503 lines
33 KiB
Plaintext
503 lines
33 KiB
Plaintext
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<UserControl x:Class="MainShell.Recipe.View.PidRecipeEditorView"
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xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
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xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
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xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
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xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
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xmlns:behavior="clr-namespace:MainShell.Common.ControlAttribute"
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xmlns:mw="http://www.maxwell-gp.com/"
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mc:Ignorable="d"
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d:DesignHeight="700"
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d:DesignWidth="1180">
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<UserControl.Resources>
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<SolidColorBrush x:Key="PidPageBackgroundBrush" Color="#F4F7FB"/>
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<SolidColorBrush x:Key="PidCardBackgroundBrush" Color="#FFFFFF"/>
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<SolidColorBrush x:Key="PidCardBorderBrush" Color="#D6E0EA"/>
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<SolidColorBrush x:Key="PidHeaderBackgroundBrush" Color="#EEF3F8"/>
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<SolidColorBrush x:Key="PidHeaderForegroundBrush" Color="#2E5FA7"/>
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<SolidColorBrush x:Key="PidBodyTextBrush" Color="#425466"/>
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<SolidColorBrush x:Key="PidMutedTextBrush" Color="#6B7B8D"/>
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<SolidColorBrush x:Key="PidValueBrush" Color="#264B86"/>
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<Style x:Key="PidSectionBorderStyle" TargetType="Border">
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<Setter Property="Background" Value="{StaticResource PidCardBackgroundBrush}"/>
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<Setter Property="BorderBrush" Value="{StaticResource PidCardBorderBrush}"/>
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<Setter Property="BorderThickness" Value="1"/>
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<Setter Property="CornerRadius" Value="4"/>
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<Setter Property="Padding" Value="0"/>
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</Style>
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<Style x:Key="PidSectionTitleStyle" TargetType="TextBlock">
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<Setter Property="Foreground" Value="{StaticResource PidHeaderForegroundBrush}"/>
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<Setter Property="FontSize" Value="15"/>
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<Setter Property="FontWeight" Value="Bold"/>
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<Setter Property="VerticalAlignment" Value="Center"/>
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</Style>
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<Style x:Key="PidHintTextStyle" TargetType="TextBlock">
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<Setter Property="Foreground" Value="{StaticResource PidMutedTextBrush}"/>
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<Setter Property="FontSize" Value="12"/>
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<Setter Property="TextWrapping" Value="Wrap"/>
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</Style>
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<Style x:Key="PidFieldLabelStyle" TargetType="TextBlock" BasedOn="{StaticResource TextBlockStyle}">
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<Setter Property="Foreground" Value="{StaticResource PidBodyTextBrush}"/>
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<Setter Property="FontWeight" Value="SemiBold"/>
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<Setter Property="VerticalAlignment" Value="Center"/>
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<Setter Property="Margin" Value="0,6,10,6"/>
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<Setter Property="HorizontalAlignment" Value="Right"/>
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</Style>
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<Style x:Key="PidNumericOnlyEditingTextBoxStyle" TargetType="TextBox">
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<Setter Property="behavior:ControlBehavior.IsNumericOnly" Value="True"/>
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<Setter Property="Padding" Value="6,0"/>
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<Setter Property="Background" Value="{DynamicResource {x:Static SystemColors.WindowBrushKey}}"/>
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<Setter Property="Foreground" Value="{DynamicResource {x:Static SystemColors.ControlTextBrushKey}}"/>
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<Setter Property="BorderBrush" Value="{DynamicResource {x:Static SystemColors.ActiveBorderBrushKey}}"/>
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<Setter Property="BorderThickness" Value="1"/>
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<Setter Property="HorizontalContentAlignment" Value="Right"/>
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<Setter Property="VerticalContentAlignment" Value="Center"/>
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<Setter Property="SelectionBrush" Value="{DynamicResource {x:Static SystemColors.HighlightBrushKey}}"/>
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<Setter Property="SelectionTextBrush" Value="{DynamicResource {x:Static SystemColors.HighlightTextBrushKey}}"/>
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</Style>
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<Style x:Key="PidNumericDisplayTextStyle" TargetType="TextBlock">
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<Setter Property="Foreground" Value="{DynamicResource {x:Static SystemColors.ControlTextBrushKey}}"/>
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<Setter Property="HorizontalAlignment" Value="Stretch"/>
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<Setter Property="TextAlignment" Value="Right"/>
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<Setter Property="VerticalAlignment" Value="Center"/>
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<Setter Property="Margin" Value="0"/>
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</Style>
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<Style x:Key="PidNumericOnlyTextBoxStyle" TargetType="TextBox">
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<Setter Property="behavior:ControlBehavior.IsNumericOnly" Value="True"/>
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<Setter Property="Margin" Value="4,2"/>
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<Setter Property="MinWidth" Value="120"/>
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<Setter Property="Height" Value="32"/>
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<Setter Property="VerticalContentAlignment" Value="Center"/>
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</Style>
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<Style x:Key="PidPrimaryButtonStyle" TargetType="Button" BasedOn="{StaticResource StartButtonStyle}">
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<Setter Property="MinWidth" Value="108"/>
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<Setter Property="Height" Value="34"/>
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<Setter Property="Margin" Value="0,0,8,0"/>
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</Style>
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<Style x:Key="PidDangerButtonStyle" TargetType="Button" BasedOn="{StaticResource CloseButtonStyle}">
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<Setter Property="MinWidth" Value="108"/>
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<Setter Property="Height" Value="34"/>
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<Setter Property="Margin" Value="0,0,8,0"/>
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</Style>
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<Style x:Key="PidFilterToggleStyle" TargetType="CheckBox" BasedOn="{StaticResource ModernSwitchStyle}">
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<Setter Property="Margin" Value="4,2"/>
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</Style>
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<Style x:Key="PidAxisComboBoxStyle" TargetType="ComboBox">
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<Setter Property="Margin" Value="4,2"/>
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<Setter Property="MinWidth" Value="120"/>
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<Setter Property="Height" Value="32"/>
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<Setter Property="VerticalContentAlignment" Value="Center"/>
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</Style>
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<Style x:Key="PidNumberBoxStyle" TargetType="mw:NumberBox">
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<Setter Property="Margin" Value="4,2"/>
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<Setter Property="MinWidth" Value="120"/>
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<Setter Property="Height" Value="32"/>
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<Setter Property="VerticalContentAlignment" Value="Center"/>
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<Setter Property="mw:NumericKeypadAttach.IsEnabled" Value="True"/>
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</Style>
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<Style x:Key="PidTabItemStyle" TargetType="TabItem">
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<Setter Property="Padding" Value="20,8"/>
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<Setter Property="Foreground" Value="{StaticResource PidBodyTextBrush}"/>
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<Setter Property="FontWeight" Value="SemiBold"/>
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<Setter Property="Template">
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<Setter.Value>
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<ControlTemplate TargetType="TabItem">
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<Border x:Name="TabBorder"
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Background="#E5E9EF"
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BorderBrush="{StaticResource PidCardBorderBrush}"
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BorderThickness="1,1,1,0"
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Margin="0,0,2,0"
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Padding="{TemplateBinding Padding}">
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<ContentPresenter HorizontalAlignment="Center"
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VerticalAlignment="Center"
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ContentSource="Header"/>
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</Border>
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<ControlTemplate.Triggers>
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<Trigger Property="IsMouseOver" Value="True">
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<Setter TargetName="TabBorder" Property="Background" Value="#F4F8FE"/>
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</Trigger>
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<Trigger Property="IsSelected" Value="True">
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<Setter TargetName="TabBorder" Property="Background" Value="White"/>
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<Setter TargetName="TabBorder" Property="BorderBrush" Value="{StaticResource PidHeaderForegroundBrush}"/>
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<Setter Property="Foreground" Value="{StaticResource PidHeaderForegroundBrush}"/>
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</Trigger>
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</ControlTemplate.Triggers>
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</ControlTemplate>
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</Setter.Value>
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</Setter>
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</Style>
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</UserControl.Resources>
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<Grid Background="{StaticResource PidPageBackgroundBrush}">
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<Grid.RowDefinitions>
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<RowDefinition Height="Auto"/>
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<RowDefinition Height="*"/>
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<RowDefinition Height="Auto"/>
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</Grid.RowDefinitions>
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<Border Grid.Row="0"
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Margin="12,12,12,8"
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Padding="12,8"
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Background="White"
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BorderBrush="{StaticResource PidCardBorderBrush}"
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BorderThickness="1"
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CornerRadius="4">
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<Grid>
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<Grid.ColumnDefinitions>
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<ColumnDefinition Width="Auto"/>
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<ColumnDefinition Width="220"/>
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<ColumnDefinition Width="12"/>
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<ColumnDefinition Width="Auto"/>
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<ColumnDefinition Width="8"/>
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<ColumnDefinition Width="Auto"/>
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<ColumnDefinition Width="12"/>
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<ColumnDefinition Width="*"/>
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</Grid.ColumnDefinitions>
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<TextBlock Text="选择配置组："
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Style="{StaticResource PidFieldLabelStyle}"
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VerticalAlignment="Center"
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Margin="0,0,8,0"/>
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<ComboBox Grid.Column="1"
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Margin="0"
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Style="{StaticResource ProcessComboBoxStyle}"
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ItemsSource="{Binding AxisPIDParameters}"
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DisplayMemberPath="Name"
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SelectedItem="{Binding SelectedPIDProfile, Mode=TwoWay}"
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VerticalAlignment="Center"/>
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<Button Grid.Column="3"
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Content="读取"
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Style="{StaticResource PidPrimaryButtonStyle}"
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Margin="0"
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Click="{mw:Action ReadParameters}"/>
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<Button Grid.Column="5"
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Content="写入"
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Style="{StaticResource PidPrimaryButtonStyle}"
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Margin="0"
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Click="{mw:Action WriteParameters}"/>
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</Grid>
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</Border>
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<Border Grid.Row="1"
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Margin="12,0,12,8"
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Background="White"
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BorderBrush="{StaticResource PidCardBorderBrush}"
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BorderThickness="1"
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CornerRadius="4">
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<TabControl Background="Transparent"
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BorderThickness="0"
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SelectedIndex="{Binding SelectedParameterTabIndex, Mode=TwoWay}"
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ItemContainerStyle="{StaticResource PidTabItemStyle}">
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<TabItem Header="PID 参数">
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<Grid>
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<Grid.RowDefinitions>
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<RowDefinition Height="Auto"/>
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<RowDefinition Height="*"/>
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<RowDefinition Height="Auto"/>
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</Grid.RowDefinitions>
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<TextBlock Grid.Row="0"
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Margin="12,8,12,6"
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Text="每个行对应一个轴的速度与位置环参数。"
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Style="{StaticResource PidHintTextStyle}"
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Foreground="{StaticResource PidHeaderForegroundBrush}"/>
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<ScrollViewer Grid.Row="1"
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Margin="12,0,12,8"
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HorizontalScrollBarVisibility="Auto"
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VerticalScrollBarVisibility="Auto">
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<DataGrid ItemsSource="{Binding SelectedAxes}"
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SelectedItem="{Binding SelectedAxisParameter, Mode=TwoWay}"
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AutoGenerateColumns="False"
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CanUserAddRows="False"
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CanUserDeleteRows="False"
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MinHeight="420"
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MinWidth="1100"
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ScrollViewer.CanContentScroll="True"
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ScrollViewer.HorizontalScrollBarVisibility="Disabled"
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ScrollViewer.VerticalScrollBarVisibility="Disabled">
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<DataGrid.Columns>
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<DataGridTemplateColumn Header="轴 (Axis)" Width="180">
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<DataGridTemplateColumn.CellTemplate>
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<DataTemplate>
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<TextBlock Text="{Binding ModuleName}" VerticalAlignment="Center"/>
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</DataTemplate>
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</DataGridTemplateColumn.CellTemplate>
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<DataGridTemplateColumn.CellEditingTemplate>
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<DataTemplate>
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<ComboBox ItemsSource="{Binding DataContext.AxisOptions, RelativeSource={RelativeSource AncestorType=UserControl}}"
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DisplayMemberPath="AxisName"
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SelectedValuePath="AxisName"
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SelectedValue="{Binding ModuleName, UpdateSourceTrigger=PropertyChanged}"
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Style="{StaticResource PidAxisComboBoxStyle}"/>
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</DataTemplate>
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</DataGridTemplateColumn.CellEditingTemplate>
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</DataGridTemplateColumn>
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<DataGridTextColumn Header="SLVKP" Width="100"
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Binding="{Binding PA_SLVKP.Value, UpdateSourceTrigger=PropertyChanged}"
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ElementStyle="{StaticResource PidNumericDisplayTextStyle}"
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EditingElementStyle="{StaticResource PidNumericOnlyEditingTextBoxStyle}"/>
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<DataGridTextColumn Header="SLVKI" Width="100"
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Binding="{Binding PA_SLVKI.Value, UpdateSourceTrigger=PropertyChanged}"
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ElementStyle="{StaticResource PidNumericDisplayTextStyle}"
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EditingElementStyle="{StaticResource PidNumericOnlyEditingTextBoxStyle}"/>
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<DataGridTextColumn Header="SLVKPSF" Width="110"
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Binding="{Binding PA_SLVKPSF.Value, UpdateSourceTrigger=PropertyChanged}"
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ElementStyle="{StaticResource PidNumericDisplayTextStyle}"
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EditingElementStyle="{StaticResource PidNumericOnlyEditingTextBoxStyle}"/>
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<DataGridTextColumn Header="SLVKPIF" Width="110"
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Binding="{Binding PA_SLVKPIF.Value, UpdateSourceTrigger=PropertyChanged}"
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ElementStyle="{StaticResource PidNumericDisplayTextStyle}"
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EditingElementStyle="{StaticResource PidNumericOnlyEditingTextBoxStyle}"/>
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<DataGridTextColumn Header="SLVKISF" Width="110"
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Binding="{Binding PA_SLVKISF.Value, UpdateSourceTrigger=PropertyChanged}"
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ElementStyle="{StaticResource PidNumericDisplayTextStyle}"
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EditingElementStyle="{StaticResource PidNumericOnlyEditingTextBoxStyle}"/>
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<DataGridTextColumn Header="SLVKIIF" Width="110"
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Binding="{Binding PA_SLVKIIF.Value, UpdateSourceTrigger=PropertyChanged}"
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ElementStyle="{StaticResource PidNumericDisplayTextStyle}"
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EditingElementStyle="{StaticResource PidNumericOnlyEditingTextBoxStyle}"/>
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<DataGridTextColumn Header="SLPKP" Width="100"
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Binding="{Binding PA_SLPKP.Value, UpdateSourceTrigger=PropertyChanged}"
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ElementStyle="{StaticResource PidNumericDisplayTextStyle}"
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EditingElementStyle="{StaticResource PidNumericOnlyEditingTextBoxStyle}"/>
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<DataGridTextColumn Header="SLPKPIF" Width="110"
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Binding="{Binding PA_SLPKPIF.Value, UpdateSourceTrigger=PropertyChanged}"
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ElementStyle="{StaticResource PidNumericDisplayTextStyle}"
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EditingElementStyle="{StaticResource PidNumericOnlyEditingTextBoxStyle}"/>
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<DataGridTextColumn Header="SLPKPSF" Width="110"
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Binding="{Binding PA_SLPKPSF.Value, UpdateSourceTrigger=PropertyChanged}"
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ElementStyle="{StaticResource PidNumericDisplayTextStyle}"
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EditingElementStyle="{StaticResource PidNumericOnlyEditingTextBoxStyle}"/>
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<DataGridTextColumn Header="SLAFF" Width="100"
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Binding="{Binding PA_SLAFF.Value, UpdateSourceTrigger=PropertyChanged}"
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ElementStyle="{StaticResource PidNumericDisplayTextStyle}"
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EditingElementStyle="{StaticResource PidNumericOnlyEditingTextBoxStyle}"/>
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</DataGrid.Columns>
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</DataGrid>
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</ScrollViewer>
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<WrapPanel Grid.Row="2" Margin="12,0,12,12">
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<Button Content="新增轴参数"
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Style="{StaticResource PidPrimaryButtonStyle}"
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Click="{mw:Action AddAxis}"/>
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<Button Content="删除轴参数"
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Style="{StaticResource PidDangerButtonStyle}"
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Click="{mw:Action DeleteAxis}"/>
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</WrapPanel>
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</Grid>
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</TabItem>
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<TabItem Header="滤波参数">
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<Grid>
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<Grid.RowDefinitions>
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<RowDefinition Height="Auto"/>
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<RowDefinition Height="*"/>
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<RowDefinition Height="8"/>
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<RowDefinition Height="*"/>
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<RowDefinition Height="Auto"/>
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</Grid.RowDefinitions>
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<TextBlock Grid.Row="0"
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Margin="12,8,12,6"
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Text="每个行对应一个轴的滤波参数设置，请根据机械共振频率调整滤波参数。"
|
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|
|
Style="{StaticResource PidHintTextStyle}"
|
|||
|
|
Foreground="{StaticResource PidHeaderForegroundBrush}"/>
|
|||
|
|
|
|||
|
|
<Grid Grid.Row="1" Margin="12,0,12,0">
|
|||
|
|
<Grid.RowDefinitions>
|
|||
|
|
<RowDefinition Height="Auto"/>
|
|||
|
|
<RowDefinition Height="*"/>
|
|||
|
|
</Grid.RowDefinitions>
|
|||
|
|
|
|||
|
|
<TextBlock Margin="0,0,0,6"
|
|||
|
|
Text="陷波参数"
|
|||
|
|
Style="{StaticResource PidSectionTitleStyle}"/>
|
|||
|
|
|
|||
|
|
<ScrollViewer Grid.Row="1"
|
|||
|
|
HorizontalScrollBarVisibility="Auto"
|
|||
|
|
VerticalScrollBarVisibility="Auto">
|
|||
|
|
<DataGrid ItemsSource="{Binding SelectedFilteringParameters}"
|
|||
|
|
SelectedItem="{Binding SelectedNotchFilteringParameter, Mode=TwoWay}"
|
|||
|
|
AutoGenerateColumns="False"
|
|||
|
|
CanUserAddRows="False"
|
|||
|
|
CanUserDeleteRows="False"
|
|||
|
|
MinHeight="200"
|
|||
|
|
MinWidth="900"
|
|||
|
|
ScrollViewer.HorizontalScrollBarVisibility="Disabled"
|
|||
|
|
ScrollViewer.VerticalScrollBarVisibility="Disabled">
|
|||
|
|
<DataGrid.Columns>
|
|||
|
|
<DataGridTemplateColumn Header="轴名称" Width="180">
|
|||
|
|
<DataGridTemplateColumn.CellTemplate>
|
|||
|
|
<DataTemplate>
|
|||
|
|
<TextBlock Text="{Binding AxisDisplayName}" VerticalAlignment="Center"/>
|
|||
|
|
</DataTemplate>
|
|||
|
|
</DataGridTemplateColumn.CellTemplate>
|
|||
|
|
<DataGridTemplateColumn.CellEditingTemplate>
|
|||
|
|
<DataTemplate>
|
|||
|
|
<ComboBox ItemsSource="{Binding DataContext.AxisOptions, RelativeSource={RelativeSource AncestorType=UserControl}}"
|
|||
|
|
DisplayMemberPath="AxisName"
|
|||
|
|
SelectedValuePath="AxisIndex"
|
|||
|
|
SelectedValue="{Binding AxisIndex, UpdateSourceTrigger=PropertyChanged}"
|
|||
|
|
Style="{StaticResource PidAxisComboBoxStyle}"/>
|
|||
|
|
</DataTemplate>
|
|||
|
|
</DataGridTemplateColumn.CellEditingTemplate>
|
|||
|
|
</DataGridTemplateColumn>
|
|||
|
|
<DataGridCheckBoxColumn Header="开启陷波" Width="90"
|
|||
|
|
Binding="{Binding IsUseNotch.Value, UpdateSourceTrigger=PropertyChanged}"/>
|
|||
|
|
<DataGridTemplateColumn Header="陷波频率 (Hz)" Width="120">
|
|||
|
|
<DataGridTemplateColumn.CellTemplate>
|
|||
|
|
<DataTemplate>
|
|||
|
|
<TextBlock Text="{Binding NotchFrequency.Value}" Style="{StaticResource PidNumericDisplayTextStyle}"/>
|
|||
|
|
</DataTemplate>
|
|||
|
|
</DataGridTemplateColumn.CellTemplate>
|
|||
|
|
<DataGridTemplateColumn.CellEditingTemplate>
|
|||
|
|
<DataTemplate>
|
|||
|
|
<mw:NumberBox Value="{Binding NotchFrequency.Value, UpdateSourceTrigger=PropertyChanged}"
|
|||
|
|
Style="{StaticResource PidNumberBoxStyle}"/>
|
|||
|
|
</DataTemplate>
|
|||
|
|
</DataGridTemplateColumn.CellEditingTemplate>
|
|||
|
|
</DataGridTemplateColumn>
|
|||
|
|
<DataGridTemplateColumn Header="陷波宽度" Width="110">
|
|||
|
|
<DataGridTemplateColumn.CellTemplate>
|
|||
|
|
<DataTemplate>
|
|||
|
|
<TextBlock Text="{Binding NotchWidth.Value}" Style="{StaticResource PidNumericDisplayTextStyle}"/>
|
|||
|
|
</DataTemplate>
|
|||
|
|
</DataGridTemplateColumn.CellTemplate>
|
|||
|
|
<DataGridTemplateColumn.CellEditingTemplate>
|
|||
|
|
<DataTemplate>
|
|||
|
|
<mw:NumberBox Value="{Binding NotchWidth.Value, UpdateSourceTrigger=PropertyChanged}"
|
|||
|
|
Style="{StaticResource PidNumberBoxStyle}"/>
|
|||
|
|
</DataTemplate>
|
|||
|
|
</DataGridTemplateColumn.CellEditingTemplate>
|
|||
|
|
</DataGridTemplateColumn>
|
|||
|
|
<DataGridTemplateColumn Header="衰减" Width="110">
|
|||
|
|
<DataGridTemplateColumn.CellTemplate>
|
|||
|
|
<DataTemplate>
|
|||
|
|
<TextBlock Text="{Binding NotchFalloff.Value}" Style="{StaticResource PidNumericDisplayTextStyle}"/>
|
|||
|
|
</DataTemplate>
|
|||
|
|
</DataGridTemplateColumn.CellTemplate>
|
|||
|
|
<DataGridTemplateColumn.CellEditingTemplate>
|
|||
|
|
<DataTemplate>
|
|||
|
|
<mw:NumberBox Value="{Binding NotchFalloff.Value, UpdateSourceTrigger=PropertyChanged}"
|
|||
|
|
Style="{StaticResource PidNumberBoxStyle}"/>
|
|||
|
|
</DataTemplate>
|
|||
|
|
</DataGridTemplateColumn.CellEditingTemplate>
|
|||
|
|
</DataGridTemplateColumn>
|
|||
|
|
</DataGrid.Columns>
|
|||
|
|
</DataGrid>
|
|||
|
|
</ScrollViewer>
|
|||
|
|
</Grid>
|
|||
|
|
|
|||
|
|
<Grid Grid.Row="3" Margin="12,0,12,8">
|
|||
|
|
<Grid.RowDefinitions>
|
|||
|
|
<RowDefinition Height="Auto"/>
|
|||
|
|
<RowDefinition Height="*"/>
|
|||
|
|
</Grid.RowDefinitions>
|
|||
|
|
|
|||
|
|
<TextBlock Margin="0,0,0,6"
|
|||
|
|
Text="低通参数"
|
|||
|
|
Style="{StaticResource PidSectionTitleStyle}"/>
|
|||
|
|
|
|||
|
|
<ScrollViewer Grid.Row="1"
|
|||
|
|
HorizontalScrollBarVisibility="Auto"
|
|||
|
|
VerticalScrollBarVisibility="Auto">
|
|||
|
|
<DataGrid ItemsSource="{Binding SelectedFilteringParameters}"
|
|||
|
|
SelectedItem="{Binding SelectedLowPassFilteringParameter, Mode=TwoWay}"
|
|||
|
|
AutoGenerateColumns="False"
|
|||
|
|
CanUserAddRows="False"
|
|||
|
|
CanUserDeleteRows="False"
|
|||
|
|
MinHeight="200"
|
|||
|
|
MinWidth="760"
|
|||
|
|
ScrollViewer.HorizontalScrollBarVisibility="Disabled"
|
|||
|
|
ScrollViewer.VerticalScrollBarVisibility="Disabled">
|
|||
|
|
<DataGrid.Columns>
|
|||
|
|
<DataGridTemplateColumn Header="轴名称" Width="180">
|
|||
|
|
<DataGridTemplateColumn.CellTemplate>
|
|||
|
|
<DataTemplate>
|
|||
|
|
<TextBlock Text="{Binding AxisDisplayName}" VerticalAlignment="Center"/>
|
|||
|
|
</DataTemplate>
|
|||
|
|
</DataGridTemplateColumn.CellTemplate>
|
|||
|
|
<DataGridTemplateColumn.CellEditingTemplate>
|
|||
|
|
<DataTemplate>
|
|||
|
|
<ComboBox ItemsSource="{Binding DataContext.AxisOptions, RelativeSource={RelativeSource AncestorType=UserControl}}"
|
|||
|
|
DisplayMemberPath="AxisName"
|
|||
|
|
SelectedValuePath="AxisIndex"
|
|||
|
|
SelectedValue="{Binding AxisIndex, UpdateSourceTrigger=PropertyChanged}"
|
|||
|
|
Style="{StaticResource PidAxisComboBoxStyle}"/>
|
|||
|
|
</DataTemplate>
|
|||
|
|
</DataGridTemplateColumn.CellEditingTemplate>
|
|||
|
|
</DataGridTemplateColumn>
|
|||
|
|
<DataGridCheckBoxColumn Header="开启低通" Width="90"
|
|||
|
|
Binding="{Binding IsUseFiltering.Value, UpdateSourceTrigger=PropertyChanged}"/>
|
|||
|
|
<DataGridTemplateColumn Header="低通频率 (Hz)" Width="130">
|
|||
|
|
<DataGridTemplateColumn.CellTemplate>
|
|||
|
|
<DataTemplate>
|
|||
|
|
<TextBlock Text="{Binding FilteringFrequency.Value}" Style="{StaticResource PidNumericDisplayTextStyle}"/>
|
|||
|
|
</DataTemplate>
|
|||
|
|
</DataGridTemplateColumn.CellTemplate>
|
|||
|
|
<DataGridTemplateColumn.CellEditingTemplate>
|
|||
|
|
<DataTemplate>
|
|||
|
|
<mw:NumberBox Value="{Binding FilteringFrequency.Value, UpdateSourceTrigger=PropertyChanged}"
|
|||
|
|
Style="{StaticResource PidNumberBoxStyle}"/>
|
|||
|
|
</DataTemplate>
|
|||
|
|
</DataGridTemplateColumn.CellEditingTemplate>
|
|||
|
|
</DataGridTemplateColumn>
|
|||
|
|
<DataGridTemplateColumn Header="阻尼系数" Width="130">
|
|||
|
|
<DataGridTemplateColumn.CellTemplate>
|
|||
|
|
<DataTemplate>
|
|||
|
|
<TextBlock Text="{Binding FilteringDamping.Value}" Style="{StaticResource PidNumericDisplayTextStyle}"/>
|
|||
|
|
</DataTemplate>
|
|||
|
|
</DataGridTemplateColumn.CellTemplate>
|
|||
|
|
<DataGridTemplateColumn.CellEditingTemplate>
|
|||
|
|
<DataTemplate>
|
|||
|
|
<mw:NumberBox Value="{Binding FilteringDamping.Value, UpdateSourceTrigger=PropertyChanged}"
|
|||
|
|
Style="{StaticResource PidNumberBoxStyle}"/>
|
|||
|
|
</DataTemplate>
|
|||
|
|
</DataGridTemplateColumn.CellEditingTemplate>
|
|||
|
|
</DataGridTemplateColumn>
|
|||
|
|
</DataGrid.Columns>
|
|||
|
|
</DataGrid>
|
|||
|
|
</ScrollViewer>
|
|||
|
|
</Grid>
|
|||
|
|
|
|||
|
|
<WrapPanel Grid.Row="4" Margin="12,0,12,12">
|
|||
|
|
<Button Content="新增滤波参数"
|
|||
|
|
Style="{StaticResource PidPrimaryButtonStyle}"
|
|||
|
|
Click="{mw:Action AddFilteringParameter}"/>
|
|||
|
|
<Button Content="删除滤波参数"
|
|||
|
|
Style="{StaticResource PidDangerButtonStyle}"
|
|||
|
|
Click="{mw:Action DeleteFilteringParameter}"/>
|
|||
|
|
</WrapPanel>
|
|||
|
|
</Grid>
|
|||
|
|
</TabItem>
|
|||
|
|
</TabControl>
|
|||
|
|
</Border>
|
|||
|
|
|
|||
|
|
<Border Grid.Row="2"
|
|||
|
|
Margin="12,0,12,12"
|
|||
|
|
Padding="12,8"
|
|||
|
|
Background="White"
|
|||
|
|
BorderBrush="{StaticResource PidCardBorderBrush}"
|
|||
|
|
BorderThickness="1"
|
|||
|
|
CornerRadius="4">
|
|||
|
|
<TextBlock Text="说明：PID 配置组由程序初始化；每个配置组对应一组 PID 参数和滤波参数。"
|
|||
|
|
Style="{StaticResource PidHintTextStyle}"/>
|
|||
|
|
</Border>
|
|||
|
|
</Grid>
|
|||
|
|
</UserControl>
|