update

README.md

@@ -1,2 +1,5 @@
 # RobotApp
 
+docker build -t robotics.doc/robotnet/robotapp_dde:2.7 .
+docker save -o robotapp-dde.2.7.tar robotics.doc/robotnet/robotapp_dde:2.7
+scp .\robotapp-dde.2.7.tar robotics@172.20.235.176:~/DDE

RobotApp.Client/Pages/Order/NodesPanel.razor

@@ -21,13 +21,11 @@
                                 <MudIconButton Icon="@Icons.Material.Filled.Edit"
                                                Color="Color.Primary"
                                                Size="Size.Small"
-                                               OnClick="@(() => EditNodeAsync(node))"
+                                               OnClick="@(() => EditNodeAsync(node))" />
-                                               StopPropagation />
                                 <MudIconButton Icon="@Icons.Material.Filled.Delete"
                                                Color="Color.Error"
                                                Size="Size.Small"
-                                               OnClick="@(() => RemoveNodeAsync(node))"
+                                               OnClick="@(() => RemoveNodeAsync(node))" />
-                                               StopPropagation />
                             </div>
                         </div>
                     </TitleContent>
@@ -78,22 +76,22 @@
                                                  Label="Y" />
                             </MudItem>
 
-                            <MudItem xs="12">
+                            @* <MudItem xs="12">
                                 <MudTextField Value="@node.NodePosition.MapId"
                                               ValueChanged="@((string v) => SetValue(() => node.NodePosition.MapId = v))"
                                               Immediate="true"
                                               Label="Map ID" />
-                            </MudItem>
+                            </MudItem> *@
 
-                            <MudItem xs="6">
+                            @* <MudItem xs="6">
                                 <MudNumericField T="double"
                                                  Value="@node.NodePosition.Theta"
                                                  ValueChanged="@((double v) => SetValue(() => node.NodePosition.Theta = v))"
                                                  Immediate="true"
                                                  Label="Theta (rad)" />
-                            </MudItem>
+                            </MudItem> *@
 
-                            <MudItem xs="6">
+                            @* <MudItem xs="6">
                                 <MudNumericField T="double"
                                                  Value="@node.NodePosition.AllowedDeviationXY"
                                                  ValueChanged="@((double v) => SetValue(() => node.NodePosition.AllowedDeviationXY = v))"
@@ -107,7 +105,7 @@
                                                  ValueChanged="@((double v) => SetValue(() => node.NodePosition.AllowedDeviationTheta = v))"
                                                  Immediate="true"
                                                  Label="Allowed Dev Theta" />
-                            </MudItem>
+                            </MudItem> *@
 
                             <!-- Actions -->
                             <MudItem xs="12">

RobotApp.Client/Pages/Order/OrderMess.razor

@@ -84,7 +84,7 @@
             new JsonSerializerOptions
             {
                 WriteIndented = true,
-                DefaultIgnoreCondition = JsonIgnoreCondition.WhenWritingNull
+                PropertyNamingPolicy = JsonNamingPolicy.CamelCase,
             });
     }
     private async Task OpenImportDialog()
@@ -220,7 +220,12 @@
 
         try
         {
-            var orderMsg = JsonSerializer.Deserialize<OrderMsg>(OrderJson);
+            var orderMsg = JsonSerializer.Deserialize<OrderMsg>(OrderJson,
+            new JsonSerializerOptions
+            {
+                WriteIndented = true,
+                PropertyNamingPolicy = JsonNamingPolicy.CamelCase,
+            });
             if (orderMsg is null)
             {
                 Snackbar.Add("Unable to convert JSON to Order", Severity.Warning);
@@ -251,20 +256,17 @@
                 }
             }
 
-            var response = await Http.PostAsJsonAsync(
+            var response = await Http.PostAsJsonAsync("/api/order",orderMsg);
-                "/api/order",
-                JsonSerializer.Deserialize<OrderMsg>(OrderJson)
-            );
 
             sendSuccess = response.IsSuccessStatusCode;
-
         }
         catch(JsonException jsonEx)
         {
             Snackbar.Add($"Json to Order failed: {jsonEx.Message}", Severity.Warning);
         }
-        catch
+        catch (Exception ex)
         {
+            Snackbar.Add($"Send Order failed: {ex.Message}", Severity.Warning);
             sendSuccess = false;
         }
 

RobotApp.Client/Services/UiEdge.cs

@@ -127,11 +127,11 @@ public static class QuarterGeometry
 public class OrderMessage
 {
     public int HeaderId { get; set; }
-    public string Timestamp { get; set; } = "";
+    public string Timestamp { get; set; } = DateTime.UtcNow.ToString("yyyy-MM-ddTHH:mm:ss.fffZ");
-    public string Version { get; set; } = "v1";
+    public string Version { get; set; } = "2.1.0";
-    public string Manufacturer { get; set; } = "PNKX";
+    public string Manufacturer { get; set; } = "PhenikaaX";
-    public string SerialNumber { get; set; } = "T800-002";
+    public string SerialNumber { get; set; } = "T800-003";
-    public string OrderId { get; set; } 
+    public string OrderId { get; set; } = "";
     public int OrderUpdateId { get; set; }
     public string? ZoneSetId { get; set; }
 
@@ -411,9 +411,7 @@ public class OrderMessage
         {
             HeaderId = (uint)HeaderId++,
 
-            Timestamp = string.IsNullOrWhiteSpace(Timestamp)
+            Timestamp = DateTime.UtcNow.ToString("yyyy-MM-ddTHH:mm:ss.fffZ"),
-                ? DateTime.UtcNow.ToString("O")
-                : Timestamp,
 
             Version = Version,
             Manufacturer = Manufacturer,

RobotApp.VDA5050/Order/Edge.cs

@@ -2,7 +2,6 @@
 
 namespace RobotApp.VDA5050.Order;
 
-#nullable disable
 
 public class Edge
 {
@@ -26,7 +25,7 @@ public class Edge
     public bool RotationAllowed { get; set; }
     public double MaxRotationSpeed { get; set; }
     public double Length { get; set; }
-    public Trajectory Trajectory { get; set; }
+    public Trajectory? Trajectory { get; set; }
     public Corridor Corridor { get; set; } = new();
     [Required]
     public InstantAction.Action[] Actions { get; set; } = [];

RobotApp.VDA5050/Type/ActionType.cs

@@ -21,7 +21,7 @@ public enum ActionType
     //liftUp,
     //liftDown,
     //liftRotate,
-    //rotate,
+    rotate,
     //rotateKeepLift,
     //mutedBaseOn,
     //mutedBaseOff,

RobotApp/Services/Robot/RobotActionStorage.cs

@@ -21,7 +21,7 @@ public class RobotActionStorage(IServiceProvider ServiceProvider)
         ActionType.drop => new RobotDropAction(ServiceProvider),
         ActionType.pick => new RobotPickAction(ServiceProvider),
         //ActionType.liftRotate => new RobotLiftRotateAction(ServiceProvider),
-        //ActionType.rotate => new RobotRotateAction(ServiceProvider),
+        ActionType.rotate => new RobotRotateAction(ServiceProvider),
         //ActionType.rotateKeepLift => new RobotRotateKeepLift(ServiceProvider),
         //ActionType.mutedBaseOn => new RobotMutedBaseOnAction(ServiceProvider),
         //ActionType.mutedBaseOff => new RobotMutedBaseOffAction(ServiceProvider),

RobotApp/Services/Robot/RobotConnection.cs

@@ -26,12 +26,16 @@ public class RobotConnection(RobotConfiguration RobotConfiguration,
         {
             //Logger.Debug($"Nhận Order: {data}");
             var msg = JsonSerializer.Deserialize<OrderMsg>(data, JsonOptionExtends.Read);
-            if (msg is null || string.IsNullOrEmpty(msg.SerialNumber) || msg.SerialNumber != RobotConfiguration.SerialNumber) return;
+            if (msg is null || string.IsNullOrEmpty(msg.SerialNumber) || msg.SerialNumber != RobotConfiguration.SerialNumber)
+            {
+                Logger.Warning($"SerialNumber cuả order không hợp lệ: message SerialNumber {msg?.SerialNumber}");
+                return;
+            }
             OrderUpdated?.Invoke(msg);
         }
         catch (Exception ex)
         {
-            Logger.Warning($"Nhận Order xảy ra lỗi: {ex.Message} - {ex.StackTrace}");
+            Logger.Warning($"Nhận Order xảy ra lỗi: {ex.Message}");
         }
     }
 
@@ -41,12 +45,16 @@ public class RobotConnection(RobotConfiguration RobotConfiguration,
         {
             //Logger.Debug($"Nhận InstanceActions: {data}");
             var msg = JsonSerializer.Deserialize<InstantActionsMsg>(data, JsonOptionExtends.Read);
-            if (msg is null || string.IsNullOrEmpty(msg.SerialNumber) || msg.SerialNumber != RobotConfiguration.SerialNumber) return;
+            if (msg is null || string.IsNullOrEmpty(msg.SerialNumber) || msg.SerialNumber != RobotConfiguration.SerialNumber)
+            {
+                Logger.Warning($"SerialNumber của action không hợp lệ: message SerialNumber {msg?.SerialNumber}");
+                return;
+            }
             ActionUpdated?.Invoke(msg);
         }
         catch (Exception ex)
         {
-            Logger.Warning($"Nhận InstanceActions xảy ra lỗi: {ex.Message} - {ex.StackTrace}");
+            Logger.Warning($"Nhận InstanceActions xảy ra lỗi: {ex.Message}");
         }
     }
 

RobotApp/Services/Robot/RobotFactsheet.cs

@@ -25,7 +25,7 @@ public class RobotFactsheet(RobotConnection RobotConnection, RobotConfiguration
             { ActionType.pick, Pick},
             { ActionType.drop, Drop},
             //{ ActionType.liftRotate, LiftRotate},
-            //{ ActionType.rotate, Rotate},
+            { ActionType.rotate, Rotate},
             //{ ActionType.rotateKeepLift, RotateKeepLift},
             //{ ActionType.mutedBaseOn, MutedBaseOn},
             //{ ActionType.mutedBaseOff, MutedBaseOff},
@@ -224,22 +224,22 @@ public class RobotFactsheet(RobotConnection RobotConnection, RobotConfiguration
     //    BlockingTypes = [BlockingType.HARD.ToString()],
     //};
 
-    //public readonly static AgvAction Rotate = new()
+    public readonly static AgvAction Rotate = new()
-    //{
+    {
-    //    ActionType = ActionType.rotate.ToString(),
+        ActionType = ActionType.rotate.ToString(),
-    //    ActionDescription = "Xoay robot tại chỗ.",
+        ActionDescription = "Xoay robot tại chỗ.",
-    //    ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
+        ActionScopes = [ActionScopes.INSTANT.ToString(), ActionScopes.NODE.ToString()],
-    //    ActionParameters = [
+        ActionParameters = [
-    //        new()
+            new()
-    //        {
+            {
-    //            Key = "angle",
+                Key = "angle",
-    //            Description = "Góc xoay của robot. (rad)",
+                Description = "Góc xoay của robot. (rad)",
-    //            ValueDataType = ValueDataType.FLOAT.ToString(),
+                ValueDataType = ValueDataType.FLOAT.ToString(),
-    //            IsOptional = false,
+                IsOptional = false,
-    //        }],
+            }],
-    //    ResultDescription = "Robot đã xoay tại chỗ.",
+        ResultDescription = "Robot đã xoay tại chỗ.",
-    //    BlockingTypes = [BlockingType.HARD.ToString()],
+        BlockingTypes = [BlockingType.HARD.ToString()],
-    //};
+    };
 
     //public readonly static AgvAction RotateKeepLift = new()
     //{

RobotApp/Services/Robot/RobotLoads.cs

@@ -3,7 +3,7 @@ using RobotApp.VDA5050.State;
 
 namespace RobotApp.Services.Robot;
 
-public class RobotLoads(IPeripheral PeriperalManager) : ILoad
+public class RobotLoads() : ILoad
 {
     //public Load[] Load => PeriperalManager.HasLoad ? [GetLoad()] : [];
     public Load[] Load { get; private set; } = [];

RobotApp/Services/Robot/RobotLocalization.cs

@@ -274,32 +274,37 @@ public class RobotLocalization(RobotConfiguration RobotConfiguration, Simulation
     {
         try
         {
-            var xyzw = QuaternionToXYZW(0, 0, theta);
+            if (IsSimulation) SimVisualization.LocalizationInitialize(x, y, theta);
-            var response = XlocClient.SetInitialPose(new SetInitialPoseRequest()
-            {
-                InitialPose = new Pose()
-                {
-                    Position = new Point()
-                    {
-                        X = x,
-                        Y = y,
-                        Z = 0,
-                    },
-                    Orientation = new Quaternion()
-                    {
-                        X = xyzw.x,
-                        Y = xyzw.y,
-                        Z = xyzw.z,
-                        W = xyzw.w
-                    }
-                }
-            });
-            if (response.Status.Code == StatusResponse.Types.StatusCode.Ok) return new(true);
             else
             {
-                Logger.Warning("Khởi tạo vị trí cho robot thất bại. Kết quả trả về: {response.Status.Code} - {response.Status.Message}");
+                var xyzw = QuaternionToXYZW(0, 0, theta);
-                return new(false, "Khởi tạo vị trí cho robot thất bại");
+                var response = XlocClient.SetInitialPose(new SetInitialPoseRequest()
+                {
+                    InitialPose = new Pose()
+                    {
+                        Position = new Point()
+                        {
+                            X = x,
+                            Y = y,
+                            Z = 0,
+                        },
+                        Orientation = new Quaternion()
+                        {
+                            X = xyzw.x,
+                            Y = xyzw.y,
+                            Z = xyzw.z,
+                            W = xyzw.w
+                        }
+                    }
+                });
+                if (response.Status.Code == StatusResponse.Types.StatusCode.Ok) return new(true);
+                else
+                {
+                    Logger.Warning("Khởi tạo vị trí cho robot thất bại. Kết quả trả về: {response.Status.Code} - {response.Status.Message}");
+                    return new(false, "Khởi tạo vị trí cho robot thất bại");
+                }
             }
+            return new(true);
         }
         catch (Exception ex)
         {