update
This commit is contained in:
Đăng Nguyễn
parent
99716cc414
commit
8736bad3e7
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@ -1,44 +1,64 @@
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<EditForm Model="@Config" OnValidSubmit="OnSubmit">
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@implements IDisposable
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<DataAnnotationsValidator />
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<ValidationSummary />
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<div class="mb-2">
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<label class="form-label">Navigation Type</label>
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<InputSelect class="form-select" @bind-Value="Config.NavigationType" TValue="NavigationType">
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@foreach (var t in NavigationTypes)
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{
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<option value="@t">@t</option>
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}
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</InputSelect>
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</div>
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<div class="row g-2 mb-2">
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<div class ="d-flex w-100 h-100 flex-column">
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<div class="col">
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<EditForm EditContext="EditContext">
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<label class="form-label">Radius (wheel)</label>
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<DataAnnotationsValidator />
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<InputNumber class="form-control" @bind-Value="Config.RadiusWheel" />
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</div>
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<div class="col">
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<label class="form-label">Width (m)</label>
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<InputNumber class="form-control" @bind-Value="Config.Width" />
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</div>
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</div>
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<div class="row g-2 mb-2">
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<div class="mb-2">
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<div class="col">
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<label class="form-label">Navigation Type</label>
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<label class="form-label">Length (m)</label>
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<InputSelect class="form-select" @bind-Value="Model.NavigationType" TValue="NavigationType">
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<InputNumber class="form-control" @bind-Value="Config.Length" />
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@foreach (var t in NavigationTypes)
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{
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<option value="@t">@t</option>
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}
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</InputSelect>
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<ValidationMessage For="@(() => Model.NavigationType)" />
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</div>
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</div>
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<div class="col">
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<label class="form-label">Height (m)</label>
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<div class="row g-2 mb-2">
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<InputNumber class="form-control" @bind-Value="Config.Height" />
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<div class="col">
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<label class="form-label">Radius (wheel)</label>
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<InputNumber class="form-control" @bind-Value="Model.RadiusWheel" />
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<ValidationMessage For="@(() => Model.RadiusWheel)" />
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</div>
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<div class="col">
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<label class="form-label">Width (m)</label>
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<InputNumber class="form-control" @bind-Value="Model.Width" />
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<ValidationMessage For="@(() => Model.Width)" />
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</div>
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</div>
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</div>
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</div>
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<div class="mb-2">
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<div class="row g-2 mb-2">
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<label class="form-label">Description</label>
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<div class="col">
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<InputTextArea class="form-control" @bind-Value="Config.Description" />
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<label class="form-label">Length (m)</label>
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</div>
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<InputNumber class="form-control" @bind-Value="Model.Length" />
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<ValidationMessage For="@(() => Model.Length)" />
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</div>
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<div class="col">
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<label class="form-label">Height (m)</label>
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<InputNumber class="form-control" @bind-Value="Model.Height" />
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<ValidationMessage For="@(() => Model.Height)" />
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</div>
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</div>
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<div class="mb-2">
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<label class="form-label">Description</label>
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<InputTextArea class="form-control" @bind-Value="Model.Description" />
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<ValidationMessage For="@(() => Model.Description)" />
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</div>
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</EditForm>
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<div class="flex-grow-1" />
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<div>
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@if (Model.CreatedAt != default || Model.UpdatedAt != default)
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{
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<div class="d-flex justify-content-end mt-2">
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<small class="text-muted">Created: @Model.CreatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
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<small class="text-muted ms-3">Updated: @Model.UpdatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
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</div>
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}
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</div>
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</div>
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</EditForm>
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@code {
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@code {
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[Parameter]
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[Parameter]
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@ -47,17 +67,26 @@
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[Parameter]
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[Parameter]
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public EventCallback<RobotConfigDto> ModelChanged { get; set; }
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public EventCallback<RobotConfigDto> ModelChanged { get; set; }
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private RobotConfigDto Config = new();
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private EditContext? EditContext;
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private IEnumerable<NavigationType> NavigationTypes => Enum.GetValues(typeof(NavigationType)).Cast<NavigationType>();
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private IEnumerable<NavigationType> NavigationTypes => Enum.GetValues(typeof(NavigationType)).Cast<NavigationType>();
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protected override void OnParametersSet()
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protected override void OnParametersSet()
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{
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{
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Config = Model ?? new();
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if (EditContext is null || !EditContext.Model!.Equals(Model))
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{
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if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
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EditContext = new EditContext(Model);
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EditContext.OnFieldChanged += EditContext_OnFieldChanged;
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}
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}
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}
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private async Task OnSubmit()
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private void EditContext_OnFieldChanged(object? sender, FieldChangedEventArgs e)
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{
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{
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Model = Config;
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_ = ModelChanged.InvokeAsync(Model);
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await ModelChanged.InvokeAsync(Model);
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}
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public void Dispose()
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{
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if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
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}
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}
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}
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}
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@ -1,32 +1,47 @@
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@using RobotApp.Common.Shares.Dtos
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@implements IDisposable
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<div class="d-flex w-100 h-100 flex-column">
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<EditForm EditContext="EditContext">
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<DataAnnotationsValidator />
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<EditForm Model="@Local" OnValidSubmit="OnSubmit">
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<div class="row g-2 mb-2">
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<DataAnnotationsValidator />
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<div class="col-md-8">
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<ValidationSummary />
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<label class="form-label">PLC Address</label>
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<div class="row g-2 mb-2">
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<InputText class="form-control" @bind-Value="Model.PLCAddress" />
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<div class="col-md-8">
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<ValidationMessage For="@(() => Model.PLCAddress)" />
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<label class="form-label">PLC Address</label>
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</div>
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<InputText class="form-control" @bind-Value="Local.PLCAddress" />
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<div class="col-md-4">
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<label class="form-label">Port</label>
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<InputNumber class="form-control" @bind-Value="Model.PLCPort" />
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<ValidationMessage For="@(() => Model.PLCPort)" />
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</div>
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</div>
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</div>
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<div class="col-md-4">
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<label class="form-label">Port</label>
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<div class="row g-2 mb-2">
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<InputNumber class="form-control" @bind-Value="Local.PLCPort" />
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<div class="col-md-4">
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<label class="form-label">Unit Id</label>
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<InputNumber class="form-control" @bind-Value="Model.PLCUnitId" />
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<ValidationMessage For="@(() => Model.PLCUnitId)" />
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</div>
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</div>
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</div>
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</div>
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<div class="row g-2 mb-2">
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<div class="mb-2">
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<div class="col-md-4">
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<label class="form-label">Description</label>
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<label class="form-label">Unit Id</label>
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<InputTextArea class="form-control" @bind-Value="Model.Description" />
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<InputNumber class="form-control" @bind-Value="Local.PLCUnitId" />
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<ValidationMessage For="@(() => Model.Description)" />
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</div>
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</div>
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</div>
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<div class="mb-2">
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</EditForm>
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<label class="form-label">Description</label>
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<div class="flex-grow-1" />
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<InputTextArea class="form-control" @bind-Value="Local.Description" />
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<div>
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@if (Model.CreatedAt != default || Model.UpdatedAt != default)
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{
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<div class="d-flex justify-content-end mt-2">
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<small class="text-muted">Created: @Model.CreatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
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<small class="text-muted ms-3">Updated: @Model.UpdatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
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</div>
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}
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</div>
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</div>
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</div>
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</EditForm>
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@code {
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@code {
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[Parameter]
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[Parameter]
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@ -35,16 +50,25 @@
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[Parameter]
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[Parameter]
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public EventCallback<RobotPlcConfigDto> ModelChanged { get; set; }
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public EventCallback<RobotPlcConfigDto> ModelChanged { get; set; }
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private RobotPlcConfigDto Local = new();
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private EditContext? EditContext;
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protected override void OnParametersSet()
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protected override void OnParametersSet()
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{
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{
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Local = Model is not null ? Model with { } : new RobotPlcConfigDto();
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if (EditContext is null || !EditContext.Model!.Equals(Model))
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{
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if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
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EditContext = new EditContext(Model);
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EditContext.OnFieldChanged += EditContext_OnFieldChanged;
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}
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}
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}
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private async Task OnSubmit()
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private void EditContext_OnFieldChanged(object? sender, FieldChangedEventArgs e)
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{
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{
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Model = Local;
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_ = ModelChanged.InvokeAsync(Model);
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await ModelChanged.InvokeAsync(Model);
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}
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public void Dispose()
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{
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if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
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}
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}
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}
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}
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@ -1,50 +1,70 @@
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<EditForm Model="@Local" OnValidSubmit="OnSubmit">
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@implements IDisposable
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<DataAnnotationsValidator />
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<div class="d-flex w-100 h-100 flex-column">
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<ValidationSummary />
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<EditForm EditContext="EditContext">
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<div class="row g-2 mb-2">
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<DataAnnotationsValidator />
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<div class="col-6">
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<div class="row g-2 mb-2">
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<label class="form-label">Very Slow (m/s)</label>
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<div class="col-6">
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<InputNumber class="form-control" @bind-Value="Local.SafetySpeedVerySlow" />
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<label class="form-label">Very Slow (m/s)</label>
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<InputNumber class="form-control" @bind-Value="Model.SafetySpeedVerySlow" />
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<ValidationMessage For="@(() => Model.SafetySpeedVerySlow)" />
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</div>
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<div class="col-6">
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<label class="form-label">Slow (m/s)</label>
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<InputNumber class="form-control" @bind-Value="Model.SafetySpeedSlow" />
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<ValidationMessage For="@(() => Model.SafetySpeedSlow)" />
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</div>
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</div>
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</div>
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<div class="col-6">
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<label class="form-label">Slow (m/s)</label>
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<InputNumber class="form-control" @bind-Value="Local.SafetySpeedSlow" />
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</div>
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</div>
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<div class="row g-2 mb-2">
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<div class="row g-2 mb-2">
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<div class="col-6">
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<div class="col-6">
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<label class="form-label">Normal (m/s)</label>
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<label class="form-label">Normal (m/s)</label>
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<InputNumber class="form-control" @bind-Value="Local.SafetySpeedNormal" />
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<InputNumber class="form-control" @bind-Value="Model.SafetySpeedNormal" />
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<ValidationMessage For="@(() => Model.SafetySpeedNormal)" />
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</div>
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<div class="col-6">
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<label class="form-label">Medium (m/s)</label>
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<InputNumber class="form-control" @bind-Value="Model.SafetySpeedMedium" />
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<ValidationMessage For="@(() => Model.SafetySpeedMedium)" />
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</div>
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</div>
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</div>
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<div class="col-6">
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<label class="form-label">Medium (m/s)</label>
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<div class="row g-2 mb-2">
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<InputNumber class="form-control" @bind-Value="Local.SafetySpeedMedium" />
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<div class="col-6">
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<label class="form-label">Optimal (m/s)</label>
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<InputNumber class="form-control" @bind-Value="Model.SafetySpeedOptimal" />
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<ValidationMessage For="@(() => Model.SafetySpeedOptimal)" />
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</div>
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<div class="col-6">
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<label class="form-label">Fast (m/s)</label>
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<InputNumber class="form-control" @bind-Value="Model.SafetySpeedFast" />
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<ValidationMessage For="@(() => Model.SafetySpeedFast)" />
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</div>
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</div>
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</div>
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</div>
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<div class="row g-2 mb-2">
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<div class="mb-2">
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<div class="col-6">
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<label class="form-label">Very Fast (m/s)</label>
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<label class="form-label">Optimal (m/s)</label>
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<InputNumber class="form-control" @bind-Value="Model.SafetySpeedVeryFast" />
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<InputNumber class="form-control" @bind-Value="Local.SafetySpeedOptimal" />
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<ValidationMessage For="@(() => Model.SafetySpeedVeryFast)" />
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</div>
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</div>
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<div class="col-6">
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<label class="form-label">Fast (m/s)</label>
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<div class="mb-2">
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<InputNumber class="form-control" @bind-Value="Local.SafetySpeedFast" />
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<label class="form-label">Description</label>
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<InputTextArea class="form-control" @bind-Value="Model.Description" />
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<ValidationMessage For="@(() => Model.Description)" />
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</div>
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</div>
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</EditForm>
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<div class="flex-grow-1" />
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<div>
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@if (Model.CreatedAt != default || Model.UpdatedAt != default)
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{
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<div class="d-flex justify-content-end mt-2">
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<small class="text-muted">Created: @Model.CreatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
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<small class="text-muted ms-3">Updated: @Model.UpdatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
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</div>
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}
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</div>
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</div>
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</div>
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<div class="mb-2">
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<label class="form-label">Very Fast (m/s)</label>
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<InputNumber class="form-control" @bind-Value="Local.SafetySpeedVeryFast" />
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</div>
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<div class="mb-2">
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<label class="form-label">Description</label>
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<InputTextArea class="form-control" @bind-Value="Local.Description" />
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||||||
</div>
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</EditForm>
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@code {
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@code {
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[Parameter]
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[Parameter]
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@ -53,17 +73,25 @@
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[Parameter]
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[Parameter]
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public EventCallback<RobotSafetyConfigDto> ModelChanged { get; set; }
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public EventCallback<RobotSafetyConfigDto> ModelChanged { get; set; }
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private RobotSafetyConfigDto Local = new();
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private EditContext? EditContext;
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protected override void OnParametersSet()
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protected override void OnParametersSet()
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{
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{
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// Work on a shallow copy (record) so parent instance isn't mutated until submit
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if (EditContext is null || !EditContext.Model!.Equals(Model))
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Local = Model is not null ? Model with { } : new RobotSafetyConfigDto();
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{
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if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
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EditContext = new EditContext(Model);
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EditContext.OnFieldChanged += EditContext_OnFieldChanged;
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}
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}
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}
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|
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private async Task OnSubmit()
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private void EditContext_OnFieldChanged(object? sender, FieldChangedEventArgs e)
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{
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{
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Model = Local;
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_ = ModelChanged.InvokeAsync(Model);
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await ModelChanged.InvokeAsync(Model);
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}
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|
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public void Dispose()
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||||||
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{
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if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
|
||||||
}
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}
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}
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}
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@ -1,6 +1,4 @@
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@using RobotApp.Common.Shares.Dtos
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@implements IDisposable
|
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|
|
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@implements IDisposable
|
|
||||||
|
|
||||||
<div class="d-flex w-100 h-100 flex-column">
|
<div class="d-flex w-100 h-100 flex-column">
|
||||||
<EditForm EditContext="EditContext">
|
<EditForm EditContext="EditContext">
|
||||||
|
|
|
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|
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@ -1,14 +1,20 @@
|
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@implements IDisposable
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@implements IDisposable
|
||||||
|
|
||||||
|
|
||||||
<div class="d-flex w-100 h-100 flex-column">
|
<div class="d-flex w-100 h-100 flex-column">
|
||||||
<EditForm EditContext="EditContext">
|
<EditForm EditContext="EditContext">
|
||||||
<DataAnnotationsValidator />
|
<DataAnnotationsValidator />
|
||||||
|
|
||||||
<div class="mb-2">
|
<div class="row g-2 mb-2">
|
||||||
<label class="form-label" for="serialNumber">Serial Number</label>
|
<div class="col-md-6">
|
||||||
<InputText id="serialNumber" class="form-control" @bind-Value="Model.SerialNumber" />
|
<label class="form-label" for="serialNumber">Serial Number</label>
|
||||||
<ValidationMessage For="@(() => Model.SerialNumber)" />
|
<InputText id="serialNumber" class="form-control" @bind-Value="Model.SerialNumber" />
|
||||||
|
<ValidationMessage For="@(() => Model.SerialNumber)" />
|
||||||
|
</div>
|
||||||
|
<div class="col-md-6">
|
||||||
|
<label class="form-label" for="prefix">Topic Prefix</label>
|
||||||
|
<InputText id="prefix" class="form-control" @bind-Value="Model.VDA5050TopicPrefix"/>
|
||||||
|
<ValidationMessage For="@(() => Model.VDA5050TopicPrefix)" />
|
||||||
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div class="row g-2 mb-2">
|
<div class="row g-2 mb-2">
|
||||||
|
|
|
||||||
|
|
@ -201,6 +201,7 @@ public partial class RobotConfigManager
|
||||||
template.VDA5050Password,
|
template.VDA5050Password,
|
||||||
template.VDA5050Manufacturer,
|
template.VDA5050Manufacturer,
|
||||||
template.VDA5050Version,
|
template.VDA5050Version,
|
||||||
|
template.VDA5050TopicPrefix,
|
||||||
template.VDA5050PublishRepeat,
|
template.VDA5050PublishRepeat,
|
||||||
template.VDA5050EnablePassword,
|
template.VDA5050EnablePassword,
|
||||||
template.VDA5050EnableTls
|
template.VDA5050EnableTls
|
||||||
|
|
@ -373,6 +374,7 @@ public partial class RobotConfigManager
|
||||||
SelectedVda.VDA5050Password,
|
SelectedVda.VDA5050Password,
|
||||||
SelectedVda.VDA5050Manufacturer,
|
SelectedVda.VDA5050Manufacturer,
|
||||||
SelectedVda.VDA5050Version,
|
SelectedVda.VDA5050Version,
|
||||||
|
SelectedVda.VDA5050TopicPrefix,
|
||||||
SelectedVda.VDA5050PublishRepeat,
|
SelectedVda.VDA5050PublishRepeat,
|
||||||
SelectedVda.VDA5050EnablePassword,
|
SelectedVda.VDA5050EnablePassword,
|
||||||
SelectedVda.VDA5050EnableTls,
|
SelectedVda.VDA5050EnableTls,
|
||||||
|
|
|
||||||
|
|
@ -1,4 +1,5 @@
|
||||||
using RobotApp.Common.Shares.Enums;
|
using RobotApp.Common.Shares.Enums;
|
||||||
|
using System.ComponentModel.DataAnnotations;
|
||||||
|
|
||||||
namespace RobotApp.Common.Shares.Dtos;
|
namespace RobotApp.Common.Shares.Dtos;
|
||||||
|
|
||||||
|
|
@ -8,13 +9,18 @@ public record RobotConfigDto
|
||||||
{
|
{
|
||||||
public Guid Id { get; set; }
|
public Guid Id { get; set; }
|
||||||
public NavigationType NavigationType { get; set; }
|
public NavigationType NavigationType { get; set; }
|
||||||
|
[Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
|
||||||
public double RadiusWheel { get; set; }
|
public double RadiusWheel { get; set; }
|
||||||
|
[Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
|
||||||
public double Width { get; set; }
|
public double Width { get; set; }
|
||||||
|
[Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
|
||||||
public double Length { get; set; }
|
public double Length { get; set; }
|
||||||
|
[Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
|
||||||
public double Height { get; set; }
|
public double Height { get; set; }
|
||||||
public DateTime CreatedAt { get; set; }
|
public DateTime CreatedAt { get; set; }
|
||||||
public DateTime UpdatedAt { get; set; }
|
public DateTime UpdatedAt { get; set; }
|
||||||
public bool IsActive { get; set; }
|
public bool IsActive { get; set; }
|
||||||
|
[Required]
|
||||||
public string ConfigName { get; set; }
|
public string ConfigName { get; set; }
|
||||||
public string Description { get; set; }
|
public string Description { get; set; }
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -1,16 +1,22 @@
|
||||||
namespace RobotApp.Common.Shares.Dtos;
|
using System.ComponentModel.DataAnnotations;
|
||||||
|
|
||||||
|
namespace RobotApp.Common.Shares.Dtos;
|
||||||
|
|
||||||
#nullable disable
|
#nullable disable
|
||||||
|
|
||||||
public record RobotPlcConfigDto
|
public record RobotPlcConfigDto
|
||||||
{
|
{
|
||||||
public Guid Id { get; set; }
|
public Guid Id { get; set; }
|
||||||
|
[Required]
|
||||||
public string PLCAddress { get; set; }
|
public string PLCAddress { get; set; }
|
||||||
|
[Range(1, 65535, ErrorMessage = "Value must be from 1 to 65535")]
|
||||||
public int PLCPort { get; set; }
|
public int PLCPort { get; set; }
|
||||||
|
[Range(1, 65535, ErrorMessage = "Value must be from 1 to 65535")]
|
||||||
public int PLCUnitId { get; set; }
|
public int PLCUnitId { get; set; }
|
||||||
public DateTime CreatedAt { get; set; }
|
public DateTime CreatedAt { get; set; }
|
||||||
public DateTime UpdatedAt { get; set; }
|
public DateTime UpdatedAt { get; set; }
|
||||||
public bool IsActive { get; set; }
|
public bool IsActive { get; set; }
|
||||||
|
[Required]
|
||||||
public string ConfigName { get; set; }
|
public string ConfigName { get; set; }
|
||||||
public string Description { get; set; }
|
public string Description { get; set; }
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -1,4 +1,6 @@
|
||||||
namespace RobotApp.Common.Shares.Dtos;
|
using System.ComponentModel.DataAnnotations;
|
||||||
|
|
||||||
|
namespace RobotApp.Common.Shares.Dtos;
|
||||||
|
|
||||||
#nullable disable
|
#nullable disable
|
||||||
|
|
||||||
|
|
@ -6,15 +8,22 @@ public record RobotSafetyConfigDto
|
||||||
{
|
{
|
||||||
public Guid Id { get; set; }
|
public Guid Id { get; set; }
|
||||||
public double SafetySpeedVerySlow { get; set; }
|
public double SafetySpeedVerySlow { get; set; }
|
||||||
|
[Range(0, 10, ErrorMessage = "Value must be from 0 to 10")]
|
||||||
public double SafetySpeedSlow { get; set; }
|
public double SafetySpeedSlow { get; set; }
|
||||||
|
[Range(0, 10, ErrorMessage = "Value must be from 0 to 10")]
|
||||||
public double SafetySpeedNormal { get; set; }
|
public double SafetySpeedNormal { get; set; }
|
||||||
|
[Range(0, 10, ErrorMessage = "Value must be from 0 to 10")]
|
||||||
public double SafetySpeedMedium { get; set; }
|
public double SafetySpeedMedium { get; set; }
|
||||||
|
[Range(0, 10, ErrorMessage = "Value must be from 0 to 10")]
|
||||||
public double SafetySpeedOptimal { get; set; }
|
public double SafetySpeedOptimal { get; set; }
|
||||||
|
[Range(0, 10, ErrorMessage = "Value must be from 0 to 10")]
|
||||||
public double SafetySpeedFast { get; set; }
|
public double SafetySpeedFast { get; set; }
|
||||||
|
[Range(0, 10, ErrorMessage = "Value must be from 0 to 10")]
|
||||||
public double SafetySpeedVeryFast { get; set; }
|
public double SafetySpeedVeryFast { get; set; }
|
||||||
public DateTime CreatedAt { get; set; }
|
public DateTime CreatedAt { get; set; }
|
||||||
public DateTime UpdatedAt { get; set; }
|
public DateTime UpdatedAt { get; set; }
|
||||||
public bool IsActive { get; set; }
|
public bool IsActive { get; set; }
|
||||||
|
[Required]
|
||||||
public string ConfigName { get; set; }
|
public string ConfigName { get; set; }
|
||||||
public string Description { get; set; }
|
public string Description { get; set; }
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -14,11 +14,11 @@ public record RobotVDA5050ConfigDto
|
||||||
[Required]
|
[Required]
|
||||||
[Range(1, 65535, ErrorMessage = "Value must be from 1 to 65535")]
|
[Range(1, 65535, ErrorMessage = "Value must be from 1 to 65535")]
|
||||||
public int VDA5050Port { get; set; }
|
public int VDA5050Port { get; set; }
|
||||||
[Required]
|
|
||||||
public string VDA5050UserName { get; set; }
|
public string VDA5050UserName { get; set; }
|
||||||
public string VDA5050Password { get; set; }
|
public string VDA5050Password { get; set; }
|
||||||
public string VDA5050Manufacturer { get; set; }
|
public string VDA5050Manufacturer { get; set; }
|
||||||
public string VDA5050Version { get; set; }
|
public string VDA5050Version { get; set; }
|
||||||
|
public string VDA5050TopicPrefix { get; set; }
|
||||||
[Range(1, 65535, ErrorMessage = "Value must be from 1 to 65535")]
|
[Range(1, 65535, ErrorMessage = "Value must be from 1 to 65535")]
|
||||||
public int VDA5050PublishRepeat { get; set; }
|
public int VDA5050PublishRepeat { get; set; }
|
||||||
public bool VDA5050EnablePassword { get; set; }
|
public bool VDA5050EnablePassword { get; set; }
|
||||||
|
|
@ -29,6 +29,7 @@ public record RobotVDA5050ConfigDto
|
||||||
public DateTime CreatedAt { get; set; }
|
public DateTime CreatedAt { get; set; }
|
||||||
public DateTime UpdatedAt { get; set; }
|
public DateTime UpdatedAt { get; set; }
|
||||||
public bool IsActive { get; set; }
|
public bool IsActive { get; set; }
|
||||||
|
[Required]
|
||||||
public string ConfigName { get; set; }
|
public string ConfigName { get; set; }
|
||||||
public string Description { get; set; }
|
public string Description { get; set; }
|
||||||
}
|
}
|
||||||
|
|
@ -42,6 +43,7 @@ public record UpdateRobotVDA5050ConfigDto
|
||||||
public string VDA5050Password { get; set; }
|
public string VDA5050Password { get; set; }
|
||||||
public string VDA5050Manufacturer { get; set; }
|
public string VDA5050Manufacturer { get; set; }
|
||||||
public string VDA5050Version { get; set; }
|
public string VDA5050Version { get; set; }
|
||||||
|
public string VDA5050TopicPrefix { get; set; }
|
||||||
public int VDA5050PublishRepeat { get; set; }
|
public int VDA5050PublishRepeat { get; set; }
|
||||||
public bool VDA5050EnablePassword { get; set; }
|
public bool VDA5050EnablePassword { get; set; }
|
||||||
public bool VDA5050EnableTls { get; set; }
|
public bool VDA5050EnableTls { get; set; }
|
||||||
|
|
@ -60,6 +62,7 @@ public record CreateRobotVDA5050ConfigDto
|
||||||
public string VDA5050Password { get; set; }
|
public string VDA5050Password { get; set; }
|
||||||
public string VDA5050Manufacturer { get; set; }
|
public string VDA5050Manufacturer { get; set; }
|
||||||
public string VDA5050Version { get; set; }
|
public string VDA5050Version { get; set; }
|
||||||
|
public string VDA5050TopicPrefix { get; set; }
|
||||||
public int VDA5050PublishRepeat { get; set; }
|
public int VDA5050PublishRepeat { get; set; }
|
||||||
public bool VDA5050EnablePassword { get; set; }
|
public bool VDA5050EnablePassword { get; set; }
|
||||||
public bool VDA5050EnableTls { get; set; }
|
public bool VDA5050EnableTls { get; set; }
|
||||||
|
|
|
||||||
|
|
@ -1,6 +1,4 @@
|
||||||
using System.ComponentModel.DataAnnotations.Schema;
|
namespace RobotApp.VDA5050;
|
||||||
|
|
||||||
namespace RobotApp.VDA5050;
|
|
||||||
|
|
||||||
|
|
||||||
public class VDA5050Setting
|
public class VDA5050Setting
|
||||||
|
|
@ -17,4 +15,5 @@ public class VDA5050Setting
|
||||||
public string? CAFile { get; set; }
|
public string? CAFile { get; set; }
|
||||||
public string? CerFile { get; set; }
|
public string? CerFile { get; set; }
|
||||||
public string? KeyFile { get; set; }
|
public string? KeyFile { get; set; }
|
||||||
|
public string? TopicPrefix { get; set; }
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -186,6 +186,7 @@ public class RobotConfigsController(Services.Logger<RobotConfigsController> Logg
|
||||||
VDA5050Password = config.VDA5050Password,
|
VDA5050Password = config.VDA5050Password,
|
||||||
VDA5050Manufacturer = config.VDA5050Manufacturer,
|
VDA5050Manufacturer = config.VDA5050Manufacturer,
|
||||||
VDA5050Version = config.VDA5050Version,
|
VDA5050Version = config.VDA5050Version,
|
||||||
|
VDA5050TopicPrefix = config.VDA5050TopicPrefix,
|
||||||
VDA5050PublishRepeat = config.VDA5050PublishRepeat,
|
VDA5050PublishRepeat = config.VDA5050PublishRepeat,
|
||||||
VDA5050EnablePassword = config.VDA5050EnablePassword,
|
VDA5050EnablePassword = config.VDA5050EnablePassword,
|
||||||
VDA5050EnableTls = config.VDA5050EnableTls,
|
VDA5050EnableTls = config.VDA5050EnableTls,
|
||||||
|
|
@ -220,10 +221,11 @@ public class RobotConfigsController(Services.Logger<RobotConfigsController> Logg
|
||||||
config.SerialNumber = updateDto.SerialNumber ?? config.SerialNumber;
|
config.SerialNumber = updateDto.SerialNumber ?? config.SerialNumber;
|
||||||
config.VDA5050HostServer = updateDto.VDA5050HostServer ?? config.VDA5050HostServer;
|
config.VDA5050HostServer = updateDto.VDA5050HostServer ?? config.VDA5050HostServer;
|
||||||
config.VDA5050Port = updateDto.VDA5050Port;
|
config.VDA5050Port = updateDto.VDA5050Port;
|
||||||
config.VDA5050UserName = updateDto.VDA5050UserName ?? config.VDA5050UserName;
|
config.VDA5050UserName = updateDto.VDA5050UserName;
|
||||||
config.VDA5050Password = updateDto.VDA5050Password ?? config.VDA5050Password;
|
config.VDA5050Password = updateDto.VDA5050Password;
|
||||||
config.VDA5050Manufacturer = updateDto.VDA5050Manufacturer ?? config.VDA5050Manufacturer;
|
config.VDA5050Manufacturer = updateDto.VDA5050Manufacturer ?? config.VDA5050Manufacturer;
|
||||||
config.VDA5050Version = updateDto.VDA5050Version ?? config.VDA5050Version;
|
config.VDA5050Version = updateDto.VDA5050Version ?? config.VDA5050Version;
|
||||||
|
config.VDA5050TopicPrefix = updateDto.VDA5050TopicPrefix;
|
||||||
config.VDA5050PublishRepeat = updateDto.VDA5050PublishRepeat;
|
config.VDA5050PublishRepeat = updateDto.VDA5050PublishRepeat;
|
||||||
config.VDA5050EnablePassword = updateDto.VDA5050EnablePassword;
|
config.VDA5050EnablePassword = updateDto.VDA5050EnablePassword;
|
||||||
config.VDA5050EnableTls = updateDto.VDA5050EnableTls;
|
config.VDA5050EnableTls = updateDto.VDA5050EnableTls;
|
||||||
|
|
@ -264,6 +266,7 @@ public class RobotConfigsController(Services.Logger<RobotConfigsController> Logg
|
||||||
VDA5050Password = createDto.VDA5050Password,
|
VDA5050Password = createDto.VDA5050Password,
|
||||||
VDA5050Manufacturer = createDto.VDA5050Manufacturer,
|
VDA5050Manufacturer = createDto.VDA5050Manufacturer,
|
||||||
VDA5050Version = createDto.VDA5050Version,
|
VDA5050Version = createDto.VDA5050Version,
|
||||||
|
VDA5050TopicPrefix = createDto.VDA5050TopicPrefix,
|
||||||
VDA5050PublishRepeat = createDto.VDA5050PublishRepeat,
|
VDA5050PublishRepeat = createDto.VDA5050PublishRepeat,
|
||||||
VDA5050EnablePassword = createDto.VDA5050EnablePassword,
|
VDA5050EnablePassword = createDto.VDA5050EnablePassword,
|
||||||
VDA5050EnableTls = createDto.VDA5050EnableTls,
|
VDA5050EnableTls = createDto.VDA5050EnableTls,
|
||||||
|
|
@ -292,6 +295,7 @@ public class RobotConfigsController(Services.Logger<RobotConfigsController> Logg
|
||||||
VDA5050Password = config.VDA5050Password,
|
VDA5050Password = config.VDA5050Password,
|
||||||
VDA5050Manufacturer = config.VDA5050Manufacturer,
|
VDA5050Manufacturer = config.VDA5050Manufacturer,
|
||||||
VDA5050Version = config.VDA5050Version,
|
VDA5050Version = config.VDA5050Version,
|
||||||
|
VDA5050TopicPrefix = config.VDA5050TopicPrefix,
|
||||||
VDA5050PublishRepeat = config.VDA5050PublishRepeat,
|
VDA5050PublishRepeat = config.VDA5050PublishRepeat,
|
||||||
VDA5050EnablePassword = config.VDA5050EnablePassword,
|
VDA5050EnablePassword = config.VDA5050EnablePassword,
|
||||||
VDA5050EnableTls = config.VDA5050EnableTls,
|
VDA5050EnableTls = config.VDA5050EnableTls,
|
||||||
|
|
|
||||||
582
RobotApp/Data/Migrations/20251106025457_UpdateVDA5050St.Designer.cs
generated
Normal file
582
RobotApp/Data/Migrations/20251106025457_UpdateVDA5050St.Designer.cs
generated
Normal file
|
|
@ -0,0 +1,582 @@
|
||||||
|
// <auto-generated />
|
||||||
|
using System;
|
||||||
|
using Microsoft.EntityFrameworkCore;
|
||||||
|
using Microsoft.EntityFrameworkCore.Infrastructure;
|
||||||
|
using Microsoft.EntityFrameworkCore.Migrations;
|
||||||
|
using Microsoft.EntityFrameworkCore.Storage.ValueConversion;
|
||||||
|
using RobotApp.Data;
|
||||||
|
|
||||||
|
#nullable disable
|
||||||
|
|
||||||
|
namespace RobotApp.Data.Migrations
|
||||||
|
{
|
||||||
|
[DbContext(typeof(ApplicationDbContext))]
|
||||||
|
[Migration("20251106025457_UpdateVDA5050St")]
|
||||||
|
partial class UpdateVDA5050St
|
||||||
|
{
|
||||||
|
/// <inheritdoc />
|
||||||
|
protected override void BuildTargetModel(ModelBuilder modelBuilder)
|
||||||
|
{
|
||||||
|
#pragma warning disable 612, 618
|
||||||
|
modelBuilder.HasAnnotation("ProductVersion", "9.0.9");
|
||||||
|
|
||||||
|
modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityRoleClaim<string>", b =>
|
||||||
|
{
|
||||||
|
b.Property<int>("Id")
|
||||||
|
.ValueGeneratedOnAdd()
|
||||||
|
.HasColumnType("INTEGER");
|
||||||
|
|
||||||
|
b.Property<string>("ClaimType")
|
||||||
|
.HasColumnType("TEXT");
|
||||||
|
|
||||||
|
b.Property<string>("ClaimValue")
|
||||||
|
.HasColumnType("TEXT");
|
||||||
|
|
||||||
|
b.Property<string>("RoleId")
|
||||||
|
.IsRequired()
|
||||||
|
.HasColumnType("TEXT");
|
||||||
|
|
||||||
|
b.HasKey("Id");
|
||||||
|
|
||||||
|
b.HasIndex("RoleId");
|
||||||
|
|
||||||
|
b.ToTable("AspNetRoleClaims", (string)null);
|
||||||
|
});
|
||||||
|
|
||||||
|
modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserClaim<string>", b =>
|
||||||
|
{
|
||||||
|
b.Property<int>("Id")
|
||||||
|
.ValueGeneratedOnAdd()
|
||||||
|
.HasColumnType("INTEGER");
|
||||||
|
|
||||||
|
b.Property<string>("ClaimType")
|
||||||
|
.HasColumnType("TEXT");
|
||||||
|
|
||||||
|
b.Property<string>("ClaimValue")
|
||||||
|
.HasColumnType("TEXT");
|
||||||
|
|
||||||
|
b.Property<string>("UserId")
|
||||||
|
.IsRequired()
|
||||||
|
.HasColumnType("TEXT");
|
||||||
|
|
||||||
|
b.HasKey("Id");
|
||||||
|
|
||||||
|
b.HasIndex("UserId");
|
||||||
|
|
||||||
|
b.ToTable("AspNetUserClaims", (string)null);
|
||||||
|
});
|
||||||
|
|
||||||
|
modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserLogin<string>", b =>
|
||||||
|
{
|
||||||
|
b.Property<string>("LoginProvider")
|
||||||
|
.HasColumnType("TEXT");
|
||||||
|
|
||||||
|
b.Property<string>("ProviderKey")
|
||||||
|
.HasColumnType("TEXT");
|
||||||
|
|
||||||
|
b.Property<string>("ProviderDisplayName")
|
||||||
|
.HasColumnType("TEXT");
|
||||||
|
|
||||||
|
b.Property<string>("UserId")
|
||||||
|
.IsRequired()
|
||||||
|
.HasColumnType("TEXT");
|
||||||
|
|
||||||
|
b.HasKey("LoginProvider", "ProviderKey");
|
||||||
|
|
||||||
|
b.HasIndex("UserId");
|
||||||
|
|
||||||
|
b.ToTable("AspNetUserLogins", (string)null);
|
||||||
|
});
|
||||||
|
|
||||||
|
modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserRole<string>", b =>
|
||||||
|
{
|
||||||
|
b.Property<string>("UserId")
|
||||||
|
.HasColumnType("TEXT");
|
||||||
|
|
||||||
|
b.Property<string>("RoleId")
|
||||||
|
.HasColumnType("TEXT");
|
||||||
|
|
||||||
|
b.HasKey("UserId", "RoleId");
|
||||||
|
|
||||||
|
b.HasIndex("RoleId");
|
||||||
|
|
||||||
|
b.ToTable("AspNetUserRoles", (string)null);
|
||||||
|
});
|
||||||
|
|
||||||
|
modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserToken<string>", b =>
|
||||||
|
{
|
||||||
|
b.Property<string>("UserId")
|
||||||
|
.HasColumnType("TEXT");
|
||||||
|
|
||||||
|
b.Property<string>("LoginProvider")
|
||||||
|
.HasColumnType("TEXT");
|
||||||
|
|
||||||
|
b.Property<string>("Name")
|
||||||
|
.HasColumnType("TEXT");
|
||||||
|
|
||||||
|
b.Property<string>("Value")
|
||||||
|
.HasColumnType("TEXT");
|
||||||
|
|
||||||
|
b.HasKey("UserId", "LoginProvider", "Name");
|
||||||
|
|
||||||
|
b.ToTable("AspNetUserTokens", (string)null);
|
||||||
|
});
|
||||||
|
|
||||||
|
modelBuilder.Entity("RobotApp.Data.ApplicationRole", b =>
|
||||||
|
{
|
||||||
|
b.Property<string>("Id")
|
||||||
|
.HasColumnType("TEXT");
|
||||||
|
|
||||||
|
b.Property<string>("ConcurrencyStamp")
|
||||||
|
.IsConcurrencyToken()
|
||||||
|
.HasColumnType("TEXT");
|
||||||
|
|
||||||
|
b.Property<string>("Name")
|
||||||
|
.HasMaxLength(256)
|
||||||
|
.HasColumnType("TEXT");
|
||||||
|
|
||||||
|
b.Property<string>("NormalizedName")
|
||||||
|
.HasMaxLength(256)
|
||||||
|
.HasColumnType("TEXT");
|
||||||
|
|
||||||
|
b.HasKey("Id");
|
||||||
|
|
||||||
|
b.HasIndex("NormalizedName")
|
||||||
|
.IsUnique()
|
||||||
|
.HasDatabaseName("RoleNameIndex");
|
||||||
|
|
||||||
|
b.ToTable("AspNetRoles", (string)null);
|
||||||
|
});
|
||||||
|
|
||||||
|
modelBuilder.Entity("RobotApp.Data.ApplicationUser", b =>
|
||||||
|
{
|
||||||
|
b.Property<string>("Id")
|
||||||
|
.HasColumnType("TEXT");
|
||||||
|
|
||||||
|
b.Property<int>("AccessFailedCount")
|
||||||
|
.HasColumnType("INTEGER");
|
||||||
|
|
||||||
|
b.Property<string>("ConcurrencyStamp")
|
||||||
|
.IsConcurrencyToken()
|
||||||
|
.HasColumnType("TEXT");
|
||||||
|
|
||||||
|
b.Property<string>("Email")
|
||||||
|
.HasMaxLength(256)
|
||||||
|
.HasColumnType("TEXT");
|
||||||
|
|
||||||
|
b.Property<bool>("EmailConfirmed")
|
||||||
|
.HasColumnType("INTEGER");
|
||||||
|
|
||||||
|
b.Property<bool>("LockoutEnabled")
|
||||||
|
.HasColumnType("INTEGER");
|
||||||
|
|
||||||
|
b.Property<DateTimeOffset?>("LockoutEnd")
|
||||||
|
.HasColumnType("TEXT");
|
||||||
|
|
||||||
|
b.Property<string>("NormalizedEmail")
|
||||||
|
.HasMaxLength(256)
|
||||||
|
.HasColumnType("TEXT");
|
||||||
|
|
||||||
|
b.Property<string>("NormalizedUserName")
|
||||||
|
.HasMaxLength(256)
|
||||||
|
.HasColumnType("TEXT");
|
||||||
|
|
||||||
|
b.Property<string>("PasswordHash")
|
||||||
|
.HasColumnType("TEXT");
|
||||||
|
|
||||||
|
b.Property<string>("PhoneNumber")
|
||||||
|
.HasColumnType("TEXT");
|
||||||
|
|
||||||
|
b.Property<bool>("PhoneNumberConfirmed")
|
||||||
|
.HasColumnType("INTEGER");
|
||||||
|
|
||||||
|
b.Property<string>("SecurityStamp")
|
||||||
|
.HasColumnType("TEXT");
|
||||||
|
|
||||||
|
b.Property<bool>("TwoFactorEnabled")
|
||||||
|
.HasColumnType("INTEGER");
|
||||||
|
|
||||||
|
b.Property<string>("UserName")
|
||||||
|
.HasMaxLength(256)
|
||||||
|
.HasColumnType("TEXT");
|
||||||
|
|
||||||
|
b.HasKey("Id");
|
||||||
|
|
||||||
|
b.HasIndex("NormalizedEmail")
|
||||||
|
.HasDatabaseName("EmailIndex");
|
||||||
|
|
||||||
|
b.HasIndex("NormalizedUserName")
|
||||||
|
.IsUnique()
|
||||||
|
.HasDatabaseName("UserNameIndex");
|
||||||
|
|
||||||
|
b.ToTable("AspNetUsers", (string)null);
|
||||||
|
});
|
||||||
|
|
||||||
|
modelBuilder.Entity("RobotApp.Data.RobotConfig", b =>
|
||||||
|
{
|
||||||
|
b.Property<Guid>("Id")
|
||||||
|
.ValueGeneratedOnAdd()
|
||||||
|
.HasColumnType("uniqueidentifier")
|
||||||
|
.HasColumnName("Id");
|
||||||
|
|
||||||
|
b.Property<string>("ConfigName")
|
||||||
|
.HasMaxLength(100)
|
||||||
|
.HasColumnType("nvarchar(64)")
|
||||||
|
.HasColumnName("ConfigName");
|
||||||
|
|
||||||
|
b.Property<DateTime>("CreatedAt")
|
||||||
|
.HasColumnType("datetime2")
|
||||||
|
.HasColumnName("CreatedAt");
|
||||||
|
|
||||||
|
b.Property<string>("Description")
|
||||||
|
.HasMaxLength(500)
|
||||||
|
.HasColumnType("ntext")
|
||||||
|
.HasColumnName("Description");
|
||||||
|
|
||||||
|
b.Property<double>("Height")
|
||||||
|
.HasColumnType("float")
|
||||||
|
.HasColumnName("Height");
|
||||||
|
|
||||||
|
b.Property<bool>("IsActive")
|
||||||
|
.HasColumnType("bit")
|
||||||
|
.HasColumnName("IsActive");
|
||||||
|
|
||||||
|
b.Property<double>("Length")
|
||||||
|
.HasColumnType("float")
|
||||||
|
.HasColumnName("Length");
|
||||||
|
|
||||||
|
b.Property<int>("NavigationType")
|
||||||
|
.HasColumnType("int")
|
||||||
|
.HasColumnName("NavigationType");
|
||||||
|
|
||||||
|
b.Property<double>("RadiusWheel")
|
||||||
|
.HasColumnType("float")
|
||||||
|
.HasColumnName("RadiusWheel");
|
||||||
|
|
||||||
|
b.Property<DateTime>("UpdatedAt")
|
||||||
|
.HasColumnType("datetime2")
|
||||||
|
.HasColumnName("UpdatedAt");
|
||||||
|
|
||||||
|
b.Property<double>("Width")
|
||||||
|
.HasColumnType("float")
|
||||||
|
.HasColumnName("Width");
|
||||||
|
|
||||||
|
b.HasKey("Id");
|
||||||
|
|
||||||
|
b.ToTable("RobotConfig");
|
||||||
|
});
|
||||||
|
|
||||||
|
modelBuilder.Entity("RobotApp.Data.RobotPlcConfig", b =>
|
||||||
|
{
|
||||||
|
b.Property<Guid>("Id")
|
||||||
|
.ValueGeneratedOnAdd()
|
||||||
|
.HasColumnType("uniqueidentifier")
|
||||||
|
.HasColumnName("Id");
|
||||||
|
|
||||||
|
b.Property<string>("ConfigName")
|
||||||
|
.HasMaxLength(100)
|
||||||
|
.HasColumnType("nvarchar(64)")
|
||||||
|
.HasColumnName("ConfigName");
|
||||||
|
|
||||||
|
b.Property<DateTime>("CreatedAt")
|
||||||
|
.HasColumnType("datetime2")
|
||||||
|
.HasColumnName("CreatedAt");
|
||||||
|
|
||||||
|
b.Property<string>("Description")
|
||||||
|
.HasMaxLength(500)
|
||||||
|
.HasColumnType("ntext")
|
||||||
|
.HasColumnName("Description");
|
||||||
|
|
||||||
|
b.Property<bool>("IsActive")
|
||||||
|
.HasColumnType("bit")
|
||||||
|
.HasColumnName("IsActive");
|
||||||
|
|
||||||
|
b.Property<string>("PLCAddress")
|
||||||
|
.HasMaxLength(50)
|
||||||
|
.HasColumnType("nvarchar(64)")
|
||||||
|
.HasColumnName("PLCAddress");
|
||||||
|
|
||||||
|
b.Property<int>("PLCPort")
|
||||||
|
.HasColumnType("int")
|
||||||
|
.HasColumnName("PLCPort");
|
||||||
|
|
||||||
|
b.Property<byte>("PLCUnitId")
|
||||||
|
.HasColumnType("tinyint")
|
||||||
|
.HasColumnName("PLCUnitId");
|
||||||
|
|
||||||
|
b.Property<DateTime>("UpdatedAt")
|
||||||
|
.HasColumnType("datetime2")
|
||||||
|
.HasColumnName("UpdatedAt");
|
||||||
|
|
||||||
|
b.HasKey("Id");
|
||||||
|
|
||||||
|
b.ToTable("RobotPlcConfig");
|
||||||
|
});
|
||||||
|
|
||||||
|
modelBuilder.Entity("RobotApp.Data.RobotSafetyConfig", b =>
|
||||||
|
{
|
||||||
|
b.Property<Guid>("Id")
|
||||||
|
.ValueGeneratedOnAdd()
|
||||||
|
.HasColumnType("uniqueidentifier")
|
||||||
|
.HasColumnName("Id");
|
||||||
|
|
||||||
|
b.Property<string>("ConfigName")
|
||||||
|
.HasMaxLength(100)
|
||||||
|
.HasColumnType("nvarchar(64)")
|
||||||
|
.HasColumnName("ConfigName");
|
||||||
|
|
||||||
|
b.Property<DateTime>("CreatedAt")
|
||||||
|
.HasColumnType("datetime2")
|
||||||
|
.HasColumnName("CreatedAt");
|
||||||
|
|
||||||
|
b.Property<string>("Description")
|
||||||
|
.HasMaxLength(500)
|
||||||
|
.HasColumnType("ntext")
|
||||||
|
.HasColumnName("Description");
|
||||||
|
|
||||||
|
b.Property<bool>("IsActive")
|
||||||
|
.HasColumnType("bit")
|
||||||
|
.HasColumnName("IsActive");
|
||||||
|
|
||||||
|
b.Property<double>("SafetySpeedFast")
|
||||||
|
.HasColumnType("float")
|
||||||
|
.HasColumnName("SafetySpeedFast");
|
||||||
|
|
||||||
|
b.Property<double>("SafetySpeedMedium")
|
||||||
|
.HasColumnType("float")
|
||||||
|
.HasColumnName("SafetySpeedMedium");
|
||||||
|
|
||||||
|
b.Property<double>("SafetySpeedNormal")
|
||||||
|
.HasColumnType("float")
|
||||||
|
.HasColumnName("SafetySpeedNormal");
|
||||||
|
|
||||||
|
b.Property<double>("SafetySpeedOptimal")
|
||||||
|
.HasColumnType("float")
|
||||||
|
.HasColumnName("SafetySpeedOptimal");
|
||||||
|
|
||||||
|
b.Property<double>("SafetySpeedSlow")
|
||||||
|
.HasColumnType("float")
|
||||||
|
.HasColumnName("SafetySpeedSlow");
|
||||||
|
|
||||||
|
b.Property<double>("SafetySpeedVeryFast")
|
||||||
|
.HasColumnType("float")
|
||||||
|
.HasColumnName("SafetySpeedVeryFast");
|
||||||
|
|
||||||
|
b.Property<double>("SafetySpeedVerySlow")
|
||||||
|
.HasColumnType("float")
|
||||||
|
.HasColumnName("SafetySpeedVerySlow");
|
||||||
|
|
||||||
|
b.Property<DateTime>("UpdatedAt")
|
||||||
|
.HasColumnType("datetime2")
|
||||||
|
.HasColumnName("UpdatedAt");
|
||||||
|
|
||||||
|
b.HasKey("Id");
|
||||||
|
|
||||||
|
b.ToTable("RobotSafetyConfig");
|
||||||
|
});
|
||||||
|
|
||||||
|
modelBuilder.Entity("RobotApp.Data.RobotSimulationConfig", b =>
|
||||||
|
{
|
||||||
|
b.Property<Guid>("Id")
|
||||||
|
.ValueGeneratedOnAdd()
|
||||||
|
.HasColumnType("uniqueidentifier")
|
||||||
|
.HasColumnName("Id");
|
||||||
|
|
||||||
|
b.Property<string>("ConfigName")
|
||||||
|
.HasMaxLength(100)
|
||||||
|
.HasColumnType("nvarchar(64)")
|
||||||
|
.HasColumnName("ConfigName");
|
||||||
|
|
||||||
|
b.Property<DateTime>("CreatedAt")
|
||||||
|
.HasColumnType("datetime2")
|
||||||
|
.HasColumnName("CreatedAt");
|
||||||
|
|
||||||
|
b.Property<string>("Description")
|
||||||
|
.HasMaxLength(500)
|
||||||
|
.HasColumnType("ntext")
|
||||||
|
.HasColumnName("Description");
|
||||||
|
|
||||||
|
b.Property<bool>("EnableSimulation")
|
||||||
|
.HasColumnType("bit")
|
||||||
|
.HasColumnName("EnableSimulation");
|
||||||
|
|
||||||
|
b.Property<bool>("IsActive")
|
||||||
|
.HasColumnType("bit")
|
||||||
|
.HasColumnName("IsActive");
|
||||||
|
|
||||||
|
b.Property<double>("SimulationAcceleration")
|
||||||
|
.HasColumnType("float")
|
||||||
|
.HasColumnName("SimulationAcceleration");
|
||||||
|
|
||||||
|
b.Property<double>("SimulationDeceleration")
|
||||||
|
.HasColumnType("float")
|
||||||
|
.HasColumnName("SimulationDeceleration");
|
||||||
|
|
||||||
|
b.Property<double>("SimulationMaxAngularVelocity")
|
||||||
|
.HasColumnType("float")
|
||||||
|
.HasColumnName("SimulationMaxAngularVelocity");
|
||||||
|
|
||||||
|
b.Property<double>("SimulationMaxVelocity")
|
||||||
|
.HasColumnType("float")
|
||||||
|
.HasColumnName("SimulationMaxVelocity");
|
||||||
|
|
||||||
|
b.Property<DateTime>("UpdatedAt")
|
||||||
|
.HasColumnType("datetime2")
|
||||||
|
.HasColumnName("UpdatedAt");
|
||||||
|
|
||||||
|
b.HasKey("Id");
|
||||||
|
|
||||||
|
b.ToTable("RobotSimulationConfig");
|
||||||
|
});
|
||||||
|
|
||||||
|
modelBuilder.Entity("RobotApp.Data.RobotVDA5050Config", b =>
|
||||||
|
{
|
||||||
|
b.Property<Guid>("Id")
|
||||||
|
.ValueGeneratedOnAdd()
|
||||||
|
.HasColumnType("uniqueidentifier")
|
||||||
|
.HasColumnName("Id");
|
||||||
|
|
||||||
|
b.Property<string>("ConfigName")
|
||||||
|
.HasMaxLength(100)
|
||||||
|
.HasColumnType("nvarchar(64)")
|
||||||
|
.HasColumnName("ConfigName");
|
||||||
|
|
||||||
|
b.Property<DateTime>("CreatedAt")
|
||||||
|
.HasColumnType("datetime2")
|
||||||
|
.HasColumnName("CreatedAt");
|
||||||
|
|
||||||
|
b.Property<string>("Description")
|
||||||
|
.HasMaxLength(500)
|
||||||
|
.HasColumnType("ntext")
|
||||||
|
.HasColumnName("Description");
|
||||||
|
|
||||||
|
b.Property<bool>("IsActive")
|
||||||
|
.HasColumnType("bit")
|
||||||
|
.HasColumnName("IsActive");
|
||||||
|
|
||||||
|
b.Property<string>("SerialNumber")
|
||||||
|
.HasMaxLength(50)
|
||||||
|
.HasColumnType("nvarchar(64)")
|
||||||
|
.HasColumnName("SerialNumber");
|
||||||
|
|
||||||
|
b.Property<DateTime>("UpdatedAt")
|
||||||
|
.HasColumnType("datetime2")
|
||||||
|
.HasColumnName("UpdatedAt");
|
||||||
|
|
||||||
|
b.Property<string>("VDA5050CA")
|
||||||
|
.HasColumnType("nvarchar(64)")
|
||||||
|
.HasColumnName("VDA5050_CA");
|
||||||
|
|
||||||
|
b.Property<string>("VDA5050Cer")
|
||||||
|
.HasColumnType("nvarchar(64)")
|
||||||
|
.HasColumnName("VDA5050_Cer");
|
||||||
|
|
||||||
|
b.Property<bool>("VDA5050EnablePassword")
|
||||||
|
.HasColumnType("bit")
|
||||||
|
.HasColumnName("VDA5050_EnablePassword");
|
||||||
|
|
||||||
|
b.Property<bool>("VDA5050EnableTls")
|
||||||
|
.HasColumnType("bit")
|
||||||
|
.HasColumnName("VDA5050_EnableTls");
|
||||||
|
|
||||||
|
b.Property<string>("VDA5050HostServer")
|
||||||
|
.HasMaxLength(100)
|
||||||
|
.HasColumnType("nvarchar(64)")
|
||||||
|
.HasColumnName("VDA5050_HostServer");
|
||||||
|
|
||||||
|
b.Property<string>("VDA5050Key")
|
||||||
|
.HasColumnType("nvarchar(64)")
|
||||||
|
.HasColumnName("VDA5050_Key");
|
||||||
|
|
||||||
|
b.Property<string>("VDA5050Manufacturer")
|
||||||
|
.HasMaxLength(50)
|
||||||
|
.HasColumnType("nvarchar(64)")
|
||||||
|
.HasColumnName("VDA5050_Manufacturer");
|
||||||
|
|
||||||
|
b.Property<string>("VDA5050Password")
|
||||||
|
.HasMaxLength(50)
|
||||||
|
.HasColumnType("nvarchar(64)")
|
||||||
|
.HasColumnName("VDA5050_Password");
|
||||||
|
|
||||||
|
b.Property<int>("VDA5050Port")
|
||||||
|
.HasColumnType("int")
|
||||||
|
.HasColumnName("VDA5050_Port");
|
||||||
|
|
||||||
|
b.Property<int>("VDA5050PublishRepeat")
|
||||||
|
.HasColumnType("int")
|
||||||
|
.HasColumnName("VDA5050_PublishRepeat");
|
||||||
|
|
||||||
|
b.Property<string>("VDA5050TopicPrefix")
|
||||||
|
.HasMaxLength(64)
|
||||||
|
.HasColumnType("nvarchar(64)")
|
||||||
|
.HasColumnName("VDA5050_TopicPrefix");
|
||||||
|
|
||||||
|
b.Property<string>("VDA5050UserName")
|
||||||
|
.HasMaxLength(50)
|
||||||
|
.HasColumnType("nvarchar(64)")
|
||||||
|
.HasColumnName("VDA5050_UserName");
|
||||||
|
|
||||||
|
b.Property<string>("VDA5050Version")
|
||||||
|
.HasMaxLength(20)
|
||||||
|
.HasColumnType("nvarchar(64)")
|
||||||
|
.HasColumnName("VDA5050_Version");
|
||||||
|
|
||||||
|
b.HasKey("Id");
|
||||||
|
|
||||||
|
b.ToTable("RobotVDA5050Config");
|
||||||
|
});
|
||||||
|
|
||||||
|
modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityRoleClaim<string>", b =>
|
||||||
|
{
|
||||||
|
b.HasOne("RobotApp.Data.ApplicationRole", null)
|
||||||
|
.WithMany()
|
||||||
|
.HasForeignKey("RoleId")
|
||||||
|
.OnDelete(DeleteBehavior.Cascade)
|
||||||
|
.IsRequired();
|
||||||
|
});
|
||||||
|
|
||||||
|
modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserClaim<string>", b =>
|
||||||
|
{
|
||||||
|
b.HasOne("RobotApp.Data.ApplicationUser", null)
|
||||||
|
.WithMany()
|
||||||
|
.HasForeignKey("UserId")
|
||||||
|
.OnDelete(DeleteBehavior.Cascade)
|
||||||
|
.IsRequired();
|
||||||
|
});
|
||||||
|
|
||||||
|
modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserLogin<string>", b =>
|
||||||
|
{
|
||||||
|
b.HasOne("RobotApp.Data.ApplicationUser", null)
|
||||||
|
.WithMany()
|
||||||
|
.HasForeignKey("UserId")
|
||||||
|
.OnDelete(DeleteBehavior.Cascade)
|
||||||
|
.IsRequired();
|
||||||
|
});
|
||||||
|
|
||||||
|
modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserRole<string>", b =>
|
||||||
|
{
|
||||||
|
b.HasOne("RobotApp.Data.ApplicationRole", null)
|
||||||
|
.WithMany()
|
||||||
|
.HasForeignKey("RoleId")
|
||||||
|
.OnDelete(DeleteBehavior.Cascade)
|
||||||
|
.IsRequired();
|
||||||
|
|
||||||
|
b.HasOne("RobotApp.Data.ApplicationUser", null)
|
||||||
|
.WithMany()
|
||||||
|
.HasForeignKey("UserId")
|
||||||
|
.OnDelete(DeleteBehavior.Cascade)
|
||||||
|
.IsRequired();
|
||||||
|
});
|
||||||
|
|
||||||
|
modelBuilder.Entity("Microsoft.AspNetCore.Identity.IdentityUserToken<string>", b =>
|
||||||
|
{
|
||||||
|
b.HasOne("RobotApp.Data.ApplicationUser", null)
|
||||||
|
.WithMany()
|
||||||
|
.HasForeignKey("UserId")
|
||||||
|
.OnDelete(DeleteBehavior.Cascade)
|
||||||
|
.IsRequired();
|
||||||
|
});
|
||||||
|
#pragma warning restore 612, 618
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
29
RobotApp/Data/Migrations/20251106025457_UpdateVDA5050St.cs
Normal file
29
RobotApp/Data/Migrations/20251106025457_UpdateVDA5050St.cs
Normal file
|
|
@ -0,0 +1,29 @@
|
||||||
|
using Microsoft.EntityFrameworkCore.Migrations;
|
||||||
|
|
||||||
|
#nullable disable
|
||||||
|
|
||||||
|
namespace RobotApp.Data.Migrations
|
||||||
|
{
|
||||||
|
/// <inheritdoc />
|
||||||
|
public partial class UpdateVDA5050St : Migration
|
||||||
|
{
|
||||||
|
/// <inheritdoc />
|
||||||
|
protected override void Up(MigrationBuilder migrationBuilder)
|
||||||
|
{
|
||||||
|
migrationBuilder.AddColumn<string>(
|
||||||
|
name: "VDA5050_TopicPrefix",
|
||||||
|
table: "RobotVDA5050Config",
|
||||||
|
type: "nvarchar(64)",
|
||||||
|
maxLength: 64,
|
||||||
|
nullable: true);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <inheritdoc />
|
||||||
|
protected override void Down(MigrationBuilder migrationBuilder)
|
||||||
|
{
|
||||||
|
migrationBuilder.DropColumn(
|
||||||
|
name: "VDA5050_TopicPrefix",
|
||||||
|
table: "RobotVDA5050Config");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -503,6 +503,11 @@ namespace RobotApp.Migrations
|
||||||
.HasColumnType("int")
|
.HasColumnType("int")
|
||||||
.HasColumnName("VDA5050_PublishRepeat");
|
.HasColumnName("VDA5050_PublishRepeat");
|
||||||
|
|
||||||
|
b.Property<string>("VDA5050TopicPrefix")
|
||||||
|
.HasMaxLength(64)
|
||||||
|
.HasColumnType("nvarchar(64)")
|
||||||
|
.HasColumnName("VDA5050_TopicPrefix");
|
||||||
|
|
||||||
b.Property<string>("VDA5050UserName")
|
b.Property<string>("VDA5050UserName")
|
||||||
.HasMaxLength(50)
|
.HasMaxLength(50)
|
||||||
.HasColumnType("nvarchar(64)")
|
.HasColumnType("nvarchar(64)")
|
||||||
|
|
|
||||||
|
|
@ -42,6 +42,10 @@ public class RobotVDA5050Config
|
||||||
[MaxLength(20)]
|
[MaxLength(20)]
|
||||||
public string VDA5050Version { get; set; }
|
public string VDA5050Version { get; set; }
|
||||||
|
|
||||||
|
[Column("VDA5050_TopicPrefix", TypeName = "nvarchar(64)")]
|
||||||
|
[MaxLength(64)]
|
||||||
|
public string VDA5050TopicPrefix { get; set; }
|
||||||
|
|
||||||
[Column("VDA5050_PublishRepeat", TypeName = "int")]
|
[Column("VDA5050_PublishRepeat", TypeName = "int")]
|
||||||
public int VDA5050PublishRepeat { get; set; }
|
public int VDA5050PublishRepeat { get; set; }
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -2,6 +2,7 @@ using Microsoft.AspNetCore.Components.Authorization;
|
||||||
using Microsoft.AspNetCore.Identity;
|
using Microsoft.AspNetCore.Identity;
|
||||||
using Microsoft.EntityFrameworkCore;
|
using Microsoft.EntityFrameworkCore;
|
||||||
using MudBlazor.Services;
|
using MudBlazor.Services;
|
||||||
|
using NLog.Web;
|
||||||
using RobotApp.Components;
|
using RobotApp.Components;
|
||||||
using RobotApp.Components.Account;
|
using RobotApp.Components.Account;
|
||||||
using RobotApp.Data;
|
using RobotApp.Data;
|
||||||
|
|
@ -9,6 +10,7 @@ using RobotApp.Services;
|
||||||
using RobotApp.Services.Robot.Simulation;
|
using RobotApp.Services.Robot.Simulation;
|
||||||
|
|
||||||
var builder = WebApplication.CreateBuilder(args);
|
var builder = WebApplication.CreateBuilder(args);
|
||||||
|
builder.Host.UseNLog();
|
||||||
|
|
||||||
// Add services to the container.
|
// Add services to the container.
|
||||||
builder.Services.AddRazorComponents()
|
builder.Services.AddRazorComponents()
|
||||||
|
|
|
||||||
|
|
@ -33,6 +33,8 @@
|
||||||
<IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
|
<IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
|
||||||
</PackageReference>
|
</PackageReference>
|
||||||
<PackageReference Include="MQTTnet" Version="5.0.1.1416" />
|
<PackageReference Include="MQTTnet" Version="5.0.1.1416" />
|
||||||
|
<PackageReference Include="NLog" Version="6.0.5" />
|
||||||
|
<PackageReference Include="NLog.Web.AspNetCore" Version="6.0.5" />
|
||||||
</ItemGroup>
|
</ItemGroup>
|
||||||
|
|
||||||
<ItemGroup>
|
<ItemGroup>
|
||||||
|
|
|
||||||
|
|
@ -24,6 +24,9 @@ public class MQTTClient : IAsyncDisposable
|
||||||
public event Action<string>? InstanceActionsChanged;
|
public event Action<string>? InstanceActionsChanged;
|
||||||
public bool IsConnected => !IsDisposed && MqttClient is not null && MqttClient.IsConnected;
|
public bool IsConnected => !IsDisposed && MqttClient is not null && MqttClient.IsConnected;
|
||||||
|
|
||||||
|
private string OrderTopic => $"{VDA5050Setting.TopicPrefix}/{ClientId}/{VDA5050Topic.ORDER.ToTopicString()}";
|
||||||
|
private string InstanceActionsTopic => $"{VDA5050Setting.TopicPrefix}/{ClientId}/{VDA5050Topic.INSTANTACTIONS.ToTopicString()}";
|
||||||
|
|
||||||
public MQTTClient(string clientId, VDA5050Setting setting, Logger<MQTTClient> logger)
|
public MQTTClient(string clientId, VDA5050Setting setting, Logger<MQTTClient> logger)
|
||||||
{
|
{
|
||||||
VDA5050Setting = setting;
|
VDA5050Setting = setting;
|
||||||
|
|
@ -38,8 +41,8 @@ public class MQTTClient : IAsyncDisposable
|
||||||
.WithCleanSession(true)
|
.WithCleanSession(true)
|
||||||
.Build();
|
.Build();
|
||||||
MqttClientSubscribeOptions = MqttClientFactory.CreateSubscribeOptionsBuilder()
|
MqttClientSubscribeOptions = MqttClientFactory.CreateSubscribeOptionsBuilder()
|
||||||
.WithTopicFilter(f => f.WithTopic(VDA5050Topic.ORDER.ToTopicString()))
|
.WithTopicFilter(f => f.WithTopic(OrderTopic))
|
||||||
.WithTopicFilter(f => f.WithTopic(VDA5050Topic.INSTANTACTIONS.ToTopicString()))
|
.WithTopicFilter(f => f.WithTopic(InstanceActionsTopic))
|
||||||
.Build();
|
.Build();
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
@ -238,10 +241,10 @@ public class MQTTClient : IAsyncDisposable
|
||||||
if (IsDisposed) return Task.CompletedTask;
|
if (IsDisposed) return Task.CompletedTask;
|
||||||
|
|
||||||
var stringData = Encoding.UTF8.GetString(args.ApplicationMessage.Payload);
|
var stringData = Encoding.UTF8.GetString(args.ApplicationMessage.Payload);
|
||||||
VDA5050Topic topic = EnumExtensions.ToTopic(args.ApplicationMessage.Topic);
|
//VDA5050Topic topic = EnumExtensions.ToTopic(args.ApplicationMessage.Topic);
|
||||||
|
|
||||||
if (topic == VDA5050Topic.ORDER) OrderChanged?.Invoke(stringData);
|
if (args.ApplicationMessage.Topic == OrderTopic) OrderChanged?.Invoke(stringData);
|
||||||
else if (topic == VDA5050Topic.INSTANTACTIONS) InstanceActionsChanged?.Invoke(stringData);
|
else if (args.ApplicationMessage.Topic == InstanceActionsTopic) InstanceActionsChanged?.Invoke(stringData);
|
||||||
}
|
}
|
||||||
catch (Exception ex)
|
catch (Exception ex)
|
||||||
{
|
{
|
||||||
|
|
|
||||||
|
|
@ -6,13 +6,13 @@ public class RobotBattery(RobotConfiguration RobotConfiguration) : IBattery
|
||||||
{
|
{
|
||||||
public bool IsReady { get; private set; } = RobotConfiguration.IsSimulation;
|
public bool IsReady { get; private set; } = RobotConfiguration.IsSimulation;
|
||||||
|
|
||||||
public double Voltage { get; private set; }
|
public double Voltage { get; private set; } = RobotConfiguration.IsSimulation ? 24 : 0;
|
||||||
|
|
||||||
public double Current { get; private set; }
|
public double Current { get; private set; }
|
||||||
|
|
||||||
public double SOC { get; private set; }
|
public double SOC { get; private set; } = RobotConfiguration.IsSimulation ? 100 : 0;
|
||||||
|
|
||||||
public double SOH { get; private set; }
|
public double SOH { get; private set; } = RobotConfiguration.IsSimulation ? 100 : 0;
|
||||||
|
|
||||||
public BatteryStatus Status { get; private set; }
|
public BatteryStatus Status { get; private set; }
|
||||||
|
|
||||||
|
|
@ -22,7 +22,7 @@ public class RobotBattery(RobotConfiguration RobotConfiguration) : IBattery
|
||||||
|
|
||||||
public double Temperature { get; private set; }
|
public double Temperature { get; private set; }
|
||||||
|
|
||||||
public double RemainingCapacity { get; private set; }
|
public double RemainingCapacity { get; private set; }
|
||||||
|
|
||||||
public double RemainingEnergy { get; private set; }
|
public double RemainingEnergy { get; private set; }
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -46,6 +46,7 @@ public class RobotConfiguration(IServiceProvider ServiceProvider, Logger<RobotCo
|
||||||
VDA5050Setting.Password = config.VDA5050Password;
|
VDA5050Setting.Password = config.VDA5050Password;
|
||||||
VDA5050Setting.Manufacturer = config.VDA5050Manufacturer;
|
VDA5050Setting.Manufacturer = config.VDA5050Manufacturer;
|
||||||
VDA5050Setting.Version = config.VDA5050Version;
|
VDA5050Setting.Version = config.VDA5050Version;
|
||||||
|
VDA5050Setting.TopicPrefix = config.VDA5050TopicPrefix;
|
||||||
VDA5050Setting.PublishRepeat = config.VDA5050PublishRepeat;
|
VDA5050Setting.PublishRepeat = config.VDA5050PublishRepeat;
|
||||||
VDA5050Setting.EnablePassword = config.VDA5050EnablePassword;
|
VDA5050Setting.EnablePassword = config.VDA5050EnablePassword;
|
||||||
VDA5050Setting.EnableTls = config.VDA5050EnableTls;
|
VDA5050Setting.EnableTls = config.VDA5050EnableTls;
|
||||||
|
|
|
||||||
|
|
@ -22,6 +22,7 @@ public class RobotConnection(RobotConfiguration RobotConfiguration,
|
||||||
{
|
{
|
||||||
try
|
try
|
||||||
{
|
{
|
||||||
|
Logger.Debug($"Nhận Order: {data}");
|
||||||
var msg = JsonSerializer.Deserialize<OrderMsg>(data, JsonOptionExtends.Read);
|
var msg = JsonSerializer.Deserialize<OrderMsg>(data, JsonOptionExtends.Read);
|
||||||
if (msg is null || string.IsNullOrEmpty(msg.SerialNumber) || msg.SerialNumber != RobotConfiguration.SerialNumber) return;
|
if (msg is null || string.IsNullOrEmpty(msg.SerialNumber) || msg.SerialNumber != RobotConfiguration.SerialNumber) return;
|
||||||
OrderUpdated?.Invoke(msg);
|
OrderUpdated?.Invoke(msg);
|
||||||
|
|
@ -36,6 +37,7 @@ public class RobotConnection(RobotConfiguration RobotConfiguration,
|
||||||
{
|
{
|
||||||
try
|
try
|
||||||
{
|
{
|
||||||
|
Logger.Debug($"Nhận InstanceActions: {data}");
|
||||||
var msg = JsonSerializer.Deserialize<InstantActionsMsg>(data, JsonOptionExtends.Read);
|
var msg = JsonSerializer.Deserialize<InstantActionsMsg>(data, JsonOptionExtends.Read);
|
||||||
if (msg is null || string.IsNullOrEmpty(msg.SerialNumber) || msg.SerialNumber != RobotConfiguration.SerialNumber) return;
|
if (msg is null || string.IsNullOrEmpty(msg.SerialNumber) || msg.SerialNumber != RobotConfiguration.SerialNumber) return;
|
||||||
ActionUpdated?.Invoke(msg);
|
ActionUpdated?.Invoke(msg);
|
||||||
|
|
@ -48,7 +50,7 @@ public class RobotConnection(RobotConfiguration RobotConfiguration,
|
||||||
|
|
||||||
public async Task<MessageResult> Publish(string topic, string data)
|
public async Task<MessageResult> Publish(string topic, string data)
|
||||||
{
|
{
|
||||||
if (MqttClient is not null && MqttClient.IsConnected) return await MqttClient.PublishAsync(topic, data);
|
if (MqttClient is not null && MqttClient.IsConnected) return await MqttClient.PublishAsync($"{VDA5050Setting.TopicPrefix}/{RobotConfiguration.SerialNumber}/{topic}", data);
|
||||||
return new(false, "Chưa có kết nối tới broker");
|
return new(false, "Chưa có kết nối tới broker");
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -42,6 +42,8 @@ public class RobotFactsheet(RobotConnection RobotConnection, RobotConfiguration
|
||||||
FactSheetMsg factSheet = new()
|
FactSheetMsg factSheet = new()
|
||||||
{
|
{
|
||||||
SerialNumber = RobotConfiguration.SerialNumber,
|
SerialNumber = RobotConfiguration.SerialNumber,
|
||||||
|
Manufacturer = RobotConfiguration.VDA5050Setting.Manufacturer,
|
||||||
|
Version = RobotConfiguration.VDA5050Setting.Version,
|
||||||
ProtocolFeatures = new()
|
ProtocolFeatures = new()
|
||||||
{
|
{
|
||||||
AgvActions = [..AgvActions.Values],
|
AgvActions = [..AgvActions.Values],
|
||||||
|
|
@ -59,7 +61,7 @@ public class RobotFactsheet(RobotConnection RobotConnection, RobotConfiguration
|
||||||
if (RobotConnection.IsConnected) break;
|
if (RobotConnection.IsConnected) break;
|
||||||
await Task.Delay(1000);
|
await Task.Delay(1000);
|
||||||
}
|
}
|
||||||
await PubFactsheet();
|
//await PubFactsheet();
|
||||||
}
|
}
|
||||||
|
|
||||||
public readonly static AgvAction StartPause = new()
|
public readonly static AgvAction StartPause = new()
|
||||||
|
|
|
||||||
|
|
@ -1,12 +1,14 @@
|
||||||
using RobotApp.Common.Shares.Enums;
|
using RobotApp.Common.Shares.Enums;
|
||||||
using RobotApp.Interfaces;
|
using RobotApp.Interfaces;
|
||||||
using RobotApp.Services.Exceptions;
|
using RobotApp.Services.Exceptions;
|
||||||
|
using RobotApp.Services.Robot.Actions;
|
||||||
using RobotApp.Services.State;
|
using RobotApp.Services.State;
|
||||||
using RobotApp.VDA5050.InstantAction;
|
using RobotApp.VDA5050.InstantAction;
|
||||||
using RobotApp.VDA5050.Order;
|
using RobotApp.VDA5050.Order;
|
||||||
using RobotApp.VDA5050.State;
|
using RobotApp.VDA5050.State;
|
||||||
using System.Collections.Concurrent;
|
using System.Collections.Concurrent;
|
||||||
using System.Data;
|
using System.Data;
|
||||||
|
using System.Threading.Tasks;
|
||||||
using Action = RobotApp.VDA5050.InstantAction.Action;
|
using Action = RobotApp.VDA5050.InstantAction.Action;
|
||||||
|
|
||||||
namespace RobotApp.Services.Robot;
|
namespace RobotApp.Services.Robot;
|
||||||
|
|
@ -154,6 +156,8 @@ public class RobotOrderController(INavigation NavigationManager,
|
||||||
if (NavigationManager.State != NavigationState.Idle) throw new OrderException(RobotErrors.Error1012(NavigationManager.State));
|
if (NavigationManager.State != NavigationState.Idle) throw new OrderException(RobotErrors.Error1012(NavigationManager.State));
|
||||||
|
|
||||||
OrderActions.Clear();
|
OrderActions.Clear();
|
||||||
|
LastNode = null;
|
||||||
|
|
||||||
for (int i = 0; i < order.Nodes.Length; i++)
|
for (int i = 0; i < order.Nodes.Length; i++)
|
||||||
{
|
{
|
||||||
if (order.Nodes[i].Actions is not null && order.Nodes[i].Actions.Length > 0)
|
if (order.Nodes[i].Actions is not null && order.Nodes[i].Actions.Length > 0)
|
||||||
|
|
@ -184,11 +188,11 @@ public class RobotOrderController(INavigation NavigationManager,
|
||||||
if (i < order.Nodes.Length - 1 && order.Edges[i].SequenceId != i) throw new OrderException(RobotErrors.Error1011(order.Edges[i].EdgeId, order.Edges[i].SequenceId, i));
|
if (i < order.Nodes.Length - 1 && order.Edges[i].SequenceId != i) throw new OrderException(RobotErrors.Error1011(order.Edges[i].EdgeId, order.Edges[i].SequenceId, i));
|
||||||
if (order.Nodes[i].Released) CurrentBaseNode = order.Nodes[i];
|
if (order.Nodes[i].Released) CurrentBaseNode = order.Nodes[i];
|
||||||
}
|
}
|
||||||
ActionManager.ClearInstantActions();
|
|
||||||
|
|
||||||
SafetyManager.OnSafetySpeedChanged += OnSafetySpeedChanged;
|
SafetyManager.OnSafetySpeedChanged += OnSafetySpeedChanged;
|
||||||
|
|
||||||
|
ActionManager.ClearInstantActions();
|
||||||
if (OrderActions.Count > 0) ActionManager.AddOrderActions([.. OrderActions.Values.SelectMany(a => a)]);
|
if (OrderActions.Count > 0) ActionManager.AddOrderActions([.. OrderActions.Values.SelectMany(a => a)]);
|
||||||
|
|
||||||
NavigationManager.Move(order.Nodes, order.Edges);
|
NavigationManager.Move(order.Nodes, order.Edges);
|
||||||
NavigationManager.OnNavigationFinished += NavigationFinished;
|
NavigationManager.OnNavigationFinished += NavigationFinished;
|
||||||
OrderId = order.OrderId;
|
OrderId = order.OrderId;
|
||||||
|
|
@ -267,7 +271,8 @@ public class RobotOrderController(INavigation NavigationManager,
|
||||||
if (ActionHard is not null)
|
if (ActionHard is not null)
|
||||||
{
|
{
|
||||||
var robotAction = ActionManager[ActionHard.ActionId];
|
var robotAction = ActionManager[ActionHard.ActionId];
|
||||||
if (robotAction is null || (robotAction is not null && robotAction.IsCompleted))
|
if (robotAction is null) return;
|
||||||
|
if (robotAction is not null && robotAction.IsCompleted)
|
||||||
{
|
{
|
||||||
NavigationManager.Resume();
|
NavigationManager.Resume();
|
||||||
ActionHard = null;
|
ActionHard = null;
|
||||||
|
|
@ -282,6 +287,12 @@ public class RobotOrderController(INavigation NavigationManager,
|
||||||
{
|
{
|
||||||
if (ActionWaitingRunning.TryDequeue(out Action? action) && action is not null)
|
if (ActionWaitingRunning.TryDequeue(out Action? action) && action is not null)
|
||||||
{
|
{
|
||||||
|
var robotAction = ActionManager[action.ActionId];
|
||||||
|
if (robotAction is null)
|
||||||
|
{
|
||||||
|
ActionWaitingRunning.Enqueue(action);
|
||||||
|
return;
|
||||||
|
}
|
||||||
ActionManager.StartOrderAction(action.ActionId);
|
ActionManager.StartOrderAction(action.ActionId);
|
||||||
ActionHard = action.BlockingType == BlockingType.HARD.ToString() ? action : null;
|
ActionHard = action.BlockingType == BlockingType.HARD.ToString() ? action : null;
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -20,7 +20,7 @@ public class RobotStates(RobotConfiguration RobotConfiguration,
|
||||||
ILocalization LocalizationManager,
|
ILocalization LocalizationManager,
|
||||||
IBattery BatteryManager,
|
IBattery BatteryManager,
|
||||||
ILoad LoadManager,
|
ILoad LoadManager,
|
||||||
IDriver DriverManager) : BackgroundService
|
INavigation NavigationManager) : BackgroundService
|
||||||
{
|
{
|
||||||
private uint HeaderId = 0;
|
private uint HeaderId = 0;
|
||||||
|
|
||||||
|
|
@ -41,6 +41,8 @@ public class RobotStates(RobotConfiguration RobotConfiguration,
|
||||||
return new StateMsg
|
return new StateMsg
|
||||||
{
|
{
|
||||||
HeaderId = HeaderId++,
|
HeaderId = HeaderId++,
|
||||||
|
Manufacturer = RobotConfiguration.VDA5050Setting.Manufacturer,
|
||||||
|
Version = RobotConfiguration.VDA5050Setting.Version,
|
||||||
SerialNumber = RobotConfiguration.SerialNumber,
|
SerialNumber = RobotConfiguration.SerialNumber,
|
||||||
Maps = [],
|
Maps = [],
|
||||||
OrderId = OrderManager.OrderId,
|
OrderId = OrderManager.OrderId,
|
||||||
|
|
@ -72,16 +74,16 @@ public class RobotStates(RobotConfiguration RobotConfiguration,
|
||||||
{
|
{
|
||||||
Charging = BatteryManager.IsCharging,
|
Charging = BatteryManager.IsCharging,
|
||||||
BatteryHealth = BatteryManager.SOH,
|
BatteryHealth = BatteryManager.SOH,
|
||||||
Reach = BatteryManager.RemainingCapacity,
|
Reach = 0,
|
||||||
BatteryVoltage = BatteryManager.Voltage,
|
BatteryVoltage = BatteryManager.Voltage,
|
||||||
BatteryCharge = BatteryManager.SOC,
|
BatteryCharge = BatteryManager.SOC,
|
||||||
},
|
},
|
||||||
Loads = LoadManager.Load,
|
Loads = LoadManager.Load,
|
||||||
Velocity = new()
|
Velocity = new()
|
||||||
{
|
{
|
||||||
Vx = DriverManager.LinearVelocity,
|
Vx = NavigationManager.VelocityX,
|
||||||
Vy = 0,
|
Vy = NavigationManager.VelocityY,
|
||||||
Omega = DriverManager.AngularVelocity,
|
Omega = NavigationManager.Omega,
|
||||||
},
|
},
|
||||||
SafetyState = new()
|
SafetyState = new()
|
||||||
{
|
{
|
||||||
|
|
|
||||||
|
|
@ -16,6 +16,8 @@ public class RobotVisualization(ILocalization Localization, INavigation Navigati
|
||||||
return new VisualizationMsg()
|
return new VisualizationMsg()
|
||||||
{
|
{
|
||||||
HeaderId = HeaderId++,
|
HeaderId = HeaderId++,
|
||||||
|
Manufacturer = RobotConfiguration.VDA5050Setting.Manufacturer,
|
||||||
|
Version = RobotConfiguration.VDA5050Setting.Version,
|
||||||
SerialNumber = RobotConfiguration.SerialNumber,
|
SerialNumber = RobotConfiguration.SerialNumber,
|
||||||
MapId = Localization.CurrentActiveMap,
|
MapId = Localization.CurrentActiveMap,
|
||||||
MapDescription = string.Empty,
|
MapDescription = string.Empty,
|
||||||
|
|
|
||||||
24
RobotApp/nlog.config
Normal file
24
RobotApp/nlog.config
Normal file
|
|
@ -0,0 +1,24 @@
|
||||||
|
<?xml version="1.0" encoding="utf-8" ?>
|
||||||
|
<nlog xmlns="http://www.nlog-project.org/schemas/NLog.xsd"
|
||||||
|
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
|
||||||
|
autoReload="true">
|
||||||
|
|
||||||
|
<extensions>
|
||||||
|
<add assembly="NLog.Web.AspNetCore"/>
|
||||||
|
</extensions>
|
||||||
|
|
||||||
|
<targets>
|
||||||
|
<target xsi:type="File" name="logFile" fileName="${basedir}/logs/${shortdate}.log" maxArchiveFiles="90" archiveEvery="Day" >
|
||||||
|
<layout type='JsonLayout'>
|
||||||
|
<attribute name='time' layout='${date:format=HH\:mm\:ss.ffff}' />
|
||||||
|
<attribute name='level' layout='${level:upperCase=true}'/>
|
||||||
|
<attribute name='logger' layout='${logger}' />
|
||||||
|
<attribute name='message' layout='${message}' />
|
||||||
|
<attribute name='exception' layout='${exception:format=tostring}' />
|
||||||
|
</layout>
|
||||||
|
</target>
|
||||||
|
</targets>
|
||||||
|
<rules>
|
||||||
|
<logger name="RobotApp.*" minlevel="Debug" writeto="logFile" />
|
||||||
|
</rules>
|
||||||
|
</nlog>
|
||||||
Binary file not shown.
Loading…
Reference in New Issue
Block a user