update

RobotApp.Client/Pages/Components/Monitor/RobotMonitorView.razor

@@ -134,6 +134,7 @@
 </div>
 
 @code {
+
     [Parameter] public RobotMonitorDto? MonitorData { get; set; }
     [Parameter] public bool IsConnected { get; set; }
 
@@ -282,6 +283,7 @@
         // Điều chỉnh kích thước dựa trên ZoomScale
         // Tăng kích thước lên 1.5x để robot to hơn
         double scaleFactor = 2 / ZoomScale; // Tăng kích thước hiển thị
+        scaleFactor = scaleFactor < 1 ? 1 : scaleFactor;
 
         double width = RobotWidthMeters * scaleFactor;
         double height = RobotLengthMeters * scaleFactor;

RobotApp/Services/HighPrecisionTimer.cs

@@ -116,7 +116,7 @@ public class HighPrecisionTimer<T>(int Interval, Action Callback, Logger<T>? Log
                 Thread.Start();
             }
         }
-        else throw new ObjectDisposedException(nameof(WatchTimer<T>));
+        else throw new ObjectDisposedException(nameof(HighPrecisionTimer<T>));
     }
 
     public void Stop()

RobotApp/Services/Robot/RobotOrderController.cs

@@ -1,5 +1,4 @@
-using MudBlazor;
+using RobotApp.Common.Shares.Dtos;
-using RobotApp.Common.Shares.Dtos;
 using RobotApp.Common.Shares.Enums;
 using RobotApp.Interfaces;
 using RobotApp.Services.Exceptions;
@@ -9,7 +8,6 @@ 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;
@@ -31,7 +29,7 @@ public class RobotOrderController(INavigation NavigationManager,
     public int LastNodeSequenceId => LastNode is null ? 0 : LastNode.SequenceId;
     public (NodeState[], EdgeStateDto[]) CurrentPath => GetCurrentPath();
 
-    private const int CycleHandlerMilliseconds = 100;
+    private const int CycleHandlerMilliseconds = 200;
     private WatchTimer<RobotOrderController>? OrderTimer;
 
     private readonly Dictionary<string, Action[]> OrderActions = [];
@@ -435,7 +433,7 @@ public class RobotOrderController(INavigation NavigationManager,
     private EdgeStateDto[] SplitChecking(Node lastNode, Node nearLastNode, VDA5050.Order.Edge edge)
     {
         List<EdgeStateDto> pathEdges = [];
-        var splitStartPath = RobotPathPlanner.PathSplit([lastNode, nearLastNode], [edge], 0.1);
+        var splitStartPath = RobotPathPlanner.PathSplit([lastNode, nearLastNode], [edge], 0.5);
         if (splitStartPath is not null && splitStartPath.Length > 0)
         {
             int index = 0;
@@ -450,17 +448,31 @@ public class RobotOrderController(INavigation NavigationManager,
                     index = i;
                 }
             }
-            for (int i = index; i < splitStartPath.Length - 1; i++)
+            if (edge.Trajectory is null || edge.Trajectory.Degree == 1)
             {
                 pathEdges.Add(new()
                 {
-                    StartX = splitStartPath[i].NodePosition.X,
+                    StartX = splitStartPath[index].NodePosition.X,
-                    StartY = splitStartPath[i].NodePosition.Y,
+                    StartY = splitStartPath[index].NodePosition.Y,
-                    EndX = splitStartPath[i + 1].NodePosition.X,
+                    EndX = nearLastNode.NodePosition.X,
-                    EndY = splitStartPath[i + 1].NodePosition.Y,
+                    EndY = nearLastNode.NodePosition.Y,
                     Degree = 1,
                 });
             }
+            else
+            {
+                for (int i = index; i < splitStartPath.Length - 1; i++)
+                {
+                    pathEdges.Add(new()
+                    {
+                        StartX = splitStartPath[i].NodePosition.X,
+                        StartY = splitStartPath[i].NodePosition.Y,
+                        EndX = splitStartPath[i + 1].NodePosition.X,
+                        EndY = splitStartPath[i + 1].NodePosition.Y,
+                        Degree = 1,
+                    });
+                }
+            }
         }
         return [.. pathEdges];
     }

RobotApp/Services/Robot/RobotStatePublisher.cs

@@ -1,14 +1,5 @@
 using Microsoft.AspNetCore.SignalR;
-using Microsoft.Extensions.Hosting;
-using Microsoft.Extensions.Logging;
-using RobotApp.Common.Shares;
 using RobotApp.Hubs;
-using RobotApp.Interfaces;
-using RobotApp.Services.State;
-using RobotApp.VDA5050.State;
-using RobotApp.VDA5050.Type;
-using RobotApp.VDA5050.Visualization;
-using System.Text.Json;
 
 namespace RobotApp.Services.Robot;
 

RobotApp/Services/WatchTimerAsync.cs

@@ -68,7 +68,7 @@ public class WatchTimerAsync<T>(int Interval, Func<Task> Callback, Logger<T>? Lo
                 Timer.Change(Interval, Timeout.Infinite);
             }
         }
-        else throw new ObjectDisposedException(nameof(WatchTimer<T>));
+        else throw new ObjectDisposedException(nameof(WatchTimerAsync<T>));
     }
 
     public void Stop()