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8
RobotApp.Client/ClientRenderMode.cs
Normal file
8
RobotApp.Client/ClientRenderMode.cs
Normal file
@@ -0,0 +1,8 @@
|
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using Microsoft.AspNetCore.Components.Web;
|
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namespace RobotApp.Client;
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public class ClientRenderMode
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{
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public static InteractiveWebAssemblyRenderMode InteractiveWebAssemblyNoPrerender { get; } = new(prerender: false);
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}
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@@ -1,23 +0,0 @@
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@inherits LayoutComponentBase
|
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<div class="page">
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<div class="sidebar">
|
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<NavMenu />
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</div>
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|
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<main>
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<div class="top-row px-4">
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<a href="https://learn.microsoft.com/aspnet/core/" target="_blank">About</a>
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</div>
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|
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<article class="content px-4">
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@Body
|
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</article>
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</main>
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||||
</div>
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||||
|
||||
<div id="blazor-error-ui" data-nosnippet>
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An unhandled error has occurred.
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<a href="." class="reload">Reload</a>
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<span class="dismiss">🗙</span>
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</div>
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@@ -1,98 +0,0 @@
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.page {
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position: relative;
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display: flex;
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flex-direction: column;
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}
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main {
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flex: 1;
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}
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.sidebar {
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background-image: linear-gradient(180deg, rgb(5, 39, 103) 0%, #3a0647 70%);
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}
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|
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.top-row {
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background-color: #f7f7f7;
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border-bottom: 1px solid #d6d5d5;
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justify-content: flex-end;
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height: 3.5rem;
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display: flex;
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align-items: center;
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}
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|
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.top-row ::deep a, .top-row ::deep .btn-link {
|
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white-space: nowrap;
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margin-left: 1.5rem;
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text-decoration: none;
|
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}
|
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|
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.top-row ::deep a:hover, .top-row ::deep .btn-link:hover {
|
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text-decoration: underline;
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}
|
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|
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.top-row ::deep a:first-child {
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overflow: hidden;
|
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text-overflow: ellipsis;
|
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}
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|
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@media (max-width: 640.98px) {
|
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.top-row {
|
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justify-content: space-between;
|
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}
|
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|
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.top-row ::deep a, .top-row ::deep .btn-link {
|
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margin-left: 0;
|
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}
|
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}
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|
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@media (min-width: 641px) {
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.page {
|
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flex-direction: row;
|
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}
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|
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.sidebar {
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width: 250px;
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height: 100vh;
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position: sticky;
|
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top: 0;
|
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}
|
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|
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.top-row {
|
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position: sticky;
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top: 0;
|
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z-index: 1;
|
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}
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|
||||
.top-row.auth ::deep a:first-child {
|
||||
flex: 1;
|
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text-align: right;
|
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width: 0;
|
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}
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|
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.top-row, article {
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padding-left: 2rem !important;
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padding-right: 1.5rem !important;
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}
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}
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|
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#blazor-error-ui {
|
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color-scheme: light only;
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background: lightyellow;
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bottom: 0;
|
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box-shadow: 0 -1px 2px rgba(0, 0, 0, 0.2);
|
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box-sizing: border-box;
|
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display: none;
|
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left: 0;
|
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padding: 0.6rem 1.25rem 0.7rem 1.25rem;
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position: fixed;
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||||
width: 100%;
|
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z-index: 1000;
|
||||
}
|
||||
|
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#blazor-error-ui .dismiss {
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cursor: pointer;
|
||||
position: absolute;
|
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right: 0.75rem;
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top: 0.5rem;
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}
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@@ -1,92 +0,0 @@
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@implements IDisposable
|
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|
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@inject NavigationManager NavigationManager
|
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|
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<div class="top-row ps-3 navbar navbar-dark">
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<div class="container-fluid">
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<a class="navbar-brand" href="">RobotApp</a>
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</div>
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</div>
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<input type="checkbox" title="Navigation menu" class="navbar-toggler" />
|
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|
||||
<div class="nav-scrollable" onclick="document.querySelector('.navbar-toggler').click()">
|
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<nav class="nav flex-column">
|
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<div class="nav-item px-3">
|
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<NavLink class="nav-link" href="" Match="NavLinkMatch.All">
|
||||
<span class="bi bi-house-door-fill-nav-menu" aria-hidden="true"></span> Home
|
||||
</NavLink>
|
||||
</div>
|
||||
|
||||
<div class="nav-item px-3">
|
||||
<NavLink class="nav-link" href="counter">
|
||||
<span class="bi bi-plus-square-fill-nav-menu" aria-hidden="true"></span> Counter
|
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</NavLink>
|
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</div>
|
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|
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<div class="nav-item px-3">
|
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<NavLink class="nav-link" href="weather">
|
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<span class="bi bi-list-nested-nav-menu" aria-hidden="true"></span> Weather
|
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</NavLink>
|
||||
</div>
|
||||
|
||||
<div class="nav-item px-3">
|
||||
<NavLink class="nav-link" href="auth">
|
||||
<span class="bi bi-lock-nav-menu" aria-hidden="true"></span> Auth Required
|
||||
</NavLink>
|
||||
</div>
|
||||
|
||||
<AuthorizeView>
|
||||
<Authorized>
|
||||
<div class="nav-item px-3">
|
||||
<NavLink class="nav-link" href="Account/Manage">
|
||||
<span class="bi bi-person-fill-nav-menu" aria-hidden="true"></span> @context.User.Identity?.Name
|
||||
</NavLink>
|
||||
</div>
|
||||
<div class="nav-item px-3">
|
||||
<form action="Account/Logout" method="post">
|
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<AntiforgeryToken />
|
||||
<input type="hidden" name="ReturnUrl" value="@currentUrl" />
|
||||
<button type="submit" class="nav-link">
|
||||
<span class="bi bi-arrow-bar-left-nav-menu" aria-hidden="true"></span> Logout
|
||||
</button>
|
||||
</form>
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||||
</div>
|
||||
</Authorized>
|
||||
<NotAuthorized>
|
||||
<div class="nav-item px-3">
|
||||
<NavLink class="nav-link" href="Account/Register">
|
||||
<span class="bi bi-person-nav-menu" aria-hidden="true"></span> Register
|
||||
</NavLink>
|
||||
</div>
|
||||
<div class="nav-item px-3">
|
||||
<NavLink class="nav-link" href="Account/Login">
|
||||
<span class="bi bi-person-badge-nav-menu" aria-hidden="true"></span> Login
|
||||
</NavLink>
|
||||
</div>
|
||||
</NotAuthorized>
|
||||
</AuthorizeView>
|
||||
</nav>
|
||||
</div>
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|
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@code {
|
||||
private string? currentUrl;
|
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|
||||
protected override void OnInitialized()
|
||||
{
|
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currentUrl = NavigationManager.ToBaseRelativePath(NavigationManager.Uri);
|
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NavigationManager.LocationChanged += OnLocationChanged;
|
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}
|
||||
|
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private void OnLocationChanged(object? sender, LocationChangedEventArgs e)
|
||||
{
|
||||
currentUrl = NavigationManager.ToBaseRelativePath(e.Location);
|
||||
StateHasChanged();
|
||||
}
|
||||
|
||||
public void Dispose()
|
||||
{
|
||||
NavigationManager.LocationChanged -= OnLocationChanged;
|
||||
}
|
||||
}
|
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|
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@@ -1,125 +0,0 @@
|
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.navbar-toggler {
|
||||
appearance: none;
|
||||
cursor: pointer;
|
||||
width: 3.5rem;
|
||||
height: 2.5rem;
|
||||
color: white;
|
||||
position: absolute;
|
||||
top: 0.5rem;
|
||||
right: 1rem;
|
||||
border: 1px solid rgba(255, 255, 255, 0.1);
|
||||
background: url("data:image/svg+xml,%3csvg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 30 30'%3e%3cpath stroke='rgba%28255, 255, 255, 0.55%29' stroke-linecap='round' stroke-miterlimit='10' stroke-width='2' d='M4 7h22M4 15h22M4 23h22'/%3e%3c/svg%3e") no-repeat center/1.75rem rgba(255, 255, 255, 0.1);
|
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}
|
||||
|
||||
.navbar-toggler:checked {
|
||||
background-color: rgba(255, 255, 255, 0.5);
|
||||
}
|
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|
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.top-row {
|
||||
min-height: 3.5rem;
|
||||
background-color: rgba(0,0,0,0.4);
|
||||
}
|
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|
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.navbar-brand {
|
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font-size: 1.1rem;
|
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}
|
||||
|
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.bi {
|
||||
display: inline-block;
|
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position: relative;
|
||||
width: 1.25rem;
|
||||
height: 1.25rem;
|
||||
margin-right: 0.75rem;
|
||||
top: -1px;
|
||||
background-size: cover;
|
||||
}
|
||||
|
||||
.bi-house-door-fill-nav-menu {
|
||||
background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-house-door-fill' viewBox='0 0 16 16'%3E%3Cpath d='M6.5 14.5v-3.505c0-.245.25-.495.5-.495h2c.25 0 .5.25.5.5v3.5a.5.5 0 0 0 .5.5h4a.5.5 0 0 0 .5-.5v-7a.5.5 0 0 0-.146-.354L13 5.793V2.5a.5.5 0 0 0-.5-.5h-1a.5.5 0 0 0-.5.5v1.293L8.354 1.146a.5.5 0 0 0-.708 0l-6 6A.5.5 0 0 0 1.5 7.5v7a.5.5 0 0 0 .5.5h4a.5.5 0 0 0 .5-.5Z'/%3E%3C/svg%3E");
|
||||
}
|
||||
|
||||
.bi-plus-square-fill-nav-menu {
|
||||
background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-plus-square-fill' viewBox='0 0 16 16'%3E%3Cpath d='M2 0a2 2 0 0 0-2 2v12a2 2 0 0 0 2 2h12a2 2 0 0 0 2-2V2a2 2 0 0 0-2-2H2zm6.5 4.5v3h3a.5.5 0 0 1 0 1h-3v3a.5.5 0 0 1-1 0v-3h-3a.5.5 0 0 1 0-1h3v-3a.5.5 0 0 1 1 0z'/%3E%3C/svg%3E");
|
||||
}
|
||||
|
||||
.bi-list-nested-nav-menu {
|
||||
background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-list-nested' viewBox='0 0 16 16'%3E%3Cpath fill-rule='evenodd' d='M4.5 11.5A.5.5 0 0 1 5 11h10a.5.5 0 0 1 0 1H5a.5.5 0 0 1-.5-.5zm-2-4A.5.5 0 0 1 3 7h10a.5.5 0 0 1 0 1H3a.5.5 0 0 1-.5-.5zm-2-4A.5.5 0 0 1 1 3h10a.5.5 0 0 1 0 1H1a.5.5 0 0 1-.5-.5z'/%3E%3C/svg%3E");
|
||||
}
|
||||
|
||||
.bi-lock-nav-menu {
|
||||
background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-list-nested' viewBox='0 0 16 16'%3E%3Cpath d='M8 1a2 2 0 0 1 2 2v4H6V3a2 2 0 0 1 2-2zm3 6V3a3 3 0 0 0-6 0v4a2 2 0 0 0-2 2v5a2 2 0 0 0 2 2h6a2 2 0 0 0 2-2V9a2 2 0 0 0-2-2zM5 8h6a1 1 0 0 1 1 1v5a1 1 0 0 1-1 1H5a1 1 0 0 1-1-1V9a1 1 0 0 1 1-1z'/%3E%3C/svg%3E");
|
||||
}
|
||||
|
||||
.bi-person-nav-menu {
|
||||
background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-person' viewBox='0 0 16 16'%3E%3Cpath d='M8 8a3 3 0 1 0 0-6 3 3 0 0 0 0 6Zm2-3a2 2 0 1 1-4 0 2 2 0 0 1 4 0Zm4 8c0 1-1 1-1 1H3s-1 0-1-1 1-4 6-4 6 3 6 4Zm-1-.004c-.001-.246-.154-.986-.832-1.664C11.516 10.68 10.289 10 8 10c-2.29 0-3.516.68-4.168 1.332-.678.678-.83 1.418-.832 1.664h10Z'/%3E%3C/svg%3E");
|
||||
}
|
||||
|
||||
.bi-person-badge-nav-menu {
|
||||
background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-person-badge' viewBox='0 0 16 16'%3E%3Cpath d='M6.5 2a.5.5 0 0 0 0 1h3a.5.5 0 0 0 0-1h-3zM11 8a3 3 0 1 1-6 0 3 3 0 0 1 6 0z'/%3E%3Cpath d='M4.5 0A2.5 2.5 0 0 0 2 2.5V14a2 2 0 0 0 2 2h8a2 2 0 0 0 2-2V2.5A2.5 2.5 0 0 0 11.5 0h-7zM3 2.5A1.5 1.5 0 0 1 4.5 1h7A1.5 1.5 0 0 1 13 2.5v10.795a4.2 4.2 0 0 0-.776-.492C11.392 12.387 10.063 12 8 12s-3.392.387-4.224.803a4.2 4.2 0 0 0-.776.492V2.5z'/%3E%3C/svg%3E");
|
||||
}
|
||||
|
||||
.bi-person-fill-nav-menu {
|
||||
background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-person-fill' viewBox='0 0 16 16'%3E%3Cpath d='M3 14s-1 0-1-1 1-4 6-4 6 3 6 4-1 1-1 1H3Zm5-6a3 3 0 1 0 0-6 3 3 0 0 0 0 6Z'/%3E%3C/svg%3E");
|
||||
}
|
||||
|
||||
.bi-arrow-bar-left-nav-menu {
|
||||
background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-arrow-bar-left' viewBox='0 0 16 16'%3E%3Cpath d='M12.5 15a.5.5 0 0 1-.5-.5v-13a.5.5 0 0 1 1 0v13a.5.5 0 0 1-.5.5ZM10 8a.5.5 0 0 1-.5.5H3.707l2.147 2.146a.5.5 0 0 1-.708.708l-3-3a.5.5 0 0 1 0-.708l3-3a.5.5 0 1 1 .708.708L3.707 7.5H9.5a.5.5 0 0 1 .5.5Z'/%3E%3C/svg%3E");
|
||||
}
|
||||
|
||||
.nav-item {
|
||||
font-size: 0.9rem;
|
||||
padding-bottom: 0.5rem;
|
||||
}
|
||||
|
||||
.nav-item:first-of-type {
|
||||
padding-top: 1rem;
|
||||
}
|
||||
|
||||
.nav-item:last-of-type {
|
||||
padding-bottom: 1rem;
|
||||
}
|
||||
|
||||
.nav-item ::deep .nav-link {
|
||||
color: #d7d7d7;
|
||||
background: none;
|
||||
border: none;
|
||||
border-radius: 4px;
|
||||
height: 3rem;
|
||||
display: flex;
|
||||
align-items: center;
|
||||
line-height: 3rem;
|
||||
width: 100%;
|
||||
}
|
||||
|
||||
.nav-item ::deep a.active {
|
||||
background-color: rgba(255,255,255,0.37);
|
||||
color: white;
|
||||
}
|
||||
|
||||
.nav-item ::deep .nav-link:hover {
|
||||
background-color: rgba(255,255,255,0.1);
|
||||
color: white;
|
||||
}
|
||||
|
||||
.nav-scrollable {
|
||||
display: none;
|
||||
}
|
||||
|
||||
.navbar-toggler:checked ~ .nav-scrollable {
|
||||
display: block;
|
||||
}
|
||||
|
||||
@media (min-width: 641px) {
|
||||
.navbar-toggler {
|
||||
display: none;
|
||||
}
|
||||
|
||||
.nav-scrollable {
|
||||
/* Never collapse the sidebar for wide screens */
|
||||
display: block;
|
||||
|
||||
/* Allow sidebar to scroll for tall menus */
|
||||
height: calc(100vh - 3.5rem);
|
||||
overflow-y: auto;
|
||||
}
|
||||
}
|
||||
85
RobotApp.Client/MainLayout.razor
Normal file
85
RobotApp.Client/MainLayout.razor
Normal file
@@ -0,0 +1,85 @@
|
||||
@inherits LayoutComponentBase
|
||||
|
||||
<script>
|
||||
function toggleSidebar() {
|
||||
let sidebar = document.querySelector(".sidebar");
|
||||
sidebar.classList.toggle("collapsed");
|
||||
}
|
||||
</script>
|
||||
|
||||
<div class="app-shell">
|
||||
<div class="sidebar collapsed">
|
||||
<div class="flex-grow-1 d-flex flex-column">
|
||||
<div class="title">
|
||||
<img src="images/logoLight.svg" alt="PhenikaaX" style="height: 35px;" onclick="toggleSidebar()" />
|
||||
<button class="btn button" onclick="toggleSidebar()">
|
||||
<i class="mdi mdi-menu" style="color: white; font-size: 35px"></i>
|
||||
</button>
|
||||
</div>
|
||||
<hr />
|
||||
@foreach (var nav in Navs)
|
||||
{
|
||||
<div class="nav-item px-3">
|
||||
<NavLink class="nav-link" href="@nav.Path" Match="@nav.Match">
|
||||
<div class="d-flex align-items-center">
|
||||
<div class="nav-icon">
|
||||
<span class="mdi @nav.Icon mdi-36px" aria-hidden="true"></span>
|
||||
</div>
|
||||
<span class="nav-label">@nav.Label</span>
|
||||
</div>
|
||||
</NavLink>
|
||||
</div>
|
||||
}
|
||||
</div>
|
||||
<div class="user">
|
||||
<div>
|
||||
<span class="mdi mdi-account mdi-36px text-white "></span>
|
||||
</div>
|
||||
<AuthorizeView>
|
||||
<Authorized>
|
||||
<div class="nav-label">
|
||||
<MudText Class="text-white" Typo="Typo.subtitle1">@context.User.Identity?.Name</MudText>
|
||||
</div>
|
||||
</Authorized>
|
||||
</AuthorizeView>
|
||||
<MudSpacer />
|
||||
<form action="Account/Logout" method="post">
|
||||
<AntiforgeryToken />
|
||||
<input type="hidden" name="ReturnUrl" value="" />
|
||||
<button class="btn button">
|
||||
<i class="mdi mdi-logout" style="color: white; font-size: 35px"></i>
|
||||
</button>
|
||||
@* <MudIconButton Class="text-white" ButtonType="@ButtonType.Submit" Icon="@Icons.Material.Filled.Logout" /> *@
|
||||
</form>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<main class="page">
|
||||
@Body
|
||||
</main>
|
||||
</div>
|
||||
|
||||
@code{
|
||||
public class NavModel
|
||||
{
|
||||
public string Icon { get; set; } = "";
|
||||
public string Path { get; set; } = "";
|
||||
public string Label { get; set; } = "";
|
||||
public NavLinkMatch Match { get; set; }
|
||||
}
|
||||
|
||||
public NavModel[] Navs = [
|
||||
new(){Icon = "mdi-view-dashboard", Path="/", Label = "Dashboard", Match = NavLinkMatch.All},
|
||||
new(){Icon = "mdi-map-legend", Path="/maps-manager", Label = "Mapping", Match = NavLinkMatch.All},
|
||||
];
|
||||
|
||||
private bool collapseNavMenu = true;
|
||||
|
||||
private string? NavMenuCssClass => collapseNavMenu ? "collapse" : null;
|
||||
|
||||
private void ToggleNavMenu()
|
||||
{
|
||||
collapseNavMenu = !collapseNavMenu;
|
||||
}
|
||||
}
|
||||
|
||||
134
RobotApp.Client/MainLayout.razor.css
Normal file
134
RobotApp.Client/MainLayout.razor.css
Normal file
@@ -0,0 +1,134 @@
|
||||
.app-shell {
|
||||
display: flex;
|
||||
min-height: 100vh;
|
||||
min-width: 100vw;
|
||||
width: 100vw;
|
||||
height: 100vh;
|
||||
overflow: hidden;
|
||||
flex-direction: row;
|
||||
}
|
||||
|
||||
.page {
|
||||
flex: 1 1 auto;
|
||||
min-width: 0;
|
||||
display: flex;
|
||||
overflow: hidden;
|
||||
}
|
||||
|
||||
|
||||
|
||||
.sidebar {
|
||||
background-image: linear-gradient(180deg, rgb(5, 39, 103) 0%, #3a0647 70%);
|
||||
height: 100vh;
|
||||
width: 250px;
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
transition: width 0.3s;
|
||||
}
|
||||
|
||||
.sidebar.hidden {
|
||||
display: none;
|
||||
}
|
||||
|
||||
.sidebar .title {
|
||||
margin: 8px 4px 0 4px;
|
||||
flex-direction: row;
|
||||
justify-content: center;
|
||||
align-items: center;
|
||||
display: flex;
|
||||
}
|
||||
|
||||
.sidebar .title button {
|
||||
height: 35px;
|
||||
width: 35px;
|
||||
justify-content: center;
|
||||
align-items: center;
|
||||
overflow: hidden;
|
||||
}
|
||||
|
||||
.sidebar:not(.collapsed) .title button {
|
||||
display: none;
|
||||
}
|
||||
|
||||
.sidebar.collapsed {
|
||||
width: 74px;
|
||||
}
|
||||
|
||||
.sidebar.collapsed .title {
|
||||
justify-content: center;
|
||||
}
|
||||
|
||||
.sidebar.collapsed .title img {
|
||||
display: none;
|
||||
}
|
||||
|
||||
.sidebar.collapsed .title button {
|
||||
display: flex;
|
||||
}
|
||||
|
||||
.sidebar.collapsed .nav-label {
|
||||
display: none;
|
||||
}
|
||||
|
||||
.sidebar .title .button:hover {
|
||||
background-color: rgb(5, 39, 80);
|
||||
}
|
||||
|
||||
.sidebar .user {
|
||||
display: flex;
|
||||
flex-direction: row;
|
||||
align-items: center;
|
||||
}
|
||||
|
||||
.sidebar.collapsed .user > div {
|
||||
display: none !important;
|
||||
}
|
||||
|
||||
.sidebar.collapsed .user .nav-label {
|
||||
display: none !important;
|
||||
}
|
||||
|
||||
.nav-item {
|
||||
font-size: 0.9rem;
|
||||
padding-bottom: 0.5rem;
|
||||
overflow: hidden;
|
||||
}
|
||||
|
||||
.nav-item .nav-label {
|
||||
font-size: 18px;
|
||||
text-wrap: nowrap;
|
||||
}
|
||||
|
||||
.nav-item .nav-icon {
|
||||
height: 48px;
|
||||
width: 48px;
|
||||
display: flex;
|
||||
align-items: center;
|
||||
justify-content: center;
|
||||
overflow: hidden;
|
||||
}
|
||||
|
||||
.nav-item:first-of-type {
|
||||
padding-top: 1rem;
|
||||
}
|
||||
|
||||
.nav-item:last-of-type {
|
||||
padding-bottom: 1rem;
|
||||
}
|
||||
|
||||
.nav-item ::deep a {
|
||||
color: #d7d7d7;
|
||||
border-radius: 4px;
|
||||
height: 48px;
|
||||
align-items: center;
|
||||
}
|
||||
|
||||
.nav-item ::deep a.active {
|
||||
background-color: rgba(255,255,255,0.37);
|
||||
color: white;
|
||||
}
|
||||
|
||||
.nav-item ::deep a:hover {
|
||||
background-color: rgba(255,255,255,0.1);
|
||||
color: white;
|
||||
}
|
||||
12
RobotApp.Client/Pages/AssemblyLayout.razor
Normal file
12
RobotApp.Client/Pages/AssemblyLayout.razor
Normal file
@@ -0,0 +1,12 @@
|
||||
@inherits LayoutComponentBase
|
||||
@layout RobotApp.Client.MainLayout
|
||||
|
||||
<MudThemeProvider @rendermode="InteractiveWebAssemblyNoPrerender" IsDarkMode/>
|
||||
<MudPopoverProvider @rendermode="InteractiveWebAssemblyNoPrerender" />
|
||||
<MudDialogProvider @rendermode="InteractiveWebAssemblyNoPrerender" MaxWidth="MaxWidth.ExtraLarge"
|
||||
CloseButton="false"
|
||||
BackdropClick="false"
|
||||
Position="DialogPosition.Center" />
|
||||
<MudSnackbarProvider @rendermode="InteractiveWebAssemblyNoPrerender" />
|
||||
|
||||
@Body
|
||||
@@ -1,13 +0,0 @@
|
||||
@page "/auth"
|
||||
|
||||
@using Microsoft.AspNetCore.Authorization
|
||||
|
||||
@attribute [Authorize]
|
||||
|
||||
<PageTitle>Auth</PageTitle>
|
||||
|
||||
<h1>You are authenticated</h1>
|
||||
|
||||
<AuthorizeView>
|
||||
Hello @context.User.Identity?.Name!
|
||||
</AuthorizeView>
|
||||
136
RobotApp.Client/Pages/Components/Mapping/MapTable.razor
Normal file
136
RobotApp.Client/Pages/Components/Mapping/MapTable.razor
Normal file
@@ -0,0 +1,136 @@
|
||||
@inject HttpClient Http
|
||||
@inject IJSRuntime JS
|
||||
|
||||
<div @ref="ViewContainerRef" class="w-100 h-100">
|
||||
<MudTable Class="h-100 w-100" @ref="Table" Items="@MapsShow" T="MapDto" Dense Hover ReadOnly FixedHeader RowClass="cursor-pointer" Striped Elevation="10"
|
||||
ServerData="ReloadData" Loading=@IsLoading Height="@($"{TableHeight}px")" HorizontalScrollbar=true>
|
||||
<ToolBarContent>
|
||||
<h4>Maps</h4>
|
||||
</ToolBarContent>
|
||||
<HeaderContent>
|
||||
<MudTh>Nr</MudTh>
|
||||
<MudTh>Name</MudTh>
|
||||
<MudTh>Width (m)</MudTh>
|
||||
<MudTh>Height (m)</MudTh>
|
||||
<MudTh>Resolution (m/px)</MudTh>
|
||||
<MudTh>OriginX</MudTh>
|
||||
<MudTh>OriginY</MudTh>
|
||||
<MudTh></MudTh>
|
||||
</HeaderContent>
|
||||
<RowTemplate>
|
||||
<MudTd DataLabel="Nr">
|
||||
@(Table?.CurrentPage * Table?.RowsPerPage + MapsShow.IndexOf(context) + 1)
|
||||
</MudTd>
|
||||
<MudTd DataLabel="Name">
|
||||
@context.Name
|
||||
</MudTd>
|
||||
<MudTd DataLabel="Width">
|
||||
@context.Width
|
||||
</MudTd>
|
||||
<MudTd DataLabel="Height">
|
||||
@context.Height
|
||||
</MudTd>
|
||||
<MudTd DataLabel="Resolution">
|
||||
@context.Resolution
|
||||
</MudTd>
|
||||
<MudTd DataLabel="OriginX">
|
||||
@context.OriginX
|
||||
</MudTd>
|
||||
<MudTd DataLabel="OriginY">
|
||||
@context.OriginY
|
||||
</MudTd>
|
||||
<MudTd>
|
||||
<MudMenuItem Icon="@Icons.Material.Filled.Edit" IconColor="Color.Info">Active</MudMenuItem>
|
||||
<MudMenuItem Icon="@Icons.Material.Filled.Delete" IconColor="Color.Error">Delete</MudMenuItem>
|
||||
</MudTd>
|
||||
</RowTemplate>
|
||||
<PagerContent>
|
||||
<div class="d-flex w-100 flex-row-reverse">
|
||||
<MudTablePager Style="width: 100%;" PageSizeOptions="new[] { 25, 100, 200 }" />
|
||||
</div>
|
||||
</PagerContent>
|
||||
</MudTable>
|
||||
</div>
|
||||
|
||||
|
||||
@code {
|
||||
private string txtSearch = "";
|
||||
private bool IsLoading = false;
|
||||
|
||||
private List<MapDto> Maps = [];
|
||||
private List<MapDto> MapsShow = [];
|
||||
|
||||
private MapDto MapSelected = new();
|
||||
|
||||
private MudTable<MapDto>? Table;
|
||||
private ElementReference ViewContainerRef;
|
||||
|
||||
private double TableHeight = 105;
|
||||
|
||||
protected override async Task OnAfterRenderAsync(bool firstRender)
|
||||
{
|
||||
await base.OnAfterRenderAsync(firstRender);
|
||||
if (!firstRender) return;
|
||||
|
||||
var containerSize = await JS.InvokeAsync<DomRect>("getElementSize", ViewContainerRef);
|
||||
TableHeight = containerSize.Height - 105;
|
||||
// await LoadMaps();
|
||||
StateHasChanged();
|
||||
}
|
||||
|
||||
private async Task LoadMaps()
|
||||
{
|
||||
try
|
||||
{
|
||||
IsLoading = true;
|
||||
Maps.Clear();
|
||||
StateHasChanged();
|
||||
|
||||
var maps = await Http.GetFromJsonAsync<IEnumerable<MapDto>>($"api/MapsManager?txtSearch={txtSearch}");
|
||||
Maps.AddRange(maps ?? []);
|
||||
|
||||
Table?.ReloadServerData();
|
||||
IsLoading = false;
|
||||
StateHasChanged();
|
||||
}
|
||||
catch
|
||||
{
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
private void TextSearchChanged(string text)
|
||||
{
|
||||
txtSearch = text;
|
||||
Table?.ReloadServerData();
|
||||
}
|
||||
|
||||
private bool FilterFunc(MapDto map)
|
||||
{
|
||||
if (string.IsNullOrWhiteSpace(txtSearch))
|
||||
return true;
|
||||
if (map.Name is not null && map.Name.Contains(txtSearch, StringComparison.OrdinalIgnoreCase))
|
||||
return true;
|
||||
if ($"{map.Name}".Contains(txtSearch))
|
||||
return true;
|
||||
return false;
|
||||
}
|
||||
|
||||
private Task<TableData<MapDto>> ReloadData(TableState state, CancellationToken _)
|
||||
{
|
||||
MapsShow.Clear();
|
||||
var tasks = new List<MapDto>();
|
||||
Maps.ForEach(map =>
|
||||
{
|
||||
if (FilterFunc(map)) tasks.Add(map);
|
||||
});
|
||||
MapsShow = tasks.Skip(state.Page * state.PageSize).Take(state.PageSize).ToList();
|
||||
return Task.FromResult(new TableData<MapDto>() { TotalItems = tasks.Count, Items = MapsShow });
|
||||
}
|
||||
|
||||
public class DomRect
|
||||
{
|
||||
public double Width { get; set; }
|
||||
public double Height { get; set; }
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,5 @@
|
||||
.map-preview {
|
||||
width: 20%;
|
||||
height: 100%;
|
||||
border-left: 1px solid silver;
|
||||
}
|
||||
466
RobotApp.Client/Pages/Components/Mapping/MapView.razor
Normal file
466
RobotApp.Client/Pages/Components/Mapping/MapView.razor
Normal file
@@ -0,0 +1,466 @@
|
||||
@inject IJSRuntime JS
|
||||
@using Excubo.Blazor.Canvas.Contexts
|
||||
|
||||
<div class="view">
|
||||
<div class="toolbar">
|
||||
<MudTooltip Text="Zoom In" role="button" Placement="Placement.Bottom" Color="Color.Info">
|
||||
<button type="button" class="btn btn-secondary action-button" @onclick="ZoomIn">
|
||||
<i class="mdi mdi-magnify-plus-outline icon-button"></i>
|
||||
</button>
|
||||
</MudTooltip>
|
||||
<MudTooltip Text="Zoom Out" role="button" Placement="Placement.Bottom" Color="Color.Info">
|
||||
<button type="button" class="btn btn-secondary action-button" @onclick="ZoomOut">
|
||||
<i class="mdi mdi-magnify-minus-outline icon-button"></i>
|
||||
</button>
|
||||
</MudTooltip>
|
||||
<MudTooltip Text="Reset View" role="button" Placement="Placement.Bottom" Color="Color.Info">
|
||||
<button type="button" class="btn btn-secondary action-button" @onclick="ResetView">
|
||||
<i class="mdi mdi-fit-to-screen-outline icon-button"></i>
|
||||
</button>
|
||||
</MudTooltip>
|
||||
<MudSpacer />
|
||||
<MudTooltip Text="Start Localization" role="button" Placement="Placement.Bottom" Color="Color.Info">
|
||||
<button type="button" class="btn btn-secondary action-button" disabled="@(false)">
|
||||
<i class="mdi mdi-play icon-button"></i>
|
||||
</button>
|
||||
</MudTooltip>
|
||||
<MudTooltip Text="Stop Localization" role="button" Placement="Placement.Bottom" Color="Color.Info">
|
||||
<button type="button" class="btn btn-secondary action-button" disabled="@(true)">
|
||||
<i class="mdi mdi-pause icon-button"></i>
|
||||
</button>
|
||||
</MudTooltip>
|
||||
<MudTooltip Text="Start Mapping" role="button" Placement="Placement.Bottom" Color="Color.Info">
|
||||
<button type="button" class="btn btn-secondary action-button" disabled="@(false)">
|
||||
<i class="mdi mdi-plus icon-button"></i>
|
||||
</button>
|
||||
</MudTooltip>
|
||||
<MudTooltip Text="Stop Mapping" role="button" Placement="Placement.Bottom" Color="Color.Info">
|
||||
<button type="button" class="btn btn-secondary action-button" disabled="@(true)">
|
||||
<i class="mdi mdi-stop icon-button"></i>
|
||||
</button>
|
||||
</MudTooltip>
|
||||
</div>
|
||||
<div @ref="ViewContainerRef">
|
||||
<canvas @ref="CanvasRef"
|
||||
@onwheel="HandleWheel"
|
||||
@onmousemove="HandleMouseMove"
|
||||
@onmouseleave="HandleMouseLeave"
|
||||
@ontouchstart="HandleTouchStart"
|
||||
@ontouchmove="HandleTouchMove"
|
||||
@ontouchend="HandleTouchEnd"></canvas>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
@code {
|
||||
private ElementReference CanvasRef;
|
||||
private ElementReference ViewContainerRef;
|
||||
|
||||
private double ZoomScale = 1.0;
|
||||
private const double MIN_ZOOM = 0.1;
|
||||
private const double MAX_ZOOM = 5.0;
|
||||
|
||||
private const double BASE_PIXELS_PER_METER = 50.0;
|
||||
|
||||
private bool IsMouseInCanvas = false;
|
||||
private double MouseX;
|
||||
private double MouseY;
|
||||
|
||||
private double OriginX = 0;
|
||||
private double OriginY = 0;
|
||||
|
||||
private double WorldMouseX;
|
||||
private double WorldMouseY;
|
||||
|
||||
private double CanvasWidth;
|
||||
private double CanvasHeight;
|
||||
|
||||
private double CanvasTranslateX = 0;
|
||||
private double CanvasTranslateY = 0;
|
||||
|
||||
private const double RulerHeight = 20;
|
||||
|
||||
private const double RobotWidth = 0.606;
|
||||
private const double RobotLength = 1.106;
|
||||
|
||||
private bool RobotImageLoaded = false;
|
||||
private bool MapImageLoaded = false;
|
||||
|
||||
private const double ImageX = -10;
|
||||
private const double ImageY = -5;
|
||||
private const double ImageResolution = 0.05;
|
||||
|
||||
private double MapImageWidth = 0;
|
||||
private double MapImageHeight = 0;
|
||||
private const string MAP_CACHE_KEY = "map_image";
|
||||
|
||||
private TouchPoint? LastTouchPoint;
|
||||
private TouchPoint? LastSecondTouchPoint;
|
||||
private double LastTouchDistance = 0;
|
||||
private bool IsTouching = false;
|
||||
|
||||
protected override async Task OnAfterRenderAsync(bool first_render)
|
||||
{
|
||||
await base.OnAfterRenderAsync(first_render);
|
||||
if (!first_render) return;
|
||||
|
||||
var containerSize = await JS.InvokeAsync<DomRect>("getElementSize", ViewContainerRef);
|
||||
|
||||
CanvasWidth = containerSize.Width;
|
||||
CanvasHeight = containerSize.Height;
|
||||
|
||||
await JS.InvokeVoidAsync("setCanvasSize", CanvasRef, CanvasWidth, CanvasHeight);
|
||||
|
||||
CanvasTranslateX = CanvasWidth / 2;
|
||||
CanvasTranslateY = CanvasHeight / 2;
|
||||
|
||||
await LoadRobotImage();
|
||||
await LoadMapImage();
|
||||
|
||||
await DrawCanvas();
|
||||
}
|
||||
|
||||
private async Task LoadRobotImage()
|
||||
{
|
||||
try
|
||||
{
|
||||
await JS.InvokeVoidAsync("preloadImage", "images/AMR-250.png");
|
||||
RobotImageLoaded = true;
|
||||
}
|
||||
catch
|
||||
{
|
||||
RobotImageLoaded = false;
|
||||
}
|
||||
}
|
||||
|
||||
private async Task LoadMapImage()
|
||||
{
|
||||
try
|
||||
{
|
||||
MapImageLoaded = false;
|
||||
string apiUrl = "api/images/mapping";
|
||||
await JS.InvokeVoidAsync("preloadImageFromUrl", apiUrl, MAP_CACHE_KEY);
|
||||
|
||||
var imageDimensions = await JS.InvokeAsync<DomRect>("getImageDimensions", MAP_CACHE_KEY);
|
||||
MapImageWidth = imageDimensions.Width * ImageResolution;
|
||||
MapImageHeight = imageDimensions.Height * ImageResolution;
|
||||
if (MapImageWidth > 0 && MapImageHeight > 0) MapImageLoaded = true;
|
||||
}
|
||||
catch
|
||||
{
|
||||
MapImageLoaded = false;
|
||||
}
|
||||
}
|
||||
|
||||
private async Task ResetView()
|
||||
{
|
||||
CanvasTranslateX = CanvasWidth / 2;
|
||||
CanvasTranslateY = CanvasHeight / 2;
|
||||
ZoomScale = 1.0;
|
||||
StateHasChanged();
|
||||
await DrawCanvas();
|
||||
}
|
||||
|
||||
private async Task ZoomIn()
|
||||
{
|
||||
const double zoomFactor = 0.15;
|
||||
double oldZoom = ZoomScale;
|
||||
|
||||
ZoomScale = Math.Min(MAX_ZOOM, ZoomScale * (1 + zoomFactor));
|
||||
|
||||
if (Math.Abs(ZoomScale - oldZoom) < 0.001) return;
|
||||
|
||||
await ZoomAtCenter(oldZoom);
|
||||
}
|
||||
|
||||
private async Task ZoomOut()
|
||||
{
|
||||
const double zoomFactor = 0.15;
|
||||
double oldZoom = ZoomScale;
|
||||
|
||||
ZoomScale = Math.Max(MIN_ZOOM, ZoomScale * (1 - zoomFactor));
|
||||
|
||||
if (Math.Abs(ZoomScale - oldZoom) < 0.001) return;
|
||||
|
||||
await ZoomAtCenter(oldZoom);
|
||||
}
|
||||
|
||||
private async Task ZoomAtCenter(double oldZoom)
|
||||
{
|
||||
double centerX = CanvasWidth / 2;
|
||||
double centerY = CanvasHeight / 2;
|
||||
|
||||
double centerWorldX = (centerX - CanvasTranslateX) / oldZoom / BASE_PIXELS_PER_METER - OriginX;
|
||||
double centerWorldY = (centerY - CanvasTranslateY) / oldZoom / BASE_PIXELS_PER_METER - OriginY;
|
||||
|
||||
double newCenterCanvasX = (centerWorldX + OriginX) * BASE_PIXELS_PER_METER * ZoomScale;
|
||||
double newCenterCanvasY = (centerWorldY + OriginY) * BASE_PIXELS_PER_METER * ZoomScale;
|
||||
|
||||
CanvasTranslateX = centerX - newCenterCanvasX;
|
||||
CanvasTranslateY = centerY - newCenterCanvasY;
|
||||
|
||||
if (IsMouseInCanvas)
|
||||
{
|
||||
WorldMouseX = CanvasToWorldX(MouseX);
|
||||
WorldMouseY = CanvasToWorldY(MouseY);
|
||||
}
|
||||
|
||||
StateHasChanged();
|
||||
await DrawCanvas();
|
||||
}
|
||||
|
||||
private async Task HandleMouseMove(MouseEventArgs e)
|
||||
{
|
||||
MouseX = e.OffsetX;
|
||||
MouseY = e.OffsetY;
|
||||
IsMouseInCanvas = true;
|
||||
|
||||
WorldMouseX = CanvasToWorldX(MouseX);
|
||||
WorldMouseY = CanvasToWorldY(MouseY);
|
||||
|
||||
StateHasChanged();
|
||||
|
||||
if (e.Buttons == 4)
|
||||
{
|
||||
CanvasTranslateX += e.MovementX;
|
||||
CanvasTranslateY -= e.MovementY;
|
||||
}
|
||||
await DrawCanvas();
|
||||
}
|
||||
|
||||
private async Task HandleMouseLeave(MouseEventArgs e)
|
||||
{
|
||||
IsMouseInCanvas = false;
|
||||
MouseX = 0;
|
||||
MouseY = 0;
|
||||
StateHasChanged();
|
||||
await DrawCanvas();
|
||||
}
|
||||
|
||||
private async Task HandleWheel(WheelEventArgs e)
|
||||
{
|
||||
if (e.Buttons == 4) return;
|
||||
const double zoomFactor = 0.1;
|
||||
double oldZoom = ZoomScale;
|
||||
|
||||
if (e.DeltaY < 0) ZoomScale = Math.Min(MAX_ZOOM, ZoomScale * (1 + zoomFactor));
|
||||
else ZoomScale = Math.Max(MIN_ZOOM, ZoomScale * (1 - zoomFactor));
|
||||
|
||||
if (Math.Abs(ZoomScale - oldZoom) < 0.001) return;
|
||||
|
||||
MouseX = e.OffsetX;
|
||||
MouseY = e.OffsetY;
|
||||
|
||||
double zoomPointWorldX = (MouseX - CanvasTranslateX) / oldZoom / BASE_PIXELS_PER_METER - OriginX;
|
||||
double zoomPointWorldY = (MouseY - CanvasTranslateY) / oldZoom / BASE_PIXELS_PER_METER - OriginY;
|
||||
|
||||
double newZoomPointCanvasX = (zoomPointWorldX + OriginX) * BASE_PIXELS_PER_METER * ZoomScale;
|
||||
double newZoomPointCanvasY = (zoomPointWorldY + OriginY) * BASE_PIXELS_PER_METER * ZoomScale;
|
||||
|
||||
CanvasTranslateX = MouseX - newZoomPointCanvasX;
|
||||
CanvasTranslateY = MouseY - newZoomPointCanvasY;
|
||||
|
||||
WorldMouseX = CanvasToWorldX(MouseX);
|
||||
WorldMouseY = CanvasToWorldY(MouseY);
|
||||
|
||||
StateHasChanged();
|
||||
await DrawCanvas();
|
||||
}
|
||||
|
||||
private async Task HandleTouchMove(TouchEventArgs e)
|
||||
{
|
||||
if (IsTouching)
|
||||
{
|
||||
if (e.Touches.Length == 1)
|
||||
{
|
||||
await HandleSingleTouchMove(e.Touches[0]);
|
||||
}
|
||||
else if (e.Touches.Length == 2)
|
||||
{
|
||||
await HandlePinchZoom(e.Touches[0], e.Touches[1]);
|
||||
}
|
||||
|
||||
StateHasChanged();
|
||||
await DrawCanvas();
|
||||
}
|
||||
}
|
||||
|
||||
private void HandleTouchStart(TouchEventArgs e)
|
||||
{
|
||||
IsTouching = true;
|
||||
|
||||
if (e.Touches.Length == 1)
|
||||
{
|
||||
LastTouchPoint = new TouchPoint
|
||||
{
|
||||
X = e.Touches[0].ClientX,
|
||||
Y = e.Touches[0].ClientY
|
||||
};
|
||||
}
|
||||
else if (e.Touches.Length == 2)
|
||||
{
|
||||
LastTouchPoint = new TouchPoint
|
||||
{
|
||||
X = e.Touches[0].ClientX,
|
||||
Y = e.Touches[0].ClientY
|
||||
};
|
||||
LastSecondTouchPoint = new TouchPoint
|
||||
{
|
||||
X = e.Touches[1].ClientX,
|
||||
Y = e.Touches[1].ClientY
|
||||
};
|
||||
|
||||
LastTouchDistance = CalculateTouchDistance(LastTouchPoint, LastSecondTouchPoint);
|
||||
}
|
||||
}
|
||||
|
||||
private void HandleTouchEnd(TouchEventArgs e)
|
||||
{
|
||||
IsTouching = false;
|
||||
LastTouchPoint = null;
|
||||
LastSecondTouchPoint = null;
|
||||
LastTouchDistance = 0;
|
||||
}
|
||||
|
||||
private async Task HandleSingleTouchMove(Microsoft.AspNetCore.Components.Web.TouchPoint touch)
|
||||
{
|
||||
if (LastTouchPoint == null) return;
|
||||
|
||||
var currentPoint = new TouchPoint
|
||||
{
|
||||
X = touch.ClientX,
|
||||
Y = touch.ClientY
|
||||
};
|
||||
|
||||
double deltaX = currentPoint.X - LastTouchPoint.X;
|
||||
double deltaY = currentPoint.Y - LastTouchPoint.Y;
|
||||
|
||||
CanvasTranslateX += deltaX;
|
||||
CanvasTranslateY += deltaY;
|
||||
|
||||
LastTouchPoint = currentPoint;
|
||||
|
||||
var canvasRect = await JS.InvokeAsync<DomRect>("getElementBoundingRect", CanvasRef);
|
||||
MouseX = currentPoint.X - canvasRect.X;
|
||||
MouseY = currentPoint.Y - canvasRect.Y;
|
||||
IsMouseInCanvas = true;
|
||||
|
||||
WorldMouseX = CanvasToWorldX(MouseX);
|
||||
WorldMouseY = CanvasToWorldY(MouseY);
|
||||
}
|
||||
|
||||
private async Task HandlePinchZoom(Microsoft.AspNetCore.Components.Web.TouchPoint touch1, Microsoft.AspNetCore.Components.Web.TouchPoint touch2)
|
||||
{
|
||||
if (LastTouchPoint == null || LastSecondTouchPoint == null) return;
|
||||
|
||||
var currentTouch1 = new TouchPoint { X = touch1.ClientX, Y = touch1.ClientY };
|
||||
var currentTouch2 = new TouchPoint { X = touch2.ClientX, Y = touch2.ClientY };
|
||||
|
||||
double currentDistance = CalculateTouchDistance(currentTouch1, currentTouch2);
|
||||
|
||||
if (LastTouchDistance > 0)
|
||||
{
|
||||
double distanceRatio = currentDistance / LastTouchDistance;
|
||||
double oldZoom = ZoomScale;
|
||||
|
||||
ZoomScale = Math.Max(MIN_ZOOM, Math.Min(MAX_ZOOM, ZoomScale * distanceRatio));
|
||||
|
||||
if (Math.Abs(ZoomScale - oldZoom) > 0.001)
|
||||
{
|
||||
double centerX = (currentTouch1.X + currentTouch2.X) / 2;
|
||||
double centerY = (currentTouch1.Y + currentTouch2.Y) / 2;
|
||||
|
||||
var canvasRect = await JS.InvokeAsync<DomRect>("getElementBoundingRect", CanvasRef);
|
||||
double canvasCenterX = centerX - canvasRect.X;
|
||||
double canvasCenterY = centerY - canvasRect.Y;
|
||||
|
||||
ZoomAtPoint(oldZoom, canvasCenterX, canvasCenterY);
|
||||
}
|
||||
}
|
||||
|
||||
LastTouchDistance = currentDistance;
|
||||
LastTouchPoint = currentTouch1;
|
||||
LastSecondTouchPoint = currentTouch2;
|
||||
}
|
||||
|
||||
private double CalculateTouchDistance(TouchPoint point1, TouchPoint point2)
|
||||
{
|
||||
double deltaX = point2.X - point1.X;
|
||||
double deltaY = point2.Y - point1.Y;
|
||||
return Math.Sqrt(deltaX * deltaX + deltaY * deltaY);
|
||||
}
|
||||
|
||||
private void ZoomAtPoint(double oldZoom, double pointX, double pointY)
|
||||
{
|
||||
double pointWorldX = (pointX - CanvasTranslateX) / oldZoom / BASE_PIXELS_PER_METER - OriginX;
|
||||
double pointWorldY = (pointY - CanvasTranslateY) / oldZoom / BASE_PIXELS_PER_METER - OriginY;
|
||||
|
||||
double newPointCanvasX = (pointWorldX + OriginX) * BASE_PIXELS_PER_METER * ZoomScale;
|
||||
double newPointCanvasY = (pointWorldY + OriginY) * BASE_PIXELS_PER_METER * ZoomScale;
|
||||
|
||||
CanvasTranslateX = pointX - newPointCanvasX;
|
||||
CanvasTranslateY = pointY - newPointCanvasY;
|
||||
}
|
||||
|
||||
private LaserScanData GenerateLaserScanData()
|
||||
{
|
||||
// Robot position (in world coordinates)
|
||||
double robotX = 2; // Robot at origin for demo
|
||||
double robotY = 2;
|
||||
double robotOrientation = 0; // Robot facing right (0 degrees)
|
||||
|
||||
Random random = new Random(42); // Fixed seed for consistent pattern
|
||||
|
||||
// Laser scanner parameters
|
||||
const double maxRange = 8.0; // meters
|
||||
const double minRange = 0.5; // meters (fix: was 7.0, should be minimum)
|
||||
const int numPoints = 270; // Number of laser points
|
||||
const double startAngle = -Math.PI / 2 - Math.PI / 4;
|
||||
const double endAngle = Math.PI / 2 + Math.PI / 4;
|
||||
|
||||
double angleStep = (endAngle - startAngle) / (numPoints - 1);
|
||||
|
||||
var scanData = new LaserScanData
|
||||
{
|
||||
RobotX = robotX,
|
||||
RobotY = robotY,
|
||||
RobotOrientation = robotOrientation,
|
||||
};
|
||||
|
||||
// Generate laser points
|
||||
for (int i = 0; i < numPoints; i++)
|
||||
{
|
||||
double angle = startAngle + i * angleStep;
|
||||
|
||||
// Random range with some clustering around obstacles
|
||||
double range;
|
||||
if (random.NextDouble() < 0.3) // 30% chance of obstacles
|
||||
{
|
||||
range = random.NextDouble() * 3.0 + 1.0; // 1-4 meters (obstacles)
|
||||
}
|
||||
else if (random.NextDouble() < 0.1) // 10% chance of very close objects
|
||||
{
|
||||
range = random.NextDouble() * 0.8 + 0.2; // 0.2-1.0 meters
|
||||
}
|
||||
else
|
||||
{
|
||||
range = random.NextDouble() * maxRange * 0.7 + maxRange * 0.3; // Far points
|
||||
}
|
||||
|
||||
// Add some noise to make it realistic
|
||||
range += (random.NextDouble() - 0.5) * 0.1;
|
||||
range = Math.Max(minRange, Math.Min(maxRange, range));
|
||||
|
||||
// Calculate point position relative to robot
|
||||
double pointX = robotX + Math.Cos(angle + robotOrientation) * range;
|
||||
double pointY = robotY + Math.Sin(angle + robotOrientation) * range;
|
||||
|
||||
scanData.Points.Add(new LaserScanPoint
|
||||
{
|
||||
X = pointX,
|
||||
Y = pointY
|
||||
});
|
||||
}
|
||||
|
||||
return scanData;
|
||||
}
|
||||
}
|
||||
576
RobotApp.Client/Pages/Components/Mapping/MapView.razor.cs
Normal file
576
RobotApp.Client/Pages/Components/Mapping/MapView.razor.cs
Normal file
@@ -0,0 +1,576 @@
|
||||
using Excubo.Blazor.Canvas;
|
||||
using Excubo.Blazor.Canvas.Contexts;
|
||||
using Microsoft.JSInterop;
|
||||
|
||||
namespace RobotApp.Client.Pages.Components.Mapping;
|
||||
|
||||
public partial class MapView
|
||||
{
|
||||
public class TouchPoint
|
||||
{
|
||||
public double X { get; set; }
|
||||
public double Y { get; set; }
|
||||
}
|
||||
|
||||
public class LaserScanPoint
|
||||
{
|
||||
public double X { get; set; }
|
||||
public double Y { get; set; }
|
||||
}
|
||||
|
||||
public class LaserScanData
|
||||
{
|
||||
public double RobotX { get; set; }
|
||||
public double RobotY { get; set; }
|
||||
public double RobotOrientation { get; set; }
|
||||
public List<LaserScanPoint> Points { get; set; } = [];
|
||||
}
|
||||
|
||||
public class DomRect
|
||||
{
|
||||
public double Width { get; set; }
|
||||
public double Height { get; set; }
|
||||
public double X { get; set; }
|
||||
public double Y { get; set; }
|
||||
public double Left => X;
|
||||
public double Top => Y;
|
||||
}
|
||||
|
||||
private async Task DrawCanvas()
|
||||
{
|
||||
await using var ctx = await JS.GetContext2DAsync(CanvasRef);
|
||||
|
||||
await ctx.ClearRectAsync(0, 0, CanvasWidth, CanvasHeight);
|
||||
|
||||
await ctx.SaveAsync();
|
||||
|
||||
await ctx.TranslateAsync(CanvasTranslateX, CanvasTranslateY);
|
||||
await ctx.ScaleAsync(ZoomScale, ZoomScale);
|
||||
|
||||
await DrawMapImage(ctx);
|
||||
await DrawGrid(ctx);
|
||||
await DrawAxes(ctx);
|
||||
await DrawLaserScannerPoints(ctx);
|
||||
await ctx.RestoreAsync();
|
||||
|
||||
if (IsMouseInCanvas)
|
||||
{
|
||||
await DrawMouseIndicator(ctx);
|
||||
}
|
||||
await DrawRulers(ctx);
|
||||
}
|
||||
|
||||
private async Task DrawMouseIndicator(Context2D ctx)
|
||||
{
|
||||
await ctx.SaveAsync();
|
||||
|
||||
await ctx.StrokeStyleAsync("rgba(255, 50, 50, 0.8)");
|
||||
await ctx.LineWidthAsync(1);
|
||||
await ctx.SetLineDashAsync([3, 3]);
|
||||
|
||||
await ctx.BeginPathAsync();
|
||||
await ctx.MoveToAsync(MouseX, RulerHeight);
|
||||
await ctx.LineToAsync(MouseX, CanvasHeight);
|
||||
await ctx.StrokeAsync();
|
||||
|
||||
await ctx.BeginPathAsync();
|
||||
await ctx.MoveToAsync(RulerHeight, MouseY);
|
||||
await ctx.LineToAsync(CanvasWidth, MouseY);
|
||||
await ctx.StrokeAsync();
|
||||
|
||||
await ctx.SetLineDashAsync([]);
|
||||
|
||||
const double labelPadding = 7;
|
||||
const double labelMargin = 8;
|
||||
|
||||
string coordinateText = $"({WorldMouseX:F2}m, {WorldMouseY:F2}m)";
|
||||
|
||||
await ctx.FontAsync("bold 12px Arial");
|
||||
var textMetrics = await ctx.MeasureTextAsync(coordinateText);
|
||||
double textWidth = textMetrics.Width;
|
||||
double textHeight = 16;
|
||||
|
||||
double labelX = MouseX + labelMargin;
|
||||
double labelY = MouseY - textHeight - labelPadding * 2 - labelMargin;
|
||||
|
||||
if (labelX + textWidth + labelPadding * 2 > CanvasWidth)
|
||||
{
|
||||
labelX = MouseX - textWidth - labelPadding * 2 - labelMargin;
|
||||
}
|
||||
if (labelY - textHeight - labelPadding * 2 < RulerHeight)
|
||||
{
|
||||
labelY = MouseY + labelMargin;
|
||||
}
|
||||
|
||||
await ctx.FillStyleAsync("rgba(0, 0, 0, 0.8)");
|
||||
await ctx.FillRectAsync(labelX, labelY, textWidth + labelPadding * 2, textHeight + labelPadding * 2);
|
||||
|
||||
await ctx.StrokeStyleAsync("rgba(255,255,255,0.6)");
|
||||
await ctx.LineWidthAsync(1);
|
||||
await ctx.StrokeRectAsync(labelX, labelY, textWidth + labelPadding * 2, textHeight + labelPadding * 2);
|
||||
|
||||
await ctx.FillStyleAsync("rgba(255, 50, 50, 0.9)");
|
||||
await ctx.BeginPathAsync();
|
||||
await ctx.ArcAsync(MouseX, MouseY, 3, 0, Math.PI * 2);
|
||||
await ctx.FillAsync(FillRule.NonZero);
|
||||
|
||||
await ctx.StrokeStyleAsync("rgba(255, 255, 255, 0.8)");
|
||||
await ctx.LineWidthAsync(2);
|
||||
await ctx.BeginPathAsync();
|
||||
await ctx.ArcAsync(MouseX, MouseY, 6, 0, Math.PI * 2);
|
||||
await ctx.StrokeAsync();
|
||||
|
||||
await ctx.SaveAsync();
|
||||
|
||||
await ctx.TranslateAsync(labelX + labelPadding + textWidth / 2, labelY + textHeight / 2);
|
||||
await ctx.ScaleAsync(1, -1);
|
||||
|
||||
await ctx.FillStyleAsync("white");
|
||||
await ctx.FontAsync("bold 12px Arial");
|
||||
await ctx.TextAlignAsync(TextAlign.Center);
|
||||
await ctx.TextBaseLineAsync(TextBaseLine.Bottom);
|
||||
await ctx.FillTextAsync(coordinateText, 0, 0);
|
||||
|
||||
await ctx.RestoreAsync();
|
||||
}
|
||||
|
||||
private async Task DrawRulers(Context2D ctx)
|
||||
{
|
||||
double visibleWorldLeft = CanvasToWorldX(0);
|
||||
double visibleWorldRight = CanvasToWorldX(CanvasWidth);
|
||||
double visibleWorldTop = CanvasToWorldY(0);
|
||||
double visibleWorldBottom = CanvasToWorldY(CanvasHeight);
|
||||
|
||||
double scaleInterval = GetRulerScaleInterval();
|
||||
|
||||
await DrawXRuler(ctx, RulerHeight, visibleWorldLeft, visibleWorldRight, scaleInterval);
|
||||
await DrawYRuler(ctx, RulerHeight, visibleWorldTop, visibleWorldBottom, scaleInterval);
|
||||
}
|
||||
|
||||
private double GetRulerScaleInterval()
|
||||
{
|
||||
double pixelsPerMeter = BASE_PIXELS_PER_METER * ZoomScale;
|
||||
|
||||
if (pixelsPerMeter >= 400) return 0.1;
|
||||
else if (pixelsPerMeter >= 200) return 0.2;
|
||||
else if (pixelsPerMeter >= 100) return 0.5;
|
||||
else if (pixelsPerMeter >= 50) return 1.0;
|
||||
else if (pixelsPerMeter >= 25) return 2.0;
|
||||
else if (pixelsPerMeter >= 12) return 5.0;
|
||||
else if (pixelsPerMeter >= 6) return 10.0;
|
||||
else return 20.0;
|
||||
}
|
||||
|
||||
private async Task DrawXRuler(Context2D ctx, double rulerHeight, double visibleWorldLeft, double visibleWorldRight, double scaleInterval)
|
||||
{
|
||||
await ctx.FillStyleAsync("rgba(240, 240, 240, 0.9)");
|
||||
await ctx.FillRectAsync(0, 0, CanvasWidth, rulerHeight);
|
||||
|
||||
await ctx.StrokeStyleAsync("rgba(100, 100, 100, 0.8)");
|
||||
await ctx.LineWidthAsync(1);
|
||||
await ctx.BeginPathAsync();
|
||||
await ctx.MoveToAsync(0, rulerHeight);
|
||||
await ctx.LineToAsync(CanvasWidth, rulerHeight);
|
||||
await ctx.StrokeAsync();
|
||||
|
||||
double startWorld = Math.Floor(visibleWorldLeft / scaleInterval) * scaleInterval;
|
||||
double endWorld = Math.Ceiling(visibleWorldRight / scaleInterval) * scaleInterval;
|
||||
|
||||
startWorld -= scaleInterval;
|
||||
endWorld += scaleInterval;
|
||||
|
||||
for (double worldX = startWorld; worldX <= endWorld; worldX += scaleInterval)
|
||||
{
|
||||
double canvasX = WorldToCanvasX(worldX);
|
||||
|
||||
if (canvasX < -50 || canvasX > CanvasWidth + 50) continue;
|
||||
|
||||
bool isMajorTick = IsNearMultiple(worldX, scaleInterval * 2) || Math.Abs(worldX) < 0.001;
|
||||
double tickHeight = isMajorTick ? rulerHeight * 0.4 : rulerHeight * 0.2;
|
||||
|
||||
await ctx.StrokeStyleAsync("rgba(60, 60, 60, 0.8)");
|
||||
await ctx.LineWidthAsync(1);
|
||||
await ctx.BeginPathAsync();
|
||||
await ctx.MoveToAsync(canvasX, rulerHeight);
|
||||
await ctx.LineToAsync(canvasX, rulerHeight - tickHeight);
|
||||
await ctx.StrokeAsync();
|
||||
|
||||
if (isMajorTick && canvasX >= -20 && canvasX <= CanvasWidth + 20)
|
||||
{
|
||||
await ctx.SaveAsync();
|
||||
|
||||
await ctx.TranslateAsync(canvasX, rulerHeight - tickHeight - 8);
|
||||
await ctx.ScaleAsync(1, -1);
|
||||
|
||||
await ctx.FillStyleAsync("blue");
|
||||
await ctx.FontAsync("bold 10px Arial");
|
||||
await ctx.TextAlignAsync(TextAlign.Center);
|
||||
|
||||
string labelText = FormatRulerLabel(worldX, scaleInterval);
|
||||
await ctx.FillTextAsync(labelText, 0, 0);
|
||||
|
||||
await ctx.RestoreAsync();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private async Task DrawYRuler(Context2D ctx, double rulerWidth, double visibleWorldTop, double visibleWorldBottom, double scaleInterval)
|
||||
{
|
||||
await ctx.FillStyleAsync("rgba(240, 240, 240, 0.9)");
|
||||
await ctx.FillRectAsync(0, 0, rulerWidth, CanvasHeight);
|
||||
|
||||
await ctx.StrokeStyleAsync("rgba(100, 100, 100, 0.8)");
|
||||
await ctx.LineWidthAsync(1);
|
||||
await ctx.BeginPathAsync();
|
||||
await ctx.MoveToAsync(rulerWidth, 0);
|
||||
await ctx.LineToAsync(rulerWidth, CanvasHeight);
|
||||
await ctx.StrokeAsync();
|
||||
|
||||
double startWorld = Math.Floor(visibleWorldTop / scaleInterval) * scaleInterval;
|
||||
double endWorld = Math.Ceiling(visibleWorldBottom / scaleInterval) * scaleInterval;
|
||||
|
||||
startWorld -= scaleInterval;
|
||||
endWorld += scaleInterval;
|
||||
|
||||
for (double worldY = startWorld; worldY <= endWorld; worldY += scaleInterval)
|
||||
{
|
||||
double canvasY = WorldToCanvasY(worldY);
|
||||
|
||||
if (canvasY < -50 || canvasY > CanvasHeight + 50) continue;
|
||||
|
||||
bool isMajorTick = IsNearMultiple(worldY, scaleInterval * 2) || Math.Abs(worldY) < 0.001;
|
||||
double tickWidth = isMajorTick ? rulerWidth * 0.4 : rulerWidth * 0.2;
|
||||
|
||||
await ctx.StrokeStyleAsync("rgba(60, 60, 60, 0.8)");
|
||||
await ctx.LineWidthAsync(1);
|
||||
await ctx.BeginPathAsync();
|
||||
await ctx.MoveToAsync(rulerWidth, canvasY);
|
||||
await ctx.LineToAsync(rulerWidth - tickWidth, canvasY);
|
||||
await ctx.StrokeAsync();
|
||||
|
||||
if (isMajorTick && canvasY >= -20 && canvasY <= CanvasHeight + 20)
|
||||
{
|
||||
await ctx.SaveAsync();
|
||||
|
||||
await ctx.TranslateAsync(rulerWidth - tickWidth - 2, canvasY);
|
||||
await ctx.ScaleAsync(1, -1);
|
||||
await ctx.RotateAsync(-Math.PI / 2);
|
||||
|
||||
await ctx.FillStyleAsync("blue");
|
||||
await ctx.FontAsync("bold 10px Arial");
|
||||
await ctx.TextAlignAsync(TextAlign.Center);
|
||||
|
||||
string labelText = FormatRulerLabel(worldY, scaleInterval);
|
||||
await ctx.FillTextAsync(labelText, 0, 0);
|
||||
|
||||
await ctx.RestoreAsync();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private static bool IsNearMultiple(double value, double multiple)
|
||||
{
|
||||
if (multiple == 0) return false;
|
||||
double remainder = Math.Abs(value % multiple);
|
||||
double epsilon = multiple * 0.001;
|
||||
return remainder < epsilon || remainder > multiple - epsilon;
|
||||
}
|
||||
|
||||
private static string FormatRulerLabel(double worldValue, double scaleInterval)
|
||||
{
|
||||
return scaleInterval < 1.0 ? $"{worldValue:F1}m" : $"{worldValue:F0}m";
|
||||
}
|
||||
|
||||
private async Task DrawAxes(Context2D ctx)
|
||||
{
|
||||
double originCanvasX = OriginX * BASE_PIXELS_PER_METER;
|
||||
double originCanvasY = OriginY * BASE_PIXELS_PER_METER;
|
||||
|
||||
await ctx.FillStyleAsync("red");
|
||||
await ctx.BeginPathAsync();
|
||||
await ctx.ArcAsync(originCanvasX, originCanvasY, 8 / ZoomScale, 0, Math.PI * 2);
|
||||
await ctx.FillAsync(FillRule.NonZero);
|
||||
|
||||
double gridSpacingMeters = GetGridSpacingMeters();
|
||||
double arrowLength = gridSpacingMeters * BASE_PIXELS_PER_METER;
|
||||
double arrowHeadSize = 16 / ZoomScale;
|
||||
|
||||
await ctx.FillStyleAsync("blue");
|
||||
await ctx.StrokeStyleAsync("blue");
|
||||
await ctx.LineWidthAsync(4 / ZoomScale);
|
||||
|
||||
await ctx.BeginPathAsync();
|
||||
await ctx.MoveToAsync(originCanvasX, originCanvasY);
|
||||
await ctx.LineToAsync(originCanvasX + arrowLength - arrowHeadSize, originCanvasY);
|
||||
await ctx.StrokeAsync();
|
||||
|
||||
await ctx.BeginPathAsync();
|
||||
double xArrowTipX = originCanvasX + arrowLength;
|
||||
double xArrowTipY = originCanvasY;
|
||||
await ctx.MoveToAsync(xArrowTipX, xArrowTipY);
|
||||
await ctx.LineToAsync(xArrowTipX - arrowHeadSize, xArrowTipY - arrowHeadSize / 2);
|
||||
await ctx.LineToAsync(xArrowTipX - arrowHeadSize, xArrowTipY + arrowHeadSize / 2);
|
||||
await ctx.ClosePathAsync();
|
||||
await ctx.FillAsync(FillRule.NonZero);
|
||||
|
||||
await ctx.FillStyleAsync("red");
|
||||
await ctx.StrokeStyleAsync("red");
|
||||
await ctx.LineWidthAsync(4 / ZoomScale);
|
||||
|
||||
await ctx.BeginPathAsync();
|
||||
await ctx.MoveToAsync(originCanvasX, originCanvasY);
|
||||
await ctx.LineToAsync(originCanvasX, originCanvasY + arrowLength - arrowHeadSize);
|
||||
await ctx.StrokeAsync();
|
||||
|
||||
await ctx.BeginPathAsync();
|
||||
double yArrowTipX = originCanvasX;
|
||||
double yArrowTipY = originCanvasY + arrowLength;
|
||||
await ctx.MoveToAsync(yArrowTipX, yArrowTipY);
|
||||
await ctx.LineToAsync(yArrowTipX - arrowHeadSize / 2, yArrowTipY - arrowHeadSize);
|
||||
await ctx.LineToAsync(yArrowTipX + arrowHeadSize / 2, yArrowTipY - arrowHeadSize);
|
||||
await ctx.ClosePathAsync();
|
||||
await ctx.FillAsync(FillRule.NonZero);
|
||||
}
|
||||
|
||||
private async Task DrawGrid(Context2D ctx)
|
||||
{
|
||||
await ctx.StrokeStyleAsync("rgba(200, 200, 200, 0.4)");
|
||||
await ctx.LineWidthAsync(1 / ZoomScale);
|
||||
await ctx.SetLineDashAsync([5 / ZoomScale, 5 / ZoomScale]);
|
||||
|
||||
double gridSpacingMeters = GetGridSpacingMeters();
|
||||
double gridSpacingPixels = gridSpacingMeters * BASE_PIXELS_PER_METER;
|
||||
|
||||
double visibleLeft = -CanvasTranslateX / ZoomScale;
|
||||
double visibleRight = (CanvasWidth - CanvasTranslateX) / ZoomScale;
|
||||
double visibleTop = -CanvasTranslateY / ZoomScale;
|
||||
double visibleBottom = (CanvasHeight - CanvasTranslateY) / ZoomScale;
|
||||
|
||||
double startX = Math.Floor(visibleLeft / gridSpacingPixels) * gridSpacingPixels;
|
||||
double startY = Math.Floor(visibleTop / gridSpacingPixels) * gridSpacingPixels;
|
||||
|
||||
for (double x = startX; x <= visibleRight; x += gridSpacingPixels)
|
||||
{
|
||||
await ctx.BeginPathAsync();
|
||||
await ctx.MoveToAsync(x, visibleTop);
|
||||
await ctx.LineToAsync(x, visibleBottom);
|
||||
await ctx.StrokeAsync();
|
||||
}
|
||||
|
||||
for (double y = startY; y <= visibleBottom; y += gridSpacingPixels)
|
||||
{
|
||||
await ctx.BeginPathAsync();
|
||||
await ctx.MoveToAsync(visibleLeft, y);
|
||||
await ctx.LineToAsync(visibleRight, y);
|
||||
await ctx.StrokeAsync();
|
||||
}
|
||||
|
||||
await ctx.SetLineDashAsync([]);
|
||||
}
|
||||
|
||||
private double GetGridSpacingMeters()
|
||||
{
|
||||
double PixelsPerMeter = BASE_PIXELS_PER_METER * ZoomScale;
|
||||
if (PixelsPerMeter >= 300) return 0.2;
|
||||
else if (PixelsPerMeter >= 150) return 0.5;
|
||||
else if (PixelsPerMeter >= 75) return 1.0;
|
||||
else if (PixelsPerMeter >= 40) return 2.0;
|
||||
else if (PixelsPerMeter >= 20) return 5.0;
|
||||
else if (PixelsPerMeter >= 10) return 10.0;
|
||||
else return 20.0;
|
||||
}
|
||||
|
||||
private async Task DrawMapImage(Context2D ctx)
|
||||
{
|
||||
if (!MapImageLoaded)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
await ctx.SaveAsync();
|
||||
|
||||
try
|
||||
{
|
||||
double imageWidthCanvas = MapImageWidth * BASE_PIXELS_PER_METER;
|
||||
double imageHeightCanvas = MapImageHeight * BASE_PIXELS_PER_METER;
|
||||
|
||||
double mapCanvasX = ImageX * BASE_PIXELS_PER_METER;
|
||||
double mapCanvasY = (ImageY + MapImageHeight) * BASE_PIXELS_PER_METER;
|
||||
|
||||
bool success = await JS.InvokeAsync<bool>("drawCachedImageOnCanvas",
|
||||
CanvasRef,
|
||||
MAP_CACHE_KEY,
|
||||
mapCanvasX,
|
||||
mapCanvasY - imageHeightCanvas,
|
||||
imageWidthCanvas,
|
||||
imageHeightCanvas);
|
||||
}
|
||||
catch
|
||||
{
|
||||
}
|
||||
|
||||
await ctx.RestoreAsync();
|
||||
}
|
||||
|
||||
private async Task DrawLaserScannerPoints(Context2D ctx)
|
||||
{
|
||||
var scanData = GenerateLaserScanData();
|
||||
|
||||
double robotCanvasX = scanData.RobotX * BASE_PIXELS_PER_METER;
|
||||
double robotCanvasY = scanData.RobotY * BASE_PIXELS_PER_METER;
|
||||
|
||||
await ctx.SaveAsync();
|
||||
|
||||
if (scanData.Points.Count > 0)
|
||||
{
|
||||
await ctx.BeginPathAsync();
|
||||
|
||||
for (int i = 0; i < scanData.Points.Count; i++)
|
||||
{
|
||||
var point = scanData.Points[i];
|
||||
double pointCanvasX = point.X * BASE_PIXELS_PER_METER;
|
||||
double pointCanvasY = point.Y * BASE_PIXELS_PER_METER;
|
||||
|
||||
if (i == 0)
|
||||
{
|
||||
await ctx.MoveToAsync(pointCanvasX, pointCanvasY);
|
||||
}
|
||||
else
|
||||
{
|
||||
await ctx.LineToAsync(pointCanvasX, pointCanvasY);
|
||||
}
|
||||
}
|
||||
|
||||
await ctx.StrokeStyleAsync("rgba(255, 100, 100, 0.8)");
|
||||
await ctx.LineWidthAsync(2 / ZoomScale);
|
||||
await ctx.StrokeAsync();
|
||||
|
||||
await ctx.LineToAsync(robotCanvasX, robotCanvasY);
|
||||
await ctx.ClosePathAsync();
|
||||
await ctx.FillStyleAsync("rgba(255, 100, 100, 0.1)");
|
||||
await ctx.FillAsync(FillRule.NonZero);
|
||||
}
|
||||
|
||||
await DrawRobotImage(ctx, robotCanvasX, robotCanvasY, scanData.RobotOrientation);
|
||||
await DrawRobotOrientationArrows(ctx, robotCanvasX, robotCanvasY, scanData.RobotOrientation);
|
||||
|
||||
await ctx.RestoreAsync();
|
||||
}
|
||||
|
||||
private async Task DrawRobotImage(Context2D ctx, double robotCanvasX, double robotCanvasY, double robotOrientation)
|
||||
{
|
||||
if (!RobotImageLoaded)
|
||||
{
|
||||
await ctx.FillStyleAsync("rgba(0, 255, 0, 0.8)");
|
||||
await ctx.BeginPathAsync();
|
||||
await ctx.ArcAsync(robotCanvasX, robotCanvasY, 8 / ZoomScale, 0, Math.PI * 2);
|
||||
await ctx.FillAsync(FillRule.NonZero);
|
||||
return;
|
||||
}
|
||||
|
||||
await ctx.SaveAsync();
|
||||
|
||||
double robotWidthPixels = RobotWidth * BASE_PIXELS_PER_METER;
|
||||
double robotLengthPixels = RobotLength * BASE_PIXELS_PER_METER;
|
||||
|
||||
double scaledWidth = ZoomScale < 1 ? robotWidthPixels / ZoomScale : robotWidthPixels;
|
||||
double scaledLength = ZoomScale < 1 ? robotLengthPixels / ZoomScale : robotLengthPixels;
|
||||
|
||||
await ctx.TranslateAsync(robotCanvasX, robotCanvasY);
|
||||
await ctx.RotateAsync(robotOrientation);
|
||||
|
||||
try
|
||||
{
|
||||
bool success = await JS.InvokeAsync<bool>("drawImageOnCanvas",
|
||||
CanvasRef,
|
||||
"images/AMR-250.png",
|
||||
-scaledLength / 2,
|
||||
-scaledWidth / 2,
|
||||
scaledLength,
|
||||
scaledWidth);
|
||||
|
||||
if (!success)
|
||||
{
|
||||
await ctx.FillStyleAsync("rgba(0, 255, 0, 0.8)");
|
||||
await ctx.FillRectAsync(-scaledLength / 2, -scaledWidth / 2, scaledLength, scaledWidth);
|
||||
}
|
||||
}
|
||||
catch
|
||||
{
|
||||
await ctx.FillStyleAsync("rgba(0, 255, 0, 0.8)");
|
||||
await ctx.FillRectAsync(-scaledLength / 2, -scaledWidth / 2, scaledLength, scaledWidth);
|
||||
}
|
||||
|
||||
await ctx.RestoreAsync();
|
||||
}
|
||||
|
||||
private async Task DrawRobotOrientationArrows(Context2D ctx, double robotCanvasX, double robotCanvasY, double robotOrientation)
|
||||
{
|
||||
double arrowLength = 30 / ZoomScale;
|
||||
double arrowHeadSize = 10 / ZoomScale;
|
||||
|
||||
await ctx.StrokeStyleAsync("rgba(0, 100, 255, 1.0)");
|
||||
await ctx.FillStyleAsync("rgba(0, 100, 255, 1.0)");
|
||||
await ctx.LineWidthAsync(3 / ZoomScale);
|
||||
|
||||
await ctx.BeginPathAsync();
|
||||
await ctx.MoveToAsync(robotCanvasX, robotCanvasY);
|
||||
double xAxisEndX = robotCanvasX + Math.Cos(robotOrientation) * (arrowLength - arrowHeadSize + 1);
|
||||
double xAxisEndY = robotCanvasY + Math.Sin(robotOrientation) * (arrowLength - arrowHeadSize + 1);
|
||||
await ctx.LineToAsync(xAxisEndX, xAxisEndY);
|
||||
await ctx.StrokeAsync();
|
||||
|
||||
await ctx.BeginPathAsync();
|
||||
double xArrowTipX = robotCanvasX + Math.Cos(robotOrientation) * arrowLength;
|
||||
double xArrowTipY = robotCanvasY + Math.Sin(robotOrientation) * arrowLength;
|
||||
await ctx.MoveToAsync(xArrowTipX, xArrowTipY);
|
||||
double xArrowAngle = robotOrientation + Math.PI;
|
||||
await ctx.LineToAsync(xArrowTipX + Math.Cos(xArrowAngle + Math.PI / 6) * arrowHeadSize, xArrowTipY + Math.Sin(xArrowAngle + Math.PI / 6) * arrowHeadSize);
|
||||
await ctx.LineToAsync(xArrowTipX + Math.Cos(xArrowAngle - Math.PI / 6) * arrowHeadSize, xArrowTipY + Math.Sin(xArrowAngle - Math.PI / 6) * arrowHeadSize);
|
||||
await ctx.ClosePathAsync();
|
||||
await ctx.FillAsync(FillRule.NonZero);
|
||||
|
||||
await ctx.StrokeStyleAsync("rgba(255, 50, 50, 1.0)");
|
||||
await ctx.FillStyleAsync("rgba(255, 50, 50, 1.0)");
|
||||
await ctx.LineWidthAsync(3 / ZoomScale);
|
||||
|
||||
double yAxisAngle = robotOrientation + Math.PI / 2;
|
||||
|
||||
await ctx.BeginPathAsync();
|
||||
await ctx.MoveToAsync(robotCanvasX, robotCanvasY);
|
||||
double yAxisEndX = robotCanvasX + Math.Cos(yAxisAngle) * (arrowLength - arrowHeadSize + 1);
|
||||
double yAxisEndY = robotCanvasY + Math.Sin(yAxisAngle) * (arrowLength - arrowHeadSize + 1);
|
||||
await ctx.LineToAsync(yAxisEndX, yAxisEndY);
|
||||
await ctx.StrokeAsync();
|
||||
|
||||
await ctx.BeginPathAsync();
|
||||
double yArrowTipX = robotCanvasX + Math.Cos(yAxisAngle) * arrowLength;
|
||||
double yArrowTipY = robotCanvasY + Math.Sin(yAxisAngle) * arrowLength;
|
||||
await ctx.MoveToAsync(yArrowTipX, yArrowTipY);
|
||||
double yArrowAngle = yAxisAngle + Math.PI;
|
||||
await ctx.LineToAsync(yArrowTipX + Math.Cos(yArrowAngle + Math.PI / 6) * arrowHeadSize, yArrowTipY + Math.Sin(yArrowAngle + Math.PI / 6) * arrowHeadSize);
|
||||
await ctx.LineToAsync(yArrowTipX + Math.Cos(yArrowAngle - Math.PI / 6) * arrowHeadSize, yArrowTipY + Math.Sin(yArrowAngle - Math.PI / 6) * arrowHeadSize);
|
||||
await ctx.ClosePathAsync();
|
||||
await ctx.FillAsync(FillRule.NonZero);
|
||||
}
|
||||
|
||||
private double CanvasToWorldX(double canvasX)
|
||||
{
|
||||
return (canvasX - CanvasTranslateX) / ZoomScale / BASE_PIXELS_PER_METER - OriginX;
|
||||
}
|
||||
|
||||
private double CanvasToWorldY(double canvasY)
|
||||
{
|
||||
return (canvasY - CanvasTranslateY) / ZoomScale / BASE_PIXELS_PER_METER - OriginY;
|
||||
}
|
||||
|
||||
private double WorldToCanvasX(double worldX)
|
||||
{
|
||||
return (worldX + OriginX) * BASE_PIXELS_PER_METER * ZoomScale + CanvasTranslateX;
|
||||
}
|
||||
|
||||
private double WorldToCanvasY(double worldY)
|
||||
{
|
||||
return (worldY + OriginY) * BASE_PIXELS_PER_METER * ZoomScale + CanvasTranslateY;
|
||||
}
|
||||
}
|
||||
70
RobotApp.Client/Pages/Components/Mapping/MapView.razor.css
Normal file
70
RobotApp.Client/Pages/Components/Mapping/MapView.razor.css
Normal file
@@ -0,0 +1,70 @@
|
||||
.view {
|
||||
height: 100%;
|
||||
width: 100%;
|
||||
overflow: hidden;
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
position: relative;
|
||||
background-color: #808080;
|
||||
border-radius: var(--mud-default-borderradius);
|
||||
transition: box-shadow 300ms cubic-bezier(0.4, 0, 0.2, 1) 0ms;
|
||||
box-shadow: var(--mud-elevation-10);
|
||||
}
|
||||
|
||||
.view .toolbar {
|
||||
width: 100%;
|
||||
height: 3rem;
|
||||
flex: 0 0 auto;
|
||||
display: flex;
|
||||
align-items: center;
|
||||
padding: 0.5rem;
|
||||
border-bottom: 1px solid var(--mud-palette-divider);
|
||||
background-color: var(--mud-palette-background);
|
||||
}
|
||||
|
||||
.view .toolbar .action-button {
|
||||
padding: 0rem 0.4rem;
|
||||
margin-right: 0.5rem;
|
||||
border-radius: var(--mud-default-borderradius);
|
||||
transition: all 0.3s ease;
|
||||
background-color: var(--bs-gray-200);
|
||||
}
|
||||
|
||||
.view .toolbar .action-button:hover {
|
||||
background-color: var(--mud-palette-action-hover);
|
||||
transform: translateY(-1px);
|
||||
}
|
||||
|
||||
.view .toolbar .action-button:disabled {
|
||||
opacity: 0.6;
|
||||
cursor: not-allowed;
|
||||
}
|
||||
|
||||
.view .toolbar .action-button:disabled:hover {
|
||||
transform: none;
|
||||
background-color: transparent;
|
||||
}
|
||||
|
||||
.view .toolbar .icon-button {
|
||||
font-size: 1.2rem;
|
||||
color: var(--mud-palette-primary);
|
||||
}
|
||||
|
||||
|
||||
.view > div {
|
||||
display: flex;
|
||||
position: relative;
|
||||
width: 100%;
|
||||
flex-grow: 1;
|
||||
overflow: hidden;
|
||||
}
|
||||
|
||||
.view > div > canvas {
|
||||
transition: cursor 0.2s ease;
|
||||
display: block;
|
||||
transform: scale(1, -1);
|
||||
}
|
||||
|
||||
.view > div > canvas:hover {
|
||||
cursor: crosshair;
|
||||
}
|
||||
@@ -0,0 +1,7 @@
|
||||
<div class="view">
|
||||
<h4>Infomations</h4>
|
||||
</div>
|
||||
|
||||
@code {
|
||||
|
||||
}
|
||||
@@ -0,0 +1,13 @@
|
||||
.view {
|
||||
height: 100%;
|
||||
width: 100%;
|
||||
overflow: hidden;
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
position: relative;
|
||||
background-color: var(--mud-palette-surface);
|
||||
border-radius: var(--mud-default-borderradius);
|
||||
transition: box-shadow 300ms cubic-bezier(0.4, 0, 0.2, 1) 0ms;
|
||||
box-shadow: var(--mud-elevation-10);
|
||||
padding: 15px;
|
||||
}
|
||||
@@ -1,18 +0,0 @@
|
||||
@page "/counter"
|
||||
|
||||
<PageTitle>Counter</PageTitle>
|
||||
|
||||
<h1>Counter</h1>
|
||||
|
||||
<p role="status">Current count: @currentCount</p>
|
||||
|
||||
<button class="btn btn-primary" @onclick="IncrementCount">Click me</button>
|
||||
|
||||
@code {
|
||||
private int currentCount = 0;
|
||||
|
||||
private void IncrementCount()
|
||||
{
|
||||
currentCount++;
|
||||
}
|
||||
}
|
||||
@@ -1,7 +0,0 @@
|
||||
@page "/"
|
||||
|
||||
<PageTitle>Home</PageTitle>
|
||||
|
||||
<h1>Hello, world!</h1>
|
||||
|
||||
Welcome to your new app.
|
||||
25
RobotApp.Client/Pages/MapsManager.razor
Normal file
25
RobotApp.Client/Pages/MapsManager.razor
Normal file
@@ -0,0 +1,25 @@
|
||||
@page "/maps-manager"
|
||||
|
||||
@rendermode InteractiveWebAssemblyNoPrerender
|
||||
|
||||
@attribute [Authorize]
|
||||
|
||||
<PageTitle>Map Manager</PageTitle>
|
||||
|
||||
<div class="d-flex w-100 h-100 p-2 overflow-hidden flex-row">
|
||||
<div class="me-4 d-flex flex-column" style="height: 100%; width: 40%">
|
||||
<div class="mb-4" style="height: 50%; width: 100%">
|
||||
<RobotApp.Client.Pages.Components.Mapping.MapTable />
|
||||
</div>
|
||||
<div class="flex-grow-1" style="height: 50%; width: 100%">
|
||||
<RobotApp.Client.Pages.Components.Mapping.RobotInfomation />
|
||||
</div>
|
||||
</div>
|
||||
<div class="flex-grow-1 h-100" style="width: 60%">
|
||||
<RobotApp.Client.Pages.Components.Mapping.MapView />
|
||||
</div>
|
||||
</div>
|
||||
|
||||
@code {
|
||||
private List<MapDto> MapsShow = [];
|
||||
}
|
||||
@@ -1,63 +0,0 @@
|
||||
@page "/weather"
|
||||
|
||||
<PageTitle>Weather</PageTitle>
|
||||
|
||||
<h1>Weather</h1>
|
||||
|
||||
<p>This component demonstrates showing data.</p>
|
||||
|
||||
@if (forecasts == null)
|
||||
{
|
||||
<p><em>Loading...</em></p>
|
||||
}
|
||||
else
|
||||
{
|
||||
<table class="table">
|
||||
<thead>
|
||||
<tr>
|
||||
<th>Date</th>
|
||||
<th aria-label="Temperature in Celsius">Temp. (C)</th>
|
||||
<th aria-label="Temperature in Farenheit">Temp. (F)</th>
|
||||
<th>Summary</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
@foreach (var forecast in forecasts)
|
||||
{
|
||||
<tr>
|
||||
<td>@forecast.Date.ToShortDateString()</td>
|
||||
<td>@forecast.TemperatureC</td>
|
||||
<td>@forecast.TemperatureF</td>
|
||||
<td>@forecast.Summary</td>
|
||||
</tr>
|
||||
}
|
||||
</tbody>
|
||||
</table>
|
||||
}
|
||||
|
||||
@code {
|
||||
private WeatherForecast[]? forecasts;
|
||||
|
||||
protected override async Task OnInitializedAsync()
|
||||
{
|
||||
// Simulate asynchronous loading to demonstrate a loading indicator
|
||||
await Task.Delay(500);
|
||||
|
||||
var startDate = DateOnly.FromDateTime(DateTime.Now);
|
||||
var summaries = new[] { "Freezing", "Bracing", "Chilly", "Cool", "Mild", "Warm", "Balmy", "Hot", "Sweltering", "Scorching" };
|
||||
forecasts = Enumerable.Range(1, 5).Select(index => new WeatherForecast
|
||||
{
|
||||
Date = startDate.AddDays(index),
|
||||
TemperatureC = Random.Shared.Next(-20, 55),
|
||||
Summary = summaries[Random.Shared.Next(summaries.Length)]
|
||||
}).ToArray();
|
||||
}
|
||||
|
||||
private class WeatherForecast
|
||||
{
|
||||
public DateOnly Date { get; set; }
|
||||
public int TemperatureC { get; set; }
|
||||
public string? Summary { get; set; }
|
||||
public int TemperatureF => 32 + (int)(TemperatureC / 0.5556);
|
||||
}
|
||||
}
|
||||
18
RobotApp.Client/Pages/_Imports.razor
Normal file
18
RobotApp.Client/Pages/_Imports.razor
Normal file
@@ -0,0 +1,18 @@
|
||||
@layout RobotApp.Client.Pages.AssemblyLayout
|
||||
@using System.Net.Http
|
||||
@using System.Net.Http.Json
|
||||
@using Microsoft.AspNetCore.Components.Authorization
|
||||
@using Microsoft.AspNetCore.Components.Forms
|
||||
@using Microsoft.AspNetCore.Components.Routing
|
||||
@using Microsoft.AspNetCore.Components.Web
|
||||
@using static Microsoft.AspNetCore.Components.Web.RenderMode
|
||||
@using static RobotApp.Client.ClientRenderMode
|
||||
@using Microsoft.AspNetCore.Components.Web.Virtualization
|
||||
@using Microsoft.JSInterop
|
||||
@using RobotApp.Client
|
||||
@using Microsoft.AspNetCore.Authorization
|
||||
@using MudBlazor
|
||||
@using RobotApp.Common.Shares
|
||||
@using RobotApp.Common.Shares.Dtos
|
||||
@using Excubo.Blazor.Canvas
|
||||
@using Excubo.Blazor.Canvas.Contexts
|
||||
@@ -1,9 +1,20 @@
|
||||
using Microsoft.AspNetCore.Components.WebAssembly.Hosting;
|
||||
using MudBlazor.Services;
|
||||
using System.Globalization;
|
||||
|
||||
CultureInfo.DefaultThreadCurrentCulture = new CultureInfo("en-US");
|
||||
var builder = WebAssemblyHostBuilder.CreateDefault(args);
|
||||
|
||||
builder.Services.AddAuthorizationCore();
|
||||
builder.Services.AddCascadingAuthenticationState();
|
||||
builder.Services.AddAuthenticationStateDeserialization();
|
||||
|
||||
builder.Services.AddScoped(_ => new HttpClient() { BaseAddress = new Uri(builder.HostEnvironment.BaseAddress) });
|
||||
builder.Services.AddMudServices(config =>
|
||||
{
|
||||
config.SnackbarConfiguration.VisibleStateDuration = 2000;
|
||||
config.SnackbarConfiguration.HideTransitionDuration = 500;
|
||||
config.SnackbarConfiguration.ShowTransitionDuration = 500;
|
||||
});
|
||||
|
||||
await builder.Build().RunAsync();
|
||||
|
||||
@@ -9,8 +9,18 @@
|
||||
</PropertyGroup>
|
||||
|
||||
<ItemGroup>
|
||||
<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="MudBlazor" Version="8.12.0" />
|
||||
</ItemGroup>
|
||||
|
||||
<ItemGroup>
|
||||
<ProjectReference Include="..\RobotApp.Common.Shares\RobotApp.Common.Shares.csproj" />
|
||||
</ItemGroup>
|
||||
|
||||
<ItemGroup>
|
||||
<Folder Include="Models\" />
|
||||
</ItemGroup>
|
||||
|
||||
</Project>
|
||||
|
||||
@@ -1,10 +0,0 @@
|
||||
<Router AppAssembly="typeof(Program).Assembly">
|
||||
<Found Context="routeData">
|
||||
<AuthorizeRouteView RouteData="routeData" DefaultLayout="typeof(Layout.MainLayout)">
|
||||
<NotAuthorized>
|
||||
<RedirectToLogin />
|
||||
</NotAuthorized>
|
||||
</AuthorizeRouteView>
|
||||
<FocusOnNavigate RouteData="routeData" Selector="h1" />
|
||||
</Found>
|
||||
</Router>
|
||||
@@ -5,6 +5,9 @@
|
||||
@using Microsoft.AspNetCore.Components.Routing
|
||||
@using Microsoft.AspNetCore.Components.Web
|
||||
@using static Microsoft.AspNetCore.Components.Web.RenderMode
|
||||
@using static RobotApp.Client.ClientRenderMode
|
||||
@using Microsoft.AspNetCore.Components.Web.Virtualization
|
||||
@using Microsoft.JSInterop
|
||||
@using RobotApp.Client
|
||||
@using Microsoft.AspNetCore.Authorization
|
||||
@using MudBlazor
|
||||
|
||||
BIN
RobotApp.Client/wwwroot/images/AMR-250.png
Normal file
BIN
RobotApp.Client/wwwroot/images/AMR-250.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 104 KiB |
BIN
RobotApp.Client/wwwroot/images/Image-not-found.png
Normal file
BIN
RobotApp.Client/wwwroot/images/Image-not-found.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 809 B |
10
RobotApp.Client/wwwroot/images/logoDark.svg
Normal file
10
RobotApp.Client/wwwroot/images/logoDark.svg
Normal file
@@ -0,0 +1,10 @@
|
||||
<svg
|
||||
id="Layer_1"
|
||||
data-name="Layer 1"
|
||||
xmlns="http://www.w3.org/2000/svg"
|
||||
viewBox="0 0 32 32"
|
||||
>
|
||||
<path d="M31.81,1.79,21.29,14.32l-2.48-3a2.6,2.6,0,0,1,0-3.34l4.45-5.31a2.64,2.64,0,0,1,2-.93Z" fill="#e06e2e"/>
|
||||
<path d="M.19,1.8,10.71,14.34l2.48-2.95a2.6,2.6,0,0,0,0-3.34L8.75,2.74a2.66,2.66,0,0,0-2-.94Z" fill="#e06e2e"/>
|
||||
<path d="M32,30.21H25.36a2.61,2.61,0,0,1-2-.92L16.5,21.1a.65.65,0,0,0-1,0L8.63,29.29a2.58,2.58,0,0,1-2,.92H0L12.07,15.83,14,13.57a2.67,2.67,0,0,1,4.08,0l1.89,2.26Z" fill="#233871"/>
|
||||
</svg>
|
||||
|
After Width: | Height: | Size: 522 B |
48
RobotApp.Client/wwwroot/images/logoLight.svg
Normal file
48
RobotApp.Client/wwwroot/images/logoLight.svg
Normal file
@@ -0,0 +1,48 @@
|
||||
<svg
|
||||
id="Layer_1"
|
||||
data-name="Layer 1"
|
||||
xmlns="http://www.w3.org/2000/svg"
|
||||
viewBox="0 0 370.84 59.64"
|
||||
>
|
||||
<path
|
||||
d="M66.68,0,44.62,26.28,39.43,20.1a5.45,5.45,0,0,1,0-7L48.75,2A5.53,5.53,0,0,1,53,0Z"
|
||||
fill="#e06e2e"
|
||||
/>
|
||||
<path
|
||||
d="M.4,0,22.46,26.31l5.19-6.18a5.45,5.45,0,0,0,0-7L18.33,2a5.53,5.53,0,0,0-4.22-2Z"
|
||||
fill="#e06e2e"
|
||||
/>
|
||||
<path
|
||||
d="M67.08,59.59H53.15A5.44,5.44,0,0,1,49,57.65L34.58,40.49a1.36,1.36,0,0,0-2.09,0L18.09,57.65a5.46,5.46,0,0,1-4.17,1.94H0L25.31,29.43l4-4.72a5.57,5.57,0,0,1,8.54,0l4,4.72Z"
|
||||
fill="#ffffff"
|
||||
/>
|
||||
<path
|
||||
d="M98.34,24.3A12.87,12.87,0,0,1,104,42.84a12.29,12.29,0,0,1-5.61,4.56A21.47,21.47,0,0,1,89.74,49H81.17v7.93a2.72,2.72,0,0,1-2.72,2.73H74.13V22.72H89.74a21.64,21.64,0,0,1,8.6,1.58m-1.93,17a6.52,6.52,0,0,0,2.39-5.43,6.54,6.54,0,0,0-2.39-5.43q-2.39-1.91-7-1.9H81.17V43.18h8.25q4.6,0,7-1.9"
|
||||
fill="#ffffff"
|
||||
/>
|
||||
<path
|
||||
d="M145.86,25.44V56.91a2.72,2.72,0,0,1-2.72,2.73h-4.33V43.81H119.18V59.64h-4.32a2.73,2.73,0,0,1-2.73-2.73V25.44a2.72,2.72,0,0,1,2.73-2.72h4.32V38h19.63V22.72h4.33a2.72,2.72,0,0,1,2.72,2.72"
|
||||
fill="#ffffff"
|
||||
/>
|
||||
<path
|
||||
d="M183,56.58v3h-24.8a3.6,3.6,0,0,1-3.6-3.6V26.36a3.6,3.6,0,0,1,3.6-3.6h24.05v3a2.73,2.73,0,0,1-2.73,2.73H161.62v9.57h18.29V43.7H161.62V53.86h18.65A2.72,2.72,0,0,1,183,56.58"
|
||||
fill="#ffffff"
|
||||
/>
|
||||
<path
|
||||
d="M222.73,22.76V59.59h-4.52a2.71,2.71,0,0,1-2.09-1l-20.06-24V59.59h-7V22.76h4.51a2.72,2.72,0,0,1,2.09,1l20.07,24V22.76Z"
|
||||
fill="#ffffff"
|
||||
/>
|
||||
<rect x="231.85" y="22.76" width="7.03" height="36.83" fill="#ffffff" />
|
||||
<path
|
||||
d="M261,44.18l-6,6v9.42h-7V22.76h7V41.65L273,23.57a2.71,2.71,0,0,1,1.93-.81h6.77L265.75,39.23l16.88,20.36h-7a2.72,2.72,0,0,1-2.06-.94Z"
|
||||
fill="#ffffff"
|
||||
/>
|
||||
<path
|
||||
d="M315.59,51.07H296.65l-3,6.89a2.74,2.74,0,0,1-2.5,1.63h-5.47l16.08-34.74A3.6,3.6,0,0,1,305,22.76h2.32a3.61,3.61,0,0,1,3.27,2.08l16.13,34.75h-5.59A2.72,2.72,0,0,1,318.66,58Zm-2.33-5.37-7.14-16.1L299,45.7Z"
|
||||
fill="#ffffff"
|
||||
/>
|
||||
<path
|
||||
d="M359.69,51.07H340.76l-3,6.89a2.71,2.71,0,0,1-2.49,1.63h-5.47l16.07-34.74a3.62,3.62,0,0,1,3.27-2.09h2.33a3.59,3.59,0,0,1,3.26,2.08l16.13,34.75h-5.59A2.7,2.7,0,0,1,362.77,58Zm-2.32-5.37-7.14-16.1-7.09,16.1Z"
|
||||
fill="#ffffff"
|
||||
/>
|
||||
</svg>
|
||||
|
After Width: | Height: | Size: 2.3 KiB |
107
RobotApp.Client/wwwroot/js/canvas.js
Normal file
107
RobotApp.Client/wwwroot/js/canvas.js
Normal file
@@ -0,0 +1,107 @@
|
||||
window.getElementSize = (element) => {
|
||||
return {
|
||||
width: element.clientWidth,
|
||||
height: element.clientHeight,
|
||||
};
|
||||
}
|
||||
|
||||
window.getElementBoundingRect = (element) => {
|
||||
const rect = element.getBoundingClientRect();
|
||||
return {
|
||||
width: rect.width,
|
||||
height: rect.height,
|
||||
x: rect.x,
|
||||
y: rect.y,
|
||||
left: rect.left,
|
||||
top: rect.top
|
||||
};
|
||||
}
|
||||
|
||||
window.setCanvasSize = (canvas, width, height) => {
|
||||
canvas.width = width;
|
||||
canvas.height = height;
|
||||
}
|
||||
|
||||
window.imageCache = new Map();
|
||||
|
||||
window.preloadImage = (imagePath) => {
|
||||
return new Promise((resolve, reject) => {
|
||||
if (window.imageCache.has(imagePath)) {
|
||||
resolve(window.imageCache.get(imagePath));
|
||||
return;
|
||||
}
|
||||
|
||||
const img = new Image();
|
||||
img.onload = () => {
|
||||
window.imageCache.set(imagePath, img);
|
||||
resolve(img);
|
||||
};
|
||||
img.onerror = () => {
|
||||
reject(new Error(`Failed to load image: ${imagePath}`));
|
||||
};
|
||||
img.src = imagePath;
|
||||
});
|
||||
};
|
||||
|
||||
window.preloadImageFromUrl = (url, cacheKey) => {
|
||||
return new Promise((resolve, reject) => {
|
||||
if (window.imageCache.has(cacheKey)) {
|
||||
resolve(window.imageCache.get(cacheKey));
|
||||
return;
|
||||
}
|
||||
|
||||
const img = new Image();
|
||||
img.onload = () => {
|
||||
window.imageCache.set(cacheKey, img);
|
||||
resolve(img);
|
||||
};
|
||||
img.onerror = (error) => {
|
||||
reject(new Error(`Failed to load image from URL: ${url}`));
|
||||
};
|
||||
img.src = url;
|
||||
});
|
||||
};
|
||||
|
||||
window.getImageDimensions = (cacheKey) => {
|
||||
const img = window.imageCache.get(cacheKey);
|
||||
if (!img) {
|
||||
return { width: 0, height: 0 };
|
||||
}
|
||||
|
||||
return {
|
||||
width: img.naturalWidth || img.width,
|
||||
height: img.naturalHeight || img.height
|
||||
};
|
||||
};
|
||||
|
||||
window.drawImageOnCanvas = (canvas, imagePath, x, y, width, height) => {
|
||||
const ctx = canvas.getContext('2d');
|
||||
const img = window.imageCache.get(imagePath);
|
||||
|
||||
if (!img) {
|
||||
return false;
|
||||
}
|
||||
|
||||
try {
|
||||
ctx.drawImage(img, x, y, width, height);
|
||||
return true;
|
||||
} catch (error) {
|
||||
return false;
|
||||
}
|
||||
};
|
||||
|
||||
window.drawCachedImageOnCanvas = (canvas, cacheKey, x, y, width, height) => {
|
||||
const ctx = canvas.getContext('2d');
|
||||
const img = window.imageCache.get(cacheKey);
|
||||
|
||||
if (!img) {
|
||||
return false;
|
||||
}
|
||||
|
||||
try {
|
||||
ctx.drawImage(img, x, y, width, height);
|
||||
return true;
|
||||
} catch (error) {
|
||||
return false;
|
||||
}
|
||||
};
|
||||
13
RobotApp.Common.Shares/Dtos/MapDto.cs
Normal file
13
RobotApp.Common.Shares/Dtos/MapDto.cs
Normal file
@@ -0,0 +1,13 @@
|
||||
namespace RobotApp.Common.Shares.Dtos;
|
||||
|
||||
public class MapDto
|
||||
{
|
||||
public Guid Id { get; set; }
|
||||
public string Name { get; set; } = string.Empty;
|
||||
public string Description { get; set; } = string.Empty;
|
||||
public double Width { get; set; }
|
||||
public double Height { get; set; }
|
||||
public double Resolution { get; set; }
|
||||
public double OriginX { get; set; }
|
||||
public double OriginY { get; set; }
|
||||
}
|
||||
7
RobotApp.Common.Shares/Enums/NavigationType.cs
Normal file
7
RobotApp.Common.Shares/Enums/NavigationType.cs
Normal file
@@ -0,0 +1,7 @@
|
||||
namespace RobotApp.Common.Shares.Enums;
|
||||
|
||||
public enum NavigationType
|
||||
{
|
||||
Differential,
|
||||
Forklift,
|
||||
}
|
||||
7
RobotApp.Common.Shares/Enums/RobotDirection.cs
Normal file
7
RobotApp.Common.Shares/Enums/RobotDirection.cs
Normal file
@@ -0,0 +1,7 @@
|
||||
namespace RobotApp.Common.Shares.Enums;
|
||||
|
||||
public enum RobotDirection
|
||||
{
|
||||
FORWARD,
|
||||
BACKWARD,
|
||||
}
|
||||
93
RobotApp.Common.Shares/Enums/StateType.cs
Normal file
93
RobotApp.Common.Shares/Enums/StateType.cs
Normal file
@@ -0,0 +1,93 @@
|
||||
namespace RobotApp.Common.Shares.Enums;
|
||||
|
||||
public enum RootStateType
|
||||
{
|
||||
System,
|
||||
Auto,
|
||||
Manual,
|
||||
Service,
|
||||
Stop,
|
||||
Fault,
|
||||
}
|
||||
|
||||
public enum SystemStateType
|
||||
{
|
||||
Initializing,
|
||||
Standby,
|
||||
Shutting_Down,
|
||||
}
|
||||
|
||||
public enum AutoStateType
|
||||
{
|
||||
Idle,
|
||||
Executing,
|
||||
Paused,
|
||||
Holding,
|
||||
Canceling,
|
||||
Recovering,
|
||||
Remote_Override,
|
||||
}
|
||||
|
||||
public enum ManualStateType
|
||||
{
|
||||
Idle,
|
||||
Active,
|
||||
}
|
||||
|
||||
public enum ServiceStateType
|
||||
{
|
||||
Idle,
|
||||
Active,
|
||||
}
|
||||
|
||||
public enum StopStateType
|
||||
{
|
||||
EMC,
|
||||
Protective,
|
||||
Manual,
|
||||
}
|
||||
|
||||
public enum FaultStateType
|
||||
{
|
||||
Navigation,
|
||||
Localization,
|
||||
Shielf,
|
||||
Battery,
|
||||
Driver,
|
||||
Peripherals,
|
||||
Safety,
|
||||
Communication,
|
||||
}
|
||||
|
||||
public enum ExecutingStateType
|
||||
{
|
||||
Planning,
|
||||
Moving,
|
||||
ACT,
|
||||
}
|
||||
|
||||
public enum ACTStateType
|
||||
{
|
||||
Docking,
|
||||
Docked,
|
||||
Charging,
|
||||
Undocking,
|
||||
Loading,
|
||||
Unloading,
|
||||
TechAction,
|
||||
}
|
||||
|
||||
public enum MoveStateType
|
||||
{
|
||||
Navigation,
|
||||
Avoidance,
|
||||
Approach,
|
||||
Tracking,
|
||||
Repositioning,
|
||||
}
|
||||
|
||||
public enum PlanStateType
|
||||
{
|
||||
Task,
|
||||
Path,
|
||||
}
|
||||
8
RobotApp.Common.Shares/Enums/TrajectoryDegree.cs
Normal file
8
RobotApp.Common.Shares/Enums/TrajectoryDegree.cs
Normal file
@@ -0,0 +1,8 @@
|
||||
namespace RobotApp.Common.Shares.Enums;
|
||||
|
||||
public enum TrajectoryDegree
|
||||
{
|
||||
One,
|
||||
Two,
|
||||
Three,
|
||||
}
|
||||
18
RobotApp.Common.Shares/JsonOptionExtends.cs
Normal file
18
RobotApp.Common.Shares/JsonOptionExtends.cs
Normal file
@@ -0,0 +1,18 @@
|
||||
using System.Text.Json;
|
||||
|
||||
namespace RobotApp.Common.Shares;
|
||||
|
||||
public class JsonOptionExtends
|
||||
{
|
||||
public static readonly JsonSerializerOptions Read = new()
|
||||
{
|
||||
PropertyNamingPolicy = JsonNamingPolicy.CamelCase,
|
||||
WriteIndented = true,
|
||||
};
|
||||
|
||||
public static readonly JsonSerializerOptions Write = new()
|
||||
{
|
||||
PropertyNamingPolicy = JsonNamingPolicy.CamelCase,
|
||||
WriteIndented = true,
|
||||
};
|
||||
}
|
||||
105
RobotApp.Common.Shares/MathExtensions.cs
Normal file
105
RobotApp.Common.Shares/MathExtensions.cs
Normal file
@@ -0,0 +1,105 @@
|
||||
using RobotApp.Common.Shares.Model;
|
||||
|
||||
namespace RobotApp.Common.Shares;
|
||||
|
||||
public static class MathExtensions
|
||||
{
|
||||
public static double NormalizeAngle(double angle)
|
||||
{
|
||||
angle = angle % 360;
|
||||
if (angle > 180) angle -= 360;
|
||||
else if (angle < -180) angle += 360;
|
||||
return angle;
|
||||
}
|
||||
|
||||
public static (double x, double y) CurveDegreeTwo(double t, double x1, double y1, double controlPointX, double controlPointY, double x2, double y2)
|
||||
{
|
||||
var x = (1 - t) * (1 - t) * x1 + 2 * t * (1 - t) * controlPointX + t * t * x2;
|
||||
var y = (1 - t) * (1 - t) * y1 + 2 * t * (1 - t) * controlPointY + t * t * y2;
|
||||
return (x, y);
|
||||
}
|
||||
|
||||
public static (double x, double y) CurveDegreeThree(double t, double x1, double y1, double controlPoint1X, double controlPoint1Y, double controlPoint2X, double controlPoint2Y, double x2, double y2)
|
||||
{
|
||||
var x = Math.Pow(1 - t, 3) * x1 + 3 * Math.Pow(1 - t, 2) * t * controlPoint1X + 3 * Math.Pow(t, 2) * (1 - t) * controlPoint2X + Math.Pow(t, 3) * x2; ;
|
||||
var y = Math.Pow(1 - t, 3) * y1 + 3 * Math.Pow(1 - t, 2) * t * controlPoint1Y + 3 * Math.Pow(t, 2) * (1 - t) * controlPoint2Y + Math.Pow(t, 3) * y2;
|
||||
return (x, y);
|
||||
}
|
||||
|
||||
|
||||
public static (double x, double y) Curve(double t, EdgeCalculatorModel edge)
|
||||
{
|
||||
if (edge.TrajectoryDegree == Enums.TrajectoryDegree.One)
|
||||
{
|
||||
return (edge.X1 + t * (edge.X2 - edge.X1), edge.Y1 + t * (edge.Y2 - edge.Y1));
|
||||
}
|
||||
else if (edge.TrajectoryDegree == Enums.TrajectoryDegree.Two)
|
||||
{
|
||||
return CurveDegreeTwo(t, edge.X1, edge.Y1, edge.ControlPoint1X, edge.ControlPoint1Y, edge.X2, edge.Y2);
|
||||
}
|
||||
else
|
||||
{
|
||||
return CurveDegreeThree(t, edge.X1, edge.Y1, edge.ControlPoint1X, edge.ControlPoint1Y, edge.ControlPoint2X, edge.ControlPoint2Y, edge.X2, edge.Y2);
|
||||
}
|
||||
}
|
||||
|
||||
public static (double x, double y) Curve(this EdgeCalculatorModel edge, double t)
|
||||
{
|
||||
return Curve(t, edge);
|
||||
}
|
||||
|
||||
public static double GetEdgeLength(this EdgeCalculatorModel edge)
|
||||
{
|
||||
double distance = 0;
|
||||
if (edge.TrajectoryDegree == Enums.TrajectoryDegree.One)
|
||||
{
|
||||
distance = Math.Sqrt(Math.Pow(edge.X1 - edge.X2, 2) + Math.Pow(edge.Y1 - edge.Y2, 2));
|
||||
}
|
||||
else if (edge.TrajectoryDegree == Enums.TrajectoryDegree.Two)
|
||||
{
|
||||
var length = Math.Sqrt(Math.Pow(edge.X1 - edge.X2, 2) + Math.Pow(edge.Y1 - edge.Y2, 2));
|
||||
if (length == 0) return 0;
|
||||
double step = 0.1 / length;
|
||||
|
||||
for (double t = step; t <= 1.001; t += step)
|
||||
{
|
||||
(double x1, double y1) = CurveDegreeTwo(t - step, edge.X1, edge.Y1, edge.ControlPoint1X, edge.ControlPoint1Y, edge.X2, edge.Y2);
|
||||
(double x2, double y2) = CurveDegreeTwo(t, edge.X1, edge.Y1, edge.ControlPoint1X, edge.ControlPoint1Y, edge.X2, edge.Y2);
|
||||
distance += Math.Sqrt(Math.Pow(x1 - x2, 2) + Math.Pow(y1 - y2, 2));
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
var length = Math.Sqrt(Math.Pow(edge.X1 - edge.X2, 2) + Math.Pow(edge.Y1 - edge.Y2, 2));
|
||||
if (length == 0) return 0;
|
||||
double step = 0.1 / length;
|
||||
for (double t = step; t <= 1.001; t += step)
|
||||
{
|
||||
var sTime = t - step;
|
||||
(var sx, var sy) = CurveDegreeThree(1 - sTime, edge.X1, edge.Y1, edge.ControlPoint1X, edge.ControlPoint1Y, edge.ControlPoint2X, edge.ControlPoint2Y, edge.X2, edge.Y2);
|
||||
sTime = t;
|
||||
(var ex, var ey) = CurveDegreeThree(1 - sTime, edge.X1, edge.Y1, edge.ControlPoint1X, edge.ControlPoint1Y, edge.ControlPoint2X, edge.ControlPoint2Y, edge.X2, edge.Y2);
|
||||
|
||||
distance += Math.Sqrt(Math.Pow(sx - ex, 2) + Math.Pow(sy - ey, 2));
|
||||
}
|
||||
}
|
||||
return distance;
|
||||
}
|
||||
|
||||
public static double GetVectorAngle(double originNodeX, double originNodeY, double vector1X, double vector1Y, double vector2X, double vector2Y)
|
||||
{
|
||||
double BA_x = vector1X - originNodeX;
|
||||
double BA_y = vector1Y - originNodeY;
|
||||
double BC_x = vector2X - originNodeX;
|
||||
double BC_y = vector2Y - originNodeY;
|
||||
// Tính độ dài của các vector AB và BC
|
||||
double lengthAB = Math.Sqrt(BA_x * BA_x + BA_y * BA_y);
|
||||
double lengthBC = Math.Sqrt(BC_x * BC_x + BC_y * BC_y);
|
||||
// Tính tích vô hướng của AB và BC
|
||||
double dotProduct = BA_x * BC_x + BA_y * BC_y;
|
||||
if (lengthAB * lengthBC == 0) return 0;
|
||||
if (dotProduct / (lengthAB * lengthBC) > 1) return 0;
|
||||
if (dotProduct / (lengthAB * lengthBC) < -1) return 180;
|
||||
return Math.Acos(dotProduct / (lengthAB * lengthBC)) * (180.0 / Math.PI);
|
||||
}
|
||||
}
|
||||
8
RobotApp.Common.Shares/MessageResult.cs
Normal file
8
RobotApp.Common.Shares/MessageResult.cs
Normal file
@@ -0,0 +1,8 @@
|
||||
namespace RobotApp.Common.Shares;
|
||||
|
||||
public record MessageResult(bool IsSuccess, string Message = "");
|
||||
|
||||
public record MessageResult<T>(bool IsSuccess, string Message = "")
|
||||
{
|
||||
public T? Data { get; set; }
|
||||
}
|
||||
16
RobotApp.Common.Shares/Model/EdgeCalculatorModel.cs
Normal file
16
RobotApp.Common.Shares/Model/EdgeCalculatorModel.cs
Normal file
@@ -0,0 +1,16 @@
|
||||
using RobotApp.Common.Shares.Enums;
|
||||
|
||||
namespace RobotApp.Common.Shares.Model;
|
||||
|
||||
public class EdgeCalculatorModel
|
||||
{
|
||||
public double X1 { get; set; }
|
||||
public double Y1 { get; set; }
|
||||
public double X2 { get; set; }
|
||||
public double Y2 { get; set; }
|
||||
public TrajectoryDegree TrajectoryDegree { get; set; }
|
||||
public double ControlPoint1X { get; set; }
|
||||
public double ControlPoint1Y { get; set; }
|
||||
public double ControlPoint2X { get; set; }
|
||||
public double ControlPoint2Y { get; set; }
|
||||
}
|
||||
9
RobotApp.Common.Shares/RobotApp.Common.Shares.csproj
Normal file
9
RobotApp.Common.Shares/RobotApp.Common.Shares.csproj
Normal file
@@ -0,0 +1,9 @@
|
||||
<Project Sdk="Microsoft.NET.Sdk">
|
||||
|
||||
<PropertyGroup>
|
||||
<TargetFramework>net9.0</TargetFramework>
|
||||
<ImplicitUsings>enable</ImplicitUsings>
|
||||
<Nullable>enable</Nullable>
|
||||
</PropertyGroup>
|
||||
|
||||
</Project>
|
||||
@@ -2,8 +2,6 @@
|
||||
|
||||
namespace RobotApp.VDA5050.Factsheet;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public enum ValueDataType
|
||||
{
|
||||
BOOL,
|
||||
@@ -17,9 +15,9 @@ public enum ValueDataType
|
||||
public class ActionParameters
|
||||
{
|
||||
[Required]
|
||||
public string Key { get; set; }
|
||||
public string Key { get; set; } = string.Empty;
|
||||
[Required]
|
||||
public string ValueDataType { get; set; }
|
||||
public string Description { get; set; }
|
||||
public string ValueDataType { get; set; } = string.Empty;
|
||||
public string Description { get; set; } = string.Empty;
|
||||
public bool IsOptional { get; set; }
|
||||
}
|
||||
|
||||
@@ -2,7 +2,6 @@
|
||||
|
||||
namespace RobotApp.VDA5050.Factsheet;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public enum ActionScopes
|
||||
{
|
||||
@@ -13,11 +12,11 @@ public enum ActionScopes
|
||||
public class AgvActions
|
||||
{
|
||||
[Required]
|
||||
public string ActionType { get; set; }
|
||||
public string ActionDescription { get; set; }
|
||||
public string ActionType { get; set; } = string.Empty;
|
||||
public string ActionDescription { get; set; } = string.Empty;
|
||||
[Required]
|
||||
public string[] ActionScopes { get; set; }
|
||||
public ActionParameters[] ActionParameters { get; set; }
|
||||
public string ResultDescription { get; set; }
|
||||
public string[] BlockingTypes { get; set; }
|
||||
public string[] ActionScopes { get; set; } = [];
|
||||
public ActionParameters[] ActionParameters { get; set; } = [];
|
||||
public string ResultDescription { get; set; } = string.Empty;
|
||||
public string[] BlockingTypes { get; set; } = [];
|
||||
}
|
||||
|
||||
@@ -2,11 +2,10 @@
|
||||
|
||||
namespace RobotApp.VDA5050.Factsheet;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public class AgvGeometry
|
||||
{
|
||||
public WheelDefinitions[] WheelDefinitions { get; set; }
|
||||
public Envelopes2d[] Envelopes2d { get; set; }
|
||||
public Envelopes3d[] Envelopes3d { get; set; }
|
||||
public WheelDefinitions[] WheelDefinitions { get; set; } = [];
|
||||
public Envelopes2d[] Envelopes2d { get; set; } = [];
|
||||
public Envelopes3d[] Envelopes3d { get; set; } = [];
|
||||
}
|
||||
|
||||
@@ -2,8 +2,6 @@
|
||||
|
||||
namespace RobotApp.VDA5050.Factsheet;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public class PolygonPoints
|
||||
{
|
||||
[Required]
|
||||
@@ -14,8 +12,8 @@ public class PolygonPoints
|
||||
public class Envelopes2d
|
||||
{
|
||||
[Required]
|
||||
public string Set { get; set; }
|
||||
public string Set { get; set; } = string.Empty;
|
||||
[Required]
|
||||
public PolygonPoints[] PolygonPoints { get; set; }
|
||||
public string Description { get; set; }
|
||||
public PolygonPoints[] PolygonPoints { get; set; } = [];
|
||||
public string Description { get; set; } = string.Empty;
|
||||
}
|
||||
|
||||
@@ -2,15 +2,13 @@
|
||||
|
||||
namespace RobotApp.VDA5050.Factsheet;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public class Envelopes3d
|
||||
{
|
||||
[Required]
|
||||
public string Set { get; set; }
|
||||
public string Set { get; set; } = string.Empty;
|
||||
[Required]
|
||||
public string Format { get; set; }
|
||||
public object Data { get; set; }
|
||||
public string Url { get; set; }
|
||||
public string Description { get; set; }
|
||||
public string Format { get; set; } = string.Empty;
|
||||
public object Data { get; set; } = string.Empty;
|
||||
public string Url { get; set; } = string.Empty;
|
||||
public string Description { get; set; } = string.Empty;
|
||||
}
|
||||
|
||||
@@ -2,29 +2,27 @@
|
||||
|
||||
namespace RobotApp.VDA5050.Factsheet;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public class FactSheetMsg
|
||||
{
|
||||
public uint HeaderId { get; set; }
|
||||
public string Timestamp { get; set; }
|
||||
public uint HeaderId { get; set; } = 1;
|
||||
public string Timestamp { get; set; } = DateTime.Now.ToString("yyyy-MM-ddTHH:mm:ss.fffZ");
|
||||
[Required]
|
||||
public string Version { get; set; }
|
||||
public string Version { get; set; } = "1.0.0";
|
||||
[Required]
|
||||
public string Manufacturer { get; set; }
|
||||
public string Manufacturer { get; set; } = "PhenikaaX";
|
||||
[Required]
|
||||
public string SerialNumber { get; set; }
|
||||
public string SerialNumber { get; set; } = string.Empty;
|
||||
[Required]
|
||||
public TypeSpecification TypeSpecification { get; set; }
|
||||
public TypeSpecification TypeSpecification { get; set; } = new();
|
||||
[Required]
|
||||
public PhysicalParameters PhysicalParameters { get; set; }
|
||||
public PhysicalParameters PhysicalParameters { get; set; } = new();
|
||||
[Required]
|
||||
public ProtocolLimits ProtocolLimits { get; set; }
|
||||
public ProtocolLimits ProtocolLimits { get; set; } = new();
|
||||
[Required]
|
||||
public ProtocolFeatures ProtocolFeatures { get; set; }
|
||||
public ProtocolFeatures ProtocolFeatures { get; set; } = new();
|
||||
[Required]
|
||||
public AgvGeometry AgvGeometry { get; set; }
|
||||
public AgvGeometry AgvGeometry { get; set; } = new();
|
||||
[Required]
|
||||
public LoadSpecification LoadSpecification { get; set; }
|
||||
//public LocalizationParameter LocalizationParameters { get; set; }
|
||||
public LoadSpecification LoadSpecification { get; set; } = new();
|
||||
}
|
||||
|
||||
@@ -1,14 +1,12 @@
|
||||
namespace RobotApp.VDA5050.Factsheet;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public class LoadSets
|
||||
{
|
||||
public string SetName { get; set; }
|
||||
public string LoadType { get; set; }
|
||||
public string[] LoadPositions { get; set; }
|
||||
public BoundingBoxReference BoundingBoxReference { get; set; }
|
||||
public LoadDimensions LoadDimensions { get; set; }
|
||||
public string SetName { get; set; } = string.Empty;
|
||||
public string LoadType { get; set; } = string.Empty;
|
||||
public string[] LoadPositions { get; set; } = [];
|
||||
public BoundingBoxReference BoundingBoxReference { get; set; } = new();
|
||||
public LoadDimensions LoadDimensions { get; set; } = new();
|
||||
public double MaxWeigth { get; set; }
|
||||
public double MinLoadhandlingHeight { get; set; }
|
||||
public double MaxLoadhandlingHeight { get; set; }
|
||||
@@ -21,6 +19,6 @@ public class LoadSets
|
||||
public double AgvDecelerationLimit { get; set; }
|
||||
public double PickTime { get; set; }
|
||||
public double DropTime { get; set; }
|
||||
public string Description { get; set; }
|
||||
public string Description { get; set; } = string.Empty;
|
||||
|
||||
}
|
||||
|
||||
@@ -1,9 +1,8 @@
|
||||
namespace RobotApp.VDA5050.Factsheet;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public class LoadSpecification
|
||||
{
|
||||
public string[] LoadPositions { get; set; }
|
||||
public LoadSets[] LoadSets { get; set; }
|
||||
public string[] LoadPositions { get; set; } = [];
|
||||
public LoadSets[] LoadSets { get; set; } = [];
|
||||
}
|
||||
|
||||
@@ -2,7 +2,6 @@
|
||||
|
||||
namespace RobotApp.VDA5050.Factsheet;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public enum Support
|
||||
{
|
||||
@@ -12,8 +11,8 @@ public enum Support
|
||||
public class OptionalParameters
|
||||
{
|
||||
[Required]
|
||||
public string Parameter { get; set; }
|
||||
public string Parameter { get; set; } = string.Empty;
|
||||
[Required]
|
||||
public string Support { get; set; }
|
||||
public string Description { get; set; }
|
||||
public string Support { get; set; } = string.Empty;
|
||||
public string Description { get; set; } = string.Empty;
|
||||
}
|
||||
|
||||
@@ -2,12 +2,11 @@
|
||||
|
||||
namespace RobotApp.VDA5050.Factsheet;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public class ProtocolFeatures
|
||||
{
|
||||
[Required]
|
||||
public OptionalParameters[] OptionalParameters { get; set; }
|
||||
public OptionalParameters[] OptionalParameters { get; set; } = [];
|
||||
[Required]
|
||||
public AgvActions[] AgvActions { get; set; }
|
||||
public AgvActions[] AgvActions { get; set; } = [];
|
||||
}
|
||||
|
||||
@@ -2,13 +2,12 @@
|
||||
|
||||
namespace RobotApp.VDA5050.Factsheet;
|
||||
|
||||
#nullable disable
|
||||
public class ProtocolLimits
|
||||
{
|
||||
[Required]
|
||||
public MaxStringLens MaxStringLens { get; set; }
|
||||
public MaxStringLens MaxStringLens { get; set; } = new();
|
||||
[Required]
|
||||
public MaxArrayLens MaxArrayLens { get; set; }
|
||||
public MaxArrayLens MaxArrayLens { get; set; } = new();
|
||||
[Required]
|
||||
public Timing Timing { get; set; }
|
||||
public Timing Timing { get; set; } = new();
|
||||
}
|
||||
|
||||
@@ -2,8 +2,6 @@
|
||||
|
||||
namespace RobotApp.VDA5050.Factsheet;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public enum AgvKinematic
|
||||
{
|
||||
DIFF,
|
||||
@@ -35,12 +33,12 @@ public enum NavigationTypes
|
||||
public class TypeSpecification
|
||||
{
|
||||
[Required]
|
||||
public string SeriesName { get; set; }
|
||||
public string SeriesDescription { get; set; }
|
||||
public string SeriesName { get; set; } = string.Empty;
|
||||
public string SeriesDescription { get; set; } = string.Empty;
|
||||
[Required]
|
||||
public string AgvKinematic { get; set; }
|
||||
public string AgvKinematic { get; set; } = string.Empty;
|
||||
[Required]
|
||||
public string AgvClass { get; set; }
|
||||
public string AgvClass { get; set; } = string.Empty;
|
||||
[Required]
|
||||
public double MaxLoadMass { get; set; }
|
||||
[Required]
|
||||
|
||||
@@ -2,8 +2,6 @@
|
||||
|
||||
namespace RobotApp.VDA5050.Factsheet;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public enum WheelDefinitionsType
|
||||
{
|
||||
DRIVE,
|
||||
@@ -11,6 +9,7 @@ public enum WheelDefinitionsType
|
||||
FIXED,
|
||||
MECANUM,
|
||||
}
|
||||
|
||||
public class WheelDefinitionsPosition
|
||||
{
|
||||
[Required]
|
||||
@@ -23,17 +22,17 @@ public class WheelDefinitionsPosition
|
||||
public class WheelDefinitions
|
||||
{
|
||||
[Required]
|
||||
public string Type { get; set; }
|
||||
public string Type { get; set; } = string.Empty;
|
||||
[Required]
|
||||
public bool IsActiveDriven { get; set; }
|
||||
[Required]
|
||||
public bool IsActiveSteered { get; set; }
|
||||
[Required]
|
||||
public WheelDefinitionsPosition Position { get; set; }
|
||||
public WheelDefinitionsPosition Position { get; set; } = new();
|
||||
[Required]
|
||||
public double Diameter { get; set; }
|
||||
[Required]
|
||||
public double Width { get; set; }
|
||||
public double CenterDisplacement { get; set; }
|
||||
public string Constraints { get; set; }
|
||||
public string Constraints { get; set; } = string.Empty;
|
||||
}
|
||||
|
||||
@@ -1,9 +0,0 @@
|
||||
namespace RobotApp.VDA5050.FactsheetExtend;
|
||||
|
||||
public class Battery
|
||||
{
|
||||
public uint Battery_low { get; set; }
|
||||
public uint Battery_normal { get; set; }
|
||||
public uint Battery_good { get; set; }
|
||||
public uint Battery_full { get; set; }
|
||||
}
|
||||
@@ -1,11 +0,0 @@
|
||||
namespace RobotApp.VDA5050.FactsheetExtend;
|
||||
|
||||
public enum BatteryThreshold
|
||||
{
|
||||
LOW,
|
||||
NORMAL,
|
||||
MIDDLE,
|
||||
GOOD,
|
||||
FULL,
|
||||
NONE
|
||||
}
|
||||
@@ -1,31 +0,0 @@
|
||||
namespace RobotApp.VDA5050.FactsheetExtend;
|
||||
|
||||
public class CameraSafety
|
||||
{
|
||||
public double Pass_through_x_min { get; set; }
|
||||
public double Pass_through_x_max { get; set; }
|
||||
public double Pass_through_y_min { get; set; }
|
||||
public double Pass_through_y_max { get; set; }
|
||||
public double Pass_through_z_min { get; set; }
|
||||
public double Pass_through_z_max { get; set; }
|
||||
public uint Ground_seg_max_iterations { get; set; }
|
||||
public double Ground_seg_distance_threshold { get; set; }
|
||||
public double Warn_z1 { get; set; }
|
||||
public double Protect_z1 { get; set; }
|
||||
public double Warn_z2 { get; set; }
|
||||
public double Protect_z2 { get; set; }
|
||||
public double Warn_z3 { get; set; }
|
||||
public double Protect_z3 { get; set; }
|
||||
public double Warn_z4 { get; set; }
|
||||
public double Protect_z4 { get; set; }
|
||||
public double Warn_z5 { get; set; }
|
||||
public double Protect_z5 { get; set; }
|
||||
public double Warn_z6 { get; set; }
|
||||
public double Protect_z6 { get; set; }
|
||||
public uint Min_cluster_warn_size { get; set; }
|
||||
public uint Min_cluster_protect_size { get; set; }
|
||||
public uint Min_cluster_detect_size { get; set; }
|
||||
public uint Min_consecutive_warn_count { get; set; }
|
||||
public uint Min_consecutive_protect_count { get; set; }
|
||||
public uint Min_consecutive_detect_count { get; set; }
|
||||
}
|
||||
@@ -1,9 +0,0 @@
|
||||
namespace RobotApp.VDA5050.FactsheetExtend;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public class ChargerParam
|
||||
{
|
||||
public string Charger_ip { get; set; }
|
||||
public uint Charger_port { get; set; }
|
||||
}
|
||||
@@ -1,19 +0,0 @@
|
||||
namespace RobotApp.VDA5050.FactsheetExtend;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public class FactsheetExtendMsg
|
||||
{
|
||||
public uint HeaderId { get; set; }
|
||||
public DateTime Timestamp { get; set; }
|
||||
public string Version { get; set; }
|
||||
public string Manufacturer { get; set; }
|
||||
public string SerialNumber { get; set; }
|
||||
|
||||
public ServerParam Server_param { get; set; }
|
||||
public RobotParam Robot_param { get; set; }
|
||||
public Localization Localization { get; set; }
|
||||
public Navigation Navigation { get; set; }
|
||||
public Safety Safety { get; set; }
|
||||
public ChargerParam Charger_param { get; set; }
|
||||
}
|
||||
@@ -1,9 +0,0 @@
|
||||
namespace RobotApp.VDA5050.FactsheetExtend;
|
||||
|
||||
public class ForkSafety
|
||||
{
|
||||
public double Muted_field_size { get; set; }
|
||||
public double Protected_field_size { get; set; }
|
||||
public double Warning_field_size { get; set; }
|
||||
public double Detect_field_size { get; set; }
|
||||
}
|
||||
@@ -1,9 +0,0 @@
|
||||
namespace RobotApp.VDA5050.FactsheetExtend;
|
||||
|
||||
public class Initpose
|
||||
{
|
||||
public bool Use_manual_initpose { get; set; }
|
||||
public double Initpose_x { get; set; }
|
||||
public double Initpose_y { get; set; }
|
||||
public double Initpose_yaw { get; set; }
|
||||
}
|
||||
@@ -1,10 +0,0 @@
|
||||
namespace RobotApp.VDA5050.FactsheetExtend;
|
||||
|
||||
public class LineSegment
|
||||
{
|
||||
public double Least_thresh { get; set; }
|
||||
public double Min_line_length { get; set; }
|
||||
public double Predict_distance { get; set; }
|
||||
public uint Seed_line_points { get; set; }
|
||||
public uint Min_line_points { get; set; }
|
||||
}
|
||||
@@ -1,14 +0,0 @@
|
||||
namespace RobotApp.VDA5050.FactsheetExtend;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public class Localization
|
||||
{
|
||||
public uint Threshold_quality_loc { get; set; }
|
||||
public bool Use_localization_marker { get; set; }
|
||||
public bool Use_pallet_detection { get; set; }
|
||||
public Initpose Initpose { get; set; }
|
||||
public Xloc Xloc { get; set; }
|
||||
public VlMarker Vl_marker { get; set; }
|
||||
|
||||
}
|
||||
@@ -1,9 +0,0 @@
|
||||
namespace RobotApp.VDA5050.FactsheetExtend;
|
||||
|
||||
public class Motor
|
||||
{
|
||||
public double OdomEncSteeringAngleOffset { get; set; }
|
||||
public double Steering_fix_wheel_distance_x { get; set; }
|
||||
public double Steering_fix_wheel_distance_y { get; set; }
|
||||
public double WheelAcceleration { get; set; }
|
||||
}
|
||||
@@ -1,11 +0,0 @@
|
||||
namespace RobotApp.VDA5050.FactsheetExtend;
|
||||
|
||||
#nullable disable
|
||||
public class Navigation
|
||||
{
|
||||
public bool Using_control_safety { get; set; }
|
||||
public uint Control_rate { get; set; }
|
||||
public Rotate Rotate { get; set; }
|
||||
public PTA Pta { get; set; }
|
||||
public PPA Ppa { get; set; }
|
||||
}
|
||||
@@ -1,7 +0,0 @@
|
||||
namespace RobotApp.VDA5050.FactsheetExtend;
|
||||
|
||||
public class PPA
|
||||
{
|
||||
public double Ppa_accuracy_goal { get; set; }
|
||||
public double Ppa_distance_reduce { get; set; }
|
||||
}
|
||||
@@ -1,15 +0,0 @@
|
||||
namespace RobotApp.VDA5050.FactsheetExtend;
|
||||
|
||||
public class PTA
|
||||
{
|
||||
public double Pta_linear_vel_max { get; set; }
|
||||
public double Pta_linear_vel_min { get; set; }
|
||||
public double Pta_accuracy_goal { get; set; }
|
||||
public double Pta_distance_reduce { get; set; }
|
||||
public double Pta_acceleration { get; set; }
|
||||
public double Pta_lm_front { get; set; }
|
||||
public double Pta_lm_back { get; set; }
|
||||
public double Pta_phi_max { get; set; }
|
||||
public double Pta_amplitude_max { get; set; }
|
||||
public uint Pta_w_option { get; set; }
|
||||
}
|
||||
@@ -1,12 +0,0 @@
|
||||
namespace RobotApp.VDA5050.FactsheetExtend;
|
||||
|
||||
public class RobotParam
|
||||
{
|
||||
public bool Use_dynamic_parameter { get; set; } // (Default: True) Declare whether to use dynamic parameters or not
|
||||
public string? Ethernet_name { get; set; } // The name of Ethernet port which connects to wifi client (e.g eno1, lo, enp3s0)
|
||||
public double Speed_max_backward { get; set; } // (Default: True) Declare whether to use dynamic parameters or not
|
||||
public uint Num_day_logger { get; set; } // The name of Ethernet port which connects to wifi client (e.g eno1, lo, enp3s0)
|
||||
|
||||
public Motor Motor { get; set; } = new();
|
||||
public Battery Battery { get; set; } = new();
|
||||
}
|
||||
@@ -1,9 +0,0 @@
|
||||
namespace RobotApp.VDA5050.FactsheetExtend;
|
||||
|
||||
public class Rotate
|
||||
{
|
||||
public double Angular_vel_max { get; set; }
|
||||
public double Angular_vel_min { get; set; }
|
||||
public double Acceleration_rotate { get; set; }
|
||||
public double Tolerances_rotate { get; set; }
|
||||
}
|
||||
@@ -1,8 +0,0 @@
|
||||
namespace RobotApp.VDA5050.FactsheetExtend;
|
||||
|
||||
public class Safety
|
||||
{
|
||||
public bool Use_camera_safety { get; set; }
|
||||
public CameraSafety Camera_safety { get; set; } = new();
|
||||
public ForkSafety Fork_safety { get; set; } = new();
|
||||
}
|
||||
@@ -1,14 +0,0 @@
|
||||
namespace RobotApp.VDA5050.FactsheetExtend;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public class ServerParam
|
||||
{
|
||||
public string Server_ip { get; set; }
|
||||
public string Server_port { get; set; }
|
||||
public string Keepalive { get; set; }
|
||||
public string Username { get; set; }
|
||||
public string Password { get; set; }
|
||||
public string Client_protocol { get; set; }
|
||||
public string Client_id { get; set; }
|
||||
}
|
||||
@@ -1,21 +0,0 @@
|
||||
namespace RobotApp.VDA5050.FactsheetExtend;
|
||||
|
||||
public class VlMarker
|
||||
{
|
||||
public bool Use_odometry { get; set; }
|
||||
public uint V_angle { get; set; }
|
||||
public double Length_v { get; set; }
|
||||
public double Length_l { get; set; }
|
||||
public double X_laser { get; set; }
|
||||
public double Y_laser { get; set; }
|
||||
public bool Flip_laser { get; set; }
|
||||
public double Rotate_laser { get; set; }
|
||||
public uint Frequence_control { get; set; }
|
||||
public double Angle_min { get; set; }
|
||||
public double Angle_max { get; set; }
|
||||
public double Max_init_x { get; set; }
|
||||
public double Max_init_y { get; set; }
|
||||
public double Max_init_yaw { get; set; }
|
||||
|
||||
public LineSegment Line_segment { get; set; } = new();
|
||||
}
|
||||
@@ -1,16 +0,0 @@
|
||||
namespace RobotApp.VDA5050.FactsheetExtend;
|
||||
|
||||
public class Xloc
|
||||
{
|
||||
public double Front_vls_width { get; set; }
|
||||
public double Front_vls_pose_x { get; set; }
|
||||
public double Front_vls_pose_y { get; set; }
|
||||
public double Front_vls_pose_yaw { get; set; }
|
||||
public uint Front_vls_source_id { get; set; }
|
||||
|
||||
public double Rear_vls_width { get; set; }
|
||||
public double Rear_vls_pose_x { get; set; }
|
||||
public double Rear_vls_pose_y { get; set; }
|
||||
public double Rear_vls_pose_yaw { get; set; }
|
||||
public uint Rear_vls_source_id { get; set; }
|
||||
}
|
||||
@@ -2,14 +2,13 @@
|
||||
|
||||
namespace RobotApp.VDA5050.InstantAction;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public enum BlockingType
|
||||
{
|
||||
NONE,
|
||||
SOFT,
|
||||
HARD
|
||||
}
|
||||
|
||||
public class Action
|
||||
{
|
||||
[Required]
|
||||
@@ -2,7 +2,6 @@
|
||||
|
||||
namespace RobotApp.VDA5050.InstantAction;
|
||||
|
||||
#nullable disable
|
||||
public class ActionParameter
|
||||
{
|
||||
[Required]
|
||||
|
||||
@@ -1,7 +1,5 @@
|
||||
namespace RobotApp.VDA5050.InstantAction;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public class InstantActionsMsg
|
||||
{
|
||||
public uint HeaderId { get; set; }
|
||||
|
||||
@@ -2,8 +2,6 @@
|
||||
|
||||
namespace RobotApp.VDA5050.State;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public enum ActionStatus
|
||||
{
|
||||
WAITING,
|
||||
@@ -15,11 +13,11 @@ public enum ActionStatus
|
||||
}
|
||||
public class ActionState
|
||||
{
|
||||
public string ActionType { get; set; }
|
||||
public string ActionType { get; set; } = string.Empty;
|
||||
[Required]
|
||||
public string ActionId { get; set; }
|
||||
public string ActionDescription { get; set; }
|
||||
public string ActionId { get; set; } = string.Empty;
|
||||
public string ActionDescription { get; set; } = string.Empty;
|
||||
[Required]
|
||||
public string ActionStatus { get; set; }
|
||||
public string ResultDescription { get; set; }
|
||||
public string ActionStatus { get; set; } = string.Empty;
|
||||
public string ResultDescription { get; set; } = string.Empty;
|
||||
}
|
||||
|
||||
@@ -3,17 +3,15 @@ using System.ComponentModel.DataAnnotations;
|
||||
|
||||
namespace RobotApp.VDA5050.State;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public class EdgeState
|
||||
{
|
||||
|
||||
[Required]
|
||||
public string EdgeId { get; set; }
|
||||
public string EdgeId { get; set; } = string.Empty;
|
||||
[Required]
|
||||
public int SequenceId { get; set; }
|
||||
public string EdgeDescription { get; set; }
|
||||
public string EdgeDescription { get; set; } = string.Empty;
|
||||
[Required]
|
||||
public bool Released { get; set; }
|
||||
public Trajectory Trajectory { get; set; }
|
||||
public Trajectory Trajectory { get; set; } = new();
|
||||
}
|
||||
|
||||
@@ -2,28 +2,33 @@
|
||||
|
||||
namespace RobotApp.VDA5050.State;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public enum ErrorLevel
|
||||
{
|
||||
NONE,
|
||||
WARNING,
|
||||
FATAL
|
||||
}
|
||||
|
||||
public class ErrorReferences
|
||||
{
|
||||
[Required]
|
||||
public string ReferenceKey { get; set; }
|
||||
public string ReferenceKey { get; set; } = string.Empty;
|
||||
[Required]
|
||||
public string ReferenceValue { get; set; }
|
||||
public string ReferenceValue { get; set; } = string.Empty;
|
||||
}
|
||||
|
||||
public enum ErrorType
|
||||
{
|
||||
INITIALIZE_ORDER,
|
||||
}
|
||||
|
||||
public class Error
|
||||
{
|
||||
[Required]
|
||||
public string ErrorType { get; set; }
|
||||
public ErrorReferences[] ErrorReferences { get; set; }
|
||||
public string ErrorDescription { get; set; }
|
||||
public string ErrorHint { get; set; }
|
||||
public string ErrorType { get; set; } = string.Empty;
|
||||
public ErrorReferences[] ErrorReferences { get; set; } = [];
|
||||
public string ErrorDescription { get; set; } = string.Empty;
|
||||
public string ErrorHint { get; set; } = string.Empty;
|
||||
[Required]
|
||||
public string ErrorLevel { get; set; }
|
||||
public string ErrorLevel { get; set; } = string.Empty;
|
||||
}
|
||||
|
||||
@@ -2,7 +2,6 @@
|
||||
|
||||
namespace RobotApp.VDA5050.State;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public enum InfoLevel
|
||||
{
|
||||
@@ -12,16 +11,16 @@ public enum InfoLevel
|
||||
public class InfomationReferences
|
||||
{
|
||||
[Required]
|
||||
public string ReferenceKey { get; set; }
|
||||
public string ReferenceKey { get; set; } = string.Empty;
|
||||
[Required]
|
||||
public string ReferenceValue { get; set; }
|
||||
public string ReferenceValue { get; set; } = string.Empty;
|
||||
}
|
||||
public class Information
|
||||
{
|
||||
[Required]
|
||||
public string InfoType { get; set; }
|
||||
public InfomationReferences[] InfoReferences { get; set; }
|
||||
public string InfoDescription { get; set; }
|
||||
public string InfoType { get; set; } = string.Empty;
|
||||
public InfomationReferences[] InfoReferences { get; set; } = [];
|
||||
public string InfoDescription { get; set; } = string.Empty;
|
||||
[Required]
|
||||
public string InfoLevel { get; set; }
|
||||
public string InfoLevel { get; set; } = string.Empty;
|
||||
}
|
||||
|
||||
@@ -2,15 +2,13 @@
|
||||
|
||||
namespace RobotApp.VDA5050.State;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public class Load
|
||||
{
|
||||
public string LoadId { get; set; }
|
||||
public string LoadType { get; set; }
|
||||
public string LoadPosition { get; set; }
|
||||
public BoundingBoxReference BoundingBoxReference { get; set; }
|
||||
public LoadDimensions LoadDimensions { get; set; }
|
||||
public string LoadId { get; set; } = string.Empty;
|
||||
public string LoadType { get; set; } = string.Empty;
|
||||
public string LoadPosition { get; set; } = string.Empty;
|
||||
public BoundingBoxReference BoundingBoxReference { get; set; } = new();
|
||||
public LoadDimensions LoadDimensions { get; set; } = new();
|
||||
public double Weight { get; set; }
|
||||
|
||||
}
|
||||
|
||||
@@ -1,20 +1,18 @@
|
||||
using RobotApp.VDA5050.Order;
|
||||
using System.ComponentModel.DataAnnotations;
|
||||
using System.ComponentModel.DataAnnotations;
|
||||
|
||||
namespace RobotApp.VDA5050.State;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public class NodeState
|
||||
{
|
||||
[Required]
|
||||
public string NodeId { get; set; }
|
||||
public string NodeId { get; set; } = string.Empty;
|
||||
[Required]
|
||||
public int SequenceId { get; set; }
|
||||
public string NodeDescription { get; set; }
|
||||
public string NodeDescription { get; set; } = string.Empty;
|
||||
[Required]
|
||||
public bool Released { get; set; }
|
||||
public NodePosition NodePosition { get; set; }
|
||||
public NodePosition NodePosition { get; set; } = new();
|
||||
}
|
||||
|
||||
public class NodePosition
|
||||
@@ -25,6 +23,6 @@ public class NodePosition
|
||||
public double Y { get; set; }
|
||||
public double Theta { get; set; }
|
||||
[Required]
|
||||
public string MapId { get; set; } = "";
|
||||
public string MapId { get; set; } = string.Empty;
|
||||
|
||||
}
|
||||
@@ -3,8 +3,6 @@ using System.ComponentModel.DataAnnotations;
|
||||
|
||||
namespace RobotApp.VDA5050.State;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public enum OperatingMode
|
||||
{
|
||||
AUTOMATIC,
|
||||
@@ -17,22 +15,21 @@ public class StateMsg
|
||||
{
|
||||
[Required]
|
||||
public uint HeaderId { get; set; }
|
||||
public string Timestamp { get; set; } = DateTime.Now.ToString("yyyy-MM-ddTHH:mm:ss.fffZ");
|
||||
[Required]
|
||||
public string Timestamp { get; set; }
|
||||
public string Version { get; set; } = "1.0.0";
|
||||
[Required]
|
||||
public string Version { get; set; }
|
||||
public string Manufacturer { get; set; } = "PhenikaaX";
|
||||
[Required]
|
||||
public string Manufacturer { get; set; }
|
||||
[Required]
|
||||
public string SerialNumber { get; set; }
|
||||
public string SerialNumber { get; set; } = string.Empty;
|
||||
public Map[] Maps { get; set; } = [];
|
||||
[Required]
|
||||
public string OrderId { get; set; }
|
||||
public string OrderId { get; set; } = string.Empty;
|
||||
[Required]
|
||||
public int OrderUpdateId { get; set; }
|
||||
public string ZoneSetId { get; set; }
|
||||
public string ZoneSetId { get; set; } = string.Empty;
|
||||
[Required]
|
||||
public string LastNodeId { get; set; }
|
||||
public string LastNodeId { get; set; } = string.Empty;
|
||||
[Required]
|
||||
public int LastNodeSequenceId { get; set; }
|
||||
[Required]
|
||||
@@ -41,7 +38,7 @@ public class StateMsg
|
||||
public bool NewBaseRequest { get; set; }
|
||||
public double DistanceSinceLastNode { get; set; }
|
||||
[Required]
|
||||
public string OperatingMode { get; set; }
|
||||
public string OperatingMode { get; set; } = string.Empty;
|
||||
[Required]
|
||||
public NodeState[] NodeStates { get; set; } = [];
|
||||
[Required]
|
||||
|
||||
@@ -2,34 +2,16 @@
|
||||
|
||||
public enum ActionType
|
||||
{
|
||||
startPause, // No actionParameters
|
||||
stopPause, // No actionParameters
|
||||
startCharging, // ActionParameters {CHARGER_IP, CHARGER_PORT, X, Y, THETA}
|
||||
stopCharging, // ActionParameters {X, Y, THETA}
|
||||
initPosition, // ActionParameters {X, Y, THETA, MAP_ID, LAST_NODE_ID}
|
||||
stateRequest, // No actionParameters
|
||||
logReport, // No actionParameters
|
||||
pick, // No actionParameters
|
||||
drop, // No actionParameters
|
||||
detectObject, // No actionParameters
|
||||
finePositioning, // ActionParameters {X, Y, THETA, MAP_ID, LAST_NODE_ID}
|
||||
waitForTrigger, // No actionParameters
|
||||
cancelOrder, // No actionParameters
|
||||
factsheetRequest, // No actionParameters
|
||||
|
||||
setDynparam, // ActionParameters {PARAM_NAME, PARAM_TYPE, PARAM_VALUE}
|
||||
saveDynparamRuntime, // No actionParameters
|
||||
loadDynparamRuntime, // No actionParameters
|
||||
loadDynparamDefault, // No actionParameters
|
||||
getDynparamRuntime, // No actionParameters
|
||||
|
||||
controlLight, // ActionParameters {LIGHT_TYPE, CONTROL_TYPE}
|
||||
controlFan, // ActionParameters {CONTROL_TYPE}
|
||||
controlSpeaker, // ActionParameters {SONG_NUMBER, CONTROL_TYPE}
|
||||
controlSafetyField, // ActionParameters {FIELD_TYPE, CONTROL_TYPE}
|
||||
startInPallet, // ActionParameters {X, Y, THETA}
|
||||
startOutPallet, // ActionParameters {X, Y, THETA}
|
||||
|
||||
rotate, // ActionParameters {THETA}
|
||||
setMap, // ActionParameter {MAP_ID}
|
||||
START_PAUSE,
|
||||
STOP_PAUSE,
|
||||
START_CHARGING,
|
||||
STOP_CHARGING,
|
||||
INITIALIZATION_POSITION,
|
||||
PICK,
|
||||
DROP,
|
||||
CANCEL_ORDER,
|
||||
ROTATE,
|
||||
REQUEST_FACTSHEET,
|
||||
REQUEST_VISUALIZATION,
|
||||
REQUEST_STATE,
|
||||
}
|
||||
|
||||
@@ -1,29 +0,0 @@
|
||||
using RobotApp.VDA5050.State;
|
||||
using System.Text;
|
||||
|
||||
namespace RobotApp.VDA5050;
|
||||
|
||||
public class VDA5050Helper
|
||||
{
|
||||
public static string ConvertErrorDetail(IEnumerable<Error> errors)
|
||||
{
|
||||
string errorsType = "";
|
||||
foreach (var error in errors)
|
||||
{
|
||||
if (error == errors.Last()) errorsType += $"{error.ErrorType}";
|
||||
else errorsType += $"{error.ErrorType}, ";
|
||||
}
|
||||
StringBuilder errorStr = new($"Robot có lỗi: [{errorsType}]\n");
|
||||
foreach (var error in errors)
|
||||
{
|
||||
string errorDes = $"- {error.ErrorType}: {error.ErrorDescription}\n";
|
||||
errorStr.Append(errorDes.PadLeft(errorDes.Length + 3));
|
||||
foreach (var refer in error.ErrorReferences)
|
||||
{
|
||||
string errorRefer = $"+ {refer.ReferenceKey}: {refer.ReferenceValue}\n";
|
||||
errorStr.Append(errorRefer.PadLeft(errorRefer.Length + 9));
|
||||
}
|
||||
}
|
||||
return !errors.Any() ? "" : errorStr.ToString();
|
||||
}
|
||||
}
|
||||
@@ -1,19 +1,12 @@
|
||||
namespace RobotApp.VDA5050;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public class VDA5050Setting
|
||||
{
|
||||
public bool ServerEnable { get; set; }
|
||||
public string HostServer { get; set; }
|
||||
public int Port { get; set; }
|
||||
public string UserName { get; set; }
|
||||
public string Password { get; set; }
|
||||
public string Manufacturer { get; set; }
|
||||
public string Version { get; set; }
|
||||
public int Repeat { get; set; }
|
||||
public int ConnectionTimeoutSeconds { get; set; }
|
||||
public int ConnectionBacklog { set; get; }
|
||||
public int KeepAliveInterval { get; set; }
|
||||
public int CheckingRobotMsgTimout { get; set; }
|
||||
public string HostServer { get; set; } = string.Empty;
|
||||
public int Port { get; set; } = 1883;
|
||||
public string UserName { get; set; } = "robotics";
|
||||
public string Password { get; set; } = "robotics";
|
||||
public string Manufacturer { get; set; } = "PhenikaaX";
|
||||
public string Version { get; set; } = "0.0.1";
|
||||
public int PublishRepeat { get; set; } = 2;
|
||||
}
|
||||
|
||||
@@ -1,12 +1,46 @@
|
||||
namespace RobotApp.VDA5050;
|
||||
|
||||
public static class VDA5050Topic
|
||||
public enum VDA5050Topic
|
||||
{
|
||||
public const string Connection = "connection";
|
||||
public const string Order = "order";
|
||||
public const string InstantActions = "instantActions";
|
||||
public const string State = "state";
|
||||
public const string Visualization = "visualization";
|
||||
public const string Factsheet = "factsheet";
|
||||
public const string FactsheetExtend = "factsheetExtend"; // custom by TungNV
|
||||
CONNECTION,
|
||||
ORDER,
|
||||
INSTANTACTIONS,
|
||||
STATE,
|
||||
VISUALIZATION,
|
||||
FACTSHEET
|
||||
}
|
||||
|
||||
public static class EnumExtensions
|
||||
{
|
||||
private static readonly Dictionary<VDA5050Topic, string> TopicToStringMap = new()
|
||||
{
|
||||
{ VDA5050Topic.CONNECTION, "connection" },
|
||||
{ VDA5050Topic.ORDER, "order" },
|
||||
{ VDA5050Topic.INSTANTACTIONS, "instantActions" },
|
||||
{ VDA5050Topic.STATE, "state" },
|
||||
{ VDA5050Topic.VISUALIZATION, "visualization" },
|
||||
{ VDA5050Topic.FACTSHEET, "factsheet" }
|
||||
};
|
||||
|
||||
private static readonly Dictionary<string, VDA5050Topic> StringToTopicMap = new(StringComparer.OrdinalIgnoreCase)
|
||||
{
|
||||
{ "connection", VDA5050Topic.CONNECTION },
|
||||
{ "order", VDA5050Topic.ORDER },
|
||||
{ "instantActions", VDA5050Topic.INSTANTACTIONS },
|
||||
{ "state", VDA5050Topic.STATE },
|
||||
{ "visualization", VDA5050Topic.VISUALIZATION },
|
||||
{ "factsheet", VDA5050Topic.FACTSHEET }
|
||||
};
|
||||
|
||||
public static string ToTopicString(this VDA5050Topic type)
|
||||
{
|
||||
if (TopicToStringMap.TryGetValue(type, out var value)) return value;
|
||||
throw new ArgumentException($"Invalid VDA5050Topic: {type}");
|
||||
}
|
||||
|
||||
public static VDA5050Topic ToTopic(string value)
|
||||
{
|
||||
if (StringToTopicMap.TryGetValue(value, out var result)) return result;
|
||||
throw new ArgumentException($"No VDA5050Topic with string value '{value}' found.");
|
||||
}
|
||||
}
|
||||
@@ -2,8 +2,6 @@
|
||||
|
||||
namespace RobotApp.VDA5050.Visualization;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public class AgvPosition
|
||||
{
|
||||
[Required]
|
||||
@@ -11,7 +9,7 @@ public class AgvPosition
|
||||
[Required]
|
||||
public double Y { get; set; }
|
||||
[Required]
|
||||
public string MapId { get; set; }
|
||||
public string MapId { get; set; } = string.Empty;
|
||||
[Required]
|
||||
public double Theta { get; set; }
|
||||
[Required]
|
||||
|
||||
@@ -1,16 +1,16 @@
|
||||
namespace RobotApp.VDA5050.Visualization;
|
||||
using System.ComponentModel.DataAnnotations;
|
||||
|
||||
#nullable disable
|
||||
namespace RobotApp.VDA5050.Visualization;
|
||||
|
||||
public class VisualizationMsg
|
||||
{
|
||||
public uint HeaderId { get; set; }
|
||||
public string Timestamp { get; set; }
|
||||
public string Version { get; set; }
|
||||
public string Manufacturer { get; set; }
|
||||
public string SerialNumber { get; set; }
|
||||
public string MapId { get; set; }
|
||||
public string MapDescription { get; set; }
|
||||
public string Timestamp { get; set; } = DateTime.Now.ToString("yyyy-MM-ddTHH:mm:ss.fffZ");
|
||||
public string Version { get; set; } = "1.0.0";
|
||||
public string Manufacturer { get; set; } = "PhenikaaX";
|
||||
public string SerialNumber { get; set; } = string.Empty;
|
||||
public string MapId { get; set; } = string.Empty;
|
||||
public string MapDescription { get; set; } = string.Empty;
|
||||
public AgvPosition AgvPosition { get; set; } = new();
|
||||
public Velocity Velocity { get; set; } = new();
|
||||
}
|
||||
|
||||
11
RobotApp.sln
11
RobotApp.sln
@@ -1,7 +1,7 @@
|
||||
|
||||
Microsoft Visual Studio Solution File, Format Version 12.00
|
||||
# Visual Studio Version 17
|
||||
VisualStudioVersion = 17.12.35707.178
|
||||
VisualStudioVersion = 17.14.36511.14
|
||||
MinimumVisualStudioVersion = 10.0.40219.1
|
||||
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RobotApp", "RobotApp\RobotApp.csproj", "{BF0BB137-2EF9-4E1B-944E-9BF41C5284F7}"
|
||||
EndProject
|
||||
@@ -9,6 +9,8 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RobotApp.Client", "RobotApp
|
||||
EndProject
|
||||
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RobotApp.VDA5050", "RobotApp.VDA5050\RobotApp.VDA5050.csproj", "{617FD155-904A-44E6-AD1A-6BC878421F9F}"
|
||||
EndProject
|
||||
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RobotApp.Common.Shares", "RobotApp.Common.Shares\RobotApp.Common.Shares.csproj", "{480F459B-F07C-44D9-A738-E8DF6C438A80}"
|
||||
EndProject
|
||||
Global
|
||||
GlobalSection(SolutionConfigurationPlatforms) = preSolution
|
||||
Debug|Any CPU = Debug|Any CPU
|
||||
@@ -27,8 +29,15 @@ Global
|
||||
{617FD155-904A-44E6-AD1A-6BC878421F9F}.Debug|Any CPU.Build.0 = Debug|Any CPU
|
||||
{617FD155-904A-44E6-AD1A-6BC878421F9F}.Release|Any CPU.ActiveCfg = Release|Any CPU
|
||||
{617FD155-904A-44E6-AD1A-6BC878421F9F}.Release|Any CPU.Build.0 = Release|Any CPU
|
||||
{480F459B-F07C-44D9-A738-E8DF6C438A80}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
|
||||
{480F459B-F07C-44D9-A738-E8DF6C438A80}.Debug|Any CPU.Build.0 = Debug|Any CPU
|
||||
{480F459B-F07C-44D9-A738-E8DF6C438A80}.Release|Any CPU.ActiveCfg = Release|Any CPU
|
||||
{480F459B-F07C-44D9-A738-E8DF6C438A80}.Release|Any CPU.Build.0 = Release|Any CPU
|
||||
EndGlobalSection
|
||||
GlobalSection(SolutionProperties) = preSolution
|
||||
HideSolutionNode = FALSE
|
||||
EndGlobalSection
|
||||
GlobalSection(ExtensibilityGlobals) = postSolution
|
||||
SolutionGuid = {CCB0B2E5-3C19-4B2E-B229-08A74F6EF27D}
|
||||
EndGlobalSection
|
||||
EndGlobal
|
||||
|
||||
@@ -1,14 +1,7 @@
|
||||
using System.Security.Claims;
|
||||
using System.Text.Json;
|
||||
using Microsoft.AspNetCore.Authentication;
|
||||
using Microsoft.AspNetCore.Components.Authorization;
|
||||
using Microsoft.AspNetCore.Http.Extensions;
|
||||
using Microsoft.AspNetCore.Identity;
|
||||
using Microsoft.AspNetCore.Mvc;
|
||||
using Microsoft.Extensions.Primitives;
|
||||
using RobotApp.Components.Account.Pages;
|
||||
using RobotApp.Components.Account.Pages.Manage;
|
||||
using RobotApp.Data;
|
||||
using System.Security.Claims;
|
||||
|
||||
namespace Microsoft.AspNetCore.Routing
|
||||
{
|
||||
@@ -21,92 +14,15 @@ namespace Microsoft.AspNetCore.Routing
|
||||
|
||||
var accountGroup = endpoints.MapGroup("/Account");
|
||||
|
||||
accountGroup.MapPost("/PerformExternalLogin", (
|
||||
HttpContext context,
|
||||
[FromServices] SignInManager<ApplicationUser> signInManager,
|
||||
[FromForm] string provider,
|
||||
[FromForm] string returnUrl) =>
|
||||
{
|
||||
IEnumerable<KeyValuePair<string, StringValues>> query = [
|
||||
new("ReturnUrl", returnUrl),
|
||||
new("Action", ExternalLogin.LoginCallbackAction)];
|
||||
|
||||
var redirectUrl = UriHelper.BuildRelative(
|
||||
context.Request.PathBase,
|
||||
"/Account/ExternalLogin",
|
||||
QueryString.Create(query));
|
||||
|
||||
var properties = signInManager.ConfigureExternalAuthenticationProperties(provider, redirectUrl);
|
||||
return TypedResults.Challenge(properties, [provider]);
|
||||
});
|
||||
|
||||
accountGroup.MapPost("/Logout", async (
|
||||
ClaimsPrincipal user,
|
||||
[FromServices] SignInManager<ApplicationUser> signInManager,
|
||||
SignInManager<ApplicationUser> signInManager,
|
||||
[FromForm] string returnUrl) =>
|
||||
{
|
||||
await signInManager.SignOutAsync();
|
||||
return TypedResults.LocalRedirect($"~/{returnUrl}");
|
||||
});
|
||||
|
||||
var manageGroup = accountGroup.MapGroup("/Manage").RequireAuthorization();
|
||||
|
||||
manageGroup.MapPost("/LinkExternalLogin", async (
|
||||
HttpContext context,
|
||||
[FromServices] SignInManager<ApplicationUser> signInManager,
|
||||
[FromForm] string provider) =>
|
||||
{
|
||||
// Clear the existing external cookie to ensure a clean login process
|
||||
await context.SignOutAsync(IdentityConstants.ExternalScheme);
|
||||
|
||||
var redirectUrl = UriHelper.BuildRelative(
|
||||
context.Request.PathBase,
|
||||
"/Account/Manage/ExternalLogins",
|
||||
QueryString.Create("Action", ExternalLogins.LinkLoginCallbackAction));
|
||||
|
||||
var properties = signInManager.ConfigureExternalAuthenticationProperties(provider, redirectUrl, signInManager.UserManager.GetUserId(context.User));
|
||||
return TypedResults.Challenge(properties, [provider]);
|
||||
});
|
||||
|
||||
var loggerFactory = endpoints.ServiceProvider.GetRequiredService<ILoggerFactory>();
|
||||
var downloadLogger = loggerFactory.CreateLogger("DownloadPersonalData");
|
||||
|
||||
manageGroup.MapPost("/DownloadPersonalData", async (
|
||||
HttpContext context,
|
||||
[FromServices] UserManager<ApplicationUser> userManager,
|
||||
[FromServices] AuthenticationStateProvider authenticationStateProvider) =>
|
||||
{
|
||||
var user = await userManager.GetUserAsync(context.User);
|
||||
if (user is null)
|
||||
{
|
||||
return Results.NotFound($"Unable to load user with ID '{userManager.GetUserId(context.User)}'.");
|
||||
}
|
||||
|
||||
var userId = await userManager.GetUserIdAsync(user);
|
||||
downloadLogger.LogInformation("User with ID '{UserId}' asked for their personal data.", userId);
|
||||
|
||||
// Only include personal data for download
|
||||
var personalData = new Dictionary<string, string>();
|
||||
var personalDataProps = typeof(ApplicationUser).GetProperties().Where(
|
||||
prop => Attribute.IsDefined(prop, typeof(PersonalDataAttribute)));
|
||||
foreach (var p in personalDataProps)
|
||||
{
|
||||
personalData.Add(p.Name, p.GetValue(user)?.ToString() ?? "null");
|
||||
}
|
||||
|
||||
var logins = await userManager.GetLoginsAsync(user);
|
||||
foreach (var l in logins)
|
||||
{
|
||||
personalData.Add($"{l.LoginProvider} external login provider key", l.ProviderKey);
|
||||
}
|
||||
|
||||
personalData.Add("Authenticator Key", (await userManager.GetAuthenticatorKeyAsync(user))!);
|
||||
var fileBytes = JsonSerializer.SerializeToUtf8Bytes(personalData);
|
||||
|
||||
context.Response.Headers.TryAdd("Content-Disposition", "attachment; filename=PersonalData.json");
|
||||
return TypedResults.File(fileBytes, contentType: "application/json", fileDownloadName: "PersonalData.json");
|
||||
});
|
||||
|
||||
return accountGroup;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,48 +0,0 @@
|
||||
@page "/Account/ConfirmEmail"
|
||||
|
||||
@using System.Text
|
||||
@using Microsoft.AspNetCore.Identity
|
||||
@using Microsoft.AspNetCore.WebUtilities
|
||||
@using RobotApp.Data
|
||||
|
||||
@inject UserManager<ApplicationUser> UserManager
|
||||
@inject IdentityRedirectManager RedirectManager
|
||||
|
||||
<PageTitle>Confirm email</PageTitle>
|
||||
|
||||
<h1>Confirm email</h1>
|
||||
<StatusMessage Message="@statusMessage" />
|
||||
|
||||
@code {
|
||||
private string? statusMessage;
|
||||
|
||||
[CascadingParameter]
|
||||
private HttpContext HttpContext { get; set; } = default!;
|
||||
|
||||
[SupplyParameterFromQuery]
|
||||
private string? UserId { get; set; }
|
||||
|
||||
[SupplyParameterFromQuery]
|
||||
private string? Code { get; set; }
|
||||
|
||||
protected override async Task OnInitializedAsync()
|
||||
{
|
||||
if (UserId is null || Code is null)
|
||||
{
|
||||
RedirectManager.RedirectTo("");
|
||||
}
|
||||
|
||||
var user = await UserManager.FindByIdAsync(UserId);
|
||||
if (user is null)
|
||||
{
|
||||
HttpContext.Response.StatusCode = StatusCodes.Status404NotFound;
|
||||
statusMessage = $"Error loading user with ID {UserId}";
|
||||
}
|
||||
else
|
||||
{
|
||||
var code = Encoding.UTF8.GetString(WebEncoders.Base64UrlDecode(Code));
|
||||
var result = await UserManager.ConfirmEmailAsync(user, code);
|
||||
statusMessage = result.Succeeded ? "Thank you for confirming your email." : "Error confirming your email.";
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,68 +0,0 @@
|
||||
@page "/Account/ConfirmEmailChange"
|
||||
|
||||
@using System.Text
|
||||
@using Microsoft.AspNetCore.Identity
|
||||
@using Microsoft.AspNetCore.WebUtilities
|
||||
@using RobotApp.Data
|
||||
|
||||
@inject UserManager<ApplicationUser> UserManager
|
||||
@inject SignInManager<ApplicationUser> SignInManager
|
||||
@inject IdentityRedirectManager RedirectManager
|
||||
|
||||
<PageTitle>Confirm email change</PageTitle>
|
||||
|
||||
<h1>Confirm email change</h1>
|
||||
|
||||
<StatusMessage Message="@message" />
|
||||
|
||||
@code {
|
||||
private string? message;
|
||||
|
||||
[CascadingParameter]
|
||||
private HttpContext HttpContext { get; set; } = default!;
|
||||
|
||||
[SupplyParameterFromQuery]
|
||||
private string? UserId { get; set; }
|
||||
|
||||
[SupplyParameterFromQuery]
|
||||
private string? Email { get; set; }
|
||||
|
||||
[SupplyParameterFromQuery]
|
||||
private string? Code { get; set; }
|
||||
|
||||
protected override async Task OnInitializedAsync()
|
||||
{
|
||||
if (UserId is null || Email is null || Code is null)
|
||||
{
|
||||
RedirectManager.RedirectToWithStatus(
|
||||
"Account/Login", "Error: Invalid email change confirmation link.", HttpContext);
|
||||
}
|
||||
|
||||
var user = await UserManager.FindByIdAsync(UserId);
|
||||
if (user is null)
|
||||
{
|
||||
message = "Unable to find user with Id '{userId}'";
|
||||
return;
|
||||
}
|
||||
|
||||
var code = Encoding.UTF8.GetString(WebEncoders.Base64UrlDecode(Code));
|
||||
var result = await UserManager.ChangeEmailAsync(user, Email, code);
|
||||
if (!result.Succeeded)
|
||||
{
|
||||
message = "Error changing email.";
|
||||
return;
|
||||
}
|
||||
|
||||
// In our UI email and user name are one and the same, so when we update the email
|
||||
// we need to update the user name.
|
||||
var setUserNameResult = await UserManager.SetUserNameAsync(user, Email);
|
||||
if (!setUserNameResult.Succeeded)
|
||||
{
|
||||
message = "Error changing user name.";
|
||||
return;
|
||||
}
|
||||
|
||||
await SignInManager.RefreshSignInAsync(user);
|
||||
message = "Thank you for confirming your email change.";
|
||||
}
|
||||
}
|
||||
@@ -1,205 +0,0 @@
|
||||
@page "/Account/ExternalLogin"
|
||||
|
||||
@using System.ComponentModel.DataAnnotations
|
||||
@using System.Security.Claims
|
||||
@using System.Text
|
||||
@using System.Text.Encodings.Web
|
||||
@using Microsoft.AspNetCore.Identity
|
||||
@using Microsoft.AspNetCore.WebUtilities
|
||||
@using RobotApp.Data
|
||||
|
||||
@inject SignInManager<ApplicationUser> SignInManager
|
||||
@inject UserManager<ApplicationUser> UserManager
|
||||
@inject IUserStore<ApplicationUser> UserStore
|
||||
@inject IEmailSender<ApplicationUser> EmailSender
|
||||
@inject NavigationManager NavigationManager
|
||||
@inject IdentityRedirectManager RedirectManager
|
||||
@inject ILogger<ExternalLogin> Logger
|
||||
|
||||
<PageTitle>Register</PageTitle>
|
||||
|
||||
<StatusMessage Message="@message" />
|
||||
<h1>Register</h1>
|
||||
<h2>Associate your @ProviderDisplayName account.</h2>
|
||||
<hr />
|
||||
|
||||
<div class="alert alert-info">
|
||||
You've successfully authenticated with <strong>@ProviderDisplayName</strong>.
|
||||
Please enter an email address for this site below and click the Register button to finish
|
||||
logging in.
|
||||
</div>
|
||||
|
||||
<div class="row">
|
||||
<div class="col-md-4">
|
||||
<EditForm Model="Input" OnValidSubmit="OnValidSubmitAsync" FormName="confirmation" method="post">
|
||||
<DataAnnotationsValidator />
|
||||
<ValidationSummary class="text-danger" role="alert" />
|
||||
<div class="form-floating mb-3">
|
||||
<InputText @bind-Value="Input.Email" id="Input.Email" class="form-control" autocomplete="email" placeholder="Please enter your email." />
|
||||
<label for="Input.Email" class="form-label">Email</label>
|
||||
<ValidationMessage For="() => Input.Email" />
|
||||
</div>
|
||||
<button type="submit" class="w-100 btn btn-lg btn-primary">Register</button>
|
||||
</EditForm>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
@code {
|
||||
public const string LoginCallbackAction = "LoginCallback";
|
||||
|
||||
private string? message;
|
||||
private ExternalLoginInfo? externalLoginInfo;
|
||||
|
||||
[CascadingParameter]
|
||||
private HttpContext HttpContext { get; set; } = default!;
|
||||
|
||||
[SupplyParameterFromForm]
|
||||
private InputModel Input { get; set; } = new();
|
||||
|
||||
[SupplyParameterFromQuery]
|
||||
private string? RemoteError { get; set; }
|
||||
|
||||
[SupplyParameterFromQuery]
|
||||
private string? ReturnUrl { get; set; }
|
||||
|
||||
[SupplyParameterFromQuery]
|
||||
private string? Action { get; set; }
|
||||
|
||||
private string? ProviderDisplayName => externalLoginInfo?.ProviderDisplayName;
|
||||
|
||||
protected override async Task OnInitializedAsync()
|
||||
{
|
||||
if (RemoteError is not null)
|
||||
{
|
||||
RedirectManager.RedirectToWithStatus("Account/Login", $"Error from external provider: {RemoteError}", HttpContext);
|
||||
}
|
||||
|
||||
var info = await SignInManager.GetExternalLoginInfoAsync();
|
||||
if (info is null)
|
||||
{
|
||||
RedirectManager.RedirectToWithStatus("Account/Login", "Error loading external login information.", HttpContext);
|
||||
}
|
||||
|
||||
externalLoginInfo = info;
|
||||
|
||||
if (HttpMethods.IsGet(HttpContext.Request.Method))
|
||||
{
|
||||
if (Action == LoginCallbackAction)
|
||||
{
|
||||
await OnLoginCallbackAsync();
|
||||
return;
|
||||
}
|
||||
|
||||
// We should only reach this page via the login callback, so redirect back to
|
||||
// the login page if we get here some other way.
|
||||
RedirectManager.RedirectTo("Account/Login");
|
||||
}
|
||||
}
|
||||
|
||||
private async Task OnLoginCallbackAsync()
|
||||
{
|
||||
if (externalLoginInfo is null)
|
||||
{
|
||||
RedirectManager.RedirectToWithStatus("Account/Login", "Error loading external login information.", HttpContext);
|
||||
}
|
||||
|
||||
// Sign in the user with this external login provider if the user already has a login.
|
||||
var result = await SignInManager.ExternalLoginSignInAsync(
|
||||
externalLoginInfo.LoginProvider,
|
||||
externalLoginInfo.ProviderKey,
|
||||
isPersistent: false,
|
||||
bypassTwoFactor: true);
|
||||
|
||||
if (result.Succeeded)
|
||||
{
|
||||
Logger.LogInformation(
|
||||
"{Name} logged in with {LoginProvider} provider.",
|
||||
externalLoginInfo.Principal.Identity?.Name,
|
||||
externalLoginInfo.LoginProvider);
|
||||
RedirectManager.RedirectTo(ReturnUrl);
|
||||
}
|
||||
else if (result.IsLockedOut)
|
||||
{
|
||||
RedirectManager.RedirectTo("Account/Lockout");
|
||||
}
|
||||
|
||||
// If the user does not have an account, then ask the user to create an account.
|
||||
if (externalLoginInfo.Principal.HasClaim(c => c.Type == ClaimTypes.Email))
|
||||
{
|
||||
Input.Email = externalLoginInfo.Principal.FindFirstValue(ClaimTypes.Email) ?? "";
|
||||
}
|
||||
}
|
||||
|
||||
private async Task OnValidSubmitAsync()
|
||||
{
|
||||
if (externalLoginInfo is null)
|
||||
{
|
||||
RedirectManager.RedirectToWithStatus("Account/Login", "Error loading external login information during confirmation.", HttpContext);
|
||||
}
|
||||
|
||||
var emailStore = GetEmailStore();
|
||||
var user = CreateUser();
|
||||
|
||||
await UserStore.SetUserNameAsync(user, Input.Email, CancellationToken.None);
|
||||
await emailStore.SetEmailAsync(user, Input.Email, CancellationToken.None);
|
||||
|
||||
var result = await UserManager.CreateAsync(user);
|
||||
if (result.Succeeded)
|
||||
{
|
||||
result = await UserManager.AddLoginAsync(user, externalLoginInfo);
|
||||
if (result.Succeeded)
|
||||
{
|
||||
Logger.LogInformation("User created an account using {Name} provider.", externalLoginInfo.LoginProvider);
|
||||
|
||||
var userId = await UserManager.GetUserIdAsync(user);
|
||||
var code = await UserManager.GenerateEmailConfirmationTokenAsync(user);
|
||||
code = WebEncoders.Base64UrlEncode(Encoding.UTF8.GetBytes(code));
|
||||
|
||||
var callbackUrl = NavigationManager.GetUriWithQueryParameters(
|
||||
NavigationManager.ToAbsoluteUri("Account/ConfirmEmail").AbsoluteUri,
|
||||
new Dictionary<string, object?> { ["userId"] = userId, ["code"] = code });
|
||||
await EmailSender.SendConfirmationLinkAsync(user, Input.Email, HtmlEncoder.Default.Encode(callbackUrl));
|
||||
|
||||
// If account confirmation is required, we need to show the link if we don't have a real email sender
|
||||
if (UserManager.Options.SignIn.RequireConfirmedAccount)
|
||||
{
|
||||
RedirectManager.RedirectTo("Account/RegisterConfirmation", new() { ["email"] = Input.Email });
|
||||
}
|
||||
|
||||
await SignInManager.SignInAsync(user, isPersistent: false, externalLoginInfo.LoginProvider);
|
||||
RedirectManager.RedirectTo(ReturnUrl);
|
||||
}
|
||||
}
|
||||
|
||||
message = $"Error: {string.Join(",", result.Errors.Select(error => error.Description))}";
|
||||
}
|
||||
|
||||
private ApplicationUser CreateUser()
|
||||
{
|
||||
try
|
||||
{
|
||||
return Activator.CreateInstance<ApplicationUser>();
|
||||
}
|
||||
catch
|
||||
{
|
||||
throw new InvalidOperationException($"Can't create an instance of '{nameof(ApplicationUser)}'. " +
|
||||
$"Ensure that '{nameof(ApplicationUser)}' is not an abstract class and has a parameterless constructor");
|
||||
}
|
||||
}
|
||||
|
||||
private IUserEmailStore<ApplicationUser> GetEmailStore()
|
||||
{
|
||||
if (!UserManager.SupportsUserEmail)
|
||||
{
|
||||
throw new NotSupportedException("The default UI requires a user store with email support.");
|
||||
}
|
||||
return (IUserEmailStore<ApplicationUser>)UserStore;
|
||||
}
|
||||
|
||||
private sealed class InputModel
|
||||
{
|
||||
[Required]
|
||||
[EmailAddress]
|
||||
public string Email { get; set; } = "";
|
||||
}
|
||||
}
|
||||
@@ -1,68 +0,0 @@
|
||||
@page "/Account/ForgotPassword"
|
||||
|
||||
@using System.ComponentModel.DataAnnotations
|
||||
@using System.Text
|
||||
@using System.Text.Encodings.Web
|
||||
@using Microsoft.AspNetCore.Identity
|
||||
@using Microsoft.AspNetCore.WebUtilities
|
||||
@using RobotApp.Data
|
||||
|
||||
@inject UserManager<ApplicationUser> UserManager
|
||||
@inject IEmailSender<ApplicationUser> EmailSender
|
||||
@inject NavigationManager NavigationManager
|
||||
@inject IdentityRedirectManager RedirectManager
|
||||
|
||||
<PageTitle>Forgot your password?</PageTitle>
|
||||
|
||||
<h1>Forgot your password?</h1>
|
||||
<h2>Enter your email.</h2>
|
||||
<hr />
|
||||
<div class="row">
|
||||
<div class="col-md-4">
|
||||
<EditForm Model="Input" FormName="forgot-password" OnValidSubmit="OnValidSubmitAsync" method="post">
|
||||
<DataAnnotationsValidator />
|
||||
<ValidationSummary class="text-danger" role="alert" />
|
||||
|
||||
<div class="form-floating mb-3">
|
||||
<InputText @bind-Value="Input.Email" id="Input.Email" class="form-control" autocomplete="username" aria-required="true" placeholder="name@example.com" />
|
||||
<label for="Input.Email" class="form-label">Email</label>
|
||||
<ValidationMessage For="() => Input.Email" class="text-danger" />
|
||||
</div>
|
||||
<button type="submit" class="w-100 btn btn-lg btn-primary">Reset password</button>
|
||||
</EditForm>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
@code {
|
||||
[SupplyParameterFromForm]
|
||||
private InputModel Input { get; set; } = new();
|
||||
|
||||
private async Task OnValidSubmitAsync()
|
||||
{
|
||||
var user = await UserManager.FindByEmailAsync(Input.Email);
|
||||
if (user is null || !(await UserManager.IsEmailConfirmedAsync(user)))
|
||||
{
|
||||
// Don't reveal that the user does not exist or is not confirmed
|
||||
RedirectManager.RedirectTo("Account/ForgotPasswordConfirmation");
|
||||
}
|
||||
|
||||
// For more information on how to enable account confirmation and password reset please
|
||||
// visit https://go.microsoft.com/fwlink/?LinkID=532713
|
||||
var code = await UserManager.GeneratePasswordResetTokenAsync(user);
|
||||
code = WebEncoders.Base64UrlEncode(Encoding.UTF8.GetBytes(code));
|
||||
var callbackUrl = NavigationManager.GetUriWithQueryParameters(
|
||||
NavigationManager.ToAbsoluteUri("Account/ResetPassword").AbsoluteUri,
|
||||
new Dictionary<string, object?> { ["code"] = code });
|
||||
|
||||
await EmailSender.SendPasswordResetLinkAsync(user, Input.Email, HtmlEncoder.Default.Encode(callbackUrl));
|
||||
|
||||
RedirectManager.RedirectTo("Account/ForgotPasswordConfirmation");
|
||||
}
|
||||
|
||||
private sealed class InputModel
|
||||
{
|
||||
[Required]
|
||||
[EmailAddress]
|
||||
public string Email { get; set; } = "";
|
||||
}
|
||||
}
|
||||
@@ -1,8 +0,0 @@
|
||||
@page "/Account/ForgotPasswordConfirmation"
|
||||
|
||||
<PageTitle>Forgot password confirmation</PageTitle>
|
||||
|
||||
<h1>Forgot password confirmation</h1>
|
||||
<p role="alert">
|
||||
Please check your email to reset your password.
|
||||
</p>
|
||||
@@ -1,8 +0,0 @@
|
||||
@page "/Account/InvalidPasswordReset"
|
||||
|
||||
<PageTitle>Invalid password reset</PageTitle>
|
||||
|
||||
<h1>Invalid password reset</h1>
|
||||
<p role="alert">
|
||||
The password reset link is invalid.
|
||||
</p>
|
||||
@@ -1,7 +0,0 @@
|
||||
@page "/Account/InvalidUser"
|
||||
|
||||
<PageTitle>Invalid user</PageTitle>
|
||||
|
||||
<h3>Invalid user</h3>
|
||||
|
||||
<StatusMessage />
|
||||
@@ -1,8 +0,0 @@
|
||||
@page "/Account/Lockout"
|
||||
|
||||
<PageTitle>Locked out</PageTitle>
|
||||
|
||||
<header>
|
||||
<h1 class="text-danger">Locked out</h1>
|
||||
<p class="text-danger" role="alert">This account has been locked out, please try again later.</p>
|
||||
</header>
|
||||
@@ -10,26 +10,36 @@
|
||||
@inject NavigationManager NavigationManager
|
||||
@inject IdentityRedirectManager RedirectManager
|
||||
|
||||
|
||||
<PageTitle>Log in</PageTitle>
|
||||
|
||||
<h1>Log in</h1>
|
||||
<div class="row">
|
||||
<div class="col-lg-6">
|
||||
<section>
|
||||
<StatusMessage Message="@errorMessage" />
|
||||
<EditForm Model="Input" method="post" OnValidSubmit="LoginUser" FormName="login">
|
||||
<div class="w-100 h-100 d-flex flex-column justify-content-center align-items-center">
|
||||
<header class="brand">
|
||||
<img src="images/logoD.svg" alt="RobotApp" class="brand-logo" />
|
||||
<div class="brand-text">
|
||||
<h1>RobotApp</h1>
|
||||
<p>Sign in to your workspace</p>
|
||||
</div>
|
||||
</header>
|
||||
@if (!string.IsNullOrEmpty(errorMessage))
|
||||
{
|
||||
var statusMessageClass = errorMessage.StartsWith("Error") ? "danger" : "success";
|
||||
<div class="alert alert-@statusMessageClass" role="alert">
|
||||
@errorMessage
|
||||
</div>
|
||||
}
|
||||
<EditForm Model="Input" method="post" OnValidSubmit="LoginUser" FormName="login" style="width: 300px;">
|
||||
<DataAnnotationsValidator />
|
||||
<h2>Use a local account to log in.</h2>
|
||||
<hr />
|
||||
<ValidationSummary class="text-danger" role="alert" />
|
||||
<div class="form-floating mb-3">
|
||||
<InputText @bind-Value="Input.Email" id="Input.Email" class="form-control" autocomplete="username" aria-required="true" placeholder="name@example.com" />
|
||||
<label for="Input.Email" class="form-label">Email</label>
|
||||
<ValidationMessage For="() => Input.Email" class="text-danger" />
|
||||
<InputText @bind-Value="Input.Username" class="form-control" autocomplete="username" aria-required="true" />
|
||||
<label for="username" class="form-label">Username</label>
|
||||
<ValidationMessage For="() => Input.Username" class="text-danger" />
|
||||
</div>
|
||||
<div class="form-floating mb-3">
|
||||
<InputText type="password" @bind-Value="Input.Password" id="Input.Password" class="form-control" autocomplete="current-password" aria-required="true" placeholder="password" />
|
||||
<label for="Input.Password" class="form-label">Password</label>
|
||||
<InputText type="password" @bind-Value="Input.Password" class="form-control" autocomplete="current-password" aria-required="true" />
|
||||
<label for="password" class="form-label">Password</label>
|
||||
<ValidationMessage For="() => Input.Password" class="text-danger" />
|
||||
</div>
|
||||
<div class="checkbox mb-3">
|
||||
@@ -41,27 +51,7 @@
|
||||
<div>
|
||||
<button type="submit" class="w-100 btn btn-lg btn-primary">Log in</button>
|
||||
</div>
|
||||
<div>
|
||||
<p>
|
||||
<a href="Account/ForgotPassword">Forgot your password?</a>
|
||||
</p>
|
||||
<p>
|
||||
<a href="@(NavigationManager.GetUriWithQueryParameters("Account/Register", new Dictionary<string, object?> { ["ReturnUrl"] = ReturnUrl }))">Register as a new user</a>
|
||||
</p>
|
||||
<p>
|
||||
<a href="Account/ResendEmailConfirmation">Resend email confirmation</a>
|
||||
</p>
|
||||
</div>
|
||||
</EditForm>
|
||||
</section>
|
||||
</div>
|
||||
<div class="col-lg-4 col-lg-offset-2">
|
||||
<section>
|
||||
<h3>Use another service to log in.</h3>
|
||||
<hr />
|
||||
<ExternalLoginPicker />
|
||||
</section>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
@code {
|
||||
@@ -83,13 +73,18 @@
|
||||
// Clear the existing external cookie to ensure a clean login process
|
||||
await HttpContext.SignOutAsync(IdentityConstants.ExternalScheme);
|
||||
}
|
||||
|
||||
errorMessage = HttpContext.Request.Cookies[IdentityRedirectManager.StatusCookieName];
|
||||
|
||||
if (errorMessage is not null)
|
||||
{
|
||||
HttpContext.Response.Cookies.Delete(IdentityRedirectManager.StatusCookieName);
|
||||
}
|
||||
}
|
||||
|
||||
public async Task LoginUser()
|
||||
{
|
||||
// This doesn't count login failures towards account lockout
|
||||
// To enable password failures to trigger account lockout, set lockoutOnFailure: true
|
||||
var result = await SignInManager.PasswordSignInAsync(Input.Email, Input.Password, Input.RememberMe, lockoutOnFailure: false);
|
||||
var result = await SignInManager.PasswordSignInAsync(Input.Username, Input.Password, Input.RememberMe, lockoutOnFailure: false);
|
||||
if (result.Succeeded)
|
||||
{
|
||||
Logger.LogInformation("User logged in.");
|
||||
@@ -115,8 +110,7 @@
|
||||
private sealed class InputModel
|
||||
{
|
||||
[Required]
|
||||
[EmailAddress]
|
||||
public string Email { get; set; } = "";
|
||||
public string Username { get; set; } = "";
|
||||
|
||||
[Required]
|
||||
[DataType(DataType.Password)]
|
||||
|
||||
38
RobotApp/Components/Account/Pages/Login.razor.css
Normal file
38
RobotApp/Components/Account/Pages/Login.razor.css
Normal file
@@ -0,0 +1,38 @@
|
||||
.brand {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
gap: 14px;
|
||||
margin-bottom: 18px;
|
||||
position: relative;
|
||||
}
|
||||
|
||||
.brand-logo {
|
||||
width: 56px;
|
||||
height: 56px;
|
||||
display: block;
|
||||
filter: drop-shadow(0 10px 22px rgba(255,122,26,.25));
|
||||
}
|
||||
|
||||
.brand::before {
|
||||
content: "";
|
||||
position: absolute;
|
||||
inset: -8px -10px auto auto;
|
||||
height: 3px;
|
||||
width: 120px;
|
||||
background: linear-gradient(90deg, var(--brand-pink), var(--brand-blue));
|
||||
border-radius: 8px;
|
||||
opacity: .9;
|
||||
}
|
||||
|
||||
.brand-text h1 {
|
||||
margin: 0;
|
||||
font-size: 20px;
|
||||
font-weight: 800;
|
||||
letter-spacing: .2px;
|
||||
}
|
||||
|
||||
.brand-text p {
|
||||
margin: 2px 0 0 0;
|
||||
color: var(--muted);
|
||||
font-size: 13px;
|
||||
}
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user