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Đăng Nguyễn 2025-12-23 09:52:42 +07:00
parent e4e135e35f
commit a51cfe80c8
12 changed files with 80 additions and 194 deletions
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23
RobotApp.Client/Pages/Dashboard.razor
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@ -13,7 +13,7 @@
<!-- Header Dashboard -->
<MudPaper Class="pa-6 mb-4 d-flex align-center justify-space-between" Elevation="3">
<div>
<MudText Typo="Typo.h3" Class="mb-2" >Robot Dashboard</MudText>
<MudText Typo="Typo.h3" Class="mb-2">Robot Dashboard</MudText>
@if (CurrentState != null)
{
<MudText Typo="Typo.subtitle1">
@ -373,45 +373,34 @@
private StateMsg? CurrentState;
private bool IsConnected;
private readonly string RobotSerial = "T800-002";
private List<MessageRow> MessageRows = new();
protected override async Task OnInitializedAsync()
protected override async Task OnAfterRenderAsync(bool firstRender)
{
await base.OnAfterRenderAsync(firstRender);
if (!firstRender) return;
RobotStateClient.OnStateReceived += OnRobotStateReceived;
RobotStateClient.OnRobotConnectionChanged += OnRobotConnectionChanged;
if (RobotStateClient.ConnectionState == RobotClientState.Disconnected)
{
await RobotStateClient.StartAsync();
}
await RobotStateClient.SubscribeRobotAsync(RobotSerial);
CurrentState = RobotStateClient.GetLatestState(RobotSerial);
CurrentState = RobotStateClient.GetLatestState();
IsConnected = RobotStateClient.IsRobotConnected;
UpdateMessageRows();
}
private void OnRobotConnectionChanged(bool connected)
{
InvokeAsync(() =>
{
IsConnected = connected;
StateHasChanged();
});
}
private void OnRobotStateReceived(string serialNumber, StateMsg state)
{
if (serialNumber != RobotSerial) return;
InvokeAsync(() =>
{
CurrentState = state;
UpdateMessageRows();
StateHasChanged();
});
}
private void UpdateMessageRows()

7
RobotApp.Client/Pages/RobotMonitor.razor
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@ -17,6 +17,7 @@
protected override async Task OnAfterRenderAsync(bool firstRender)
{
await base.OnAfterRenderAsync(firstRender);
if (firstRender)
{
MonitorService.OnDataReceived += OnMonitorDataReceived;
@ -28,7 +29,7 @@
{
_monitorData = data;
RobotMonitorViewRef?.UpdatePath();
InvokeAsync(StateHasChanged);
StateHasChanged();
}
public async ValueTask DisposeAsync()
@ -41,3 +42,7 @@

34
RobotApp.Client/Services/RobotStateClient.cs
View File

@ -107,7 +107,7 @@ public sealed class RobotStateClient : IAsyncDisposable
// ================= SIGNALR HANDLERS =================
// VDA5050 State
_connection.On<string>("ReceiveState", HandleState);
_connection.On<StateMsg>("ReceiveState", HandleState);
// Robot connection (bool only)
_connection.On<bool>("ReceiveRobotConnection", HandleRobotConnection);
@ -125,21 +125,21 @@ public sealed class RobotStateClient : IAsyncDisposable
}
// ================= HANDLE STATE =================
private void HandleState(string stateJson)
private void HandleState(StateMsg state)
{
StateMsg? state;
//StateMsg? state;
try
{
state = JsonSerializer.Deserialize<StateMsg>(
stateJson,
JsonOptionExtends.Read
);
}
catch
{
return;
}
//try
//{
// state = JsonSerializer.Deserialize<StateMsg>(
// stateJson,
// JsonOptionExtends.Read
// );
//}
//catch
//{
// return;
//}
if (state?.SerialNumber == null)
return;
@ -189,10 +189,10 @@ public sealed class RobotStateClient : IAsyncDisposable
}
// ================= GET CACHE =================
public StateMsg? GetLatestState(string serialNumber)
public StateMsg? GetLatestState()
{
LatestStates.TryGetValue(serialNumber, out var state);
return state;
if (!LatestStates.IsEmpty) return LatestStates.First().Value;
return null;
}
// ================= DISPOSE =================

4
RobotApp.Client/wwwroot/js/robotMonitor.js
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@ -60,3 +60,7 @@ window.robotMonitor = {

1
RobotApp/Controllers/OrderController.cs
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@ -28,7 +28,6 @@ public class OrderController(IOrder robotOrderController, IInstantActions instan
{
robotOrderController.StopOrder();
instantActions.StopOrderAction();
return Ok(new
{
success = true,

4
RobotApp/Hubs/RobotHub.cs
View File

@ -21,8 +21,8 @@ namespace RobotApp.Hubs
// Phương thức này sẽ được gọi từ service để broadcast
public async Task SendState(string serialNumber, StateMsg state)
{
var json = JsonSerializer.Serialize(state, JsonOptionExtends.Write);
await Clients.Group(serialNumber).SendAsync("ReceiveState", json);
//var json = JsonSerializer.Serialize(state, JsonOptionExtends.Write);
await Clients.Group(serialNumber).SendAsync("ReceiveState", state);
}
}
}

4
RobotApp/Hubs/RobotMonitorHub.cs
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@ -12,3 +12,7 @@ public class RobotMonitorHub : Hub

2
RobotApp/Program.cs
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@ -63,7 +63,7 @@ builder.Services.AddRobot();
builder.Services.AddSingleton<RobotApp.Services.RobotMonitorService>();
builder.Services.AddHostedService(sp => sp.GetRequiredService<RobotApp.Services.RobotMonitorService>());
builder.Services.AddScoped<RobotStateClient>();
//builder.Services.AddScoped<RobotStateClient>();
builder.Services.AddHostedService<RobotStatePublisher>();
var app = builder.Build();

3
RobotApp/Services/Robot/RobotErrors.cs
View File

@ -105,7 +105,8 @@ public class RobotErrors : IError
=> CreateError(ErrorType.INITIALIZE_ORDER, "Vui lòng kiểm tra lại order", ErrorLevel.WARNING, $"Order mới nhận được không phải là nối tiếp của order khi LastNodeSequenceId: {lastNodeSequenceId} mà node đầu tiên của order mới có sequence: {newStartNodeSequenceId}");
public static Error Error1018(int oldOrderUpdateId, int newOrderUpdateId)
=> CreateError(ErrorType.INITIALIZE_ORDER, "Vui lòng kiểm tra lại OrderUpdateId", ErrorLevel.WARNING, $"OrderUpdateId {newOrderUpdateId} nhận được nhỏ hơn OrderUpdateId hiện tại là {oldOrderUpdateId}");
public static Error Error1019()
=> CreateError(ErrorType.INITIALIZE_ORDER, "Vui lòng kiểm tra lại Order", ErrorLevel.WARNING, "Order có node đầu tiên quá xa robot");
public static Error Error2001()
=> CreateError(ErrorType.READ_PERIPHERAL_FAILURE, "2001", ErrorLevel.FATAL, "Có lỗi xảy ra trong quá trình đọc tín hiệu từ hệ thống ngoại vi(PLC)");

20
RobotApp/Services/Robot/RobotOrderController.cs
View File

@ -9,6 +9,7 @@ using RobotApp.VDA5050.Order;
using RobotApp.VDA5050.State;
using System.Collections.Concurrent;
using System.Data;
using System.Xml.Linq;
using Action = RobotApp.VDA5050.InstantAction.Action;
namespace RobotApp.Services.Robot;
@ -247,11 +248,6 @@ public class RobotOrderController(INavigation NavigationManager,
UpdateState();
}
private bool IsNewPath()
{
return true;
}
private void ClearLastNode()
{
if (LastNode is null) return;
@ -292,6 +288,7 @@ public class RobotOrderController(INavigation NavigationManager,
private void HandleOrder()
{
if (Nodes.Length <= 0) return;
if (IsCancelOrder)
{
NavigationManager.CancelMovement();
@ -309,8 +306,12 @@ public class RobotOrderController(INavigation NavigationManager,
{
var action = FinalAction[0];
var robotAction = ActionManager[action.ActionId];
if (robotAction is null) return;
if (robotAction.IsCompleted) FinalAction.Remove(action);
if (robotAction is null)
{
FinalAction.Remove(action);
return;
}
if (robotAction.IsCompleted)
if (robotAction.Status == ActionStatus.WAITING) ActionManager.StartOrderAction(action.ActionId);
}
else
@ -398,6 +399,10 @@ public class RobotOrderController(INavigation NavigationManager,
if (NodeStates.Length != 0 || EdgeStates.Length != 0) HandleUpdateOrder(NewOrderHandler);
else
{
Node startNode = NewOrderHandler.Nodes[0];
var nodeDeviation = startNode.NodePosition.AllowedDeviationXY == 0.0 ? NewOrderHandler.Nodes.Length == 1 ? 0.3 : 0.5 : startNode.NodePosition.AllowedDeviationXY;
var distance = Localization.DistanceTo(startNode.NodePosition.X, startNode.NodePosition.Y);
if (distance > nodeDeviation) throw new OrderException(RobotErrors.Error1019());
HandleNewOrder(NewOrderHandler);
}
}
@ -409,6 +414,7 @@ public class RobotOrderController(INavigation NavigationManager,
{
ErrorManager.AddError(orEx.Error, TimeSpan.FromSeconds(10));
Logger.Warning($"Lỗi khi xử lí Order: {orEx.Error.ErrorDescription}");
HandleOrderStop();
}
else Logger.Warning($"Lỗi khi xử lí Order: {orEx.Message}");
}

144
RobotApp/Services/Robot/RobotStatePublisher.cs
View File

@ -12,148 +12,27 @@ using System.Text.Json;
namespace RobotApp.Services.Robot;
public class RobotStatePublisher : BackgroundService
public class RobotStatePublisher(
IHubContext<RobotHub> _hubContext,
RobotStates _robotState,
RobotConnection _robotConnection) : BackgroundService
{
private readonly IHubContext<RobotHub> _hubContext;
private readonly RobotConfiguration _robotConfig;
private readonly IOrder _orderManager;
private readonly IInstantActions _actionManager;
private readonly IPeripheral _peripheralManager;
private readonly IInfomation _infoManager;
private readonly IError _errorManager;
private readonly ILocalization _localizationManager;
private readonly IBattery _batteryManager;
private readonly ILoad _loadManager;
private readonly INavigation _navigationManager;
private readonly RobotStateMachine _stateManager;
private readonly RobotConnection _robotConnection;
private bool? _lastRobotConnectionState;
private uint _headerId = 0;
private readonly PeriodicTimer _timer = new(TimeSpan.FromMilliseconds(1000)); // 1 giây/lần
public RobotStatePublisher(
IHubContext<RobotHub> hubContext,
RobotConfiguration robotConfig,
IOrder orderManager,
IInstantActions actionManager,
IPeripheral peripheralManager,
IInfomation infoManager,
IError errorManager,
ILocalization localizationManager,
IBattery batteryManager,
ILoad loadManager,
INavigation navigationManager,
RobotStateMachine stateManager,
RobotConnection robotConnection)
{
_hubContext = hubContext;
_robotConfig = robotConfig;
_orderManager = orderManager;
_actionManager = actionManager;
_peripheralManager = peripheralManager;
_infoManager = infoManager;
_errorManager = errorManager;
_localizationManager = localizationManager;
_batteryManager = batteryManager;
_loadManager = loadManager;
_navigationManager = navigationManager;
_stateManager = stateManager;
_robotConnection = robotConnection;
}
private StateMsg GetStateMsg()
{
return new StateMsg
{
HeaderId = _headerId++,
Timestamp = DateTime.UtcNow.ToString("o"), // ISO 8601
Manufacturer = _robotConfig.VDA5050Setting.Manufacturer,
Version = _robotConfig.VDA5050Setting.Version,
SerialNumber = _robotConfig.SerialNumber,
Maps = [],
OrderId = _orderManager.OrderId,
OrderUpdateId = _orderManager.OrderUpdateId,
ZoneSetId = "",
LastNodeId = _orderManager.LastNodeId,
LastNodeSequenceId = _orderManager.LastNodeSequenceId,
Driving = Math.Abs(_navigationManager.VelocityX) > 0.01 || Math.Abs(_navigationManager.Omega) > 0.01,
Paused = false,
NewBaseRequest = true,
DistanceSinceLastNode = 0,
OperatingMode = _peripheralManager.PeripheralMode.ToString(),
NodeStates = _orderManager.NodeStates,
EdgeStates = _orderManager.EdgeStates,
ActionStates = _actionManager.ActionStates,
Information = [General, .. _infoManager.InformationState],
Errors = _errorManager.ErrorsState,
AgvPosition = new AgvPosition
{
X = _localizationManager.X,
Y = _localizationManager.Y,
Theta = _localizationManager.Theta,
LocalizationScore = _localizationManager.MatchingScore,
MapId = _localizationManager.CurrentActiveMap,
DeviationRange = _localizationManager.Reliability,
PositionInitialized = _localizationManager.IsReady,
},
BatteryState = new BatteryState
{
Charging = _batteryManager.IsCharging,
BatteryHealth = _batteryManager.SOH,
Reach = 0,
BatteryVoltage = _batteryManager.Voltage,
BatteryCharge = _batteryManager.SOC,
},
Loads = _loadManager.Load,
Velocity = new Velocity
{
Vx = _navigationManager.VelocityX,
Vy = _navigationManager.VelocityY,
Omega = _navigationManager.Omega,
},
SafetyState = new SafetyState
{
FieldViolation = _peripheralManager.LidarBackProtectField ||
_peripheralManager.LidarFrontProtectField ||
_peripheralManager.LidarFrontTimProtectField,
EStop = (_peripheralManager.Emergency || _peripheralManager.Bumper)
? EStop.AUTOACK.ToString()
: EStop.NONE.ToString(),
}
};
}
private Information General => new()
{
InfoType = InformationType.robot_general.ToString(),
InfoDescription = "Thông tin chung của robot",
InfoLevel = InfoLevel.INFO.ToString(),
InfoReferences =
[
new InfomationReferences
{
ReferenceKey = InformationReferencesKey.robot_state.ToString(),
ReferenceValue = _stateManager.CurrentStateName,
}
]
};
protected override async Task ExecuteAsync(CancellationToken stoppingToken)
{
while (await _timer.WaitForNextTickAsync(stoppingToken))
{
try
{
var serialNumber = _robotConfig.SerialNumber;
// ===== SEND STATE =====
var state = GetStateMsg();
var json = JsonSerializer.Serialize(state, JsonOptionExtends.Write);
var state = _robotState.GetStateMsg();
//var json = JsonSerializer.Serialize(state, JsonOptionExtends.Write);
await _hubContext.Clients
.Group(serialNumber)
.SendAsync("ReceiveState", json, stoppingToken);
await _hubContext.Clients.All
.SendAsync("ReceiveState", state, stoppingToken);
// ===== SEND ROBOT CONNECTION (ONLY WHEN CHANGED) =====
var isConnected = _robotConnection.IsConnected;
@ -162,8 +41,7 @@ public class RobotStatePublisher : BackgroundService
{
_lastRobotConnectionState = isConnected;
await _hubContext.Clients
.Group(serialNumber) // routing only
await _hubContext.Clients.All
.SendAsync(
"ReceiveRobotConnection",
isConnected, // payload only bool
@ -177,10 +55,10 @@ public class RobotStatePublisher : BackgroundService
}
}
public override void Dispose()
public override Task StopAsync(CancellationToken cancellationToken)
{
_timer?.Dispose();
base.Dispose();
return base.StopAsync(cancellationToken);
}
}

2
RobotApp/Services/Robot/RobotStates.cs
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@ -36,7 +36,7 @@ public class RobotStates(RobotConfiguration RobotConfiguration,
catch { }
}
private StateMsg GetStateMsg()
public StateMsg GetStateMsg()
{
return new StateMsg
{