FurnaceELK/Furnace/FurnaceUI/Views/Maintenances/BoatRobotView.xaml

<UserControl x:Class="FurnaceUI.Views.Maintenances.BoatRobotView"
             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:FurnaceUI.Views.Maintenances" 
             xmlns:i="http://schemas.microsoft.com/expression/2010/interactivity" 
             xmlns:cal="http://www.caliburn.org"
             xmlns:deviceControl="clr-namespace:Aitex.Core.UI.DeviceControl;assembly=MECF.Framework.UI.Core" xmlns:parts="clr-namespace:FurnaceUI.Controls.Parts"
             mc:Ignorable="d" 
             Width="1280" Height="900"
           >
    <Grid>
        <Canvas >
            <Grid Margin="10,10,0,0" >
                <Grid.RowDefinitions>
                    <RowDefinition Height="24"/>
                    <RowDefinition Height="35"/>
                    <RowDefinition Height="35"/>
                    <RowDefinition Height="35"/>
                    <RowDefinition Height="35"/>
                    <RowDefinition Height="35"/>
                    <RowDefinition Height="35"/>
                    <RowDefinition Height="35"/>
                    <RowDefinition Height="35"/>
                    <RowDefinition Height="35"/>
                    <RowDefinition Height="35"/>
                    <RowDefinition Height="35"/>
                    <RowDefinition Height="115"/>
                </Grid.RowDefinitions>
                <Grid.ColumnDefinitions>
                    <ColumnDefinition Width="110"/>
                    <ColumnDefinition  Width="80"/>
                    <ColumnDefinition  Width="110"/>
                    <ColumnDefinition  Width="180"/>
                </Grid.ColumnDefinitions>
                <Label Style="{DynamicResource Table_TitleStyle}"  Grid.Row="0" Grid.ColumnSpan="4" HorizontalContentAlignment="Center" VerticalContentAlignment="Center">
                    <Label.Content>
                        <TextBlock Text="Boat E Axis Information"  Foreground="White"></TextBlock>
                    </Label.Content>
                </Label>

                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="1,0,1,1" Background="{DynamicResource Table_BG_Title}" Grid.Row="1" Grid.Column="0" Padding="10,1,0,1">
                    <TextBlock Text="Status" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="14"  VerticalAlignment="Center" />
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="1" Grid.Column ="1" Padding="5,1">
                    <TextBlock Text="{Binding BoatZAxisStatus}" VerticalAlignment="Center" HorizontalAlignment="Center" FontSize="14"/>
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Title}" Grid.Row="1" Grid.Column="2" Padding="10,1,0,1">
                    <TextBlock Text="Servo On/Off" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="14"  VerticalAlignment="Center" />
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="1" Grid.Column ="3" Padding="5,1">
                    <deviceControl:AITSensor CustomColorOn="#FF07FF07" IsCustomRender="True" CustomColorOff="Gray" LightOnValue="{Binding BoatZAxisIsServoOn}" EnableToolTip="False"/>
                </Border>

                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="1,0,1,1" Background="{DynamicResource Table_BG_Title}" Grid.Row="2" Grid.Column="0" Padding="10,1,0,1">
                    <TextBlock Text="Error Code" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="14"  VerticalAlignment="Center" />
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="2" Grid.Column ="1" Padding="5,1">
                    <TextBlock Text="{Binding BoatZAxisErrorCode,StringFormat={}{0:f2}}" VerticalAlignment="Center" HorizontalAlignment="Center" FontSize="14"/>
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Title}" Grid.Row="2" Grid.Column="2" Padding="10,1,0,1">
                    <TextBlock Text="Motor Warning" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="14"  VerticalAlignment="Center" />
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="2" Grid.Column ="3" Padding="5,1">
                    <deviceControl:AITSensor CustomColorOn="Red" IsCustomRender="True" CustomColorOff="#FF07FF07" LightOnValue="{Binding BoatZAxisIsWarning}" EnableToolTip="False"/>
                </Border>

                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="1,0,1,1" Background="{DynamicResource Table_BG_Title}" Grid.Row="3" Grid.Column="0" Padding="10,1,0,1">
                    <TextBlock Text="Current Speed(mm/min)" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="14"  VerticalAlignment="Center" />
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="3" Grid.Column ="1" Padding="5,1">
                    <TextBlock Text="{Binding BoatZAxisCurrentSpeed,StringFormat={}{0:f2}}" VerticalAlignment="Center" HorizontalAlignment="Center" FontSize="14"/>
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Title}" Grid.Row="3" Grid.Column="2" Padding="10,1,0,1">
                    <TextBlock Text="Motor Alarm" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="14"  VerticalAlignment="Center" />
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="3" Grid.Column ="3" Padding="5,1">
                    <deviceControl:AITSensor CustomColorOn="Red" IsCustomRender="True" CustomColorOff="#FF07FF07" LightOnValue="{Binding BoatZAxisIsAlarm}" EnableToolTip="False"/>
                </Border>

                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="1,0,1,1" Background="{DynamicResource Table_BG_Title}" Grid.Row="4" Grid.Column="0" Padding="10,1,0,1">
                    <TextBlock Text="Current Position(mm)" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="14"  VerticalAlignment="Center" />
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="4" Grid.Column ="1" Padding="5,1">
                    <TextBlock Text="{Binding BoatZAxisCurrentPosition,StringFormat={}{0:f2}}" VerticalAlignment="Center" HorizontalAlignment="Center" FontSize="14"/>
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Title}" Grid.Row="4" Grid.Column="2" Padding="10,1,0,1">
                    <TextBlock Text="Motor Moving" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="14"  VerticalAlignment="Center" />
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="4" Grid.Column ="3" Padding="5,1">
                    <deviceControl:AITSensor CustomColorOn="#FF07FF07" IsCustomRender="True" CustomColorOff="Gray" LightOnValue="{Binding BoatZAxisIsMoving}" EnableToolTip="False"/>
                </Border>

                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="1,0,1,1" Background="{DynamicResource Table_BG_Title}" Grid.Row="5" Grid.Column="0" Padding="10,1,0,1">
                    <TextBlock Text="At Position1" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="14"  VerticalAlignment="Center" />
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="5" Grid.Column="1">
                    <deviceControl:AITSensor CustomColorOn="#FF07FF07" IsCustomRender="True" CustomColorOff="Gray" LightOnValue="{Binding BoatZAxisAtPosition2}" EnableToolTip="False"/>
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="5" Grid.Column="2" Grid.ColumnSpan="2">
                    <Button Content="Move To Position1" Width="150" Height="30" Margin="0,0,10,0" IsEnabled="{Binding IsSystemStaus}">
                        <i:Interaction.Triggers>
                            <i:EventTrigger EventName="Click">
                                <cal:ActionMessage MethodName="MoveTo">
                                    <cal:Parameter Value="Position2" />
                                </cal:ActionMessage>
                            </i:EventTrigger>
                        </i:Interaction.Triggers>
                    </Button>
                </Border>

                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="1,0,1,1" Background="{DynamicResource Table_BG_Title}" Grid.Row="6" Grid.Column="0" Padding="10,1,0,1">
                    <TextBlock Text="At Position2" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="14"  VerticalAlignment="Center" />
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="6" Grid.Column="1">
                    <deviceControl:AITSensor CustomColorOn="#FF07FF07" IsCustomRender="True" CustomColorOff="Gray" LightOnValue="{Binding BoatZAxisAtPosition1}" EnableToolTip="False"/>
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="6" Grid.Column="2" Grid.ColumnSpan="2">
                    <Button Content="Move To Position2" Width="150" Height="30" Margin="0,0,10,0" IsEnabled="{Binding IsSystemStaus}">
                        <i:Interaction.Triggers>
                            <i:EventTrigger EventName="Click">
                                <cal:ActionMessage MethodName="MoveTo">
                                    <cal:Parameter Value="Position1" />
                                </cal:ActionMessage>
                            </i:EventTrigger>
                        </i:Interaction.Triggers>
                    </Button>
                </Border>

                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="1,0,1,1" Background="{DynamicResource Table_BG_Title}" Grid.Row="7" Grid.Column="0" Padding="10,1,0,1">
                    <TextBlock Text="At Position3" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="14"  VerticalAlignment="Center" />
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="7" Grid.Column="1">
                    <deviceControl:AITSensor CustomColorOn="#FF07FF07" IsCustomRender="True" CustomColorOff="Gray" LightOnValue="{Binding BoatZAxisAtPosition3}" EnableToolTip="False"/>
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="7" Grid.Column="2" Grid.ColumnSpan="2">
                    <Button Content="Move To Position3" Width="150" Height="30" Margin="0,0,10,0" IsEnabled="{Binding IsSystemStaus}">
                        <i:Interaction.Triggers>
                            <i:EventTrigger EventName="Click">
                                <cal:ActionMessage MethodName="MoveTo">
                                    <cal:Parameter Value="Position3" />
                                </cal:ActionMessage>
                            </i:EventTrigger>
                        </i:Interaction.Triggers>
                    </Button>
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="1,0,1,1" Background="{DynamicResource Table_BG_Title}" Grid.Row="8" Grid.Column="0" Padding="10,1,0,1">
                    <TextBlock Text="At Home Position" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="14"  VerticalAlignment="Center" />
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="8" Grid.Column="1">
                    <deviceControl:AITSensor CustomColorOn="#FF07FF07" IsCustomRender="True" CustomColorOff="Gray" LightOnValue="{Binding BoatZAxisAtHomePosition}" EnableToolTip="False"/>
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="8" Grid.Column="2" Grid.ColumnSpan="2">

                </Border>

                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="1,0,1,1" Background="{DynamicResource Table_BG_Title}" Grid.Row="9" Grid.Column="0" Padding="10,1,0,1">
                    <TextBlock Text="Move Speed(mm/min)" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="14"  VerticalAlignment="Center" />
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="9" Grid.Column="1">
                    <TextBlock Text="{Binding ZAxisMoveSpeed, StringFormat={}{0:f2}}" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="14"  VerticalAlignment="Center" HorizontalAlignment="Center"/>
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="9" Grid.Column ="2" Grid.ColumnSpan="3" Padding="5,1">
                    <StackPanel   Orientation="Horizontal"  >
                        <TextBox Text="{Binding ZAxisMoveSpeed,Mode=OneTime}" x:Name="tbMoveSpeed" HorizontalContentAlignment="Center" Width="90" Height="30" Tag="Number"></TextBox>
                        <Button Content="Save" Width="80" Height="30" Margin="10,0,10,0">
                            <i:Interaction.Triggers>
                                <i:EventTrigger EventName="Click">
                                    <cal:ActionMessage MethodName="BoatZSaveValue">
                                        <cal:Parameter Value="MoveSpeed" />
                                        <cal:Parameter Value="{Binding ElementName=tbMoveSpeed}" />
                                    </cal:ActionMessage>
                                </i:EventTrigger>
                            </i:Interaction.Triggers>
                        </Button>
                    </StackPanel>
                </Border>

                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="1,0,1,1" Background="{DynamicResource Table_BG_Title}" Grid.Row="10" Grid.Column="0" Padding="10,1,0,1">
                    <TextBlock Text="Acc(mm/min)" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="14"  VerticalAlignment="Center" />
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="10" Grid.Column="1">
                    <TextBlock Text="{Binding ZAxisAcc, StringFormat={}{0:f2}}" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="14"  VerticalAlignment="Center" HorizontalAlignment="Center"/>
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="10" Grid.Column ="2" Grid.ColumnSpan="3" Padding="5,1">
                    <StackPanel   Orientation="Horizontal"  >
                        <TextBox Text="{Binding ZAxisAcc,Mode=OneTime}" x:Name="tbZAxisAcc" HorizontalContentAlignment="Center" Width="90" Height="30" Tag="Number"></TextBox>
                        <Button Content="Save" Width="80" Height="30" Margin="10,0,10,0">
                            <i:Interaction.Triggers>
                                <i:EventTrigger EventName="Click">
                                    <cal:ActionMessage MethodName="BoatZSaveValue">
                                        <cal:Parameter Value="Acc" />
                                        <cal:Parameter Value="{Binding ElementName=tbZAxisAcc}" />
                                    </cal:ActionMessage>
                                </i:EventTrigger>
                            </i:Interaction.Triggers>
                        </Button>
                    </StackPanel>
                </Border>

                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="1,0,1,1" Background="{DynamicResource Table_BG_Title}" Grid.Row="11" Grid.Column="0" Padding="10,1,0,1">
                    <TextBlock Text="Dec(mm/min)" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="14"  VerticalAlignment="Center" />
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="11" Grid.Column="1">
                    <TextBlock Text="{Binding ZAxisDec, StringFormat={}{0:f2}}" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="14"  VerticalAlignment="Center" HorizontalAlignment="Center"/>
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="11" Grid.Column ="2" Grid.ColumnSpan="3" Padding="5,1">
                    <StackPanel   Orientation="Horizontal"  >
                        <TextBox Text="{Binding ZAxisDec,Mode=OneTime}" x:Name="tbZAxisDec" HorizontalContentAlignment="Center" Width="90" Height="30" Tag="Number"></TextBox>
                        <Button Content="Save" Width="80" Height="30" Margin="10,0,10,0">
                            <i:Interaction.Triggers>
                                <i:EventTrigger EventName="Click">
                                    <cal:ActionMessage MethodName="BoatZSaveValue">
                                        <cal:Parameter Value="Dec" />
                                        <cal:Parameter Value="{Binding ElementName=tbZAxisDec}" />
                                    </cal:ActionMessage>
                                </i:EventTrigger>
                            </i:Interaction.Triggers>
                        </Button>
                    </StackPanel>
                </Border>

                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="1,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="12" Grid.ColumnSpan="4" Padding="0,0,0,0">
                    <StackPanel   Orientation="Horizontal" Margin="0,0,0,0" >
                        <Button Content="Continue" Width="92" Height="30" Margin="30,-70,0,0" IsEnabled="{Binding IsProcessing}">
                            <i:Interaction.Triggers>
                                <i:EventTrigger EventName="Click">
                                    <cal:ActionMessage MethodName="Continue">
                                        <cal:Parameter Value="PM1.BoatElevatorServo" />
                                    </cal:ActionMessage>
                                </i:EventTrigger>
                            </i:Interaction.Triggers>
                        </Button>
                        <Button Content="Stop" Width="92" Height="30" Margin="22,-70,10,0" IsEnabled="{Binding IsSystemStaus}">
                            <i:Interaction.Triggers>
                                <i:EventTrigger EventName="Click">
                                    <cal:ActionMessage MethodName="Stop">
                                        <cal:Parameter Value="PM1.BoatElevatorServo" />
                                    </cal:ActionMessage>
                                </i:EventTrigger>
                            </i:Interaction.Triggers>
                        </Button>
                        <Button Content="Reset" Width="92" Height="30" Margin="5,-70,10,0" IsEnabled="{Binding IsSystemStaus}">
                            <i:Interaction.Triggers>
                                <i:EventTrigger EventName="Click">
                                    <cal:ActionMessage MethodName="Reset">
                                        <cal:Parameter Value="PM1.BoatElevatorServo" />
                                    </cal:ActionMessage>
                                </i:EventTrigger>
                            </i:Interaction.Triggers>
                        </Button>
                        <Button Content="Home" Width="92" Height="30" Margin="5,-70,0,0" IsEnabled="{Binding IsSystemStaus}">
                            <i:Interaction.Triggers>
                                <i:EventTrigger EventName="Click">
                                    <cal:ActionMessage MethodName="Home">
                                        <cal:Parameter Value="PM1.BoatElevatorServo" />
                                    </cal:ActionMessage>
                                </i:EventTrigger>
                            </i:Interaction.Triggers>
                        </Button>

                        <StackPanel  Visibility="{Binding RunningModeIsDebug,UpdateSourceTrigger=PropertyChanged,Converter={StaticResource bool2VisibilityConverter}}" Orientation="Horizontal" Height="34" Margin="-405,80,0,0">
                            <Label Content="From: "></Label>
                            <ComboBox x:Name="cbModulesCassetteRobot" Margin="0,0,3,0" Height="25" Width="120" ItemsSource="{Binding ZPositions}"  SelectedItem="{Binding ZAxisTestStartPosition}" />
                            <Label Content="To: "></Label>
                            <ComboBox x:Name="cbSlotsCassetteRobot" Margin="3,0,3,0" Height="25" Width="120" ItemsSource="{Binding ZPositions}"  SelectedItem="{Binding ZAxisTestEndPosition}"   />

                            <Button Content="Move Test" Width="100"  Height="30" Margin="3,0,0,0" IsEnabled="{Binding IsSystemStaus}">
                                <i:Interaction.Triggers>
                                    <i:EventTrigger EventName="Click">
                                        <cal:ActionMessage MethodName="BoatZServoTest"/>
                                    </i:EventTrigger>
                                </i:Interaction.Triggers>
                            </Button>
                        </StackPanel>
                    </StackPanel>
                </Border>
            </Grid>
         
            <Canvas>
                <Image Source="/FurnaceUI;component/Resources/Images/Controls3/01.png" Canvas.Left="573" Canvas.Top="10"/>
                <parts:BoatElevatorRobot RobotTarget="{Binding BoatPosition}" BoatStatus="{Binding BoatStatus}"  StationPosition="{Binding StationPosition3}" Canvas.Left="630" Canvas.Top="373" Visibility="{Binding IsShowBoatElevatorRobot, Converter={StaticResource bool2VisibilityConverter}}"/>
                <TextBlock Text="Position 3 ----->" Canvas.Left="505" Canvas.Top="655" FontSize="14"/>
                <TextBlock Text="Position 2 -------->" Canvas.Left="505" Canvas.Top="500" FontSize="14"/>
                <TextBlock Text="Position 1 -------->" Canvas.Left="505" Canvas.Top="350" FontSize="14"/>
                <i:Interaction.Triggers>
                    <i:EventTrigger EventName="MouseLeftButtonDown">
                        <cal:ActionMessage MethodName="BoatModify"/>
                    </i:EventTrigger>
                </i:Interaction.Triggers>
            </Canvas>
           
            <Grid Margin="780,20,0,0" Visibility="{Binding IsBoatRAxisInstalled,Converter={StaticResource bool2VisibilityConverter}}">
                <Grid.RowDefinitions>
                    <RowDefinition Height="24"/>
                    <RowDefinition Height="35"/>
                    <RowDefinition Height="35"/>
                    <RowDefinition Height="35"/>
                    <RowDefinition Height="35"/>
                    <RowDefinition Height="35"/>
                    <RowDefinition Height="35"/>
                    <RowDefinition Height="115"/>
                </Grid.RowDefinitions>
                <Grid.ColumnDefinitions>
                    <ColumnDefinition Width="100"/>
                    <ColumnDefinition  Width="90"/>
                    <ColumnDefinition  Width="110"/>
                    <ColumnDefinition  Width="180"/>
                </Grid.ColumnDefinitions>
                <Label Style="{DynamicResource Table_TitleStyle}" Grid.Row="0" Grid.ColumnSpan="4" HorizontalContentAlignment="Center" VerticalContentAlignment="Center">
                    <Label.Content>
                        <TextBlock Text="Boat R Axis Information" Foreground="White"></TextBlock>
                    </Label.Content>
                </Label>

                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="1,0,1,1" Background="{DynamicResource Table_BG_Title}" Grid.Row="1" Grid.Column="0" Padding="5,1,0,1">
                    <TextBlock Text="Status" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="14"  VerticalAlignment="Center" />
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="1" Grid.Column ="1" Padding="5,1">
                    <TextBlock Text="{Binding BoatRAxisStatus}" VerticalAlignment="Center" HorizontalAlignment="Center" FontSize="14"/>
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Title}" Grid.Row="1" Grid.Column="2" Padding="5,1,0,1">
                    <TextBlock Text="Rotating" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="14"  VerticalAlignment="Center" />
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="1" Grid.Column ="3" Padding="5,1">
                    <deviceControl:AITSensor CustomColorOn="#FF07FF07" IsCustomRender="True" CustomColorOff="Gray" LightOnValue="{Binding BoatRAxisIsMoving}" EnableToolTip="False"/>
                </Border>

                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="1,0,1,1" Background="{DynamicResource Table_BG_Title}" Grid.Row="2" Grid.Column="0" Padding="5,1,0,1">
                    <TextBlock Text="Error Code" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="14"  VerticalAlignment="Center" />
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="2" Grid.Column ="1" Padding="5,1">
                    <TextBlock Text="{Binding BoatRAxisErrorCode,StringFormat={}{0:f2}}" VerticalAlignment="Center" HorizontalAlignment="Center" FontSize="14"/>
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Title}" Grid.Row="2" Grid.Column="2" Padding="5,1,0,1">
                    <TextBlock Text="Motor Warning" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="14"  VerticalAlignment="Center" />
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="2" Grid.Column ="3" Padding="5,1">
                    <deviceControl:AITSensor CustomColorOn="Red" IsCustomRender="True" CustomColorOff="#FF07FF07" LightOnValue="{Binding BoatRAxisIsWarning}" EnableToolTip="False"/>
                </Border>

                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="1,0,1,1" Background="{DynamicResource Table_BG_Title}" Grid.Row="3" Grid.Column="0" Padding="5,1,0,1">
                    <TextBlock Text="Current Speed(rpm)" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="14"  VerticalAlignment="Center" />
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="3" Grid.Column ="1" Padding="5,1">
                    <TextBlock Text="{Binding BoatRAxisCurrentSpeed,StringFormat={}{0:f2}}" VerticalAlignment="Center" HorizontalAlignment="Center" FontSize="14"/>
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Title}" Grid.Row="3" Grid.Column="2" Padding="5,1,0,1">
                    <TextBlock Text="Motor Alarm" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="14"  VerticalAlignment="Center" />
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="3" Grid.Column ="3" Padding="5,1">
                    <deviceControl:AITSensor CustomColorOn="Red" IsCustomRender="True" CustomColorOff="#FF07FF07" LightOnValue="{Binding BoatRAxisIsAlarm}" EnableToolTip="False"/>
                </Border>

                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="1,0,1,1" Background="{DynamicResource Table_BG_Title}" Grid.Row="4" Grid.Column="0" Padding="5,1,0,1">
                    <TextBlock Text="Home Done" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="14"  VerticalAlignment="Center" />
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="4" Grid.Column ="1" Padding="5,1">
                    <deviceControl:AITSensor CustomColorOn="#FF07FF07" IsCustomRender="True" CustomColorOff="Gray" LightOnValue="{Binding BoatRAxisIsHomeDone}" EnableToolTip="False"/>
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Title}" Grid.Row="4" Grid.Column="2" Padding="5,1,0,1">
                    <TextBlock Text="Homing" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="14"  VerticalAlignment="Center" />
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="4" Grid.Column ="3" Padding="5,1">
                    <deviceControl:AITSensor CustomColorOn="#FF07FF07" IsCustomRender="True" CustomColorOff="Gray" LightOnValue="{Binding BoatRAxisIsHoming}" EnableToolTip="False"/>
                </Border>

                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="1,0,1,1" Background="{DynamicResource Table_BG_Title}" Grid.Row="5" Grid.Column="0" Padding="5,1,0,1">
                    <TextBlock Text="Origin Done" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="14"  VerticalAlignment="Center" />
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="5" Grid.Column="1">
                    <deviceControl:AITSensor CustomColorOn="#FF07FF07" IsCustomRender="True" CustomColorOff="Gray" LightOnValue="{Binding BoatRAxisIsInitDone}" EnableToolTip="False"/>
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Title}" Grid.Row="5" Grid.Column ="2"  Padding="5,1">
                    <TextBlock Text="Origin" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="14"  VerticalAlignment="Center" />
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="5" Grid.Column="3">
                    <deviceControl:AITSensor CustomColorOn="#FF07FF07" IsCustomRender="True" CustomColorOff="Gray" LightOnValue="{Binding BoatRAxisIsInitializing}" EnableToolTip="False"/>
                </Border>

                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="1,0,1,1" Background="{DynamicResource Table_BG_Title}" Grid.Row="6" Grid.Column="0" Padding="5,1,0,1">
                    <TextBlock Text="Rotation Direction" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="14"  VerticalAlignment="Center" />
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="6" Grid.Column ="1" Padding="5,1">
                    <TextBlock Text="{Binding BoatRAxisDirection,StringFormat={}{0:f2}}" VerticalAlignment="Center" HorizontalAlignment="Center" FontSize="14"/>
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,1,1" Background="{DynamicResource Table_BG_Title}" Grid.Row="6" Grid.Column="2" Grid.ColumnSpan="2" Padding="5,1,0,1">
                    <StackPanel   Orientation="Horizontal"  >
                        <Button Content="CW" Width="80" Height="30" Margin="40,0,10,0" IsEnabled="{Binding IsSystemStaus}">
                            <i:Interaction.Triggers>
                                <i:EventTrigger EventName="Click">
                                    <cal:ActionMessage MethodName="RAxisMoveTo">
                                        <cal:Parameter Value="CW" />
                                    </cal:ActionMessage>
                                </i:EventTrigger>
                            </i:Interaction.Triggers>
                        </Button>
                        <Button Content="CCW" Width="80" Height="30" Margin="30,0,10,0" IsEnabled="{Binding IsSystemStaus}">
                            <i:Interaction.Triggers>
                                <i:EventTrigger EventName="Click">
                                    <cal:ActionMessage MethodName="RAxisMoveTo">
                                        <cal:Parameter Value="CCW" />
                                    </cal:ActionMessage>
                                </i:EventTrigger>
                            </i:Interaction.Triggers>
                        </Button>
                    </StackPanel>
                </Border>

               

                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="1,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="7" Grid.ColumnSpan="4" Padding="80,0,0,0">
                    <StackPanel   Orientation="Horizontal"  >
                        <Button Content="Home" Width="92" Height="30" Margin="22,-70,10,0" IsEnabled="{Binding IsSystemStaus}">
                            <i:Interaction.Triggers>
                                <i:EventTrigger EventName="Click">
                                    <cal:ActionMessage MethodName="Home">
                                        <cal:Parameter Value="PM1.BoatRotationServo" />
                                    </cal:ActionMessage>
                                </i:EventTrigger>
                            </i:Interaction.Triggers>
                        </Button>
                        <Button Content="Stop" Width="92" Height="30" Margin="5,-70,10,0" IsEnabled="{Binding IsSystemStaus}">
                            <i:Interaction.Triggers>
                                <i:EventTrigger EventName="Click">
                                    <cal:ActionMessage MethodName="Stop">
                                        <cal:Parameter Value="PM1.BoatRotationServo" />
                                    </cal:ActionMessage>
                                </i:EventTrigger>
                            </i:Interaction.Triggers>
                        </Button>
                        <Button Content="Reset" Width="92" Height="30" Margin="5,-70,0,0" IsEnabled="{Binding IsSystemStaus}">
                            <i:Interaction.Triggers>
                                <i:EventTrigger EventName="Click">
                                    <cal:ActionMessage MethodName="Reset">
                                        <cal:Parameter Value="PM1.BoatRotationServo" />
                                    </cal:ActionMessage>
                                </i:EventTrigger>
                            </i:Interaction.Triggers>
                        </Button>
                        <Button Content="CW Test" Width="92" Height="30" Margin="-520,0,0,0" Visibility="{Binding RunningModeIsDebug,UpdateSourceTrigger=PropertyChanged,Converter={StaticResource bool2VisibilityConverter}}" IsEnabled="{Binding IsSystemStaus}">
                            <i:Interaction.Triggers>
                                <i:EventTrigger EventName="Click">
                                    <cal:ActionMessage MethodName="BoatRotationServoTest">
                                        <cal:Parameter Value="CW" />
                                    </cal:ActionMessage>
                                </i:EventTrigger>
                            </i:Interaction.Triggers>
                        </Button>
                        <Button Content="CCW Test" Width="92" Height="30" Margin="-305,0,0,0" Visibility="{Binding RunningModeIsDebug,UpdateSourceTrigger=PropertyChanged,Converter={StaticResource bool2VisibilityConverter}}" IsEnabled="{Binding IsSystemStaus}">
                            <i:Interaction.Triggers>
                                <i:EventTrigger EventName="Click">
                                    <cal:ActionMessage MethodName="BoatRotationServoTest">
                                        <cal:Parameter Value="CCW" />
                                    </cal:ActionMessage>
                                </i:EventTrigger>
                            </i:Interaction.Triggers>
                        </Button>
                        <Button Content="Stop Test" Width="92" Height="30" Margin="-92,0,0,0" Visibility="{Binding RunningModeIsDebug,UpdateSourceTrigger=PropertyChanged,Converter={StaticResource bool2VisibilityConverter}}" IsEnabled="{Binding IsSystemStaus}">
                            <i:Interaction.Triggers>
                                <i:EventTrigger EventName="Click">
                                    <cal:ActionMessage MethodName="BoatRotationServoStopTest">
                                    </cal:ActionMessage>
                                </i:EventTrigger>
                            </i:Interaction.Triggers>
                        </Button>
                    </StackPanel>
                </Border>
            </Grid>

            <Grid Margin="780,430,0,0" Visibility="{Binding IsBoatRAxisInstalled,Converter={StaticResource bool2VisibilityConverter}}">
                <Grid.RowDefinitions>
                    <RowDefinition Height="24"/>
                    <RowDefinition Height="35"/>
                </Grid.RowDefinitions>
                <Grid.ColumnDefinitions>
                    <ColumnDefinition Width="160"/>
                    <ColumnDefinition  Width="100"/>
                    <ColumnDefinition  Width="100"/>
                    <ColumnDefinition  Width="120"/>
                </Grid.ColumnDefinitions>
                <Label Style="{DynamicResource Table_TitleStyle}" Grid.Row="0" Grid.ColumnSpan="4" HorizontalContentAlignment="Center" VerticalContentAlignment="Center">
                    <Label.Content>
                        <TextBlock Text="Shutter Information" Foreground="White"></TextBlock>
                    </Label.Content>
                </Label>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="1,0,1,1" Background="{DynamicResource Table_BG_Title}" Grid.Row="1" Grid.Column="0" Padding="5,1,0,1">
                    <TextBlock Text="Open/Close Status" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="12" FontFamily="Arial" VerticalAlignment="Center" />
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="0,0,0,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="1" Grid.Column="1" Padding="5,1">
                    <TextBlock Text="{Binding AutoDoorOpenCloseStatus}" TextAlignment="Center" TextWrapping="Wrap" Foreground="{DynamicResource FG_Black}" FontSize="12" FontFamily="Arial" VerticalAlignment="Center"/>
                </Border>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="1,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="1" Grid.Column ="2" Grid.ColumnSpan="2"  Padding="5,1">
                    <StackPanel   Orientation="Horizontal"  >
                        <Button Content="Open" Width="80" Height="25" Margin="10,0,10,0" IsEnabled="{Binding IsSystemStaus}">
                            <i:Interaction.Triggers>
                                <i:EventTrigger EventName="Click">
                                    <cal:ActionMessage MethodName="SetOpen">
                                        <cal:Parameter Value="PM1.SetAutoShutterOpen" />
                                        <cal:Parameter Value="True"/>
                                    </cal:ActionMessage>
                                </i:EventTrigger>
                            </i:Interaction.Triggers>
                        </Button>
                        <Button Content="Close" Width="80" Height="25" Margin="10,0,10,0" IsEnabled="{Binding IsSystemStaus}">
                            <i:Interaction.Triggers>
                                <i:EventTrigger EventName="Click">
                                    <cal:ActionMessage MethodName="SetOpen">
                                        <cal:Parameter Value="PM1.SetAutoShutterOpen" />
                                        <cal:Parameter Value="False"/>
                                    </cal:ActionMessage>
                                </i:EventTrigger>
                            </i:Interaction.Triggers>
                        </Button>
                    </StackPanel>
                </Border>
            </Grid>

            <Grid Visibility="{Binding RunningModeIsDebug,UpdateSourceTrigger=PropertyChanged,Converter={StaticResource bool2VisibilityConverter}}" Margin="780,515,0,0">
                <Grid.RowDefinitions>
                    <RowDefinition Height="24"/>
                    <RowDefinition Height="100"/>
                </Grid.RowDefinitions>
                <Grid.ColumnDefinitions>
                    <ColumnDefinition Width="480"/>
                </Grid.ColumnDefinitions>
                <Label Style="{DynamicResource Table_TitleStyle}" Grid.Row="0" Grid.ColumnSpan="4" HorizontalContentAlignment="Center" VerticalContentAlignment="Center">
                    <Label.Content>
                        <TextBlock Text="Boat Cycle Test" Foreground="White"></TextBlock>
                    </Label.Content>
                </Label>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="1,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="1" Grid.Column="0" Padding="0,0,0,0">
                    <StackPanel   Orientation="Vertical" Margin="0,0,0,0" >
                        <StackPanel Orientation="Horizontal" Height="35" Margin="0,10,0,0">
                            <Label Content="From: "></Label>
                            <ComboBox Margin="0,0,3,0" Height="25" Width="120" ItemsSource="{Binding ZPositions}"  SelectedItem="{Binding ZAxisTestStartPosition}" />
                            <Label Content="To: "></Label>
                            <ComboBox Margin="3,0,3,0" Height="25" Width="120" ItemsSource="{Binding ZPositions}"  SelectedItem="{Binding ZAxisTestEndPosition}"   />
                            <ComboBox Margin="3,0,3,0" Height="25" Width="120" ItemsSource="{Binding RPositions}"  SelectedItem="{Binding RAxisTestDirection}"   />
                        </StackPanel>
                        <StackPanel Orientation="Horizontal" Height="50" Margin="0,0,0,0">
                            <TextBlock Text="{Binding BoatCycleDisplay}" Width="180" VerticalAlignment="Center"></TextBlock>
                            <Button Content="Move Test Start" Width="120"  Height="30" Margin="15,10,0,0" IsEnabled="{Binding IsSystemStaus}">
                                <i:Interaction.Triggers>
                                    <i:EventTrigger EventName="Click">
                                        <cal:ActionMessage MethodName="BoatTestStart"/>
                                    </i:EventTrigger>
                                </i:Interaction.Triggers>
                            </Button>

                            <Button Content="Move Test Stop" Width="120"  Height="30" Margin="15,10,0,0" IsEnabled="{Binding IsSystemStaus}">
                                <i:Interaction.Triggers>
                                    <i:EventTrigger EventName="Click">
                                        <cal:ActionMessage MethodName="BoatTestStop"/>
                                    </i:EventTrigger>
                                </i:Interaction.Triggers>
                            </Button>
                        </StackPanel>
                    </StackPanel>
                </Border>
            </Grid>


            <Grid Visibility="{Binding RunningModeIsDebug,UpdateSourceTrigger=PropertyChanged,Converter={StaticResource bool2VisibilityConverter}}" Margin="780,655,0,0">
                <Grid.RowDefinitions>
                    <RowDefinition Height="24"/>
                    <RowDefinition Height="50"/>
                </Grid.RowDefinitions>
                <Grid.ColumnDefinitions>
                    <ColumnDefinition Width="480"/>
                </Grid.ColumnDefinitions>
                <Label Style="{DynamicResource Table_TitleStyle}" Grid.Row="0" Grid.ColumnSpan="4" HorizontalContentAlignment="Center" VerticalContentAlignment="Center">
                    <Label.Content>
                        <TextBlock Text="Shutter Cycle Test" Foreground="White"></TextBlock>
                    </Label.Content>
                </Label>
                <Border BorderBrush="{DynamicResource Table_BD}" BorderThickness="1,0,1,1" Background="{DynamicResource Table_BG_Content}" Grid.Row="1" Grid.Column="0" Padding="0,0,0,0">
                    <StackPanel   Orientation="Vertical" Margin="0,0,0,0" >
                        <StackPanel Orientation="Horizontal" Height="40" Margin="0,0,0,0">
                            <TextBlock Text="{Binding ShutterCycleDisplay}" Width="140" VerticalAlignment="Center"></TextBlock>
                            <Button Content="Shutter Test Start" Width="140"  Height="30" Margin="15,10,0,0" IsEnabled="{Binding IsSystemStaus}">
                                <i:Interaction.Triggers>
                                    <i:EventTrigger EventName="Click">
                                        <cal:ActionMessage MethodName="ShutterTestStart"/>
                                    </i:EventTrigger>
                                </i:Interaction.Triggers>
                            </Button>

                            <Button Content="Shutter Test Stop" Width="140"  Height="30" Margin="15,10,0,0" IsEnabled="{Binding IsSystemStaus}">
                                <i:Interaction.Triggers>
                                    <i:EventTrigger EventName="Click">
                                        <cal:ActionMessage MethodName="ShutterTestStop"/>
                                    </i:EventTrigger>
                                </i:Interaction.Triggers>
                            </Button>
                        </StackPanel>
                    </StackPanel>
                </Border>
            </Grid>
        </Canvas>
    </Grid>
</UserControl>