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sonlt
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24 changed files with 2441 additions and 17 deletions
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3
RobotApp.Client/MainLayout.razor
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@ -72,8 +72,9 @@
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-monitor", Path="/robot-monitor", Label = "Robot Monitor", Match = NavLinkMatch.All},
new(){Icon = "mdi-state-machine", Path="/robot-order", Label = "order", Match = NavLinkMatch.All},
new(){Icon = "mdi-application-cog", Path="/robot-config", Label = "Config", Match = NavLinkMatch.All },
new(){Icon = "mdi-math-log", Path="/logs", Label = "Logs", Match = NavLinkMatch.All}
new(){Icon = "mdi-math-log", Path="/logs", Label = "Logs", Match = NavLinkMatch.All},
];
private bool collapseNavMenu = true;

423
RobotApp.Client/Pages/Home.razor Normal file
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@ -0,0 +1,423 @@
@page "/"
@attribute [Authorize]
@using RobotApp.Client.Services
@using RobotApp.VDA5050.State
@using MudBlazor
@inject RobotStateClient RobotStateClient
@implements IDisposable
@rendermode InteractiveWebAssembly
<MudContainer MaxWidth="MaxWidth.False" Class="pa-4">
<!-- Header Dashboard -->
<MudPaper Class="pa-6 mb-4 d-flex align-center justify-space-between" Elevation="3">
<div>
<MudText Typo="Typo.h3" Class="mb-2" >Robot Dashboard</MudText>
@if (CurrentState != null)
{
<MudText Typo="Typo.subtitle1">
<MudIcon Icon="@Icons.Material.Filled.Memory" Class="mr-2" />
@CurrentState.Version •
<MudIcon Icon="@Icons.Material.Filled.Business" Class="mr-2 ml-4" />
@CurrentState.Manufacturer •
<MudIcon Icon="@Icons.Material.Filled.Tag" Class="mr-2 ml-4" />
@CurrentState.SerialNumber
</MudText>
}
else
{
<MudText Typo="Typo.subtitle1">
<MudIcon Icon="@Icons.Material.Filled.Sync" Class="mr-2" />
Connecting to robot...
</MudText>
}
</div>
@if (CurrentState != null)
{
<MudChip T="string"
Icon="@(IsConnected ? Icons.Material.Filled.CheckCircle : Icons.Material.Filled.Error)"
Size="Size.Large"
Color="@(IsConnected ? Color.Success : Color.Error)"
Variant="@Variant.Filled"
Class="px-6 py-4 text-white"
Style="font-weight: bold; font-size: 1.1rem;">
@(IsConnected ? "ONLINE" : "OFFLINE")
</MudChip>
}
</MudPaper>
@{
var msg = CurrentState ?? EmptyState;
}
<!-- Thông tin header state -->
<MudPaper Class="pa-5 mb-6 rounded-lg" Elevation="4">
<MudGrid Spacing="4" Class="align-center">
<MudItem xs="12" sm="4">
<MudText Typo="Typo.caption" Color="Color.Tertiary">Header ID</MudText>
<MudText Typo="Typo.h6">@msg.HeaderId</MudText>
</MudItem>
<MudItem xs="12" sm="4">
<MudText Typo="Typo.caption" Color="Color.Tertiary">Timestamp (UTC)</MudText>
<MudText Typo="Typo.h6">@msg.Timestamp</MudText>
</MudItem>
<MudItem xs="12" sm="2">
<MudText Typo="Typo.caption" Color="Color.Tertiary">Version</MudText>
<MudText Typo="Typo.h6">@msg.Version</MudText>
</MudItem>
<MudItem xs="12" sm="2" Class="d-flex justify-center">
<MudText Typo="Typo.caption" Color="Color.Tertiary">Order Update ID</MudText>
<MudChip T="string" Color="Color.Primary" Variant="@Variant.Filled" Class="mt-2">
@msg.OrderUpdateId
</MudChip>
</MudItem>
</MudGrid>
</MudPaper>
<MudGrid Spacing="4">
<!-- POSITION + VELOCITY -->
<MudItem xs="12" md="6" lg="4">
<MudCard Elevation="6" Class="h-100 rounded-lg">
<MudCardHeader>
<CardHeaderContent>
<MudText Typo="Typo.h6">
<MudIcon Icon="@Icons.Material.Filled.LocationOn" Class="mr-2" />
Position & Velocity
</MudText>
</CardHeaderContent>
<CardHeaderActions>
<MudChip T="string"
Size="Size.Small"
Color="@(msg.NewBaseRequest ? Color.Success : Color.Error)"
Variant="@Variant.Filled">
NewBase: @(msg.NewBaseRequest ? "TRUE" : "FALSE")
</MudChip>
</CardHeaderActions>
</MudCardHeader>
<MudCardContent Class="pa-4">
<MudGrid Spacing="3">
<MudItem xs="6">
<MudText>X: <strong>@msg.AgvPosition.X.ToString("F2")</strong> m</MudText>
<MudText>Y: <strong>@msg.AgvPosition.Y.ToString("F2")</strong> m</MudText>
<MudText>θ: <strong>@msg.AgvPosition.Theta.ToString("F2")</strong> rad</MudText>
</MudItem>
<MudItem xs="6">
<MudText>Vx: <strong>@msg.Velocity.Vx.ToString("F2")</strong> m/s</MudText>
<MudText>Vy: <strong>@msg.Velocity.Vy.ToString("F2")</strong> m/s</MudText>
<MudText>Ω: <strong>@msg.Velocity.Omega.ToString("F3")</strong> rad/s</MudText>
</MudItem>
</MudGrid>
<MudDivider Class="my-4" />
<div class="d-flex justify-space-between align-center">
<MudChip T="string"
Size="Size.Small"
Color="@(msg.AgvPosition.PositionInitialized ? Color.Success : Color.Error)"
Variant="@Variant.Filled">
@(msg.AgvPosition.PositionInitialized ? "Initialized" : "Not Initialized")
</MudChip>
<MudText Typo="Typo.caption">
Deviation: <strong>@msg.AgvPosition.DeviationRange</strong>
</MudText>
</div>
<MudProgressLinear Value="@(msg.AgvPosition.LocalizationScore * 100)"
Color="Color.Success"
Class="mt-4 rounded"
Style="height: 10px;" />
<MudText Typo="Typo.caption" Class="mt-2 text-center">
Localization Score: <strong>@(msg.AgvPosition.LocalizationScore * 100)%</strong>
</MudText>
</MudCardContent>
</MudCard>
</MudItem>
<!-- BATTERY -->
<!-- BATTERY -->
<MudItem xs="12" md="6" lg="4">
<MudCard Elevation="6" Class="h-100 rounded-lg">
<MudCardHeader>
<CardHeaderContent>
<MudText Typo="Typo.h6">
<MudIcon Icon="@Icons.Material.Filled.BatteryFull" Class="mr-2" />
Battery Status
</MudText>
</CardHeaderContent>
</MudCardHeader>
<MudCardContent Class="pa-6">
<MudProgressLinear Value="@msg.BatteryState.BatteryCharge"
Size="Size.Large"
Rounded="true"
Striped="true"
Color="@(msg.BatteryState.BatteryCharge > 50 ? Color.Success :
msg.BatteryState.BatteryCharge > 20 ? Color.Warning : Color.Error)"
Class="mb-4"
Style="height: 28px;" />
<!-- Phần mới: % pin và trạng thái Charging/Discharging cùng dòng -->
<div class="d-flex align-center justify-space-between mb-6">
<MudText Typo="Typo.h3" Class="mb-0">
@msg.BatteryState.BatteryCharge:F1<span class="mud-typography-h4">%</span>
</MudText>
<MudChip T="string"
Icon="@(msg.BatteryState.Charging ? Icons.Material.Filled.Bolt : Icons.Material.Filled.PowerOff)"
Size="Size.Large"
Color="@(msg.BatteryState.Charging ? Color.Info : Color.Default)"
Variant="@Variant.Filled"
Class="px-5 py-3">
@(msg.BatteryState.Charging ? "Charging" : "Discharging")
</MudChip>
</div>
<!-- Các thông tin phụ -->
<MudGrid Spacing="3">
<MudItem xs="4">
<MudText Typo="Typo.caption">Voltage</MudText>
<MudText Typo="Typo.h6">@msg.BatteryState.BatteryVoltage:F1 V</MudText>
</MudItem>
<MudItem xs="4">
<MudText Typo="Typo.caption">Health (SOH)</MudText>
<MudText Typo="Typo.h6">@msg.BatteryState.BatteryHealth%</MudText>
</MudItem>
<MudItem xs="4">
<MudText Typo="Typo.caption">Reach</MudText>
<MudText Typo="Typo.h6">@((int)msg.BatteryState.Reach) m</MudText>
</MudItem>
</MudGrid>
</MudCardContent>
</MudCard>
</MudItem>
<!-- ORDER & PATH -->
<MudItem xs="12" md="6" lg="4">
<MudCard Elevation="6" Class="h-100 rounded-lg">
<MudCardHeader>
<CardHeaderContent>
<MudText Typo="Typo.h6">
<MudIcon Icon="@Icons.Material.Filled.Navigation" Class="mr-2" />
Order & Path
</MudText>
</CardHeaderContent>
</MudCardHeader>
<MudCardContent Class="pa-4">
<MudText>Order ID: <strong>@(msg.OrderId ?? "—")</strong></MudText>
<MudText>Update ID: <strong>@msg.OrderUpdateId</strong></MudText>
<MudDivider Class="my-4" />
<MudText>Last Node: <strong>@msg.LastNodeId</strong> <span class="mud-typography-caption">(Seq: @msg.LastNodeSequenceId)</span></MudText>
<MudText>Distance since last: <strong>@msg.DistanceSinceLastNode:F1 m</strong></MudText>
<MudDivider Class="my-4" />
@{
var nodeReleased = msg.NodeStates?.Count(n => n.Released) ?? 0;
var nodeTotal = msg.NodeStates?.Length ?? 0;
var edgeReleased = msg.EdgeStates?.Count(e => e.Released) ?? 0;
var edgeTotal = msg.EdgeStates?.Length ?? 0;
}
<div class="d-flex flex-wrap gap-3 mt-3">
<MudChip T="string" Color="Color.Primary" Variant="@Variant.Filled">Nodes: @nodeReleased/@nodeTotal</MudChip>
<MudChip T="string" Color="Color.Secondary" Variant="@Variant.Filled">Edges: @edgeReleased/@edgeTotal</MudChip>
<MudChip T="string" Size="Size.Small" Color="@(msg.Driving? Color.Success: Color.Default)" Variant="@Variant.Filled">
@(msg.Driving ? "DRIVING" : "STOPPED")
</MudChip>
<MudChip T="string" Size="Size.Small" Color="@(msg.Paused? Color.Warning: Color.Success)" Variant="@Variant.Filled">
@(msg.Paused ? "PAUSED" : "ACTIVE")
</MudChip>
</div>
</MudCardContent>
</MudCard>
</MudItem>
<!-- ERRORS + INFORMATION -->
<MudItem xs="12" lg="6">
<MudCard Elevation="6" Class="h-100 rounded-lg">
<MudCardHeader>
<CardHeaderContent>
<MudText Typo="Typo.h6">
<MudIcon Icon="@Icons.Material.Filled.WarningAmber" Class="mr-2" />
Errors & Information
</MudText>
</CardHeaderContent>
</MudCardHeader>
<MudCardContent>
<MudTable Items="@MessageRows"
Dense="true"
Hover="true"
Bordered="true"
FixedHeader="true"
Height="250px">
<ColGroup>
<col style="width:30%" />
<col style="width:15%" />
<col />
</ColGroup>
<HeaderContent>
<MudTh><MudText Typo="Typo.subtitle2">Type</MudText></MudTh>
<MudTh><MudText Typo="Typo.subtitle2">Level</MudText></MudTh>
<MudTh><MudText Typo="Typo.subtitle2">Description</MudText></MudTh>
</HeaderContent>
<RowTemplate>
<MudTd>
<MudText Color="@(context.IsError? Color.Error: Color.Info)" Typo="Typo.body1">
<strong>@context.Type</strong>
</MudText>
</MudTd>
<MudTd>
<MudChip T="string"
Size="Size.Small"
Color="@(context.Level.Contains("ERROR", StringComparison.OrdinalIgnoreCase) ? Color.Error :
context.Level.Contains("WARN", StringComparison.OrdinalIgnoreCase) ? Color.Warning : Color.Info)"
Variant="@Variant.Filled">
@context.Level
</MudChip>
</MudTd>
<MudTd>
<MudText Typo="Typo.body2" Class="text-truncate" Style="max-width: 300px;" Title="@context.Description">
@context.Description
</MudText>
</MudTd>
</RowTemplate>
<NoRecordsContent>
<MudAlert Severity="Severity.Info" Class="mx-4 my-8" Variant="@Variant.Text">
<MudText>No errors or information messages</MudText>
</MudAlert>
</NoRecordsContent>
</MudTable>
</MudCardContent>
</MudCard>
</MudItem>
<!-- ACTIONS -->
<MudItem xs="12" md="6" lg="3">
<MudCard Elevation="6" Class="h-100 rounded-lg">
<MudCardHeader>
<CardHeaderContent>
<MudText Typo="Typo.h6">
<MudIcon Icon="@Icons.Material.Filled.Settings" Class="mr-2" />
Active Actions
</MudText>
</CardHeaderContent>
</MudCardHeader>
<MudCardContent>
<MudTable Items="msg.ActionStates"
Dense="true"
Hover="true"
Bordered="true"
FixedHeader="true"
Height="220px">
<HeaderContent>
<MudTh>Action</MudTh>
<MudTh>ID</MudTh>
<MudTh Style="text-align:right">Status</MudTh>
</HeaderContent>
<RowTemplate>
<MudTd><MudText Typo="Typo.body2" Class="text-truncate" Title="@context.ActionType">@context.ActionType</MudText></MudTd>
<MudTd><MudText Typo="Typo.caption">@context.ActionId</MudText></MudTd>
<MudTd Style="text-align:right">
<MudChip T="string"
Size="Size.Small"
Color="@(context.ActionStatus == "RUNNING" ? Color.Info :
context.ActionStatus == "FINISHED" ? Color.Success :
context.ActionStatus == "FAILED" ? Color.Error : Color.Default)"
Variant="@Variant.Filled">
@context.ActionStatus
</MudChip>
</MudTd>
</RowTemplate>
<NoRecordsContent>
<MudText Class="pa-8 text-center" Color="Color.Secondary">No active actions</MudText>
</NoRecordsContent>
</MudTable>
</MudCardContent>
</MudCard>
</MudItem>
<!-- SAFETY -->
<MudItem xs="12" md="6" lg="3">
<MudCard Elevation="6" Class="h-100 rounded-lg">
<MudCardHeader>
<CardHeaderContent>
<MudText Typo="Typo.h6">
<MudIcon Icon="@Icons.Material.Filled.Security" Class="mr-2" />
Safety State
</MudText>
</CardHeaderContent>
</MudCardHeader>
<MudCardContent Class="pa-6 d-flex flex-column gap-4">
<MudChip T="string"
Icon="@(msg.SafetyState.EStop == "NONE" ? Icons.Material.Filled.CheckCircle : Icons.Material.Filled.ErrorOutline)"
Size="Size.Large"
Color="@(msg.SafetyState.EStop == "NONE" ? Color.Success : Color.Error)"
Variant="@Variant.Filled"
Class="py-6">
E-STOP: @msg.SafetyState.EStop
</MudChip>
<MudChip T="string"
Icon="@(msg.SafetyState.FieldViolation ? Icons.Material.Filled.Warning : Icons.Material.Filled.Shield)"
Size="Size.Large"
Color="@(msg.SafetyState.FieldViolation ? Color.Error : Color.Success)"
Variant="@Variant.Filled"
Class="py-6">
Field Violation: @(msg.SafetyState.FieldViolation ? "YES" : "NO")
</MudChip>
</MudCardContent>
</MudCard>
</MudItem>
</MudGrid>
</MudContainer>
@code {
private static readonly StateMsg EmptyState = new()
{
};
private StateMsg? CurrentState;
private bool IsConnected => RobotStateClient.LatestStates.ContainsKey(RobotSerial);
private readonly string RobotSerial = "T800-002";
private List<MessageRow> MessageRows = new();
protected override async Task OnInitializedAsync()
{
RobotStateClient.OnStateReceived += OnRobotStateReceived;
if (RobotStateClient.LatestStates.Count == 0)
{
await RobotStateClient.StartAsync();
}
await RobotStateClient.SubscribeRobotAsync(RobotSerial);
CurrentState = RobotStateClient.GetLatestState(RobotSerial);
UpdateMessageRows();
}
private void OnRobotStateReceived(string serialNumber, StateMsg state)
{
if (serialNumber != RobotSerial) return;
InvokeAsync(() =>
{
CurrentState = state;
UpdateMessageRows();
StateHasChanged();
});
}
private void UpdateMessageRows()
{
MessageRows.Clear();
if (CurrentState?.Errors != null)
{
foreach (var err in CurrentState.Errors)
{
MessageRows.Add(new MessageRow(err.ErrorType ?? "-", err.ErrorLevel ?? "ERROR", err.ErrorDescription ?? "", true));
}
}
if (CurrentState?.Information != null)
{
foreach (var info in CurrentState.Information)
{
MessageRows.Add(new MessageRow(info.InfoType ?? "-", info.InfoLevel ?? "INFO", info.InfoDescription ?? "", false));
}
}
}
public void Dispose()
{
RobotStateClient.OnStateReceived -= OnRobotStateReceived;
}
private record MessageRow(string Type, string Level, string Description, bool IsError);
}

172
RobotApp.Client/Pages/Order/EdgesPanel.razor Normal file
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@ -0,0 +1,172 @@
<MudPaper Class="pa-4 h-100 d-flex flex-column" Elevation="2">
<MudStack Row AlignItems="AlignItems.Center" Justify="Justify.SpaceBetween"
Class="mb-4 flex-shrink-0">
<MudText Typo="Typo.h6">🔗 Edges</MudText>
<MudButton Variant="Variant.Filled"
Color="Color.Primary"
StartIcon="@Icons.Material.Filled.Add"
OnClick="AddEdgeAsync">
Add Edge
</MudButton>
</MudStack>
<div class="flex-grow-1" style="overflow:auto;">
<MudExpansionPanels MultiExpansion>
@foreach (var edge in Order.Edges)
{
<MudExpansionPanel @key="edge">
<!-- ================= HEADER ================= -->
<TitleContent>
<div class="d-flex align-center justify-space-between w-100">
<!-- LEFT: Edge information -->
<div class="d-flex align-center gap-3">
<MudText Typo="Typo.subtitle1" Class="fw-bold">
@edge.EdgeId
</MudText>
<MudChip T="string"
Size="Size.Small"
Color="Color.Info"
Variant="Variant.Outlined">
@edge.StartNodeId → @edge.EndNodeId
</MudChip>
</div>
<!-- RIGHT: Delete -->
<MudIconButton Icon="@Icons.Material.Filled.Delete"
Color="Color.Error"
Size="Size.Small"
OnClick="@(() => RemoveEdgeAsync(edge))"
StopPropagation="true" />
</div>
</TitleContent>
<!-- ================= BODY ================= -->
<ChildContent>
<MudGrid Spacing="3">
<!-- Edge ID -->
<MudItem xs="12">
<MudTextField Value="@edge.EdgeId"
ValueChanged="@((string v) => SetValue(() => edge.EdgeId = v))"
Immediate="true"
Label="Edge ID" />
</MudItem>
<!-- Start Node -->
<MudItem xs="12">
<MudSelect T="string"
Value="@edge.StartNodeId"
ValueChanged="@((string v) => SetValue(() => edge.StartNodeId = v))"
Dense
Label="Start Node"
Required="true">
@foreach (var n in Order.Nodes)
{
<MudSelectItem Value="@n.NodeId">
@n.NodeId
</MudSelectItem>
}
</MudSelect>
</MudItem>
<!-- End Node -->
<MudItem xs="12">
<MudSelect T="string"
Value="@edge.EndNodeId"
ValueChanged="@((string v) => SetValue(() => edge.EndNodeId = v))"
Dense
Label="End Node"
Required="true">
@foreach (var n in Order.Nodes)
{
<MudSelectItem Value="@n.NodeId">
@n.NodeId
</MudSelectItem>
}
</MudSelect>
</MudItem>
<!-- Radius -->
<MudItem xs="6">
<MudNumericField T="double"
Value="@edge.Radius"
ValueChanged="@((double v) => SetValue(() => edge.Radius = v))"
Immediate="true"
Min="0"
Step="0.1"
Label="Radius (0 = straight line)" />
</MudItem>
<!-- Quadrant -->
@if (edge.Radius > 0)
{
<MudItem xs="6">
<MudSelect T="Quadrant"
Value="@edge.Quadrant"
ValueChanged="@((Quadrant v) => SetValue(() => edge.Quadrant = v))"
Label="Quadrant">
<MudSelectItem Value="Quadrant.I">I</MudSelectItem>
<MudSelectItem Value="Quadrant.II">II</MudSelectItem>
<MudSelectItem Value="Quadrant.III">III</MudSelectItem>
<MudSelectItem Value="Quadrant.IV">IV</MudSelectItem>
</MudSelect>
</MudItem>
}
<!-- Apply Curve -->
@if (!edge.HasTrajectory && edge.Radius > 0 && !edge.Expanded)
{
<MudItem xs="12">
<MudButton Color="Color.Primary"
Variant="Variant.Outlined"
StartIcon="@Icons.Material.Filled.Merge"
OnClick="@(() => ApplyCurveAsync(edge))">
Apply Curve (generate node)
</MudButton>
</MudItem>
}
</MudGrid>
</ChildContent>
</MudExpansionPanel>
}
</MudExpansionPanels>
</div>
</MudPaper>
@code {
[Parameter] public OrderMessage Order { get; set; } = default!;
[Parameter] public EventCallback OnAddEdge { get; set; }
[Parameter] public EventCallback<UiEdge> OnRemoveEdge { get; set; }
[Parameter] public EventCallback<UiEdge> OnApplyCurve { get; set; }
[Parameter] public EventCallback OnOrderChanged { get; set; }
private async Task SetValue(System.Action setter)
{
setter();
await OnOrderChanged.InvokeAsync();
}
private async Task AddEdgeAsync()
{
await OnAddEdge.InvokeAsync();
await OnOrderChanged.InvokeAsync();
}
private async Task RemoveEdgeAsync(UiEdge edge)
{
await OnRemoveEdge.InvokeAsync(edge);
await OnOrderChanged.InvokeAsync();
}
private async Task ApplyCurveAsync(UiEdge edge)
{
await OnApplyCurve.InvokeAsync(edge);
await OnOrderChanged.InvokeAsync();
}
}

207
RobotApp.Client/Pages/Order/EditNodeDialog.razor Normal file
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@ -0,0 +1,207 @@
@inherits MudComponentBase
<MudDialog>
<TitleContent>
<MudText Typo="Typo.h6">Edit Node: @Node.NodeId</MudText>
</TitleContent>
<DialogContent>
<MudGrid Spacing="3">
<MudItem xs="12">
<MudTextField @bind-Value="Node.NodeId" Label="Node ID" Required="true" />
</MudItem>
<MudItem xs="12">
<MudNumericField T="int" @bind-Value="Node.SequenceId" Label="Sequence ID" Required="true" />
</MudItem>
<MudItem xs="12">
<MudSwitch T="bool" @bind-Checked="Node.Released" Label="Released" />
</MudItem>
<MudItem xs="6">
<MudNumericField T="double" @bind-Value="Node.NodePosition.X" Label="X" />
</MudItem>
<MudItem xs="6">
<MudNumericField T="double" @bind-Value="Node.NodePosition.Y" Label="Y" />
</MudItem>
<MudItem xs="6">
<MudNumericField T="double" @bind-Value="Node.NodePosition.Theta" Label="Theta (rad)" />
</MudItem>
<MudItem xs="6">
<MudNumericField T="double" @bind-Value="Node.NodePosition.AllowedDeviationXY"
Label="Allowed Dev XY" />
</MudItem>
<MudItem xs="6">
<MudNumericField T="double" @bind-Value="Node.NodePosition.AllowedDeviationTheta"
Label="Allowed Dev Theta" />
</MudItem>
<MudItem xs="12">
<MudTextField @bind-Value="Node.NodePosition.MapId" Label="Map ID" />
</MudItem>
<MudItem xs="12">
<MudDivider Class="my-4" />
<MudText Typo="Typo.subtitle1" Class="mb-3">Actions</MudText>
@foreach (var act in Node.Actions)
{
<MudPaper Class="pa-3 mb-3" Outlined="true">
<MudGrid Spacing="3">
<MudItem xs="10">
<MudItem xs="12">
<MudSelect T="string"
Label="Action Type"
Dense="true"
Required="true"
@bind-Value="act.ActionType">
@foreach (var at in Enum.GetValues<ActionType>())
{
<MudSelectItem Value="@at.ToString()">
@at
</MudSelectItem>
}
</MudSelect>
</MudItem>
</MudItem>
<MudItem xs="12">
<MudSelect T="string" @bind-Value="act.BlockingType" Label="Blocking Type">
<MudSelectItem Value="@("NONE")">NONE</MudSelectItem>
<MudSelectItem Value="@("SOFT")">SOFT</MudSelectItem>
<MudSelectItem Value="@("HARD")">HARD</MudSelectItem>
</MudSelect>
</MudItem>
<MudItem xs="12">
<MudTextField @bind-Value="act.ActionId" Label="Action ID" />
</MudItem>
</MudGrid>
<MudText Typo="Typo.caption" Class="mt-3 mb-2">Action Parameters</MudText>
@{
var parameters = act.ActionParameters ?? Array.Empty<ActionParameter>();
}
@foreach (var p in parameters.Cast<UiActionParameter>().ToList())
{
var param = p; // capture cho lambda
<MudGrid Class="mt-1">
<MudItem xs="5">
<MudTextField @bind-Value="param.Key" Label="Key" />
</MudItem>
<MudItem xs="5">
<MudTextField @bind-Value="param.ValueString" Label="Value" />
</MudItem>
<MudItem xs="2">
<MudIconButton Icon="@Icons.Material.Filled.Delete"
Color="Color.Error"
Size="Size.Small"
OnClick="@(() => RemoveParameter(act, param))" />
</MudItem>
</MudGrid>
}
<MudButton Size="Size.Small"
StartIcon="@Icons.Material.Filled.Add"
Class="mt-3"
OnClick="@(() => AddParameter(act))">
Add Parameter
</MudButton>
<MudDivider Class="my-3" />
<MudButton Size="Size.Small"
Color="Color.Error"
Variant="Variant.Text"
StartIcon="@Icons.Material.Filled.Delete"
OnClick="@(() => RemoveAction(act))">
Remove Action
</MudButton>
</MudPaper>
}
<MudButton Size="Size.Small"
StartIcon="@Icons.Material.Filled.Add"
OnClick="AddNewAction">
Add Action
</MudButton>
</MudItem>
</MudGrid>
</DialogContent>
<DialogActions>
<MudButton OnClick="Cancel">Cancel</MudButton>
<MudButton Color="Color.Primary" Variant="Variant.Filled" OnClick="Submit">Save</MudButton>
</DialogActions>
</MudDialog>
@code {
[CascadingParameter] public IMudDialogInstance MudDialog { get; set; } = default!;
[Parameter] public Node Node { get; set; } = default!;
private void Cancel() => MudDialog.Cancel();
private void Submit() => MudDialog.Close(DialogResult.Ok(true));
private void RemoveAction(VDA5050.InstantAction.Action actToRemove)
{
Node.Actions = Node.Actions
.Where(a => a != actToRemove)
.ToArray();
}
private void AddNewAction()
{
Node.Actions = Node.Actions
.Append(new VDA5050.InstantAction.Action
{
ActionId = Guid.NewGuid().ToString(),
ActionType = ActionType.startPause.ToString(),
BlockingType = "NONE",
ActionParameters = Array.Empty<ActionParameter>()
})
.ToArray();
}
private void AddParameter(VDA5050.InstantAction.Action act)
{
var newParam = new UiActionParameter();
if (act.ActionParameters == null || act.ActionParameters.Length == 0)
{
act.ActionParameters = new[] { newParam };
}
else
{
var list = act.ActionParameters.ToList();
list.Add(newParam);
act.ActionParameters = list.ToArray();
}
}
private void RemoveParameter(VDA5050.InstantAction.Action act, UiActionParameter paramToRemove)
{
if (act.ActionParameters == null || act.ActionParameters.Length == 0)
return;
act.ActionParameters = act.ActionParameters
.Where(p => p != paramToRemove) // so sánh reference
.ToArray();
}
// UiActionParameter vẫn giữ như cũ trong trang chính
public class UiActionParameter : ActionParameter
{
[JsonIgnore]
public string ValueString
{
get => Value?.ToString() ?? "";
set => Value = value;
}
}
}

104
RobotApp.Client/Pages/Order/ImportOrderDialog.razor Normal file
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@using System.Text.Json
@using MudBlazor
<MudDialog>
<TitleContent>
<MudText Typo="Typo.h6">Import Order JSON</MudText>
</TitleContent>
<DialogContent>
@if (ShowWarning)
{
<MudAlert Severity="Severity.Warning"
Variant="Variant.Outlined"
Class="mb-4">
Only valid <b>VDA 5050 Order JSON</b> is accepted.<br />
Invalid structure will be rejected.
</MudAlert>
}
<MudTextField @bind-Value="JsonText"
Label="Paste Order JSON"
Lines="20"
Variant="Variant.Filled"
Immediate
Style="font-family: monospace" />
@if (!string.IsNullOrEmpty(ErrorMessage))
{
<MudAlert Severity="Severity.Error" Class="mt-3">
@ErrorMessage
</MudAlert>
}
</DialogContent>
<DialogActions>
<MudButton OnClick="Cancel">Cancel</MudButton>
<MudButton Variant="Variant.Filled"
Color="Color.Primary"
OnClick="ValidateAndImport">
Import
</MudButton>
</DialogActions>
</MudDialog>
@code {
[CascadingParameter] public IMudDialogInstance MudDialog { get; set; } = default!;
public string JsonText { get; set; } = "";
public string? ErrorMessage;
public bool ShowWarning { get; set; } = false;
private void Cancel() => MudDialog.Cancel();
private void ValidateAndImport()
{
ErrorMessage = null;
ShowWarning = false;
try
{
using var doc = JsonDocument.Parse(JsonText);
var root = doc.RootElement;
// ===== BASIC STRUCTURE CHECK =====
if (!root.TryGetProperty("nodes", out _) ||
!root.TryGetProperty("edges", out _))
throw new Exception("Missing 'nodes' or 'edges' field.");
var order = OrderMessage.FromSchemaObject(root);
ValidateOrder(order);
MudDialog.Close(DialogResult.Ok(order));
}
catch (JsonException)
{
ShowWarning = true;
ErrorMessage = "Invalid JSON format.";
}
catch (Exception ex)
{
ShowWarning = true;
ErrorMessage = ex.Message;
}
}
private void ValidateOrder(OrderMessage order)
{
if (order.Nodes.Count == 0)
throw new Exception("Order must contain at least one node.");
var nodeIds = order.Nodes.Select(n => n.NodeId).ToHashSet();
foreach (var e in order.Edges)
{
if (!nodeIds.Contains(e.StartNodeId) ||
!nodeIds.Contains(e.EndNodeId))
throw new Exception(
$"Edge '{e.EdgeId}' references unknown node."
);
}
}
}

84
RobotApp.Client/Pages/Order/JsonOutputPanel.razor Normal file
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<MudPaper Class="pa-4 h-100 d-flex flex-column" Elevation="2">
<MudStack Row AlignItems="AlignItems.Center" Justify="Justify.SpaceBetween"
Class="mb-4 flex-shrink-0">
<MudText Typo="Typo.h6">📄 JSON Output (/order)</MudText>
<div class="d-flex gap-2">
<!-- IMPORT -->
<MudButton Variant="Variant.Outlined"
Color="Color.Secondary"
Size="Size.Small"
StartIcon="@Icons.Material.Filled.UploadFile"
OnClick="OnImport">
Import JSON
</MudButton>
<!-- SEND -->
<MudButton Variant="Variant.Filled"
Color="@SendButtonColor"
StartIcon="@SendButtonIcon"
OnClick="OnSend"
Disabled="@(string.IsNullOrEmpty(OrderJson.Trim()))">
@SendButtonText
</MudButton>
<!-- COPY -->
<MudTooltip Text="@(Copied ? "Copied!" : "Copy to clipboard")">
<MudButton Variant="Variant.Filled"
Color="@(Copied ? Color.Success : Color.Primary)"
Size="Size.Small"
StartIcon="@(Copied ? Icons.Material.Filled.Check : Icons.Material.Filled.ContentCopy)"
OnClick="OnCopy">
@(Copied ? "Copied!" : "Copy")
</MudButton>
</MudTooltip>
</div>
</MudStack>
<div class="flex-grow-1" style="overflow:auto;">
<MudTextField Value="@OrderJson"
ReadOnly
Variant="Variant.Filled"
Lines="70"
Class="h-100"
Style="font-family: 'Roboto Mono', Consolas, monospace;
font-size: 0.85rem;
background:#1e1e1e;
color:#d4d4d4;" />
</div>
</MudPaper>
@code {
[Parameter] public string OrderJson { get; set; } = "";
[Parameter] public bool Copied { get; set; }
[Parameter] public bool? SendSuccess { get; set; }
[Parameter] public EventCallback OnCopy { get; set; }
[Parameter] public EventCallback OnSend { get; set; }
[Parameter] public EventCallback OnImport { get; set; }
private string SendButtonText =>
SendSuccess switch
{
true => "Done",
false => "Error",
_ => "Send"
};
private Color SendButtonColor =>
SendSuccess switch
{
true => Color.Success,
false => Color.Error,
_ => Color.Success
};
private string SendButtonIcon =>
SendSuccess switch
{
true => Icons.Material.Filled.CheckCircle,
false => Icons.Material.Filled.Error,
_ => Icons.Material.Filled.Send
};
}

275
RobotApp.Client/Pages/Order/NodesPanel.razor Normal file
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<MudPaper Class="pa-4 h-100 d-flex flex-column" Elevation="2">
<MudStack Row AlignItems="AlignItems.Center" Justify="Justify.SpaceBetween" Class="mb-4 flex-shrink-0">
<MudText Typo="Typo.h6">📍 Nodes</MudText>
<MudButton Variant="Variant.Filled"
Color="Color.Primary"
StartIcon="@Icons.Material.Filled.Add"
OnClick="AddNodeAsync">
Add Node
</MudButton>
</MudStack>
<div class="flex-grow-1" style="overflow:auto;">
<MudExpansionPanels MultiExpansion>
@foreach (var node in Order.Nodes)
{
<MudExpansionPanel @key="node.NodeId">
<TitleContent>
<div class="d-flex align-center justify-space-between w-100">
<MudText Typo="Typo.subtitle1" Class="fw-bold">@node.NodeId</MudText>
<div>
<MudIconButton Icon="@Icons.Material.Filled.Edit"
Color="Color.Primary"
Size="Size.Small"
OnClick="@(() => EditNodeAsync(node))"
StopPropagation />
<MudIconButton Icon="@Icons.Material.Filled.Delete"
Color="Color.Error"
Size="Size.Small"
OnClick="@(() => RemoveNodeAsync(node))"
StopPropagation />
</div>
</div>
</TitleContent>
<ChildContent>
<MudGrid Spacing="3">
<!-- Node ID -->
<MudItem xs="12">
<MudTextField Value="@node.NodeId"
ValueChanged="@((string v) => SetValue(() => node.NodeId = v))"
Immediate="true"
Label="Node ID" />
</MudItem>
<!-- Sequence -->
<MudItem xs="12">
<MudNumericField T="int"
Value="@node.SequenceId"
ValueChanged="@((int v) => SetValue(() => node.SequenceId = v))"
Immediate="true"
Label="Sequence ID" />
</MudItem>
<!-- Released -->
<MudItem xs="12">
<MudSwitch T="bool"
Checked="@node.Released"
CheckedChanged="@((bool v) => SetValue(() => node.Released = v))"
Label="Released" />
</MudItem>
<!-- Position -->
<MudItem xs="6">
<MudNumericField T="double"
Value="@node.NodePosition.X"
ValueChanged="@((double v) => SetValue(() => node.NodePosition.X = v))"
Immediate="true"
Label="X" />
</MudItem>
<MudItem xs="6">
<MudNumericField T="double"
Value="@node.NodePosition.Y"
ValueChanged="@((double v) => SetValue(() => node.NodePosition.Y = v))"
Immediate="true"
Label="Y" />
</MudItem>
<MudItem xs="12">
<MudTextField Value="@node.NodePosition.MapId"
ValueChanged="@((string v) => SetValue(() => node.NodePosition.MapId = v))"
Immediate="true"
Label="Map ID" />
</MudItem>
<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 xs="6">
<MudNumericField T="double"
Value="@node.NodePosition.AllowedDeviationXY"
ValueChanged="@((double v) => SetValue(() => node.NodePosition.AllowedDeviationXY = v))"
Immediate="true"
Label="Allowed Dev XY" />
</MudItem>
<MudItem xs="6">
<MudNumericField T="double"
Value="@node.NodePosition.AllowedDeviationTheta"
ValueChanged="@((double v) => SetValue(() => node.NodePosition.AllowedDeviationTheta = v))"
Immediate="true"
Label="Allowed Dev Theta" />
</MudItem>
<!-- Actions -->
<MudItem xs="12">
<MudDivider Class="my-4" />
<MudText Typo="Typo.subtitle1" Class="mb-3">Actions</MudText>
@foreach (var act in node.Actions ?? Array.Empty<VDA5050.InstantAction.Action>())
{
<MudPaper Class="pa-3 mb-3" Outlined>
<MudGrid Spacing="3">
<MudItem xs="12">
<MudSelect T="string"
Value="@act.ActionType"
ValueChanged="@((string v) => SetValue(() => act.ActionType = v))"
Dense
Label="Action Type">
@foreach (var at in Enum.GetValues<ActionType>())
{
<MudSelectItem Value="@at.ToString()">@at</MudSelectItem>
}
</MudSelect>
</MudItem>
<MudItem xs="12">
<MudSelect T="string"
Value="@act.BlockingType"
ValueChanged="@((string v) => SetValue(() => act.BlockingType = v))"
Label="Blocking Type">
<MudSelectItem Value="@("NONE")">NONE</MudSelectItem>
<MudSelectItem Value="@("SOFT")">SOFT</MudSelectItem>
<MudSelectItem Value="@("HARD")">HARD</MudSelectItem>
</MudSelect>
</MudItem>
<MudItem xs="12">
<MudTextField Value="@act.ActionId"
ValueChanged="@((string v) => SetValue(() => act.ActionId = v))"
Immediate="true"
Label="Action ID" />
</MudItem>
</MudGrid>
<MudText Typo="Typo.caption" Class="mt-3 mb-2">Action Parameters</MudText>
@foreach (var p in act.ActionParameters.Cast<UiActionParameter>())
{
<MudGrid Class="mt-1">
<MudItem xs="6">
<MudTextField Value="@p.Key"
ValueChanged="@((string v) => SetValue(() => p.Key = v))"
Immediate="true"
Label="Key" />
</MudItem>
<MudItem xs="6">
<MudTextField Value="@p.ValueString"
ValueChanged="@((string v) => SetValue(() => p.ValueString = v))"
Immediate="true"
Label="Value" />
</MudItem>
<MudItem xs="2">
<MudIconButton Icon="@Icons.Material.Filled.Delete"
Color="Color.Error"
OnClick="@(() => RemoveActionParameterAsync(act, p))" />
</MudItem>
</MudGrid>
}
<MudButton Size="Size.Small"
StartIcon="@Icons.Material.Filled.Add"
Class="mt-3"
OnClick="@(() => AddActionParameterAsync(act))">
Add Parameter
</MudButton>
<MudDivider Class="my-3" />
<MudButton Size="Size.Small"
Color="Color.Error"
Variant="Variant.Text"
StartIcon="@Icons.Material.Filled.Delete"
OnClick="@(() => RemoveActionAsync(node, act))">
Remove Action
</MudButton>
</MudPaper>
}
<MudButton Size="Size.Small"
StartIcon="@Icons.Material.Filled.Add"
OnClick="@(() => AddActionAsync(node))">
Add Action
</MudButton>
</MudItem>
</MudGrid>
</ChildContent>
</MudExpansionPanel>
}
</MudExpansionPanels>
</div>
</MudPaper>
@code {
[Parameter] public OrderMessage Order { get; set; } = default!;
[Parameter] public EventCallback OnAddNode { get; set; }
[Parameter] public EventCallback<Node> OnRemoveNode { get; set; }
[Parameter] public EventCallback<Node> OnEditNode { get; set; }
[Parameter] public EventCallback<Node> OnAddAction { get; set; }
[Parameter] public EventCallback<NodeActionWrapper> OnRemoveAction { get; set; }
[Parameter] public EventCallback<VDA5050.InstantAction.Action> OnAddActionParameter { get; set; }
[Parameter] public EventCallback<ActionParamWrapper> OnRemoveActionParameter { get; set; }
[Parameter] public EventCallback OnOrderChanged { get; set; }
// 🔥 helper realtime – KHÔNG ambiguous
private async Task SetValue(System.Action setter)
{
setter();
await OnOrderChanged.InvokeAsync();
}
private async Task AddNodeAsync()
{
await OnAddNode.InvokeAsync();
await OnOrderChanged.InvokeAsync();
}
private async Task RemoveNodeAsync(Node node)
{
await OnRemoveNode.InvokeAsync(node);
await OnOrderChanged.InvokeAsync();
}
private async Task EditNodeAsync(Node node)
{
await OnEditNode.InvokeAsync(node);
await OnOrderChanged.InvokeAsync();
}
private async Task AddActionAsync(Node node)
{
await OnAddAction.InvokeAsync(node);
await OnOrderChanged.InvokeAsync();
}
private async Task RemoveActionAsync(Node node, VDA5050.InstantAction.Action action)
{
await OnRemoveAction.InvokeAsync(new NodeActionWrapper(node, action));
await OnOrderChanged.InvokeAsync();
}
private async Task AddActionParameterAsync(VDA5050.InstantAction.Action act)
{
await OnAddActionParameter.InvokeAsync(act);
await OnOrderChanged.InvokeAsync();
}
private async Task RemoveActionParameterAsync(VDA5050.InstantAction.Action act, ActionParameter param)
{
await OnRemoveActionParameter.InvokeAsync(new ActionParamWrapper(act, param));
await OnOrderChanged.InvokeAsync();
}
public record NodeActionWrapper(Node Node, VDA5050.InstantAction.Action Action);
public record ActionParamWrapper(VDA5050.InstantAction.Action Action, ActionParameter Parameter);
}

287
RobotApp.Client/Pages/Order/OrderMess.razor Normal file
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@page "/robot-order"
@attribute [Authorize]
@rendermode InteractiveWebAssemblyNoPrerender
@using System.Text.Json
@using System.Text.Json.Serialization
@inject IJSRuntime JS
@inject IDialogService DialogService
@inject HttpClient Http
<MudMainContent Class="pa-0 ma-0">
<div style="height:100vh; overflow:hidden;">
<MudContainer MaxWidth="MaxWidth.False"
Class="pa-4"
Style="max-width:100%; height:100%; display:flex; flex-direction:column;">
<MudGrid Spacing="4" Class="flex-grow-1" Style="overflow:hidden;">
<!-- ================= LEFT ================= -->
<MudItem xs="12" md="7" Class="d-flex flex-column h-100" Style="gap:16px;">
<MudGrid Spacing="4" Class="flex-grow-1" Style="overflow:hidden;">
<MudItem xs="12" md="6" Class="h-100">
<NodesPanel Order="Order"
OnAddNode="AddNode"
OnRemoveNode="RemoveNode"
OnEditNode="OpenEditNodeDialog"
OnAddAction="AddAction"
OnRemoveAction="@(w => RemoveAction(w.Node, w.Action))"
OnAddActionParameter="AddActionParameter"
OnRemoveActionParameter="@(w => RemoveActionParameter(w.Action, w.Parameter))"
OnOrderChanged="OnOrderChanged" />
</MudItem>
<MudItem xs="12" md="6" Class="h-100">
<EdgesPanel Order="Order"
OnAddEdge="AddEdge"
OnRemoveEdge="RemoveEdge"
OnApplyCurve="ApplyCurve"
OnOrderChanged="OnOrderChanged" />
</MudItem>
</MudGrid>
</MudItem>
<!-- ================= RIGHT ================= -->
<MudItem xs="12" md="5" Class="h-100">
<JsonOutputPanel OrderJson="@OrderJson"
Copied="@copied"
SendSuccess="@sendSuccess"
OnCopy="CopyJsonToClipboard"
OnSend="SendOrderToServer"
OnImport="OpenImportDialog" />
</MudItem>
</MudGrid>
</MudContainer>
</div>
</MudMainContent>
@code {
// ================= STATE =================
private OrderMessage Order { get; set; } = new();
private string OrderJson = ""; // 🔥 CACHE JSON (QUAN TRỌNG)
private bool copied;
private bool? sendSuccess;
private bool sending;
private CancellationTokenSource? _copyCts;
// ================= INIT =================
protected override void OnInitialized()
{
RebuildOrderJson();
}
// ================= CORE FIX =================
private void RebuildOrderJson()
{
OrderJson = JsonSerializer.Serialize(
Order.ToSchemaObject(),
new JsonSerializerOptions
{
WriteIndented = true,
DefaultIgnoreCondition = JsonIgnoreCondition.WhenWritingNull
});
}
private async Task OpenImportDialog()
{
var dialog = await DialogService.ShowAsync<ImportOrderDialog>(
"Import Order JSON",
new DialogOptions
{
FullWidth = true,
MaxWidth = MaxWidth.Large
});
var result = await dialog.Result;
if (!result.Canceled && result.Data is OrderMessage imported)
{
Order = imported;
RebuildOrderJson();
StateHasChanged();
}
}
private void OnOrderChanged()
{
RebuildOrderJson(); // 🔥 JSON luôn rebuild
StateHasChanged(); // 🔥 ép render
}
// ================= NODE =================
void AddNode()
{
Order.Nodes.Add(new Node
{
NodeId = $"NODE_{Order.Nodes.Count + 1}",
SequenceId = Order.Nodes.Count,
Released = true,
NodePosition = new VDA5050.Order.NodePosition { MapId = "MAP_01" }
});
}
void RemoveNode(Node node)
{
Order.Nodes.Remove(node);
Order.Edges.RemoveAll(e => e.StartNodeId == node.NodeId || e.EndNodeId == node.NodeId);
ResequenceNodes();
}
void ResequenceNodes()
{
for (int i = 0; i < Order.Nodes.Count; i++)
Order.Nodes[i].SequenceId = i;
}
// ================= EDGE =================
void AddEdge()
{
if (Order.Nodes.Count == 0)
return;
var start = Order.Nodes[0].NodeId;
var end = Order.Nodes.Count > 1
? Order.Nodes[1].NodeId
: start; // 👈 1 node thì start = end
Order.Edges.Add(new UiEdge
{
EdgeId = $"EDGE_{Order.Edges.Count + 1}",
StartNodeId = start,
EndNodeId = end
});
}
void RemoveEdge(UiEdge edge)
{
Order.Edges.Remove(edge);
}
void ApplyCurve(UiEdge edge)
{
if (edge.Radius <= 0 || edge.Expanded) return;
var startNode = Order.Nodes.First(n => n.NodeId == edge.StartNodeId);
var newNode = OrderMessage.CreateCurveNode(startNode, edge);
Order.Nodes.Add(newNode);
edge.EndNodeId = newNode.NodeId;
edge.MarkExpanded(); // ✅
ResequenceNodes();
}
// ================= ACTION =================
void AddAction(Node node)
{
var list = node.Actions?.ToList() ?? new();
list.Add(new VDA5050.InstantAction.Action
{
ActionId = Guid.NewGuid().ToString(),
ActionType = ActionType.startPause.ToString(),
BlockingType = "NONE",
ActionParameters = Array.Empty<ActionParameter>()
});
node.Actions = list.ToArray();
}
void RemoveAction(Node node, VDA5050.InstantAction.Action action)
{
node.Actions = node.Actions?.Where(a => a != action).ToArray()
?? Array.Empty<VDA5050.InstantAction.Action>();
}
void AddActionParameter(VDA5050.InstantAction.Action act)
{
var list = (act.ActionParameters ?? Array.Empty<ActionParameter>()).ToList();
list.Add(new UiActionParameter());
act.ActionParameters = list.ToArray();
}
void RemoveActionParameter(VDA5050.InstantAction.Action act, ActionParameter param)
{
act.ActionParameters =
act.ActionParameters?.Where(p => p != param).ToArray()
?? Array.Empty<ActionParameter>();
}
// ================= SEND / COPY =================
async Task SendOrderToServer()
{
// reset trạng thái trước khi gửi
sendSuccess = null;
StateHasChanged();
try
{
var response = await Http.PostAsJsonAsync(
"/api/order",
JsonSerializer.Deserialize<JsonElement>(OrderJson)
);
sendSuccess = response.IsSuccessStatusCode;
}
catch (Exception ex)
{
sendSuccess = false;
}
StateHasChanged();
// 🔥 AUTO RESET SAU 2 GIÂY
_ = Task.Run(async () =>
{
await Task.Delay(2000);
// quay về trạng thái Send
sendSuccess = null;
await InvokeAsync(StateHasChanged);
});
}
async Task CopyJsonToClipboard()
{
_copyCts?.Cancel();
_copyCts = new();
await JS.InvokeVoidAsync("navigator.clipboard.writeText", OrderJson);
copied = true;
StateHasChanged();
try { await Task.Delay(1500, _copyCts.Token); } catch { }
copied = false;
StateHasChanged();
}
// ================= DIALOG =================
async Task OpenEditNodeDialog(Node node)
{
var parameters = new DialogParameters<EditNodeDialog>
{
{ x => x.Node, node }
};
var options = new DialogOptions
{
CloseButton = true,
FullWidth = true,
MaxWidth = MaxWidth.Large
};
var dialog = await DialogService.ShowAsync<EditNodeDialog>(
$"Edit Node: {node.NodeId}", parameters, options);
await dialog.Result;
OnOrderChanged(); // 🔥 cập nhật JSON sau dialog
}
}

10
RobotApp.Client/Pages/_Imports.razor
View File

@ -15,4 +15,12 @@
@using RobotApp.Common.Shares
@using RobotApp.Common.Shares.Dtos
@using Excubo.Blazor.Canvas
@using Excubo.Blazor.Canvas.Contexts
@using Excubo.Blazor.Canvas.Contexts
@using System.Text.Json
@using System.Text.Json.Serialization
@using RobotApp.Client.Pages.Order
@using RobotApp.Client.Services
@using RobotApp.VDA5050.InstantAction
@using RobotApp.VDA5050.Order
@using RobotApp.VDA5050.Type
@using System.ComponentModel.DataAnnotations

3
RobotApp.Client/Program.cs
View File

@ -1,5 +1,6 @@
using Microsoft.AspNetCore.Components.WebAssembly.Hosting;
using MudBlazor.Services;
using RobotApp.Client.Services;
using System.Globalization;
CultureInfo.DefaultThreadCurrentCulture = new CultureInfo("en-US");
@ -11,6 +12,8 @@ builder.Services.AddAuthenticationStateDeserialization();
builder.Services.AddScoped(_ => new HttpClient() { BaseAddress = new Uri(builder.HostEnvironment.BaseAddress) });
builder.Services.AddScoped<RobotApp.Client.Services.RobotMonitorService>();
builder.Services.AddScoped<RobotApp.Client.Services.RobotStateClient>();
builder.Services.AddMudServices(config =>
{
config.SnackbarConfiguration.VisibleStateDuration = 2000;

8
RobotApp.Client/RobotApp.Client.csproj
View File

@ -1,7 +1,7 @@
<Project Sdk="Microsoft.NET.Sdk.BlazorWebAssembly">
<PropertyGroup>
<TargetFramework>net9.0</TargetFramework>
<TargetFramework>net10.0</TargetFramework>
<ImplicitUsings>enable</ImplicitUsings>
<Nullable>enable</Nullable>
<NoDefaultLaunchSettingsFile>true</NoDefaultLaunchSettingsFile>
@ -9,15 +9,17 @@
</PropertyGroup>
<ItemGroup>
<PackageReference Include="Blazored.LocalStorage" Version="4.5.0" />
<PackageReference Include="Excubo.Blazor.Canvas" Version="3.2.91" />
<PackageReference Include="Microsoft.AspNetCore.Components.WebAssembly" Version="9.0.1" />
<PackageReference Include="Microsoft.AspNetCore.Components.WebAssembly.Authentication" Version="9.0.1" />
<PackageReference Include="Microsoft.AspNetCore.SignalR.Client" Version="9.0.1" />
<PackageReference Include="MudBlazor" Version="8.12.0" />
<PackageReference Include="Microsoft.AspNetCore.SignalR.Client" Version="10.0.1" />
<PackageReference Include="MudBlazor" Version="8.15.0" />
</ItemGroup>
<ItemGroup>
<ProjectReference Include="..\RobotApp.Common.Shares\RobotApp.Common.Shares.csproj" />
<ProjectReference Include="..\RobotApp.VDA5050\RobotApp.VDA5050.csproj" />
</ItemGroup>
</Project>

188
RobotApp.Client/Services/RobotStateClient.cs Normal file
View File

@ -0,0 +1,188 @@
using Microsoft.AspNetCore.Components;
using Microsoft.AspNetCore.SignalR.Client;
using RobotApp.Common.Shares;
using RobotApp.VDA5050.State;
using System.Collections.Concurrent;
using System.Text.Json;
namespace RobotApp.Client.Services;
// ================= CONNECTION STATE =================
public enum RobotClientState
{
Disconnected,
Connecting,
Connected,
Reconnecting
}
// ================= CLIENT =================
public sealed class RobotStateClient : IAsyncDisposable
{
private readonly NavigationManager _nav;
private HubConnection? _connection;
private readonly object _lock = new();
private bool _started;
public ConcurrentDictionary<string, StateMsg> LatestStates { get; } = new();
// ================= EVENTS =================
public event Action<string, StateMsg>? OnStateReceived;
public event Action<StateMsg>? OnStateReceivedAny;
public event Action<RobotClientState>? OnConnectionStateChanged;
public RobotClientState ConnectionState { get; private set; } = RobotClientState.Disconnected;
// ================= CTOR =================
public RobotStateClient(NavigationManager nav)
{
_nav = nav;
}
// ================= STATE HELPER =================
private void SetState(RobotClientState state)
{
if (ConnectionState == state) return;
ConnectionState = state;
OnConnectionStateChanged?.Invoke(state);
}
// ================= START =================
public async Task StartAsync(string hubPath = "/hubs/robot")
{
lock (_lock)
{
if (_started) return;
_started = true;
}
SetState(RobotClientState.Connecting);
_connection = new HubConnectionBuilder()
.WithUrl(_nav.ToAbsoluteUri(hubPath))
.WithAutomaticReconnect(new[]
{
TimeSpan.Zero,
TimeSpan.FromSeconds(2),
TimeSpan.FromSeconds(10)
})
.Build();
_connection.Reconnecting += _ =>
{
SetState(RobotClientState.Reconnecting);
return Task.CompletedTask;
};
_connection.Reconnected += _ =>
{
SetState(RobotClientState.Connected);
return Task.CompletedTask;
};
_connection.Closed += async error =>
{
_started = false;
if (_connection != null)
{
try
{
await StartAsync(hubPath);
}
catch { }
}
};
_connection.On<string>("ReceiveState", HandleState);
try
{
await _connection.StartAsync();
SetState(RobotClientState.Connected);
}
catch
{
_started = false;
SetState(RobotClientState.Disconnected);
}
}
// ================= HANDLE STATE =================
private void HandleState(string stateJson)
{
StateMsg? state;
try
{
state = JsonSerializer.Deserialize<StateMsg>(
stateJson,
JsonOptionExtends.Read
);
}
catch
{
return;
}
if (state?.SerialNumber == null)
return;
LatestStates[state.SerialNumber] = state;
OnStateReceived?.Invoke(state.SerialNumber, state);
OnStateReceivedAny?.Invoke(state);
}
// ================= SUBSCRIBE =================
public async Task SubscribeRobotAsync(string serialNumber)
{
if (_connection?.State != HubConnectionState.Connected)
return;
try
{
await _connection.InvokeAsync("JoinRobot", serialNumber);
}
catch
{
// ignore – reconnect sẽ tự join lại
}
}
public async Task UnsubscribeRobotAsync(string serialNumber)
{
if (_connection?.State == HubConnectionState.Connected)
{
try
{
await _connection.InvokeAsync("LeaveRobot", serialNumber);
}
catch { }
}
LatestStates.TryRemove(serialNumber, out _);
}
// ================= GET CACHE =================
public StateMsg? GetLatestState(string serialNumber)
{
LatestStates.TryGetValue(serialNumber, out var state);
return state;
}
// ================= DISPOSE =================
public async ValueTask DisposeAsync()
{
_started = false;
SetState(RobotClientState.Disconnected);
if (_connection != null)
{
await _connection.DisposeAsync();
_connection = null;
}
}
}

420
RobotApp.Client/Services/UiEdge.cs Normal file
View File

@ -0,0 +1,420 @@
using RobotApp.VDA5050.InstantAction;
using RobotApp.VDA5050.Order;
using System.Text.Json;
using System.Text.Json.Serialization;
namespace RobotApp.Client.Services;
// ======================================================
// EDGE UI
// ======================================================
public class UiEdge
{
public string EdgeId { get; set; } = "";
public int SequenceId { get; set; }
public bool Released { get; set; } = true;
public string StartNodeId { get; set; } = "";
public string EndNodeId { get; set; } = "";
// ===== CURVE (EDITOR GENERATED) =====
public double Radius { get; set; } = 0;
public Quadrant Quadrant { get; set; }
// ===== IMPORTED TRAJECTORY =====
public bool HasTrajectory { get; set; } = false;
public UiTrajectory? Trajectory { get; set; }
// ===== UI STATE =====
public bool Expanded { get; private set; } = false;
public void MarkExpanded()
{
Expanded = true;
}
}
public class UiTrajectory
{
public int Degree { get; set; }
public double[] KnotVector { get; set; } = Array.Empty<double>();
public List<Point> ControlPoints { get; set; } = new();
}
public enum Quadrant
{
I,
II,
III,
IV
}
// ======================================================
// GEOMETRY MODELS
// ======================================================
public record Point(double X, double Y);
public record QuarterResult(
Point EndPoint,
object Trajectory
);
// ======================================================
// GEOMETRY HELPER (QUARTER CIRCLE)
// ======================================================
public static class QuarterGeometry
{
private const double K = 0.5522847498307936;
public static QuarterResult BuildQuarterTrajectory(
Point A,
double r,
Quadrant q
)
{
Point P1, P2, C;
switch (q)
{
case Quadrant.I:
P1 = new(A.X, A.Y + K * r);
P2 = new(A.X + K * r, A.Y + r);
C = new(A.X + r, A.Y + r);
break;
case Quadrant.II:
P1 = new(A.X - K * r, A.Y);
P2 = new(A.X - r, A.Y + K * r);
C = new(A.X - r, A.Y + r);
break;
case Quadrant.III:
P1 = new(A.X, A.Y - K * r);
P2 = new(A.X - K * r, A.Y - r);
C = new(A.X - r, A.Y - r);
break;
case Quadrant.IV:
P1 = new(A.X + K * r, A.Y);
P2 = new(A.X + r, A.Y - K * r);
C = new(A.X + r, A.Y - r);
break;
default:
throw new ArgumentOutOfRangeException(nameof(q));
}
return new QuarterResult(
C,
new
{
degree = 3,
knotVector = new[] { 0, 0, 0, 0, 1, 1, 1, 1 },
controlPoints = new[]
{
new { x = A.X, y = A.Y }, // P0
new { x = P1.X, y = P1.Y }, // P1
new { x = P2.X, y = P2.Y }, // P2
new { x = C.X, y = C.Y } // P3
}
}
);
}
}
// ======================================================
// ORDER MESSAGE
// ======================================================
public class OrderMessage
{
public int HeaderId { get; set; }
public string Timestamp { get; set; } = "";
public string Version { get; set; } = "v1";
public string Manufacturer { get; set; } = "PNKX";
public string SerialNumber { get; set; } = "T800-002";
public string OrderId { get; set; } = Guid.NewGuid().ToString();
public int OrderUpdateId { get; set; }
public string? ZoneSetId { get; set; }
public List<Node> Nodes { get; set; } = new();
public List<UiEdge> Edges { get; set; } = new();
public static Node CreateCurveNode(Node startNode, UiEdge edge)
{
var A = new Point(
startNode.NodePosition.X,
startNode.NodePosition.Y
);
var result = QuarterGeometry.BuildQuarterTrajectory(
A,
edge.Radius,
edge.Quadrant
);
return new Node
{
NodeId = $"NODE_C{Guid.NewGuid():N}".Substring(0, 12),
Released = true,
NodePosition = new NodePosition
{
X = result.EndPoint.X,
Y = result.EndPoint.Y,
Theta = startNode.NodePosition.Theta,
MapId = startNode.NodePosition.MapId
}
};
}
public static OrderMessage FromSchemaObject(JsonElement root)
{
var order = new OrderMessage
{
HeaderId = root.GetProperty("headerId").GetInt32(),
Timestamp = root.GetProperty("timestamp").GetString(),
Version = root.GetProperty("version").GetString(),
Manufacturer = root.GetProperty("manufacturer").GetString(),
SerialNumber = root.GetProperty("serialNumber").GetString(),
OrderId = root.GetProperty("orderId").GetString(),
OrderUpdateId = root.GetProperty("orderUpdateId").GetInt32()
};
// ================= NODES =================
foreach (var n in root.GetProperty("nodes").EnumerateArray())
{
var node = new Node
{
NodeId = n.GetProperty("nodeId").GetString()!,
SequenceId = n.GetProperty("sequenceId").GetInt32(),
Released = n.GetProperty("released").GetBoolean(),
NodePosition = new NodePosition
{
X = n.GetProperty("nodePosition").GetProperty("x").GetDouble(),
Y = n.GetProperty("nodePosition").GetProperty("y").GetDouble(),
Theta = n.GetProperty("nodePosition").GetProperty("theta").GetDouble(),
AllowedDeviationXY = n.GetProperty("nodePosition").GetProperty("allowedDeviationXY").GetDouble(),
AllowedDeviationTheta = n.GetProperty("nodePosition").GetProperty("allowedDeviationTheta").GetDouble(),
MapId = n.GetProperty("nodePosition").GetProperty("mapId").GetString()
},
Actions = ParseActions(n)
};
order.Nodes.Add(node);
}
foreach (var e in root.GetProperty("edges").EnumerateArray())
{
var edge = new UiEdge
{
EdgeId = e.GetProperty("edgeId").GetString()!,
SequenceId = e.GetProperty("sequenceId").GetInt32(),
Released = e.GetProperty("released").GetBoolean(),
StartNodeId = e.GetProperty("startNodeId").GetString()!,
EndNodeId = e.GetProperty("endNodeId").GetString()!,
};
// ===== IMPORT TRAJECTORY =====
if (e.TryGetProperty("trajectory", out var traj))
{
edge.HasTrajectory = true;
edge.Trajectory = new UiTrajectory
{
Degree = traj.GetProperty("degree").GetInt32(),
KnotVector = traj.GetProperty("knotVector")
.EnumerateArray()
.Select(x => x.GetDouble())
.ToArray(),
ControlPoints = traj.GetProperty("controlPoints")
.EnumerateArray()
.Select(p => new Point(
p.GetProperty("x").GetDouble(),
p.GetProperty("y").GetDouble()
))
.ToList()
};
// 🔥 IMPORTED CURVE → LOCK APPLY
edge.MarkExpanded();
}
order.Edges.Add(edge);
}
return order;
}
// ================= ACTION PARSER =================
private static VDA5050.InstantAction.Action[] ParseActions(JsonElement parent)
{
if (!parent.TryGetProperty("actions", out var acts))
return Array.Empty<VDA5050.InstantAction.Action>();
return acts.EnumerateArray().Select(a =>
new VDA5050.InstantAction.Action
{
ActionId = a.GetProperty("actionId").GetString(),
ActionType = a.GetProperty("actionType").GetString(),
BlockingType = a.GetProperty("blockingType").GetString(),
ActionParameters = a.TryGetProperty("actionParameters", out var ps)
? ps.EnumerateArray()
.Select(p => new ActionParameter
{
Key = p.GetProperty("key").GetString(),
Value = p.GetProperty("value").GetString()
})
.ToArray()
: Array.Empty<ActionParameter>()
}
).ToArray();
}
public object ToSchemaObject()
{
int seq = 0;
return new
{
headerId = HeaderId++,
timestamp = string.IsNullOrWhiteSpace(Timestamp)
? DateTime.UtcNow.ToString("O")
: Timestamp,
version = Version,
manufacturer = Manufacturer,
serialNumber = SerialNumber,
orderId = OrderId,
orderUpdateId = OrderUpdateId,
zoneSetId = string.IsNullOrWhiteSpace(ZoneSetId)
? null
: ZoneSetId,
// ================= NODES =================
nodes = Nodes.Select(n => new
{
nodeId = n.NodeId,
sequenceId = seq++,
released = n.Released,
nodePosition = new
{
x = n.NodePosition.X,
y = n.NodePosition.Y,
theta = n.NodePosition.Theta,
allowedDeviationXY = n.NodePosition.AllowedDeviationXY,
allowedDeviationTheta = n.NodePosition.AllowedDeviationTheta,
mapId = string.IsNullOrWhiteSpace(n.NodePosition.MapId)
? "MAP_01"
: n.NodePosition.MapId
},
actions = n.Actions.Select(a => new
{
actionId = a.ActionId,
actionType = a.ActionType,
blockingType = a.BlockingType,
actionParameters = a.ActionParameters != null
? a.ActionParameters
.Select(p => new { key = p.Key, value = p.Value })
.ToArray()
: Array.Empty<object>()
}).ToArray()
}).ToArray(),
// ================= EDGES =================
edges = Edges.Select<UiEdge, object>(e =>
{
// =================================================
// 1️⃣ IMPORTED TRAJECTORY (ƯU TIÊN CAO NHẤT)
// =================================================
if (e.HasTrajectory && e.Trajectory != null)
{
return new
{
edgeId = e.EdgeId,
sequenceId = seq++,
released = true,
startNodeId = e.StartNodeId,
endNodeId = e.EndNodeId,
trajectory = new
{
degree = e.Trajectory.Degree,
knotVector = e.Trajectory.KnotVector,
controlPoints = e.Trajectory.ControlPoints
.Select(p => new { x = p.X, y = p.Y })
.ToArray()
},
actions = Array.Empty<object>()
};
}
// =================================================
// 2️⃣ STRAIGHT EDGE (KHÔNG CÓ CURVE)
// =================================================
if (e.Radius <= 0)
{
return new
{
edgeId = e.EdgeId,
sequenceId = seq++,
released = true,
startNodeId = e.StartNodeId,
endNodeId = e.EndNodeId,
actions = Array.Empty<object>()
};
}
// =================================================
// 3️⃣ EDITOR GENERATED CURVE (RADIUS + QUADRANT)
// =================================================
var startNode = Nodes.First(n => n.NodeId == e.StartNodeId);
var A = new Point(
startNode.NodePosition.X,
startNode.NodePosition.Y
);
var result = QuarterGeometry.BuildQuarterTrajectory(
A,
e.Radius,
e.Quadrant
);
return new
{
edgeId = e.EdgeId,
sequenceId = seq++,
released = true,
startNodeId = e.StartNodeId,
endNodeId = e.EndNodeId,
trajectory = result.Trajectory,
actions = Array.Empty<object>()
};
}).ToArray()
};
}
}
// ======================================================
// UI ACTION PARAM
// ======================================================
public class UiActionParameter : ActionParameter
{
[JsonIgnore]
public string ValueString
{
get => Value?.ToString() ?? "";
set => Value = value;
}
}

5
RobotApp.Client/_Imports.razor
View File

@ -12,4 +12,7 @@
@using Microsoft.AspNetCore.Authorization
@using MudBlazor
@using RobotApp.Common.Shares.Dtos
@using RobotApp.Common.Shares.Enums
@using RobotApp.Common.Shares.Enums
@using Blazored.LocalStorage
@using RobotApp.Client.Services
@using RobotApp.VDA5050.State

2
RobotApp.Common.Shares/RobotApp.Common.Shares.csproj
View File

@ -1,7 +1,7 @@
<Project Sdk="Microsoft.NET.Sdk">
<PropertyGroup>
<TargetFramework>net9.0</TargetFramework>
<TargetFramework>net10.0</TargetFramework>
<ImplicitUsings>enable</ImplicitUsings>
<Nullable>enable</Nullable>
</PropertyGroup>

2
RobotApp.VDA5050/RobotApp.VDA5050.csproj
View File

@ -1,7 +1,7 @@
<Project Sdk="Microsoft.NET.Sdk">
<PropertyGroup>
<TargetFramework>net9.0</TargetFramework>
<TargetFramework>net10.0</TargetFramework>
<ImplicitUsings>enable</ImplicitUsings>
<Nullable>enable</Nullable>
</PropertyGroup>

4
RobotApp.sln
View File

@ -1,7 +1,7 @@

Microsoft Visual Studio Solution File, Format Version 12.00
# Visual Studio Version 17
VisualStudioVersion = 17.14.36511.14
# Visual Studio Version 18
VisualStudioVersion = 18.0.11205.157
MinimumVisualStudioVersion = 10.0.40219.1
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RobotApp", "RobotApp\RobotApp.csproj", "{BF0BB137-2EF9-4E1B-944E-9BF41C5284F7}"
EndProject

2
RobotApp/Components/Pages/Home.razor
View File

@ -1,4 +1,4 @@
@page "/"
@page "/home"
@using Microsoft.AspNetCore.Authorization
@rendermode InteractiveServer

36
RobotApp/Controllers/OrderController.cs Normal file
View File

@ -0,0 +1,36 @@
using Microsoft.AspNetCore.Mvc;
using RobotApp.Services.Robot;
using RobotApp.VDA5050.Order;
using System.Text.Json;
namespace RobotApp.Controllers;
[ApiController]
[Route("api/order")]
public class OrderController : ControllerBase
{
private readonly RobotOrderController robotOrderController;
public OrderController(RobotOrderController robotOrderController)
{
this.robotOrderController = robotOrderController;
}
[HttpPost]
public IActionResult SendOrder([FromBody] OrderMsg order)
{
Console.WriteLine("===== ORDER RECEIVED =====");
Console.WriteLine(JsonSerializer.Serialize(order, new JsonSerializerOptions
{
WriteIndented = true
}));
robotOrderController.UpdateOrder(order);
return Ok(new
{
success = true,
message = "Order received"
});
}
}

29
RobotApp/Hubs/RobotHub.cs Normal file
View File

@ -0,0 +1,29 @@
using Microsoft.AspNetCore.SignalR;
using RobotApp.Common.Shares;
using RobotApp.VDA5050.State;
using System.Text.Json;
namespace RobotApp.Hubs
{
public class RobotHub : Hub
{
// Client gọi để theo dõi robot cụ thể
public async Task JoinRobot(string serialNumber)
{
await Groups.AddToGroupAsync(Context.ConnectionId, serialNumber);
Console.WriteLine($"Client {Context.ConnectionId} joined robot group: {serialNumber}");
}
public async Task LeaveRobot(string serialNumber)
{
await Groups.RemoveFromGroupAsync(Context.ConnectionId, serialNumber);
}
// Phương thức này sẽ được gọi từ service để broadcast
public async Task SendState(string serialNumber, StateMsg state)
{
var json = JsonSerializer.Serialize(state, JsonOptionExtends.Write);
await Clients.Group(serialNumber).SendAsync("ReceiveState", json);
}
}
}

15
RobotApp/Program.cs
View File

@ -3,11 +3,14 @@ using Microsoft.AspNetCore.Identity;
using Microsoft.EntityFrameworkCore;
using MudBlazor.Services;
using NLog.Web;
using RobotApp.Client;
using RobotApp.Client.Services;
using RobotApp.Components;
using RobotApp.Components.Account;
using RobotApp.Data;
using RobotApp.Hubs;
using RobotApp.Services;
using RobotApp.Services.Robot;
using RobotApp.Services.Robot.Simulation;
var builder = WebApplication.CreateBuilder(args);
@ -28,7 +31,7 @@ builder.Services.AddAuthorization();
// Add Controllers for API endpoints
builder.Services.AddControllers();
builder.Services.AddSignalR();
var connectionString = builder.Configuration.GetConnectionString("DefaultConnection") ?? throw new InvalidOperationException("Connection string 'DefaultConnection' not found.");
Action<DbContextOptionsBuilder> appDbOptions = options => options.UseSqlite(connectionString, b => b.MigrationsAssembly("RobotApp"));
@ -57,8 +60,11 @@ builder.Services.AddRobotSimulation();
builder.Services.AddRobot();
// Add RobotMonitorService
builder.Services.AddSingleton<RobotMonitorService>();
builder.Services.AddHostedService(sp => sp.GetRequiredService<RobotMonitorService>());
builder.Services.AddSingleton<RobotApp.Services.RobotMonitorService>();
builder.Services.AddHostedService(sp => sp.GetRequiredService<RobotApp.Services.RobotMonitorService>());
builder.Services.AddScoped<RobotStateClient>();
builder.Services.AddHostedService<RobotStatePublisher>();
var app = builder.Build();
await app.Services.SeedApplicationDbAsync();
@ -84,12 +90,13 @@ app.UseAntiforgery();
app.MapStaticAssets();
// Map API Controllers
app.MapControllers();
// Map SignalR Hub
app.MapHub<RobotMonitorHub>("/hubs/robotMonitor");
app.MapHub<RobotHub>("/hubs/robot");
app.MapRazorComponents<App>()
.AddInteractiveServerRenderMode()
.AddInteractiveWebAssemblyRenderMode()

2
RobotApp/RobotApp.csproj
View File

@ -1,7 +1,7 @@
<Project Sdk="Microsoft.NET.Sdk.Web">
<PropertyGroup>
<TargetFramework>net9.0</TargetFramework>
<TargetFramework>net10.0</TargetFramework>
<Nullable>enable</Nullable>
<ImplicitUsings>enable</ImplicitUsings>
<UserSecretsId>aspnet-RobotApp-1f61caa2-bbbb-40cd-88b6-409b408a84ea</UserSecretsId>

2
RobotApp/Services/Robot/RobotOrderController.cs
View File

@ -264,7 +264,7 @@ public class RobotOrderController(INavigation NavigationManager,
}
}
private void HandleUpdateOrder(OrderMsg order)
public void HandleUpdateOrder(OrderMsg order)
{
if (order.OrderId != OrderId) throw new OrderException(RobotErrors.Error1001(OrderId, order.OrderId));
if (order.OrderUpdateId <= OrderUpdateId) return;

175
RobotApp/Services/Robot/RobotStatePublisher.cs Normal file
View File

@ -0,0 +1,175 @@
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;
public class RobotStatePublisher : BackgroundService
{
private readonly IHubContext<RobotHub> _hubContext;
private readonly RobotConfiguration _robotConfig;
private readonly IOrder _orderManager;
private readonly IInstantActions _actionManager;
private readonly IPeripheral _peripheralManager;
private readonly IInfomation _infoManager;
private readonly IError _errorManager;
private readonly ILocalization _localizationManager;
private readonly IBattery _batteryManager;
private readonly ILoad _loadManager;
private readonly INavigation _navigationManager;
private readonly RobotStateMachine _stateManager;
private uint _headerId = 0;
private readonly PeriodicTimer _timer = new(TimeSpan.FromMilliseconds(1000)); // 1 giây/lần
public RobotStatePublisher(
IHubContext<RobotHub> hubContext,
RobotConfiguration robotConfig,
IOrder orderManager,
IInstantActions actionManager,
IPeripheral peripheralManager,
IInfomation infoManager,
IError errorManager,
ILocalization localizationManager,
IBattery batteryManager,
ILoad loadManager,
INavigation navigationManager,
RobotStateMachine stateManager)
{
_hubContext = hubContext;
_robotConfig = robotConfig;
_orderManager = orderManager;
_actionManager = actionManager;
_peripheralManager = peripheralManager;
_infoManager = infoManager;
_errorManager = errorManager;
_localizationManager = localizationManager;
_batteryManager = batteryManager;
_loadManager = loadManager;
_navigationManager = navigationManager;
_stateManager = stateManager;
}
private StateMsg GetStateMsg()
{
return new StateMsg
{
HeaderId = _headerId++,
Timestamp = DateTime.UtcNow.ToString("o"), // ISO 8601
Manufacturer = _robotConfig.VDA5050Setting.Manufacturer,
Version = _robotConfig.VDA5050Setting.Version,
SerialNumber = _robotConfig.SerialNumber,
Maps = [],
OrderId = _orderManager.OrderId,
OrderUpdateId = _orderManager.OrderUpdateId,
ZoneSetId = "",
LastNodeId = _orderManager.LastNodeId,
LastNodeSequenceId = _orderManager.LastNodeSequenceId,
Driving = Math.Abs(_navigationManager.VelocityX) > 0.01 || Math.Abs(_navigationManager.Omega) > 0.01,
Paused = false,
NewBaseRequest = true,
DistanceSinceLastNode = 0,
OperatingMode = _peripheralManager.PeripheralMode.ToString(),
NodeStates = _orderManager.NodeStates,
EdgeStates = _orderManager.EdgeStates,
ActionStates = _actionManager.ActionStates,
Information = [General, .. _infoManager.InformationState],
Errors = _errorManager.ErrorsState,
AgvPosition = new AgvPosition
{
X = _localizationManager.X,
Y = _localizationManager.Y,
Theta = _localizationManager.Theta,
LocalizationScore = _localizationManager.MatchingScore,
MapId = _localizationManager.CurrentActiveMap,
DeviationRange = _localizationManager.Reliability,
PositionInitialized = _localizationManager.IsReady,
},
BatteryState = new BatteryState
{
Charging = _batteryManager.IsCharging,
BatteryHealth = _batteryManager.SOH,
Reach = 0,
BatteryVoltage = _batteryManager.Voltage,
BatteryCharge = _batteryManager.SOC,
},
Loads = _loadManager.Load,
Velocity = new Velocity
{
Vx = _navigationManager.VelocityX,
Vy = _navigationManager.VelocityY,
Omega = _navigationManager.Omega,
},
SafetyState = new SafetyState
{
FieldViolation = _peripheralManager.LidarBackProtectField ||
_peripheralManager.LidarFrontProtectField ||
_peripheralManager.LidarFrontTimProtectField,
EStop = (_peripheralManager.Emergency || _peripheralManager.Bumper)
? EStop.AUTOACK.ToString()
: EStop.NONE.ToString(),
}
};
}
private Information General => new()
{
InfoType = InformationType.robot_general.ToString(),
InfoDescription = "Thông tin chung của robot",
InfoLevel = InfoLevel.INFO.ToString(),
InfoReferences =
[
new InfomationReferences
{
ReferenceKey = InformationReferencesKey.robot_state.ToString(),
ReferenceValue = _stateManager.CurrentStateName,
}
]
};
protected override async Task ExecuteAsync(CancellationToken stoppingToken)
{
Console.WriteLine("[RobotStatePublisher] Started - Publishing state every 1 second via SignalR");
while (await _timer.WaitForNextTickAsync(stoppingToken) && !stoppingToken.IsCancellationRequested)
{
try
{
var state = GetStateMsg();
var serialNumber = _robotConfig.SerialNumber;
var json = JsonSerializer.Serialize(state, JsonOptionExtends.Write);
// Push đến tất cả client đang theo dõi robot này
await _hubContext.Clients
.Group(serialNumber)
.SendAsync("ReceiveState", json, stoppingToken);
//Console.WriteLine($"[RobotStatePublisher] Published state for {serialNumber} | " +
// $"HeaderId: {state.HeaderId} | " +
// $"Pos: ({state.AgvPosition.X:F2}, {state.AgvPosition.Y:F2}) | " +
// $"Battery: {state.BatteryState.BatteryCharge:F1}%");
}
catch (Exception ex)
{
Console.WriteLine($"[RobotStatePublisher] Error publishing state: {ex.Message}");
}
}
Console.WriteLine("[RobotStatePublisher] Stopped.");
}
public override void Dispose()
{
_timer?.Dispose();
base.Dispose();
}
}