OHV/Dev/OHV/OHV.Module.Interactivity/PopUp/DriveServoView.xaml

<UserControl x:Class="OHV.Module.Interactivity.PopUp.DriveServoView"
             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:OHV.Module.Interactivity.PopUp"
             xmlns:prism="http://prismlibrary.com/"
             xmlns:materialDesign="http://materialdesigninxaml.net/winfx/xaml/themes"
             prism:ViewModelLocator.AutoWireViewModel="True"
             mc:Ignorable="d" 
             Width="1130"
             Height="700"
             Background="#455a64">

    <prism:Dialog.WindowStyle>
        <Style TargetType="Window">
            <Setter Property="prism:Dialog.WindowStartupLocation" Value="CenterScreen" />
            <Setter Property="Background" Value="Transparent"/>
            <Setter Property="AllowsTransparency" Value="True"/>
            <Setter Property="ResizeMode" Value="NoResize"/>
            <Setter Property="WindowStyle" Value="None"/>
            <Setter Property="BorderThickness" Value="1"/>
            <Setter Property="BorderBrush" Value="{DynamicResource BorderSolidNormal}"/>
            <Setter Property="Template" Value="{DynamicResource WindowTemplateKey}"/>

            <!--<Style.Triggers>
                <Trigger Property="ResizeMode" Value="CanResizeWithGrip">
                    <Setter Property="Template" Value="{StaticResource WindowTemplateKey}"/>
                </Trigger>
            </Style.Triggers>-->
        </Style>
    </prism:Dialog.WindowStyle>

    <UserControl.Resources>
        <Style x:Key="MaterialDesignDataGridRowHeader" TargetType="{x:Type DataGridRowHeader}">
            <Setter Property="Template">
                <Setter.Value>
                    <ControlTemplate TargetType="{x:Type DataGridRowHeader}">
                        <Grid MinWidth="24">
                            <Border BorderBrush="{TemplateBinding BorderBrush}" BorderThickness="{TemplateBinding BorderThickness}" Background="{TemplateBinding Background}" Padding="{TemplateBinding Padding}">
                                <StackPanel Orientation="Horizontal">
                                    <ContentPresenter RecognizesAccessKey="True" SnapsToDevicePixels="{TemplateBinding SnapsToDevicePixels}" VerticalAlignment="Center"/>
                                    <Control SnapsToDevicePixels="false" Template="{Binding ValidationErrorTemplate, RelativeSource={RelativeSource AncestorType={x:Type DataGridRow}}}" Visibility="{Binding (Validation.HasError), Converter={StaticResource BooleanToVisibilityConverter}, RelativeSource={RelativeSource AncestorType={x:Type DataGridRow}}}"/>
                                </StackPanel>
                            </Border>
                            <Thumb x:Name="PART_TopHeaderGripper" Style="{StaticResource MaterialDesignGridRowHeaderGripper}" VerticalAlignment="Top"/>
                            <Thumb x:Name="PART_BottomHeaderGripper" Style="{StaticResource MaterialDesignGridRowHeaderGripper}" VerticalAlignment="Bottom"/>
                        </Grid>
                    </ControlTemplate>
                </Setter.Value>
            </Setter>
        </Style>

    </UserControl.Resources>

    <Grid>
        <Grid.ColumnDefinitions>
            <ColumnDefinition/>
            <ColumnDefinition Width="130"/>
            <ColumnDefinition Width="130"/>
        </Grid.ColumnDefinitions>

        <Grid Grid.Column="0" Margin="15"
              Background="#37474f">

            <Grid.RowDefinitions>
                <RowDefinition Height="*"/>
                <RowDefinition Height="*"/>
            </Grid.RowDefinitions>

            <!--Position Data Grid View-->
            <Grid Grid.Row="0">
                <DataGrid
                      Margin="15"
                      ItemsSource="{Binding POS}"
                      CanUserSortColumns="True"
                      CanUserAddRows="False"
                      Background="{x:Null}"
                      Width="auto"
                      Height="auto"
                      BorderBrush="#FF00FFD3"
                      BorderThickness="1"
                      SelectedItem="{Binding SelectedRow1}">

                    <DataGrid.ColumnHeaderStyle>
                        <Style TargetType="DataGridColumnHeader">
                            <Setter Property="BorderBrush" Value="#FF00FFD3"/>
                            <Setter Property="Foreground" Value="White"/>
                            <Setter Property="FontSize" Value="20"/>
                            <Setter Property="HorizontalAlignment" Value="Center"/>
                            <Setter Property="VerticalAlignment" Value="Center"/>
                        </Style>
                    </DataGrid.ColumnHeaderStyle>
                    <DataGrid.CellStyle>
                        <Style TargetType="DataGridCell">
                            <Setter Property="TextBlock.TextAlignment" Value="Center"/>
                            <Setter Property="TextBlock.FontStretch" Value="UltraExpanded"/>
                            <Setter Property="TextBlock.VerticalAlignment" Value="Center"/>
                            <Setter Property="BorderBrush" Value="Black"/>
                            <Setter Property="Foreground" Value="White"/>
                            <Setter Property="FontSize" Value="15"/>
                            <Setter Property="Width" Value="161"/>
                            <Setter Property="Height" Value="50"/>
                        </Style>
                    </DataGrid.CellStyle>
                </DataGrid>
            </Grid>

            <!--Axis  Grid View-->
            <Grid Grid.Row="1">
                <Grid.RowDefinitions>
                    <RowDefinition Height="*"/>
                    <RowDefinition Height="*"/>
                    <RowDefinition Height="*"/>
                    <RowDefinition Height="*"/>
                </Grid.RowDefinitions>
                <Grid.ColumnDefinitions>
                    <ColumnDefinition Width="*"/>
                    <ColumnDefinition Width="*"/>
                    <ColumnDefinition Width="*"/>
                    <ColumnDefinition Width="*"/>
                    <ColumnDefinition Width="*"/>
                </Grid.ColumnDefinitions>

                <Border Margin="0,5,163,5" BorderBrush="#FF00FFD3" BorderThickness="2" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Grid.RowSpan="4" Grid.Column="2"/>
                <Border Margin="161,5,2,3" BorderBrush="#FF00FFD3" BorderThickness="2" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Grid.RowSpan="2" Grid.Column="2" Grid.Row="2"/>
                <Border Margin="161,0,10,78" BorderBrush="#FF00FFD3" BorderThickness="2" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Grid.Column="2" Grid.ColumnSpan="3" Grid.Row="2"/>
                <Border Margin="33,-2,34,82" BorderBrush="#FF00FFD3" BorderThickness="2" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Grid.Column="2" Grid.ColumnSpan="3" Grid.RowSpan="2"/>

                <Button Grid.Column="0" Grid.Row="1" HorizontalAlignment="Stretch" Margin="5" Height="auto"
                            Style="{StaticResource MaterialDesignRaisedButton}"
                            materialDesign:ButtonAssist.CornerRadius="10"
                            ToolTip="MaterialDesignRaisedButton with Round Corners">
                    <StackPanel>
                        <TextBlock HorizontalAlignment="Center"><Run Text="Target"/></TextBlock>
                        <TextBlock HorizontalAlignment="Center"><Run Text="Pos"/></TextBlock>
                    </StackPanel>
                </Button>

                <Button Grid.Column="0" Grid.Row="2" HorizontalAlignment="Stretch" Margin="5" Height="auto"
                            Style="{StaticResource MaterialDesignRaisedButton}"
                            materialDesign:ButtonAssist.CornerRadius="10"
                            ToolTip="MaterialDesignRaisedButton with Round Corners">
                    <StackPanel>
                        <TextBlock HorizontalAlignment="Center"><Run Text="Current"/></TextBlock>
                        <TextBlock HorizontalAlignment="Center"><Run Text="Pos"/></TextBlock>
                    </StackPanel>
                </Button>

                <Button Grid.Column="0" Grid.Row="3" HorizontalAlignment="Stretch" Margin="5" Height="auto"
                            Style="{StaticResource MaterialDesignRaisedButton}"
                            materialDesign:ButtonAssist.CornerRadius="10"
                            ToolTip="MaterialDesignRaisedButton with Round Corners">
                    <StackPanel>
                        <TextBlock HorizontalAlignment="Center"><Run Text="Difference"/></TextBlock>
                        <TextBlock HorizontalAlignment="Center"><Run Text="Pos"/></TextBlock>
                    </StackPanel>
                </Button>

                <Button Grid.Column="1" Grid.Row="0" HorizontalAlignment="Stretch" Margin="5" Height="auto"
                            Style="{StaticResource MaterialDesignRaisedButton}"
                            materialDesign:ButtonAssist.CornerRadius="10"
                            ToolTip="MaterialDesignRaisedButton with Round Corners"
                            Command="{Binding SelectAxisCommand}"
                            CommandParameter="Left">
                    <TextBlock><Run Text="Drive1"/></TextBlock>
                </Button>

                <Button Background="{x:Null}" Grid.Column="1" Grid.Row="1" HorizontalAlignment="Stretch" Margin="5" Height="auto"
                            Style="{StaticResource MaterialDesignRaisedButton}"
                            materialDesign:ButtonAssist.CornerRadius="10"
                            ToolTip="MaterialDesignRaisedButton with Round Corners">
                    <Button.InputBindings>
                        <MouseBinding Gesture="LeftClick" Command="{Binding KeyInTargetPosCommand}" CommandParameter="Left"/>
                    </Button.InputBindings>
                    <TextBlock><Run Text="{Binding TargetPosDrive, StringFormat=0.000, FallbackValue=0.000}"/></TextBlock>
                </Button>

                <Button Background="{x:Null}" Grid.Column="1" Grid.Row="2" HorizontalAlignment="Stretch" Margin="5" Height="auto"
                            Style="{StaticResource MaterialDesignRaisedButton}"
                            materialDesign:ButtonAssist.CornerRadius="10"
                            ToolTip="MaterialDesignRaisedButton with Round Corners">
                    <TextBlock><Run Text="{Binding CurrentDrive, StringFormat=0.000, FallbackValue=0.000}"/></TextBlock>
                </Button>

                <Button Background="{x:Null}" Grid.Column="1" Grid.Row="3" HorizontalAlignment="Stretch" Margin="5" Height="auto"
                            Style="{StaticResource MaterialDesignRaisedButton}"
                            materialDesign:ButtonAssist.CornerRadius="10"
                            ToolTip="MaterialDesignRaisedButton with Round Corners">
                    <TextBlock><Run Text="{Binding DifferenceDrive, StringFormat=0.000, FallbackValue=0.000}"/></TextBlock>
                </Button>

                <!--Steering Dir Front-->
                <Button Grid.Column="3" Margin="10"
                        Grid.Row="2"
                        HorizontalAlignment="Stretch" 
                        Height="Auto" 
                        BorderBrush="Gray" 
                        BorderThickness="2" 
                        Command="{Binding SelectedDirection}"
                        CommandParameter="Front">
                    <StackPanel>
                        <!--<materialDesign:PackIcon Kind="SubdirectoryArrowLeft" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="42" Width="auto"/>-->
                        <TextBlock Text="Steering" VerticalAlignment="Stretch" HorizontalAlignment="Center"/>
                        <TextBlock Text="Front" VerticalAlignment="Stretch" HorizontalAlignment="Center"/>
                    </StackPanel>
                </Button>

                <!--Steering Dir Back-->
                <Button Grid.Column="4" Margin="10"
                        Grid.Row="2"
                        HorizontalAlignment="Stretch" 
                        Height="Auto" 
                        BorderBrush="Gray" 
                        BorderThickness="2" 
                        Command="{Binding SelectedDirection}"
                        CommandParameter="Back">
                    <StackPanel>
                        <!--<materialDesign:PackIcon Kind="SubdirectoryArrowLeft" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="42" Width="auto"/>-->
                        <TextBlock Text="Steering" VerticalAlignment="Stretch" HorizontalAlignment="Center"/>
                        <TextBlock Text="Back" VerticalAlignment="Stretch" HorizontalAlignment="Center"/>
                    </StackPanel>
                </Button>

                <Button Grid.Column="3" Margin="3"
                        Grid.Row="3"
                        HorizontalAlignment="Stretch" 
                        Height="Auto" 
                        BorderBrush="Gray" 
                        BorderThickness="2" 
                        Command="{Binding SteeringCWCommand}"
                        CommandParameter="CW">
                    <StackPanel>
                        <materialDesign:PackIcon Kind="SubdirectoryArrowLeft" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="42" Width="auto"/>
                        <TextBlock Text="Steering CW" VerticalAlignment="Stretch" HorizontalAlignment="Center"/>
                    </StackPanel>
                </Button>

                <Button Grid.Column="4" Margin="3"
                        Grid.Row="3"
                        HorizontalAlignment="Stretch" 
                        Height="Auto" 
                        BorderBrush="Gray" 
                        BorderThickness="2" 
                        Command="{Binding SteeringCCWCommand}"
                        CommandParameter="CCW">
                    <StackPanel>
                        <materialDesign:PackIcon Kind="SubdirectoryArrowRight" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="42" Width="auto"/>
                        <TextBlock Text="Steering CCW" VerticalAlignment="Stretch" HorizontalAlignment="Center"/>
                    </StackPanel>
                </Button>

                <!--Jog Button-->
                <RepeatButton
                            Margin="5"
                            Grid.Row="0" 
                            Grid.Column="2"
                            HorizontalAlignment="Right"
                            Width="120"
                            Height="auto"
                            Command="{Binding JogCommand}" CommandParameter="-">
                    <StackPanel>
                        <materialDesign:PackIcon Kind="ArrowLeftBoldCircleOutline" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="30" Width="auto"/>
                        <TextBlock><Run Text="Jog(-)"/></TextBlock>
                    </StackPanel>
                </RepeatButton>

                <Button
                            Margin="5"
                            Grid.Row="0" 
                            Grid.Column="3"
                            HorizontalAlignment="Center"
                            Height="auto"
                            Command="{Binding JogVelPopupCommand}" CommandParameter="-">
                    <StackPanel>
                        <TextBlock HorizontalAlignment="Center"><Run Text="Jog Velocity"/></TextBlock>
                        <TextBlock HorizontalAlignment="Center"><Run Text="{Binding JogVelocity, StringFormat={}{0:0.000}, FallbackValue=0.000}"/></TextBlock>
                    </StackPanel>
                </Button>

                <RepeatButton
                            Margin="5"
                            Grid.Row="0" 
                            Grid.Column="4"
                            HorizontalAlignment="Left"
                            Width="120"
                            Height="auto"
                            Command="{Binding JogCommand}" CommandParameter="+">
                    <StackPanel>
                        <materialDesign:PackIcon Kind="ArrowRightBoldCircleOutline" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="30" Width="auto"/>
                        <TextBlock><Run Text="Jog(+)"/></TextBlock>
                    </StackPanel>
                </RepeatButton>
            </Grid>

            <!--Steering Control-->
            <Grid Grid.Row="2">

            </Grid>
        </Grid>

        <!--Sub Drive Menu-->
        <Grid Grid.Column="1" Background="#263238">
            <StackPanel>
                <Button Margin="7, 20" HorizontalAlignment="Stretch" Height="60" BorderBrush="Gray" BorderThickness="2" 
                        Command="{Binding PositionAddCommand}">
                    <StackPanel>
                        <!--<materialDesign:PackIcon Kind="PowerSettings" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="42" Width="auto"/>-->
                        <TextBlock Text="Add" VerticalAlignment="Stretch" HorizontalAlignment="Center"/>
                    </StackPanel>
                </Button>

                <Button Margin="7, 20" HorizontalAlignment="Stretch" Height="60" BorderBrush="Gray" BorderThickness="2" 
                        Command="{Binding PositionDeleteCommand}">
                    <StackPanel>
                        <!--<materialDesign:PackIcon Kind="PowerSettings" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="42" Width="auto"/>-->
                        <TextBlock Text="Delete" VerticalAlignment="Stretch" HorizontalAlignment="Center"/>
                    </StackPanel>
                </Button>

                <Button Margin="7, 20" HorizontalAlignment="Stretch" Height="60" BorderBrush="Gray" BorderThickness="2" 
                        Command="{Binding PositionSaveCommand}">
                    <StackPanel>
                        <!--<materialDesign:PackIcon Kind="PowerSettings" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="42" Width="auto"/>-->
                        <TextBlock Text="Save" VerticalAlignment="Stretch" HorizontalAlignment="Center"/>
                    </StackPanel>
                </Button>

                <!--Move TO / Current To Target-->
                <Button Margin="7, 50" HorizontalAlignment="Stretch" Height="60" BorderBrush="Gray" BorderThickness="2" 
                        Command="{Binding MoveToCommand}">
                    <StackPanel>
                        <!--<materialDesign:PackIcon Kind="PowerSettings" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="42" Width="auto"/>-->
                        <TextBlock Text="Move To" VerticalAlignment="Stretch" HorizontalAlignment="Center"/>
                    </StackPanel>
                </Button>

                <Button Margin="7,0" HorizontalAlignment="Stretch" Height="60" BorderBrush="Gray" BorderThickness="2" 
                        Command="{Binding CurrentToTargetCommand}">
                    <StackPanel>
                        <!--<materialDesign:PackIcon Kind="PowerSettings" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="42" Width="auto"/>-->
                        <TextBlock Text="Current To" VerticalAlignment="Stretch" HorizontalAlignment="Center"/>
                        <TextBlock Text="Target" VerticalAlignment="Stretch" HorizontalAlignment="Center"/>
                    </StackPanel>
                </Button>
            </StackPanel>
        </Grid>

        <!--Right Drive Menu-->
        <Grid Grid.Column="2" Background="#263238">
            <Border Margin="1" BorderBrush="#FF00FFD3" BorderThickness="2" VerticalAlignment="Stretch" HorizontalAlignment="Stretch"/>
            <StackPanel>
                <Button Margin="5" HorizontalAlignment="Stretch" Height="Auto" BorderBrush="Gray" BorderThickness="2" Command="{Binding ServoOnCommand}">
                    <StackPanel>
                        <materialDesign:PackIcon Kind="PowerSettings" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="42" Width="auto"/>
                        <TextBlock Text="Servo On" VerticalAlignment="Stretch" HorizontalAlignment="Center"/>
                    </StackPanel>
                </Button>

                <Button Margin="5" HorizontalAlignment="Stretch" Height="Auto" BorderBrush="Gray" BorderThickness="2" Command="{Binding ServoOffCommand}">
                    <StackPanel>
                        <materialDesign:PackIcon Kind="PowerPlugOff" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="42" Width="auto"/>
                        <TextBlock Text="Servo Off" VerticalAlignment="Stretch" HorizontalAlignment="Center"/>
                    </StackPanel>
                </Button>

                <Button Margin="5" HorizontalAlignment="Stretch" Height="Auto" BorderBrush="Gray" BorderThickness="2" Command="{Binding FaultResetCommand}">
                    <StackPanel>
                        <materialDesign:PackIcon Kind="CircleArrows" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="42" Width="auto"/>
                        <TextBlock Text="Fault Reset" VerticalAlignment="Stretch" HorizontalAlignment="Center"/>
                    </StackPanel>
                </Button>

                <Button Margin="5" HorizontalAlignment="Stretch" Height="Auto" BorderBrush="Gray" BorderThickness="2" Command="{Binding OriginCommand}">
                    <StackPanel>
                        <materialDesign:PackIcon Kind="Origin" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="42" Width="auto"/>
                        <TextBlock Text="Origin" VerticalAlignment="Stretch" HorizontalAlignment="Center" />
                    </StackPanel>
                </Button>

                <Button Margin="5" HorizontalAlignment="Stretch" Height="Auto" BorderBrush="Gray" BorderThickness="2" Command="{Binding CloseDialogCommand}" CommandParameter="true">
                    <StackPanel>
                        <materialDesign:PackIcon Kind="ExitToApp" VerticalAlignment="Stretch" HorizontalAlignment="Stretch" Height="42" Width="auto"/>
                        <TextBlock Text="Close" VerticalAlignment="Stretch" HorizontalAlignment="Center" />
                    </StackPanel>
                </Button>
            </StackPanel>
        </Grid>
    </Grid>
</UserControl>