udpate robot control
This commit is contained in:
Đăng Nguyễn
parent
b2eeb8cb3f
commit
30732b4b9f
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@ -8,6 +8,7 @@
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@inject IJSRuntime JS
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@inject IDialogService DialogService
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@inject HttpClient Http
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@inject ISnackbar Snackbar
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<MudMainContent Class="pa-0 ma-0">
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<div style="height:100vh; overflow:hidden;">
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@ -219,14 +220,49 @@
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try
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{
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var orderMsg = JsonSerializer.Deserialize<OrderMsg>(OrderJson);
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if (orderMsg is null)
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{
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Snackbar.Add("Unable to convert JSON to Order", Severity.Warning);
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return;
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}
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if (orderMsg.Nodes.Length < 1)
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{
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Snackbar.Add("The order must contain at least one node (number of nodes > 0)", Severity.Warning);
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return;
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}
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if (orderMsg.Nodes.Length - 1 != orderMsg.Edges.Length)
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{
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Snackbar.Add("Order must have a number of edges equal to the number of nodes minus 1", Severity.Warning);
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return;
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}
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foreach(var edge in orderMsg.Edges)
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{
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if (!orderMsg.Nodes.Any(n => n.NodeId == edge.StartNodeId))
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{
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Snackbar.Add($"The edge {edge.EdgeId} references a startNodeId {edge.StartNodeId} that does not exist in the list of nodes", Severity.Warning);
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return;
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}
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if (!orderMsg.Nodes.Any(n => n.NodeId == edge.EndNodeId))
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{
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Snackbar.Add($"The edge {edge.EdgeId} references a startNodeId {edge.EndNodeId} that does not exist in the list of nodes", Severity.Warning);
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return;
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}
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}
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var response = await Http.PostAsJsonAsync(
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"/api/order",
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JsonSerializer.Deserialize<JsonElement>(OrderJson)
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JsonSerializer.Deserialize<OrderMsg>(OrderJson)
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);
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sendSuccess = response.IsSuccessStatusCode;
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}
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catch(JsonException jsonEx)
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{
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Snackbar.Add($"Json to Order failed: {jsonEx.Message}", Severity.Warning);
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}
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catch
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{
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sendSuccess = false;
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@ -268,7 +268,7 @@ public class OrderMessage
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}
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).ToArray();
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}
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public object ToSchemaObject()
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public OrderMsg ToSchemaObject()
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{
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// ================= SORT NODES BY UI SEQUENCE =================
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var orderedNodes = Nodes
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@ -277,50 +277,50 @@ public class OrderMessage
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// ================= BUILD NODE OBJECTS =================
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var nodeObjects = orderedNodes
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.Select((n, index) => new
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.Select((n, index) => new Node
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{
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nodeId = n.NodeId,
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sequenceId = index * 2, // ✅ NODE = EVEN
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released = n.Released,
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NodeId = n.NodeId,
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SequenceId = index * 2, // ✅ NODE = EVEN
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Released = n.Released,
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nodePosition = new
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NodePosition = new NodePosition
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{
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x = n.NodePosition.X,
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y = n.NodePosition.Y,
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theta = n.NodePosition.Theta,
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X = n.NodePosition.X,
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Y = n.NodePosition.Y,
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Theta = n.NodePosition.Theta,
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allowedDeviationXY = n.NodePosition.AllowedDeviationXY,
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allowedDeviationTheta = n.NodePosition.AllowedDeviationTheta,
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AllowedDeviationXY = n.NodePosition.AllowedDeviationXY,
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AllowedDeviationTheta = n.NodePosition.AllowedDeviationTheta,
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mapId = string.IsNullOrWhiteSpace(n.NodePosition.MapId)
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MapId = string.IsNullOrWhiteSpace(n.NodePosition.MapId)
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? "MAP_01"
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: n.NodePosition.MapId
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},
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actions = n.Actions?
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.Select(a => new
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Actions = n.Actions?
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.Select(a => new VDA5050.InstantAction.Action
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{
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actionId = a.ActionId,
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actionType = a.ActionType,
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blockingType = a.BlockingType,
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ActionId = a.ActionId,
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ActionType = a.ActionType,
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BlockingType = a.BlockingType,
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actionParameters = a.ActionParameters?
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.Select(p => new
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ActionParameters = a.ActionParameters?
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.Select(p => new ActionParameter
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{
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key = p.Key,
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value = p.Value
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Key = p.Key,
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Value = p.Value
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})
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.ToArray()
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?? Array.Empty<object>()
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?? []
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})
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.ToArray()
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?? Array.Empty<object>()
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?? []
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})
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.ToArray();
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// ================= BUILD EDGE OBJECTS =================
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var edgeObjects = Edges
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.Select<UiEdge, object>((e, index) =>
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Edge[] edgeObjects = Edges
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.Select((e, index) =>
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{
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int sequenceId = index * 2 + 1; // ✅ EDGE = ODD
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@ -339,24 +339,24 @@ public class OrderMessage
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// =================================================
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if (e.HasTrajectory && e.Trajectory != null)
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{
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return new
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return new Edge
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{
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baseEdge.edgeId,
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baseEdge.sequenceId,
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baseEdge.released,
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baseEdge.startNodeId,
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baseEdge.endNodeId,
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EdgeId = baseEdge.edgeId,
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SequenceId = baseEdge.sequenceId,
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Released= baseEdge.released,
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StartNodeId= baseEdge.startNodeId,
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EndNodeId= baseEdge.endNodeId,
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trajectory = new
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Trajectory = new Trajectory
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{
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degree = e.Trajectory.Degree,
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knotVector = e.Trajectory.KnotVector,
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controlPoints = e.Trajectory.ControlPoints
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.Select(p => new { x = p.X, y = p.Y })
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Degree = e.Trajectory.Degree,
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KnotVector = e.Trajectory.KnotVector,
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ControlPoints = e.Trajectory.ControlPoints
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.Select(p => new ControlPoint { X = p.X, Y = p.Y , Weight = 1})
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.ToArray()
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},
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actions = Array.Empty<object>()
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Actions = []
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};
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}
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@ -365,14 +365,15 @@ public class OrderMessage
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// =================================================
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if (e.Radius <= 0)
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{
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return new
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return new Edge
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{
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baseEdge.edgeId,
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baseEdge.sequenceId,
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baseEdge.released,
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baseEdge.startNodeId,
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baseEdge.endNodeId,
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actions = Array.Empty<object>()
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EdgeId = baseEdge.edgeId,
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SequenceId = baseEdge.sequenceId,
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Released = baseEdge.released,
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StartNodeId = baseEdge.startNodeId,
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EndNodeId = baseEdge.endNodeId,
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Actions = []
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};
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}
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@ -392,42 +393,41 @@ public class OrderMessage
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e.Quadrant
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);
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return new
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return new Edge
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{
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baseEdge.edgeId,
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baseEdge.sequenceId,
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baseEdge.released,
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baseEdge.startNodeId,
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baseEdge.endNodeId,
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EdgeId = baseEdge.edgeId,
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SequenceId = baseEdge.sequenceId,
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Released = baseEdge.released,
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StartNodeId = baseEdge.startNodeId,
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EndNodeId = baseEdge.endNodeId,
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trajectory = result.Trajectory,
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actions = Array.Empty<object>()
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Actions = []
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};
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})
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.ToArray();
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// ================= FINAL SCHEMA OBJECT =================
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return new
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return new OrderMsg
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{
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headerId = HeaderId++,
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HeaderId = (uint)HeaderId++,
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timestamp = string.IsNullOrWhiteSpace(Timestamp)
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Timestamp = string.IsNullOrWhiteSpace(Timestamp)
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? DateTime.UtcNow.ToString("O")
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: Timestamp,
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version = Version,
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manufacturer = Manufacturer,
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serialNumber = SerialNumber,
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Version = Version,
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Manufacturer = Manufacturer,
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SerialNumber = SerialNumber,
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orderId = OrderId= Guid.NewGuid().ToString(),
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orderUpdateId = OrderUpdateId,
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OrderId = OrderId= Guid.NewGuid().ToString(),
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OrderUpdateId = OrderUpdateId,
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zoneSetId = string.IsNullOrWhiteSpace(ZoneSetId)
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ZoneSetId = string.IsNullOrWhiteSpace(ZoneSetId)
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? null
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: ZoneSetId,
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nodes = nodeObjects,
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edges = edgeObjects
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Nodes = nodeObjects,
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Edges = edgeObjects,
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};
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}
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}
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@ -58,7 +58,7 @@ public class RobotConfiguration(IServiceProvider ServiceProvider, Logger<RobotCo
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{
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var robotConnection = scope.ServiceProvider.GetRequiredService<RobotConnection>();
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await robotConnection.StopConnection();
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_ = Task.Run(async () => await robotConnection.StartConnection(CancellationToken.None));
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robotConnection.StartConnection();
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}
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}
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else throw new Exception("Chưa có cấu hình VDA5050.");
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@ -53,8 +53,15 @@ public class RobotConnection(RobotConfiguration RobotConfiguration,
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if (MqttClient is not null && MqttClient.IsConnected) return await MqttClient.PublishAsync($"{VDA5050Setting.TopicPrefix}/{VDA5050Setting.Manufacturer}/{RobotConfiguration.SerialNumber}/{topic}", data);
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return new(false, "Chưa có kết nối tới broker");
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}
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public async Task StartConnection(CancellationToken cancellationToken)
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public void StartConnection()
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{
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Task.Run(async () =>
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{
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await StartConnectionAsync(CancellationToken.None);
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Logger.Info("Robot đã kết nối tới Fleet Manager.");
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});
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}
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public async Task StartConnectionAsync(CancellationToken cancellationToken)
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{
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MqttClient = new MQTTClient(RobotConfiguration.SerialNumber, VDA5050Setting, MQTTClientLogger);
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MqttClient.OrderChanged += OrderChanged;
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@ -39,8 +39,7 @@ public partial class RobotController
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ConnectionManager.OrderUpdated += NewOrderUpdated;
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ConnectionManager.ActionUpdated += NewInstantActionUpdated;
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await ConnectionManager.StartConnection(cancellationToken);
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Logger.Info("Robot đã kết nối tới Fleet Manager.");
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ConnectionManager.StartConnection();
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StateManager.TransitionTo(SystemStateType.Standby);
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if (!RobotConfiguration.IsSimulation)
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