update
This commit is contained in:
Đăng Nguyễn
parent
8362713dcc
commit
49c0c1ab39
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@ -141,8 +141,7 @@
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[Parameter] public OrderMessage Order { get; set; } = default!;
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[Parameter] public EventCallback OnAddEdge { get; set; }
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[Parameter] public EventCallback<UiEdge> OnRemoveEdge { get; set; }
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[Parameter] public EventCallback<UiEdge> OnApplyCurve { get; set; }
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[Parameter] public EventCallback<VDA5050.Order.Edge> OnRemoveEdge { get; set; }
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[Parameter] public EventCallback OnOrderChanged { get; set; }
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@ -158,15 +157,9 @@
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await OnOrderChanged.InvokeAsync();
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}
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private async Task RemoveEdgeAsync(UiEdge edge)
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private async Task RemoveEdgeAsync(VDA5050.Order.Edge edge)
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{
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await OnRemoveEdge.InvokeAsync(edge);
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await OnOrderChanged.InvokeAsync();
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}
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private async Task ApplyCurveAsync(UiEdge edge)
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{
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await OnApplyCurve.InvokeAsync(edge);
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await OnOrderChanged.InvokeAsync();
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}
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}
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@ -132,17 +132,17 @@
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try
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{
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using var doc = JsonDocument.Parse(JsonText);
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var root = doc.RootElement;
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// ===== BASIC STRUCTURE CHECK =====
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if (!root.TryGetProperty("nodes", out _) ||
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!root.TryGetProperty("edges", out _))
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var order = JsonSerializer.Deserialize<OrderMsg>(JsonText, new JsonSerializerOptions
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{
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throw new Exception("Missing 'nodes' or 'edges' field.");
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WriteIndented = true,
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PropertyNamingPolicy = JsonNamingPolicy.CamelCase,
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});
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if(order is null)
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{
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ShowWarning = true;
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ErrorMessage = "Can not convert file to Order message";
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return;
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}
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var order = OrderMessage.FromSchemaObject(root);
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ValidateOrder(order);
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MudDialog.Close(DialogResult.Ok(order));
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@ -160,15 +160,15 @@
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}
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// ================= DOMAIN VALIDATION =================
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private void ValidateOrder(OrderMessage order)
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private void ValidateOrder(OrderMsg order)
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{
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if (order.Nodes.Count == 0)
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if (order.Nodes.Length == 0)
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throw new Exception("Order must contain at least one node.");
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if (order.Nodes.Count != order.Edges.Count + 1)
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if (order.Nodes.Length != order.Edges.Length + 1)
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throw new Exception(
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$"Invalid path structure: Nodes count ({order.Nodes.Count}) " +
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$"must equal Edges count + 1 ({order.Edges.Count + 1})."
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$"Invalid path structure: Nodes count ({order.Nodes.Length}) " +
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$"must equal Edges count + 1 ({order.Edges.Length + 1})."
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);
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var nodeIds = order.Nodes
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@ -6,14 +6,14 @@
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<div class="d-flex gap-2">
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<!-- IMPORT -->
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@* <MudButton Variant="Variant.Outlined"
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<MudButton Variant="Variant.Outlined"
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Color="Color.Secondary"
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Size="Size.Small"
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StartIcon="@Icons.Material.Filled.UploadFile"
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OnClick="OnImport">
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Import JSON
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</MudButton>
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*@
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<!-- CANCEL -->
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<MudButton Variant="Variant.Filled"
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Color="@CancelButtonColor"
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@ -37,7 +37,6 @@
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<EdgesPanel Order="Order"
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OnAddEdge="AddEdge"
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OnRemoveEdge="RemoveEdge"
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OnApplyCurve="ApplyCurve"
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OnOrderChanged="OnOrderChanged" />
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</MudItem>
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@ -99,9 +98,9 @@
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var result = await dialog.Result;
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if (!result.Canceled && result.Data is OrderMessage imported)
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if (result is not null && !result.Canceled && result.Data is OrderMsg imported)
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{
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Order = imported;
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Order.Import(imported);
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RebuildOrderJson();
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StateHasChanged();
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}
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@ -149,7 +148,7 @@
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? Order.Nodes[1].NodeId
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: start; // 👈 1 node thì start = end
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Order.Edges.Add(new UiEdge
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Order.Edges.Add(new VDA5050.Order.Edge
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{
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EdgeId = $"EDGE_{Order.Edges.Count + 1}",
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StartNodeId = start,
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@ -158,25 +157,10 @@
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}
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void RemoveEdge(UiEdge edge)
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void RemoveEdge(VDA5050.Order.Edge edge)
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{
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Order.Edges.Remove(edge);
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}
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void ApplyCurve(UiEdge edge)
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{
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if (edge.Radius <= 0 || edge.Expanded) return;
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var startNode = Order.Nodes.First(n => n.NodeId == edge.StartNodeId);
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var newNode = OrderMessage.CreateCurveNode(startNode, edge);
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Order.Nodes.Add(newNode);
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edge.EndNodeId = newNode.NodeId;
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edge.MarkExpanded(); // ✅
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ResequenceNodes();
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}
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// ================= ACTION =================
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void AddAction(Node node)
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{
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@ -2,6 +2,7 @@
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using RobotApp.VDA5050.Order;
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using System.Text.Json;
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using System.Text.Json.Serialization;
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using System.Xml.Linq;
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namespace RobotApp.Client.Services;
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@ -126,7 +127,7 @@ public static class QuarterGeometry
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// ======================================================
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public class OrderMessage
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{
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public int HeaderId { get; set; }
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public uint HeaderId { get; set; }
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public string Timestamp { get; set; } = DateTime.UtcNow.ToString("yyyy-MM-ddTHH:mm:ss.fffZ");
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public string Version { get; set; } = "2.1.0";
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public string Manufacturer { get; set; } = "PhenikaaX";
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@ -135,139 +136,9 @@ public class OrderMessage
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public int OrderUpdateId { get; set; }
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public string? ZoneSetId { get; set; }
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public List<Node> Nodes { get; set; } = new();
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public List<UiEdge> Edges { get; set; } = new();
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public static Node CreateCurveNode(Node startNode, UiEdge edge)
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{
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var A = new Point(
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startNode.NodePosition.X,
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startNode.NodePosition.Y
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);
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public List<Node> Nodes { get; set; } = [];
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public List<Edge> Edges { get; set; } = [];
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var result = QuarterGeometry.BuildQuarterTrajectory(
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A,
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edge.Radius,
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edge.Quadrant
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);
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return new Node
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{
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NodeId = $"NODE_C{Guid.NewGuid():N}".Substring(0, 12),
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Released = true,
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NodePosition = new NodePosition
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{
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X = result.EndPoint.X,
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Y = result.EndPoint.Y,
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Theta = startNode.NodePosition.Theta,
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MapId = startNode.NodePosition.MapId
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}
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};
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}
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public static OrderMessage FromSchemaObject(JsonElement root)
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{
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var order = new OrderMessage
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{
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HeaderId = root.GetProperty("headerId").GetInt32(),
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Timestamp = root.GetProperty("timestamp").GetString(),
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Version = root.GetProperty("version").GetString(),
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Manufacturer = root.GetProperty("manufacturer").GetString(),
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SerialNumber = root.GetProperty("serialNumber").GetString(),
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OrderId = root.GetProperty("orderId").GetString(),
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OrderUpdateId = root.GetProperty("orderUpdateId").GetInt32()
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};
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// ================= NODES =================
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foreach (var n in root.GetProperty("nodes").EnumerateArray())
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{
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var node = new Node
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{
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NodeId = n.GetProperty("nodeId").GetString()!,
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SequenceId = n.GetProperty("sequenceId").GetInt32(),
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Released = n.GetProperty("released").GetBoolean(),
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NodePosition = new NodePosition
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{
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X = n.GetProperty("nodePosition").GetProperty("x").GetDouble(),
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Y = n.GetProperty("nodePosition").GetProperty("y").GetDouble(),
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Theta = n.GetProperty("nodePosition").GetProperty("theta").GetDouble(),
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AllowedDeviationXY = n.GetProperty("nodePosition").GetProperty("allowedDeviationXY").GetDouble(),
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AllowedDeviationTheta = n.GetProperty("nodePosition").GetProperty("allowedDeviationTheta").GetDouble(),
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MapId = n.GetProperty("nodePosition").GetProperty("mapId").GetString()
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},
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Actions = ParseActions(n)
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};
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order.Nodes.Add(node);
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}
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foreach (var e in root.GetProperty("edges").EnumerateArray())
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{
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var edge = new UiEdge
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{
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EdgeId = e.GetProperty("edgeId").GetString()!,
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SequenceId = e.GetProperty("sequenceId").GetInt32(),
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Released = e.GetProperty("released").GetBoolean(),
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StartNodeId = e.GetProperty("startNodeId").GetString()!,
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EndNodeId = e.GetProperty("endNodeId").GetString()!,
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};
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// ===== IMPORT TRAJECTORY =====
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if (e.TryGetProperty("trajectory", out var traj))
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{
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edge.HasTrajectory = true;
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edge.Trajectory = new UiTrajectory
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{
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Degree = traj.GetProperty("degree").GetInt32(),
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KnotVector = traj.GetProperty("knotVector")
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.EnumerateArray()
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.Select(x => x.GetDouble())
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.ToArray(),
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ControlPoints = traj.GetProperty("controlPoints")
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.EnumerateArray()
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.Select(p => new Point(
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p.GetProperty("x").GetDouble(),
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p.GetProperty("y").GetDouble()
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))
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.ToList()
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};
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// 🔥 IMPORTED CURVE → LOCK APPLY
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edge.MarkExpanded();
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}
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order.Edges.Add(edge);
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}
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return order;
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}
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// ================= ACTION PARSER =================
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private static VDA5050.InstantAction.Action[] ParseActions(JsonElement parent)
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{
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if (!parent.TryGetProperty("actions", out var acts))
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return Array.Empty<VDA5050.InstantAction.Action>();
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return acts.EnumerateArray().Select(a =>
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new VDA5050.InstantAction.Action
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{
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ActionId = a.GetProperty("actionId").GetString(),
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ActionType = a.GetProperty("actionType").GetString(),
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BlockingType = a.GetProperty("blockingType").GetString(),
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ActionParameters = a.TryGetProperty("actionParameters", out var ps)
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? ps.EnumerateArray()
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.Select(p => new ActionParameter
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{
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Key = p.GetProperty("key").GetString(),
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Value = p.GetProperty("value").GetString()
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})
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.ToArray()
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: Array.Empty<ActionParameter>()
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}
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).ToArray();
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}
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public OrderMsg ToSchemaObject()
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{
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// ================= SORT NODES BY UI SEQUENCE =================
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@ -337,7 +208,7 @@ public class OrderMessage
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// =================================================
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// 1️⃣ IMPORTED TRAJECTORY
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// =================================================
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if (e.HasTrajectory && e.Trajectory != null)
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if (e.Trajectory != null)
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{
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return new Edge
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{
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@ -360,39 +231,6 @@ public class OrderMessage
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};
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}
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// =================================================
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// 2️⃣ STRAIGHT EDGE
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// =================================================
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if (e.Radius <= 0)
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{
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return new Edge
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{
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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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// =================================================
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// 3️⃣ GENERATED CURVE (EDITOR)
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// =================================================
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var startNode = orderedNodes.First(n => n.NodeId == e.StartNodeId);
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var A = new Point(
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startNode.NodePosition.X,
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startNode.NodePosition.Y
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);
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var result = QuarterGeometry.BuildQuarterTrajectory(
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A,
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e.Radius,
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e.Quadrant
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);
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return new Edge
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{
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EdgeId = baseEdge.edgeId,
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@ -428,6 +266,20 @@ public class OrderMessage
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Edges = edgeObjects,
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};
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}
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public void Import(OrderMsg order)
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{
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HeaderId = order.HeaderId;
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Timestamp = order.Timestamp;
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Version = order.Version;
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Manufacturer = order.Manufacturer;
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SerialNumber = order.SerialNumber;
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OrderId = order.OrderId;
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ZoneSetId = order.ZoneSetId;
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OrderUpdateId = order.OrderUpdateId;
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Nodes = [.. order.Nodes];
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Edges = [.. order.Edges];
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}
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}
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// ======================================================
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@ -479,6 +479,7 @@ public class RobotOrderController(INavigation NavigationManager,
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var edges = NewOrderEdges.ToList().GetRange(lastNodeIndex + 1, nodes.Count - 1);
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for (int i = 0; i < nodes.Count - 1; i++)
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{
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if (edges[i] is null) return (NodeStates, [.. pathEdges]);
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pathEdges.Add(new()
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{
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StartX = nodes[i].NodePosition.X,
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@ -489,7 +490,7 @@ public class RobotOrderController(INavigation NavigationManager,
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ControlPoint1Y = edges[i].Trajectory is not null && edges[i].Trajectory.ControlPoints.Length > 2 ? edges[i].Trajectory.ControlPoints[1].Y : 0,
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ControlPoint2X = edges[i].Trajectory is not null && edges[i].Trajectory.ControlPoints.Length > 3 ? edges[i].Trajectory.ControlPoints[2].X : 0,
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ControlPoint2Y = edges[i].Trajectory is not null && edges[i].Trajectory.ControlPoints.Length > 3 ? edges[i].Trajectory.ControlPoints[2].Y : 0,
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Degree = edges[i].Trajectory.Degree,
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Degree = edges[i].Trajectory is null ? 1 : edges[i].Trajectory.Degree,
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});
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}
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}
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