DangNV/RobotApp
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Đăng Nguyễn 2025-12-20 17:50:47 +07:00
parent 062a6478ce
commit bc00e9ae50
2 changed files with 65 additions and 11 deletions
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2
RobotApp.Client/MainLayout.razor
View File

@ -71,7 +71,7 @@
public NavModel[] Navs = [
new(){Icon = "mdi-view-dashboard", Path="/", Label = "Dashboard", Match = NavLinkMatch.All},
// new(){Icon = "mdi-map-legend", Path="/maps-manager", Label = "Mapping", Match = NavLinkMatch.All},
new(){Icon = "mdi-robot", Path="/robot-monitor", Label = "Robot Monitor", Match = NavLinkMatch.All},
new(){Icon = "mdi-monitor", Path="/robot-monitor", Label = "Robot Monitor", Match = NavLinkMatch.All},
new(){Icon = "mdi-application-cog", Path="/robot-config", Label = "Config", Match = NavLinkMatch.All},
];

70
RobotApp.Client/Pages/Components/Monitor/RobotMonitorView.razor
View File

@ -58,10 +58,10 @@
{
<circle cx="@WorldToSvgX(node.NodePosition.X)"
cy="@WorldToSvgY(node.NodePosition.Y)"
r="0.1"
r="@GetNodeRadius()"
fill="#66BB6A"
stroke="#555"
stroke-width="0.02" />
stroke-width="@GetNodeStrokeWidth()" />
}
}
@ -69,11 +69,14 @@
@if (MonitorData?.RobotPosition != null)
{
<g transform="@GetRobotTransform()">
@{
var (robotX, robotY, robotWidth, robotHeight) = GetRobotSize();
}
<image href="images/AMR-250.png"
x="-0.303"
y="-0.553"
width="0.606"
height="1.106"
x="@robotX"
y="@robotY"
width="@robotWidth"
height="@robotHeight"
preserveAspectRatio="xMidYMid meet" />
</g>
}
@ -163,6 +166,46 @@
return $"translate({x}, {y}) rotate({angleDegrees})";
}
private (double x, double y, double width, double height) GetRobotSize()
{
// Kích thước robot trong world coordinates (mét)
const double RobotWidthMeters = 0.606;
const double RobotLengthMeters = 1.106;
// Điều chỉnh kích thước dựa trên ZoomScale
// Tăng kích thước lên 1.5x để robot to hơn
double scaleFactor = 3 / ZoomScale; // Tăng kích thước hiển thị
double width = RobotWidthMeters * scaleFactor;
double height = RobotLengthMeters * scaleFactor;
double x = -width / 2;
double y = -height / 2;
return (x, y, width, height);
}
private double GetNodeRadius()
{
// Kích thước node cơ bản trong world coordinates - tăng lên 1.5x
const double BaseNodeRadius = 0.15;
// Điều chỉnh theo ZoomScale tương tự robot
double scaleFactor = 1.5 / ZoomScale; // Tăng kích thước hiển thị
return BaseNodeRadius * scaleFactor;
}
private double GetNodeStrokeWidth()
{
// Stroke width cơ bản - tăng lên một chút
const double BaseStrokeWidth = 0.03;
// Điều chỉnh theo ZoomScale
double scaleFactor = 1.5 / ZoomScale;
return BaseStrokeWidth * scaleFactor;
}
private double WorldToSvgX(double worldX)
{
return worldX;
@ -178,9 +221,20 @@
{
if (MonitorData is not null && MonitorData.EdgeStates.Length > 0)
{
var path = MonitorData.EdgeStates;
var path = MonitorData.EdgeStates.Select(e => new EdgeStateDto
{
Degree = e.Degree,
StartX = WorldToSvgX(e.StartX),
StartY = WorldToSvgY(e.StartY),
EndX = WorldToSvgX(e.EndX),
EndY = WorldToSvgY(e.EndY),
ControlPoint1X = WorldToSvgX(e.ControlPoint1X),
ControlPoint1Y = WorldToSvgY(e.ControlPoint1Y),
ControlPoint2X = WorldToSvgX(e.ControlPoint2X),
ControlPoint2Y = WorldToSvgY(e.ControlPoint2Y),
}).ToList();
var inPath = $"M {path[0].StartX} {path[0].StartY}";
for (int i = 0; i < path.Length; i++)
for (int i = 0; i < path.Count; i++)
{
if (path[i].Degree == 1) inPath = $"{inPath} L {path[i].EndX} {path[i].EndY}";
else if (path[i].Degree == 2) inPath = $"{inPath} Q {path[i].ControlPoint1X} {path[i].ControlPoint1Y} {path[i].EndX} {path[i].EndY}";