <!--<ListView
                Grid.Row="1"
                Background="Transparent"
                BorderBrush="#00BEFA"
                BorderThickness="0"
                ItemsSource="{Binding cylinderModels}"
                ScrollViewer.HorizontalScrollBarVisibility="Disabled">
                <ListView.ItemsPanel>
                    <ItemsPanelTemplate>
                        <UniformGrid
                            HorizontalAlignment="Left"
                            VerticalAlignment="Top"
                            Columns="8" />
                    </ItemsPanelTemplate>
                </ListView.ItemsPanel>

                <ListView.ItemTemplate>
                    <DataTemplate>
                        <Grid
                            Width="200"
                            Height="100"
                            Margin="0,0,0,15"
                            Background="Transparent">
                            <Grid.RowDefinitions>
                                <RowDefinition Height="30" />
                                <RowDefinition />
                                <RowDefinition Height="30" />
                            </Grid.RowDefinitions>
                            <Grid.ColumnDefinitions>
                                <ColumnDefinition Width="0.5*" />
                                <ColumnDefinition />
                                <ColumnDefinition />
                            </Grid.ColumnDefinitions>

                            <TextBlock
                                Grid.Column="1"
                                Grid.ColumnSpan="2"
                                HorizontalAlignment="Center"
                                VerticalAlignment="Center"
                                Foreground="Aqua"
                                Text="{Binding Name}" />

                            <pry:Cylinder
                                Grid.Row="1"
                                Grid.ColumnSpan="3"
                                Width="200"
                                Height="50"
                                HorizontalAlignment="Center"
                                VerticalAlignment="Center"
                                LeftTogIsChecked="{Binding LeftTog}"
                                RightTogIsChecked="{Binding RightTog}" />

                            <RadioButton
                                Grid.Row="2"
                                Grid.Column="1"
                                Command="{Binding DataContext.Open, RelativeSource={RelativeSource AncestorType=ListView, Mode=FindAncestor}}"
                                CommandParameter="{Binding Name}"
                                Content="伸出"
                                Foreground="Aqua"
                                IsChecked="True"
                                Style="{StaticResource radioButtonStyle}" />

                            <RadioButton
                                Grid.Row="2"
                                Grid.Column="2"
                                Command="{Binding DataContext.Close, RelativeSource={RelativeSource AncestorType=ListView, Mode=FindAncestor}}"
                                CommandParameter="{Binding Name}"
                                Content="缩回"
                                Foreground="Aqua"
                                IsChecked="False"
                                Style="{StaticResource radioButtonStyle}" />
                        </Grid>
                    </DataTemplate>
                </ListView.ItemTemplate>
            </ListView>-->
            <Grid Grid.Row="1" Visibility="Hidden">
                <Grid.ColumnDefinitions>
                    <ColumnDefinition></ColumnDefinition>
                    <ColumnDefinition></ColumnDefinition>
                </Grid.ColumnDefinitions>
                <Grid.RowDefinitions>
                    <RowDefinition></RowDefinition>
                    <RowDefinition></RowDefinition>
                </Grid.RowDefinitions>
                <Grid Grid.Row="0">
                    <Button
                        Margin="20,5"
                        Command="{Binding RobotGetEmptyBarrel}"
                        Content="允许机器人抓空桶"
                        Style="{StaticResource ImageButtonStyle}"></Button>
                </Grid>
                <Grid Grid.Column="1">
                    <Button
                        Margin="20,5"
                        Command="{Binding RobotPutEmptyBarrel}"
                        Content="允许机器人放空桶"
                        Style="{StaticResource ImageButtonStyle}"></Button>
                </Grid>
                <Grid Grid.Row="1">
                    <Button
                        Margin="20,5"
                        Command="{Binding RobotGetFullBarrel}"
                        Content="允许机器人抓满桶"
                        Style="{StaticResource ImageButtonStyle}"></Button>
                </Grid>
                <Grid Grid.Row="1" Grid.Column="1">
                    <Button
                        Margin="20,5"
                        Command="{Binding RobotPutFullBarrel}"
                        Content="允许机器人放满桶"
                        Style="{StaticResource ImageButtonStyle}"></Button>
                </Grid>
            </Grid>
        </Grid>
    </Grid>
</UserControl>