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No commits in common. "bc00e9ae50c4d617056bc9137a50eb22859086e0" and "6cd32f8c98ad5c9d2fdeed48ab08339adf5db4b5" have entirely different histories.
bc00e9ae50
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6cd32f8c98
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@ -71,7 +71,6 @@
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public NavModel[] Navs = [
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public NavModel[] Navs = [
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new(){Icon = "mdi-view-dashboard", Path="/", Label = "Dashboard", Match = NavLinkMatch.All},
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new(){Icon = "mdi-view-dashboard", Path="/", Label = "Dashboard", Match = NavLinkMatch.All},
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// new(){Icon = "mdi-map-legend", Path="/maps-manager", Label = "Mapping", Match = NavLinkMatch.All},
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// new(){Icon = "mdi-map-legend", Path="/maps-manager", Label = "Mapping", Match = NavLinkMatch.All},
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new(){Icon = "mdi-monitor", Path="/robot-monitor", Label = "Robot Monitor", Match = NavLinkMatch.All},
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new(){Icon = "mdi-application-cog", Path="/robot-config", Label = "Config", Match = NavLinkMatch.All},
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new(){Icon = "mdi-application-cog", Path="/robot-config", Label = "Config", Match = NavLinkMatch.All},
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];
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];
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@ -1,342 +0,0 @@
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@inject IJSRuntime JS
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<div class="robot-monitor-container">
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<div class="toolbar">
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<MudTooltip Text="Zoom In" role="button" Placement="Placement.Bottom" Color="Color.Info">
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<button type="button" class="btn btn-secondary action-button" @onclick="ZoomIn">
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<i class="mdi mdi-magnify-plus-outline icon-button"></i>
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</button>
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</MudTooltip>
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<MudTooltip Text="Zoom Out" role="button" Placement="Placement.Bottom" Color="Color.Info">
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<button type="button" class="btn btn-secondary action-button" @onclick="ZoomOut">
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<i class="mdi mdi-magnify-minus-outline icon-button"></i>
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</button>
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</MudTooltip>
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<MudTooltip Text="Reset View" role="button" Placement="Placement.Bottom" Color="Color.Info">
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<button type="button" class="btn btn-secondary action-button" @onclick="ResetView">
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<i class="mdi mdi-fit-to-screen-outline icon-button"></i>
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</button>
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</MudTooltip>
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<MudSpacer />
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@if (MonitorData?.RobotPosition != null)
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{
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<div class="robot-position-info">
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<i class="mdi mdi-map-marker"></i>
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<span>X: @MonitorData.RobotPosition.X.ToString("F2")m | Y: @MonitorData.RobotPosition.Y.ToString("F2")m | θ: @((MonitorData.RobotPosition.Theta * 180 / Math.PI).ToString("F1"))°</span>
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</div>
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}
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<MudChip T="string" Color="@(IsConnected? Color.Success: Color.Error)" Size="Size.Small">
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@(IsConnected ? "Connected" : "Disconnected")
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</MudChip>
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</div>
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<div @ref="SvgContainerRef" class="svg-container">
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<svg @ref="SvgRef"
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@onwheel="HandleWheel"
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@onmousedown="HandleMouseDown"
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@onmousemove="HandleMouseMove"
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@onmouseup="HandleMouseUp"
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@onmouseleave="HandleMouseLeave">
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<g transform="@GetTransform()">
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@if (MonitorData?.HasOrder == true)
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{
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@* @for (int i = 0; i < MonitorData.EdgeStates.Length; i++)
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{
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var edge = MonitorData.EdgeStates[i];
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var (startX, startY, endX, endY) = GetEdgeEndpoints(i, edge);
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<path d="@GetPathFromTrajectory(edge.Trajectory, startX, startY, endX, endY)"
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fill="none"
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stroke="#42A5F5"
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stroke-width="0.08" />
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} *@
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<path d="@PathView"
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fill="none"
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stroke="#42A5F5"
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stroke-width="0.08"
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visibility="@PathIsNot" />
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@foreach (var node in MonitorData.NodeStates)
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{
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<circle cx="@WorldToSvgX(node.NodePosition.X)"
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cy="@WorldToSvgY(node.NodePosition.Y)"
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r="@GetNodeRadius()"
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fill="#66BB6A"
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stroke="#555"
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stroke-width="@GetNodeStrokeWidth()" />
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}
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}
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@* Render Robot *@
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@if (MonitorData?.RobotPosition != null)
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{
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<g transform="@GetRobotTransform()">
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@{
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var (robotX, robotY, robotWidth, robotHeight) = GetRobotSize();
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}
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<image href="images/AMR-250.png"
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x="@robotX"
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y="@robotY"
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width="@robotWidth"
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height="@robotHeight"
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preserveAspectRatio="xMidYMid meet" />
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</g>
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}
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</g>
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</svg>
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</div>
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</div>
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@code {
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[Parameter] public RobotMonitorDto? MonitorData { get; set; }
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[Parameter] public bool IsConnected { get; set; }
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public class ElementSize
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{
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public double Width { get; set; }
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public double Height { get; set; }
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}
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public class ElementBoundingRect
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{
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public double X { get; set; }
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public double Y { get; set; }
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public double Width { get; set; }
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public double Height { get; set; }
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}
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private ElementReference SvgRef;
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private ElementReference SvgContainerRef;
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private double ZoomScale = 2.0; // Zoom vào robot hơn khi mở
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private const double MIN_ZOOM = 0.1;
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private const double MAX_ZOOM = 5.0;
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private const double BASE_PIXELS_PER_METER = 50.0;
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private double TranslateX = 0;
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private double TranslateY = 0;
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private bool IsPanning = false;
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private double PanStartX = 0;
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private double PanStartY = 0;
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private double SvgWidth = 800;
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private double SvgHeight = 600;
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private string PathView = "";
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private string PathIsNot = "hidden";
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protected override async Task OnAfterRenderAsync(bool firstRender)
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{
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if (firstRender)
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{
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var containerSize = await JS.InvokeAsync<ElementSize>("getElementSize", SvgContainerRef);
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SvgWidth = containerSize.Width;
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SvgHeight = containerSize.Height;
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// Center view on robot if available with initial zoom
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if (MonitorData?.RobotPosition != null)
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{
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// Zoom vào robot hơn một chút
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ZoomScale = 2.5;
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TranslateX = SvgWidth / 2 - MonitorData.RobotPosition.X * BASE_PIXELS_PER_METER * ZoomScale;
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TranslateY = SvgHeight / 2 + MonitorData.RobotPosition.Y * BASE_PIXELS_PER_METER * ZoomScale;
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}
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else
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{
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TranslateX = SvgWidth / 2;
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TranslateY = SvgHeight / 2;
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}
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StateHasChanged();
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}
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}
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private string GetTransform()
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{
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return $"translate({TranslateX}, {TranslateY}) scale({ZoomScale * BASE_PIXELS_PER_METER})";
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}
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private string GetRobotTransform()
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{
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if (MonitorData?.RobotPosition == null) return "";
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var x = WorldToSvgX(MonitorData.RobotPosition.X);
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var y = WorldToSvgY(MonitorData.RobotPosition.Y);
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// Theta là radian, convert sang độ
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// SVG rotate quay theo chiều kim đồng hồ, cần đảo dấu
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var angleDegrees = -MonitorData.RobotPosition.Theta * 180 / Math.PI;
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return $"translate({x}, {y}) rotate({angleDegrees})";
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}
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private (double x, double y, double width, double height) GetRobotSize()
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{
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// Kích thước robot trong world coordinates (mét)
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const double RobotWidthMeters = 0.606;
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const double RobotLengthMeters = 1.106;
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// Điều chỉnh kích thước dựa trên ZoomScale
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// Tăng kích thước lên 1.5x để robot to hơn
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double scaleFactor = 3 / ZoomScale; // Tăng kích thước hiển thị
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double width = RobotWidthMeters * scaleFactor;
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double height = RobotLengthMeters * scaleFactor;
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double x = -width / 2;
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double y = -height / 2;
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return (x, y, width, height);
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}
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private double GetNodeRadius()
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{
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// Kích thước node cơ bản trong world coordinates - tăng lên 1.5x
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const double BaseNodeRadius = 0.15;
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// Điều chỉnh theo ZoomScale tương tự robot
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double scaleFactor = 1.5 / ZoomScale; // Tăng kích thước hiển thị
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return BaseNodeRadius * scaleFactor;
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}
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private double GetNodeStrokeWidth()
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{
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// Stroke width cơ bản - tăng lên một chút
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const double BaseStrokeWidth = 0.03;
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// Điều chỉnh theo ZoomScale
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double scaleFactor = 1.5 / ZoomScale;
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return BaseStrokeWidth * scaleFactor;
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}
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private double WorldToSvgX(double worldX)
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{
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return worldX;
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}
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private double WorldToSvgY(double worldY)
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{
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// Flip Y axis: World Y↑ → SVG Y↓
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return -worldY;
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}
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public void UpdatePath()
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{
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if (MonitorData is not null && MonitorData.EdgeStates.Length > 0)
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{
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var path = MonitorData.EdgeStates.Select(e => new EdgeStateDto
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{
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Degree = e.Degree,
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StartX = WorldToSvgX(e.StartX),
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StartY = WorldToSvgY(e.StartY),
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EndX = WorldToSvgX(e.EndX),
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EndY = WorldToSvgY(e.EndY),
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ControlPoint1X = WorldToSvgX(e.ControlPoint1X),
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ControlPoint1Y = WorldToSvgY(e.ControlPoint1Y),
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ControlPoint2X = WorldToSvgX(e.ControlPoint2X),
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ControlPoint2Y = WorldToSvgY(e.ControlPoint2Y),
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}).ToList();
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var inPath = $"M {path[0].StartX} {path[0].StartY}";
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for (int i = 0; i < path.Count; i++)
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{
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if (path[i].Degree == 1) inPath = $"{inPath} L {path[i].EndX} {path[i].EndY}";
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else if (path[i].Degree == 2) inPath = $"{inPath} Q {path[i].ControlPoint1X} {path[i].ControlPoint1Y} {path[i].EndX} {path[i].EndY}";
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else inPath = $"{inPath} C {path[i].ControlPoint1X} {path[i].ControlPoint1Y}, {path[i].ControlPoint2X} {path[i].ControlPoint2Y}, {path[i].EndX} {path[i].EndY}";
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}
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PathView = inPath;
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PathIsNot = "visible";
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}
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else
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{
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PathView = "";
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PathIsNot = "hidden";
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}
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StateHasChanged();
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}
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private async Task ZoomIn()
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{
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ZoomScale = Math.Min(MAX_ZOOM, ZoomScale * 1.15);
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await Task.CompletedTask;
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StateHasChanged();
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}
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private async Task ZoomOut()
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{
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ZoomScale = Math.Max(MIN_ZOOM, ZoomScale * 0.85);
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await Task.CompletedTask;
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StateHasChanged();
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}
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private async Task ResetView()
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{
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// Reset về zoom ban đầu (2.5x) khi có robot position
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if (MonitorData?.RobotPosition != null)
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{
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ZoomScale = 2.5;
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TranslateX = SvgWidth / 2 - MonitorData.RobotPosition.X * BASE_PIXELS_PER_METER * ZoomScale;
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TranslateY = SvgHeight / 2 + MonitorData.RobotPosition.Y * BASE_PIXELS_PER_METER * ZoomScale;
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}
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else
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{
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ZoomScale = 1.0;
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TranslateX = SvgWidth / 2;
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TranslateY = SvgHeight / 2;
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}
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await Task.CompletedTask;
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StateHasChanged();
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}
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private void HandleMouseDown(MouseEventArgs e)
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{
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IsPanning = true;
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PanStartX = e.ClientX - TranslateX;
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PanStartY = e.ClientY - TranslateY;
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}
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private void HandleMouseMove(MouseEventArgs e)
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{
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if (IsPanning)
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{
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TranslateX = e.ClientX - PanStartX;
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TranslateY = e.ClientY - PanStartY;
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StateHasChanged();
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}
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}
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private void HandleMouseUp(MouseEventArgs e)
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{
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IsPanning = false;
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}
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private void HandleMouseLeave(MouseEventArgs e)
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||||||
{
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IsPanning = false;
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}
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||||||
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private async Task HandleWheel(WheelEventArgs e)
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{
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const double zoomFactor = 0.1;
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double oldZoom = ZoomScale;
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|
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if (e.DeltaY < 0)
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ZoomScale = Math.Min(MAX_ZOOM, ZoomScale * (1 + zoomFactor));
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else
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ZoomScale = Math.Max(MIN_ZOOM, ZoomScale * (1 - zoomFactor));
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if (Math.Abs(ZoomScale - oldZoom) < 0.001) return;
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// Zoom at mouse position
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var svgRect = await JS.InvokeAsync<ElementBoundingRect>("getElementBoundingRect", SvgRef);
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double mouseX = e.ClientX - svgRect.X;
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double mouseY = e.ClientY - svgRect.Y;
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// Calculate world coordinates at mouse position
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double worldX = (mouseX - TranslateX) / (oldZoom * BASE_PIXELS_PER_METER);
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double worldY = -(mouseY - TranslateY) / (oldZoom * BASE_PIXELS_PER_METER);
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||||||
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||||||
// Adjust translate to keep world point under mouse
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|
||||||
TranslateX = mouseX - worldX * ZoomScale * BASE_PIXELS_PER_METER;
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||||||
TranslateY = mouseY + worldY * ZoomScale * BASE_PIXELS_PER_METER;
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||||||
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||||||
StateHasChanged();
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|
||||||
}
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||||||
}
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|
||||||
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|
||||||
|
|
@ -1,74 +0,0 @@
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||||||
.robot-monitor-container {
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|
||||||
display: flex;
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|
||||||
flex-direction: column;
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|
||||||
width: 100%;
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|
||||||
height: 100%;
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|
||||||
overflow: hidden;
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|
||||||
}
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|
||||||
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|
||||||
.toolbar {
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|
||||||
display: flex;
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|
||||||
align-items: center;
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|
||||||
padding: 8px 16px;
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|
||||||
background-color: #2d2d2d;
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|
||||||
border-bottom: 1px solid #444;
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|
||||||
gap: 8px;
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|
||||||
min-height: 48px;
|
|
||||||
}
|
|
||||||
|
|
||||||
.action-button {
|
|
||||||
padding: 8px;
|
|
||||||
border: none;
|
|
||||||
background: #3d3d3d;
|
|
||||||
border-radius: 4px;
|
|
||||||
cursor: pointer;
|
|
||||||
display: flex;
|
|
||||||
align-items: center;
|
|
||||||
justify-content: center;
|
|
||||||
color: #fff;
|
|
||||||
transition: background-color 0.2s;
|
|
||||||
}
|
|
||||||
|
|
||||||
.action-button:hover {
|
|
||||||
background: #4d4d4d;
|
|
||||||
}
|
|
||||||
|
|
||||||
.action-button:active {
|
|
||||||
background: #5d5d5d;
|
|
||||||
}
|
|
||||||
|
|
||||||
.icon-button {
|
|
||||||
font-size: 20px;
|
|
||||||
color: #fff;
|
|
||||||
}
|
|
||||||
|
|
||||||
.robot-position-info {
|
|
||||||
color: #fff;
|
|
||||||
font-size: 14px;
|
|
||||||
font-family: 'Segoe UI', Tahoma, Geneva, Verdana, sans-serif;
|
|
||||||
padding: 4px 12px;
|
|
||||||
background-color: #3d3d3d;
|
|
||||||
border-radius: 4px;
|
|
||||||
display: flex;
|
|
||||||
align-items: center;
|
|
||||||
gap: 8px;
|
|
||||||
}
|
|
||||||
|
|
||||||
.svg-container {
|
|
||||||
flex: 1;
|
|
||||||
overflow: hidden;
|
|
||||||
position: relative;
|
|
||||||
background-color: #fafafa;
|
|
||||||
}
|
|
||||||
|
|
||||||
.svg-container svg {
|
|
||||||
width: 100%;
|
|
||||||
height: 100%;
|
|
||||||
cursor: grab;
|
|
||||||
background-color: dimgray;
|
|
||||||
}
|
|
||||||
|
|
||||||
.svg-container svg:active {
|
|
||||||
cursor: grabbing;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
@ -1,41 +0,0 @@
|
||||||
@page "/robot-monitor"
|
|
||||||
@rendermode InteractiveWebAssemblyNoPrerender
|
|
||||||
@attribute [Authorize]
|
|
||||||
@inject RobotApp.Client.Services.RobotMonitorService MonitorService
|
|
||||||
@implements IAsyncDisposable
|
|
||||||
|
|
||||||
<PageTitle>Robot Monitor</PageTitle>
|
|
||||||
|
|
||||||
<div class="d-flex w-100 h-100 overflow-hidden">
|
|
||||||
<RobotApp.Client.Pages.Components.Monitor.RobotMonitorView @ref="@RobotMonitorViewRef"
|
|
||||||
MonitorData="@_monitorData"
|
|
||||||
IsConnected="@MonitorService.IsConnected" />
|
|
||||||
</div>
|
|
||||||
|
|
||||||
@code {
|
|
||||||
private RobotMonitorDto? _monitorData;
|
|
||||||
private RobotApp.Client.Pages.Components.Monitor.RobotMonitorView? RobotMonitorViewRef;
|
|
||||||
|
|
||||||
protected override async Task OnAfterRenderAsync(bool firstRender)
|
|
||||||
{
|
|
||||||
if (firstRender)
|
|
||||||
{
|
|
||||||
MonitorService.OnDataReceived += OnMonitorDataReceived;
|
|
||||||
await MonitorService.StartAsync();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
private void OnMonitorDataReceived(RobotMonitorDto data)
|
|
||||||
{
|
|
||||||
_monitorData = data;
|
|
||||||
RobotMonitorViewRef?.UpdatePath();
|
|
||||||
InvokeAsync(StateHasChanged);
|
|
||||||
}
|
|
||||||
|
|
||||||
public async ValueTask DisposeAsync()
|
|
||||||
{
|
|
||||||
MonitorService.OnDataReceived -= OnMonitorDataReceived;
|
|
||||||
await MonitorService.StopAsync();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
@ -10,7 +10,6 @@ builder.Services.AddCascadingAuthenticationState();
|
||||||
builder.Services.AddAuthenticationStateDeserialization();
|
builder.Services.AddAuthenticationStateDeserialization();
|
||||||
|
|
||||||
builder.Services.AddScoped(_ => new HttpClient() { BaseAddress = new Uri(builder.HostEnvironment.BaseAddress) });
|
builder.Services.AddScoped(_ => new HttpClient() { BaseAddress = new Uri(builder.HostEnvironment.BaseAddress) });
|
||||||
builder.Services.AddScoped<RobotApp.Client.Services.RobotMonitorService>();
|
|
||||||
builder.Services.AddMudServices(config =>
|
builder.Services.AddMudServices(config =>
|
||||||
{
|
{
|
||||||
config.SnackbarConfiguration.VisibleStateDuration = 2000;
|
config.SnackbarConfiguration.VisibleStateDuration = 2000;
|
||||||
|
|
|
||||||
|
|
@ -12,7 +12,6 @@
|
||||||
<PackageReference Include="Excubo.Blazor.Canvas" Version="3.2.91" />
|
<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" Version="9.0.1" />
|
||||||
<PackageReference Include="Microsoft.AspNetCore.Components.WebAssembly.Authentication" 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="MudBlazor" Version="8.12.0" />
|
||||||
</ItemGroup>
|
</ItemGroup>
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -1,52 +0,0 @@
|
||||||
using Microsoft.AspNetCore.Components;
|
|
||||||
using Microsoft.AspNetCore.SignalR.Client;
|
|
||||||
using RobotApp.Common.Shares.Dtos;
|
|
||||||
|
|
||||||
namespace RobotApp.Client.Services;
|
|
||||||
|
|
||||||
public class RobotMonitorService : IAsyncDisposable
|
|
||||||
{
|
|
||||||
private HubConnection? _hubConnection;
|
|
||||||
private readonly string _hubUrl;
|
|
||||||
|
|
||||||
public event Action<RobotMonitorDto>? OnDataReceived;
|
|
||||||
public bool IsConnected => _hubConnection?.State == HubConnectionState.Connected;
|
|
||||||
|
|
||||||
public RobotMonitorService(NavigationManager navigationManager)
|
|
||||||
{
|
|
||||||
var baseUrl = navigationManager.BaseUri.TrimEnd('/');
|
|
||||||
_hubUrl = $"{baseUrl}/hubs/robotMonitor";
|
|
||||||
}
|
|
||||||
|
|
||||||
public async Task StartAsync()
|
|
||||||
{
|
|
||||||
if (_hubConnection is not null) return;
|
|
||||||
|
|
||||||
_hubConnection = new HubConnectionBuilder()
|
|
||||||
.WithUrl(_hubUrl)
|
|
||||||
.WithAutomaticReconnect()
|
|
||||||
.Build();
|
|
||||||
|
|
||||||
_hubConnection.On<RobotMonitorDto>("ReceiveRobotMonitorData", data =>
|
|
||||||
{
|
|
||||||
OnDataReceived?.Invoke(data);
|
|
||||||
});
|
|
||||||
|
|
||||||
await _hubConnection.StartAsync();
|
|
||||||
}
|
|
||||||
|
|
||||||
public async Task StopAsync()
|
|
||||||
{
|
|
||||||
if (_hubConnection is null) return;
|
|
||||||
|
|
||||||
await _hubConnection.StopAsync();
|
|
||||||
await _hubConnection.DisposeAsync();
|
|
||||||
_hubConnection = null;
|
|
||||||
}
|
|
||||||
|
|
||||||
public async ValueTask DisposeAsync()
|
|
||||||
{
|
|
||||||
await StopAsync();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
@ -1,60 +0,0 @@
|
||||||
// Helper functions for Robot Monitor
|
|
||||||
|
|
||||||
window.robotMonitor = {
|
|
||||||
// Get element size
|
|
||||||
getElementSize: function (element) {
|
|
||||||
const rect = element.getBoundingClientRect();
|
|
||||||
return {
|
|
||||||
Width: rect.width,
|
|
||||||
Height: rect.height
|
|
||||||
};
|
|
||||||
},
|
|
||||||
|
|
||||||
// Get element bounding rect
|
|
||||||
getElementBoundingRect: function (element) {
|
|
||||||
const rect = element.getBoundingClientRect();
|
|
||||||
return {
|
|
||||||
X: rect.x,
|
|
||||||
Y: rect.y,
|
|
||||||
Width: rect.width,
|
|
||||||
Height: rect.height
|
|
||||||
};
|
|
||||||
},
|
|
||||||
|
|
||||||
// Convert trajectory to SVG path
|
|
||||||
trajectoryToPath: function (trajectory, startX, startY, endX, endY) {
|
|
||||||
if (!trajectory || !trajectory.ControlPoints || trajectory.ControlPoints.length === 0) {
|
|
||||||
// Linear path
|
|
||||||
return `M ${startX} ${startY} L ${endX} ${endY}`;
|
|
||||||
}
|
|
||||||
|
|
||||||
const degree = trajectory.Degree || 1;
|
|
||||||
const controlPoints = trajectory.ControlPoints;
|
|
||||||
|
|
||||||
if (degree === 1) {
|
|
||||||
// Linear
|
|
||||||
return `M ${startX} ${startY} L ${endX} ${endY}`;
|
|
||||||
} else if (degree === 2) {
|
|
||||||
// Quadratic bezier
|
|
||||||
if (controlPoints.length > 0) {
|
|
||||||
const cp1 = controlPoints[0];
|
|
||||||
return `M ${startX} ${startY} Q ${cp1.X} ${cp1.Y} ${endX} ${endY}`;
|
|
||||||
}
|
|
||||||
return `M ${startX} ${startY} L ${endX} ${endY}`;
|
|
||||||
} else if (degree === 3) {
|
|
||||||
// Cubic bezier
|
|
||||||
if (controlPoints.length >= 2) {
|
|
||||||
const cp1 = controlPoints[0];
|
|
||||||
const cp2 = controlPoints[1];
|
|
||||||
return `M ${startX} ${startY} C ${cp1.X} ${cp1.Y}, ${cp2.X} ${cp2.Y}, ${endX} ${endY}`;
|
|
||||||
} else if (controlPoints.length === 1) {
|
|
||||||
const cp1 = controlPoints[0];
|
|
||||||
return `M ${startX} ${startY} Q ${cp1.X} ${cp1.Y} ${endX} ${endY}`;
|
|
||||||
}
|
|
||||||
return `M ${startX} ${startY} L ${endX} ${endY}`;
|
|
||||||
}
|
|
||||||
|
|
||||||
return `M ${startX} ${startY} L ${endX} ${endY}`;
|
|
||||||
}
|
|
||||||
};
|
|
||||||
|
|
||||||
|
|
@ -1,31 +0,0 @@
|
||||||
using RobotApp.VDA5050.State;
|
|
||||||
|
|
||||||
namespace RobotApp.Common.Shares.Dtos;
|
|
||||||
|
|
||||||
public class RobotMonitorDto
|
|
||||||
{
|
|
||||||
public RobotPositionDto RobotPosition { get; set; } = new();
|
|
||||||
public EdgeStateDto[] EdgeStates { get; set; } = [];
|
|
||||||
public NodeState[] NodeStates { get; set; } = [];
|
|
||||||
public bool HasOrder { get; set; }
|
|
||||||
public DateTime Timestamp { get; set; } = DateTime.UtcNow;
|
|
||||||
}
|
|
||||||
|
|
||||||
public class RobotPositionDto
|
|
||||||
{
|
|
||||||
public double X { get; set; }
|
|
||||||
public double Y { get; set; }
|
|
||||||
public double Theta { get; set; }
|
|
||||||
}
|
|
||||||
public class EdgeStateDto()
|
|
||||||
{
|
|
||||||
public double StartX { get; set; }
|
|
||||||
public double StartY { get; set; }
|
|
||||||
public double EndX { get; set; }
|
|
||||||
public double EndY { get; set; }
|
|
||||||
public double ControlPoint1X { get; set; }
|
|
||||||
public double ControlPoint1Y { get; set; }
|
|
||||||
public double ControlPoint2X { get; set; }
|
|
||||||
public double ControlPoint2Y { get; set; }
|
|
||||||
public int Degree { get; set; }
|
|
||||||
}
|
|
||||||
|
|
@ -6,8 +6,4 @@
|
||||||
<Nullable>enable</Nullable>
|
<Nullable>enable</Nullable>
|
||||||
</PropertyGroup>
|
</PropertyGroup>
|
||||||
|
|
||||||
<ItemGroup>
|
|
||||||
<ProjectReference Include="..\RobotApp.VDA5050\RobotApp.VDA5050.csproj" />
|
|
||||||
</ItemGroup>
|
|
||||||
|
|
||||||
</Project>
|
</Project>
|
||||||
|
|
|
||||||
|
|
@ -1,12 +0,0 @@
|
||||||
using Microsoft.AspNetCore.SignalR;
|
|
||||||
|
|
||||||
namespace RobotApp.Hubs;
|
|
||||||
|
|
||||||
public class RobotMonitorHub : Hub
|
|
||||||
{
|
|
||||||
public async Task SendRobotMonitorData(RobotApp.Common.Shares.Dtos.RobotMonitorDto data)
|
|
||||||
{
|
|
||||||
await Clients.All.SendAsync("ReceiveRobotMonitorData", data);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
@ -1,5 +1,4 @@
|
||||||
using RobotApp.Common.Shares.Dtos;
|
using RobotApp.VDA5050.Order;
|
||||||
using RobotApp.VDA5050.Order;
|
|
||||||
using RobotApp.VDA5050.State;
|
using RobotApp.VDA5050.State;
|
||||||
|
|
||||||
namespace RobotApp.Interfaces;
|
namespace RobotApp.Interfaces;
|
||||||
|
|
@ -13,7 +12,6 @@ public interface IOrder
|
||||||
|
|
||||||
NodeState[] NodeStates { get; }
|
NodeState[] NodeStates { get; }
|
||||||
EdgeState[] EdgeStates { get; }
|
EdgeState[] EdgeStates { get; }
|
||||||
(NodeState[], EdgeStateDto[]) CurrentPath { get; }
|
|
||||||
|
|
||||||
void UpdateOrder(OrderMsg order);
|
void UpdateOrder(OrderMsg order);
|
||||||
void StopOrder();
|
void StopOrder();
|
||||||
|
|
|
||||||
|
|
@ -6,7 +6,6 @@ using NLog.Web;
|
||||||
using RobotApp.Components;
|
using RobotApp.Components;
|
||||||
using RobotApp.Components.Account;
|
using RobotApp.Components.Account;
|
||||||
using RobotApp.Data;
|
using RobotApp.Data;
|
||||||
using RobotApp.Hubs;
|
|
||||||
using RobotApp.Services;
|
using RobotApp.Services;
|
||||||
using RobotApp.Services.Robot.Simulation;
|
using RobotApp.Services.Robot.Simulation;
|
||||||
|
|
||||||
|
|
@ -50,16 +49,9 @@ builder.Services.AddSingleton<IEmailSender<ApplicationUser>, IdentityNoOpEmailSe
|
||||||
|
|
||||||
builder.Services.AddSingleton(typeof(RobotApp.Services.Logger<>));
|
builder.Services.AddSingleton(typeof(RobotApp.Services.Logger<>));
|
||||||
|
|
||||||
// Add SignalR
|
|
||||||
builder.Services.AddSignalR();
|
|
||||||
|
|
||||||
builder.Services.AddRobotSimulation();
|
builder.Services.AddRobotSimulation();
|
||||||
builder.Services.AddRobot();
|
builder.Services.AddRobot();
|
||||||
|
|
||||||
// Add RobotMonitorService
|
|
||||||
builder.Services.AddSingleton<RobotMonitorService>();
|
|
||||||
builder.Services.AddHostedService(sp => sp.GetRequiredService<RobotMonitorService>());
|
|
||||||
|
|
||||||
var app = builder.Build();
|
var app = builder.Build();
|
||||||
await app.Services.SeedApplicationDbAsync();
|
await app.Services.SeedApplicationDbAsync();
|
||||||
|
|
||||||
|
|
@ -87,9 +79,6 @@ app.MapStaticAssets();
|
||||||
// Map API Controllers
|
// Map API Controllers
|
||||||
app.MapControllers();
|
app.MapControllers();
|
||||||
|
|
||||||
// Map SignalR Hub
|
|
||||||
app.MapHub<RobotMonitorHub>("/hubs/robotMonitor");
|
|
||||||
|
|
||||||
app.MapRazorComponents<App>()
|
app.MapRazorComponents<App>()
|
||||||
.AddInteractiveServerRenderMode()
|
.AddInteractiveServerRenderMode()
|
||||||
.AddInteractiveWebAssemblyRenderMode()
|
.AddInteractiveWebAssemblyRenderMode()
|
||||||
|
|
|
||||||
|
|
@ -54,6 +54,8 @@ public partial class RobotController
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
else StateManager.TransitionTo(RootStateType.Auto);
|
else StateManager.TransitionTo(RootStateType.Auto);
|
||||||
|
|
||||||
|
ErrorManager.AddError(RobotErrors.Error2001());
|
||||||
}
|
}
|
||||||
catch (Exception ex)
|
catch (Exception ex)
|
||||||
{
|
{
|
||||||
|
|
|
||||||
|
|
@ -1,5 +1,4 @@
|
||||||
using MudBlazor;
|
using MudBlazor;
|
||||||
using RobotApp.Common.Shares.Dtos;
|
|
||||||
using RobotApp.Common.Shares.Enums;
|
using RobotApp.Common.Shares.Enums;
|
||||||
using RobotApp.Interfaces;
|
using RobotApp.Interfaces;
|
||||||
using RobotApp.Services.Exceptions;
|
using RobotApp.Services.Exceptions;
|
||||||
|
|
@ -28,7 +27,6 @@ public class RobotOrderController(INavigation NavigationManager,
|
||||||
public EdgeState[] EdgeStates { get; private set; } = [];
|
public EdgeState[] EdgeStates { get; private set; } = [];
|
||||||
public string LastNodeId => LastNode is null ? "" : LastNode.NodeId;
|
public string LastNodeId => LastNode is null ? "" : LastNode.NodeId;
|
||||||
public int LastNodeSequenceId => LastNode is null ? 0 : LastNode.SequenceId;
|
public int LastNodeSequenceId => LastNode is null ? 0 : LastNode.SequenceId;
|
||||||
public (NodeState[], EdgeStateDto[]) CurrentPath => GetCurrentPath();
|
|
||||||
|
|
||||||
private const int CycleHandlerMilliseconds = 100;
|
private const int CycleHandlerMilliseconds = 100;
|
||||||
private WatchTimer<RobotOrderController>? OrderTimer;
|
private WatchTimer<RobotOrderController>? OrderTimer;
|
||||||
|
|
@ -42,8 +40,6 @@ public class RobotOrderController(INavigation NavigationManager,
|
||||||
private VDA5050.Order.Edge[] Edges = [];
|
private VDA5050.Order.Edge[] Edges = [];
|
||||||
private Node? CurrentBaseNode;
|
private Node? CurrentBaseNode;
|
||||||
private Node? LastNode;
|
private Node? LastNode;
|
||||||
private Node[] NewOrderNodes = [];
|
|
||||||
private VDA5050.Order.Edge[] NewOrderEdges = [];
|
|
||||||
|
|
||||||
private readonly Lock LockObject = new();
|
private readonly Lock LockObject = new();
|
||||||
|
|
||||||
|
|
@ -227,7 +223,7 @@ public class RobotOrderController(INavigation NavigationManager,
|
||||||
SafetyManager.OnSafetySpeedChanged += OnSafetySpeedChanged;
|
SafetyManager.OnSafetySpeedChanged += OnSafetySpeedChanged;
|
||||||
|
|
||||||
if (OrderActions.TryGetValue(order.Nodes[^1].NodeId, out Action[]? finalactions) && finalactions is not null && finalactions.Length > 0) FinalAction = [.. finalactions];
|
if (OrderActions.TryGetValue(order.Nodes[^1].NodeId, out Action[]? finalactions) && finalactions is not null && finalactions.Length > 0) FinalAction = [.. finalactions];
|
||||||
|
|
||||||
if (OrderActions.Count > 0) ActionManager.AddOrderActions([.. OrderActions.Values.SelectMany(a => a)]);
|
if (OrderActions.Count > 0) ActionManager.AddOrderActions([.. OrderActions.Values.SelectMany(a => a)]);
|
||||||
|
|
||||||
if (order.Nodes.Length > 1 && order.Edges.Length >= 0)
|
if (order.Nodes.Length > 1 && order.Edges.Length >= 0)
|
||||||
|
|
@ -240,8 +236,6 @@ public class RobotOrderController(INavigation NavigationManager,
|
||||||
OrderUpdateId = order.OrderUpdateId;
|
OrderUpdateId = order.OrderUpdateId;
|
||||||
Nodes = order.Nodes;
|
Nodes = order.Nodes;
|
||||||
Edges = order.Edges;
|
Edges = order.Edges;
|
||||||
NewOrderNodes = order.Nodes;
|
|
||||||
NewOrderEdges = order.Edges;
|
|
||||||
if (CurrentBaseNode is not null && CurrentBaseNode.NodeId != Nodes[0].NodeId && Nodes.Length > 1) NavigationManager.UpdateOrder(CurrentBaseNode.NodeId);
|
if (CurrentBaseNode is not null && CurrentBaseNode.NodeId != Nodes[0].NodeId && Nodes.Length > 1) NavigationManager.UpdateOrder(CurrentBaseNode.NodeId);
|
||||||
if (StateManager.CurrentStateName != AutoStateType.Executing.ToString()) StateManager.TransitionTo(AutoStateType.Executing);
|
if (StateManager.CurrentStateName != AutoStateType.Executing.ToString()) StateManager.TransitionTo(AutoStateType.Executing);
|
||||||
UpdateState();
|
UpdateState();
|
||||||
|
|
@ -418,68 +412,4 @@ public class RobotOrderController(INavigation NavigationManager,
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
private EdgeStateDto[] SplitChecking(Node lastNode, Node nearLastNode, VDA5050.Order.Edge edge)
|
|
||||||
{
|
|
||||||
List<EdgeStateDto> pathEdges = [];
|
|
||||||
var splitStartPath = RobotPathPlanner.PathSplit([lastNode, nearLastNode], [edge], 0.1);
|
|
||||||
if (splitStartPath is not null && splitStartPath.Length > 0)
|
|
||||||
{
|
|
||||||
int index = 0;
|
|
||||||
double minDistance = double.MaxValue;
|
|
||||||
for (int i = 0; i < splitStartPath.Length; i++)
|
|
||||||
{
|
|
||||||
var distance = Math.Sqrt(Math.Pow(Localization.X - splitStartPath[i].NodePosition.X, 2) +
|
|
||||||
Math.Pow(Localization.Y - splitStartPath[i].NodePosition.Y, 2));
|
|
||||||
if (distance < minDistance)
|
|
||||||
{
|
|
||||||
minDistance = distance;
|
|
||||||
index = i;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
for (int i = index; i < splitStartPath.Length - 1; i++)
|
|
||||||
{
|
|
||||||
pathEdges.Add(new()
|
|
||||||
{
|
|
||||||
StartX = splitStartPath[i].NodePosition.X,
|
|
||||||
StartY = splitStartPath[i].NodePosition.Y,
|
|
||||||
EndX = splitStartPath[i + 1].NodePosition.X,
|
|
||||||
EndY = splitStartPath[i + 1].NodePosition.Y,
|
|
||||||
Degree = 1,
|
|
||||||
});
|
|
||||||
}
|
|
||||||
}
|
|
||||||
return [.. pathEdges];
|
|
||||||
}
|
|
||||||
|
|
||||||
private (NodeState[], EdgeStateDto[]) GetCurrentPath()
|
|
||||||
{
|
|
||||||
if (NodeStates.Length == 0 && EdgeStates.Length == 0) return ([], []);
|
|
||||||
|
|
||||||
List<EdgeStateDto> pathEdges = [];
|
|
||||||
var lastNodeIndex = Array.FindIndex(NewOrderNodes, n => n.NodeId == LastNodeId);
|
|
||||||
lastNodeIndex = lastNodeIndex != -1 ? lastNodeIndex : 0;
|
|
||||||
if (lastNodeIndex < NewOrderNodes.Length - 1) pathEdges = [.. SplitChecking(NewOrderNodes[lastNodeIndex], NewOrderNodes[lastNodeIndex + 1], NewOrderEdges[lastNodeIndex])];
|
|
||||||
if (lastNodeIndex < NewOrderNodes.Length - 2)
|
|
||||||
{
|
|
||||||
var nodes = NewOrderNodes.ToList().GetRange(lastNodeIndex + 1, NewOrderNodes.Length - lastNodeIndex - 1);
|
|
||||||
var edges = NewOrderEdges.ToList().GetRange(lastNodeIndex + 1, nodes.Count - 1);
|
|
||||||
for (int i = 0; i < nodes.Count - 1; i++)
|
|
||||||
{
|
|
||||||
pathEdges.Add(new()
|
|
||||||
{
|
|
||||||
StartX = nodes[i].NodePosition.X,
|
|
||||||
StartY = nodes[i].NodePosition.Y,
|
|
||||||
EndX = nodes[i + 1].NodePosition.X,
|
|
||||||
EndY = nodes[i + 1].NodePosition.Y,
|
|
||||||
ControlPoint1X = edges[i].Trajectory is not null && edges[i].Trajectory.ControlPoints.Length > 2 ? edges[i].Trajectory.ControlPoints[1].X : 0,
|
|
||||||
ControlPoint1Y = edges[i].Trajectory is not null && edges[i].Trajectory.ControlPoints.Length > 2 ? edges[i].Trajectory.ControlPoints[1].Y : 0,
|
|
||||||
ControlPoint2X = edges[i].Trajectory is not null && edges[i].Trajectory.ControlPoints.Length > 3 ? edges[i].Trajectory.ControlPoints[2].X : 0,
|
|
||||||
ControlPoint2Y = edges[i].Trajectory is not null && edges[i].Trajectory.ControlPoints.Length > 3 ? edges[i].Trajectory.ControlPoints[2].Y : 0,
|
|
||||||
Degree = edges[i].Trajectory.Degree,
|
|
||||||
});
|
|
||||||
}
|
|
||||||
}
|
|
||||||
return (NodeStates, [.. pathEdges]);
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -164,72 +164,4 @@ public class RobotPathPlanner(IConfiguration Configuration)
|
||||||
}
|
}
|
||||||
return [.. navigationNode];
|
return [.. navigationNode];
|
||||||
}
|
}
|
||||||
|
|
||||||
public static Node[] PathSplit(Node[] nodes, Edge[] edges, double resolutionSplit)
|
|
||||||
{
|
|
||||||
if (nodes.Length < 2) throw new PathPlannerException(RobotErrors.Error1002(nodes.Length));
|
|
||||||
if (edges.Length < 1) throw new PathPlannerException(RobotErrors.Error1003(edges.Length));
|
|
||||||
if (edges.Length != nodes.Length - 1) throw new PathPlannerException(RobotErrors.Error1004(nodes.Length, edges.Length));
|
|
||||||
|
|
||||||
List<Node> navigationNode = [new()
|
|
||||||
{
|
|
||||||
NodeId = nodes[0].NodeId,
|
|
||||||
NodePosition = new()
|
|
||||||
{
|
|
||||||
X = nodes[0].NodePosition.X,
|
|
||||||
Y = nodes[0].NodePosition.Y,
|
|
||||||
Theta = nodes[0].NodePosition.Theta,
|
|
||||||
}
|
|
||||||
}];
|
|
||||||
foreach (var edge in edges)
|
|
||||||
{
|
|
||||||
var startNode = nodes.FirstOrDefault(n => n.NodeId == edge.StartNodeId);
|
|
||||||
var endNode = nodes.FirstOrDefault(n => n.NodeId == edge.EndNodeId);
|
|
||||||
if (startNode is null) throw new PathPlannerException(RobotErrors.Error1014(edge.EdgeId, edge.StartNodeId));
|
|
||||||
if (endNode is null) throw new PathPlannerException(RobotErrors.Error1014(edge.EdgeId, edge.EndNodeId));
|
|
||||||
|
|
||||||
var EdgeCalculatorModel = new EdgeCalculatorModel()
|
|
||||||
{
|
|
||||||
X1 = startNode.NodePosition.X,
|
|
||||||
Y1 = startNode.NodePosition.Y,
|
|
||||||
X2 = endNode.NodePosition.X,
|
|
||||||
Y2 = endNode.NodePosition.Y,
|
|
||||||
ControlPoint1X = edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].X : 0,
|
|
||||||
ControlPoint1Y = edge.Trajectory.ControlPoints.Length > 2 ? edge.Trajectory.ControlPoints[1].Y : 0,
|
|
||||||
ControlPoint2X = edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].X : 0,
|
|
||||||
ControlPoint2Y = edge.Trajectory.ControlPoints.Length > 3 ? edge.Trajectory.ControlPoints[2].Y : 0,
|
|
||||||
TrajectoryDegree = edge.Trajectory.Degree == 1 ? TrajectoryDegree.One : edge.Trajectory.Degree == 2 ? TrajectoryDegree.Two : TrajectoryDegree.Three
|
|
||||||
};
|
|
||||||
|
|
||||||
double length = EdgeCalculatorModel.GetEdgeLength();
|
|
||||||
if (length <= 0) continue;
|
|
||||||
double step = resolutionSplit / length;
|
|
||||||
|
|
||||||
for (double t = step; t <= 1 - step; t += step)
|
|
||||||
{
|
|
||||||
(double x, double y) = EdgeCalculatorModel.Curve(t);
|
|
||||||
navigationNode.Add(new()
|
|
||||||
{
|
|
||||||
NodeId = string.Empty,
|
|
||||||
NodePosition = new()
|
|
||||||
{
|
|
||||||
X = x,
|
|
||||||
Y = y,
|
|
||||||
Theta = startNode.NodePosition.Theta,
|
|
||||||
}
|
|
||||||
});
|
|
||||||
}
|
|
||||||
navigationNode.Add(new()
|
|
||||||
{
|
|
||||||
NodeId = endNode.NodeId,
|
|
||||||
NodePosition = new()
|
|
||||||
{
|
|
||||||
X = endNode.NodePosition.X,
|
|
||||||
Y = endNode.NodePosition.Y,
|
|
||||||
Theta = endNode.NodePosition.Theta,
|
|
||||||
}
|
|
||||||
});
|
|
||||||
}
|
|
||||||
return [.. navigationNode];
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -1,84 +0,0 @@
|
||||||
using Microsoft.AspNetCore.SignalR;
|
|
||||||
using RobotApp.Common.Shares.Dtos;
|
|
||||||
using RobotApp.Hubs;
|
|
||||||
using RobotApp.Interfaces;
|
|
||||||
using RobotApp.VDA5050.State;
|
|
||||||
|
|
||||||
namespace RobotApp.Services;
|
|
||||||
|
|
||||||
public class RobotMonitorService(IHubContext<RobotMonitorHub> HubContext,
|
|
||||||
IOrder OrderManager,
|
|
||||||
ILocalization Localization,
|
|
||||||
Logger<RobotMonitorService> Logger) : BackgroundService
|
|
||||||
{
|
|
||||||
private WatchTimerAsync<RobotMonitorService>? UpdateTimer;
|
|
||||||
private const int UpdateInterval = 200; // 200ms
|
|
||||||
|
|
||||||
private async Task UpdateHandler()
|
|
||||||
{
|
|
||||||
try
|
|
||||||
{
|
|
||||||
// Lấy vị trí robot từ ILocalization (giống như RobotVisualization)
|
|
||||||
var robotPosition = new RobotPositionDto
|
|
||||||
{
|
|
||||||
X = Localization.X,
|
|
||||||
Y = Localization.Y,
|
|
||||||
Theta = Localization.Theta
|
|
||||||
};
|
|
||||||
|
|
||||||
// Kiểm tra có order không
|
|
||||||
bool hasOrder = OrderManager.NodeStates.Length > 0 || OrderManager.EdgeStates.Length > 0;
|
|
||||||
|
|
||||||
// Lấy CurrentPath từ IOrder
|
|
||||||
(NodeState[] nodeStates, EdgeStateDto[] edgeStates) = OrderManager.CurrentPath;
|
|
||||||
// Tạo DTO
|
|
||||||
var monitorDto = new RobotMonitorDto
|
|
||||||
{
|
|
||||||
RobotPosition = robotPosition,
|
|
||||||
NodeStates = nodeStates,
|
|
||||||
EdgeStates = [.. edgeStates],
|
|
||||||
HasOrder = hasOrder,
|
|
||||||
Timestamp = DateTime.UtcNow
|
|
||||||
};
|
|
||||||
|
|
||||||
// Broadcast qua SignalR Hub
|
|
||||||
await HubContext.Clients.All.SendAsync("ReceiveRobotMonitorData", monitorDto);
|
|
||||||
}
|
|
||||||
catch (Exception ex)
|
|
||||||
{
|
|
||||||
Logger.Warning($"Lỗi khi broadcast robot monitor data: {ex.Message}");
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
protected override async Task ExecuteAsync(CancellationToken stoppingToken)
|
|
||||||
{
|
|
||||||
await Task.Yield();
|
|
||||||
|
|
||||||
// Đợi robot sẵn sàng
|
|
||||||
while (!stoppingToken.IsCancellationRequested)
|
|
||||||
{
|
|
||||||
try
|
|
||||||
{
|
|
||||||
// Kiểm tra xem Localization có sẵn sàng không
|
|
||||||
if (Localization.IsReady) break;
|
|
||||||
}
|
|
||||||
catch { }
|
|
||||||
|
|
||||||
await Task.Delay(1000, stoppingToken);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (!stoppingToken.IsCancellationRequested)
|
|
||||||
{
|
|
||||||
UpdateTimer = new(UpdateInterval, UpdateHandler, Logger);
|
|
||||||
UpdateTimer.Start();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
public override Task StopAsync(CancellationToken cancellationToken)
|
|
||||||
{
|
|
||||||
UpdateTimer?.Dispose();
|
|
||||||
UpdateTimer = null;
|
|
||||||
return base.StopAsync(cancellationToken);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
Loading…
Reference in New Issue
Block a user