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2 Commits
main ... dangnv-lap

Author SHA1 Message Date
Đăng Nguyễn
4aed0da992 update mapmanager pages 2025-09-25 21:03:10 +07:00
Đăng Nguyễn
0d97684f70 update 2025-09-15 17:39:02 +07:00
75 changed files with 1579 additions and 414 deletions
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5
RobotApp.Client/Components/Mapping/MapView.razor Normal file
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@ -0,0 +1,5 @@
<h3>MapView</h3>
@code {
}

6
RobotApp.Client/Layout/NavMenu.razor
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@ -36,6 +36,12 @@
</NavLink>
</div>
<div class="nav-item px-3">
<NavLink class="nav-link" href="maps-manager">
<span class="bi bi-lock-nav-menu" aria-hidden="true"></span> Map Manager
</NavLink>
</div>
<AuthorizeView>
<Authorized>
<div class="nav-item px-3">

181
RobotApp.Client/Pages/MapsManager.razor Normal file
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@ -0,0 +1,181 @@
@page "/maps-manager"
@using MudBlazor
@using RobotApp.Common.Shares.Dtos
@attribute [Authorize]
@inject HttpClient Http
<PageTitle>Map Manager</PageTitle>
<style>
.selected {
background-color: #3399ff !important;
}
.selected > td {
color: white !important;
}
.selected > td .mud-input {
color: white !important;
}
</style>
<div class="d-flex flex-row w-100 h-100 p-2 overflow-hidden">
<div class="d-flex h-100 flex-column flex-grow-1 pe-2">
<div class="d-flex justify-content-between align-items-center mb-2">
<MudTextField Value="txtSearch" T="string" Label="Search" Variant="Variant.Outlined" Adornment="Adornment.End" AdornmentIcon="@Icons.Material.Filled.Search"
AdornmentColor="Color.Secondary" ValueChanged="TextSearchChanged" Style="max-width: 550px" />
<MudButton Class="ms-3" StartIcon="@Icons.Material.Filled.Add" Variant="Variant.Filled" Color="Color.Primary" Size="Size.Large">
NEW
</MudButton>
</div>
<div class="d-flex" style="height: 92%">
<MudTable Class="w-100" @ref="Table" Items="@MapsShow" T="MapDto" Dense=true Hover=true ReadOnly=true FixedHeader=true RowClass="cursor-pointer" Striped="true"
ServerData="ReloadData" Loading=@IsLoading Outlined="true" RowClassFunc="@SelectedRowClassFunc" OnRowClick="RowClickEvent" Height="95%">
<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>
<div class="d-flex flex-row-reverse">
<MudMenu Icon="@Icons.Material.Filled.MoreVert" AnchorOrigin="Origin.BottomCenter">
<MudMenuItem Icon="@Icons.Material.Filled.Edit" IconColor="Color.Info">Edit</MudMenuItem>
<MudMenuItem Icon="@Icons.Material.Filled.Delete" IconColor="Color.Error">Delete</MudMenuItem>
</MudMenu>
</div>
</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>
</div>
<div class="map-preview">
</div>
</div>
@code {
private string txtSearch = "";
private bool IsLoading = false;
private List<MapDto> Maps = [];
private List<MapDto> MapsShow = [];
private int selectedRowNumber = -1;
private MapDto MapSelected = new();
private MudTable<MapDto>? Table; protected override async Task OnAfterRenderAsync(bool firstRender)
{
await base.OnAfterRenderAsync(firstRender);
if (!firstRender) return;
await LoadMaps();
}
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 });
}
private void RowClickEvent(TableRowClickEventArgs<MapDto> tableRowClickEventArgs) { }
private string SelectedRowClassFunc(MapDto element, int rowNumber)
{
if (selectedRowNumber == rowNumber && Table?.SelectedItem != null && !Table.SelectedItem.Equals(element))
{
return string.Empty;
}
else if (selectedRowNumber == rowNumber && Table?.SelectedItem != null && Table.SelectedItem.Equals(element))
{
return "selected";
}
else if (Table?.SelectedItem != null && Table.SelectedItem.Equals(element))
{
selectedRowNumber = rowNumber;
MapSelected = element;
// NavigationMapPreviewRef.SetMapPreview(MapSelected);
return "selected";
}
else
{
return string.Empty;
}
}
}

5
RobotApp.Client/RobotApp.Client.csproj
View File

@ -11,6 +11,11 @@
<ItemGroup>
<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>
</Project>

1
RobotApp.Client/_Imports.razor
View File

@ -8,3 +8,4 @@
@using Microsoft.AspNetCore.Components.Web.Virtualization
@using Microsoft.JSInterop
@using RobotApp.Client
@using Microsoft.AspNetCore.Authorization

13
RobotApp.Common.Shares/Dtos/MapDto.cs Normal file
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@ -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
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@ -0,0 +1,7 @@
namespace RobotApp.Common.Shares.Enums;
public enum NavigationType
{
Differential,
Forklift,
}

18
RobotApp.Common.Shares/JsonOptionExtends.cs Normal file
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@ -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,
};
}

8
RobotApp.Common.Shares/MessageResult.cs Normal file
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@ -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; }
}

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

8
RobotApp.VDA5050/Factsheet/ActionParameters.cs
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@ -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; }
}

13
RobotApp.VDA5050/Factsheet/AgvActions.cs
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@ -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; } = [];
}

7
RobotApp.VDA5050/Factsheet/AgvGeometry.cs
View File

@ -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; } = [];
}

8
RobotApp.VDA5050/Factsheet/Envelopes2d.cs
View File

@ -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;
}

12
RobotApp.VDA5050/Factsheet/Envelopes3d.cs
View File

@ -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;
}

24
RobotApp.VDA5050/Factsheet/FactSheetMsg.cs
View File

@ -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();
}

14
RobotApp.VDA5050/Factsheet/LoadSets.cs
View File

@ -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;
}

5
RobotApp.VDA5050/Factsheet/LoadSpecification.cs
View File

@ -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; } = [];
}

7
RobotApp.VDA5050/Factsheet/OptionalParameters.cs
View File

@ -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;
}

5
RobotApp.VDA5050/Factsheet/ProtocolFeatures.cs
View File

@ -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; } = [];
}

7
RobotApp.VDA5050/Factsheet/ProtocolLimits.cs
View File

@ -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();
}

10
RobotApp.VDA5050/Factsheet/TypeSpecification.cs
View File

@ -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]

9
RobotApp.VDA5050/Factsheet/WheelDefinitions.cs
View File

@ -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;
}

9
RobotApp.VDA5050/FactsheetExtend/Battery.cs
View File

@ -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; }
}

11
RobotApp.VDA5050/FactsheetExtend/BatteryThreshold.cs
View File

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

31
RobotApp.VDA5050/FactsheetExtend/CameraSafety.cs
View File

@ -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; }
}

9
RobotApp.VDA5050/FactsheetExtend/ChargerParam.cs
View File

@ -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; }
}

19
RobotApp.VDA5050/FactsheetExtend/FactsheetExtendMsg.cs
View File

@ -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; }
}

9
RobotApp.VDA5050/FactsheetExtend/ForkSafety.cs
View File

@ -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; }
}

9
RobotApp.VDA5050/FactsheetExtend/Initpose.cs
View File

@ -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; }
}

10
RobotApp.VDA5050/FactsheetExtend/LineSegment.cs
View File

@ -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; }
}

14
RobotApp.VDA5050/FactsheetExtend/Localization.cs
View File

@ -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; }
}

9
RobotApp.VDA5050/FactsheetExtend/Motor.cs
View File

@ -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; }
}

11
RobotApp.VDA5050/FactsheetExtend/Navigation.cs
View File

@ -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; }
}

7
RobotApp.VDA5050/FactsheetExtend/PPA.cs
View File

@ -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; }
}

15
RobotApp.VDA5050/FactsheetExtend/PTA.cs
View File

@ -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; }
}

12
RobotApp.VDA5050/FactsheetExtend/RobotParam.cs
View File

@ -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();
}

9
RobotApp.VDA5050/FactsheetExtend/Rotate.cs
View File

@ -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; }
}

8
RobotApp.VDA5050/FactsheetExtend/Safety.cs
View File

@ -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();
}

14
RobotApp.VDA5050/FactsheetExtend/ServerParam.cs
View File

@ -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; }
}

21
RobotApp.VDA5050/FactsheetExtend/VlMarker.cs
View File

@ -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();
}

16
RobotApp.VDA5050/FactsheetExtend/Xloc.cs
View File

@ -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; }
}

3
RobotApp.VDA5050/InstantAction/Actions.cs → RobotApp.VDA5050/InstantAction/Action.cs
View File

@ -2,14 +2,13 @@
namespace RobotApp.VDA5050.InstantAction;
#nullable disable
public enum BlockingType
{
NONE,
SOFT,
HARD
}
public class Action
{
[Required]

1
RobotApp.VDA5050/InstantAction/ActionParameter.cs
View File

@ -2,7 +2,6 @@
namespace RobotApp.VDA5050.InstantAction;
#nullable disable
public class ActionParameter
{
[Required]

2
RobotApp.VDA5050/InstantAction/InstantActionsMsg.cs
View File

@ -1,7 +1,5 @@
namespace RobotApp.VDA5050.InstantAction;
#nullable disable
public class InstantActionsMsg
{
public uint HeaderId { get; set; }

42
RobotApp.VDA5050/Type/ActionType.cs
View File

@ -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,
}

29
RobotApp.VDA5050/VDA5050Helper.cs
View File

@ -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();
}
}

21
RobotApp.VDA5050/VDA5050Setting.cs
View File

@ -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;
}

50
RobotApp.VDA5050/VDA5050Topic.cs
View File

@ -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.");
}
}

13
RobotApp.sln
View File

@ -1,7 +1,7 @@

Microsoft Visual Studio Solution File, Format Version 12.00
# Visual Studio Version 17
VisualStudioVersion = 17.12.35707.178
# Visual Studio Version 18
VisualStudioVersion = 18.0.11018.127 d18.0
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

37
RobotApp/Interfaces/IDriver.cs Normal file
View File

@ -0,0 +1,37 @@
namespace RobotApp.Interfaces;
/// <summary>
/// Interface điều khiển động cơ robot
/// </summary>
public interface IDriver
{
/// <summary>
/// Trạng thái sẵn sàng nhận lệnh điều khiển
/// </summary>
bool IsReady { get; }
/// <summary>
/// Tốc độ động cơ bên trái
/// </summary>
double LeftVelocity { get; }
/// <summary>
/// Tốc độ động cơ bên phải
/// </summary>
double RightVelocity { get; }
/// <summary>
/// Điều khiển tốc độ động cơ trái và phải
/// </summary>
/// <param name="left">Tốc độ động cơ bên trái</param>
/// <param name="right">Tốc độ động cơ bên phải</param>
/// <returns></returns>
bool ControlVelocity(double left, double right);
/// <summary>
/// Dừng robot
/// </summary>
/// <param name="isFree">true nếu dừng thả trôi, false nếu dừng khóa cứng</param>
/// <returns></returns>
bool Stop(bool isFree);
}

5
RobotApp/Interfaces/IInstanceActions.cs Normal file
View File

@ -0,0 +1,5 @@
namespace RobotApp.Interfaces;
public interface IInstanceActions
{
}

28
RobotApp/Interfaces/ILocalization.cs Normal file
View File

@ -0,0 +1,28 @@
namespace RobotApp.Interfaces;
public interface ILocalization
{
/// <summary>
/// Vị trí hiện tại của robot trong hệ tọa độ toàn cục theo trục X (đơn vị: mét).
/// </summary>
double X { get; }
/// <summary>
/// Vị trí hiện tại của robot trong hệ tọa độ toàn cục theo trục Y (đơn vị: mét).
/// </summary>
double Y { get; }
/// <summary>
/// Hướng hiện tại của robot trong hệ tọa độ toàn cục (đơn vị: độ).
/// </summary>
double Theta { get; }
/// <summary>
/// Khởi tạo vị trí của robot trong hệ tọa độ toàn cục.
/// </summary>
/// <param name="x">đơn vị: mét</param>
/// <param name="y">đơn vị: mét</param>
/// <param name="theta">đơn vị: độ</param>
/// <returns></returns>
bool InitializePosition(double x, double y, double theta);
}

33
RobotApp/Interfaces/INavigation.cs Normal file
View File

@ -0,0 +1,33 @@
using RobotApp.VDA5050.Order;
namespace RobotApp.Interfaces;
public enum NavigationState
{
Idle,
Moving,
Rotating,
Paused,
Error
}
public enum NavigationProccess
{
Started,
InProgress,
Completed,
Failed,
Cancelled
}
public interface INavigation
{
NavigationState State { get; }
NavigationProccess Proccess { get; }
bool Move(Node nodes, Edge edges);
bool MoveStraight(double x, double y);
bool Rotate(double angle);
bool Paused();
bool Resume();
bool CancelMovement();
}

15
RobotApp/Interfaces/IOrder.cs Normal file
View File

@ -0,0 +1,15 @@
using RobotApp.VDA5050.State;
namespace RobotApp.Interfaces;
public interface IOrder
{
string OrderId { get; }
VDA5050.InstantAction.Action[] Actions { get; }
NodeState[] NodeStates { get; }
EdgeState[] EdgeStates { get; }
bool StartOrder();
bool UpdateOrder();
bool StopOrder();
}

12
RobotApp/Interfaces/ISensorIMU.cs Normal file
View File

@ -0,0 +1,12 @@
namespace RobotApp.Interfaces;
/// <summary>
/// Interface cảm biến IMU
/// </summary>
public interface ISensorIMU
{
/// <summary>
/// Góc xoay của robot (đơn vị độ)
/// </summary>
double Angle { get; }
}

11
RobotApp/Program.cs
View File

@ -1,10 +1,10 @@
using Microsoft.AspNetCore.Components.Authorization;
using Microsoft.AspNetCore.Identity;
using Microsoft.EntityFrameworkCore;
using RobotApp.Client.Pages;
using RobotApp.Components;
using RobotApp.Components.Account;
using RobotApp.Data;
using RobotApp.Services.Robot;
var builder = WebApplication.CreateBuilder(args);
@ -27,8 +27,9 @@ builder.Services.AddAuthentication(options =>
.AddIdentityCookies();
var connectionString = builder.Configuration.GetConnectionString("DefaultConnection") ?? throw new InvalidOperationException("Connection string 'DefaultConnection' not found.");
builder.Services.AddDbContext<ApplicationDbContext>(options =>
options.UseSqlServer(connectionString));
Action<DbContextOptionsBuilder> appDbOptions = options => options.UseSqlite(connectionString, b => b.MigrationsAssembly("RobotApp"));
builder.Services.AddDbContext<ApplicationDbContext>(appDbOptions);
builder.Services.AddDatabaseDeveloperPageExceptionFilter();
builder.Services.AddIdentityCore<ApplicationUser>(options => options.SignIn.RequireConfirmedAccount = true)
@ -38,6 +39,10 @@ builder.Services.AddIdentityCore<ApplicationUser>(options => options.SignIn.Requ
builder.Services.AddSingleton<IEmailSender<ApplicationUser>, IdentityNoOpEmailSender>();
builder.Services.AddSingleton(typeof(RobotApp.Services.Logger<>));
builder.Services.AddSingleton<RobotConnection>();
builder.Services.AddHostedService(sp => sp.GetRequiredService<RobotConnection>());
var app = builder.Build();
// Configure the HTTP request pipeline.

17
RobotApp/RobotApp.csproj
View File

@ -9,11 +9,18 @@
<ItemGroup>
<ProjectReference Include="..\RobotApp.Client\RobotApp.Client.csproj" />
<PackageReference Include="Microsoft.AspNetCore.Components.WebAssembly.Server" Version="9.0.1" />
<PackageReference Include="Microsoft.AspNetCore.Diagnostics.EntityFrameworkCore" Version="9.0.1" />
<PackageReference Include="Microsoft.AspNetCore.Identity.EntityFrameworkCore" Version="9.0.1" />
<PackageReference Include="Microsoft.EntityFrameworkCore.SqlServer" Version="9.0.1" />
<PackageReference Include="Microsoft.EntityFrameworkCore.Tools" Version="9.0.1" />
<ProjectReference Include="..\RobotApp.Common.Shares\RobotApp.Common.Shares.csproj" />
<ProjectReference Include="..\RobotApp.VDA5050\RobotApp.VDA5050.csproj" />
<PackageReference Include="Microsoft.AspNetCore.Components.WebAssembly.Server" Version="9.0.9" />
<PackageReference Include="Microsoft.AspNetCore.Diagnostics.EntityFrameworkCore" Version="9.0.9" />
<PackageReference Include="Microsoft.AspNetCore.Identity.EntityFrameworkCore" Version="9.0.9" />
<PackageReference Include="Microsoft.EntityFrameworkCore.Sqlite" Version="9.0.9" />
<PackageReference Include="Microsoft.EntityFrameworkCore.SqlServer" Version="9.0.9" />
<PackageReference Include="Microsoft.EntityFrameworkCore.Tools" Version="9.0.9">
<PrivateAssets>all</PrivateAssets>
<IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
</PackageReference>
<PackageReference Include="MQTTnet" Version="5.0.1.1416" />
</ItemGroup>
<ItemGroup>

108
RobotApp/Services/Logger.cs Normal file
View File

@ -0,0 +1,108 @@
namespace RobotApp.Services;
public class Logger<T>(ILogger<T> Logger) where T : class
{
public event Action? LoggerUpdate;
public void Write(string message, LogLevel level)
{
switch (level)
{
case LogLevel.Trace:
Logger.LogTrace("{mes}", message);
break;
case LogLevel.Debug:
Logger.LogDebug("{mes}", message);
break;
case LogLevel.Information:
Logger.LogInformation("{mes}", message);
break;
case LogLevel.Warning:
Logger.LogWarning("{mes}", message);
break;
case LogLevel.Error:
Logger.LogError("{mes}", message);
break;
case LogLevel.Critical:
Logger.LogCritical("{mes}", message);
break;
}
LoggerUpdate?.Invoke();
}
public void Write(string message)
{
Write(message, LogLevel.Information);
}
public async Task WriteAsync(string message)
{
var write = Task.Run(() => Write(message));
await write.WaitAsync(CancellationToken.None);
}
public async Task TraceAsync(string message)
{
var write = Task.Run(() => Write(message, LogLevel.Trace));
await write.WaitAsync(CancellationToken.None);
}
public async Task DebugAsync(string message)
{
var write = Task.Run(() => Write(message, LogLevel.Debug));
await write.WaitAsync(CancellationToken.None);
}
public async Task InfoAsync(string message)
{
var write = Task.Run(() => Write(message, LogLevel.Information));
await write.WaitAsync(CancellationToken.None);
}
public async Task WarningAsync(string message)
{
var write = Task.Run(() => Write(message, LogLevel.Warning));
await write.WaitAsync(CancellationToken.None);
}
public async Task ErrorAsync(string message)
{
var write = Task.Run(() => Write(message, LogLevel.Error));
await write.WaitAsync(CancellationToken.None);
}
public async Task CriticalAsync(string message)
{
var write = Task.Run(() => Write(message, LogLevel.Critical));
await write.WaitAsync(CancellationToken.None);
}
public void Trace(string message)
{
Write(message, LogLevel.Trace);
}
public void Debug(string message)
{
Write(message, LogLevel.Debug);
}
public void Info(string message)
{
Write(message, LogLevel.Information);
}
public void Warning(string message)
{
Write(message, LogLevel.Warning);
}
public void Error(string message)
{
Write(message, LogLevel.Error);
}
public void Critical(string message)
{
Write(message, LogLevel.Critical);
}
}

161
RobotApp/Services/MQTTClient.cs Normal file
View File

@ -0,0 +1,161 @@
using MQTTnet;
using MQTTnet.Protocol;
using RobotApp.Common.Shares;
using RobotApp.VDA5050;
using System.Text;
namespace RobotApp.Services;
public class MQTTClient : IAsyncDisposable
{
private readonly MqttClientFactory MqttClientFactory;
private readonly MqttClientOptions MqttClientOptions;
private readonly MqttClientSubscribeOptions MqttClientSubscribeOptions;
private IMqttClient? MqttClient;
private readonly Logger<MQTTClient> Logger;
private readonly VDA5050Setting VDA5050Setting;
private bool IsReconnecing;
public event Action<string>? OrderChanged;
public event Action<string>? InstanceActionsChanged;
public bool IsConnected => !IsReconnecing && MqttClient is not null && MqttClient.IsConnected;
public MQTTClient(string clientId, VDA5050Setting setting, Logger<MQTTClient> logger)
{
VDA5050Setting = setting;
Logger = logger;
MqttClientFactory = new MqttClientFactory();
MqttClient = MqttClientFactory.CreateMqttClient();
MqttClientOptions = MqttClientFactory.CreateClientOptionsBuilder()
.WithTcpServer(setting.HostServer, setting.Port)
.WithCredentials(setting.UserName, setting.Password)
.WithClientId(clientId)
.WithCleanSession(true)
.Build();
MqttClientSubscribeOptions = MqttClientFactory.CreateSubscribeOptionsBuilder()
.WithTopicFilter(f => f.WithTopic(VDA5050Topic.ORDER.ToTopicString()))
.WithTopicFilter(f => f.WithTopic(VDA5050Topic.INSTANTACTIONS.ToTopicString()))
.Build();
MqttClient.DisconnectedAsync += async delegate (MqttClientDisconnectedEventArgs args)
{
if (args.ClientWasConnected && !IsReconnecing)
{
IsReconnecing = true;
Logger.Warning("Mất kết nối tới broker, đang cố gắng kết nối lại...");
if (MqttClient.IsConnected) await MqttClient.DisconnectAsync();
MqttClient.Dispose();
await ConnectAsync();
await SubscribeAsync();
IsReconnecing = false;
}
};
}
public async Task ConnectAsync(CancellationToken cancellationToken = default)
{
while (!cancellationToken.IsCancellationRequested)
{
try
{
MqttClient ??= MqttClientFactory.CreateMqttClient();
var connection = await MqttClient.ConnectAsync(MqttClientOptions, cancellationToken);
if (connection.ResultCode != MqttClientConnectResultCode.Success || !MqttClient.IsConnected)
Logger.Warning($"Không thể kết nối tới broker do: {connection.ReasonString}");
else
{
Logger.Info("Kết nối tới broker thành công");
break;
}
}
catch (Exception ex)
{
Logger.Error($"Lỗi khi tạo MQTT client: {ex.Message}");
}
await Task.Delay(3000, cancellationToken);
}
}
public async Task SubscribeAsync(CancellationToken cancellationToken = default)
{
if (MqttClient is null) throw new Exception("Kết nối tới broker chưa được khởi tạo nhưng đã yêu cầu subscribe");
if(!MqttClient.IsConnected) throw new Exception("Kết nối tới broker chưa thành công nhưng đã yêu cầu subscribe");
MqttClient.ApplicationMessageReceivedAsync += delegate (MqttApplicationMessageReceivedEventArgs args)
{
var stringData = Encoding.UTF8.GetString(args.ApplicationMessage.Payload);
VDA5050Topic topic = EnumExtensions.ToTopic(args.ApplicationMessage.Topic);
if (topic == VDA5050Topic.ORDER) OrderChanged?.Invoke(stringData);
else if (topic == VDA5050Topic.INSTANTACTIONS) InstanceActionsChanged?.Invoke(stringData);
return Task.CompletedTask;
};
while (!cancellationToken.IsCancellationRequested)
{
try
{
var response = await MqttClient.SubscribeAsync(MqttClientSubscribeOptions, cancellationToken);
bool isSuccess = true;
foreach (var item in response.Items)
{
if (item.ResultCode == MqttClientSubscribeResultCode.GrantedQoS0 ||
item.ResultCode == MqttClientSubscribeResultCode.GrantedQoS1 ||
item.ResultCode == MqttClientSubscribeResultCode.GrantedQoS2)
{
Logger.Info($"Subscribe thành công cho topic: {item.TopicFilter.Topic} với QoS: {item.ResultCode}");
}
else
{
Logger.Warning($"Subscribe thất bại cho topic: {item.TopicFilter.Topic}. Lý do: {response.ReasonString}");
isSuccess = false;
break;
}
}
if (isSuccess) break;
}
catch (Exception ex)
{
Logger.Error($"Lỗi khi subscribe: {ex.Message}");
}
await Task.Delay(3000, cancellationToken);
}
}
public async Task<MessageResult> PublishAsync(string topic, string data)
{
var repeat = VDA5050Setting.PublishRepeat;
while (repeat-- > 0)
{
try
{
var applicationMessage = new MqttApplicationMessageBuilder()
.WithTopic(topic)
.WithPayload(data)
.WithQualityOfServiceLevel(MqttQualityOfServiceLevel.AtLeastOnce)
.Build();
if (MqttClient is null || !IsConnected) return new(false, "Chưa có kết nối tới broker");
var publish = await MqttClient.PublishAsync(applicationMessage);
if (!publish.IsSuccess) continue;
return new(true);
}
catch (Exception ex)
{
Logger.Error($"Lỗi khi publish MQTT: {ex.Message}");
}
}
return new(false, "Không thể publish tới broker");
}
public async ValueTask DisposeAsync()
{
if (MqttClient is not null)
{
if (MqttClient.IsConnected) await MqttClient.DisconnectAsync();
MqttClient.Dispose();
MqttClient = null;
}
GC.SuppressFinalize(this);
}
}

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RobotApp/Services/Navigation/Algorithm/FuzzyLogic.cs Normal file
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namespace RobotApp.Services.Navigation.Algorithm;
public class FuzzyLogic
{
private double Gain_P = 0.5;
private double Gain_I = 0.01;
private double DiscreteTimeIntegrator_DSTATE;
public FuzzyLogic WithGainP(double gainP)
{
Gain_P = gainP;
return this;
}
public FuzzyLogic WithGainI(double gainI)
{
Gain_I = gainI;
return this;
}
private static double Fuzzy_trapmf(double x, double[] parame)
{
double b_y1;
double y2;
b_y1 = 0.0;
y2 = 0.0;
if (x >= parame[1])
{
b_y1 = 1.0;
}
if (x < parame[0])
{
b_y1 = 0.0;
}
if (parame[0] <= x && x < parame[1] && parame[0] != parame[1])
{
b_y1 = 1.0 / (parame[1] - parame[0]) * (x - parame[0]);
}
if (x <= parame[2])
{
y2 = 1.0;
}
if (x > parame[3])
{
y2 = 0.0;
}
if (parame[2] < x && x <= parame[3] && parame[2] != parame[3])
{
y2 = 1.0 / (parame[3] - parame[2]) * (parame[3] - x);
}
return b_y1 < y2 ? b_y1 : y2;
}
private static double Fuzzy_trimf(double x, double[] parame)
{
double y;
y = 0.0;
if (parame[0] != parame[1] && parame[0] < x && x < parame[1])
{
y = 1.0 / (parame[1] - parame[0]) * (x - parame[0]);
}
if (parame[1] != parame[2] && parame[1] < x && x < parame[2])
{
y = 1.0 / (parame[2] - parame[1]) * (parame[2] - x);
}
if (x == parame[1])
{
y = 1.0;
}
return y;
}
public (double wl, double wr) Fuzzy_step(double v, double w, double TimeSample)
{
(double wl, double wr) result = new();
double[] inputMFCache = new double[10];
double[] outputMFCache = new double[5];
double[] outputMFCache_0 = new double[5];
double[] tmp = new double[3];
double aggregatedOutputs;
double rtb_TmpSignalConversionAtSFun_0;
double rtb_antecedentOutputs_e;
double sumAntecedentOutputs;
int ruleID;
double[] f = [-1.0E+10, -1.0E+10, -1.0, -0.5];
double[] e = [0.5, 1.0, 1.0E+10, 1.0E+10];
double[] d = [0.75, 1.0, 1.0E+9, 1.0E+9];
double[] c = [-1.0E+9, -1.0E+9, 0.0, 0.25];
byte[] b = [ 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 3, 3, 3, 3, 3, 4,
4, 4, 4, 4, 5, 5, 5, 5, 5, 1, 2, 3, 4, 5, 1, 2, 3,
4, 5, 1, 2, 3, 4, 5, 3, 4, 5, 1, 2, 1, 2, 3, 4, 5 ];
byte[] b_0 = [1, 1, 2, 1, 1, 2, 3, 5, 1, 4, 5, 5, 5, 5, 5, 2, 1, 1, 1, 1, 5, 5, 5, 5, 5];
byte[] b_1 = [ 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 3, 3, 3, 3, 3, 4,
4, 4, 4, 4, 5, 5, 5, 5, 5, 1, 2, 3, 4, 5, 4, 1,
2, 3, 5, 3, 1, 2, 4, 5, 1, 2, 3, 4, 5, 1, 2, 4, 5, 3 ];
byte[] b_2 = [5, 5, 5, 5, 5, 1, 2, 3, 5, 4, 2, 1, 1, 1, 1, 5, 5, 5, 5, 5, 1, 1, 1, 1, 2];
double inputMFCache_tmp;
double inputMFCache_tmp_0;
double inputMFCache_tmp_1;
double inputMFCache_tmp_2;
/* Outputs for Atomic SubSystem: '<Root>/Fuzzy Logic Controller1' */
/* Outputs for Atomic SubSystem: '<Root>/Fuzzy Logic Controller' */
/* SignalConversion generated from: '<S4>/ SFunction ' incorporates:
* Constant: '<Root>/w'
* DiscreteIntegrator: '<Root>/Discrete-Time Integrator'
* Gain: '<Root>/Gain1'
* MATLAB Function: '<S1>/Evaluate Rule Antecedents'
* MATLAB Function: '<S2>/Evaluate Rule Antecedents'
* SignalConversion generated from: '<S7>/ SFunction '
* Sum: '<Root>/Sum'
*/
DiscreteTimeIntegrator_DSTATE += Gain_I * w * TimeSample;
rtb_TmpSignalConversionAtSFun_0 = Gain_P * w + DiscreteTimeIntegrator_DSTATE;
/* End of Outputs for SubSystem: '<Root>/Fuzzy Logic Controller1' */
/* MATLAB Function: '<S1>/Evaluate Rule Antecedents' incorporates:
* Constant: '<Root>/v'
* MATLAB Function: '<S2>/Evaluate Rule Antecedents'
* SignalConversion generated from: '<S4>/ SFunction '
*/
sumAntecedentOutputs = 0.0;
/* Outputs for Atomic SubSystem: '<Root>/Fuzzy Logic Controller1' */
inputMFCache_tmp = Fuzzy_trapmf(rtb_TmpSignalConversionAtSFun_0, f);
/* End of Outputs for SubSystem: '<Root>/Fuzzy Logic Controller1' */
inputMFCache[0] = inputMFCache_tmp;
tmp[0] = -0.5;
tmp[1] = 0.0;
tmp[2] = 0.5;
inputMFCache[1] = Fuzzy_trimf(rtb_TmpSignalConversionAtSFun_0, tmp);
/* Outputs for Atomic SubSystem: '<Root>/Fuzzy Logic Controller1' */
inputMFCache_tmp_0 = Fuzzy_trapmf(rtb_TmpSignalConversionAtSFun_0, e);
/* End of Outputs for SubSystem: '<Root>/Fuzzy Logic Controller1' */
inputMFCache[2] = inputMFCache_tmp_0;
tmp[0] = -1.0;
tmp[1] = -0.5;
tmp[2] = 0.0;
inputMFCache[3] = Fuzzy_trimf(rtb_TmpSignalConversionAtSFun_0, tmp);
tmp[0] = 0.0;
tmp[1] = 0.5;
tmp[2] = 1.0;
inputMFCache[4] = Fuzzy_trimf(rtb_TmpSignalConversionAtSFun_0, tmp);
tmp[0] = 0.0;
tmp[1] = 0.25;
tmp[2] = 0.5;
inputMFCache[5] = Fuzzy_trimf(v, tmp);
tmp[0] = 0.25;
tmp[1] = 0.5;
tmp[2] = 0.75;
inputMFCache[6] = Fuzzy_trimf(v, tmp);
/* Outputs for Atomic SubSystem: '<Root>/Fuzzy Logic Controller1' */
inputMFCache_tmp_1 = Fuzzy_trapmf(v, d);
/* End of Outputs for SubSystem: '<Root>/Fuzzy Logic Controller1' */
inputMFCache[7] = inputMFCache_tmp_1;
/* Outputs for Atomic SubSystem: '<Root>/Fuzzy Logic Controller1' */
inputMFCache_tmp_2 = Fuzzy_trapmf(v, c);
/* End of Outputs for SubSystem: '<Root>/Fuzzy Logic Controller1' */
inputMFCache[8] = inputMFCache_tmp_2;
tmp[0] = 0.5;
tmp[1] = 0.75;
tmp[2] = 1.0;
inputMFCache[9] = Fuzzy_trimf(v, tmp);
/* MATLAB Function: '<S1>/Evaluate Rule Consequents' */
aggregatedOutputs = 0.0;
outputMFCache[0] = 0.0;
outputMFCache[1] = 0.25;
outputMFCache[2] = 0.5;
outputMFCache[3] = 0.75;
outputMFCache[4] = 1.0;
for (ruleID = 0; ruleID < 25; ruleID++)
{
/* MATLAB Function: '<S1>/Evaluate Rule Antecedents' */
rtb_antecedentOutputs_e = inputMFCache[b[ruleID + 25] + 4] * inputMFCache[b[ruleID] - 1];
sumAntecedentOutputs += rtb_antecedentOutputs_e;
/* MATLAB Function: '<S1>/Evaluate Rule Consequents' */
aggregatedOutputs += outputMFCache[b_0[ruleID] - 1] * rtb_antecedentOutputs_e;
}
/* MATLAB Function: '<S1>/Defuzzify Outputs' incorporates:
* MATLAB Function: '<S1>/Evaluate Rule Antecedents'
* MATLAB Function: '<S1>/Evaluate Rule Consequents'
*/
if (sumAntecedentOutputs == 0.0)
{
result.wr = 0.5;
}
else
{
result.wr = 1.0 / sumAntecedentOutputs * aggregatedOutputs;
}
/* Outputs for Atomic SubSystem: '<Root>/Fuzzy Logic Controller1' */
/* MATLAB Function: '<S2>/Evaluate Rule Antecedents' incorporates:
* Constant: '<Root>/v'
* SignalConversion generated from: '<S7>/ SFunction '
*/
sumAntecedentOutputs = 0.0;
inputMFCache[0] = inputMFCache_tmp;
tmp[0] = -0.5;
tmp[1] = 0.0;
tmp[2] = 0.5;
inputMFCache[1] = Fuzzy_trimf(rtb_TmpSignalConversionAtSFun_0, tmp);
inputMFCache[2] = inputMFCache_tmp_0;
tmp[0] = -1.0;
tmp[1] = -0.5;
tmp[2] = 0.0;
inputMFCache[3] = Fuzzy_trimf(rtb_TmpSignalConversionAtSFun_0, tmp);
tmp[0] = 0.0;
tmp[1] = 0.5;
tmp[2] = 1.0;
inputMFCache[4] = Fuzzy_trimf(rtb_TmpSignalConversionAtSFun_0, tmp);
tmp[0] = 0.0;
tmp[1] = 0.25;
tmp[2] = 0.5;
inputMFCache[5] = Fuzzy_trimf(v, tmp);
tmp[0] = 0.25;
tmp[1] = 0.5;
tmp[2] = 0.75;
inputMFCache[6] = Fuzzy_trimf(v, tmp);
inputMFCache[7] = inputMFCache_tmp_1;
inputMFCache[8] = inputMFCache_tmp_2;
tmp[0] = 0.5;
tmp[1] = 0.75;
tmp[2] = 1.0;
inputMFCache[9] = Fuzzy_trimf(v, tmp);
/* MATLAB Function: '<S2>/Evaluate Rule Consequents' */
aggregatedOutputs = 0.0;
outputMFCache_0[0] = 0.0;
outputMFCache_0[1] = 0.25;
outputMFCache_0[2] = 0.5;
outputMFCache_0[3] = 0.75;
outputMFCache_0[4] = 1.0;
for (ruleID = 0; ruleID < 25; ruleID++)
{
/* MATLAB Function: '<S2>/Evaluate Rule Antecedents' */
rtb_antecedentOutputs_e = inputMFCache[b_1[ruleID + 25] + 4] * inputMFCache[b_1[ruleID] - 1];
sumAntecedentOutputs += rtb_antecedentOutputs_e;
/* MATLAB Function: '<S2>/Evaluate Rule Consequents' */
aggregatedOutputs += outputMFCache_0[b_2[ruleID] - 1] *
rtb_antecedentOutputs_e;
}
/* MATLAB Function: '<S2>/Defuzzify Outputs' incorporates:
* MATLAB Function: '<S2>/Evaluate Rule Antecedents'
* MATLAB Function: '<S2>/Evaluate Rule Consequents'
*/
if (sumAntecedentOutputs == 0.0)
{
result.wl = 0.5;
}
else
{
result.wl = 1.0 / sumAntecedentOutputs * aggregatedOutputs;
}
return result;
}
}

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RobotApp/Services/Navigation/Algorithm/PID.cs Normal file
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namespace RobotApp.Services.Navigation.Algorithm;
public class PID
{
private double Kp = 0.3;
private double Ki = 0.0001;
private double Kd = 0.01;
private double Pre_Error;
private double Pre_Pre_Error;
private double Pre_Out;
private DateTime PreTime;
public PID WithKp(double kp)
{
Kp = kp;
return this;
}
public PID WithKi(double ki)
{
Ki = ki;
return this;
}
public PID WithKd(double kd)
{
Kd = kd;
return this;
}
public double PID_step(double error, double min, double max)
{
DateTime CurrentTime = DateTime.Now;
double TimeSample = (CurrentTime - PreTime).TotalSeconds;
double P_part = Kp * (error - Pre_Error);
double I_part = 0.5 * Ki * TimeSample * (error + Pre_Error);
double D_part = Kd / TimeSample * (error - 2 * Pre_Error + Pre_Pre_Error);
double Out = Pre_Out + P_part + I_part + D_part;
Pre_Pre_Error = Pre_Error;
Pre_Error = error;
Pre_Out = Out;
Out = Math.Clamp(Out, min, max);
PreTime = CurrentTime;
return Out;
}
}

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RobotApp/Services/Navigation/Algorithm/PurePursuit.cs Normal file
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//namespace RobotApp.Services.Navigation.Algorithm;
//public class PurePursuit
//{
// private double MaxAngularVelocity = 1.5;
// private double LookaheadDistance = 0.5;
// private List<NavigationNode> Waypoints_Value = [];
// public int OnNodeIndex = 0;
// public int GoalIndex = 0;
// public NavigationNode? Goal;
// public PurePursuit WithLookheadDistance(double distance)
// {
// LookaheadDistance = distance;
// return this;
// }
// public PurePursuit WithMaxAngularVelocity(double vel)
// {
// MaxAngularVelocity = vel;
// return this;
// }
// public PurePursuit WithPath(NavigationNode[] path)
// {
// Waypoints_Value = [.. path];
// return this;
// }
// public void UpdatePath(NavigationNode[] path)
// {
// Waypoints_Value = [.. path];
// }
// public void UpdateGoal(NavigationNode goal)
// {
// Goal = goal;
// GoalIndex = Waypoints_Value.IndexOf(Goal);
// }
// public (NavigationNode node, int index) GetOnNode(double x, double y)
// {
// double minDistance = double.MaxValue;
// NavigationNode onNode = Waypoints_Value[0];
// int index = 0;
// for (int i = 1; i < Waypoints_Value.Count; i++)
// {
// var distance = Math.Sqrt(Math.Pow(x - Waypoints_Value[i].X, 2) + Math.Pow(y - Waypoints_Value[i].Y, 2));
// if (distance < minDistance)
// {
// onNode = Waypoints_Value[i];
// minDistance = distance;
// index = i;
// }
// }
// return (onNode, index);
// }
// private (NavigationNode? node, int index) OnNode(double x, double y)
// {
// if (Waypoints_Value is null || Waypoints_Value.Count == 0) return (null, 0);
// double minDistance = double.MaxValue;
// int index = 0;
// NavigationNode? onNode = null;
// if (Goal is null) return (onNode, index);
// for (int i = OnNodeIndex; i < Waypoints_Value.IndexOf(Goal); i++)
// {
// var distance = Math.Sqrt(Math.Pow(x - Waypoints_Value[i].X, 2) + Math.Pow(y - Waypoints_Value[i].Y, 2));
// if (distance < minDistance)
// {
// onNode = Waypoints_Value[i];
// minDistance = distance;
// index = i;
// }
// }
// return (onNode, index);
// }
// public double PurePursuit_step(double X_Ref, double Y_Ref, double Angle_Ref)
// {
// if (Waypoints_Value is null || Waypoints_Value.Count < 2) return 0;
// NavigationNode? lookaheadStartPt = null;
// var (onNode, index) = OnNode(X_Ref, Y_Ref);
// if (onNode is null || Goal is null) return 0;
// OnNodeIndex = index;
// double lookDistance = 0;
// for (int i = OnNodeIndex + 1; i < Waypoints_Value.IndexOf(Goal); i++)
// {
// lookDistance += Math.Sqrt(Math.Pow(Waypoints_Value[i - 1].X - Waypoints_Value[i].X, 2) + Math.Pow(Waypoints_Value[i - 1].Y - Waypoints_Value[i].Y, 2));
// if (lookDistance >= LookaheadDistance || Waypoints_Value[i].Direction != onNode.Direction)
// {
// lookaheadStartPt = Waypoints_Value[i];
// break;
// }
// }
// lookaheadStartPt ??= Goal;
// if (onNode.Direction == RobotDirection.BACKWARD)
// {
// if (Angle_Ref > Math.PI) Angle_Ref -= Math.PI * 2;
// else if (Angle_Ref < -Math.PI) Angle_Ref += Math.PI * 2;
// Angle_Ref += Math.PI;
// if (Angle_Ref > Math.PI) Angle_Ref -= Math.PI * 2;
// }
// var distance = Math.Atan2(lookaheadStartPt.Y - Y_Ref, lookaheadStartPt.X - X_Ref) - Angle_Ref;
// if (Math.Abs(distance) > Math.PI)
// {
// double minDistance;
// if (distance + Math.PI == 0.0) minDistance = 0.0;
// else
// {
// double data = (distance + Math.PI) / (2 * Math.PI);
// if (data < 0) data = Math.Round(data + 0.5);
// else data = Math.Round(data - 0.5);
// minDistance = distance + Math.PI - data * (2 * Math.PI);
// double checker = 0;
// if (minDistance != 0.0)
// {
// checker = Math.Abs((distance + Math.PI) / (2 * Math.PI));
// }
// if (!(Math.Abs(checker - Math.Floor(checker + 0.5)) > 2.2204460492503131E-16 * checker))
// {
// minDistance = 0.0;
// }
// else if (distance + Math.PI < 0.0)
// {
// minDistance += Math.PI * 2;
// }
// }
// if (minDistance == 0.0 && distance + Math.PI > 0.0)
// {
// minDistance = Math.PI * 2;
// }
// distance = minDistance - Math.PI;
// }
// var AngularVelocity = 2.0 * 0.5 * Math.Sin(distance) / LookaheadDistance;
// if (Math.Abs(AngularVelocity) > MaxAngularVelocity)
// {
// if (AngularVelocity < 0.0)
// {
// AngularVelocity = -1.0;
// }
// else if (AngularVelocity > 0.0)
// {
// AngularVelocity = 1.0;
// }
// else if (AngularVelocity == 0.0)
// {
// AngularVelocity = 0.0;
// }
// AngularVelocity *= MaxAngularVelocity;
// }
// return AngularVelocity;
// }
//}

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RobotApp/Services/Navigation/NavigationController.cs Normal file
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namespace RobotApp.Services.Navigation;
public class NavigationController
{
}

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RobotApp/Services/Navigation/NavigationManager.cs Normal file
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namespace RobotApp.Services.Navigation
{
public class NavigationManager
{
}
}

6
RobotApp/Services/Robot/RobotAction.cs Normal file
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namespace RobotApp.Services.Robot
{
public class RobotAction
{
}
}

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RobotApp/Services/Robot/RobotConfiguration.cs Normal file
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using RobotApp.Common.Shares.Enums;
namespace RobotApp.Services.Robot;
public class RobotConfiguration
{
public static string SerialNumber { get; set; } = "Robot-Demo";
public static NavigationType NavigationType { get; set; } = NavigationType.Differential;
}

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RobotApp/Services/Robot/RobotConnection.cs Normal file
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using RobotApp.Common.Shares;
using RobotApp.VDA5050;
using RobotApp.VDA5050.InstantAction;
using RobotApp.VDA5050.Order;
using System.Text.Json;
namespace RobotApp.Services.Robot;
public class RobotConnection(Logger<RobotConnection> Logger, Logger<MQTTClient> MQTTClientLogger) : BackgroundService
{
private readonly VDA5050Setting VDA5050Setting = new()
{
HostServer = "172.20.235.170",
Port = 1886,
};
private MQTTClient? MqttClient;
public bool IsConnected => MqttClient is not null && MqttClient.IsConnected;
public readonly static string SerialNumber = "RobotDemo";
private void OrderChanged(string data)
{
try
{
var msg = JsonSerializer.Deserialize<OrderMsg>(data);
if (msg is null || string.IsNullOrEmpty(msg.SerialNumber) || msg.SerialNumber != SerialNumber) return;
}
catch (Exception ex)
{
Logger.Warning($"Nhận Order xảy ra lỗi: {ex.Message} - {ex.StackTrace}");
}
}
private void InstanceActionsChanged(string data)
{
try
{
var msg = JsonSerializer.Deserialize<InstantActionsMsg>(data);
if (msg is null || string.IsNullOrEmpty(msg.SerialNumber) || msg.SerialNumber != SerialNumber) return;
}
catch (Exception ex)
{
Logger.Warning($"Nhận InstanceActions xảy ra lỗi: {ex.Message} - {ex.StackTrace}");
}
}
public async Task<MessageResult> Publish(string topic, string data)
{
if (MqttClient is not null && MqttClient.IsConnected) return await MqttClient.PublishAsync(topic, data);
return new(false, "Chưa có kết nối tới broker");
}
protected override async Task ExecuteAsync(CancellationToken stoppingToken)
{
await Task.Yield();
MqttClient = new MQTTClient(SerialNumber, VDA5050Setting, MQTTClientLogger);
MqttClient.OrderChanged += OrderChanged;
MqttClient.InstanceActionsChanged += InstanceActionsChanged;
await MqttClient.ConnectAsync(stoppingToken);
await MqttClient.SubscribeAsync(stoppingToken);
}
public override async Task StopAsync(CancellationToken cancellationToken)
{
if(MqttClient is not null) await MqttClient.DisposeAsync();
await base.StopAsync(cancellationToken);
}
}

6
RobotApp/Services/Robot/RobotController.cs Normal file
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namespace RobotApp.Services.Robot
{
public class RobotController
{
}
}

34
RobotApp/Services/Robot/RobotFactsheet.cs Normal file
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using RobotApp.Common.Shares;
using RobotApp.VDA5050;
using RobotApp.VDA5050.Factsheet;
using System.Text.Json;
namespace RobotApp.Services.Robot;
public class RobotFactsheet(RobotConnection RobotConnection) : BackgroundService
{
public async Task PubFactsheet()
{
if (!RobotConnection.IsConnected) return;
FactSheetMsg factSheet = new()
{
SerialNumber = RobotConnection.SerialNumber,
ProtocolFeatures = new()
{
AgvActions = [],
}
};
string factSheetJson = JsonSerializer.Serialize(factSheet, JsonOptionExtends.Write);
await RobotConnection.Publish(VDA5050Topic.FACTSHEET.ToTopicString(), factSheetJson);
}
protected override async Task ExecuteAsync(CancellationToken stoppingToken)
{
while(!stoppingToken.IsCancellationRequested)
{
await Task.Delay(1000, stoppingToken);
if (RobotConnection.IsConnected) break;
}
}
}

30
RobotApp/Services/Robot/RobotOrderController.cs Normal file
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using RobotApp.Interfaces;
using RobotApp.VDA5050.State;
namespace RobotApp.Services.Robot;
public class RobotOrderController : IOrder
{
public string OrderId => throw new NotImplementedException();
public VDA5050.InstantAction.Action[] Actions => throw new NotImplementedException();
public NodeState[] NodeStates => throw new NotImplementedException();
public EdgeState[] EdgeStates => throw new NotImplementedException();
public bool StartOrder()
{
throw new NotImplementedException();
}
public bool UpdateOrder()
{
throw new NotImplementedException();
}
public bool StopOrder()
{
throw new NotImplementedException();
}
}

6
RobotApp/Services/Robot/RobotVisualization.cs Normal file
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namespace RobotApp.Services.Robot
{
public class RobotVisualization
{
}
}

76
RobotApp/Services/WatchTimer.cs Normal file
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using System.Diagnostics;
namespace RobotApp.Services;
public class WatchTimer<T>(int Interval, Action Callback, Logger<T>? Logger) : IDisposable where T : class
{
private Timer? Timer;
private readonly Stopwatch Watch = new();
public bool Disposed;
private void Handler(object? state)
{
try
{
Watch.Restart();
Callback.Invoke();
Watch.Stop();
if (Watch.ElapsedMilliseconds >= Interval || Interval - Watch.ElapsedMilliseconds <= 50)
{
Timer?.Change(Interval, Timeout.Infinite);
}
else
{
Timer?.Change(Interval - Watch.ElapsedMilliseconds, Timeout.Infinite);
}
}
catch (Exception ex)
{
Logger?.Error($"WatchTimer Error: {ex}");
Timer?.Change(Interval, Timeout.Infinite);
}
}
public void Start()
{
if (!Disposed)
{
Timer = new Timer(Handler, null, Timeout.Infinite, Timeout.Infinite);
Timer.Change(Interval, 0);
}
else throw new ObjectDisposedException(nameof(WatchTimer<T>));
}
public void Stop()
{
if (Disposed) return;
if (Timer != null)
{
Timer.Change(Timeout.Infinite, Timeout.Infinite);
Timer.Dispose();
Timer = null;
}
}
public void Dispose()
{
Dispose(true);
GC.SuppressFinalize(this);
}
protected virtual void Dispose(bool disposing)
{
if (Disposed) return;
if (disposing) Stop();
Disposed = true;
}
~WatchTimer()
{
Dispose(false);
}
}

76
RobotApp/Services/WatchTimerAsync.cs Normal file
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using System.Diagnostics;
namespace RobotApp.Services;
public class WatchTimerAsync<T>(int Interval, Func<Task> Callback, Logger<T>? Logger) : IDisposable where T : class
{
private Timer? Timer;
private readonly Stopwatch Watch = new();
public bool Disposed;
private async void Handler(object? state)
{
try
{
Watch.Restart();
await Callback.Invoke();
Watch.Stop();
if (Watch.ElapsedMilliseconds >= Interval || Interval - Watch.ElapsedMilliseconds <= 50)
{
Timer?.Change(Interval, Timeout.Infinite);
}
else
{
Timer?.Change(Interval - Watch.ElapsedMilliseconds, Timeout.Infinite);
}
}
catch (Exception ex)
{
Logger?.Error($"WatchTimerAsync Error: {ex}");
Timer?.Change(Interval, Timeout.Infinite);
}
}
public void Start()
{
if (!Disposed)
{
Timer = new Timer(Handler, null, Timeout.Infinite, Timeout.Infinite);
Timer.Change(Interval, 0);
}
else throw new ObjectDisposedException(nameof(WatchTimerAsync<T>));
}
public void Stop()
{
if (Disposed) return;
if (Timer != null)
{
Timer.Change(Timeout.Infinite, Timeout.Infinite);
Timer.Dispose();
Timer = null;
}
}
public void Dispose()
{
Dispose(true);
GC.SuppressFinalize(this);
}
protected virtual void Dispose(bool disposing)
{
if (Disposed) return;
if (disposing) Stop();
Disposed = true;
}
~WatchTimerAsync()
{
Dispose(false);
}
}

2
RobotApp/appsettings.json
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{
"ConnectionStrings": {
"DefaultConnection": "Server=(localdb)\\mssqllocaldb;Database=aspnet-RobotApp-1f61caa2-bbbb-40cd-88b6-409b408a84ea;Trusted_Connection=True;MultipleActiveResultSets=true"
"DefaultConnection": "Data Source=robot.db"
},
"Logging": {
"LogLevel": {