﻿<hb:PluginControl x:Class="Plugin.ServoManage.ServoManage"
             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
             xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
             xmlns:local="clr-namespace:Plugin.ServoManage"
             mc:Ignorable="d" 
             xmlns:hb="clr-namespace:HMI.Base;assembly=HMI.Base"
             xmlns:uic="clr-namespace:HMI.UI.Converter;assembly=HMI.UI"
             xmlns:pw="https://opensource.panuon.com/wpf"
             xmlns:pu="https://opensource.panuon.com/wpf-ui"
             xmlns:dp="clr-namespace:HMI.UI.DpUtil;assembly=HMI.UI"
             xmlns:cc="clr-namespace:HMI.Core;assembly=HMI.Core"
             Loaded="UserControl_Loaded"
             d:DesignHeight="450" d:DesignWidth="800">
    <UserControl.Resources>
        <Style x:Key="PrimaryButton" TargetType="Button" BasedOn="{StaticResource PrimaryButton}">
            <Setter Property="Padding" Value="15"/>
        </Style>

        <Style x:Key="LightBall" TargetType="Ellipse">
            <Setter Property="Height" Value="35"/>
            <Setter Property="Width" Value="35"/>
            <Setter Property="Fill" Value="{StaticResource Normal}"/>
            <Setter Property="Margin" Value="0,10,0,0"/>
            <Style.Triggers>
                <DataTrigger Binding="{Binding }" Value="1">
                    <Setter Property="Fill" Value="{StaticResource Ok}"/>
                </DataTrigger>
            </Style.Triggers>
        </Style>

        <Style x:Key="Desc" TargetType="Label">
            <Setter Property="Padding" Value="10,15"/>
            <Setter Property="MinWidth" Value="90"/>
            <Setter Property="FontSize" Value="14"/>
            <Setter Property="BorderThickness" Value="1"/>
            <Setter Property="BorderBrush" Value="#3a3a3a"/>
            <Setter Property="HorizontalContentAlignment" Value="Center"/>
            <Setter Property="VerticalContentAlignment" Value="Center"/>
        </Style>

        <Style x:Key="ReadLabel" TargetType="Label" BasedOn="{StaticResource Desc}">
            <Setter Property="BorderThickness" Value="1,0,1,1"/>
            <Setter Property="Background" Value="LightGray"/>
        </Style>

        <Style x:Key="LabelText" TargetType="Label" BasedOn="{StaticResource Desc}">
            <Setter Property="BorderThickness" Value="1,0,1,1"/>
            <Setter Property="Cursor" Value="Hand"/>
        </Style>

        <Style x:Key="BDesc" TargetType="Label" BasedOn="{StaticResource Desc}">
            <Setter Property="Background" Value="#afeeee"/>
        </Style>

        <Style x:Key="YDesc" TargetType="Label" BasedOn="{StaticResource Desc}">
            <Setter Property="Background" Value="#ffff00"/>
        </Style>

        <Style TargetType="GroupBox">
            <Setter Property="Padding" Value="5"/>
        </Style>
    </UserControl.Resources>

    <Border Style="{StaticResource CardBoarder}">
        <Grid dp:GridHelper.Space="10">
            <Grid.RowDefinitions>
                <RowDefinition Height="Auto"/>
                <RowDefinition Height="Auto"/>
                <RowDefinition/>
            </Grid.RowDefinitions>

            <Grid.ColumnDefinitions>
                <ColumnDefinition Width="7*"/>
                <ColumnDefinition Width="3*"/>
            </Grid.ColumnDefinitions>

            <DockPanel Grid.ColumnSpan="2">
                <StackPanel DockPanel.Dock="Right" Style="{StaticResource ButtonGroup}">
                    <Button Style="{StaticResource AddBtn}" x:Name="addServoBtn" Click="Button_Click"/>
                    <Button Style="{StaticResource RfhBtn}" x:Name="rfhServoBtn" Click="Button_Click"/>
                </StackPanel>
                <TextBlock Style="{StaticResource TitleBox}" Text="{DynamicResource svo.title}"/>
            </DockPanel>

            <DockPanel Grid.Row="2" Grid.ColumnSpan="2" Margin="0,10,0,0">
                <pu:Drawer DockPanel.Dock="Left" x:Name="DrwMenu" MinWidth="35" MaxWidth="400"
                           Padding="0"
                           ShadowColor="{x:Null}"
                           AnimationDuration="0" BorderThickness="2,0,0,2" BorderBrush="{StaticResource CommonBoarder}">
                    <Grid>
                        <Grid.RowDefinitions>
                            <RowDefinition Height="Auto"/>
                            <RowDefinition/>
                        </Grid.RowDefinitions>
                        <Grid.ColumnDefinitions>
                            <ColumnDefinition/>
                            <ColumnDefinition Width="Auto"/>
                        </Grid.ColumnDefinitions>

                        <Border Grid.ColumnSpan="2" BorderThickness="2" BorderBrush="{StaticResource CommonBoarder}" Background="{StaticResource VerBar}">
                            <DockPanel Height="35">
                                <ToggleButton x:Name="drawerBtn" BorderThickness="0"
                  DockPanel.Dock="Right"
                  Background="Transparent"
                  Width="35" Height="35" HorizontalAlignment="Right"
                  RenderTransformOrigin="0.5,0.5"
                                              Foreground="{StaticResource PrimaryColorContract}"
                  FontFamily="{StaticResource iconfont}"
                  Content="&#xe60e;" IsChecked="{Binding IsOpen, ElementName=DrwMenu, Mode=TwoWay}">
                                    <ToggleButton.Style>
                                        <Style TargetType="ToggleButton" BasedOn="{StaticResource CommonToggle}">
                                            <Style.Triggers>
                                                <DataTrigger Binding="{Binding IsOpen, ElementName=DrwMenu}" Value="False">
                                                    <Setter Property="RenderTransform">
                                                        <Setter.Value>
                                                            <RotateTransform Angle="-90"/>
                                                        </Setter.Value>
                                                    </Setter>
                                                </DataTrigger>
                                                <DataTrigger Binding="{Binding IsOpen, ElementName=DrwMenu}" Value="True">
                                                    <Setter Property="Background" Value="Red"/>
                                                    <Setter Property="RenderTransform">
                                                        <Setter.Value>
                                                            <RotateTransform Angle="90"/>
                                                        </Setter.Value>
                                                    </Setter>
                                                </DataTrigger>
                                            </Style.Triggers>
                                        </Style>
                                    </ToggleButton.Style>
                                </ToggleButton>

                                <TextBlock Text="{DynamicResource svo.list}" FontSize="16" 
                                           Foreground="{StaticResource PrimaryColorContract}"
                                           VerticalAlignment="Center" HorizontalAlignment="Center"/>
                            </DockPanel>
                        </Border>


                        <Grid Grid.Row="1">
                            <Grid.RowDefinitions>
                                <RowDefinition Height="Auto"/>
                                <RowDefinition/>
                            </Grid.RowDefinitions>
                            <Grid.ColumnDefinitions>
                                <ColumnDefinition Width="Auto"/>
                                <ColumnDefinition/>
                            </Grid.ColumnDefinitions>

                            <DataGrid Grid.Row="1" Grid.ColumnSpan="2" Style="{StaticResource DefaultDataGrid}"
                                      IsReadOnly="False"
                                      SelectionMode="Single"
                                      BorderThickness="0"
                                      SelectedItem="{Binding SelectedServo}"
                                      ItemsSource="{Binding Servos}">
                                <DataGrid.Columns>
                                    <DataGridTemplateColumn Header="#" IsReadOnly="True" CanUserResize="False">
                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <TextBlock Text="{Binding Converter={StaticResource rowNumber},
RelativeSource={RelativeSource Mode=FindAncestor,AncestorType={x:Type DataGridRow},AncestorLevel=1}}"/>
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                    </DataGridTemplateColumn>

                                    <DataGridTextColumn IsReadOnly="True" Width="*" Binding="{Binding Name}">
                                        <DataGridTextColumn.Header>
                                            <TextBlock Text="{DynamicResource svo.name}"/>
                                        </DataGridTextColumn.Header>
                                    </DataGridTextColumn>

                                    <DataGridTemplateColumn Width="100" IsReadOnly="True" CanUserResize="False">
                                        <DataGridTemplateColumn.Header>
                                            <TextBlock Text="{DynamicResource App.Opt}"/>
                                        </DataGridTemplateColumn.Header>

                                        <DataGridTemplateColumn.CellTemplate>
                                            <DataTemplate>
                                                <StackPanel Orientation="Horizontal" dp:StackPanelHelper.ChildSpace="10">
                                                    <Button x:Name="editServoBtn" Style="{StaticResource EditLink}"  DataContext="{Binding }"
Click="Button_Click"/>
                                                    <Button x:Name="delServoBtn" Style="{StaticResource DeleteLink}"
DataContext="{Binding }"
Click="Button_Click"/>
                                                </StackPanel>
                                            </DataTemplate>
                                        </DataGridTemplateColumn.CellTemplate>
                                    </DataGridTemplateColumn>
                                </DataGrid.Columns>
                            </DataGrid>
                        </Grid>

                        <Label Grid.Row="1" Grid.Column="1"  Width="100" Height="34"
                               VerticalContentAlignment="Center"
                               HorizontalContentAlignment="Center"
                                   Content="{DynamicResource svo.list}"
                                   FontSize="16">
                            <Label.LayoutTransform>
                                <RotateTransform CenterX="25" CenterY="25" Angle="270"/>
                            </Label.LayoutTransform>

                            <Label.Style>
                                <Style TargetType="Label">
                                    <Style.Triggers>
                                        <DataTrigger Binding="{Binding IsOpen, ElementName=DrwMenu,Mode=OneWay}" Value="True">
                                            <Setter Property="Visibility" Value="Collapsed"/>
                                        </DataTrigger>
                                        <DataTrigger Binding="{Binding IsOpen, ElementName=DrwMenu}" Value="False">
                                            <Setter Property="Visibility" Value="Visible"/>
                                        </DataTrigger>
                                    </Style.Triggers>
                                </Style>
                            </Label.Style>
                        </Label>
                    </Grid>
                </pu:Drawer>

                <Border BorderThickness="2" BorderBrush="{StaticResource CommonBoarder}">
                    <Grid dp:GridHelper.Space="10">
                        <Grid.RowDefinitions>
                            <RowDefinition Height="Auto"/>
                            <RowDefinition/>
                        </Grid.RowDefinitions>

                        <DockPanel>
                            <StackPanel Style="{StaticResource ButtonGroup}" HorizontalAlignment="Left">
                                <!--<TextBlock Style="{StaticResource TitleBox}" 
                                           FontSize="{StaticResource ContentFontSize2}" 
                                           Text="{DynamicResource svo.product.model}"/>
                                <ComboBox x:Name="productInput" 
                                          IsEnabled="{Binding HasSelectedServo}"
                                          SelectedItem="{Binding SelectedProduct}"
                                          ItemsSource="{Binding ServoProducts}"
                                          DisplayMemberPath="Model"
                                          Style="{StaticResource FormComboxStyle}" MinWidth="180" />

                                <Button Style="{StaticResource AddBtn}" x:Name="addProductBtn" Click="Button_Click"/>
                                <Button Style="{StaticResource EditBtn}" x:Name="editProductBtn" Click="Button_Click"/>
                                <Button Style="{StaticResource RfhBtn}" x:Name="rfhProductBtn" Click="Button_Click"/>
                                <Button Style="{StaticResource DelBtn}" x:Name="delProductBtn" Click="Button_Click"/>-->
                            </StackPanel>
                        </DockPanel>

                        <Grid Grid.Row="1" dp:GridHelper.Space="10">
                            <Grid.RowDefinitions>
                                <RowDefinition Height="Auto"/>
                                <RowDefinition/>
                            </Grid.RowDefinitions>

                            <Grid.ColumnDefinitions>
                                <ColumnDefinition Width="Auto"/>
                                <ColumnDefinition Width="Auto"/>
                                <ColumnDefinition Width="Auto"/>
                            </Grid.ColumnDefinitions>

                            <GroupBox Header="{DynamicResource App.Opt}" Padding="10">
                                <Grid dp:GridHelper.Space="10">
                                    <Grid.RowDefinitions>
                                        <RowDefinition Height="Auto"/>
                                        <RowDefinition Height="Auto"/>
                                        <RowDefinition Height="Auto"/>
                                        <RowDefinition Height="Auto"/>
                                        <RowDefinition Height="Auto"/>
                                        <RowDefinition Height="Auto"/>
                                    </Grid.RowDefinitions>
                                    <Grid>
                                        <Grid.ColumnDefinitions>
                                            <ColumnDefinition Width="Auto"/>
                                            <ColumnDefinition/>
                                        </Grid.ColumnDefinitions>
                                        <Label 
                                            Style="{StaticResource BDesc}" MinWidth="80" Padding="0"
                                            Content="{DynamicResource svo.product.model}"/>
                                        <ComboBox Grid.Column="1"  x:Name="productInput" 
IsEnabled="{Binding HasSelectedServo}"
SelectedValue="{Binding SelectedProduct}"
ItemsSource="{Binding ServoProducts}"
SelectedValuePath="ProgramCode"
DisplayMemberPath="Model"
                                                  BorderThickness="0,1,1,1"
                                    FontSize="14"
                                    BorderBrush="Black"
Style="{StaticResource FormComboxStyle}" MinWidth="180" />
                                    </Grid>

                                    <Button Grid.Row="1" Style="{StaticResource PrimaryButton}"
                                            Content="{DynamicResource svo.debugMode}"/>
                                    <UniformGrid Grid.Row="2" Columns="2">
                                        <Button Margin="0,0,5,0" Tag="Enable" Click="Servo_Click">
                                            <Button.Style>
                                                <Style TargetType="Button" BasedOn="{StaticResource PrimaryButton}">
                                                    <Setter Property="Content" Value="{DynamicResource svo.enable}"/>
                                                    <Style.Triggers>
                                                        <DataTrigger Binding="{Binding Enable}" Value="1">
                                                            <Setter Property="Content" Value="{DynamicResource svo.disable}"/>
                                                        </DataTrigger>
                                                    </Style.Triggers>
                                                </Style>
                                            </Button.Style>
                                        </Button>
                                        <Button Style="{StaticResource PrimaryButton}"
 Margin="5,0,0,0" Content="{DynamicResource svo.reset}" Tag="Reset" Click="Servo_Click"/>
                                    </UniformGrid>
                                    <Button Grid.Row="3" Style="{StaticResource PrimaryButton}"
                                            Content="{DynamicResource svo.init}"
                                            Tag="Initialization" Click="Servo_Click"/>
                                    <Button Grid.Row="4" Style="{StaticResource PrimaryButton}"
                                            Content="{DynamicResource svo.stop}"
                                            Tag="Stop" Click="Servo_Click"/>
                                    <UniformGrid Grid.Row="5" Columns="3">
                                        <Button Style="{StaticResource PrimaryButton}"
                                                Content="{DynamicResource svo.JOG+}"
                                                Tag="JoGadd" Click="Servo_Click"/>
                                        <Label Style="{StaticResource LabelText}" MinWidth="90"
Margin="10,0,10,0"
BorderThickness="1" MouseLeftButtonUp="Label_MouseLeftButtonUp" Tag="JogVelocity" Content="{Binding JogVelocity}"/>
                                        <Button Style="{StaticResource PrimaryButton}"
                                                Content="{DynamicResource svo.JOG-}"
                                                Tag="JOGsub" Click="Servo_Click"/>
                                    </UniformGrid>
                                </Grid>
                            </GroupBox>
                            <StackPanel Grid.Column="1">
                                <GroupBox Header="{DynamicResource svo.position}">
                                    <Grid dp:GridHelper.Space="10">
                                        <Grid.RowDefinitions>
                                            <RowDefinition Height="Auto"/>
                                            <RowDefinition Height="Auto"/>
                                        </Grid.RowDefinitions>
                                        <Grid.ColumnDefinitions>
                                            <ColumnDefinition/>
                                            <ColumnDefinition/>
                                            <ColumnDefinition/>
                                            <ColumnDefinition/>
                                        </Grid.ColumnDefinitions>

                                        <StackPanel>
                                            <Label Style="{StaticResource BDesc}" 
                                               Content="{DynamicResource svo.currentPosition}"/>
                                            <Label Style="{StaticResource ReadLabel}" Content="{Binding CurrentPosition}"/>
                                        </StackPanel>

                                        <StackPanel Grid.Column="1">
                                            <Label Style="{StaticResource BDesc}" 
                                               Content="{DynamicResource svo.currentSpeed}"/>
                                            <Label Style="{StaticResource ReadLabel}" Content="{Binding CurrentSpeed}"/>
                                        </StackPanel>
                                        <StackPanel Grid.Column="2">
                                            <Label Style="{StaticResource BDesc}" 
                                               Content="{DynamicResource svo.OverAcc}"/>
                                            <Label Style="{StaticResource LabelText}"
                                                   MouseLeftButtonUp="Label_MouseLeftButtonUp"
                                                   Tag="OverAcc"
                                                   Content="{Binding OverAcc}"/>
                                        </StackPanel>
                                        <StackPanel Grid.Column="3">
                                            <Label Style="{StaticResource BDesc}" 
                                                   Content="{DynamicResource svo.OverDec}"/>
                                            <Label Style="{StaticResource LabelText}"
                                                   MouseLeftButtonUp="Label_MouseLeftButtonUp" 
                                                   Tag="OverDec"
                                                   Content="{Binding OverDec}"/>
                                        </StackPanel>

                                        <StackPanel Grid.Row="1">
                                            <Label Style="{StaticResource BDesc}"
                                               Content="{DynamicResource svo.HMIPosition}"/>
                                            <Label Style="{StaticResource LabelText}" 
                                                   MouseLeftButtonUp="Label_MouseLeftButtonUp" 
                                                   Tag="HMIPosition" Content="{Binding HMIPosition}"/>
                                        </StackPanel>

                                        <StackPanel Grid.Row="1" Grid.Column="1">
                                            <Label Style="{StaticResource BDesc}"
                                               Content="{DynamicResource svo.HMISpeed}"/>
                                            <Label Style="{StaticResource LabelText}" 
                                                   MouseLeftButtonUp="Label_MouseLeftButtonUp" 
                                                   Tag="HMISpeed" 
                                                   Content="{Binding HMISpeed}"/>
                                        </StackPanel>
                                        <Button Grid.Row="1" Grid.Column="2" 
                                            Grid.ColumnSpan="2" 
                                            Style="{StaticResource PrimaryButton}"
                                            Tag="AbsExecute"
                                            Click="Servo_Click"
                                            Content="{DynamicResource svo.absExecute}"/>
                                    </Grid>
                                </GroupBox>

                                <GroupBox Header="{DynamicResource svo.inching}">
                                    <DockPanel>
                                        <Button DockPanel.Dock="Left" 
                                                Margin="0,0,10,0"
                                                Style="{StaticResource PrimaryButton}"
                                                Tag="Inch" Click="Servo_Click"
                                                Content="{DynamicResource svo.inching}"/>
                                        <Button DockPanel.Dock="Right"
                                                Tag="Dir" Click="Servo_Click">
                                            <Button.Style>
                                                <Style TargetType="Button" BasedOn="{StaticResource PrimaryButton}">
                                                    <Setter Property="Content" Value="{DynamicResource svo.forward}"/>
                                                    <Style.Triggers>
                                                        <DataTrigger Binding="{Binding Dir}" Value="1">
                                                            <Setter Property="Content" Value="{DynamicResource svo.backward}"/>
                                                        </DataTrigger>
                                                    </Style.Triggers>
                                                </Style>
                                            </Button.Style>
                                        </Button>
                                        <Label 
                                             Margin="0,0,10,0"
                                            Style="{StaticResource LabelText}" 
                                            MouseLeftButtonUp="Label_MouseLeftButtonUp"
                                            Tag="InchDistance"
                                            BorderThickness="1" Content="{Binding InchDistance}"/>
                                    </DockPanel>
                                </GroupBox>
                            </StackPanel>

                            <StackPanel Grid.Column="2" HorizontalAlignment="Center">
                                <GroupBox Header="{DynamicResource svo.alarm}">
                                    <StackPanel Style="{StaticResource ButtonGroup}">
                                        <StackPanel>
                                            <Label Style="{StaticResource YDesc}" 
                   Content="{DynamicResource svo.controlAlarm}"/>
                                            <Label Style="{StaticResource ReadLabel}" Content="{Binding AlarmCode}"/>
                                        </StackPanel>
                                        <StackPanel>
                                            <Label Style="{StaticResource YDesc}"
                   Content="{DynamicResource svo.driverAlarm}"/>
                                            <Label Style="{StaticResource ReadLabel}" Content="{Binding WarnCode}"/>
                                        </StackPanel>
                                        <StackPanel>
                                            <Label Style="{StaticResource YDesc}" 
                   Content="{DynamicResource svo.faultDriven}"/>
                                            <Label Style="{StaticResource ReadLabel}" Content="{Binding FaultCode}"/>
                                        </StackPanel>
                                    </StackPanel>
                                </GroupBox>

                                <GroupBox Header="{DynamicResource svo.limitSensor}">
                                    <StackPanel Style="{StaticResource ButtonGroup}">
                                        <StackPanel>
                                            <Label Style="{StaticResource YDesc}" 
                                                   Content="{DynamicResource svo.limit+}"/>
                                            <Ellipse Style="{StaticResource LightBall}" DataContext="{Binding PositiveLimit}" />
                                        </StackPanel>

                                        <StackPanel>
                                            <Label Style="{StaticResource YDesc}" 
                                                   Content="{DynamicResource svo.limit0}"/>
                                            <Ellipse Style="{StaticResource LightBall}" DataContext="{Binding HomeSwitch}" />
                                        </StackPanel>
                                        <StackPanel>
                                            <Label Style="{StaticResource YDesc}"
                                                   Content="{DynamicResource svo.limit-}"/>
                                            <Ellipse Style="{StaticResource LightBall}" DataContext="{Binding NegativeLimit}" />
                                        </StackPanel>
                                    </StackPanel>
                                </GroupBox>
                            </StackPanel>

                            <StackPanel Grid.Row="1" Grid.ColumnSpan="2">
                                <GroupBox Header="{DynamicResource svo.status}">
                                    <StackPanel Style="{StaticResource ButtonGroup}" HorizontalAlignment="Center">
                                        <StackPanel>
                                            <Label Style="{StaticResource YDesc}"
                                                   Content="{DynamicResource svo.enable}"/>
                                            <Ellipse Style="{StaticResource LightBall}" DataContext="{Binding AxisEnabled}"/>
                                        </StackPanel>

                                        <StackPanel>
                                            <Label Style="{StaticResource YDesc}"
                                                   Content="{DynamicResource svo.isReady}"/>
                                            <Ellipse Style="{StaticResource LightBall}" DataContext="{Binding ReadyOK}" />
                                        </StackPanel>
                                        <StackPanel>
                                            <Label Style="{StaticResource YDesc}"
                                                   Content="{DynamicResource svo.isRunning}"/>
                                            <Ellipse Style="{StaticResource LightBall}" DataContext="{Binding Running}" />
                                        </StackPanel>
                                        <StackPanel>
                                            <Label Style="{StaticResource YDesc}"
           Content="{DynamicResource svo.reOriginOk}"/>
                                            <Ellipse Style="{StaticResource LightBall}" DataContext="{Binding Homed}" />
                                        </StackPanel>
                                        <StackPanel>
                                            <Label Style="{StaticResource YDesc}"
                                                   Content="{DynamicResource svo.fault}"/>
                                            <Ellipse Style="{StaticResource LightBall}" DataContext="{Binding AxisError}" />
                                        </StackPanel>
                                        <StackPanel>
                                            <Label Style="{StaticResource YDesc}"
                                                   Content="{DynamicResource svo.axisAlarm}"/>
                                            <Ellipse Style="{StaticResource LightBall}" DataContext="{Binding AxisWarn}" />
                                        </StackPanel>
                                        <StackPanel>
                                            <Label Style="{StaticResource YDesc}"
                                                   Content="{DynamicResource svo.code}"/>
                                            <Label Style="{StaticResource ReadLabel}" Content="{Binding PosCode}"/>
                                        </StackPanel>
                                    </StackPanel>
                                </GroupBox>
                            </StackPanel>
                        </Grid>
                    </Grid>
                </Border>
            </DockPanel>
        </Grid>
    </Border>
</hb:PluginControl>
