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How to get caret/cursor position in RichTextBox in WPF?

I want to get the Caret position in RichTextBox in WPF when I change my cursor with Left Click Mouse Button and this picture below shows this.

在此处输入图片说明

Get position:

TextPointer tp = EditMessageRTB.Selection.Start; 

Set position:

RichTextBox.CaretPosition = tp;

If want to set position to end:

RichTextBox.CaretPosition = RichTextBox.Document.Blocks.LastBlock.ContentEnd;

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