Merge remote-tracking branch 'origin/sonlt' into dangnv
This commit is contained in:
Đăng Nguyễn
commit
38858355e6
|
|
@ -25,9 +25,9 @@
|
|||
<span>X: @MonitorData.RobotPosition.X.ToString("F2")m | Y: @MonitorData.RobotPosition.Y.ToString("F2")m | θ: @((MonitorData.RobotPosition.Theta * 180 / Math.PI).ToString("F1"))°</span>
|
||||
</div>
|
||||
}
|
||||
<MudChip T="string" Color="@(IsConnected? Color.Success: Color.Error)" Size="Size.Small">
|
||||
@* <MudChip T="string" Color="@(IsConnected? Color.Success: Color.Error)" Size="Size.Small">
|
||||
@(IsConnected ? "Connected" : "Disconnected")
|
||||
</MudChip>
|
||||
</MudChip> *@
|
||||
</div>
|
||||
<div @ref="SvgContainerRef" class="svg-container">
|
||||
<svg @ref="SvgRef"
|
||||
|
|
|
|||
|
|
@ -38,15 +38,18 @@
|
|||
@if (CurrentState != null)
|
||||
{
|
||||
<MudChip T="string"
|
||||
Icon="@(IsConnected ? Icons.Material.Filled.CheckCircle : Icons.Material.Filled.Error)"
|
||||
Size="Size.Large"
|
||||
Color="@(IsConnected ? Color.Success : Color.Error)"
|
||||
Variant="@Variant.Filled"
|
||||
Class="px-6 py-4 text-white"
|
||||
Style="font-weight: bold; font-size: 1.1rem;">
|
||||
@(IsConnected ? "ONLINE" : "OFFLINE")
|
||||
</MudChip>
|
||||
}
|
||||
Icon="@(IsConnected
|
||||
? Icons.Material.Filled.CheckCircle
|
||||
: Icons.Material.Filled.Error)"
|
||||
Size="Size.Large"
|
||||
Color="@(IsConnected ? Color.Success : Color.Error)"
|
||||
Variant="Variant.Filled"
|
||||
Class="px-6 py-4 text-white"
|
||||
Style="font-weight: bold; font-size: 1.1rem;">
|
||||
@(IsConnected ? "ONLINE" : "OFFLINE")
|
||||
</MudChip>
|
||||
}
|
||||
|
||||
</MudPaper>
|
||||
|
||||
@{
|
||||
|
|
@ -133,7 +136,6 @@
|
|||
</MudCard>
|
||||
</MudItem>
|
||||
|
||||
<!-- BATTERY -->
|
||||
<!-- BATTERY -->
|
||||
<MudItem xs="12" md="6" lg="4">
|
||||
<MudCard Elevation="6" Class="h-100 rounded-lg">
|
||||
|
|
@ -371,21 +373,35 @@
|
|||
};
|
||||
|
||||
private StateMsg? CurrentState;
|
||||
private bool IsConnected => RobotStateClient.LatestStates.ContainsKey(RobotSerial);
|
||||
private bool IsConnected;
|
||||
private readonly string RobotSerial = "T800-002";
|
||||
private List<MessageRow> MessageRows = new();
|
||||
|
||||
protected override async Task OnInitializedAsync()
|
||||
{
|
||||
RobotStateClient.OnStateReceived += OnRobotStateReceived;
|
||||
if (RobotStateClient.LatestStates.Count == 0)
|
||||
RobotStateClient.OnRobotConnectionChanged += OnRobotConnectionChanged;
|
||||
|
||||
if (RobotStateClient.ConnectionState == RobotClientState.Disconnected)
|
||||
{
|
||||
await RobotStateClient.StartAsync();
|
||||
}
|
||||
|
||||
await RobotStateClient.SubscribeRobotAsync(RobotSerial);
|
||||
|
||||
CurrentState = RobotStateClient.GetLatestState(RobotSerial);
|
||||
IsConnected = RobotStateClient.IsRobotConnected;
|
||||
|
||||
UpdateMessageRows();
|
||||
}
|
||||
private void OnRobotConnectionChanged(bool connected)
|
||||
{
|
||||
InvokeAsync(() =>
|
||||
{
|
||||
IsConnected = connected;
|
||||
StateHasChanged();
|
||||
});
|
||||
}
|
||||
|
||||
|
||||
private void OnRobotStateReceived(string serialNumber, StateMsg state)
|
||||
|
|
@ -421,6 +437,7 @@
|
|||
public void Dispose()
|
||||
{
|
||||
RobotStateClient.OnStateReceived -= OnRobotStateReceived;
|
||||
RobotStateClient.OnRobotConnectionChanged -= OnRobotConnectionChanged;
|
||||
}
|
||||
|
||||
private record MessageRow(string Type, string Level, string Description, bool IsError);
|
||||
|
|
|
|||
|
|
@ -1,11 +1,21 @@
|
|||
@using System.Text.Json
|
||||
@using MudBlazor
|
||||
@using Microsoft.AspNetCore.Components.Forms
|
||||
|
||||
<MudDialog>
|
||||
|
||||
<!-- ================= TITLE ================= -->
|
||||
<TitleContent>
|
||||
<MudText Typo="Typo.h6">Import Order JSON</MudText>
|
||||
<MudStack Row AlignItems="AlignItems.Center" Spacing="2">
|
||||
<MudIcon Icon="@Icons.Material.Filled.UploadFile"
|
||||
Color="Color.Primary" />
|
||||
<MudText Typo="Typo.h6">
|
||||
Import Order JSON
|
||||
</MudText>
|
||||
</MudStack>
|
||||
</TitleContent>
|
||||
|
||||
<!-- ================= CONTENT ================= -->
|
||||
<DialogContent>
|
||||
|
||||
@if (ShowWarning)
|
||||
|
|
@ -18,6 +28,21 @@
|
|||
</MudAlert>
|
||||
}
|
||||
|
||||
<!-- ===== FILE INPUT (PURE BLAZOR) ===== -->
|
||||
<div class="mb-4">
|
||||
<label class="mud-button-root mud-button mud-button-outlined mud-button-outlined-primary"
|
||||
style="cursor:pointer;">
|
||||
<MudIcon Icon="@Icons.Material.Filled.AttachFile" Class="mr-2" />
|
||||
Choose JSON file
|
||||
<InputFile OnChange="OnFileSelected"
|
||||
accept=".json"
|
||||
style="display:none" />
|
||||
</label>
|
||||
</div>
|
||||
|
||||
<MudDivider Class="my-3" />
|
||||
|
||||
<!-- ===== PASTE JSON ===== -->
|
||||
<MudTextField @bind-Value="JsonText"
|
||||
Label="Paste Order JSON"
|
||||
Lines="20"
|
||||
|
|
@ -34,29 +59,77 @@
|
|||
|
||||
</DialogContent>
|
||||
|
||||
<!-- ================= ACTIONS ================= -->
|
||||
<DialogActions>
|
||||
<MudButton OnClick="Cancel">Cancel</MudButton>
|
||||
<MudButton OnClick="Cancel">
|
||||
Cancel
|
||||
</MudButton>
|
||||
|
||||
<MudButton Variant="Variant.Filled"
|
||||
Color="Color.Primary"
|
||||
OnClick="ValidateAndImport">
|
||||
Import
|
||||
</MudButton>
|
||||
</DialogActions>
|
||||
|
||||
</MudDialog>
|
||||
|
||||
@code {
|
||||
[CascadingParameter] public IMudDialogInstance MudDialog { get; set; } = default!;
|
||||
[CascadingParameter]
|
||||
public IMudDialogInstance MudDialog { get; set; } = default!;
|
||||
|
||||
public string JsonText { get; set; } = "";
|
||||
public string? ErrorMessage;
|
||||
public bool ShowWarning { get; set; } = false;
|
||||
public bool ShowWarning { get; set; }
|
||||
|
||||
private void Cancel() => MudDialog.Cancel();
|
||||
|
||||
// ================= FILE HANDLER =================
|
||||
private async Task OnFileSelected(InputFileChangeEventArgs e)
|
||||
{
|
||||
ErrorMessage = null;
|
||||
ShowWarning = false;
|
||||
|
||||
var file = e.File;
|
||||
if (file == null)
|
||||
return;
|
||||
|
||||
if (!file.Name.EndsWith(".json", StringComparison.OrdinalIgnoreCase) &&
|
||||
!file.Name.EndsWith(".txt", StringComparison.OrdinalIgnoreCase))
|
||||
{
|
||||
ShowWarning = true;
|
||||
ErrorMessage = "Only .json or .txt files are supported.";
|
||||
return;
|
||||
}
|
||||
|
||||
try
|
||||
{
|
||||
using var stream = file.OpenReadStream(maxAllowedSize: 1_048_576);
|
||||
using var reader = new StreamReader(stream);
|
||||
|
||||
JsonText = await reader.ReadToEndAsync();
|
||||
StateHasChanged();
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
ShowWarning = true;
|
||||
ErrorMessage = $"Failed to read file: {ex.Message}";
|
||||
}
|
||||
}
|
||||
|
||||
// ================= VALIDATE & IMPORT =================
|
||||
private void ValidateAndImport()
|
||||
{
|
||||
ErrorMessage = null;
|
||||
ShowWarning = false;
|
||||
|
||||
if (string.IsNullOrWhiteSpace(JsonText))
|
||||
{
|
||||
ShowWarning = true;
|
||||
ErrorMessage = "JSON content is empty.";
|
||||
return;
|
||||
}
|
||||
|
||||
try
|
||||
{
|
||||
using var doc = JsonDocument.Parse(JsonText);
|
||||
|
|
@ -65,10 +138,11 @@
|
|||
// ===== BASIC STRUCTURE CHECK =====
|
||||
if (!root.TryGetProperty("nodes", out _) ||
|
||||
!root.TryGetProperty("edges", out _))
|
||||
{
|
||||
throw new Exception("Missing 'nodes' or 'edges' field.");
|
||||
}
|
||||
|
||||
var order = OrderMessage.FromSchemaObject(root);
|
||||
|
||||
ValidateOrder(order);
|
||||
|
||||
MudDialog.Close(DialogResult.Ok(order));
|
||||
|
|
@ -85,19 +159,40 @@
|
|||
}
|
||||
}
|
||||
|
||||
// ================= DOMAIN VALIDATION =================
|
||||
private void ValidateOrder(OrderMessage order)
|
||||
{
|
||||
if (order.Nodes.Count == 0)
|
||||
throw new Exception("Order must contain at least one node.");
|
||||
|
||||
var nodeIds = order.Nodes.Select(n => n.NodeId).ToHashSet();
|
||||
if (order.Nodes.Count != order.Edges.Count + 1)
|
||||
throw new Exception(
|
||||
$"Invalid path structure: Nodes count ({order.Nodes.Count}) " +
|
||||
$"must equal Edges count + 1 ({order.Edges.Count + 1})."
|
||||
);
|
||||
|
||||
var nodeIds = order.Nodes
|
||||
.Select(n => n.NodeId)
|
||||
.ToHashSet(StringComparer.Ordinal);
|
||||
|
||||
foreach (var e in order.Edges)
|
||||
{
|
||||
if (!nodeIds.Contains(e.StartNodeId) ||
|
||||
!nodeIds.Contains(e.EndNodeId))
|
||||
if (string.IsNullOrWhiteSpace(e.StartNodeId) ||
|
||||
string.IsNullOrWhiteSpace(e.EndNodeId))
|
||||
{
|
||||
throw new Exception(
|
||||
$"Edge '{e.EdgeId}' references unknown node."
|
||||
$"Edge '{e.EdgeId}' must define both StartNodeId and EndNodeId."
|
||||
);
|
||||
}
|
||||
|
||||
if (!nodeIds.Contains(e.StartNodeId))
|
||||
throw new Exception(
|
||||
$"Edge '{e.EdgeId}' references unknown StartNodeId '{e.StartNodeId}'."
|
||||
);
|
||||
|
||||
if (!nodeIds.Contains(e.EndNodeId))
|
||||
throw new Exception(
|
||||
$"Edge '{e.EdgeId}' references unknown EndNodeId '{e.EndNodeId}'."
|
||||
);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,4 +1,4 @@
|
|||
<MudPaper Class="pa-4 h-100 d-flex flex-column" Elevation="2">
|
||||
<MudPaper Class="pa-4 h-100 d-flex flex-column overflow-hidden" Elevation="2">
|
||||
<MudStack Row AlignItems="AlignItems.Center" Justify="Justify.SpaceBetween"
|
||||
Class="mb-4 flex-shrink-0">
|
||||
<MudText Typo="Typo.h6">📄 JSON Output (/order)</MudText>
|
||||
|
|
@ -27,7 +27,6 @@
|
|||
<MudTooltip Text="@(Copied ? "Copied!" : "Copy to clipboard")">
|
||||
<MudButton Variant="Variant.Filled"
|
||||
Color="@(Copied ? Color.Success : Color.Primary)"
|
||||
Size="Size.Small"
|
||||
StartIcon="@(Copied ? Icons.Material.Filled.Check : Icons.Material.Filled.ContentCopy)"
|
||||
OnClick="OnCopy">
|
||||
@(Copied ? "Copied!" : "Copy")
|
||||
|
|
@ -36,12 +35,11 @@
|
|||
</div>
|
||||
</MudStack>
|
||||
|
||||
<div class="flex-grow-1" style="overflow:auto;">
|
||||
<div class="flex-grow-1">
|
||||
<MudTextField Value="@OrderJson"
|
||||
ReadOnly
|
||||
Variant="Variant.Filled"
|
||||
Lines="70"
|
||||
Class="h-100"
|
||||
Lines="50"
|
||||
Style="font-family: 'Roboto Mono', Consolas, monospace;
|
||||
font-size: 0.85rem;
|
||||
background:#1e1e1e;
|
||||
|
|
|
|||
|
|
@ -44,21 +44,22 @@
|
|||
</MudItem>
|
||||
|
||||
<!-- Sequence -->
|
||||
<MudItem xs="12">
|
||||
@* <MudItem xs="12">
|
||||
<MudNumericField T="int"
|
||||
Value="@node.SequenceId"
|
||||
ValueChanged="@((int v) => SetValue(() => node.SequenceId = v))"
|
||||
Immediate="true"
|
||||
Label="Sequence ID" />
|
||||
</MudItem>
|
||||
</MudItem> *@
|
||||
|
||||
<!-- Released -->
|
||||
<MudItem xs="12">
|
||||
@* <MudItem xs="12">
|
||||
<MudSwitch T="bool"
|
||||
Checked="@node.Released"
|
||||
CheckedChanged="@((bool v) => SetValue(() => node.Released = v))"
|
||||
Label="Released" />
|
||||
</MudItem>
|
||||
|
||||
</MudItem> *@
|
||||
|
||||
<!-- Position -->
|
||||
<MudItem xs="6">
|
||||
|
|
|
|||
|
|
@ -7,7 +7,7 @@ using System.Text.Json;
|
|||
|
||||
namespace RobotApp.Client.Services;
|
||||
|
||||
// ================= CONNECTION STATE =================
|
||||
// ================= SIGNALR CONNECTION STATE =================
|
||||
public enum RobotClientState
|
||||
{
|
||||
Disconnected,
|
||||
|
|
@ -16,7 +16,7 @@ public enum RobotClientState
|
|||
Reconnecting
|
||||
}
|
||||
|
||||
// ================= CLIENT =================
|
||||
// ================= ROBOT STATE CLIENT =================
|
||||
public sealed class RobotStateClient : IAsyncDisposable
|
||||
{
|
||||
private readonly NavigationManager _nav;
|
||||
|
|
@ -25,11 +25,17 @@ public sealed class RobotStateClient : IAsyncDisposable
|
|||
private readonly object _lock = new();
|
||||
private bool _started;
|
||||
|
||||
// ================= STATE CACHE =================
|
||||
public ConcurrentDictionary<string, StateMsg> LatestStates { get; } = new();
|
||||
|
||||
// ================= ROBOT CONNECTION =================
|
||||
private bool _isRobotConnected;
|
||||
public bool IsRobotConnected => _isRobotConnected;
|
||||
|
||||
// ================= EVENTS =================
|
||||
public event Action<string, StateMsg>? OnStateReceived;
|
||||
public event Action<StateMsg>? OnStateReceivedAny;
|
||||
public event Action<bool>? OnRobotConnectionChanged;
|
||||
public event Action<RobotClientState>? OnConnectionStateChanged;
|
||||
|
||||
public RobotClientState ConnectionState { get; private set; } = RobotClientState.Disconnected;
|
||||
|
|
@ -43,7 +49,8 @@ public sealed class RobotStateClient : IAsyncDisposable
|
|||
// ================= STATE HELPER =================
|
||||
private void SetState(RobotClientState state)
|
||||
{
|
||||
if (ConnectionState == state) return;
|
||||
if (ConnectionState == state)
|
||||
return;
|
||||
|
||||
ConnectionState = state;
|
||||
OnConnectionStateChanged?.Invoke(state);
|
||||
|
|
@ -82,9 +89,10 @@ public sealed class RobotStateClient : IAsyncDisposable
|
|||
return Task.CompletedTask;
|
||||
};
|
||||
|
||||
_connection.Closed += async error =>
|
||||
_connection.Closed += async _ =>
|
||||
{
|
||||
_started = false;
|
||||
SetState(RobotClientState.Disconnected);
|
||||
|
||||
if (_connection != null)
|
||||
{
|
||||
|
|
@ -96,8 +104,14 @@ public sealed class RobotStateClient : IAsyncDisposable
|
|||
}
|
||||
};
|
||||
|
||||
// ================= SIGNALR HANDLERS =================
|
||||
|
||||
// VDA5050 State
|
||||
_connection.On<string>("ReceiveState", HandleState);
|
||||
|
||||
// Robot connection (bool only)
|
||||
_connection.On<bool>("ReceiveRobotConnection", HandleRobotConnection);
|
||||
|
||||
try
|
||||
{
|
||||
await _connection.StartAsync();
|
||||
|
|
@ -136,6 +150,13 @@ public sealed class RobotStateClient : IAsyncDisposable
|
|||
OnStateReceivedAny?.Invoke(state);
|
||||
}
|
||||
|
||||
// ================= HANDLE ROBOT CONNECTION =================
|
||||
private void HandleRobotConnection(bool isConnected)
|
||||
{
|
||||
_isRobotConnected = isConnected;
|
||||
OnRobotConnectionChanged?.Invoke(isConnected);
|
||||
}
|
||||
|
||||
// ================= SUBSCRIBE =================
|
||||
public async Task SubscribeRobotAsync(string serialNumber)
|
||||
{
|
||||
|
|
@ -164,6 +185,7 @@ public sealed class RobotStateClient : IAsyncDisposable
|
|||
}
|
||||
|
||||
LatestStates.TryRemove(serialNumber, out _);
|
||||
_isRobotConnected = false;
|
||||
}
|
||||
|
||||
// ================= GET CACHE =================
|
||||
|
|
@ -177,6 +199,7 @@ public sealed class RobotStateClient : IAsyncDisposable
|
|||
public async ValueTask DisposeAsync()
|
||||
{
|
||||
_started = false;
|
||||
_isRobotConnected = false;
|
||||
SetState(RobotClientState.Disconnected);
|
||||
|
||||
if (_connection != null)
|
||||
|
|
|
|||
|
|
@ -270,31 +270,17 @@ public class OrderMessage
|
|||
}
|
||||
public object ToSchemaObject()
|
||||
{
|
||||
int seq = 0;
|
||||
// ================= SORT NODES BY UI SEQUENCE =================
|
||||
var orderedNodes = Nodes
|
||||
.OrderBy(n => n.SequenceId)
|
||||
.ToList();
|
||||
|
||||
return new
|
||||
{
|
||||
headerId = HeaderId++,
|
||||
|
||||
timestamp = string.IsNullOrWhiteSpace(Timestamp)
|
||||
? DateTime.UtcNow.ToString("O")
|
||||
: Timestamp,
|
||||
|
||||
version = Version,
|
||||
manufacturer = Manufacturer,
|
||||
serialNumber = SerialNumber,
|
||||
orderId = OrderId,
|
||||
orderUpdateId = OrderUpdateId,
|
||||
|
||||
zoneSetId = string.IsNullOrWhiteSpace(ZoneSetId)
|
||||
? null
|
||||
: ZoneSetId,
|
||||
|
||||
// ================= NODES =================
|
||||
nodes = Nodes.Select(n => new
|
||||
// ================= BUILD NODE OBJECTS =================
|
||||
var nodeObjects = orderedNodes
|
||||
.Select((n, index) => new
|
||||
{
|
||||
nodeId = n.NodeId,
|
||||
sequenceId = seq++,
|
||||
sequenceId = index * 2, // ✅ NODE = EVEN
|
||||
released = n.Released,
|
||||
|
||||
nodePosition = new
|
||||
|
|
@ -311,36 +297,55 @@ public class OrderMessage
|
|||
: n.NodePosition.MapId
|
||||
},
|
||||
|
||||
actions = n.Actions.Select(a => new
|
||||
{
|
||||
actionId = a.ActionId,
|
||||
actionType = a.ActionType,
|
||||
blockingType = a.BlockingType,
|
||||
actions = n.Actions?
|
||||
.Select(a => new
|
||||
{
|
||||
actionId = a.ActionId,
|
||||
actionType = a.ActionType,
|
||||
blockingType = a.BlockingType,
|
||||
|
||||
actionParameters = a.ActionParameters != null
|
||||
? a.ActionParameters
|
||||
.Select(p => new { key = p.Key, value = p.Value })
|
||||
actionParameters = a.ActionParameters?
|
||||
.Select(p => new
|
||||
{
|
||||
key = p.Key,
|
||||
value = p.Value
|
||||
})
|
||||
.ToArray()
|
||||
: Array.Empty<object>()
|
||||
}).ToArray()
|
||||
}).ToArray(),
|
||||
?? Array.Empty<object>()
|
||||
})
|
||||
.ToArray()
|
||||
?? Array.Empty<object>()
|
||||
})
|
||||
.ToArray();
|
||||
|
||||
// ================= EDGES =================
|
||||
edges = Edges.Select<UiEdge, object>(e =>
|
||||
// ================= BUILD EDGE OBJECTS =================
|
||||
var edgeObjects = Edges
|
||||
.Select<UiEdge, object>((e, index) =>
|
||||
{
|
||||
int sequenceId = index * 2 + 1; // ✅ EDGE = ODD
|
||||
|
||||
// ---------- BASE ----------
|
||||
var baseEdge = new
|
||||
{
|
||||
edgeId = e.EdgeId,
|
||||
sequenceId,
|
||||
released = true,
|
||||
startNodeId = e.StartNodeId,
|
||||
endNodeId = e.EndNodeId
|
||||
};
|
||||
|
||||
// =================================================
|
||||
// 1️⃣ IMPORTED TRAJECTORY (ƯU TIÊN CAO NHẤT)
|
||||
// 1️⃣ IMPORTED TRAJECTORY
|
||||
// =================================================
|
||||
if (e.HasTrajectory && e.Trajectory != null)
|
||||
{
|
||||
return new
|
||||
{
|
||||
edgeId = e.EdgeId,
|
||||
sequenceId = seq++,
|
||||
released = true,
|
||||
|
||||
startNodeId = e.StartNodeId,
|
||||
endNodeId = e.EndNodeId,
|
||||
baseEdge.edgeId,
|
||||
baseEdge.sequenceId,
|
||||
baseEdge.released,
|
||||
baseEdge.startNodeId,
|
||||
baseEdge.endNodeId,
|
||||
|
||||
trajectory = new
|
||||
{
|
||||
|
|
@ -356,27 +361,25 @@ public class OrderMessage
|
|||
}
|
||||
|
||||
// =================================================
|
||||
// 2️⃣ STRAIGHT EDGE (KHÔNG CÓ CURVE)
|
||||
// 2️⃣ STRAIGHT EDGE
|
||||
// =================================================
|
||||
if (e.Radius <= 0)
|
||||
{
|
||||
return new
|
||||
{
|
||||
edgeId = e.EdgeId,
|
||||
sequenceId = seq++,
|
||||
released = true,
|
||||
|
||||
startNodeId = e.StartNodeId,
|
||||
endNodeId = e.EndNodeId,
|
||||
|
||||
baseEdge.edgeId,
|
||||
baseEdge.sequenceId,
|
||||
baseEdge.released,
|
||||
baseEdge.startNodeId,
|
||||
baseEdge.endNodeId,
|
||||
actions = Array.Empty<object>()
|
||||
};
|
||||
}
|
||||
|
||||
// =================================================
|
||||
// 3️⃣ EDITOR GENERATED CURVE (RADIUS + QUADRANT)
|
||||
// 3️⃣ GENERATED CURVE (EDITOR)
|
||||
// =================================================
|
||||
var startNode = Nodes.First(n => n.NodeId == e.StartNodeId);
|
||||
var startNode = orderedNodes.First(n => n.NodeId == e.StartNodeId);
|
||||
|
||||
var A = new Point(
|
||||
startNode.NodePosition.X,
|
||||
|
|
@ -391,17 +394,40 @@ public class OrderMessage
|
|||
|
||||
return new
|
||||
{
|
||||
edgeId = e.EdgeId,
|
||||
sequenceId = seq++,
|
||||
released = true,
|
||||
|
||||
startNodeId = e.StartNodeId,
|
||||
endNodeId = e.EndNodeId,
|
||||
baseEdge.edgeId,
|
||||
baseEdge.sequenceId,
|
||||
baseEdge.released,
|
||||
baseEdge.startNodeId,
|
||||
baseEdge.endNodeId,
|
||||
|
||||
trajectory = result.Trajectory,
|
||||
actions = Array.Empty<object>()
|
||||
};
|
||||
}).ToArray()
|
||||
})
|
||||
.ToArray();
|
||||
|
||||
// ================= FINAL SCHEMA OBJECT =================
|
||||
return new
|
||||
{
|
||||
headerId = HeaderId++,
|
||||
|
||||
timestamp = string.IsNullOrWhiteSpace(Timestamp)
|
||||
? DateTime.UtcNow.ToString("O")
|
||||
: Timestamp,
|
||||
|
||||
version = Version,
|
||||
manufacturer = Manufacturer,
|
||||
serialNumber = SerialNumber,
|
||||
|
||||
orderId = OrderId,
|
||||
orderUpdateId = OrderUpdateId,
|
||||
|
||||
zoneSetId = string.IsNullOrWhiteSpace(ZoneSetId)
|
||||
? null
|
||||
: ZoneSetId,
|
||||
|
||||
nodes = nodeObjects,
|
||||
edges = edgeObjects
|
||||
};
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -26,6 +26,8 @@ public class RobotStatePublisher : BackgroundService
|
|||
private readonly ILoad _loadManager;
|
||||
private readonly INavigation _navigationManager;
|
||||
private readonly RobotStateMachine _stateManager;
|
||||
private readonly RobotConnection _robotConnection;
|
||||
private bool? _lastRobotConnectionState;
|
||||
|
||||
private uint _headerId = 0;
|
||||
private readonly PeriodicTimer _timer = new(TimeSpan.FromMilliseconds(1000)); // 1 giây/lần
|
||||
|
|
@ -42,7 +44,8 @@ public class RobotStatePublisher : BackgroundService
|
|||
IBattery batteryManager,
|
||||
ILoad loadManager,
|
||||
INavigation navigationManager,
|
||||
RobotStateMachine stateManager)
|
||||
RobotStateMachine stateManager,
|
||||
RobotConnection robotConnection)
|
||||
{
|
||||
_hubContext = hubContext;
|
||||
_robotConfig = robotConfig;
|
||||
|
|
@ -56,6 +59,7 @@ public class RobotStatePublisher : BackgroundService
|
|||
_loadManager = loadManager;
|
||||
_navigationManager = navigationManager;
|
||||
_stateManager = stateManager;
|
||||
_robotConnection = robotConnection;
|
||||
}
|
||||
|
||||
private StateMsg GetStateMsg()
|
||||
|
|
@ -137,36 +141,48 @@ public class RobotStatePublisher : BackgroundService
|
|||
|
||||
protected override async Task ExecuteAsync(CancellationToken stoppingToken)
|
||||
{
|
||||
Console.WriteLine("[RobotStatePublisher] Started - Publishing state every 1 second via SignalR");
|
||||
|
||||
while (await _timer.WaitForNextTickAsync(stoppingToken) && !stoppingToken.IsCancellationRequested)
|
||||
while (await _timer.WaitForNextTickAsync(stoppingToken))
|
||||
{
|
||||
try
|
||||
{
|
||||
var state = GetStateMsg();
|
||||
var serialNumber = _robotConfig.SerialNumber;
|
||||
|
||||
// ===== SEND STATE =====
|
||||
var state = GetStateMsg();
|
||||
var json = JsonSerializer.Serialize(state, JsonOptionExtends.Write);
|
||||
|
||||
// Push đến tất cả client đang theo dõi robot này
|
||||
await _hubContext.Clients
|
||||
.Group(serialNumber)
|
||||
.SendAsync("ReceiveState", json, stoppingToken);
|
||||
|
||||
//Console.WriteLine($"[RobotStatePublisher] Published state for {serialNumber} | " +
|
||||
// $"HeaderId: {state.HeaderId} | " +
|
||||
// $"Pos: ({state.AgvPosition.X:F2}, {state.AgvPosition.Y:F2}) | " +
|
||||
// $"Battery: {state.BatteryState.BatteryCharge:F1}%");
|
||||
// ===== SEND ROBOT CONNECTION (ONLY WHEN CHANGED) =====
|
||||
var isConnected = _robotConnection.IsConnected;
|
||||
|
||||
if (_lastRobotConnectionState != isConnected)
|
||||
{
|
||||
_lastRobotConnectionState = isConnected;
|
||||
|
||||
await _hubContext.Clients
|
||||
.Group(serialNumber) // routing only
|
||||
.SendAsync(
|
||||
"ReceiveRobotConnection",
|
||||
isConnected, // payload only bool
|
||||
stoppingToken
|
||||
);
|
||||
|
||||
Console.WriteLine(
|
||||
$"[RobotStatePublisher] Robot connection changed → {(isConnected ? "ONLINE" : "OFFLINE")}"
|
||||
);
|
||||
}
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
Console.WriteLine($"[RobotStatePublisher] Error publishing state: {ex.Message}");
|
||||
Console.WriteLine(ex);
|
||||
}
|
||||
}
|
||||
|
||||
Console.WriteLine("[RobotStatePublisher] Stopped.");
|
||||
}
|
||||
|
||||
|
||||
public override void Dispose()
|
||||
{
|
||||
_timer?.Dispose();
|
||||
|
|
|
|||
Binary file not shown.
Loading…
Reference in New Issue
Block a user