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Đăng Nguyễn 2025-09-10 10:48:39 +07:00
parent 0a13194f25
commit cf309cccba
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1
.gitignore vendored
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@ -412,3 +412,4 @@ FodyWeavers.xsd
# Built Visual Studio Code Extensions # Built Visual Studio Code Extensions
*.vsix *.vsix
*/wwwroot/lib

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RobotApp.Client/Layout/MainLayout.razor Normal file
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@inherits LayoutComponentBase
<div class="page">
<div class="sidebar">
<NavMenu />
</div>
<main>
<div class="top-row px-4">
<a href="https://learn.microsoft.com/aspnet/core/" target="_blank">About</a>
</div>
<article class="content px-4">
@Body
</article>
</main>
</div>
<div id="blazor-error-ui" data-nosnippet>
An unhandled error has occurred.
<a href="." class="reload">Reload</a>
<span class="dismiss">🗙</span>
</div>

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RobotApp.Client/Layout/MainLayout.razor.css Normal file
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.page {
position: relative;
display: flex;
flex-direction: column;
}
main {
flex: 1;
}
.sidebar {
background-image: linear-gradient(180deg, rgb(5, 39, 103) 0%, #3a0647 70%);
}
.top-row {
background-color: #f7f7f7;
border-bottom: 1px solid #d6d5d5;
justify-content: flex-end;
height: 3.5rem;
display: flex;
align-items: center;
}
.top-row ::deep a, .top-row ::deep .btn-link {
white-space: nowrap;
margin-left: 1.5rem;
text-decoration: none;
}
.top-row ::deep a:hover, .top-row ::deep .btn-link:hover {
text-decoration: underline;
}
.top-row ::deep a:first-child {
overflow: hidden;
text-overflow: ellipsis;
}
@media (max-width: 640.98px) {
.top-row {
justify-content: space-between;
}
.top-row ::deep a, .top-row ::deep .btn-link {
margin-left: 0;
}
}
@media (min-width: 641px) {
.page {
flex-direction: row;
}
.sidebar {
width: 250px;
height: 100vh;
position: sticky;
top: 0;
}
.top-row {
position: sticky;
top: 0;
z-index: 1;
}
.top-row.auth ::deep a:first-child {
flex: 1;
text-align: right;
width: 0;
}
.top-row, article {
padding-left: 2rem !important;
padding-right: 1.5rem !important;
}
}
#blazor-error-ui {
color-scheme: light only;
background: lightyellow;
bottom: 0;
box-shadow: 0 -1px 2px rgba(0, 0, 0, 0.2);
box-sizing: border-box;
display: none;
left: 0;
padding: 0.6rem 1.25rem 0.7rem 1.25rem;
position: fixed;
width: 100%;
z-index: 1000;
}
#blazor-error-ui .dismiss {
cursor: pointer;
position: absolute;
right: 0.75rem;
top: 0.5rem;
}

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RobotApp.Client/Layout/NavMenu.razor Normal file
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@implements IDisposable
@inject NavigationManager NavigationManager
<div class="top-row ps-3 navbar navbar-dark">
<div class="container-fluid">
<a class="navbar-brand" href="">RobotApp</a>
</div>
</div>
<input type="checkbox" title="Navigation menu" class="navbar-toggler" />
<div class="nav-scrollable" onclick="document.querySelector('.navbar-toggler').click()">
<nav class="nav flex-column">
<div class="nav-item px-3">
<NavLink class="nav-link" href="" Match="NavLinkMatch.All">
<span class="bi bi-house-door-fill-nav-menu" aria-hidden="true"></span> Home
</NavLink>
</div>
<div class="nav-item px-3">
<NavLink class="nav-link" href="counter">
<span class="bi bi-plus-square-fill-nav-menu" aria-hidden="true"></span> Counter
</NavLink>
</div>
<div class="nav-item px-3">
<NavLink class="nav-link" href="weather">
<span class="bi bi-list-nested-nav-menu" aria-hidden="true"></span> Weather
</NavLink>
</div>
<div class="nav-item px-3">
<NavLink class="nav-link" href="auth">
<span class="bi bi-lock-nav-menu" aria-hidden="true"></span> Auth Required
</NavLink>
</div>
<AuthorizeView>
<Authorized>
<div class="nav-item px-3">
<NavLink class="nav-link" href="Account/Manage">
<span class="bi bi-person-fill-nav-menu" aria-hidden="true"></span> @context.User.Identity?.Name
</NavLink>
</div>
<div class="nav-item px-3">
<form action="Account/Logout" method="post">
<AntiforgeryToken />
<input type="hidden" name="ReturnUrl" value="@currentUrl" />
<button type="submit" class="nav-link">
<span class="bi bi-arrow-bar-left-nav-menu" aria-hidden="true"></span> Logout
</button>
</form>
</div>
</Authorized>
<NotAuthorized>
<div class="nav-item px-3">
<NavLink class="nav-link" href="Account/Register">
<span class="bi bi-person-nav-menu" aria-hidden="true"></span> Register
</NavLink>
</div>
<div class="nav-item px-3">
<NavLink class="nav-link" href="Account/Login">
<span class="bi bi-person-badge-nav-menu" aria-hidden="true"></span> Login
</NavLink>
</div>
</NotAuthorized>
</AuthorizeView>
</nav>
</div>
@code {
private string? currentUrl;
protected override void OnInitialized()
{
currentUrl = NavigationManager.ToBaseRelativePath(NavigationManager.Uri);
NavigationManager.LocationChanged += OnLocationChanged;
}
private void OnLocationChanged(object? sender, LocationChangedEventArgs e)
{
currentUrl = NavigationManager.ToBaseRelativePath(e.Location);
StateHasChanged();
}
public void Dispose()
{
NavigationManager.LocationChanged -= OnLocationChanged;
}
}

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RobotApp.Client/Layout/NavMenu.razor.css Normal file
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.navbar-toggler {
appearance: none;
cursor: pointer;
width: 3.5rem;
height: 2.5rem;
color: white;
position: absolute;
top: 0.5rem;
right: 1rem;
border: 1px solid rgba(255, 255, 255, 0.1);
background: url("data:image/svg+xml,%3csvg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 30 30'%3e%3cpath stroke='rgba%28255, 255, 255, 0.55%29' stroke-linecap='round' stroke-miterlimit='10' stroke-width='2' d='M4 7h22M4 15h22M4 23h22'/%3e%3c/svg%3e") no-repeat center/1.75rem rgba(255, 255, 255, 0.1);
}
.navbar-toggler:checked {
background-color: rgba(255, 255, 255, 0.5);
}
.top-row {
min-height: 3.5rem;
background-color: rgba(0,0,0,0.4);
}
.navbar-brand {
font-size: 1.1rem;
}
.bi {
display: inline-block;
position: relative;
width: 1.25rem;
height: 1.25rem;
margin-right: 0.75rem;
top: -1px;
background-size: cover;
}
.bi-house-door-fill-nav-menu {
background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-house-door-fill' viewBox='0 0 16 16'%3E%3Cpath d='M6.5 14.5v-3.505c0-.245.25-.495.5-.495h2c.25 0 .5.25.5.5v3.5a.5.5 0 0 0 .5.5h4a.5.5 0 0 0 .5-.5v-7a.5.5 0 0 0-.146-.354L13 5.793V2.5a.5.5 0 0 0-.5-.5h-1a.5.5 0 0 0-.5.5v1.293L8.354 1.146a.5.5 0 0 0-.708 0l-6 6A.5.5 0 0 0 1.5 7.5v7a.5.5 0 0 0 .5.5h4a.5.5 0 0 0 .5-.5Z'/%3E%3C/svg%3E");
}
.bi-plus-square-fill-nav-menu {
background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-plus-square-fill' viewBox='0 0 16 16'%3E%3Cpath d='M2 0a2 2 0 0 0-2 2v12a2 2 0 0 0 2 2h12a2 2 0 0 0 2-2V2a2 2 0 0 0-2-2H2zm6.5 4.5v3h3a.5.5 0 0 1 0 1h-3v3a.5.5 0 0 1-1 0v-3h-3a.5.5 0 0 1 0-1h3v-3a.5.5 0 0 1 1 0z'/%3E%3C/svg%3E");
}
.bi-list-nested-nav-menu {
background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-list-nested' viewBox='0 0 16 16'%3E%3Cpath fill-rule='evenodd' d='M4.5 11.5A.5.5 0 0 1 5 11h10a.5.5 0 0 1 0 1H5a.5.5 0 0 1-.5-.5zm-2-4A.5.5 0 0 1 3 7h10a.5.5 0 0 1 0 1H3a.5.5 0 0 1-.5-.5zm-2-4A.5.5 0 0 1 1 3h10a.5.5 0 0 1 0 1H1a.5.5 0 0 1-.5-.5z'/%3E%3C/svg%3E");
}
.bi-lock-nav-menu {
background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-list-nested' viewBox='0 0 16 16'%3E%3Cpath d='M8 1a2 2 0 0 1 2 2v4H6V3a2 2 0 0 1 2-2zm3 6V3a3 3 0 0 0-6 0v4a2 2 0 0 0-2 2v5a2 2 0 0 0 2 2h6a2 2 0 0 0 2-2V9a2 2 0 0 0-2-2zM5 8h6a1 1 0 0 1 1 1v5a1 1 0 0 1-1 1H5a1 1 0 0 1-1-1V9a1 1 0 0 1 1-1z'/%3E%3C/svg%3E");
}
.bi-person-nav-menu {
background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-person' viewBox='0 0 16 16'%3E%3Cpath d='M8 8a3 3 0 1 0 0-6 3 3 0 0 0 0 6Zm2-3a2 2 0 1 1-4 0 2 2 0 0 1 4 0Zm4 8c0 1-1 1-1 1H3s-1 0-1-1 1-4 6-4 6 3 6 4Zm-1-.004c-.001-.246-.154-.986-.832-1.664C11.516 10.68 10.289 10 8 10c-2.29 0-3.516.68-4.168 1.332-.678.678-.83 1.418-.832 1.664h10Z'/%3E%3C/svg%3E");
}
.bi-person-badge-nav-menu {
background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-person-badge' viewBox='0 0 16 16'%3E%3Cpath d='M6.5 2a.5.5 0 0 0 0 1h3a.5.5 0 0 0 0-1h-3zM11 8a3 3 0 1 1-6 0 3 3 0 0 1 6 0z'/%3E%3Cpath d='M4.5 0A2.5 2.5 0 0 0 2 2.5V14a2 2 0 0 0 2 2h8a2 2 0 0 0 2-2V2.5A2.5 2.5 0 0 0 11.5 0h-7zM3 2.5A1.5 1.5 0 0 1 4.5 1h7A1.5 1.5 0 0 1 13 2.5v10.795a4.2 4.2 0 0 0-.776-.492C11.392 12.387 10.063 12 8 12s-3.392.387-4.224.803a4.2 4.2 0 0 0-.776.492V2.5z'/%3E%3C/svg%3E");
}
.bi-person-fill-nav-menu {
background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-person-fill' viewBox='0 0 16 16'%3E%3Cpath d='M3 14s-1 0-1-1 1-4 6-4 6 3 6 4-1 1-1 1H3Zm5-6a3 3 0 1 0 0-6 3 3 0 0 0 0 6Z'/%3E%3C/svg%3E");
}
.bi-arrow-bar-left-nav-menu {
background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-arrow-bar-left' viewBox='0 0 16 16'%3E%3Cpath d='M12.5 15a.5.5 0 0 1-.5-.5v-13a.5.5 0 0 1 1 0v13a.5.5 0 0 1-.5.5ZM10 8a.5.5 0 0 1-.5.5H3.707l2.147 2.146a.5.5 0 0 1-.708.708l-3-3a.5.5 0 0 1 0-.708l3-3a.5.5 0 1 1 .708.708L3.707 7.5H9.5a.5.5 0 0 1 .5.5Z'/%3E%3C/svg%3E");
}
.nav-item {
font-size: 0.9rem;
padding-bottom: 0.5rem;
}
.nav-item:first-of-type {
padding-top: 1rem;
}
.nav-item:last-of-type {
padding-bottom: 1rem;
}
.nav-item ::deep .nav-link {
color: #d7d7d7;
background: none;
border: none;
border-radius: 4px;
height: 3rem;
display: flex;
align-items: center;
line-height: 3rem;
width: 100%;
}
.nav-item ::deep a.active {
background-color: rgba(255,255,255,0.37);
color: white;
}
.nav-item ::deep .nav-link:hover {
background-color: rgba(255,255,255,0.1);
color: white;
}
.nav-scrollable {
display: none;
}
.navbar-toggler:checked ~ .nav-scrollable {
display: block;
}
@media (min-width: 641px) {
.navbar-toggler {
display: none;
}
.nav-scrollable {
/* Never collapse the sidebar for wide screens */
display: block;
/* Allow sidebar to scroll for tall menus */
height: calc(100vh - 3.5rem);
overflow-y: auto;
}
}

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RobotApp.Client/Pages/Auth.razor Normal file
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@page "/auth"
@using Microsoft.AspNetCore.Authorization
@attribute [Authorize]
<PageTitle>Auth</PageTitle>
<h1>You are authenticated</h1>
<AuthorizeView>
Hello @context.User.Identity?.Name!
</AuthorizeView>

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RobotApp.Client/Pages/Counter.razor Normal file
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@page "/counter"
<PageTitle>Counter</PageTitle>
<h1>Counter</h1>
<p role="status">Current count: @currentCount</p>
<button class="btn btn-primary" @onclick="IncrementCount">Click me</button>
@code {
private int currentCount = 0;
private void IncrementCount()
{
currentCount++;
}
}

7
RobotApp.Client/Pages/Home.razor Normal file
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@page "/"
<PageTitle>Home</PageTitle>
<h1>Hello, world!</h1>
Welcome to your new app.

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RobotApp.Client/Pages/Weather.razor Normal file
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@page "/weather"
<PageTitle>Weather</PageTitle>
<h1>Weather</h1>
<p>This component demonstrates showing data.</p>
@if (forecasts == null)
{
<p><em>Loading...</em></p>
}
else
{
<table class="table">
<thead>
<tr>
<th>Date</th>
<th aria-label="Temperature in Celsius">Temp. (C)</th>
<th aria-label="Temperature in Farenheit">Temp. (F)</th>
<th>Summary</th>
</tr>
</thead>
<tbody>
@foreach (var forecast in forecasts)
{
<tr>
<td>@forecast.Date.ToShortDateString()</td>
<td>@forecast.TemperatureC</td>
<td>@forecast.TemperatureF</td>
<td>@forecast.Summary</td>
</tr>
}
</tbody>
</table>
}
@code {
private WeatherForecast[]? forecasts;
protected override async Task OnInitializedAsync()
{
// Simulate asynchronous loading to demonstrate a loading indicator
await Task.Delay(500);
var startDate = DateOnly.FromDateTime(DateTime.Now);
var summaries = new[] { "Freezing", "Bracing", "Chilly", "Cool", "Mild", "Warm", "Balmy", "Hot", "Sweltering", "Scorching" };
forecasts = Enumerable.Range(1, 5).Select(index => new WeatherForecast
{
Date = startDate.AddDays(index),
TemperatureC = Random.Shared.Next(-20, 55),
Summary = summaries[Random.Shared.Next(summaries.Length)]
}).ToArray();
}
private class WeatherForecast
{
public DateOnly Date { get; set; }
public int TemperatureC { get; set; }
public string? Summary { get; set; }
public int TemperatureF => 32 + (int)(TemperatureC / 0.5556);
}
}

9
RobotApp.Client/Program.cs Normal file
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using Microsoft.AspNetCore.Components.WebAssembly.Hosting;
var builder = WebAssemblyHostBuilder.CreateDefault(args);
builder.Services.AddAuthorizationCore();
builder.Services.AddCascadingAuthenticationState();
builder.Services.AddAuthenticationStateDeserialization();
await builder.Build().RunAsync();

8
RobotApp.Client/RedirectToLogin.razor Normal file
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@inject NavigationManager NavigationManager
@code {
protected override void OnInitialized()
{
NavigationManager.NavigateTo($"Account/Login?returnUrl={Uri.EscapeDataString(NavigationManager.Uri)}", forceLoad: true);
}
}

16
RobotApp.Client/RobotApp.Client.csproj Normal file
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<Project Sdk="Microsoft.NET.Sdk.BlazorWebAssembly">
<PropertyGroup>
<TargetFramework>net9.0</TargetFramework>
<ImplicitUsings>enable</ImplicitUsings>
<Nullable>enable</Nullable>
<NoDefaultLaunchSettingsFile>true</NoDefaultLaunchSettingsFile>
<StaticWebAssetProjectMode>Default</StaticWebAssetProjectMode>
</PropertyGroup>
<ItemGroup>
<PackageReference Include="Microsoft.AspNetCore.Components.WebAssembly" Version="9.0.1" />
<PackageReference Include="Microsoft.AspNetCore.Components.WebAssembly.Authentication" Version="9.0.1" />
</ItemGroup>
</Project>

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RobotApp.Client/Routes.razor Normal file
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<Router AppAssembly="typeof(Program).Assembly">
<Found Context="routeData">
<AuthorizeRouteView RouteData="routeData" DefaultLayout="typeof(Layout.MainLayout)">
<NotAuthorized>
<RedirectToLogin />
</NotAuthorized>
</AuthorizeRouteView>
<FocusOnNavigate RouteData="routeData" Selector="h1" />
</Found>
</Router>

10
RobotApp.Client/_Imports.razor Normal file
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@ -0,0 +1,10 @@
@using System.Net.Http
@using System.Net.Http.Json
@using Microsoft.AspNetCore.Components.Authorization
@using Microsoft.AspNetCore.Components.Forms
@using Microsoft.AspNetCore.Components.Routing
@using Microsoft.AspNetCore.Components.Web
@using static Microsoft.AspNetCore.Components.Web.RenderMode
@using Microsoft.AspNetCore.Components.Web.Virtualization
@using Microsoft.JSInterop
@using RobotApp.Client

15
RobotApp.Client/libman.json Normal file
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{
"version": "3.0",
"defaultProvider": "cdnjs",
"libraries": [
{
"library": "bootstrap@5.3.7",
"destination": "wwwroot/lib/bootstrap/"
},
{
"provider": "jsdelivr",
"library": "@mdi/font@7.4.47",
"destination": "wwwroot/lib/mdi/font/"
}
]
}

8
RobotApp.Client/wwwroot/appsettings.Development.json Normal file
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@ -0,0 +1,8 @@
{
"Logging": {
"LogLevel": {
"Default": "Information",
"Microsoft.AspNetCore": "Warning"
}
}
}

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RobotApp.Client/wwwroot/appsettings.json Normal file
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@ -0,0 +1,8 @@
{
"Logging": {
"LogLevel": {
"Default": "Information",
"Microsoft.AspNetCore": "Warning"
}
}
}

28
RobotApp.VDA5050/Connection/ConnectionMsg.cs Normal file
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@ -0,0 +1,28 @@
using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.Connection;
#nullable disable
public enum ConnectionState
{
ONLINE,
OFFLINE,
CONNECTIONBROKEN
}
public class ConnectionMsg
{
[Required]
public uint HeaderId { get; set; }
[Required]
public string Timestamp { get; set; } = "";
[Required]
public string Version { get; set; } = "";
[Required]
public string Manufacturer { get; set; } = "";
[Required]
public string SerialNumber { get; set; } = "";
[Required]
public string ConnectionState { get; set; } = "";
}

25
RobotApp.VDA5050/Factsheet/ActionParameters.cs Normal file
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@ -0,0 +1,25 @@
using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.Factsheet;
#nullable disable
public enum ValueDataType
{
BOOL,
NUMBER,
INTEGER,
FLOAT,
STRING,
OBJECT,
ARRAY,
}
public class ActionParameters
{
[Required]
public string Key { get; set; }
[Required]
public string ValueDataType { get; set; }
public string Description { get; set; }
public bool IsOptional { get; set; }
}

23
RobotApp.VDA5050/Factsheet/AgvActions.cs Normal file
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@ -0,0 +1,23 @@
using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.Factsheet;
#nullable disable
public enum ActionScopes
{
INSTANT,
NODE,
EDGE,
}
public class AgvActions
{
[Required]
public string ActionType { get; set; }
public string ActionDescription { get; set; }
[Required]
public string[] ActionScopes { get; set; }
public ActionParameters[] ActionParameters { get; set; }
public string ResultDescription { get; set; }
public string[] BlockingTypes { get; set; }
}

12
RobotApp.VDA5050/Factsheet/AgvGeometry.cs Normal file
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@ -0,0 +1,12 @@
using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.Factsheet;
#nullable disable
public class AgvGeometry
{
public WheelDefinitions[] WheelDefinitions { get; set; }
public Envelopes2d[] Envelopes2d { get; set; }
public Envelopes3d[] Envelopes3d { get; set; }
}

15
RobotApp.VDA5050/Factsheet/BoundingBoxReference.cs Normal file
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using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.Factsheet;
public class BoundingBoxReference
{
[Required]
public double X { get; set; }
[Required]
public double Y { get; set; }
[Required]
public double Z { get; set; }
public double Theta { get; set; }
}

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RobotApp.VDA5050/Factsheet/Envelopes2d.cs Normal file
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@ -0,0 +1,21 @@
using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.Factsheet;
#nullable disable
public class PolygonPoints
{
[Required]
public double X { get; set; }
[Required]
public double Y { get; set; }
}
public class Envelopes2d
{
[Required]
public string Set { get; set; }
[Required]
public PolygonPoints[] PolygonPoints { get; set; }
public string Description { get; set; }
}

16
RobotApp.VDA5050/Factsheet/Envelopes3d.cs Normal file
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@ -0,0 +1,16 @@
using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.Factsheet;
#nullable disable
public class Envelopes3d
{
[Required]
public string Set { get; set; }
[Required]
public string Format { get; set; }
public object Data { get; set; }
public string Url { get; set; }
public string Description { get; set; }
}

30
RobotApp.VDA5050/Factsheet/FactSheetMsg.cs Normal file
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using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.Factsheet;
#nullable disable
public class FactSheetMsg
{
public uint HeaderId { get; set; }
public string Timestamp { get; set; }
[Required]
public string Version { get; set; }
[Required]
public string Manufacturer { get; set; }
[Required]
public string SerialNumber { get; set; }
[Required]
public TypeSpecification TypeSpecification { get; set; }
[Required]
public PhysicalParameters PhysicalParameters { get; set; }
[Required]
public ProtocolLimits ProtocolLimits { get; set; }
[Required]
public ProtocolFeatures ProtocolFeatures { get; set; }
[Required]
public AgvGeometry AgvGeometry { get; set; }
[Required]
public LoadSpecification LoadSpecification { get; set; }
//public LocalizationParameter LocalizationParameters { get; set; }
}

13
RobotApp.VDA5050/Factsheet/LoadDimensions.cs Normal file
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using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.Factsheet;
public class LoadDimensions
{
[Required]
public double Length { get; set; }
[Required]
public double Width { get; set; }
public double Height { get; set; }
}

26
RobotApp.VDA5050/Factsheet/LoadSets.cs Normal file
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namespace RobotApp.VDA5050.Factsheet;
#nullable disable
public class LoadSets
{
public string SetName { get; set; }
public string LoadType { get; set; }
public string[] LoadPositions { get; set; }
public BoundingBoxReference BoundingBoxReference { get; set; }
public LoadDimensions LoadDimensions { get; set; }
public double MaxWeigth { get; set; }
public double MinLoadhandlingHeight { get; set; }
public double MaxLoadhandlingHeight { get; set; }
public double MinLoadhandlingDepth { get; set; }
public double MaxLoadhandlingDepth { get; set; }
public double MinLoadhandlingTilt { get; set; }
public double MaxLoadhandlingTilt { get; set; }
public double AgvSpeedLimit { get; set; }
public double AgvAccelerationLimit { get; set; }
public double AgvDecelerationLimit { get; set; }
public double PickTime { get; set; }
public double DropTime { get; set; }
public string Description { get; set; }
}

9
RobotApp.VDA5050/Factsheet/LoadSpecification.cs Normal file
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namespace RobotApp.VDA5050.Factsheet;
#nullable disable
public class LoadSpecification
{
public string[] LoadPositions { get; set; }
public LoadSets[] LoadSets { get; set; }
}

6
RobotApp.VDA5050/Factsheet/LocalizationParameter.cs Normal file
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namespace RobotApp.VDA5050.Factsheet;
public class LocalizationParameter
{
public double LocalizationParameters { get; set; }
}

21
RobotApp.VDA5050/Factsheet/MaxArrayLens.cs Normal file
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namespace RobotApp.VDA5050.Factsheet;
public class MaxArrayLens
{
public int OrderNodes { get; set; }
public int OrderEdges { get; set; }
public int NodeActions { get; set; }
public int EdgeActions { get; set; }
public int ActionsActionsParameters { get; set; }
public int InstantActions { get; set; }
public int TrajectoryKnotVector { get; set; }
public int TrajectoryControlPoints { get; set; }
public int StateNodeStates { get; set; }
public int StateEdgeStates { get; set; }
public int StateLoads { get; set; }
public int StateActionStates { get; set; }
public int StateErrors { get; set; }
public int StateInformation { get; set; }
public int ErrorErrorReferences { get; set; }
public int InformationInfoReferences { get; set; }
}

12
RobotApp.VDA5050/Factsheet/MaxStringLens.cs Normal file
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namespace RobotApp.VDA5050.Factsheet;
public class MaxStringLens
{
public int MsgLen { get; set; }
public int TopicSerialLen { get; set; }
public int TopicElemLen { get; set; }
public int IdLen { get; set; }
public bool IdNumericalOnly { get; set; }
public int EnumLen { get; set; }
public int LoadIdLen { get; set; }
}

19
RobotApp.VDA5050/Factsheet/OptionalParameters.cs Normal file
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using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.Factsheet;
#nullable disable
public enum Support
{
SUPPORTED,
REQUIRED,
}
public class OptionalParameters
{
[Required]
public string Parameter { get; set; }
[Required]
public string Support { get; set; }
public string Description { get; set; }
}

22
RobotApp.VDA5050/Factsheet/PhysicalParameters.cs Normal file
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@ -0,0 +1,22 @@
using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.Factsheet;
public class PhysicalParameters
{
[Required]
public double SpeedMin { get; set; }
[Required]
public double SpeedMax { get; set; }
[Required]
public double AccelerationMax { get; set; }
[Required]
public double DecelerationMax { get; set; }
public double HeightMin { get; set; }
[Required]
public double HeightMax { get; set; }
[Required]
public double Width { get; set; }
[Required]
public double Length { get; set; }
}

13
RobotApp.VDA5050/Factsheet/ProtocolFeatures.cs Normal file
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@ -0,0 +1,13 @@
using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.Factsheet;
#nullable disable
public class ProtocolFeatures
{
[Required]
public OptionalParameters[] OptionalParameters { get; set; }
[Required]
public AgvActions[] AgvActions { get; set; }
}

14
RobotApp.VDA5050/Factsheet/ProtocolLimits.cs Normal file
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@ -0,0 +1,14 @@
using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.Factsheet;
#nullable disable
public class ProtocolLimits
{
[Required]
public MaxStringLens MaxStringLens { get; set; }
[Required]
public MaxArrayLens MaxArrayLens { get; set; }
[Required]
public Timing Timing { get; set; }
}

13
RobotApp.VDA5050/Factsheet/Timing.cs Normal file
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using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.Factsheet;
public class Timing
{
[Required]
public double MinOrderInterval { get; set; }
[Required]
public double MinStateInterval { get; set; }
public double DefaultStateInterval { get; set; }
public double VisualizationInterval { get; set; }
}

50
RobotApp.VDA5050/Factsheet/TypeSpecification.cs Normal file
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@ -0,0 +1,50 @@
using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.Factsheet;
#nullable disable
public enum AgvKinematic
{
DIFF,
OMNI,
THREEWHEEL
}
public enum AgvClass
{
FORKLIFT,
CONVEYOR,
TUGGER,
CARRIER
}
public enum LocalizationTypes
{
NATURAL,
REFLECTOR,
RFID,
DMC,
SPOT,
GRID,
}
public enum NavigationTypes
{
PHYSICAL_LINDE_GUIDED,
VIRTUAL_LINE_GUIDED,
AUTONOMOUS,
}
public class TypeSpecification
{
[Required]
public string SeriesName { get; set; }
public string SeriesDescription { get; set; }
[Required]
public string AgvKinematic { get; set; }
[Required]
public string AgvClass { get; set; }
[Required]
public double MaxLoadMass { get; set; }
[Required]
public string[] LocalizationTypes { get; set; } = [];
[Required]
public string[] NavigationTypes { get; set; } = [];
}

39
RobotApp.VDA5050/Factsheet/WheelDefinitions.cs Normal file
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using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.Factsheet;
#nullable disable
public enum WheelDefinitionsType
{
DRIVE,
CASTER,
FIXED,
MECANUM,
}
public class WheelDefinitionsPosition
{
[Required]
public double X { get; set; }
[Required]
public double Y { get; set; }
public double Theta { get; set; }
}
public class WheelDefinitions
{
[Required]
public string Type { get; set; }
[Required]
public bool IsActiveDriven { get; set; }
[Required]
public bool IsActiveSteered { get; set; }
[Required]
public WheelDefinitionsPosition Position { get; set; }
[Required]
public double Diameter { get; set; }
[Required]
public double Width { get; set; }
public double CenterDisplacement { get; set; }
public string Constraints { get; set; }
}

9
RobotApp.VDA5050/FactsheetExtend/Battery.cs Normal file
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@ -0,0 +1,9 @@
namespace RobotApp.VDA5050.FactsheetExtend;
public class Battery
{
public uint Battery_low { get; set; }
public uint Battery_normal { get; set; }
public uint Battery_good { get; set; }
public uint Battery_full { get; set; }
}

11
RobotApp.VDA5050/FactsheetExtend/BatteryThreshold.cs Normal file
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@ -0,0 +1,11 @@
namespace RobotApp.VDA5050.FactsheetExtend;
public enum BatteryThreshold
{
LOW,
NORMAL,
MIDDLE,
GOOD,
FULL,
NONE
}

31
RobotApp.VDA5050/FactsheetExtend/CameraSafety.cs Normal file
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@ -0,0 +1,31 @@
namespace RobotApp.VDA5050.FactsheetExtend;
public class CameraSafety
{
public double Pass_through_x_min { get; set; }
public double Pass_through_x_max { get; set; }
public double Pass_through_y_min { get; set; }
public double Pass_through_y_max { get; set; }
public double Pass_through_z_min { get; set; }
public double Pass_through_z_max { get; set; }
public uint Ground_seg_max_iterations { get; set; }
public double Ground_seg_distance_threshold { get; set; }
public double Warn_z1 { get; set; }
public double Protect_z1 { get; set; }
public double Warn_z2 { get; set; }
public double Protect_z2 { get; set; }
public double Warn_z3 { get; set; }
public double Protect_z3 { get; set; }
public double Warn_z4 { get; set; }
public double Protect_z4 { get; set; }
public double Warn_z5 { get; set; }
public double Protect_z5 { get; set; }
public double Warn_z6 { get; set; }
public double Protect_z6 { get; set; }
public uint Min_cluster_warn_size { get; set; }
public uint Min_cluster_protect_size { get; set; }
public uint Min_cluster_detect_size { get; set; }
public uint Min_consecutive_warn_count { get; set; }
public uint Min_consecutive_protect_count { get; set; }
public uint Min_consecutive_detect_count { get; set; }
}

9
RobotApp.VDA5050/FactsheetExtend/ChargerParam.cs Normal file
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@ -0,0 +1,9 @@
namespace RobotApp.VDA5050.FactsheetExtend;
#nullable disable
public class ChargerParam
{
public string Charger_ip { get; set; }
public uint Charger_port { get; set; }
}

19
RobotApp.VDA5050/FactsheetExtend/FactsheetExtendMsg.cs Normal file
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@ -0,0 +1,19 @@
namespace RobotApp.VDA5050.FactsheetExtend;
#nullable disable
public class FactsheetExtendMsg
{
public uint HeaderId { get; set; }
public DateTime Timestamp { get; set; }
public string Version { get; set; }
public string Manufacturer { get; set; }
public string SerialNumber { get; set; }
public ServerParam Server_param { get; set; }
public RobotParam Robot_param { get; set; }
public Localization Localization { get; set; }
public Navigation Navigation { get; set; }
public Safety Safety { get; set; }
public ChargerParam Charger_param { get; set; }
}

9
RobotApp.VDA5050/FactsheetExtend/ForkSafety.cs Normal file
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@ -0,0 +1,9 @@
namespace RobotApp.VDA5050.FactsheetExtend;
public class ForkSafety
{
public double Muted_field_size { get; set; }
public double Protected_field_size { get; set; }
public double Warning_field_size { get; set; }
public double Detect_field_size { get; set; }
}

9
RobotApp.VDA5050/FactsheetExtend/Initpose.cs Normal file
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@ -0,0 +1,9 @@
namespace RobotApp.VDA5050.FactsheetExtend;
public class Initpose
{
public bool Use_manual_initpose { get; set; }
public double Initpose_x { get; set; }
public double Initpose_y { get; set; }
public double Initpose_yaw { get; set; }
}

10
RobotApp.VDA5050/FactsheetExtend/LineSegment.cs Normal file
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@ -0,0 +1,10 @@
namespace RobotApp.VDA5050.FactsheetExtend;
public class LineSegment
{
public double Least_thresh { get; set; }
public double Min_line_length { get; set; }
public double Predict_distance { get; set; }
public uint Seed_line_points { get; set; }
public uint Min_line_points { get; set; }
}

14
RobotApp.VDA5050/FactsheetExtend/Localization.cs Normal file
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@ -0,0 +1,14 @@
namespace RobotApp.VDA5050.FactsheetExtend;
#nullable disable
public class Localization
{
public uint Threshold_quality_loc { get; set; }
public bool Use_localization_marker { get; set; }
public bool Use_pallet_detection { get; set; }
public Initpose Initpose { get; set; }
public Xloc Xloc { get; set; }
public VlMarker Vl_marker { get; set; }
}

9
RobotApp.VDA5050/FactsheetExtend/Motor.cs Normal file
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@ -0,0 +1,9 @@
namespace RobotApp.VDA5050.FactsheetExtend;
public class Motor
{
public double OdomEncSteeringAngleOffset { get; set; }
public double Steering_fix_wheel_distance_x { get; set; }
public double Steering_fix_wheel_distance_y { get; set; }
public double WheelAcceleration { get; set; }
}

11
RobotApp.VDA5050/FactsheetExtend/Navigation.cs Normal file
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@ -0,0 +1,11 @@
namespace RobotApp.VDA5050.FactsheetExtend;
#nullable disable
public class Navigation
{
public bool Using_control_safety { get; set; }
public uint Control_rate { get; set; }
public Rotate Rotate { get; set; }
public PTA Pta { get; set; }
public PPA Ppa { get; set; }
}

7
RobotApp.VDA5050/FactsheetExtend/PPA.cs Normal file
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@ -0,0 +1,7 @@
namespace RobotApp.VDA5050.FactsheetExtend;
public class PPA
{
public double Ppa_accuracy_goal { get; set; }
public double Ppa_distance_reduce { get; set; }
}

15
RobotApp.VDA5050/FactsheetExtend/PTA.cs Normal file
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@ -0,0 +1,15 @@
namespace RobotApp.VDA5050.FactsheetExtend;
public class PTA
{
public double Pta_linear_vel_max { get; set; }
public double Pta_linear_vel_min { get; set; }
public double Pta_accuracy_goal { get; set; }
public double Pta_distance_reduce { get; set; }
public double Pta_acceleration { get; set; }
public double Pta_lm_front { get; set; }
public double Pta_lm_back { get; set; }
public double Pta_phi_max { get; set; }
public double Pta_amplitude_max { get; set; }
public uint Pta_w_option { get; set; }
}

12
RobotApp.VDA5050/FactsheetExtend/RobotParam.cs Normal file
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@ -0,0 +1,12 @@
namespace RobotApp.VDA5050.FactsheetExtend;
public class RobotParam
{
public bool Use_dynamic_parameter { get; set; } // (Default: True) Declare whether to use dynamic parameters or not
public string? Ethernet_name { get; set; } // The name of Ethernet port which connects to wifi client (e.g eno1, lo, enp3s0)
public double Speed_max_backward { get; set; } // (Default: True) Declare whether to use dynamic parameters or not
public uint Num_day_logger { get; set; } // The name of Ethernet port which connects to wifi client (e.g eno1, lo, enp3s0)
public Motor Motor { get; set; } = new();
public Battery Battery { get; set; } = new();
}

9
RobotApp.VDA5050/FactsheetExtend/Rotate.cs Normal file
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@ -0,0 +1,9 @@
namespace RobotApp.VDA5050.FactsheetExtend;
public class Rotate
{
public double Angular_vel_max { get; set; }
public double Angular_vel_min { get; set; }
public double Acceleration_rotate { get; set; }
public double Tolerances_rotate { get; set; }
}

8
RobotApp.VDA5050/FactsheetExtend/Safety.cs Normal file
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@ -0,0 +1,8 @@
namespace RobotApp.VDA5050.FactsheetExtend;
public class Safety
{
public bool Use_camera_safety { get; set; }
public CameraSafety Camera_safety { get; set; } = new();
public ForkSafety Fork_safety { get; set; } = new();
}

14
RobotApp.VDA5050/FactsheetExtend/ServerParam.cs Normal file
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@ -0,0 +1,14 @@
namespace RobotApp.VDA5050.FactsheetExtend;
#nullable disable
public class ServerParam
{
public string Server_ip { get; set; }
public string Server_port { get; set; }
public string Keepalive { get; set; }
public string Username { get; set; }
public string Password { get; set; }
public string Client_protocol { get; set; }
public string Client_id { get; set; }
}

21
RobotApp.VDA5050/FactsheetExtend/VlMarker.cs Normal file
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namespace RobotApp.VDA5050.FactsheetExtend;
public class VlMarker
{
public bool Use_odometry { get; set; }
public uint V_angle { get; set; }
public double Length_v { get; set; }
public double Length_l { get; set; }
public double X_laser { get; set; }
public double Y_laser { get; set; }
public bool Flip_laser { get; set; }
public double Rotate_laser { get; set; }
public uint Frequence_control { get; set; }
public double Angle_min { get; set; }
public double Angle_max { get; set; }
public double Max_init_x { get; set; }
public double Max_init_y { get; set; }
public double Max_init_yaw { get; set; }
public LineSegment Line_segment { get; set; } = new();
}

16
RobotApp.VDA5050/FactsheetExtend/Xloc.cs Normal file
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@ -0,0 +1,16 @@
namespace RobotApp.VDA5050.FactsheetExtend;
public class Xloc
{
public double Front_vls_width { get; set; }
public double Front_vls_pose_x { get; set; }
public double Front_vls_pose_y { get; set; }
public double Front_vls_pose_yaw { get; set; }
public uint Front_vls_source_id { get; set; }
public double Rear_vls_width { get; set; }
public double Rear_vls_pose_x { get; set; }
public double Rear_vls_pose_y { get; set; }
public double Rear_vls_pose_yaw { get; set; }
public uint Rear_vls_source_id { get; set; }
}

12
RobotApp.VDA5050/InstantAction/ActionParameter.cs Normal file
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@ -0,0 +1,12 @@
using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.InstantAction;
#nullable disable
public class ActionParameter
{
[Required]
public string Key { get; set; } = "";
[Required]
public string Value { get; set; } = "";
}

23
RobotApp.VDA5050/InstantAction/Actions.cs Normal file
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@ -0,0 +1,23 @@
using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.InstantAction;
#nullable disable
public enum BlockingType
{
NONE,
SOFT,
HARD
}
public class Action
{
[Required]
public string ActionType { get; set; } = "";
[Required]
public string ActionId { get; set; } = "";
public string ActionDescription { get; set; } = "";
[Required]
public string BlockingType { get; set; } = "";
public ActionParameter[] ActionParameters { get; set; } = [];
}

13
RobotApp.VDA5050/InstantAction/InstantActionsMsg.cs Normal file
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@ -0,0 +1,13 @@
namespace RobotApp.VDA5050.InstantAction;
#nullable disable
public class InstantActionsMsg
{
public uint HeaderId { get; set; }
public string Timestamp { get; set; } = "";
public string Version { get; set; } = "";
public string Manufacturer { get; set; } = "";
public string SerialNumber { get; set; } = "";
public Action[] Actions { get; set; } = [];
}

18
RobotApp.VDA5050/Order/Corridor.cs Normal file
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@ -0,0 +1,18 @@
using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.Order;
public enum CorridorRefPoint
{
KINEMATICCENTER,
CONTOUR
}
public class Corridor
{
[Required]
public double LeftWidth { get; set; }
[Required]
public double RightWidth { get; set; }
public string CorridorRefPoint { get; set; } = "";
}

33
RobotApp.VDA5050/Order/Edge.cs Normal file
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@ -0,0 +1,33 @@
using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.Order;
#nullable disable
public class Edge
{
[Required]
public string EdgeId { get; set; } = "";
[Required]
public int SequenceId { get; set; }
public string EdgeDescription { get; set; } = "";
[Required]
public bool Released { get; set; }
[Required]
public string StartNodeId { get; set; } = "";
[Required]
public string EndNodeId { get; set; } = "";
public double MaxSpeed { get; set; }
public double MaxHeight { get; set; }
public double MinHeight { get; set; }
public double Orientation { get; set; }
public string OrientationType { get; set; } = "";
public string Direction { get; set; } = "";
public bool RotationAllowed { get; set; }
public double MaxRotationSpeed { get; set; }
public double Length { get; set; }
public Trajectory Trajectory { get; set; }
public Corridor Corridor { get; set; } = new();
[Required]
public InstantAction.Action[] Actions { get; set; } = [];
}

18
RobotApp.VDA5050/Order/EdgeLog.cs Normal file
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@ -0,0 +1,18 @@
using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.Order;
#nullable disable
public class EdgeLog
{
[Required]
public string EdgeId { get; set; } = "";
public string EdgeDescription { get; set; } = "";
[Required]
public string StartNodeId { get; set; } = "";
[Required]
public string EndNodeId { get; set; } = "";
public Trajectory Trajectory { get; set; } = new();
public InstantAction.Action[] Actions { get; set; } = [];
}

19
RobotApp.VDA5050/Order/Node.cs Normal file
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@ -0,0 +1,19 @@
using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.Order;
#nullable disable
public class Node
{
[Required]
public string NodeId { get; set; } = "";
[Required]
public int SequenceId { get; set; }
public string NodeDescription { get; set; } = "";
[Required]
public bool Released { get; set; }
public NodePosition NodePosition { get; set; }
[Required]
public InstantAction.Action[] Actions { get; set; } = [];
}

19
RobotApp.VDA5050/Order/NodeLog.cs Normal file
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@ -0,0 +1,19 @@
using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.Order;
#nullable disable
public class NodeLog
{
[Required]
public string NodeId { get; set; } = "";
public string NodeDescription { get; set; } = "";
[Required]
public double X { get; set; }
[Required]
public double Y { get; set; }
[Required]
public double Theta { get; set; }
public InstantAction.Action[] Actions { get; set; } = [];
}

19
RobotApp.VDA5050/Order/NodePosition.cs Normal file
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@ -0,0 +1,19 @@
using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.Order;
#nullable disable
public class NodePosition
{
[Required]
public double X { get; set; }
[Required]
public double Y { get; set; }
public double Theta { get; set; }
public double AllowedDeviationXY { get; set; }
public double AllowedDeviationTheta { get; set; }
[Required]
public string MapId { get; set; } = "";
public string MapDescription { get; set; } = "";
}

21
RobotApp.VDA5050/Order/OrderLog.cs Normal file
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@ -0,0 +1,21 @@
using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.Order;
#nullable disable
public class OrderLog
{
[Required]
public string Timestamp { get; set; } = "";
[Required]
public string SerialNumber { get; set; } = "";
[Required]
public string OrderId { get; set; } = "";
[Required]
public int OrderUpdateId { get; set; }
[Required]
public NodeLog[] Nodes { get; set; } = [];
[Required]
public EdgeLog[] Edges { get; set; } = [];
}

29
RobotApp.VDA5050/Order/OrderMsg.cs Normal file
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@ -0,0 +1,29 @@
using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.Order;
#nullable disable
public class OrderMsg
{
[Required]
public uint HeaderId { get; set; }
[Required]
public string Timestamp { get; set; } = "";
[Required]
public string Version { get; set; } = "";
[Required]
public string Manufacturer { get; set; } = "";
[Required]
public string SerialNumber { get; set; } = "";
[Required]
public string OrderId { get; set; } = "";
[Required]
public int OrderUpdateId { get; set; }
public string ZoneSetId { get; set; } = "";
[Required]
public Node[] Nodes { get; set; } = [];
[Required]
public Edge[] Edges { get; set; } = [];
}

23
RobotApp.VDA5050/Order/Trajectory.cs Normal file
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using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.Order;
#nullable disable
public class ControlPoint
{
[Required]
public double X { get; set; }
[Required]
public double Y { get; set; }
public double Weight { get; set; }
}
public class Trajectory
{
[Required]
public int Degree { get; set; }
[Required]
public double[] KnotVector { get; set; } = [];
[Required]
public ControlPoint[] ControlPoints { get; set; } = [];
}

9
RobotApp.VDA5050/RobotApp.VDA5050.csproj Normal file
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@ -0,0 +1,9 @@
<Project Sdk="Microsoft.NET.Sdk">
<PropertyGroup>
<TargetFramework>net9.0</TargetFramework>
<ImplicitUsings>enable</ImplicitUsings>
<Nullable>enable</Nullable>
</PropertyGroup>
</Project>

25
RobotApp.VDA5050/State/ActionState.cs Normal file
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@ -0,0 +1,25 @@
using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.State;
#nullable disable
public enum ActionStatus
{
WAITING,
INITIALIZING,
RUNNING,
PAUSED,
FINISHED,
FAILED,
}
public class ActionState
{
public string ActionType { get; set; }
[Required]
public string ActionId { get; set; }
public string ActionDescription { get; set; }
[Required]
public string ActionStatus { get; set; }
public string ResultDescription { get; set; }
}

15
RobotApp.VDA5050/State/BatteryState.cs Normal file
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@ -0,0 +1,15 @@
using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.State;
public class BatteryState
{
[Required]
public double BatteryCharge { get; set; }
public double BatteryVoltage { get; set; }
[Range(0, 100, ErrorMessage = "Value for BatteryHealth must be between 0 and 100.")]
public double BatteryHealth { get; set; }
[Required]
public bool Charging { get; set; }
public double Reach { get; set; }
}

19
RobotApp.VDA5050/State/EdgeState.cs Normal file
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@ -0,0 +1,19 @@
using RobotApp.VDA5050.Order;
using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.State;
#nullable disable
public class EdgeState
{
[Required]
public string EdgeId { get; set; }
[Required]
public int SequenceId { get; set; }
public string EdgeDescription { get; set; }
[Required]
public bool Released { get; set; }
public Trajectory Trajectory { get; set; }
}

29
RobotApp.VDA5050/State/Error.cs Normal file
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using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.State;
#nullable disable
public enum ErrorLevel
{
NONE,
WARNING,
FATAL
}
public class ErrorReferences
{
[Required]
public string ReferenceKey { get; set; }
[Required]
public string ReferenceValue { get; set; }
}
public class Error
{
[Required]
public string ErrorType { get; set; }
public ErrorReferences[] ErrorReferences { get; set; }
public string ErrorDescription { get; set; }
public string ErrorHint { get; set; }
[Required]
public string ErrorLevel { get; set; }
}

27
RobotApp.VDA5050/State/Information.cs Normal file
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@ -0,0 +1,27 @@
using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.State;
#nullable disable
public enum InfoLevel
{
INFO,
DEBUG
}
public class InfomationReferences
{
[Required]
public string ReferenceKey { get; set; }
[Required]
public string ReferenceValue { get; set; }
}
public class Information
{
[Required]
public string InfoType { get; set; }
public InfomationReferences[] InfoReferences { get; set; }
public string InfoDescription { get; set; }
[Required]
public string InfoLevel { get; set; }
}

16
RobotApp.VDA5050/State/Load.cs Normal file
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@ -0,0 +1,16 @@
using RobotApp.VDA5050.Factsheet;
namespace RobotApp.VDA5050.State;
#nullable disable
public class Load
{
public string LoadId { get; set; }
public string LoadType { get; set; }
public string LoadPosition { get; set; }
public BoundingBoxReference BoundingBoxReference { get; set; }
public LoadDimensions LoadDimensions { get; set; }
public double Weight { get; set; }
}

20
RobotApp.VDA5050/State/Map.cs Normal file
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@ -0,0 +1,20 @@
using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.State;
public enum MapStatus
{
Enabled,
Disabled,
}
public class Map
{
[Required]
public string MapId { get; set; } = string.Empty;
[Required]
public string MapVersion { get; set; } = string.Empty;
public string MapDescription { get; set; } = string.Empty;
[Required]
public string MapStatus { get; set; } = string.Empty;
}

30
RobotApp.VDA5050/State/NodeState.cs Normal file
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@ -0,0 +1,30 @@
using RobotApp.VDA5050.Order;
using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.State;
#nullable disable
public class NodeState
{
[Required]
public string NodeId { get; set; }
[Required]
public int SequenceId { get; set; }
public string NodeDescription { get; set; }
[Required]
public bool Released { get; set; }
public NodePosition NodePosition { get; set; }
}
public class NodePosition
{
[Required]
public double X { get; set; }
[Required]
public double Y { get; set; }
public double Theta { get; set; }
[Required]
public string MapId { get; set; } = "";
}

20
RobotApp.VDA5050/State/SafetyState.cs Normal file
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using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.State;
public enum EStop
{
AUTOACK,
MANUAL,
REMOTE,
NONE,
}
public class SafetyState
{
[Required]
public string? EStop { get; set; }
[Required]
public bool FieldViolation { get; set; }
}

61
RobotApp.VDA5050/State/StateMsg.cs Normal file
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using RobotApp.VDA5050.Visualization;
using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.State;
#nullable disable
public enum OperatingMode
{
AUTOMATIC,
SEMIAUTOMATIC,
MANUAL,
SERVICE,
TEACHIN,
}
public class StateMsg
{
[Required]
public uint HeaderId { get; set; }
[Required]
public string Timestamp { get; set; }
[Required]
public string Version { get; set; }
[Required]
public string Manufacturer { get; set; }
[Required]
public string SerialNumber { get; set; }
public Map[] Maps { get; set; } = [];
[Required]
public string OrderId { get; set; }
[Required]
public int OrderUpdateId { get; set; }
public string ZoneSetId { get; set; }
[Required]
public string LastNodeId { get; set; }
[Required]
public int LastNodeSequenceId { get; set; }
[Required]
public bool Driving { get; set; }
public bool Paused { get; set; }
public bool NewBaseRequest { get; set; }
public double DistanceSinceLastNode { get; set; }
[Required]
public string OperatingMode { get; set; }
[Required]
public NodeState[] NodeStates { get; set; } = [];
[Required]
public EdgeState[] EdgeStates { get; set; } = [];
public AgvPosition AgvPosition { get; set; } = new();
public Velocity Velocity { get; set; } = new();
public Load[] Loads { get; set; } = [];
[Required]
public ActionState[] ActionStates { get; set; } = [];
[Required]
public BatteryState BatteryState { get; set; } = new();
[Required]
public Error[] Errors { get; set; } = [];
public Information[] Information { get; set; } = [];
[Required]
public SafetyState SafetyState { get; set; } = new();
}

35
RobotApp.VDA5050/Type/ActionType.cs Normal file
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namespace RobotApp.VDA5050.Type;
public enum ActionType
{
startPause, // No actionParameters
stopPause, // No actionParameters
startCharging, // ActionParameters {CHARGER_IP, CHARGER_PORT, X, Y, THETA}
stopCharging, // ActionParameters {X, Y, THETA}
initPosition, // ActionParameters {X, Y, THETA, MAP_ID, LAST_NODE_ID}
stateRequest, // No actionParameters
logReport, // No actionParameters
pick, // No actionParameters
drop, // No actionParameters
detectObject, // No actionParameters
finePositioning, // ActionParameters {X, Y, THETA, MAP_ID, LAST_NODE_ID}
waitForTrigger, // No actionParameters
cancelOrder, // No actionParameters
factsheetRequest, // No actionParameters
setDynparam, // ActionParameters {PARAM_NAME, PARAM_TYPE, PARAM_VALUE}
saveDynparamRuntime, // No actionParameters
loadDynparamRuntime, // No actionParameters
loadDynparamDefault, // No actionParameters
getDynparamRuntime, // No actionParameters
controlLight, // ActionParameters {LIGHT_TYPE, CONTROL_TYPE}
controlFan, // ActionParameters {CONTROL_TYPE}
controlSpeaker, // ActionParameters {SONG_NUMBER, CONTROL_TYPE}
controlSafetyField, // ActionParameters {FIELD_TYPE, CONTROL_TYPE}
startInPallet, // ActionParameters {X, Y, THETA}
startOutPallet, // ActionParameters {X, Y, THETA}
rotate, // ActionParameters {THETA}
setMap, // ActionParameter {MAP_ID}
}

29
RobotApp.VDA5050/VDA5050Helper.cs Normal file
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using RobotApp.VDA5050.State;
using System.Text;
namespace RobotApp.VDA5050;
public class VDA5050Helper
{
public static string ConvertErrorDetail(IEnumerable<Error> errors)
{
string errorsType = "";
foreach (var error in errors)
{
if (error == errors.Last()) errorsType += $"{error.ErrorType}";
else errorsType += $"{error.ErrorType}, ";
}
StringBuilder errorStr = new($"Robot có lỗi: [{errorsType}]\n");
foreach (var error in errors)
{
string errorDes = $"- {error.ErrorType}: {error.ErrorDescription}\n";
errorStr.Append(errorDes.PadLeft(errorDes.Length + 3));
foreach (var refer in error.ErrorReferences)
{
string errorRefer = $"+ {refer.ReferenceKey}: {refer.ReferenceValue}\n";
errorStr.Append(errorRefer.PadLeft(errorRefer.Length + 9));
}
}
return !errors.Any() ? "" : errorStr.ToString();
}
}

19
RobotApp.VDA5050/VDA5050Setting.cs Normal file
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@ -0,0 +1,19 @@
namespace RobotApp.VDA5050;
#nullable disable
public class VDA5050Setting
{
public bool ServerEnable { get; set; }
public string HostServer { get; set; }
public int Port { get; set; }
public string UserName { get; set; }
public string Password { get; set; }
public string Manufacturer { get; set; }
public string Version { get; set; }
public int Repeat { get; set; }
public int ConnectionTimeoutSeconds { get; set; }
public int ConnectionBacklog { set; get; }
public int KeepAliveInterval { get; set; }
public int CheckingRobotMsgTimout { get; set; }
}

12
RobotApp.VDA5050/VDA5050Topic.cs Normal file
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@ -0,0 +1,12 @@
namespace RobotApp.VDA5050;
public static class VDA5050Topic
{
public const string Connection = "connection";
public const string Order = "order";
public const string InstantActions = "instantActions";
public const string State = "state";
public const string Visualization = "visualization";
public const string Factsheet = "factsheet";
public const string FactsheetExtend = "factsheetExtend"; // custom by TungNV
}

21
RobotApp.VDA5050/Visualization/AgvPosition.cs Normal file
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@ -0,0 +1,21 @@
using System.ComponentModel.DataAnnotations;
namespace RobotApp.VDA5050.Visualization;
#nullable disable
public class AgvPosition
{
[Required]
public double X { get; set; }
[Required]
public double Y { get; set; }
[Required]
public string MapId { get; set; }
[Required]
public double Theta { get; set; }
[Required]
public bool PositionInitialized { get; set; }
public double LocalizationScore { get; set; }
public double DeviationRange { get; set; }
}

8
RobotApp.VDA5050/Visualization/Velocity.cs Normal file
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@ -0,0 +1,8 @@
namespace RobotApp.VDA5050.Visualization;
public class Velocity
{
public double Vx { get; set; }
public double Vy { get; set; }
public double Omega { get; set; }
}

16
RobotApp.VDA5050/Visualization/Visualizationmsg.cs Normal file
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@ -0,0 +1,16 @@
namespace RobotApp.VDA5050.Visualization;
#nullable disable
public class VisualizationMsg
{
public uint HeaderId { get; set; }
public string Timestamp { get; set; }
public string Version { get; set; }
public string Manufacturer { get; set; }
public string SerialNumber { get; set; }
public string MapId { get; set; }
public string MapDescription { get; set; }
public AgvPosition AgvPosition { get; set; } = new();
public Velocity Velocity { get; set; } = new();
}

34
RobotApp.sln Normal file
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@ -0,0 +1,34 @@

Microsoft Visual Studio Solution File, Format Version 12.00
# Visual Studio Version 17
VisualStudioVersion = 17.12.35707.178
MinimumVisualStudioVersion = 10.0.40219.1
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RobotApp", "RobotApp\RobotApp.csproj", "{BF0BB137-2EF9-4E1B-944E-9BF41C5284F7}"
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RobotApp.Client", "RobotApp.Client\RobotApp.Client.csproj", "{8A1A11A9-3DA4-48B7-8FAA-98DBAFDE1701}"
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RobotApp.VDA5050", "RobotApp.VDA5050\RobotApp.VDA5050.csproj", "{617FD155-904A-44E6-AD1A-6BC878421F9F}"
EndProject
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|Any CPU = Debug|Any CPU
Release|Any CPU = Release|Any CPU
EndGlobalSection
GlobalSection(ProjectConfigurationPlatforms) = postSolution
{BF0BB137-2EF9-4E1B-944E-9BF41C5284F7}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{BF0BB137-2EF9-4E1B-944E-9BF41C5284F7}.Debug|Any CPU.Build.0 = Debug|Any CPU
{BF0BB137-2EF9-4E1B-944E-9BF41C5284F7}.Release|Any CPU.ActiveCfg = Release|Any CPU
{BF0BB137-2EF9-4E1B-944E-9BF41C5284F7}.Release|Any CPU.Build.0 = Release|Any CPU
{8A1A11A9-3DA4-48B7-8FAA-98DBAFDE1701}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{8A1A11A9-3DA4-48B7-8FAA-98DBAFDE1701}.Debug|Any CPU.Build.0 = Debug|Any CPU
{8A1A11A9-3DA4-48B7-8FAA-98DBAFDE1701}.Release|Any CPU.ActiveCfg = Release|Any CPU
{8A1A11A9-3DA4-48B7-8FAA-98DBAFDE1701}.Release|Any CPU.Build.0 = Release|Any CPU
{617FD155-904A-44E6-AD1A-6BC878421F9F}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{617FD155-904A-44E6-AD1A-6BC878421F9F}.Debug|Any CPU.Build.0 = Debug|Any CPU
{617FD155-904A-44E6-AD1A-6BC878421F9F}.Release|Any CPU.ActiveCfg = Release|Any CPU
{617FD155-904A-44E6-AD1A-6BC878421F9F}.Release|Any CPU.Build.0 = Release|Any CPU
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
EndGlobalSection
EndGlobal

113
RobotApp/Components/Account/IdentityComponentsEndpointRouteBuilderExtensions.cs Normal file
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using System.Security.Claims;
using System.Text.Json;
using Microsoft.AspNetCore.Authentication;
using Microsoft.AspNetCore.Components.Authorization;
using Microsoft.AspNetCore.Http.Extensions;
using Microsoft.AspNetCore.Identity;
using Microsoft.AspNetCore.Mvc;
using Microsoft.Extensions.Primitives;
using RobotApp.Components.Account.Pages;
using RobotApp.Components.Account.Pages.Manage;
using RobotApp.Data;
namespace Microsoft.AspNetCore.Routing
{
internal static class IdentityComponentsEndpointRouteBuilderExtensions
{
// These endpoints are required by the Identity Razor components defined in the /Components/Account/Pages directory of this project.
public static IEndpointConventionBuilder MapAdditionalIdentityEndpoints(this IEndpointRouteBuilder endpoints)
{
ArgumentNullException.ThrowIfNull(endpoints);
var accountGroup = endpoints.MapGroup("/Account");
accountGroup.MapPost("/PerformExternalLogin", (
HttpContext context,
[FromServices] SignInManager<ApplicationUser> signInManager,
[FromForm] string provider,
[FromForm] string returnUrl) =>
{
IEnumerable<KeyValuePair<string, StringValues>> query = [
new("ReturnUrl", returnUrl),
new("Action", ExternalLogin.LoginCallbackAction)];
var redirectUrl = UriHelper.BuildRelative(
context.Request.PathBase,
"/Account/ExternalLogin",
QueryString.Create(query));
var properties = signInManager.ConfigureExternalAuthenticationProperties(provider, redirectUrl);
return TypedResults.Challenge(properties, [provider]);
});
accountGroup.MapPost("/Logout", async (
ClaimsPrincipal user,
[FromServices] SignInManager<ApplicationUser> signInManager,
[FromForm] string returnUrl) =>
{
await signInManager.SignOutAsync();
return TypedResults.LocalRedirect($"~/{returnUrl}");
});
var manageGroup = accountGroup.MapGroup("/Manage").RequireAuthorization();
manageGroup.MapPost("/LinkExternalLogin", async (
HttpContext context,
[FromServices] SignInManager<ApplicationUser> signInManager,
[FromForm] string provider) =>
{
// Clear the existing external cookie to ensure a clean login process
await context.SignOutAsync(IdentityConstants.ExternalScheme);
var redirectUrl = UriHelper.BuildRelative(
context.Request.PathBase,
"/Account/Manage/ExternalLogins",
QueryString.Create("Action", ExternalLogins.LinkLoginCallbackAction));
var properties = signInManager.ConfigureExternalAuthenticationProperties(provider, redirectUrl, signInManager.UserManager.GetUserId(context.User));
return TypedResults.Challenge(properties, [provider]);
});
var loggerFactory = endpoints.ServiceProvider.GetRequiredService<ILoggerFactory>();
var downloadLogger = loggerFactory.CreateLogger("DownloadPersonalData");
manageGroup.MapPost("/DownloadPersonalData", async (
HttpContext context,
[FromServices] UserManager<ApplicationUser> userManager,
[FromServices] AuthenticationStateProvider authenticationStateProvider) =>
{
var user = await userManager.GetUserAsync(context.User);
if (user is null)
{
return Results.NotFound($"Unable to load user with ID '{userManager.GetUserId(context.User)}'.");
}
var userId = await userManager.GetUserIdAsync(user);
downloadLogger.LogInformation("User with ID '{UserId}' asked for their personal data.", userId);
// Only include personal data for download
var personalData = new Dictionary<string, string>();
var personalDataProps = typeof(ApplicationUser).GetProperties().Where(
prop => Attribute.IsDefined(prop, typeof(PersonalDataAttribute)));
foreach (var p in personalDataProps)
{
personalData.Add(p.Name, p.GetValue(user)?.ToString() ?? "null");
}
var logins = await userManager.GetLoginsAsync(user);
foreach (var l in logins)
{
personalData.Add($"{l.LoginProvider} external login provider key", l.ProviderKey);
}
personalData.Add("Authenticator Key", (await userManager.GetAuthenticatorKeyAsync(user))!);
var fileBytes = JsonSerializer.SerializeToUtf8Bytes(personalData);
context.Response.Headers.TryAdd("Content-Disposition", "attachment; filename=PersonalData.json");
return TypedResults.File(fileBytes, contentType: "application/json", fileDownloadName: "PersonalData.json");
});
return accountGroup;
}
}
}

21
RobotApp/Components/Account/IdentityNoOpEmailSender.cs Normal file
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using Microsoft.AspNetCore.Identity;
using Microsoft.AspNetCore.Identity.UI.Services;
using RobotApp.Data;
namespace RobotApp.Components.Account
{
// Remove the "else if (EmailSender is IdentityNoOpEmailSender)" block from RegisterConfirmation.razor after updating with a real implementation.
internal sealed class IdentityNoOpEmailSender : IEmailSender<ApplicationUser>
{
private readonly IEmailSender emailSender = new NoOpEmailSender();
public Task SendConfirmationLinkAsync(ApplicationUser user, string email, string confirmationLink) =>
emailSender.SendEmailAsync(email, "Confirm your email", $"Please confirm your account by <a href='{confirmationLink}'>clicking here</a>.");
public Task SendPasswordResetLinkAsync(ApplicationUser user, string email, string resetLink) =>
emailSender.SendEmailAsync(email, "Reset your password", $"Please reset your password by <a href='{resetLink}'>clicking here</a>.");
public Task SendPasswordResetCodeAsync(ApplicationUser user, string email, string resetCode) =>
emailSender.SendEmailAsync(email, "Reset your password", $"Please reset your password using the following code: {resetCode}");
}
}

59
RobotApp/Components/Account/IdentityRedirectManager.cs Normal file
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@ -0,0 +1,59 @@
using System.Diagnostics.CodeAnalysis;
using Microsoft.AspNetCore.Components;
namespace RobotApp.Components.Account
{
internal sealed class IdentityRedirectManager(NavigationManager navigationManager)
{
public const string StatusCookieName = "Identity.StatusMessage";
private static readonly CookieBuilder StatusCookieBuilder = new()
{
SameSite = SameSiteMode.Strict,
HttpOnly = true,
IsEssential = true,
MaxAge = TimeSpan.FromSeconds(5),
};
[DoesNotReturn]
public void RedirectTo(string? uri)
{
uri ??= "";
// Prevent open redirects.
if (!Uri.IsWellFormedUriString(uri, UriKind.Relative))
{
uri = navigationManager.ToBaseRelativePath(uri);
}
// During static rendering, NavigateTo throws a NavigationException which is handled by the framework as a redirect.
// So as long as this is called from a statically rendered Identity component, the InvalidOperationException is never thrown.
navigationManager.NavigateTo(uri);
throw new InvalidOperationException($"{nameof(IdentityRedirectManager)} can only be used during static rendering.");
}
[DoesNotReturn]
public void RedirectTo(string uri, Dictionary<string, object?> queryParameters)
{
var uriWithoutQuery = navigationManager.ToAbsoluteUri(uri).GetLeftPart(UriPartial.Path);
var newUri = navigationManager.GetUriWithQueryParameters(uriWithoutQuery, queryParameters);
RedirectTo(newUri);
}
[DoesNotReturn]
public void RedirectToWithStatus(string uri, string message, HttpContext context)
{
context.Response.Cookies.Append(StatusCookieName, message, StatusCookieBuilder.Build(context));
RedirectTo(uri);
}
private string CurrentPath => navigationManager.ToAbsoluteUri(navigationManager.Uri).GetLeftPart(UriPartial.Path);
[DoesNotReturn]
public void RedirectToCurrentPage() => RedirectTo(CurrentPath);
[DoesNotReturn]
public void RedirectToCurrentPageWithStatus(string message, HttpContext context)
=> RedirectToWithStatus(CurrentPath, message, context);
}
}

48
RobotApp/Components/Account/IdentityRevalidatingAuthenticationStateProvider.cs Normal file
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@ -0,0 +1,48 @@
using System.Security.Claims;
using Microsoft.AspNetCore.Components.Authorization;
using Microsoft.AspNetCore.Components.Server;
using Microsoft.AspNetCore.Identity;
using Microsoft.Extensions.Options;
using RobotApp.Data;
namespace RobotApp.Components.Account
{
// This is a server-side AuthenticationStateProvider that revalidates the security stamp for the connected user
// every 30 minutes an interactive circuit is connected.
internal sealed class IdentityRevalidatingAuthenticationStateProvider(
ILoggerFactory loggerFactory,
IServiceScopeFactory scopeFactory,
IOptions<IdentityOptions> options)
: RevalidatingServerAuthenticationStateProvider(loggerFactory)
{
protected override TimeSpan RevalidationInterval => TimeSpan.FromMinutes(30);
protected override async Task<bool> ValidateAuthenticationStateAsync(
AuthenticationState authenticationState, CancellationToken cancellationToken)
{
// Get the user manager from a new scope to ensure it fetches fresh data
await using var scope = scopeFactory.CreateAsyncScope();
var userManager = scope.ServiceProvider.GetRequiredService<UserManager<ApplicationUser>>();
return await ValidateSecurityStampAsync(userManager, authenticationState.User);
}
private async Task<bool> ValidateSecurityStampAsync(UserManager<ApplicationUser> userManager, ClaimsPrincipal principal)
{
var user = await userManager.GetUserAsync(principal);
if (user is null)
{
return false;
}
else if (!userManager.SupportsUserSecurityStamp)
{
return true;
}
else
{
var principalStamp = principal.FindFirstValue(options.Value.ClaimsIdentity.SecurityStampClaimType);
var userStamp = await userManager.GetSecurityStampAsync(user);
return principalStamp == userStamp;
}
}
}
}

20
RobotApp/Components/Account/IdentityUserAccessor.cs Normal file
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using Microsoft.AspNetCore.Identity;
using RobotApp.Data;
namespace RobotApp.Components.Account
{
internal sealed class IdentityUserAccessor(UserManager<ApplicationUser> userManager, IdentityRedirectManager redirectManager)
{
public async Task<ApplicationUser> GetRequiredUserAsync(HttpContext context)
{
var user = await userManager.GetUserAsync(context.User);
if (user is null)
{
redirectManager.RedirectToWithStatus("Account/InvalidUser", $"Error: Unable to load user with ID '{userManager.GetUserId(context.User)}'.", context);
}
return user;
}
}
}

8
RobotApp/Components/Account/Pages/AccessDenied.razor Normal file
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@page "/Account/AccessDenied"
<PageTitle>Access denied</PageTitle>
<header>
<h1 class="text-danger">Access denied</h1>
<p class="text-danger">You do not have access to this resource.</p>
</header>

48
RobotApp/Components/Account/Pages/ConfirmEmail.razor Normal file
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@page "/Account/ConfirmEmail"
@using System.Text
@using Microsoft.AspNetCore.Identity
@using Microsoft.AspNetCore.WebUtilities
@using RobotApp.Data
@inject UserManager<ApplicationUser> UserManager
@inject IdentityRedirectManager RedirectManager
<PageTitle>Confirm email</PageTitle>
<h1>Confirm email</h1>
<StatusMessage Message="@statusMessage" />
@code {
private string? statusMessage;
[CascadingParameter]
private HttpContext HttpContext { get; set; } = default!;
[SupplyParameterFromQuery]
private string? UserId { get; set; }
[SupplyParameterFromQuery]
private string? Code { get; set; }
protected override async Task OnInitializedAsync()
{
if (UserId is null || Code is null)
{
RedirectManager.RedirectTo("");
}
var user = await UserManager.FindByIdAsync(UserId);
if (user is null)
{
HttpContext.Response.StatusCode = StatusCodes.Status404NotFound;
statusMessage = $"Error loading user with ID {UserId}";
}
else
{
var code = Encoding.UTF8.GetString(WebEncoders.Base64UrlDecode(Code));
var result = await UserManager.ConfirmEmailAsync(user, code);
statusMessage = result.Succeeded ? "Thank you for confirming your email." : "Error confirming your email.";
}
}
}

68
RobotApp/Components/Account/Pages/ConfirmEmailChange.razor Normal file
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@page "/Account/ConfirmEmailChange"
@using System.Text
@using Microsoft.AspNetCore.Identity
@using Microsoft.AspNetCore.WebUtilities
@using RobotApp.Data
@inject UserManager<ApplicationUser> UserManager
@inject SignInManager<ApplicationUser> SignInManager
@inject IdentityRedirectManager RedirectManager
<PageTitle>Confirm email change</PageTitle>
<h1>Confirm email change</h1>
<StatusMessage Message="@message" />
@code {
private string? message;
[CascadingParameter]
private HttpContext HttpContext { get; set; } = default!;
[SupplyParameterFromQuery]
private string? UserId { get; set; }
[SupplyParameterFromQuery]
private string? Email { get; set; }
[SupplyParameterFromQuery]
private string? Code { get; set; }
protected override async Task OnInitializedAsync()
{
if (UserId is null || Email is null || Code is null)
{
RedirectManager.RedirectToWithStatus(
"Account/Login", "Error: Invalid email change confirmation link.", HttpContext);
}
var user = await UserManager.FindByIdAsync(UserId);
if (user is null)
{
message = "Unable to find user with Id '{userId}'";
return;
}
var code = Encoding.UTF8.GetString(WebEncoders.Base64UrlDecode(Code));
var result = await UserManager.ChangeEmailAsync(user, Email, code);
if (!result.Succeeded)
{
message = "Error changing email.";
return;
}
// In our UI email and user name are one and the same, so when we update the email
// we need to update the user name.
var setUserNameResult = await UserManager.SetUserNameAsync(user, Email);
if (!setUserNameResult.Succeeded)
{
message = "Error changing user name.";
return;
}
await SignInManager.RefreshSignInAsync(user);
message = "Thank you for confirming your email change.";
}
}

205
RobotApp/Components/Account/Pages/ExternalLogin.razor Normal file
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@page "/Account/ExternalLogin"
@using System.ComponentModel.DataAnnotations
@using System.Security.Claims
@using System.Text
@using System.Text.Encodings.Web
@using Microsoft.AspNetCore.Identity
@using Microsoft.AspNetCore.WebUtilities
@using RobotApp.Data
@inject SignInManager<ApplicationUser> SignInManager
@inject UserManager<ApplicationUser> UserManager
@inject IUserStore<ApplicationUser> UserStore
@inject IEmailSender<ApplicationUser> EmailSender
@inject NavigationManager NavigationManager
@inject IdentityRedirectManager RedirectManager
@inject ILogger<ExternalLogin> Logger
<PageTitle>Register</PageTitle>
<StatusMessage Message="@message" />
<h1>Register</h1>
<h2>Associate your @ProviderDisplayName account.</h2>
<hr />
<div class="alert alert-info">
You've successfully authenticated with <strong>@ProviderDisplayName</strong>.
Please enter an email address for this site below and click the Register button to finish
logging in.
</div>
<div class="row">
<div class="col-md-4">
<EditForm Model="Input" OnValidSubmit="OnValidSubmitAsync" FormName="confirmation" method="post">
<DataAnnotationsValidator />
<ValidationSummary class="text-danger" role="alert" />
<div class="form-floating mb-3">
<InputText @bind-Value="Input.Email" id="Input.Email" class="form-control" autocomplete="email" placeholder="Please enter your email." />
<label for="Input.Email" class="form-label">Email</label>
<ValidationMessage For="() => Input.Email" />
</div>
<button type="submit" class="w-100 btn btn-lg btn-primary">Register</button>
</EditForm>
</div>
</div>
@code {
public const string LoginCallbackAction = "LoginCallback";
private string? message;
private ExternalLoginInfo? externalLoginInfo;
[CascadingParameter]
private HttpContext HttpContext { get; set; } = default!;
[SupplyParameterFromForm]
private InputModel Input { get; set; } = new();
[SupplyParameterFromQuery]
private string? RemoteError { get; set; }
[SupplyParameterFromQuery]
private string? ReturnUrl { get; set; }
[SupplyParameterFromQuery]
private string? Action { get; set; }
private string? ProviderDisplayName => externalLoginInfo?.ProviderDisplayName;
protected override async Task OnInitializedAsync()
{
if (RemoteError is not null)
{
RedirectManager.RedirectToWithStatus("Account/Login", $"Error from external provider: {RemoteError}", HttpContext);
}
var info = await SignInManager.GetExternalLoginInfoAsync();
if (info is null)
{
RedirectManager.RedirectToWithStatus("Account/Login", "Error loading external login information.", HttpContext);
}
externalLoginInfo = info;
if (HttpMethods.IsGet(HttpContext.Request.Method))
{
if (Action == LoginCallbackAction)
{
await OnLoginCallbackAsync();
return;
}
// We should only reach this page via the login callback, so redirect back to
// the login page if we get here some other way.
RedirectManager.RedirectTo("Account/Login");
}
}
private async Task OnLoginCallbackAsync()
{
if (externalLoginInfo is null)
{
RedirectManager.RedirectToWithStatus("Account/Login", "Error loading external login information.", HttpContext);
}
// Sign in the user with this external login provider if the user already has a login.
var result = await SignInManager.ExternalLoginSignInAsync(
externalLoginInfo.LoginProvider,
externalLoginInfo.ProviderKey,
isPersistent: false,
bypassTwoFactor: true);
if (result.Succeeded)
{
Logger.LogInformation(
"{Name} logged in with {LoginProvider} provider.",
externalLoginInfo.Principal.Identity?.Name,
externalLoginInfo.LoginProvider);
RedirectManager.RedirectTo(ReturnUrl);
}
else if (result.IsLockedOut)
{
RedirectManager.RedirectTo("Account/Lockout");
}
// If the user does not have an account, then ask the user to create an account.
if (externalLoginInfo.Principal.HasClaim(c => c.Type == ClaimTypes.Email))
{
Input.Email = externalLoginInfo.Principal.FindFirstValue(ClaimTypes.Email) ?? "";
}
}
private async Task OnValidSubmitAsync()
{
if (externalLoginInfo is null)
{
RedirectManager.RedirectToWithStatus("Account/Login", "Error loading external login information during confirmation.", HttpContext);
}
var emailStore = GetEmailStore();
var user = CreateUser();
await UserStore.SetUserNameAsync(user, Input.Email, CancellationToken.None);
await emailStore.SetEmailAsync(user, Input.Email, CancellationToken.None);
var result = await UserManager.CreateAsync(user);
if (result.Succeeded)
{
result = await UserManager.AddLoginAsync(user, externalLoginInfo);
if (result.Succeeded)
{
Logger.LogInformation("User created an account using {Name} provider.", externalLoginInfo.LoginProvider);
var userId = await UserManager.GetUserIdAsync(user);
var code = await UserManager.GenerateEmailConfirmationTokenAsync(user);
code = WebEncoders.Base64UrlEncode(Encoding.UTF8.GetBytes(code));
var callbackUrl = NavigationManager.GetUriWithQueryParameters(
NavigationManager.ToAbsoluteUri("Account/ConfirmEmail").AbsoluteUri,
new Dictionary<string, object?> { ["userId"] = userId, ["code"] = code });
await EmailSender.SendConfirmationLinkAsync(user, Input.Email, HtmlEncoder.Default.Encode(callbackUrl));
// If account confirmation is required, we need to show the link if we don't have a real email sender
if (UserManager.Options.SignIn.RequireConfirmedAccount)
{
RedirectManager.RedirectTo("Account/RegisterConfirmation", new() { ["email"] = Input.Email });
}
await SignInManager.SignInAsync(user, isPersistent: false, externalLoginInfo.LoginProvider);
RedirectManager.RedirectTo(ReturnUrl);
}
}
message = $"Error: {string.Join(",", result.Errors.Select(error => error.Description))}";
}
private ApplicationUser CreateUser()
{
try
{
return Activator.CreateInstance<ApplicationUser>();
}
catch
{
throw new InvalidOperationException($"Can't create an instance of '{nameof(ApplicationUser)}'. " +
$"Ensure that '{nameof(ApplicationUser)}' is not an abstract class and has a parameterless constructor");
}
}
private IUserEmailStore<ApplicationUser> GetEmailStore()
{
if (!UserManager.SupportsUserEmail)
{
throw new NotSupportedException("The default UI requires a user store with email support.");
}
return (IUserEmailStore<ApplicationUser>)UserStore;
}
private sealed class InputModel
{
[Required]
[EmailAddress]
public string Email { get; set; } = "";
}
}

68
RobotApp/Components/Account/Pages/ForgotPassword.razor Normal file
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@page "/Account/ForgotPassword"
@using System.ComponentModel.DataAnnotations
@using System.Text
@using System.Text.Encodings.Web
@using Microsoft.AspNetCore.Identity
@using Microsoft.AspNetCore.WebUtilities
@using RobotApp.Data
@inject UserManager<ApplicationUser> UserManager
@inject IEmailSender<ApplicationUser> EmailSender
@inject NavigationManager NavigationManager
@inject IdentityRedirectManager RedirectManager
<PageTitle>Forgot your password?</PageTitle>
<h1>Forgot your password?</h1>
<h2>Enter your email.</h2>
<hr />
<div class="row">
<div class="col-md-4">
<EditForm Model="Input" FormName="forgot-password" OnValidSubmit="OnValidSubmitAsync" method="post">
<DataAnnotationsValidator />
<ValidationSummary class="text-danger" role="alert" />
<div class="form-floating mb-3">
<InputText @bind-Value="Input.Email" id="Input.Email" class="form-control" autocomplete="username" aria-required="true" placeholder="name@example.com" />
<label for="Input.Email" class="form-label">Email</label>
<ValidationMessage For="() => Input.Email" class="text-danger" />
</div>
<button type="submit" class="w-100 btn btn-lg btn-primary">Reset password</button>
</EditForm>
</div>
</div>
@code {
[SupplyParameterFromForm]
private InputModel Input { get; set; } = new();
private async Task OnValidSubmitAsync()
{
var user = await UserManager.FindByEmailAsync(Input.Email);
if (user is null || !(await UserManager.IsEmailConfirmedAsync(user)))
{
// Don't reveal that the user does not exist or is not confirmed
RedirectManager.RedirectTo("Account/ForgotPasswordConfirmation");
}
// For more information on how to enable account confirmation and password reset please
// visit https://go.microsoft.com/fwlink/?LinkID=532713
var code = await UserManager.GeneratePasswordResetTokenAsync(user);
code = WebEncoders.Base64UrlEncode(Encoding.UTF8.GetBytes(code));
var callbackUrl = NavigationManager.GetUriWithQueryParameters(
NavigationManager.ToAbsoluteUri("Account/ResetPassword").AbsoluteUri,
new Dictionary<string, object?> { ["code"] = code });
await EmailSender.SendPasswordResetLinkAsync(user, Input.Email, HtmlEncoder.Default.Encode(callbackUrl));
RedirectManager.RedirectTo("Account/ForgotPasswordConfirmation");
}
private sealed class InputModel
{
[Required]
[EmailAddress]
public string Email { get; set; } = "";
}
}

8
RobotApp/Components/Account/Pages/ForgotPasswordConfirmation.razor Normal file
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@page "/Account/ForgotPasswordConfirmation"
<PageTitle>Forgot password confirmation</PageTitle>
<h1>Forgot password confirmation</h1>
<p role="alert">
Please check your email to reset your password.
</p>

8
RobotApp/Components/Account/Pages/InvalidPasswordReset.razor Normal file
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@page "/Account/InvalidPasswordReset"
<PageTitle>Invalid password reset</PageTitle>
<h1>Invalid password reset</h1>
<p role="alert">
The password reset link is invalid.
</p>

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