update
This commit is contained in:
Đăng Nguyễn
parent
49c0c1ab39
commit
5c1851e92f
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@ -270,7 +270,7 @@
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</MudChip>
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</MudTd>
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<MudTd>
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<MudText Typo="Typo.body2" Class="text-truncate" Style="max-width: 300px;" Title="@context.Description">
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<MudText Typo="Typo.body2" Class="text-truncate" Style="max-width: 300px;">
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@context.Description
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</MudText>
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</MudTd>
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@ -309,7 +309,7 @@
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<MudTh Style="text-align:right">Status</MudTh>
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</HeaderContent>
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<RowTemplate>
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<MudTd><MudText Typo="Typo.body2" Class="text-truncate" Title="@context.ActionType">@context.ActionType</MudText></MudTd>
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<MudTd><MudText Typo="Typo.body2" Class="text-truncate">@context.ActionType</MudText></MudTd>
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<MudTd><MudText Typo="Typo.caption">@context.ActionId</MudText></MudTd>
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<MudTd Style="text-align:right">
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<MudChip T="string"
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@ -38,8 +38,7 @@
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<MudIconButton Icon="@Icons.Material.Filled.Delete"
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Color="Color.Error"
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Size="Size.Small"
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OnClick="@(() => RemoveEdgeAsync(edge))"
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StopPropagation="true" />
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OnClick="@(() => RemoveEdgeAsync(edge))" />
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</div>
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</TitleContent>
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@ -88,47 +87,6 @@
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}
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</MudSelect>
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</MudItem>
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@* <!-- Radius -->
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<MudItem xs="6">
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<MudNumericField T="double"
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Value="@edge.Radius"
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ValueChanged="@((double v) => SetValue(() => edge.Radius = v))"
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Immediate="true"
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Min="0"
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Step="0.1"
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Label="Radius (0 = straight line)" />
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</MudItem>
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<!-- Quadrant -->
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@if (edge.Radius > 0)
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{
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<MudItem xs="6">
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<MudSelect T="Quadrant"
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Value="@edge.Quadrant"
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ValueChanged="@((Quadrant v) => SetValue(() => edge.Quadrant = v))"
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Label="Quadrant">
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<MudSelectItem Value="Quadrant.I">I</MudSelectItem>
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<MudSelectItem Value="Quadrant.II">II</MudSelectItem>
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<MudSelectItem Value="Quadrant.III">III</MudSelectItem>
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<MudSelectItem Value="Quadrant.IV">IV</MudSelectItem>
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</MudSelect>
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</MudItem>
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}
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<!-- Apply Curve -->
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@if (!edge.HasTrajectory && edge.Radius > 0 && !edge.Expanded)
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{
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<MudItem xs="12">
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<MudButton Color="Color.Primary"
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Variant="Variant.Outlined"
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StartIcon="@Icons.Material.Filled.Merge"
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OnClick="@(() => ApplyCurveAsync(edge))">
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Apply Curve (generate node)
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</MudButton>
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</MudItem>
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} *@
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</MudGrid>
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</ChildContent>
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</MudExpansionPanel>
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@ -1,7 +1,7 @@
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<MudPaper Class="pa-4 h-100 d-flex flex-column overflow-hidden" Elevation="2">
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<MudStack Row AlignItems="AlignItems.Center" Justify="Justify.SpaceBetween"
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Class="mb-4 flex-shrink-0">
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<MudText Typo="Typo.h6">📄 JSON Output (/order)</MudText>
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<MudText Typo="Typo.h6">Output (/order)</MudText>
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<div class="d-flex gap-2">
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@ -86,6 +86,7 @@
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PropertyNamingPolicy = JsonNamingPolicy.CamelCase,
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});
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}
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private async Task OpenImportDialog()
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{
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var dialog = await DialogService.ShowAsync<ImportOrderDialog>(
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@ -177,22 +178,19 @@
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void RemoveAction(Node node, VDA5050.InstantAction.Action action)
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{
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node.Actions = node.Actions?.Where(a => a != action).ToArray()
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?? Array.Empty<VDA5050.InstantAction.Action>();
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node.Actions = node.Actions?.Where(a => a != action).ToArray() ?? [];
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}
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void AddActionParameter(VDA5050.InstantAction.Action act)
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{
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var list = (act.ActionParameters ?? Array.Empty<ActionParameter>()).ToList();
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var list = (act.ActionParameters ?? []).ToList();
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list.Add(new UiActionParameter());
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act.ActionParameters = list.ToArray();
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}
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void RemoveActionParameter(VDA5050.InstantAction.Action act, ActionParameter param)
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{
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act.ActionParameters =
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act.ActionParameters?.Where(p => p != param).ToArray()
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?? Array.Empty<ActionParameter>();
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act.ActionParameters = act.ActionParameters?.Where(p => p != param).ToArray() ?? [];
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}
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// ================= SEND / COPY =================
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@ -302,7 +300,7 @@
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_copyCts?.Cancel();
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_copyCts = new();
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await JS.InvokeVoidAsync("navigator.clipboard.writeText", OrderJson);
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await JS.InvokeVoidAsync("copyToClipboardFallback", OrderJson);
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copied = true;
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StateHasChanged();
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@ -1,127 +1,9 @@
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using RobotApp.VDA5050.InstantAction;
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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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// ======================================================
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// EDGE UI
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// ======================================================
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public class UiEdge
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{
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public string EdgeId { get; set; } = "";
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public int SequenceId { get; set; }
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public bool Released { get; set; } = true;
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public string StartNodeId { get; set; } = "";
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public string EndNodeId { get; set; } = "";
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// ===== CURVE (EDITOR GENERATED) =====
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public double Radius { get; set; } = 0;
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public Quadrant Quadrant { get; set; }
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// ===== IMPORTED TRAJECTORY =====
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public bool HasTrajectory { get; set; } = false;
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public UiTrajectory? Trajectory { get; set; }
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// ===== UI STATE =====
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public bool Expanded { get; private set; } = false;
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public void MarkExpanded()
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{
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Expanded = true;
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}
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}
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public class UiTrajectory
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{
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public int Degree { get; set; }
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public double[] KnotVector { get; set; } = Array.Empty<double>();
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public List<Point> ControlPoints { get; set; } = new();
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}
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public enum Quadrant
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{
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I,
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II,
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III,
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IV
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}
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// ======================================================
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// GEOMETRY MODELS
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// ======================================================
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public record Point(double X, double Y);
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public record QuarterResult(
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Point EndPoint,
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object Trajectory
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);
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// ======================================================
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// GEOMETRY HELPER (QUARTER CIRCLE)
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// ======================================================
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public static class QuarterGeometry
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{
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private const double K = 0.5522847498307936;
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public static QuarterResult BuildQuarterTrajectory(
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Point A,
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double r,
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Quadrant q
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)
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{
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Point P1, P2, C;
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switch (q)
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{
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case Quadrant.I:
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P1 = new(A.X, A.Y + K * r);
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P2 = new(A.X + K * r, A.Y + r);
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C = new(A.X + r, A.Y + r);
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break;
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case Quadrant.II:
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P1 = new(A.X - K * r, A.Y);
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P2 = new(A.X - r, A.Y + K * r);
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C = new(A.X - r, A.Y + r);
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break;
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case Quadrant.III:
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P1 = new(A.X, A.Y - K * r);
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P2 = new(A.X - K * r, A.Y - r);
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C = new(A.X - r, A.Y - r);
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break;
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case Quadrant.IV:
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P1 = new(A.X + K * r, A.Y);
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P2 = new(A.X + r, A.Y - K * r);
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C = new(A.X + r, A.Y - r);
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break;
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default:
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throw new ArgumentOutOfRangeException(nameof(q));
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}
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return new QuarterResult(
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C,
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new
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{
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degree = 3,
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knotVector = new[] { 0, 0, 0, 0, 1, 1, 1, 1 },
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controlPoints = new[]
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{
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new { x = A.X, y = A.Y }, // P0
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new { x = P1.X, y = P1.Y }, // P1
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new { x = P2.X, y = P2.Y }, // P2
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new { x = C.X, y = C.Y } // P3
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}
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}
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);
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}
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}
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// ======================================================
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// ORDER MESSAGE
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// ======================================================
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@ -141,110 +23,6 @@ public class OrderMessage
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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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.OrderBy(n => n.SequenceId)
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.ToList();
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// ================= BUILD NODE OBJECTS =================
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var nodeObjects = orderedNodes
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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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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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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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? "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 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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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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})
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.ToArray()
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?? []
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})
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.ToArray()
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?? []
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})
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.ToArray();
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// ================= BUILD EDGE OBJECTS =================
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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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// ---------- BASE ----------
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var baseEdge = new
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{
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edgeId = e.EdgeId,
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sequenceId,
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released = true,
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startNodeId = e.StartNodeId,
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endNodeId = e.EndNodeId
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};
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// =================================================
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// 1️⃣ IMPORTED TRAJECTORY
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// =================================================
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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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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 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 ControlPoint { X = p.X, Y = p.Y , Weight = 1})
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.ToArray()
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},
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Actions = []
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};
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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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.ToArray();
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// ================= FINAL SCHEMA OBJECT =================
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return new OrderMsg
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{
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HeaderId = (uint)HeaderId++,
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@ -262,8 +40,8 @@ public class OrderMessage
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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 = [..Nodes],
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Edges = [..Edges],
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};
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}
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|
|
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@ -1 +1,10 @@
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window.copyToClipboardFallback = function (text) {
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const textarea = document.createElement('textarea');
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textarea.value = text;
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textarea.style.position = 'fixed';
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textarea.style.opacity = '0';
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document.body.appendChild(textarea);
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textarea.select();
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document.execCommand('copy');
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document.body.removeChild(textarea);
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}
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|
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@ -13,5 +13,5 @@ public class EdgeState
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public string EdgeDescription { get; set; } = string.Empty;
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[Required]
|
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public bool Released { get; set; }
|
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public Trajectory Trajectory { get; set; } = new();
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public Trajectory? Trajectory { get; set; }
|
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}
|
||||
|
|
|
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|
|
@ -480,17 +480,22 @@ public class RobotOrderController(INavigation NavigationManager,
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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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|
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var trajectory = edges[i].Trajectory;
|
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var controlPoints = trajectory?.ControlPoints;
|
||||
|
||||
|
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pathEdges.Add(new()
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{
|
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StartX = nodes[i].NodePosition.X,
|
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StartY = nodes[i].NodePosition.Y,
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EndX = nodes[i + 1].NodePosition.X,
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EndY = nodes[i + 1].NodePosition.Y,
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ControlPoint1X = edges[i].Trajectory is not null && edges[i].Trajectory.ControlPoints.Length > 2 ? edges[i].Trajectory.ControlPoints[1].X : 0,
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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,
|
||||
Degree = edges[i].Trajectory is null ? 1 : edges[i].Trajectory.Degree,
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ControlPoint1X = controlPoints is { Length: > 2 } ? controlPoints[1].X : 0,
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ControlPoint1Y = controlPoints is { Length: > 2 } ? controlPoints[1].Y : 0,
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ControlPoint2X = controlPoints is { Length: > 3 } ? controlPoints[2].X : 0,
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||||
ControlPoint2Y = controlPoints is { Length: > 3 } ? controlPoints[2].Y : 0,
|
||||
Degree = trajectory is null ? 1 : trajectory.Degree,
|
||||
});
|
||||
}
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||||
}
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||||
|
|
|
|||
|
|
@ -21,11 +21,11 @@ public class RobotPathPlanner(IConfiguration Configuration)
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Y1 = inNode.NodePosition.Y,
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X2 = futureNode.NodePosition.X,
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Y2 = futureNode.NodePosition.Y,
|
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ControlPoint1X = edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].X : 0,
|
||||
ControlPoint1Y = edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].Y : 0,
|
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ControlPoint2X = edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].X : 0,
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ControlPoint2Y = edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].Y : 0,
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TrajectoryDegree = edge.Trajectory.Degree == 1 ? TrajectoryDegree.One : edge.Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three,
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ControlPoint1X = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].X : 0,
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||||
ControlPoint1Y = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].Y : 0,
|
||||
ControlPoint2X = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].X : 0,
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ControlPoint2Y = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].Y : 0,
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TrajectoryDegree = edge.Trajectory is null ? TrajectoryDegree.One : edge.Trajectory.Degree == 1 ? TrajectoryDegree.One : edge.Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three,
|
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});
|
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(double robotx, double roboty) =
|
||||
(
|
||||
|
|
@ -61,30 +61,46 @@ public class RobotPathPlanner(IConfiguration Configuration)
|
|||
navigationNodes[0].Direction = GetDirectionInNode(currentTheta, nodes[0], nodes[1], edges[0]);
|
||||
for (int i = 1; i < nodes.Length - 1; i++)
|
||||
{
|
||||
var trajectory = edges[i - 1].Trajectory;
|
||||
var controlPoints = trajectory?.ControlPoints;
|
||||
(double lastx, double lasty) = MathExtensions.Curve(0.1, new()
|
||||
{
|
||||
X1 = nodes[i - 1].NodePosition.X,
|
||||
Y1 = nodes[i - 1].NodePosition.Y,
|
||||
X2 = nodes[i].NodePosition.X,
|
||||
Y2 = nodes[i].NodePosition.Y,
|
||||
ControlPoint1X = edges[i - 1].Trajectory.ControlPoints.Length > 2 ? edges[i - 1].Trajectory.ControlPoints[1].X : 0,
|
||||
ControlPoint1Y = edges[i - 1].Trajectory.ControlPoints.Length > 2 ? edges[i - 1].Trajectory.ControlPoints[1].Y : 0,
|
||||
ControlPoint2X = edges[i - 1].Trajectory.ControlPoints.Length > 3 ? edges[i - 1].Trajectory.ControlPoints[2].X : 0,
|
||||
ControlPoint2Y = edges[i - 1].Trajectory.ControlPoints.Length > 3 ? edges[i - 1].Trajectory.ControlPoints[2].Y : 0,
|
||||
TrajectoryDegree = edges[i - 1].Trajectory.Degree == 1 ? TrajectoryDegree.One : edges[i - 1].Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three,
|
||||
ControlPoint1X = controlPoints is { Length: > 2 } ? controlPoints[1].X : 0,
|
||||
ControlPoint1Y = controlPoints is { Length: > 2 } ? controlPoints[1].Y : 0,
|
||||
ControlPoint2X = controlPoints is { Length: > 3 } ? controlPoints[2].X : 0,
|
||||
ControlPoint2Y = controlPoints is { Length: > 3 } ? controlPoints[2].Y : 0,
|
||||
TrajectoryDegree = trajectory?.Degree switch
|
||||
{
|
||||
1 => TrajectoryDegree.One,
|
||||
2 => TrajectoryDegree.Two,
|
||||
_ => TrajectoryDegree.Three
|
||||
},
|
||||
});
|
||||
|
||||
trajectory = edges[i].Trajectory;
|
||||
controlPoints = trajectory?.ControlPoints;
|
||||
(double futurex, double futurey) = MathExtensions.Curve(0.1, new()
|
||||
{
|
||||
X1 = nodes[i].NodePosition.X,
|
||||
Y1 = nodes[i].NodePosition.Y,
|
||||
X2 = nodes[i + 1].NodePosition.X,
|
||||
Y2 = nodes[i + 1].NodePosition.Y,
|
||||
ControlPoint1X = edges[i].Trajectory.ControlPoints.Length > 2 ? edges[i].Trajectory.ControlPoints[1].X : 0,
|
||||
ControlPoint1Y = edges[i].Trajectory.ControlPoints.Length > 2 ? edges[i].Trajectory.ControlPoints[1].Y : 0,
|
||||
ControlPoint2X = edges[i].Trajectory.ControlPoints.Length > 3 ? edges[i].Trajectory.ControlPoints[2].X : 0,
|
||||
ControlPoint2Y = edges[i].Trajectory.ControlPoints.Length > 3 ? edges[i].Trajectory.ControlPoints[2].Y : 0,
|
||||
TrajectoryDegree = edges[i].Trajectory.Degree == 1 ? TrajectoryDegree.One : edges[i].Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three,
|
||||
ControlPoint1X = controlPoints is { Length: > 2 } ? controlPoints[1].X : 0,
|
||||
ControlPoint1Y = controlPoints is { Length: > 2 } ? controlPoints[1].Y : 0,
|
||||
ControlPoint2X = controlPoints is { Length: > 3 } ? controlPoints[2].X : 0,
|
||||
ControlPoint2Y = controlPoints is { Length: > 3 } ? controlPoints[2].Y : 0,
|
||||
TrajectoryDegree = trajectory?.Degree switch
|
||||
{
|
||||
1 => TrajectoryDegree.One,
|
||||
2 => TrajectoryDegree.Two,
|
||||
_ => TrajectoryDegree.Three
|
||||
},
|
||||
});
|
||||
|
||||
var angle = MathExtensions.GetVectorAngle(
|
||||
nodes[i].NodePosition.X,
|
||||
nodes[i].NodePosition.Y,
|
||||
|
|
@ -128,11 +144,11 @@ public class RobotPathPlanner(IConfiguration Configuration)
|
|||
Y1 = startNode.Y,
|
||||
X2 = endNode.X,
|
||||
Y2 = endNode.Y,
|
||||
ControlPoint1X = edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].X : 0,
|
||||
ControlPoint1Y = edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].Y : 0,
|
||||
ControlPoint2X = edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].X : 0,
|
||||
ControlPoint2Y = edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].Y : 0,
|
||||
TrajectoryDegree = edge.Trajectory.Degree == 1 ? TrajectoryDegree.One : edge.Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three
|
||||
ControlPoint1X = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].X : 0,
|
||||
ControlPoint1Y = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].Y : 0,
|
||||
ControlPoint2X = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].X : 0,
|
||||
ControlPoint2Y = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].Y : 0,
|
||||
TrajectoryDegree = edge.Trajectory is null ? TrajectoryDegree.One : edge.Trajectory.Degree == 1 ? TrajectoryDegree.One : edge.Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three
|
||||
};
|
||||
|
||||
double length = EdgeCalculatorModel.GetEdgeLength();
|
||||
|
|
@ -194,11 +210,11 @@ public class RobotPathPlanner(IConfiguration Configuration)
|
|||
Y1 = startNode.NodePosition.Y,
|
||||
X2 = endNode.NodePosition.X,
|
||||
Y2 = endNode.NodePosition.Y,
|
||||
ControlPoint1X = edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].X : 0,
|
||||
ControlPoint1Y = edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].Y : 0,
|
||||
ControlPoint2X = edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].X : 0,
|
||||
ControlPoint2Y = edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].Y : 0,
|
||||
TrajectoryDegree = edge.Trajectory.Degree == 1 ? TrajectoryDegree.One : edge.Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three
|
||||
ControlPoint1X = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].X : 0,
|
||||
ControlPoint1Y = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].Y : 0,
|
||||
ControlPoint2X = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].X : 0,
|
||||
ControlPoint2Y = edge.Trajectory is not null && edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].Y : 0,
|
||||
TrajectoryDegree = edge.Trajectory is null ? TrajectoryDegree.One : edge.Trajectory.Degree == 1 ? TrajectoryDegree.One : edge.Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three
|
||||
};
|
||||
|
||||
double length = EdgeCalculatorModel.GetEdgeLength();
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user