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update

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Đăng Nguyễn 2025-11-06 09:22:55 +07:00
parent 73038de662
commit 99716cc414
8 changed files with 20 additions and 17 deletions
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2
RobotApp/Components/Pages/Home.razor
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@ -4,4 +4,4 @@
@rendermode InteractiveServer @rendermode InteractiveServer
@attribute [Authorize] @attribute [Authorize]
<h1>Welcome to RobotApp!</h1> @* <h1>Welcome to RobotApp!</h1> *@

2
RobotApp/Properties/launchSettings.json
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@ -18,7 +18,7 @@
"launchBrowser": true, "launchBrowser": true,
"workingDirectory": "$(TargetDir)", "workingDirectory": "$(TargetDir)",
"inspectUri": "{wsProtocol}://{url.hostname}:{url.port}/_framework/debug/ws-proxy?browser={browserInspectUri}", "inspectUri": "{wsProtocol}://{url.hostname}:{url.port}/_framework/debug/ws-proxy?browser={browserInspectUri}",
"applicationUrl": "https://localhost:7150;http://localhost:5229", "applicationUrl": "https://0.0.0.0:7150;http://localhost:5229",
"environmentVariables": { "environmentVariables": {
"ASPNETCORE_ENVIRONMENT": "Development" "ASPNETCORE_ENVIRONMENT": "Development"
} }

16
RobotApp/Services/MQTTClient.cs
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@ -191,11 +191,11 @@ public class MQTTClient : IAsyncDisposable
if (isValid) if (isValid)
{ {
Console.WriteLine("[BROKER] CLIENT CERTIFICATE VALID"); Console.WriteLine("Broker CERTIFICATE VALID");
} }
else else
{ {
Console.WriteLine("[BROKER] CLIENT CERTIFICATE INVALID"); Console.WriteLine("Broker CERTIFICATE INVALID");
foreach (var status in arg.Chain.ChainStatus) foreach (var status in arg.Chain.ChainStatus)
Console.WriteLine($" -> Chain error: {status.Status} - {status.StatusInformation}"); Console.WriteLine($" -> Chain error: {status.Status} - {status.StatusInformation}");
} }
@ -222,7 +222,7 @@ public class MQTTClient : IAsyncDisposable
{ {
var tlsOptions = new MqttClientTlsOptionsBuilder() var tlsOptions = new MqttClientTlsOptionsBuilder()
.UseTls(true) .UseTls(true)
.WithSslProtocols(System.Security.Authentication.SslProtocols.Tls12) .WithSslProtocols(System.Security.Authentication.SslProtocols.Tls12 | System.Security.Authentication.SslProtocols.Tls13)
.WithCertificateValidationHandler(ValidateCertificates) .WithCertificateValidationHandler(ValidateCertificates)
.WithClientCertificatesProvider(new MQTTClientCertificatesProvider(VDA5050Setting.CerFile, VDA5050Setting.KeyFile)) .WithClientCertificatesProvider(new MQTTClientCertificatesProvider(VDA5050Setting.CerFile, VDA5050Setting.KeyFile))
.Build(); .Build();
@ -304,11 +304,11 @@ public class MQTTClient : IAsyncDisposable
{ {
try try
{ {
var applicationMessage = new MqttApplicationMessageBuilder() var applicationMessage = MqttClientFactory.CreateApplicationMessageBuilder()
.WithTopic(topic) .WithTopic(topic)
.WithPayload(data) .WithPayload(data)
.WithQualityOfServiceLevel(MqttQualityOfServiceLevel.AtLeastOnce) .WithQualityOfServiceLevel(MqttQualityOfServiceLevel.AtLeastOnce)
.Build(); .Build();
if (MqttClient is null || !IsConnected) return new(false, "Chưa có kết nối tới broker"); if (MqttClient is null || !IsConnected) return new(false, "Chưa có kết nối tới broker");
var publish = await MqttClient.PublishAsync(applicationMessage); var publish = await MqttClient.PublishAsync(applicationMessage);
if (!publish.IsSuccess) continue; if (!publish.IsSuccess) continue;

5
RobotApp/Services/Robot/Actions/RobotAction.cs
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@ -59,6 +59,7 @@ public abstract class RobotAction(IServiceProvider serviceProvider) : IDisposabl
{ {
HistoryStatus = Status; HistoryStatus = Status;
Status = ActionStatus.PAUSED; Status = ActionStatus.PAUSED;
IsPaused = true;
} }
public void Resume() public void Resume()
@ -68,7 +69,8 @@ public abstract class RobotAction(IServiceProvider serviceProvider) : IDisposabl
public void Cancel() public void Cancel()
{ {
if(!IsCompleted) IsCancelAction = true; if (!IsCompleted) IsCancelAction = true;
if (Status == ActionStatus.WAITING) StopAction();
} }
public async Task WaitAsync(CancellationToken cancellationToken) public async Task WaitAsync(CancellationToken cancellationToken)
@ -94,6 +96,7 @@ public abstract class RobotAction(IServiceProvider serviceProvider) : IDisposabl
protected virtual Task StopAction() protected virtual Task StopAction()
{ {
Console.WriteLine($"StopAction {Type}");
Status = ActionStatus.FAILED; Status = ActionStatus.FAILED;
ResultDescription = "Action bị hủy bỏ."; ResultDescription = "Action bị hủy bỏ.";
return Task.CompletedTask; return Task.CompletedTask;

4
RobotApp/Services/Robot/RobotActionController.cs
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@ -18,7 +18,7 @@ public class RobotActionController(Logger<RobotActionController> Logger, RobotAc
ActionStatus = a.Status.ToString(), ActionStatus = a.Status.ToString(),
ResultDescription = a.ResultDescription, ResultDescription = a.ResultDescription,
})]; })];
public bool HasActionRunning => !ActionQueue.IsEmpty || Actions.Values.Any(a => !a.IsCompleted); public bool HasActionRunning => !ActionQueue.IsEmpty || Actions.Values.Any(a => a.Type != ActionType.cancelOrder && !a.IsCompleted);
private readonly Dictionary<string, RobotAction> Actions = []; private readonly Dictionary<string, RobotAction> Actions = [];
private readonly ConcurrentQueue<(ActionScopes scope, VDA5050.InstantAction.Action action)> ActionQueue = []; private readonly ConcurrentQueue<(ActionScopes scope, VDA5050.InstantAction.Action action)> ActionQueue = [];
@ -62,7 +62,7 @@ public class RobotActionController(Logger<RobotActionController> Logger, RobotAc
{ {
foreach (var action in Actions.Values) foreach (var action in Actions.Values)
{ {
if (!action.IsCompleted) action.Cancel(); if (!action.IsCompleted && action.Type != ActionType.cancelOrder) action.Cancel();
} }
} }
else if (Actions.TryGetValue(actionId, out RobotAction? robotAction) && robotAction is not null) robotAction.Cancel(); else if (Actions.TryGetValue(actionId, out RobotAction? robotAction) && robotAction is not null) robotAction.Cancel();

2
RobotApp/Services/Robot/RobotOrderController.cs
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@ -6,6 +6,7 @@ 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 Action = RobotApp.VDA5050.InstantAction.Action; using Action = RobotApp.VDA5050.InstantAction.Action;
namespace RobotApp.Services.Robot; namespace RobotApp.Services.Robot;
@ -111,6 +112,7 @@ public class RobotOrderController(INavigation NavigationManager,
CurrentBaseNode = null; CurrentBaseNode = null;
Nodes = []; Nodes = [];
Edges = []; Edges = [];
UpdateState();
StateManager.TransitionTo(AutoStateType.Idle); StateManager.TransitionTo(AutoStateType.Idle);
} }

3
RobotApp/Services/Robot/RobotStates.cs
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@ -23,7 +23,6 @@ public class RobotStates(RobotConfiguration RobotConfiguration,
IDriver DriverManager) : BackgroundService IDriver DriverManager) : BackgroundService
{ {
private uint HeaderId = 0; private uint HeaderId = 0;
private readonly string SerialNumber = RobotConfiguration.SerialNumber;
private WatchTimerAsync<RobotStates>? UpdateStateTimer; private WatchTimerAsync<RobotStates>? UpdateStateTimer;
private const int UpdateStateInterval = 1000; private const int UpdateStateInterval = 1000;
@ -42,7 +41,7 @@ public class RobotStates(RobotConfiguration RobotConfiguration,
return new StateMsg return new StateMsg
{ {
HeaderId = HeaderId++, HeaderId = HeaderId++,
SerialNumber = SerialNumber, SerialNumber = RobotConfiguration.SerialNumber,
Maps = [], Maps = [],
OrderId = OrderManager.OrderId, OrderId = OrderManager.OrderId,
OrderUpdateId = OrderManager.OrderUpdateId, OrderUpdateId = OrderManager.OrderUpdateId,

3
RobotApp/Services/Robot/RobotVisualization.cs
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@ -7,7 +7,6 @@ namespace RobotApp.Services.Robot;
public class RobotVisualization(ILocalization Localization, INavigation Navigation, RobotConfiguration RobotConfiguration, RobotConnection RobotConnection, Logger<RobotVisualization> Logger) : BackgroundService public class RobotVisualization(ILocalization Localization, INavigation Navigation, RobotConfiguration RobotConfiguration, RobotConnection RobotConnection, Logger<RobotVisualization> Logger) : BackgroundService
{ {
public string SerialNumber = RobotConfiguration.SerialNumber;
private uint HeaderId; private uint HeaderId;
private WatchTimerAsync<RobotVisualization>? UpdateTimer; private WatchTimerAsync<RobotVisualization>? UpdateTimer;
@ -17,7 +16,7 @@ public class RobotVisualization(ILocalization Localization, INavigation Navigati
return new VisualizationMsg() return new VisualizationMsg()
{ {
HeaderId = HeaderId++, HeaderId = HeaderId++,
SerialNumber = SerialNumber, SerialNumber = RobotConfiguration.SerialNumber,
MapId = Localization.CurrentActiveMap, MapId = Localization.CurrentActiveMap,
MapDescription = string.Empty, MapDescription = string.Empty,
AgvPosition = new AgvPosition() AgvPosition = new AgvPosition()