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Đăng Nguyễn 2025-12-30 15:17:42 +07:00
parent a51cfe80c8
commit 2785a8f161
9 changed files with 31 additions and 54 deletions
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4
RobotApp.Client/Pages/Dashboard.razor
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@ -37,9 +37,7 @@
@if (CurrentState != null)
{
<MudChip T="string"
Icon="@(IsConnected
? Icons.Material.Filled.CheckCircle
: Icons.Material.Filled.Error)"
Icon="@(IsConnected ? Icons.Material.Filled.CheckCircle : Icons.Material.Filled.Error)"
Size="Size.Large"
Color="@(IsConnected ? Color.Success : Color.Error)"
Variant="Variant.Filled"

1
RobotApp.Client/Pages/RobotMonitor.razor
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@ -46,3 +46,4 @@

14
RobotApp.Client/Services/RobotStateClient.cs
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@ -127,20 +127,6 @@ public sealed class RobotStateClient : IAsyncDisposable
// ================= HANDLE STATE =================
private void HandleState(StateMsg state)
{
//StateMsg? state;
//try
//{
// state = JsonSerializer.Deserialize<StateMsg>(
// stateJson,
// JsonOptionExtends.Read
// );
//}
//catch
//{
// return;
//}
if (state?.SerialNumber == null)
return;

1
RobotApp.Client/wwwroot/js/robotMonitor.js
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@ -64,3 +64,4 @@ window.robotMonitor = {

1
RobotApp/Hubs/RobotMonitorHub.cs
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@ -16,3 +16,4 @@ public class RobotMonitorHub : Hub

2
RobotApp/Services/Robot/RobotErrors.cs
View File

@ -107,6 +107,8 @@ public class RobotErrors : IError
=> CreateError(ErrorType.INITIALIZE_ORDER, "Vui lòng kiểm tra lại OrderUpdateId", ErrorLevel.WARNING, $"OrderUpdateId {newOrderUpdateId} nhận được nhỏ hơn OrderUpdateId hiện tại là {oldOrderUpdateId}");
public static Error Error1019()
=> CreateError(ErrorType.INITIALIZE_ORDER, "Vui lòng kiểm tra lại Order", ErrorLevel.WARNING, "Order có node đầu tiên quá xa robot");
public static Error Error1020()
=> CreateError(ErrorType.INITIALIZE_ORDER, "", ErrorLevel.WARNING, "Robot đang ở đích của Order");
public static Error Error2001()
=> CreateError(ErrorType.READ_PERIPHERAL_FAILURE, "2001", ErrorLevel.FATAL, "Có lỗi xảy ra trong quá trình đọc tín hiệu từ hệ thống ngoại vi(PLC)");

10
RobotApp/Services/Robot/RobotOrderController.cs
View File

@ -403,6 +403,14 @@ public class RobotOrderController(INavigation NavigationManager,
var nodeDeviation = startNode.NodePosition.AllowedDeviationXY == 0.0 ? NewOrderHandler.Nodes.Length == 1 ? 0.3 : 0.5 : startNode.NodePosition.AllowedDeviationXY;
var distance = Localization.DistanceTo(startNode.NodePosition.X, startNode.NodePosition.Y);
if (distance > nodeDeviation) throw new OrderException(RobotErrors.Error1019());
if (NewOrderHandler.Nodes.Length > 1)
{
Node endNode = NewOrderHandler.Nodes[^1];
nodeDeviation = endNode.NodePosition.AllowedDeviationXY == 0.0 ? 0.2 : endNode.NodePosition.AllowedDeviationXY;
distance = Localization.DistanceTo(endNode.NodePosition.X, endNode.NodePosition.Y);
if (distance < nodeDeviation) throw new OrderException(RobotErrors.Error1020());
}
HandleNewOrder(NewOrderHandler);
}
}
@ -414,7 +422,7 @@ public class RobotOrderController(INavigation NavigationManager,
{
ErrorManager.AddError(orEx.Error, TimeSpan.FromSeconds(10));
Logger.Warning($"Lỗi khi xử lí Order: {orEx.Error.ErrorDescription}");
HandleOrderStop();
if (Nodes.Length == 0) HandleOrderStop();
}
else Logger.Warning($"Lỗi khi xử lí Order: {orEx.Message}");
}

24
RobotApp/Services/Robot/RobotStatePublisher.cs
View File

@ -17,8 +17,6 @@ public class RobotStatePublisher(
RobotStates _robotState,
RobotConnection _robotConnection) : BackgroundService
{
private bool? _lastRobotConnectionState;
private readonly PeriodicTimer _timer = new(TimeSpan.FromMilliseconds(1000)); // 1 giây/lần
protected override async Task ExecuteAsync(CancellationToken stoppingToken)
@ -28,26 +26,8 @@ public class RobotStatePublisher(
try
{
// ===== SEND STATE =====
var state = _robotState.GetStateMsg();
//var json = JsonSerializer.Serialize(state, JsonOptionExtends.Write);
await _hubContext.Clients.All
.SendAsync("ReceiveState", state, stoppingToken);
// ===== SEND ROBOT CONNECTION (ONLY WHEN CHANGED) =====
var isConnected = _robotConnection.IsConnected;
if (_lastRobotConnectionState != isConnected)
{
_lastRobotConnectionState = isConnected;
await _hubContext.Clients.All
.SendAsync(
"ReceiveRobotConnection",
isConnected, // payload only bool
stoppingToken
);
}
await _hubContext.Clients.All.SendAsync("ReceiveState", _robotState.GetStateMsg(), stoppingToken);
await _hubContext.Clients.All.SendAsync("ReceiveRobotConnection", _robotConnection.IsConnected, stoppingToken);
}
catch
{

4
RobotApp/Services/Robot/Simulation/Navigation/SimulationNavigation.cs
View File

@ -23,8 +23,8 @@ public class SimulationNavigation : INavigation, IDisposable
protected const int CycleHandlerMilliseconds = 50;
private const double Scale = 1;
//private WatchTimer<SimulationNavigation>? NavigationTimer;
private HighPrecisionTimer<SimulationNavigation>? NavigationTimer;
private WatchTimer<SimulationNavigation>? NavigationTimer;
//private HighPrecisionTimer<SimulationNavigation>? NavigationTimer;
protected double TargetAngle = 0;
protected PID? RotatePID;