Compare commits
No commits in common. "sonlt" and "main" have entirely different histories.
|
|
@ -1,66 +0,0 @@
|
|||
# Build artifacts
|
||||
**/bin/
|
||||
**/obj/
|
||||
**/out/
|
||||
|
||||
# Visual Studio files
|
||||
**/.vs/
|
||||
**/.vscode/
|
||||
**/*.user
|
||||
**/*.suo
|
||||
**/*.userosscache
|
||||
**/*.sln.docstates
|
||||
|
||||
# User-specific files
|
||||
**/.user
|
||||
**/.suo
|
||||
**/.userosscache
|
||||
|
||||
# Build results
|
||||
[Dd]ebug/
|
||||
[Dd]ebugPublic/
|
||||
[Rr]elease/
|
||||
[Rr]eleases/
|
||||
x64/
|
||||
x86/
|
||||
[Aa][Rr][Mm]/
|
||||
[Aa][Rr][Mm]64/
|
||||
bld/
|
||||
[Bb]in/
|
||||
[Oo]bj/
|
||||
[Ll]og/
|
||||
[Ll]ogs/
|
||||
|
||||
# NuGet packages
|
||||
**/packages/
|
||||
**/*.nupkg
|
||||
**/*.snupkg
|
||||
|
||||
# Test results
|
||||
**/[Tt]est[Rr]esult*/
|
||||
**/[Bb]uild[Ll]og.*
|
||||
|
||||
# Docker files
|
||||
Dockerfile*
|
||||
docker-compose*
|
||||
.dockerignore
|
||||
|
||||
# Git
|
||||
.git/
|
||||
.gitignore
|
||||
.gitattributes
|
||||
|
||||
# IDE
|
||||
.idea/
|
||||
*.swp
|
||||
*.swo
|
||||
*~
|
||||
|
||||
# OS
|
||||
.DS_Store
|
||||
Thumbs.db
|
||||
|
||||
# Data and logs (will be mounted as volumes)
|
||||
data/
|
||||
logs/
|
||||
|
||||
57
Dockerfile
57
Dockerfile
|
|
@ -1,57 +0,0 @@
|
|||
# Stage 1: Build
|
||||
# Note: Project files specify net10.0, but using .NET 9.0 based on package versions (9.0.9)
|
||||
# Adjust version if needed: 8.0 (LTS), 9.0 (current), or future 10.0
|
||||
FROM mcr.microsoft.com/dotnet/aspnet:10.0 AS base
|
||||
WORKDIR /app
|
||||
|
||||
FROM mcr.microsoft.com/dotnet/sdk:10.0 AS build
|
||||
WORKDIR /src
|
||||
|
||||
# Copy solution file
|
||||
COPY RobotApp.sln .
|
||||
|
||||
# Copy project files
|
||||
COPY RobotApp/RobotApp.csproj RobotApp/
|
||||
COPY RobotApp.Client/RobotApp.Client.csproj RobotApp.Client/
|
||||
COPY RobotApp.Common.Shares/RobotApp.Common.Shares.csproj RobotApp.Common.Shares/
|
||||
COPY RobotApp.VDA5050/RobotApp.VDA5050.csproj RobotApp.VDA5050/
|
||||
|
||||
# Restore dependencies
|
||||
RUN dotnet restore RobotApp.sln
|
||||
|
||||
# Copy all source files
|
||||
COPY RobotApp/ RobotApp/
|
||||
COPY RobotApp.Client/ RobotApp.Client/
|
||||
COPY RobotApp.Common.Shares/ RobotApp.Common.Shares/
|
||||
COPY RobotApp.VDA5050/ RobotApp.VDA5050/
|
||||
|
||||
RUN rm -rf ./RobotApp/RobotApp/bin
|
||||
RUN rm -rf ./RobotApp/RobotApp/obj
|
||||
RUN rm -rf ./RobotApp.Client/RobotApp.Client/bin
|
||||
RUN rm -rf ./RobotApp.Client/RobotApp.Client/obj
|
||||
RUN rm -rf ./RobotApp.Common.Shares/RobotApp.Common.Shares/bin
|
||||
RUN rm -rf ./RobotApp.Common.Shares/RobotApp.Common.Shares/obj
|
||||
RUN rm -rf ./RobotApp.VDA5050/RobotApp.VDA5050/bin
|
||||
RUN rm -rf ./RobotApp.VDA5050/RobotApp.VDA5050/obj
|
||||
|
||||
# Build the solution
|
||||
WORKDIR /src/RobotApp
|
||||
RUN dotnet build -c Release -o /app/build
|
||||
|
||||
# Stage 2: Publish
|
||||
FROM build AS publish
|
||||
WORKDIR /src/RobotApp
|
||||
RUN dotnet publish -c Release -o /app/publish /p:UseAppHost=false
|
||||
|
||||
# Copy published files
|
||||
FROM base AS final
|
||||
WORKDIR /app
|
||||
COPY --from=publish /app/publish ./
|
||||
|
||||
# Set environment variables
|
||||
#ENV ASPNETCORE_URLS=http://+:8080
|
||||
ENV ASPNETCORE_ENVIRONMENT=Production
|
||||
|
||||
# Run the application
|
||||
ENTRYPOINT ["dotnet", "RobotApp.dll"]
|
||||
|
||||
|
|
@ -1,8 +0,0 @@
|
|||
using Microsoft.AspNetCore.Components.Web;
|
||||
|
||||
namespace RobotApp.Client;
|
||||
|
||||
public class ClientRenderMode
|
||||
{
|
||||
public static InteractiveWebAssemblyRenderMode InteractiveWebAssemblyNoPrerender { get; } = new(prerender: false);
|
||||
}
|
||||
23
RobotApp.Client/Layout/MainLayout.razor
Normal file
23
RobotApp.Client/Layout/MainLayout.razor
Normal file
|
|
@ -0,0 +1,23 @@
|
|||
@inherits LayoutComponentBase
|
||||
|
||||
<div class="page">
|
||||
<div class="sidebar">
|
||||
<NavMenu />
|
||||
</div>
|
||||
|
||||
<main>
|
||||
<div class="top-row px-4">
|
||||
<a href="https://learn.microsoft.com/aspnet/core/" target="_blank">About</a>
|
||||
</div>
|
||||
|
||||
<article class="content px-4">
|
||||
@Body
|
||||
</article>
|
||||
</main>
|
||||
</div>
|
||||
|
||||
<div id="blazor-error-ui" data-nosnippet>
|
||||
An unhandled error has occurred.
|
||||
<a href="." class="reload">Reload</a>
|
||||
<span class="dismiss">🗙</span>
|
||||
</div>
|
||||
98
RobotApp.Client/Layout/MainLayout.razor.css
Normal file
98
RobotApp.Client/Layout/MainLayout.razor.css
Normal file
|
|
@ -0,0 +1,98 @@
|
|||
.page {
|
||||
position: relative;
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
}
|
||||
|
||||
main {
|
||||
flex: 1;
|
||||
}
|
||||
|
||||
.sidebar {
|
||||
background-image: linear-gradient(180deg, rgb(5, 39, 103) 0%, #3a0647 70%);
|
||||
}
|
||||
|
||||
.top-row {
|
||||
background-color: #f7f7f7;
|
||||
border-bottom: 1px solid #d6d5d5;
|
||||
justify-content: flex-end;
|
||||
height: 3.5rem;
|
||||
display: flex;
|
||||
align-items: center;
|
||||
}
|
||||
|
||||
.top-row ::deep a, .top-row ::deep .btn-link {
|
||||
white-space: nowrap;
|
||||
margin-left: 1.5rem;
|
||||
text-decoration: none;
|
||||
}
|
||||
|
||||
.top-row ::deep a:hover, .top-row ::deep .btn-link:hover {
|
||||
text-decoration: underline;
|
||||
}
|
||||
|
||||
.top-row ::deep a:first-child {
|
||||
overflow: hidden;
|
||||
text-overflow: ellipsis;
|
||||
}
|
||||
|
||||
@media (max-width: 640.98px) {
|
||||
.top-row {
|
||||
justify-content: space-between;
|
||||
}
|
||||
|
||||
.top-row ::deep a, .top-row ::deep .btn-link {
|
||||
margin-left: 0;
|
||||
}
|
||||
}
|
||||
|
||||
@media (min-width: 641px) {
|
||||
.page {
|
||||
flex-direction: row;
|
||||
}
|
||||
|
||||
.sidebar {
|
||||
width: 250px;
|
||||
height: 100vh;
|
||||
position: sticky;
|
||||
top: 0;
|
||||
}
|
||||
|
||||
.top-row {
|
||||
position: sticky;
|
||||
top: 0;
|
||||
z-index: 1;
|
||||
}
|
||||
|
||||
.top-row.auth ::deep a:first-child {
|
||||
flex: 1;
|
||||
text-align: right;
|
||||
width: 0;
|
||||
}
|
||||
|
||||
.top-row, article {
|
||||
padding-left: 2rem !important;
|
||||
padding-right: 1.5rem !important;
|
||||
}
|
||||
}
|
||||
|
||||
#blazor-error-ui {
|
||||
color-scheme: light only;
|
||||
background: lightyellow;
|
||||
bottom: 0;
|
||||
box-shadow: 0 -1px 2px rgba(0, 0, 0, 0.2);
|
||||
box-sizing: border-box;
|
||||
display: none;
|
||||
left: 0;
|
||||
padding: 0.6rem 1.25rem 0.7rem 1.25rem;
|
||||
position: fixed;
|
||||
width: 100%;
|
||||
z-index: 1000;
|
||||
}
|
||||
|
||||
#blazor-error-ui .dismiss {
|
||||
cursor: pointer;
|
||||
position: absolute;
|
||||
right: 0.75rem;
|
||||
top: 0.5rem;
|
||||
}
|
||||
92
RobotApp.Client/Layout/NavMenu.razor
Normal file
92
RobotApp.Client/Layout/NavMenu.razor
Normal file
|
|
@ -0,0 +1,92 @@
|
|||
@implements IDisposable
|
||||
|
||||
@inject NavigationManager NavigationManager
|
||||
|
||||
<div class="top-row ps-3 navbar navbar-dark">
|
||||
<div class="container-fluid">
|
||||
<a class="navbar-brand" href="">RobotApp</a>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<input type="checkbox" title="Navigation menu" class="navbar-toggler" />
|
||||
|
||||
<div class="nav-scrollable" onclick="document.querySelector('.navbar-toggler').click()">
|
||||
<nav class="nav flex-column">
|
||||
<div class="nav-item px-3">
|
||||
<NavLink class="nav-link" href="" Match="NavLinkMatch.All">
|
||||
<span class="bi bi-house-door-fill-nav-menu" aria-hidden="true"></span> Home
|
||||
</NavLink>
|
||||
</div>
|
||||
|
||||
<div class="nav-item px-3">
|
||||
<NavLink class="nav-link" href="counter">
|
||||
<span class="bi bi-plus-square-fill-nav-menu" aria-hidden="true"></span> Counter
|
||||
</NavLink>
|
||||
</div>
|
||||
|
||||
<div class="nav-item px-3">
|
||||
<NavLink class="nav-link" href="weather">
|
||||
<span class="bi bi-list-nested-nav-menu" aria-hidden="true"></span> Weather
|
||||
</NavLink>
|
||||
</div>
|
||||
|
||||
<div class="nav-item px-3">
|
||||
<NavLink class="nav-link" href="auth">
|
||||
<span class="bi bi-lock-nav-menu" aria-hidden="true"></span> Auth Required
|
||||
</NavLink>
|
||||
</div>
|
||||
|
||||
<AuthorizeView>
|
||||
<Authorized>
|
||||
<div class="nav-item px-3">
|
||||
<NavLink class="nav-link" href="Account/Manage">
|
||||
<span class="bi bi-person-fill-nav-menu" aria-hidden="true"></span> @context.User.Identity?.Name
|
||||
</NavLink>
|
||||
</div>
|
||||
<div class="nav-item px-3">
|
||||
<form action="Account/Logout" method="post">
|
||||
<AntiforgeryToken />
|
||||
<input type="hidden" name="ReturnUrl" value="@currentUrl" />
|
||||
<button type="submit" class="nav-link">
|
||||
<span class="bi bi-arrow-bar-left-nav-menu" aria-hidden="true"></span> Logout
|
||||
</button>
|
||||
</form>
|
||||
</div>
|
||||
</Authorized>
|
||||
<NotAuthorized>
|
||||
<div class="nav-item px-3">
|
||||
<NavLink class="nav-link" href="Account/Register">
|
||||
<span class="bi bi-person-nav-menu" aria-hidden="true"></span> Register
|
||||
</NavLink>
|
||||
</div>
|
||||
<div class="nav-item px-3">
|
||||
<NavLink class="nav-link" href="Account/Login">
|
||||
<span class="bi bi-person-badge-nav-menu" aria-hidden="true"></span> Login
|
||||
</NavLink>
|
||||
</div>
|
||||
</NotAuthorized>
|
||||
</AuthorizeView>
|
||||
</nav>
|
||||
</div>
|
||||
|
||||
@code {
|
||||
private string? currentUrl;
|
||||
|
||||
protected override void OnInitialized()
|
||||
{
|
||||
currentUrl = NavigationManager.ToBaseRelativePath(NavigationManager.Uri);
|
||||
NavigationManager.LocationChanged += OnLocationChanged;
|
||||
}
|
||||
|
||||
private void OnLocationChanged(object? sender, LocationChangedEventArgs e)
|
||||
{
|
||||
currentUrl = NavigationManager.ToBaseRelativePath(e.Location);
|
||||
StateHasChanged();
|
||||
}
|
||||
|
||||
public void Dispose()
|
||||
{
|
||||
NavigationManager.LocationChanged -= OnLocationChanged;
|
||||
}
|
||||
}
|
||||
|
||||
125
RobotApp.Client/Layout/NavMenu.razor.css
Normal file
125
RobotApp.Client/Layout/NavMenu.razor.css
Normal file
|
|
@ -0,0 +1,125 @@
|
|||
.navbar-toggler {
|
||||
appearance: none;
|
||||
cursor: pointer;
|
||||
width: 3.5rem;
|
||||
height: 2.5rem;
|
||||
color: white;
|
||||
position: absolute;
|
||||
top: 0.5rem;
|
||||
right: 1rem;
|
||||
border: 1px solid rgba(255, 255, 255, 0.1);
|
||||
background: url("data:image/svg+xml,%3csvg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 30 30'%3e%3cpath stroke='rgba%28255, 255, 255, 0.55%29' stroke-linecap='round' stroke-miterlimit='10' stroke-width='2' d='M4 7h22M4 15h22M4 23h22'/%3e%3c/svg%3e") no-repeat center/1.75rem rgba(255, 255, 255, 0.1);
|
||||
}
|
||||
|
||||
.navbar-toggler:checked {
|
||||
background-color: rgba(255, 255, 255, 0.5);
|
||||
}
|
||||
|
||||
.top-row {
|
||||
min-height: 3.5rem;
|
||||
background-color: rgba(0,0,0,0.4);
|
||||
}
|
||||
|
||||
.navbar-brand {
|
||||
font-size: 1.1rem;
|
||||
}
|
||||
|
||||
.bi {
|
||||
display: inline-block;
|
||||
position: relative;
|
||||
width: 1.25rem;
|
||||
height: 1.25rem;
|
||||
margin-right: 0.75rem;
|
||||
top: -1px;
|
||||
background-size: cover;
|
||||
}
|
||||
|
||||
.bi-house-door-fill-nav-menu {
|
||||
background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-house-door-fill' viewBox='0 0 16 16'%3E%3Cpath d='M6.5 14.5v-3.505c0-.245.25-.495.5-.495h2c.25 0 .5.25.5.5v3.5a.5.5 0 0 0 .5.5h4a.5.5 0 0 0 .5-.5v-7a.5.5 0 0 0-.146-.354L13 5.793V2.5a.5.5 0 0 0-.5-.5h-1a.5.5 0 0 0-.5.5v1.293L8.354 1.146a.5.5 0 0 0-.708 0l-6 6A.5.5 0 0 0 1.5 7.5v7a.5.5 0 0 0 .5.5h4a.5.5 0 0 0 .5-.5Z'/%3E%3C/svg%3E");
|
||||
}
|
||||
|
||||
.bi-plus-square-fill-nav-menu {
|
||||
background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-plus-square-fill' viewBox='0 0 16 16'%3E%3Cpath d='M2 0a2 2 0 0 0-2 2v12a2 2 0 0 0 2 2h12a2 2 0 0 0 2-2V2a2 2 0 0 0-2-2H2zm6.5 4.5v3h3a.5.5 0 0 1 0 1h-3v3a.5.5 0 0 1-1 0v-3h-3a.5.5 0 0 1 0-1h3v-3a.5.5 0 0 1 1 0z'/%3E%3C/svg%3E");
|
||||
}
|
||||
|
||||
.bi-list-nested-nav-menu {
|
||||
background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-list-nested' viewBox='0 0 16 16'%3E%3Cpath fill-rule='evenodd' d='M4.5 11.5A.5.5 0 0 1 5 11h10a.5.5 0 0 1 0 1H5a.5.5 0 0 1-.5-.5zm-2-4A.5.5 0 0 1 3 7h10a.5.5 0 0 1 0 1H3a.5.5 0 0 1-.5-.5zm-2-4A.5.5 0 0 1 1 3h10a.5.5 0 0 1 0 1H1a.5.5 0 0 1-.5-.5z'/%3E%3C/svg%3E");
|
||||
}
|
||||
|
||||
.bi-lock-nav-menu {
|
||||
background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-list-nested' viewBox='0 0 16 16'%3E%3Cpath d='M8 1a2 2 0 0 1 2 2v4H6V3a2 2 0 0 1 2-2zm3 6V3a3 3 0 0 0-6 0v4a2 2 0 0 0-2 2v5a2 2 0 0 0 2 2h6a2 2 0 0 0 2-2V9a2 2 0 0 0-2-2zM5 8h6a1 1 0 0 1 1 1v5a1 1 0 0 1-1 1H5a1 1 0 0 1-1-1V9a1 1 0 0 1 1-1z'/%3E%3C/svg%3E");
|
||||
}
|
||||
|
||||
.bi-person-nav-menu {
|
||||
background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-person' viewBox='0 0 16 16'%3E%3Cpath d='M8 8a3 3 0 1 0 0-6 3 3 0 0 0 0 6Zm2-3a2 2 0 1 1-4 0 2 2 0 0 1 4 0Zm4 8c0 1-1 1-1 1H3s-1 0-1-1 1-4 6-4 6 3 6 4Zm-1-.004c-.001-.246-.154-.986-.832-1.664C11.516 10.68 10.289 10 8 10c-2.29 0-3.516.68-4.168 1.332-.678.678-.83 1.418-.832 1.664h10Z'/%3E%3C/svg%3E");
|
||||
}
|
||||
|
||||
.bi-person-badge-nav-menu {
|
||||
background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-person-badge' viewBox='0 0 16 16'%3E%3Cpath d='M6.5 2a.5.5 0 0 0 0 1h3a.5.5 0 0 0 0-1h-3zM11 8a3 3 0 1 1-6 0 3 3 0 0 1 6 0z'/%3E%3Cpath d='M4.5 0A2.5 2.5 0 0 0 2 2.5V14a2 2 0 0 0 2 2h8a2 2 0 0 0 2-2V2.5A2.5 2.5 0 0 0 11.5 0h-7zM3 2.5A1.5 1.5 0 0 1 4.5 1h7A1.5 1.5 0 0 1 13 2.5v10.795a4.2 4.2 0 0 0-.776-.492C11.392 12.387 10.063 12 8 12s-3.392.387-4.224.803a4.2 4.2 0 0 0-.776.492V2.5z'/%3E%3C/svg%3E");
|
||||
}
|
||||
|
||||
.bi-person-fill-nav-menu {
|
||||
background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-person-fill' viewBox='0 0 16 16'%3E%3Cpath d='M3 14s-1 0-1-1 1-4 6-4 6 3 6 4-1 1-1 1H3Zm5-6a3 3 0 1 0 0-6 3 3 0 0 0 0 6Z'/%3E%3C/svg%3E");
|
||||
}
|
||||
|
||||
.bi-arrow-bar-left-nav-menu {
|
||||
background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' width='16' height='16' fill='white' class='bi bi-arrow-bar-left' viewBox='0 0 16 16'%3E%3Cpath d='M12.5 15a.5.5 0 0 1-.5-.5v-13a.5.5 0 0 1 1 0v13a.5.5 0 0 1-.5.5ZM10 8a.5.5 0 0 1-.5.5H3.707l2.147 2.146a.5.5 0 0 1-.708.708l-3-3a.5.5 0 0 1 0-.708l3-3a.5.5 0 1 1 .708.708L3.707 7.5H9.5a.5.5 0 0 1 .5.5Z'/%3E%3C/svg%3E");
|
||||
}
|
||||
|
||||
.nav-item {
|
||||
font-size: 0.9rem;
|
||||
padding-bottom: 0.5rem;
|
||||
}
|
||||
|
||||
.nav-item:first-of-type {
|
||||
padding-top: 1rem;
|
||||
}
|
||||
|
||||
.nav-item:last-of-type {
|
||||
padding-bottom: 1rem;
|
||||
}
|
||||
|
||||
.nav-item ::deep .nav-link {
|
||||
color: #d7d7d7;
|
||||
background: none;
|
||||
border: none;
|
||||
border-radius: 4px;
|
||||
height: 3rem;
|
||||
display: flex;
|
||||
align-items: center;
|
||||
line-height: 3rem;
|
||||
width: 100%;
|
||||
}
|
||||
|
||||
.nav-item ::deep a.active {
|
||||
background-color: rgba(255,255,255,0.37);
|
||||
color: white;
|
||||
}
|
||||
|
||||
.nav-item ::deep .nav-link:hover {
|
||||
background-color: rgba(255,255,255,0.1);
|
||||
color: white;
|
||||
}
|
||||
|
||||
.nav-scrollable {
|
||||
display: none;
|
||||
}
|
||||
|
||||
.navbar-toggler:checked ~ .nav-scrollable {
|
||||
display: block;
|
||||
}
|
||||
|
||||
@media (min-width: 641px) {
|
||||
.navbar-toggler {
|
||||
display: none;
|
||||
}
|
||||
|
||||
.nav-scrollable {
|
||||
/* Never collapse the sidebar for wide screens */
|
||||
display: block;
|
||||
|
||||
/* Allow sidebar to scroll for tall menus */
|
||||
height: calc(100vh - 3.5rem);
|
||||
overflow-y: auto;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,89 +0,0 @@
|
|||
@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="/dashboard", Label = "Dashboard", Match = NavLinkMatch.All},
|
||||
// new(){Icon = "mdi-map-legend", Path="/maps-manager", Label = "Mapping", Match = NavLinkMatch.All},
|
||||
new(){Icon = "mdi-monitor", Path="/robot-monitor", Label = "Robot Monitor", Match = NavLinkMatch.All},
|
||||
new(){Icon = "mdi-state-machine", Path="/robot-order", Label = "order", Match = NavLinkMatch.All},
|
||||
new(){Icon = "mdi-application-cog", Path="/robot-config", Label = "Config", Match = NavLinkMatch.All },
|
||||
new(){Icon = "mdi-math-log", Path="/logs", Label = "Logs", Match = NavLinkMatch.All},
|
||||
];
|
||||
|
||||
private bool collapseNavMenu = true;
|
||||
|
||||
private string? NavMenuCssClass => collapseNavMenu ? "collapse" : null;
|
||||
|
||||
private void ToggleNavMenu()
|
||||
{
|
||||
collapseNavMenu = !collapseNavMenu;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -1,134 +0,0 @@
|
|||
.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;
|
||||
}
|
||||
|
|
@ -1,40 +0,0 @@
|
|||
using System.Text.Json.Serialization;
|
||||
|
||||
namespace RobotApp.Client.Models;
|
||||
|
||||
public class LoggerModel
|
||||
{
|
||||
[JsonPropertyName("time")]
|
||||
public string? Time { get; set; }
|
||||
|
||||
[JsonPropertyName("level")]
|
||||
public string? Level { get; set; }
|
||||
|
||||
[JsonPropertyName("message")]
|
||||
public string? Message { get; set; }
|
||||
|
||||
[JsonPropertyName("exception")]
|
||||
public string? Exception { get; set; }
|
||||
|
||||
public string ColorClass => Level switch
|
||||
{
|
||||
"WARN" => "text-warning",
|
||||
"INFO" => "text-info",
|
||||
"DEBUG" => "text-success",
|
||||
"ERROR" => "text-danger",
|
||||
"FATAL" => "text-secondary",
|
||||
_ => "text-muted",
|
||||
};
|
||||
|
||||
public string BackgroundClass => Level switch
|
||||
{
|
||||
"WARN" => "bg-warning text-dark",
|
||||
"INFO" => "bg-info text-dark",
|
||||
"DEBUG" => "bg-success text-white",
|
||||
"ERROR" => "bg-danger text-white",
|
||||
"FATAL" => "bg-secondary text-white",
|
||||
_ => "bg-dark text-white",
|
||||
};
|
||||
|
||||
public bool HasException => !string.IsNullOrEmpty(Exception);
|
||||
}
|
||||
|
|
@ -1,12 +0,0 @@
|
|||
@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
|
||||
13
RobotApp.Client/Pages/Auth.razor
Normal file
13
RobotApp.Client/Pages/Auth.razor
Normal file
|
|
@ -0,0 +1,13 @@
|
|||
@page "/auth"
|
||||
|
||||
@using Microsoft.AspNetCore.Authorization
|
||||
|
||||
@attribute [Authorize]
|
||||
|
||||
<PageTitle>Auth</PageTitle>
|
||||
|
||||
<h1>You are authenticated</h1>
|
||||
|
||||
<AuthorizeView>
|
||||
Hello @context.User.Identity?.Name!
|
||||
</AuthorizeView>
|
||||
|
|
@ -1,92 +0,0 @@
|
|||
@implements IDisposable
|
||||
|
||||
<div class ="d-flex w-100 h-100 flex-column">
|
||||
<EditForm EditContext="EditContext">
|
||||
<DataAnnotationsValidator />
|
||||
|
||||
<div class="mb-2">
|
||||
<label class="form-label">Navigation Type</label>
|
||||
<InputSelect class="form-select" @bind-Value="Model.NavigationType" TValue="NavigationType">
|
||||
@foreach (var t in NavigationTypes)
|
||||
{
|
||||
<option value="@t">@t</option>
|
||||
}
|
||||
</InputSelect>
|
||||
<ValidationMessage For="@(() => Model.NavigationType)" />
|
||||
</div>
|
||||
|
||||
<div class="row g-2 mb-2">
|
||||
<div class="col">
|
||||
<label class="form-label">Radius (wheel)</label>
|
||||
<InputNumber class="form-control" @bind-Value="Model.RadiusWheel" />
|
||||
<ValidationMessage For="@(() => Model.RadiusWheel)" />
|
||||
</div>
|
||||
<div class="col">
|
||||
<label class="form-label">Width (m)</label>
|
||||
<InputNumber class="form-control" @bind-Value="Model.Width" />
|
||||
<ValidationMessage For="@(() => Model.Width)" />
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="row g-2 mb-2">
|
||||
<div class="col">
|
||||
<label class="form-label">Length (m)</label>
|
||||
<InputNumber class="form-control" @bind-Value="Model.Length" />
|
||||
<ValidationMessage For="@(() => Model.Length)" />
|
||||
</div>
|
||||
<div class="col">
|
||||
<label class="form-label">Height (m)</label>
|
||||
<InputNumber class="form-control" @bind-Value="Model.Height" />
|
||||
<ValidationMessage For="@(() => Model.Height)" />
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="mb-2">
|
||||
<label class="form-label">Description</label>
|
||||
<InputTextArea class="form-control" @bind-Value="Model.Description" />
|
||||
<ValidationMessage For="@(() => Model.Description)" />
|
||||
</div>
|
||||
</EditForm>
|
||||
<div class="flex-grow-1" />
|
||||
<div>
|
||||
@if (Model.CreatedAt != default || Model.UpdatedAt != default)
|
||||
{
|
||||
<div class="d-flex justify-content-end mt-2">
|
||||
<small class="text-muted">Created: @Model.CreatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
|
||||
<small class="text-muted ms-3">Updated: @Model.UpdatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
|
||||
</div>
|
||||
}
|
||||
</div>
|
||||
</div>
|
||||
|
||||
|
||||
@code {
|
||||
[Parameter]
|
||||
public RobotConfigDto Model { get; set; } = new();
|
||||
|
||||
[Parameter]
|
||||
public EventCallback<RobotConfigDto> ModelChanged { get; set; }
|
||||
|
||||
private EditContext? EditContext;
|
||||
private IEnumerable<NavigationType> NavigationTypes => Enum.GetValues(typeof(NavigationType)).Cast<NavigationType>();
|
||||
|
||||
protected override void OnParametersSet()
|
||||
{
|
||||
if (EditContext is null || !EditContext.Model!.Equals(Model))
|
||||
{
|
||||
if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
|
||||
EditContext = new EditContext(Model);
|
||||
EditContext.OnFieldChanged += EditContext_OnFieldChanged;
|
||||
}
|
||||
}
|
||||
|
||||
private void EditContext_OnFieldChanged(object? sender, FieldChangedEventArgs e)
|
||||
{
|
||||
_ = ModelChanged.InvokeAsync(Model);
|
||||
}
|
||||
|
||||
public void Dispose()
|
||||
{
|
||||
if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,74 +0,0 @@
|
|||
@implements IDisposable
|
||||
<div class="d-flex w-100 h-100 flex-column">
|
||||
<EditForm EditContext="EditContext">
|
||||
<DataAnnotationsValidator />
|
||||
|
||||
<div class="row g-2 mb-2">
|
||||
<div class="col-md-8">
|
||||
<label class="form-label">PLC Address</label>
|
||||
<InputText class="form-control" @bind-Value="Model.PLCAddress" />
|
||||
<ValidationMessage For="@(() => Model.PLCAddress)" />
|
||||
</div>
|
||||
<div class="col-md-4">
|
||||
<label class="form-label">Port</label>
|
||||
<InputNumber class="form-control" @bind-Value="Model.PLCPort" />
|
||||
<ValidationMessage For="@(() => Model.PLCPort)" />
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="row g-2 mb-2">
|
||||
<div class="col-md-4">
|
||||
<label class="form-label">Unit Id</label>
|
||||
<InputNumber class="form-control" @bind-Value="Model.PLCUnitId" />
|
||||
<ValidationMessage For="@(() => Model.PLCUnitId)" />
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="mb-2">
|
||||
<label class="form-label">Description</label>
|
||||
<InputTextArea class="form-control" @bind-Value="Model.Description" />
|
||||
<ValidationMessage For="@(() => Model.Description)" />
|
||||
</div>
|
||||
|
||||
</EditForm>
|
||||
<div class="flex-grow-1" />
|
||||
<div>
|
||||
@if (Model.CreatedAt != default || Model.UpdatedAt != default)
|
||||
{
|
||||
<div class="d-flex justify-content-end mt-2">
|
||||
<small class="text-muted">Created: @Model.CreatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
|
||||
<small class="text-muted ms-3">Updated: @Model.UpdatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
|
||||
</div>
|
||||
}
|
||||
</div>
|
||||
</div>
|
||||
|
||||
@code {
|
||||
[Parameter]
|
||||
public RobotPlcConfigDto Model { get; set; } = new();
|
||||
|
||||
[Parameter]
|
||||
public EventCallback<RobotPlcConfigDto> ModelChanged { get; set; }
|
||||
|
||||
private EditContext? EditContext;
|
||||
|
||||
protected override void OnParametersSet()
|
||||
{
|
||||
if (EditContext is null || !EditContext.Model!.Equals(Model))
|
||||
{
|
||||
if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
|
||||
EditContext = new EditContext(Model);
|
||||
EditContext.OnFieldChanged += EditContext_OnFieldChanged;
|
||||
}
|
||||
}
|
||||
|
||||
private void EditContext_OnFieldChanged(object? sender, FieldChangedEventArgs e)
|
||||
{
|
||||
_ = ModelChanged.InvokeAsync(Model);
|
||||
}
|
||||
|
||||
public void Dispose()
|
||||
{
|
||||
if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,97 +0,0 @@
|
|||
@implements IDisposable
|
||||
<div class="d-flex w-100 h-100 flex-column">
|
||||
<EditForm EditContext="EditContext">
|
||||
<DataAnnotationsValidator />
|
||||
<div class="row g-2 mb-2">
|
||||
<div class="col-6">
|
||||
<label class="form-label">Very Slow (m/s)</label>
|
||||
<InputNumber class="form-control" @bind-Value="Model.SafetySpeedVerySlow" />
|
||||
<ValidationMessage For="@(() => Model.SafetySpeedVerySlow)" />
|
||||
</div>
|
||||
<div class="col-6">
|
||||
<label class="form-label">Slow (m/s)</label>
|
||||
<InputNumber class="form-control" @bind-Value="Model.SafetySpeedSlow" />
|
||||
<ValidationMessage For="@(() => Model.SafetySpeedSlow)" />
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="row g-2 mb-2">
|
||||
<div class="col-6">
|
||||
<label class="form-label">Normal (m/s)</label>
|
||||
<InputNumber class="form-control" @bind-Value="Model.SafetySpeedNormal" />
|
||||
<ValidationMessage For="@(() => Model.SafetySpeedNormal)" />
|
||||
</div>
|
||||
<div class="col-6">
|
||||
<label class="form-label">Medium (m/s)</label>
|
||||
<InputNumber class="form-control" @bind-Value="Model.SafetySpeedMedium" />
|
||||
<ValidationMessage For="@(() => Model.SafetySpeedMedium)" />
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="row g-2 mb-2">
|
||||
<div class="col-6">
|
||||
<label class="form-label">Optimal (m/s)</label>
|
||||
<InputNumber class="form-control" @bind-Value="Model.SafetySpeedOptimal" />
|
||||
<ValidationMessage For="@(() => Model.SafetySpeedOptimal)" />
|
||||
</div>
|
||||
<div class="col-6">
|
||||
<label class="form-label">Fast (m/s)</label>
|
||||
<InputNumber class="form-control" @bind-Value="Model.SafetySpeedFast" />
|
||||
<ValidationMessage For="@(() => Model.SafetySpeedFast)" />
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="mb-2">
|
||||
<label class="form-label">Very Fast (m/s)</label>
|
||||
<InputNumber class="form-control" @bind-Value="Model.SafetySpeedVeryFast" />
|
||||
<ValidationMessage For="@(() => Model.SafetySpeedVeryFast)" />
|
||||
</div>
|
||||
|
||||
<div class="mb-2">
|
||||
<label class="form-label">Description</label>
|
||||
<InputTextArea class="form-control" @bind-Value="Model.Description" />
|
||||
<ValidationMessage For="@(() => Model.Description)" />
|
||||
</div>
|
||||
</EditForm>
|
||||
<div class="flex-grow-1" />
|
||||
<div>
|
||||
@if (Model.CreatedAt != default || Model.UpdatedAt != default)
|
||||
{
|
||||
<div class="d-flex justify-content-end mt-2">
|
||||
<small class="text-muted">Created: @Model.CreatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
|
||||
<small class="text-muted ms-3">Updated: @Model.UpdatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
|
||||
</div>
|
||||
}
|
||||
</div>
|
||||
</div>
|
||||
|
||||
|
||||
@code {
|
||||
[Parameter]
|
||||
public RobotSafetyConfigDto Model { get; set; } = new();
|
||||
|
||||
[Parameter]
|
||||
public EventCallback<RobotSafetyConfigDto> ModelChanged { get; set; }
|
||||
|
||||
private EditContext? EditContext;
|
||||
|
||||
protected override void OnParametersSet()
|
||||
{
|
||||
if (EditContext is null || !EditContext.Model!.Equals(Model))
|
||||
{
|
||||
if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
|
||||
EditContext = new EditContext(Model);
|
||||
EditContext.OnFieldChanged += EditContext_OnFieldChanged;
|
||||
}
|
||||
}
|
||||
|
||||
private void EditContext_OnFieldChanged(object? sender, FieldChangedEventArgs e)
|
||||
{
|
||||
_ = ModelChanged.InvokeAsync(Model);
|
||||
}
|
||||
|
||||
public void Dispose()
|
||||
{
|
||||
if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,85 +0,0 @@
|
|||
@implements IDisposable
|
||||
|
||||
<div class="d-flex w-100 h-100 flex-column">
|
||||
<EditForm EditContext="EditContext">
|
||||
<DataAnnotationsValidator />
|
||||
|
||||
<div class="form-check mb-2">
|
||||
<InputCheckbox class="form-check-input" Value="Model.EnableSimulation" />
|
||||
<label class="form-check-label">Enable Simulation</label>
|
||||
<ValidationMessage For="@(() => Model.EnableSimulation)" />
|
||||
</div>
|
||||
|
||||
<div class="row g-2 mb-2">
|
||||
<div class="col-md-6">
|
||||
<label class="form-label">Max Velocity (m/s)</label>
|
||||
<InputNumber class="form-control" @bind-Value="Model.SimulationMaxVelocity" />
|
||||
<ValidationMessage For="@(() => Model.SimulationMaxVelocity)" />
|
||||
</div>
|
||||
<div class="col-md-6">
|
||||
<label class="form-label">Max Angular Velocity (rad/s)</label>
|
||||
<InputNumber class="form-control" @bind-Value="Model.SimulationMaxAngularVelocity" />
|
||||
<ValidationMessage For="@(() => Model.SimulationMaxAngularVelocity)" />
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="row g-2 mb-2">
|
||||
<div class="col-md-6">
|
||||
<label class="form-label">Acceleration (m/s²)</label>
|
||||
<InputNumber class="form-control" @bind-Value="Model.SimulationAcceleration" />
|
||||
<ValidationMessage For="@(() => Model.SimulationAcceleration)" />
|
||||
</div>
|
||||
<div class="col-md-6">
|
||||
<label class="form-label">Deceleration (m/s²)</label>
|
||||
<InputNumber class="form-control" @bind-Value="Model.SimulationDeceleration" />
|
||||
<ValidationMessage For="@(() => Model.SimulationDeceleration)" />
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="mb-2">
|
||||
<label class="form-label">Description</label>
|
||||
<InputTextArea class="form-control" @bind-Value="Model.Description" />
|
||||
<ValidationMessage For="@(() => Model.Description)" />
|
||||
</div>
|
||||
</EditForm>
|
||||
<div class="flex-grow-1" />
|
||||
<div>
|
||||
@if (Model.CreatedAt != default || Model.UpdatedAt != default)
|
||||
{
|
||||
<div class="d-flex justify-content-end mt-2">
|
||||
<small class="text-muted">Created: @Model.CreatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
|
||||
<small class="text-muted ms-3">Updated: @Model.UpdatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
|
||||
</div>
|
||||
}
|
||||
</div>
|
||||
</div>
|
||||
|
||||
@code {
|
||||
[Parameter]
|
||||
public RobotSimulationConfigDto Model { get; set; } = new();
|
||||
|
||||
[Parameter]
|
||||
public EventCallback<RobotSimulationConfigDto> ModelChanged { get; set; }
|
||||
|
||||
private EditContext? EditContext;
|
||||
|
||||
protected override void OnParametersSet()
|
||||
{
|
||||
if (EditContext is null || !EditContext.Model!.Equals(Model))
|
||||
{
|
||||
if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
|
||||
EditContext = new EditContext(Model);
|
||||
EditContext.OnFieldChanged += EditContext_OnFieldChanged;
|
||||
}
|
||||
}
|
||||
|
||||
private void EditContext_OnFieldChanged(object? sender, FieldChangedEventArgs e)
|
||||
{
|
||||
_ = ModelChanged.InvokeAsync(Model);
|
||||
}
|
||||
|
||||
public void Dispose()
|
||||
{
|
||||
if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,329 +0,0 @@
|
|||
@implements IDisposable
|
||||
|
||||
<div class="d-flex w-100 h-100 flex-column">
|
||||
<EditForm EditContext="EditContext">
|
||||
<DataAnnotationsValidator />
|
||||
|
||||
<div class="row g-2 mb-2">
|
||||
<div class="col-md-6">
|
||||
<label class="form-label" for="serialNumber">Serial Number</label>
|
||||
<InputText id="serialNumber" class="form-control" @bind-Value="Model.SerialNumber" />
|
||||
<ValidationMessage For="@(() => Model.SerialNumber)" />
|
||||
</div>
|
||||
<div class="col-md-6">
|
||||
<label class="form-label" for="prefix">Topic Prefix</label>
|
||||
<InputText id="prefix" class="form-control" @bind-Value="Model.VDA5050TopicPrefix"/>
|
||||
<ValidationMessage For="@(() => Model.VDA5050TopicPrefix)" />
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="row g-2 mb-2">
|
||||
<div class="col-md-6">
|
||||
<label class="form-label" for="manufacturer">Manufacturer</label>
|
||||
<InputText id="manufacturer" class="form-control" @bind-Value="Model.VDA5050Manufacturer" disabled="true" />
|
||||
<ValidationMessage For="@(() => Model.VDA5050Manufacturer)" />
|
||||
</div>
|
||||
<div class="col-md-6">
|
||||
<label class="form-label" for="version">Version</label>
|
||||
<InputText id="version" class="form-control" @bind-Value="Model.VDA5050Version" disabled="true" />
|
||||
<ValidationMessage For="@(() => Model.VDA5050Version)" />
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="row g-2 mb-2">
|
||||
<div class="col-md-6">
|
||||
<label class="form-label" for="host">Host</label>
|
||||
<InputText id="host" class="form-control" @bind-Value="Model.VDA5050HostServer" />
|
||||
<ValidationMessage For="@(() => Model.VDA5050HostServer)" />
|
||||
</div>
|
||||
<div class="col-md-3">
|
||||
<label class="form-label" for="port">Port</label>
|
||||
<InputNumber id="port" class="form-control" @bind-Value="Model.VDA5050Port" />
|
||||
<ValidationMessage For="@(() => Model.VDA5050Port)" />
|
||||
</div>
|
||||
<div class="col-md-3">
|
||||
<label class="form-label" for="publishRepeat">Publish Repeat</label>
|
||||
<InputNumber id="publishRepeat" class="form-control" @bind-Value="Model.VDA5050PublishRepeat" />
|
||||
<ValidationMessage For="@(() => Model.VDA5050PublishRepeat)" />
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="row g-2 mb-2">
|
||||
<div class="col-md-6">
|
||||
<label class="form-label" for="username">Username</label>
|
||||
<InputText id="username" class="form-control" @bind-Value="Model.VDA5050UserName" />
|
||||
<ValidationMessage For="@(() => Model.VDA5050UserName)" />
|
||||
</div>
|
||||
<div class="col-md-6">
|
||||
<label class="form-label" for="password">Password</label>
|
||||
<div class="password-input-wrapper">
|
||||
<InputText id="password" class="form-control password-input" @bind-Value="Model.VDA5050Password" inputmode="text" type="@PasswordInputType" autocomplete="new-password" spellcheck="false" />
|
||||
<button class="password-toggle-btn" type="button" @onclick="TogglePasswordVisibility" aria-label="Toggle password visibility">
|
||||
<i class="@PasswordIconClass" aria-hidden="true"></i>
|
||||
</button>
|
||||
</div>
|
||||
<ValidationMessage For="@(() => Model.VDA5050Password)" />
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="form-check mb-2">
|
||||
<InputCheckbox id="enablePassword" class="form-check-input" @bind-Value="Model.VDA5050EnablePassword" />
|
||||
<label class="form-check-label" for="enablePassword">Enable Password</label>
|
||||
<ValidationMessage For="@(() => Model.VDA5050EnablePassword)" />
|
||||
</div>
|
||||
|
||||
<div class="form-check mb-2">
|
||||
<InputCheckbox id="enableTls" class="form-check-input" @bind-Value="Model.VDA5050EnableTls" />
|
||||
<label class="form-check-label" for="enableTls">Enable TLS</label>
|
||||
<ValidationMessage For="@(() => Model.VDA5050EnableTls)" />
|
||||
</div>
|
||||
|
||||
<div class="mb-2">
|
||||
<label class="form-label" for="caFile">CA File</label>
|
||||
<div class="custom-file-input-wrapper position-relative">
|
||||
<InputFile class="d-none" id="caFile" OnChange="e => OnFileSelected(e, FileSlot.Ca)" accept=".crt,.pem,.cer,.pfx,.key,.jks" />
|
||||
<div class="form-control d-flex align-items-center gap-2 ps-0">
|
||||
<label for="caFile" class="upload-btn d-flex align-items-center gap-1">
|
||||
<i class="mdi mdi-attachment"></i>
|
||||
</label>
|
||||
|
||||
<span id="fileNameDisplay" class="text-muted flex-grow-1 text-truncate" style="max-width: 200px;">
|
||||
@Model.VDA5050CA
|
||||
</span>
|
||||
|
||||
<button class="password-toggle-btn position-absolute rounded-end-2 top-50 translate-middle-y" type="button" @onclick="() => RemoveFile(FileSlot.Ca)" aria-label="Remove client certificate file">
|
||||
<i class="mdi mdi-close" aria-hidden="true"></i>
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
@if (!string.IsNullOrEmpty(CaFileInfo))
|
||||
{
|
||||
<div class="small text-muted mt-1 mb-1">@CaFileInfo</div>
|
||||
}
|
||||
@if (!string.IsNullOrEmpty(CaFileError))
|
||||
{
|
||||
<div class="text-danger small mt-1 mb-1">@CaFileError</div>
|
||||
}
|
||||
</div>
|
||||
|
||||
<div class="mb-2">
|
||||
<label class="form-label" for="clientCertFile">Client Certificate File</label>
|
||||
<div class="custom-file-input-wrapper position-relative">
|
||||
<InputFile class="d-none" id="clientCertFile" OnChange="e => OnFileSelected(e, FileSlot.Cert)" accept=".crt,.pem,.cer,.pfx,.key,.jks" />
|
||||
<div class="form-control d-flex align-items-center gap-2 ps-0">
|
||||
<label for="clientCertFile" class="upload-btn d-flex align-items-center gap-1">
|
||||
<i class="mdi mdi-attachment"></i>
|
||||
</label>
|
||||
|
||||
<span id="fileNameDisplay" class="text-muted flex-grow-1 text-truncate" style="max-width: 200px;">
|
||||
@Model.VDA5050Cer
|
||||
</span>
|
||||
|
||||
<button class="password-toggle-btn position-absolute rounded-end-2 top-50 translate-middle-y" type="button" @onclick="() => RemoveFile(FileSlot.Cert)" aria-label="Remove client certificate file">
|
||||
<i class="mdi mdi-close" aria-hidden="true"></i>
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
@if (!string.IsNullOrEmpty(CertFileInfo))
|
||||
{
|
||||
<div class="small text-muted mt-1 mb-1">@CertFileInfo</div>
|
||||
}
|
||||
@if (!string.IsNullOrEmpty(CertFileError))
|
||||
{
|
||||
<div class="text-danger small mt-1 mb-1">@CertFileError</div>
|
||||
}
|
||||
</div>
|
||||
|
||||
<div class="mb-2">
|
||||
<label class="form-label" for="clientKeyFile">Client Key File</label>
|
||||
<div class="custom-file-input-wrapper position-relative">
|
||||
<InputFile class="d-none" id="clientKeyFile" OnChange="e => OnFileSelected(e, FileSlot.Key)" accept=".crt,.pem,.cer,.pfx,.key,.jks" />
|
||||
<div class="form-control d-flex align-items-center gap-2 ps-0">
|
||||
<label for="clientKeyFile" class="upload-btn d-flex align-items-center gap-1">
|
||||
<i class="mdi mdi-attachment"></i>
|
||||
</label>
|
||||
|
||||
<span id="fileNameDisplay" class="text-muted flex-grow-1 text-truncate" style="max-width: 200px;">
|
||||
@Model.VDA5050Key
|
||||
</span>
|
||||
|
||||
<button class="password-toggle-btn position-absolute rounded-end-2 top-50 translate-middle-y" type="button" @onclick="() => RemoveFile(FileSlot.Key)" aria-label="Remove client key file">
|
||||
<i class="mdi mdi-close" aria-hidden="true"></i>
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
@if (!string.IsNullOrEmpty(KeyFileInfo))
|
||||
{
|
||||
<div class="small text-muted mt-1 mb-1">@KeyFileInfo</div>
|
||||
}
|
||||
@if (!string.IsNullOrEmpty(KeyFileError))
|
||||
{
|
||||
<div class="text-danger small mt-1 mb-1">@KeyFileError</div>
|
||||
}
|
||||
</div>
|
||||
|
||||
<div class="mb-2">
|
||||
<label class="form-label" for="description">Description</label>
|
||||
<InputTextArea id="description m-1" class="form-control" @bind-Value="Model.Description" />
|
||||
<ValidationMessage For="@(() => Model.Description)" />
|
||||
</div>
|
||||
</EditForm>
|
||||
<div class="flex-grow-1" />
|
||||
<div>
|
||||
@if (Model.CreatedAt != default || Model.UpdatedAt != default)
|
||||
{
|
||||
<div class="d-flex justify-content-end mt-2">
|
||||
<small class="text-muted">Created: @Model.CreatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
|
||||
<small class="text-muted ms-3">Updated: @Model.UpdatedAt.ToString("dd/MM/yyyy HH:mm:ss")</small>
|
||||
</div>
|
||||
}
|
||||
</div>
|
||||
</div>
|
||||
|
||||
@code {
|
||||
[Parameter]
|
||||
public RobotVDA5050ConfigDto Model { get; set; } = new();
|
||||
|
||||
[Parameter]
|
||||
public EventCallback<RobotVDA5050ConfigDto> ModelChanged { get; set; }
|
||||
|
||||
public IBrowserFile? CaFile { get; set; }
|
||||
public IBrowserFile? CertFile { get; set; }
|
||||
public IBrowserFile? KeyFile { get; set; }
|
||||
public long MaxFileSize { get; set; } = 10 * 1024 * 1024;
|
||||
|
||||
private EditContext? EditContext;
|
||||
private bool showPassword;
|
||||
private string PasswordInputType => showPassword ? "text" : "password";
|
||||
private string PasswordIconClass => showPassword ? "mdi mdi-eye-off" : "mdi mdi-eye";
|
||||
|
||||
private enum FileSlot { Ca, Cert, Key }
|
||||
|
||||
private string? CaFileInfo;
|
||||
private string? CaFileError;
|
||||
|
||||
private string? CertFileInfo;
|
||||
private string? CertFileError;
|
||||
|
||||
private string? KeyFileInfo;
|
||||
private string? KeyFileError;
|
||||
|
||||
private async Task OnFileSelected(InputFileChangeEventArgs e, FileSlot slot)
|
||||
{
|
||||
var file = e.File;
|
||||
if (file is null)
|
||||
return;
|
||||
|
||||
if (file.Size > MaxFileSize)
|
||||
{
|
||||
SetFileError(slot, $"File too large (max {FormatSize(MaxFileSize)})");
|
||||
SetFileInfo(slot, string.Empty, 0);
|
||||
return;
|
||||
}
|
||||
|
||||
try
|
||||
{
|
||||
using var stream = file.OpenReadStream(MaxFileSize);
|
||||
using var ms = new MemoryStream();
|
||||
await stream.CopyToAsync(ms);
|
||||
var data = ms.ToArray();
|
||||
|
||||
SetFileError(slot, null);
|
||||
SetFileInfo(slot, file.Name, file.Size);
|
||||
SetFileName(slot, file.Name);
|
||||
SetBrowserFile(slot, file);
|
||||
_ = ModelChanged.InvokeAsync(Model);
|
||||
}
|
||||
catch
|
||||
{
|
||||
SetFileError(slot, "Failed to read file");
|
||||
}
|
||||
}
|
||||
|
||||
private void RemoveFile(FileSlot slot)
|
||||
{
|
||||
SetFileInfo(slot, string.Empty, 0);
|
||||
SetFileError(slot, null);
|
||||
SetFileName(slot, string.Empty);
|
||||
|
||||
_ = ModelChanged.InvokeAsync(Model);
|
||||
}
|
||||
|
||||
private void SetFileError(FileSlot slot, string? error)
|
||||
{
|
||||
switch (slot)
|
||||
{
|
||||
case FileSlot.Ca: CaFileError = error; break;
|
||||
case FileSlot.Cert: CertFileError = error; break;
|
||||
case FileSlot.Key: KeyFileError = error; break;
|
||||
}
|
||||
}
|
||||
|
||||
private void SetFileInfo(FileSlot slot, string? name, long size)
|
||||
{
|
||||
switch (slot)
|
||||
{
|
||||
case FileSlot.Ca: CaFileInfo = string.IsNullOrEmpty(name) ? "" : $"{name} {FormatSize(size)}"; break;
|
||||
case FileSlot.Cert: CertFileInfo = string.IsNullOrEmpty(name) ? "" : $"{name} {FormatSize(size)}"; break;
|
||||
case FileSlot.Key: KeyFileInfo = string.IsNullOrEmpty(name) ? "" : $"{name} {FormatSize(size)}"; break;
|
||||
}
|
||||
}
|
||||
|
||||
private void SetFileName(FileSlot slot, string? name)
|
||||
{
|
||||
switch (slot)
|
||||
{
|
||||
case FileSlot.Ca: Model.VDA5050CA = name; break;
|
||||
case FileSlot.Cert: Model.VDA5050Cer = name; break;
|
||||
case FileSlot.Key: Model.VDA5050Key = name; break;
|
||||
}
|
||||
}
|
||||
|
||||
private void SetBrowserFile(FileSlot slot, IBrowserFile file)
|
||||
{
|
||||
switch (slot)
|
||||
{
|
||||
case FileSlot.Ca: CaFile = file; break;
|
||||
case FileSlot.Cert: CertFile = file; break;
|
||||
case FileSlot.Key: KeyFile = file; break;
|
||||
}
|
||||
}
|
||||
|
||||
private static string FormatSize(long size)
|
||||
{
|
||||
if (size <= 0) return "0 B";
|
||||
if (size < 1024) return $"{size} B";
|
||||
double kb = size / 1024.0;
|
||||
if (kb < 1024) return $"{kb:F1} KB";
|
||||
double mb = kb / 1024.0;
|
||||
return $"{mb:F2} MB";
|
||||
}
|
||||
|
||||
protected override void OnParametersSet()
|
||||
{
|
||||
if (EditContext is null || !EditContext.Model!.Equals(Model))
|
||||
{
|
||||
if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
|
||||
EditContext = new EditContext(Model);
|
||||
EditContext.OnFieldChanged += EditContext_OnFieldChanged;
|
||||
CaFileInfo = string.Empty;
|
||||
CertFileInfo = string.Empty;
|
||||
KeyFileInfo = string.Empty;
|
||||
}
|
||||
}
|
||||
|
||||
private void TogglePasswordVisibility()
|
||||
{
|
||||
showPassword = !showPassword;
|
||||
}
|
||||
|
||||
private void EditContext_OnFieldChanged(object? sender, FieldChangedEventArgs e)
|
||||
{
|
||||
_ = ModelChanged.InvokeAsync(Model);
|
||||
}
|
||||
|
||||
public void Dispose()
|
||||
{
|
||||
if (EditContext is not null) EditContext.OnFieldChanged -= EditContext_OnFieldChanged;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,93 +0,0 @@
|
|||
/* wrapper positions the toggle inside the input */
|
||||
.password-input-wrapper {
|
||||
position: relative;
|
||||
display: block;
|
||||
}
|
||||
|
||||
/* add right padding so text doesn't overlap the icon */
|
||||
.password-input {
|
||||
padding-right: 2.25rem; /* adjust as needed for icon size */
|
||||
}
|
||||
|
||||
/* icon button sits absolutely inside the input at the right */
|
||||
.password-toggle-btn {
|
||||
position: absolute;
|
||||
right: 0.5rem;
|
||||
top: 50%;
|
||||
transform: translateY(-50%);
|
||||
border: none;
|
||||
background: transparent;
|
||||
padding: 0;
|
||||
display: inline-flex;
|
||||
align-items: center;
|
||||
justify-content: center;
|
||||
cursor: pointer;
|
||||
color: inherit;
|
||||
line-height: 1;
|
||||
}
|
||||
|
||||
/* keep the native focus behavior but provide visible ring for keyboard users */
|
||||
.password-toggle-btn:focus {
|
||||
outline: none;
|
||||
}
|
||||
|
||||
.password-toggle-btn:focus-visible {
|
||||
box-shadow: 0 0 0 3px rgba(13, 110, 253, 0.15);
|
||||
border-radius: 0.25rem;
|
||||
}
|
||||
|
||||
/* tune icon size */
|
||||
.password-toggle-btn .mdi {
|
||||
font-size: 1.15rem;
|
||||
pointer-events: none; /* let clicks hit the button, not the icon */
|
||||
}
|
||||
|
||||
.file-input-wrapper {
|
||||
max-width: 100%;
|
||||
}
|
||||
|
||||
.custom-file-input-wrapper {
|
||||
max-width: 100%;
|
||||
}
|
||||
|
||||
.custom-file-input-wrapper .form-control {
|
||||
height: 38px;
|
||||
padding-right: 50px;
|
||||
background-color: #f8f9fa;
|
||||
border: 1px solid #ced4da;
|
||||
}
|
||||
|
||||
.text-truncate {
|
||||
overflow: hidden;
|
||||
text-overflow: ellipsis;
|
||||
white-space: nowrap;
|
||||
}
|
||||
|
||||
/* === NÚT LABEL GIỐNG BUTTON THẬT === */
|
||||
.upload-btn {
|
||||
cursor: pointer;
|
||||
transition: all 0.2s ease;
|
||||
user-select: none;
|
||||
min-width: 50px;
|
||||
font-size: 23px;
|
||||
justify-content: center;
|
||||
border-right: 1px solid silver;
|
||||
border-radius: 0.25rem;
|
||||
}
|
||||
|
||||
/* HOVER: đổi màu nền + viền */
|
||||
.upload-btn:hover {
|
||||
background-color: #e7f3ff !important;
|
||||
}
|
||||
|
||||
/* FOCUS: khi tab đến (accessibility) */
|
||||
.upload-btn:focus {
|
||||
outline: 2px solid transparent;
|
||||
box-shadow: 0 0 0 0.2rem rgba(13, 110, 253, 0.5) !important;
|
||||
}
|
||||
|
||||
/* ACTIVE: khi nhấn */
|
||||
.upload-btn:active {
|
||||
transform: translateY(0);
|
||||
background-color: #d0e8ff !important;
|
||||
}
|
||||
|
|
@ -1,136 +0,0 @@
|
|||
@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; }
|
||||
}
|
||||
}
|
||||
|
|
@ -1,5 +0,0 @@
|
|||
.map-preview {
|
||||
width: 20%;
|
||||
height: 100%;
|
||||
border-left: 1px solid silver;
|
||||
}
|
||||
|
|
@ -1,466 +0,0 @@
|
|||
@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;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,576 +0,0 @@
|
|||
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;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,70 +0,0 @@
|
|||
.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;
|
||||
}
|
||||
|
|
@ -1,60 +0,0 @@
|
|||
<div class="view">
|
||||
<h4 class="info-title">Informations</h4>
|
||||
|
||||
<div class="info-grid">
|
||||
<div class="info-col">
|
||||
<dl class="info-list">
|
||||
<dt class="info-term">X (m)</dt>
|
||||
<dd class="info-desc">@Localization.X.ToString("F3")</dd>
|
||||
|
||||
<dt class="info-term">Y (m)</dt>
|
||||
<dd class="info-desc">@Localization.Y.ToString("F3")</dd>
|
||||
|
||||
<dt class="info-term">Theta (rad)</dt>
|
||||
<dd class="info-desc">@Localization.Theta.ToString("F4")</dd>
|
||||
|
||||
<dt class="info-term">Theta (deg)</dt>
|
||||
<dd class="info-desc">@($"{Localization.Theta * 180.0 / Math.PI:F2}°")</dd>
|
||||
|
||||
<dt class="info-term">Ready</dt>
|
||||
<dd class="info-desc">@((Localization.IsReady) ? "Yes" : "No")</dd>
|
||||
</dl>
|
||||
</div>
|
||||
|
||||
<div class="info-col">
|
||||
<dl class="info-list">
|
||||
<dt class="info-term">SlamState</dt>
|
||||
<dd class="info-desc">@Localization.SlamState</dd>
|
||||
|
||||
<dt class="info-term">SlamDetail</dt>
|
||||
<dd class="info-desc text-truncate" title="@Localization.SlamStateDetail">@Localization.SlamStateDetail</dd>
|
||||
|
||||
<dt class="info-term">Active Map</dt>
|
||||
<dd class="info-desc text-truncate" title="@Localization.CurrentActiveMap">@Localization.CurrentActiveMap</dd>
|
||||
|
||||
<dt class="info-term">Reliability</dt>
|
||||
<dd class="info-desc">@($"{Localization.Reliability:F1}%")</dd>
|
||||
|
||||
<dt class="info-term">MatchingScore</dt>
|
||||
<dd class="info-desc">@($"{Localization.MatchingScore:F1}%")</dd>
|
||||
</dl>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
@code {
|
||||
private class LocalizationDto
|
||||
{
|
||||
public bool IsReady { get; set; }
|
||||
public double X { get; set; }
|
||||
public double Y { get; set; }
|
||||
public double Theta { get; set; }
|
||||
public string SlamState { get; set; } = "Localization";
|
||||
public string SlamStateDetail { get; set; } = "/r/n";
|
||||
public string CurrentActiveMap { get; set; } = "Localization";
|
||||
public double Reliability { get; set; }
|
||||
public double MatchingScore { get; set; }
|
||||
}
|
||||
|
||||
private LocalizationDto Localization = new();
|
||||
}
|
||||
|
|
@ -1,121 +0,0 @@
|
|||
.view {
|
||||
height: 100%;
|
||||
width: 100%;
|
||||
overflow: hidden;
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
position: relative;
|
||||
background-color: var(--mud-palette-surface, #ffffff);
|
||||
border-radius: var(--mud-default-borderradius, 8px);
|
||||
transition: box-shadow 300ms cubic-bezier(0.4, 0, 0.2, 1) 0ms;
|
||||
box-shadow: var(--mud-elevation-10, 0 4px 12px rgba(0,0,0,0.08));
|
||||
padding: 12px;
|
||||
box-sizing: border-box;
|
||||
border: 1px solid rgba(0,0,0,0.04);
|
||||
}
|
||||
|
||||
.view::before {
|
||||
content: "";
|
||||
position: absolute;
|
||||
left: 0;
|
||||
top: 0;
|
||||
bottom: 0;
|
||||
width: 6px;
|
||||
border-top-left-radius: inherit;
|
||||
border-bottom-left-radius: inherit;
|
||||
background: linear-gradient(180deg, var(--mud-palette-primary, #1976d2), rgba(25,118,210,0.7));
|
||||
}
|
||||
|
||||
.info-title {
|
||||
margin: 0 0 10px 12px;
|
||||
font-weight: 600;
|
||||
font-size: 1rem;
|
||||
color: var(--mud-palette-primary, #1976d2);
|
||||
}
|
||||
|
||||
.info-grid {
|
||||
display: flex;
|
||||
gap: 14px;
|
||||
align-items: flex-start;
|
||||
flex: 1 1 auto;
|
||||
overflow: hidden;
|
||||
padding: 1.5em;
|
||||
}
|
||||
|
||||
.info-col {
|
||||
flex: 1 1 50%;
|
||||
min-width: 0;
|
||||
overflow: hidden;
|
||||
}
|
||||
|
||||
.info-list {
|
||||
margin: 0;
|
||||
padding: 0;
|
||||
}
|
||||
|
||||
.info-list dt,
|
||||
.info-list dd {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
padding: 6px 0;
|
||||
font-size: 0.95rem;
|
||||
line-height: 1.2;
|
||||
}
|
||||
|
||||
.info-term {
|
||||
width: 42%;
|
||||
text-align: right;
|
||||
padding-right: 12px;
|
||||
color: var(--mud-palette-text-secondary, rgba(0,0,0,0.6));
|
||||
font-weight: 600;
|
||||
box-sizing: border-box;
|
||||
white-space: nowrap;
|
||||
}
|
||||
|
||||
.info-desc {
|
||||
width: 58%;
|
||||
text-align: left;
|
||||
font-weight: 700;
|
||||
color: var(--mud-palette-text-primary, rgba(0,0,0,0.85));
|
||||
overflow: hidden;
|
||||
text-overflow: ellipsis;
|
||||
white-space: nowrap;
|
||||
font-variant-numeric: tabular-nums;
|
||||
}
|
||||
|
||||
.text-truncate {
|
||||
white-space: nowrap;
|
||||
overflow: hidden;
|
||||
text-overflow: ellipsis;
|
||||
}
|
||||
|
||||
.info-list dt + dd {
|
||||
border-bottom: 1px dashed rgba(0,0,0,0.03);
|
||||
}
|
||||
|
||||
.ready-yes {
|
||||
color: var(--mud-palette-success, #2e7d32);
|
||||
}
|
||||
|
||||
.ready-no {
|
||||
color: var(--mud-palette-error, #d32f2f);
|
||||
}
|
||||
|
||||
.percent {
|
||||
color: var(--mud-palette-primary, #1976d2);
|
||||
}
|
||||
|
||||
@media (max-width: 640px) {
|
||||
.info-grid {
|
||||
flex-direction: column;
|
||||
gap: 8px;
|
||||
}
|
||||
|
||||
.info-term {
|
||||
width: 45%;
|
||||
}
|
||||
|
||||
.info-desc {
|
||||
width: 55%;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,342 +0,0 @@
|
|||
@inject IJSRuntime JS
|
||||
|
||||
<div class="robot-monitor-container">
|
||||
<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 />
|
||||
@if (MonitorData?.RobotPosition != null)
|
||||
{
|
||||
<div class="robot-position-info">
|
||||
<i class="mdi mdi-map-marker"></i>
|
||||
<span>X: @MonitorData.RobotPosition.X.ToString("F2")m | Y: @MonitorData.RobotPosition.Y.ToString("F2")m | θ: @((MonitorData.RobotPosition.Theta * 180 / Math.PI).ToString("F1"))°</span>
|
||||
</div>
|
||||
}
|
||||
@* <MudChip T="string" Color="@(IsConnected? Color.Success: Color.Error)" Size="Size.Small">
|
||||
@(IsConnected ? "Connected" : "Disconnected")
|
||||
</MudChip> *@
|
||||
</div>
|
||||
<div @ref="SvgContainerRef" class="svg-container">
|
||||
<svg @ref="SvgRef"
|
||||
@onwheel="HandleWheel"
|
||||
@onmousedown="HandleMouseDown"
|
||||
@onmousemove="HandleMouseMove"
|
||||
@onmouseup="HandleMouseUp"
|
||||
@onmouseleave="HandleMouseLeave">
|
||||
<g transform="@GetTransform()">
|
||||
@if (MonitorData?.HasOrder == true)
|
||||
{
|
||||
@* @for (int i = 0; i < MonitorData.EdgeStates.Length; i++)
|
||||
{
|
||||
var edge = MonitorData.EdgeStates[i];
|
||||
var (startX, startY, endX, endY) = GetEdgeEndpoints(i, edge);
|
||||
<path d="@GetPathFromTrajectory(edge.Trajectory, startX, startY, endX, endY)"
|
||||
fill="none"
|
||||
stroke="#42A5F5"
|
||||
stroke-width="0.08" />
|
||||
} *@
|
||||
<path d="@PathView"
|
||||
fill="none"
|
||||
stroke="#42A5F5"
|
||||
stroke-width="0.08"
|
||||
visibility="@PathIsNot" />
|
||||
|
||||
@foreach (var node in MonitorData.NodeStates)
|
||||
{
|
||||
<circle cx="@WorldToSvgX(node.NodePosition.X)"
|
||||
cy="@WorldToSvgY(node.NodePosition.Y)"
|
||||
r="@GetNodeRadius()"
|
||||
fill="#66BB6A"
|
||||
stroke="#555"
|
||||
stroke-width="@GetNodeStrokeWidth()" />
|
||||
}
|
||||
}
|
||||
|
||||
@* Render Robot *@
|
||||
@if (MonitorData?.RobotPosition != null)
|
||||
{
|
||||
<g transform="@GetRobotTransform()">
|
||||
@{
|
||||
var (robotX, robotY, robotWidth, robotHeight) = GetRobotSize();
|
||||
}
|
||||
<image href="images/AMR-250.png"
|
||||
x="@robotX"
|
||||
y="@robotY"
|
||||
width="@robotWidth"
|
||||
height="@robotHeight"
|
||||
preserveAspectRatio="xMidYMid meet" />
|
||||
</g>
|
||||
}
|
||||
</g>
|
||||
</svg>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
@code {
|
||||
[Parameter] public RobotMonitorDto? MonitorData { get; set; }
|
||||
[Parameter] public bool IsConnected { get; set; }
|
||||
|
||||
public class ElementSize
|
||||
{
|
||||
public double Width { get; set; }
|
||||
public double Height { get; set; }
|
||||
}
|
||||
|
||||
public class ElementBoundingRect
|
||||
{
|
||||
public double X { get; set; }
|
||||
public double Y { get; set; }
|
||||
public double Width { get; set; }
|
||||
public double Height { get; set; }
|
||||
}
|
||||
|
||||
private ElementReference SvgRef;
|
||||
private ElementReference SvgContainerRef;
|
||||
|
||||
private double ZoomScale = 2.0; // Zoom vào robot hơn khi mở
|
||||
private const double MIN_ZOOM = 0.1;
|
||||
private const double MAX_ZOOM = 5.0;
|
||||
private const double BASE_PIXELS_PER_METER = 50.0;
|
||||
|
||||
private double TranslateX = 0;
|
||||
private double TranslateY = 0;
|
||||
|
||||
private bool IsPanning = false;
|
||||
private double PanStartX = 0;
|
||||
private double PanStartY = 0;
|
||||
|
||||
private double SvgWidth = 800;
|
||||
private double SvgHeight = 600;
|
||||
|
||||
private string PathView = "";
|
||||
private string PathIsNot = "hidden";
|
||||
|
||||
protected override async Task OnAfterRenderAsync(bool firstRender)
|
||||
{
|
||||
if (firstRender)
|
||||
{
|
||||
var containerSize = await JS.InvokeAsync<ElementSize>("getElementSize", SvgContainerRef);
|
||||
SvgWidth = containerSize.Width;
|
||||
SvgHeight = containerSize.Height;
|
||||
|
||||
// Center view on robot if available with initial zoom
|
||||
if (MonitorData?.RobotPosition != null)
|
||||
{
|
||||
// Zoom vào robot hơn một chút
|
||||
ZoomScale = 2.5;
|
||||
TranslateX = SvgWidth / 2 - MonitorData.RobotPosition.X * BASE_PIXELS_PER_METER * ZoomScale;
|
||||
TranslateY = SvgHeight / 2 + MonitorData.RobotPosition.Y * BASE_PIXELS_PER_METER * ZoomScale;
|
||||
}
|
||||
else
|
||||
{
|
||||
TranslateX = SvgWidth / 2;
|
||||
TranslateY = SvgHeight / 2;
|
||||
}
|
||||
|
||||
StateHasChanged();
|
||||
}
|
||||
}
|
||||
|
||||
private string GetTransform()
|
||||
{
|
||||
return $"translate({TranslateX}, {TranslateY}) scale({ZoomScale * BASE_PIXELS_PER_METER})";
|
||||
}
|
||||
|
||||
private string GetRobotTransform()
|
||||
{
|
||||
if (MonitorData?.RobotPosition == null) return "";
|
||||
var x = WorldToSvgX(MonitorData.RobotPosition.X);
|
||||
var y = WorldToSvgY(MonitorData.RobotPosition.Y);
|
||||
// Theta là radian, convert sang độ
|
||||
// SVG rotate quay theo chiều kim đồng hồ, cần đảo dấu
|
||||
var angleDegrees = -MonitorData.RobotPosition.Theta * 180 / Math.PI;
|
||||
return $"translate({x}, {y}) rotate({angleDegrees})";
|
||||
}
|
||||
|
||||
private (double x, double y, double width, double height) GetRobotSize()
|
||||
{
|
||||
// Kích thước robot trong world coordinates (mét)
|
||||
const double RobotWidthMeters = 0.606;
|
||||
const double RobotLengthMeters = 1.106;
|
||||
|
||||
// Điều chỉnh kích thước dựa trên ZoomScale
|
||||
// Tăng kích thước lên 1.5x để robot to hơn
|
||||
double scaleFactor = 3 / ZoomScale; // Tăng kích thước hiển thị
|
||||
|
||||
double width = RobotWidthMeters * scaleFactor;
|
||||
double height = RobotLengthMeters * scaleFactor;
|
||||
double x = -width / 2;
|
||||
double y = -height / 2;
|
||||
|
||||
return (x, y, width, height);
|
||||
}
|
||||
|
||||
private double GetNodeRadius()
|
||||
{
|
||||
// Kích thước node cơ bản trong world coordinates - tăng lên 1.5x
|
||||
const double BaseNodeRadius = 0.15;
|
||||
|
||||
// Điều chỉnh theo ZoomScale tương tự robot
|
||||
double scaleFactor = 1.5 / ZoomScale; // Tăng kích thước hiển thị
|
||||
|
||||
return BaseNodeRadius * scaleFactor;
|
||||
}
|
||||
|
||||
private double GetNodeStrokeWidth()
|
||||
{
|
||||
// Stroke width cơ bản - tăng lên một chút
|
||||
const double BaseStrokeWidth = 0.03;
|
||||
|
||||
// Điều chỉnh theo ZoomScale
|
||||
double scaleFactor = 1.5 / ZoomScale;
|
||||
|
||||
return BaseStrokeWidth * scaleFactor;
|
||||
}
|
||||
|
||||
private double WorldToSvgX(double worldX)
|
||||
{
|
||||
return worldX;
|
||||
}
|
||||
|
||||
private double WorldToSvgY(double worldY)
|
||||
{
|
||||
// Flip Y axis: World Y↑ → SVG Y↓
|
||||
return -worldY;
|
||||
}
|
||||
|
||||
public void UpdatePath()
|
||||
{
|
||||
if (MonitorData is not null && MonitorData.EdgeStates.Length > 0)
|
||||
{
|
||||
var path = MonitorData.EdgeStates.Select(e => new EdgeStateDto
|
||||
{
|
||||
Degree = e.Degree,
|
||||
StartX = WorldToSvgX(e.StartX),
|
||||
StartY = WorldToSvgY(e.StartY),
|
||||
EndX = WorldToSvgX(e.EndX),
|
||||
EndY = WorldToSvgY(e.EndY),
|
||||
ControlPoint1X = WorldToSvgX(e.ControlPoint1X),
|
||||
ControlPoint1Y = WorldToSvgY(e.ControlPoint1Y),
|
||||
ControlPoint2X = WorldToSvgX(e.ControlPoint2X),
|
||||
ControlPoint2Y = WorldToSvgY(e.ControlPoint2Y),
|
||||
}).ToList();
|
||||
var inPath = $"M {path[0].StartX} {path[0].StartY}";
|
||||
for (int i = 0; i < path.Count; i++)
|
||||
{
|
||||
if (path[i].Degree == 1) inPath = $"{inPath} L {path[i].EndX} {path[i].EndY}";
|
||||
else if (path[i].Degree == 2) inPath = $"{inPath} Q {path[i].ControlPoint1X} {path[i].ControlPoint1Y} {path[i].EndX} {path[i].EndY}";
|
||||
else inPath = $"{inPath} C {path[i].ControlPoint1X} {path[i].ControlPoint1Y}, {path[i].ControlPoint2X} {path[i].ControlPoint2Y}, {path[i].EndX} {path[i].EndY}";
|
||||
}
|
||||
PathView = inPath;
|
||||
PathIsNot = "visible";
|
||||
}
|
||||
else
|
||||
{
|
||||
PathView = "";
|
||||
PathIsNot = "hidden";
|
||||
}
|
||||
StateHasChanged();
|
||||
}
|
||||
|
||||
private async Task ZoomIn()
|
||||
{
|
||||
ZoomScale = Math.Min(MAX_ZOOM, ZoomScale * 1.15);
|
||||
await Task.CompletedTask;
|
||||
StateHasChanged();
|
||||
}
|
||||
|
||||
private async Task ZoomOut()
|
||||
{
|
||||
ZoomScale = Math.Max(MIN_ZOOM, ZoomScale * 0.85);
|
||||
await Task.CompletedTask;
|
||||
StateHasChanged();
|
||||
}
|
||||
|
||||
private async Task ResetView()
|
||||
{
|
||||
// Reset về zoom ban đầu (2.5x) khi có robot position
|
||||
if (MonitorData?.RobotPosition != null)
|
||||
{
|
||||
ZoomScale = 2.5;
|
||||
TranslateX = SvgWidth / 2 - MonitorData.RobotPosition.X * BASE_PIXELS_PER_METER * ZoomScale;
|
||||
TranslateY = SvgHeight / 2 + MonitorData.RobotPosition.Y * BASE_PIXELS_PER_METER * ZoomScale;
|
||||
}
|
||||
else
|
||||
{
|
||||
ZoomScale = 1.0;
|
||||
TranslateX = SvgWidth / 2;
|
||||
TranslateY = SvgHeight / 2;
|
||||
}
|
||||
await Task.CompletedTask;
|
||||
StateHasChanged();
|
||||
}
|
||||
|
||||
private void HandleMouseDown(MouseEventArgs e)
|
||||
{
|
||||
IsPanning = true;
|
||||
PanStartX = e.ClientX - TranslateX;
|
||||
PanStartY = e.ClientY - TranslateY;
|
||||
}
|
||||
|
||||
private void HandleMouseMove(MouseEventArgs e)
|
||||
{
|
||||
if (IsPanning)
|
||||
{
|
||||
TranslateX = e.ClientX - PanStartX;
|
||||
TranslateY = e.ClientY - PanStartY;
|
||||
StateHasChanged();
|
||||
}
|
||||
}
|
||||
|
||||
private void HandleMouseUp(MouseEventArgs e)
|
||||
{
|
||||
IsPanning = false;
|
||||
}
|
||||
|
||||
private void HandleMouseLeave(MouseEventArgs e)
|
||||
{
|
||||
IsPanning = false;
|
||||
}
|
||||
|
||||
private async Task HandleWheel(WheelEventArgs e)
|
||||
{
|
||||
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;
|
||||
|
||||
// Zoom at mouse position
|
||||
var svgRect = await JS.InvokeAsync<ElementBoundingRect>("getElementBoundingRect", SvgRef);
|
||||
double mouseX = e.ClientX - svgRect.X;
|
||||
double mouseY = e.ClientY - svgRect.Y;
|
||||
|
||||
// Calculate world coordinates at mouse position
|
||||
double worldX = (mouseX - TranslateX) / (oldZoom * BASE_PIXELS_PER_METER);
|
||||
double worldY = -(mouseY - TranslateY) / (oldZoom * BASE_PIXELS_PER_METER);
|
||||
|
||||
// Adjust translate to keep world point under mouse
|
||||
TranslateX = mouseX - worldX * ZoomScale * BASE_PIXELS_PER_METER;
|
||||
TranslateY = mouseY + worldY * ZoomScale * BASE_PIXELS_PER_METER;
|
||||
|
||||
StateHasChanged();
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -1,74 +0,0 @@
|
|||
.robot-monitor-container {
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
width: 100%;
|
||||
height: 100%;
|
||||
overflow: hidden;
|
||||
}
|
||||
|
||||
.toolbar {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
padding: 8px 16px;
|
||||
background-color: #2d2d2d;
|
||||
border-bottom: 1px solid #444;
|
||||
gap: 8px;
|
||||
min-height: 48px;
|
||||
}
|
||||
|
||||
.action-button {
|
||||
padding: 8px;
|
||||
border: none;
|
||||
background: #3d3d3d;
|
||||
border-radius: 4px;
|
||||
cursor: pointer;
|
||||
display: flex;
|
||||
align-items: center;
|
||||
justify-content: center;
|
||||
color: #fff;
|
||||
transition: background-color 0.2s;
|
||||
}
|
||||
|
||||
.action-button:hover {
|
||||
background: #4d4d4d;
|
||||
}
|
||||
|
||||
.action-button:active {
|
||||
background: #5d5d5d;
|
||||
}
|
||||
|
||||
.icon-button {
|
||||
font-size: 20px;
|
||||
color: #fff;
|
||||
}
|
||||
|
||||
.robot-position-info {
|
||||
color: #fff;
|
||||
font-size: 14px;
|
||||
font-family: 'Segoe UI', Tahoma, Geneva, Verdana, sans-serif;
|
||||
padding: 4px 12px;
|
||||
background-color: #3d3d3d;
|
||||
border-radius: 4px;
|
||||
display: flex;
|
||||
align-items: center;
|
||||
gap: 8px;
|
||||
}
|
||||
|
||||
.svg-container {
|
||||
flex: 1;
|
||||
overflow: hidden;
|
||||
position: relative;
|
||||
background-color: #fafafa;
|
||||
}
|
||||
|
||||
.svg-container svg {
|
||||
width: 100%;
|
||||
height: 100%;
|
||||
cursor: grab;
|
||||
background-color: dimgray;
|
||||
}
|
||||
|
||||
.svg-container svg:active {
|
||||
cursor: grabbing;
|
||||
}
|
||||
|
||||
18
RobotApp.Client/Pages/Counter.razor
Normal file
18
RobotApp.Client/Pages/Counter.razor
Normal file
|
|
@ -0,0 +1,18 @@
|
|||
@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++;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,443 +0,0 @@
|
|||
@page "/dashboard"
|
||||
|
||||
@using RobotApp.Client.Services
|
||||
@using RobotApp.VDA5050.State
|
||||
@using MudBlazor
|
||||
|
||||
@implements IDisposable
|
||||
|
||||
@inject RobotStateClient RobotStateClient
|
||||
@rendermode InteractiveWebAssemblyNoPrerender
|
||||
|
||||
<MudContainer MaxWidth="MaxWidth.False" Class="pa-4" Style="overflow-y:auto">
|
||||
<!-- Header Dashboard -->
|
||||
<MudPaper Class="pa-6 mb-4 d-flex align-center justify-space-between" Elevation="3">
|
||||
<div>
|
||||
<MudText Typo="Typo.h3" Class="mb-2" >Robot Dashboard</MudText>
|
||||
@if (CurrentState != null)
|
||||
{
|
||||
<MudText Typo="Typo.subtitle1">
|
||||
<MudIcon Icon="@Icons.Material.Filled.Memory" Class="mr-2" />
|
||||
@CurrentState.Version •
|
||||
<MudIcon Icon="@Icons.Material.Filled.Business" Class="mr-2 ml-4" />
|
||||
@CurrentState.Manufacturer •
|
||||
<MudIcon Icon="@Icons.Material.Filled.Tag" Class="mr-2 ml-4" />
|
||||
@CurrentState.SerialNumber
|
||||
</MudText>
|
||||
}
|
||||
else
|
||||
{
|
||||
<MudText Typo="Typo.subtitle1">
|
||||
<MudIcon Icon="@Icons.Material.Filled.Sync" Class="mr-2" />
|
||||
Connecting to robot...
|
||||
</MudText>
|
||||
}
|
||||
</div>
|
||||
|
||||
@if (CurrentState != null)
|
||||
{
|
||||
<MudChip T="string"
|
||||
Icon="@(IsConnected
|
||||
? Icons.Material.Filled.CheckCircle
|
||||
: Icons.Material.Filled.Error)"
|
||||
Size="Size.Large"
|
||||
Color="@(IsConnected ? Color.Success : Color.Error)"
|
||||
Variant="Variant.Filled"
|
||||
Class="px-6 py-4 text-white"
|
||||
Style="font-weight: bold; font-size: 1.1rem;">
|
||||
@(IsConnected ? "ONLINE" : "OFFLINE")
|
||||
</MudChip>
|
||||
}
|
||||
|
||||
</MudPaper>
|
||||
|
||||
@{
|
||||
var msg = CurrentState ?? EmptyState;
|
||||
}
|
||||
|
||||
<!-- Thông tin header state -->
|
||||
<MudPaper Class="pa-5 mb-6 rounded-lg" Elevation="4">
|
||||
<MudGrid Spacing="4" Class="align-center">
|
||||
<MudItem xs="12" sm="4">
|
||||
<MudText Typo="Typo.caption" Color="Color.Tertiary">Header ID</MudText>
|
||||
<MudText Typo="Typo.h6">@msg.HeaderId</MudText>
|
||||
</MudItem>
|
||||
<MudItem xs="12" sm="4">
|
||||
<MudText Typo="Typo.caption" Color="Color.Tertiary">Timestamp (UTC)</MudText>
|
||||
<MudText Typo="Typo.h6">@msg.Timestamp</MudText>
|
||||
</MudItem>
|
||||
<MudItem xs="12" sm="2">
|
||||
<MudText Typo="Typo.caption" Color="Color.Tertiary">Version</MudText>
|
||||
<MudText Typo="Typo.h6">@msg.Version</MudText>
|
||||
</MudItem>
|
||||
<MudItem xs="12" sm="2" Class="d-flex justify-center">
|
||||
<MudText Typo="Typo.caption" Color="Color.Tertiary">Order Update ID</MudText>
|
||||
<MudChip T="string" Color="Color.Primary" Variant="@Variant.Filled" Class="mt-2">
|
||||
@msg.OrderUpdateId
|
||||
</MudChip>
|
||||
</MudItem>
|
||||
</MudGrid>
|
||||
</MudPaper>
|
||||
|
||||
<MudGrid Spacing="4">
|
||||
<!-- POSITION + VELOCITY -->
|
||||
<MudItem xs="12" md="6" lg="4">
|
||||
<MudCard Elevation="6" Class="h-100 rounded-lg">
|
||||
<MudCardHeader>
|
||||
<CardHeaderContent>
|
||||
<MudText Typo="Typo.h6">
|
||||
<MudIcon Icon="@Icons.Material.Filled.LocationOn" Class="mr-2" />
|
||||
Position & Velocity
|
||||
</MudText>
|
||||
</CardHeaderContent>
|
||||
<CardHeaderActions>
|
||||
<MudChip T="string"
|
||||
Size="Size.Small"
|
||||
Color="@(msg.NewBaseRequest ? Color.Success : Color.Error)"
|
||||
Variant="@Variant.Filled">
|
||||
NewBase: @(msg.NewBaseRequest ? "TRUE" : "FALSE")
|
||||
</MudChip>
|
||||
</CardHeaderActions>
|
||||
</MudCardHeader>
|
||||
<MudCardContent Class="pa-4">
|
||||
<MudGrid Spacing="3">
|
||||
<MudItem xs="6">
|
||||
<MudText>X: <strong>@msg.AgvPosition.X.ToString("F2")</strong> m</MudText>
|
||||
<MudText>Y: <strong>@msg.AgvPosition.Y.ToString("F2")</strong> m</MudText>
|
||||
<MudText>θ: <strong>@msg.AgvPosition.Theta.ToString("F2")</strong> rad</MudText>
|
||||
</MudItem>
|
||||
<MudItem xs="6">
|
||||
<MudText>Vx: <strong>@msg.Velocity.Vx.ToString("F2")</strong> m/s</MudText>
|
||||
<MudText>Vy: <strong>@msg.Velocity.Vy.ToString("F2")</strong> m/s</MudText>
|
||||
<MudText>Ω: <strong>@msg.Velocity.Omega.ToString("F3")</strong> rad/s</MudText>
|
||||
</MudItem>
|
||||
</MudGrid>
|
||||
<MudDivider Class="my-4" />
|
||||
<div class="d-flex justify-space-between align-center">
|
||||
<MudChip T="string"
|
||||
Size="Size.Small"
|
||||
Color="@(msg.AgvPosition.PositionInitialized ? Color.Success : Color.Error)"
|
||||
Variant="@Variant.Filled">
|
||||
@(msg.AgvPosition.PositionInitialized ? "Initialized" : "Not Initialized")
|
||||
</MudChip>
|
||||
<MudText Typo="Typo.caption">
|
||||
Deviation: <strong>@msg.AgvPosition.DeviationRange</strong>
|
||||
</MudText>
|
||||
</div>
|
||||
<MudProgressLinear Value="@(msg.AgvPosition.LocalizationScore * 100)"
|
||||
Color="Color.Success"
|
||||
Class="mt-4 rounded"
|
||||
Style="height: 10px;" />
|
||||
<MudText Typo="Typo.caption" Class="mt-2 text-center">
|
||||
Localization Score: <strong>@(msg.AgvPosition.LocalizationScore * 100)%</strong>
|
||||
</MudText>
|
||||
</MudCardContent>
|
||||
</MudCard>
|
||||
</MudItem>
|
||||
|
||||
<!-- BATTERY -->
|
||||
<MudItem xs="12" md="6" lg="4">
|
||||
<MudCard Elevation="6" Class="h-100 rounded-lg">
|
||||
<MudCardHeader>
|
||||
<CardHeaderContent>
|
||||
<MudText Typo="Typo.h6">
|
||||
<MudIcon Icon="@Icons.Material.Filled.BatteryFull" Class="mr-2" />
|
||||
Battery Status
|
||||
</MudText>
|
||||
</CardHeaderContent>
|
||||
</MudCardHeader>
|
||||
<MudCardContent Class="pa-6">
|
||||
<MudProgressLinear Value="@msg.BatteryState.BatteryCharge"
|
||||
Size="Size.Large"
|
||||
Rounded="true"
|
||||
Striped="true"
|
||||
Color="@(msg.BatteryState.BatteryCharge > 50 ? Color.Success :
|
||||
msg.BatteryState.BatteryCharge > 20 ? Color.Warning : Color.Error)"
|
||||
Class="mb-4"
|
||||
Style="height: 28px;" />
|
||||
|
||||
<!-- Phần mới: % pin và trạng thái Charging/Discharging cùng dòng -->
|
||||
<div class="d-flex align-center justify-space-between mb-6">
|
||||
<MudText Typo="Typo.h3" Class="mb-0">
|
||||
@msg.BatteryState.BatteryCharge<span class="mud-typography-h4">%</span>
|
||||
</MudText>
|
||||
|
||||
<MudChip T="string"
|
||||
Icon="@(msg.BatteryState.Charging ? Icons.Material.Filled.Bolt : Icons.Material.Filled.PowerOff)"
|
||||
Size="Size.Large"
|
||||
Color="@(msg.BatteryState.Charging ? Color.Info : Color.Default)"
|
||||
Variant="@Variant.Filled"
|
||||
Class="px-5 py-3">
|
||||
@(msg.BatteryState.Charging ? "Charging" : "Discharging")
|
||||
</MudChip>
|
||||
</div>
|
||||
|
||||
<!-- Các thông tin phụ -->
|
||||
<MudGrid Spacing="3">
|
||||
<MudItem xs="4">
|
||||
<MudText Typo="Typo.caption">Voltage</MudText>
|
||||
<MudText Typo="Typo.h6">@msg.BatteryState.BatteryVoltage:F1 V</MudText>
|
||||
</MudItem>
|
||||
<MudItem xs="4">
|
||||
<MudText Typo="Typo.caption">Health (SOH)</MudText>
|
||||
<MudText Typo="Typo.h6">@msg.BatteryState.BatteryHealth%</MudText>
|
||||
</MudItem>
|
||||
<MudItem xs="4">
|
||||
<MudText Typo="Typo.caption">Reach</MudText>
|
||||
<MudText Typo="Typo.h6">@((int)msg.BatteryState.Reach) m</MudText>
|
||||
</MudItem>
|
||||
</MudGrid>
|
||||
</MudCardContent>
|
||||
</MudCard>
|
||||
</MudItem>
|
||||
<!-- ORDER & PATH -->
|
||||
<MudItem xs="12" md="6" lg="4">
|
||||
<MudCard Elevation="6" Class="h-100 rounded-lg">
|
||||
<MudCardHeader>
|
||||
<CardHeaderContent>
|
||||
<MudText Typo="Typo.h6">
|
||||
<MudIcon Icon="@Icons.Material.Filled.Navigation" Class="mr-2" />
|
||||
Order & Path
|
||||
</MudText>
|
||||
</CardHeaderContent>
|
||||
</MudCardHeader>
|
||||
<MudCardContent Class="pa-4">
|
||||
<MudText>Order ID: <strong>@(msg.OrderId ?? "—")</strong></MudText>
|
||||
<MudText>Update ID: <strong>@msg.OrderUpdateId</strong></MudText>
|
||||
<MudDivider Class="my-4" />
|
||||
<MudText>Last Node: <strong>@msg.LastNodeId</strong> <span class="mud-typography-caption">(Seq: @msg.LastNodeSequenceId)</span></MudText>
|
||||
<MudText>Distance since last: <strong>@msg.DistanceSinceLastNode m</strong></MudText>
|
||||
<MudDivider Class="my-4" />
|
||||
@{
|
||||
var nodeReleased = msg.NodeStates?.Count(n => n.Released) ?? 0;
|
||||
var nodeTotal = msg.NodeStates?.Length ?? 0;
|
||||
var edgeReleased = msg.EdgeStates?.Count(e => e.Released) ?? 0;
|
||||
var edgeTotal = msg.EdgeStates?.Length ?? 0;
|
||||
}
|
||||
<div class="d-flex flex-wrap gap-3 mt-3">
|
||||
<MudChip T="string" Color="Color.Primary" Variant="@Variant.Filled">Nodes: @nodeReleased/@nodeTotal</MudChip>
|
||||
<MudChip T="string" Color="Color.Secondary" Variant="@Variant.Filled">Edges: @edgeReleased/@edgeTotal</MudChip>
|
||||
<MudChip T="string" Size="Size.Small" Color="@(msg.Driving? Color.Success: Color.Default)" Variant="@Variant.Filled">
|
||||
@(msg.Driving ? "DRIVING" : "STOPPED")
|
||||
</MudChip>
|
||||
<MudChip T="string" Size="Size.Small" Color="@(msg.Paused? Color.Warning: Color.Success)" Variant="@Variant.Filled">
|
||||
@(msg.Paused ? "PAUSED" : "ACTIVE")
|
||||
</MudChip>
|
||||
</div>
|
||||
</MudCardContent>
|
||||
</MudCard>
|
||||
</MudItem>
|
||||
|
||||
<!-- ERRORS + INFORMATION -->
|
||||
<MudItem xs="12" lg="6">
|
||||
<MudCard Elevation="6" Class="h-100 rounded-lg">
|
||||
<MudCardHeader>
|
||||
<CardHeaderContent>
|
||||
<MudText Typo="Typo.h6">
|
||||
<MudIcon Icon="@Icons.Material.Filled.WarningAmber" Class="mr-2" />
|
||||
Errors & Information
|
||||
</MudText>
|
||||
</CardHeaderContent>
|
||||
</MudCardHeader>
|
||||
<MudCardContent>
|
||||
<MudTable Items="@MessageRows"
|
||||
Dense="true"
|
||||
Hover="true"
|
||||
Bordered="true"
|
||||
FixedHeader="true"
|
||||
Height="250px">
|
||||
<ColGroup>
|
||||
<col style="width:30%" />
|
||||
<col style="width:15%" />
|
||||
<col />
|
||||
</ColGroup>
|
||||
<HeaderContent>
|
||||
<MudTh><MudText Typo="Typo.subtitle2">Type</MudText></MudTh>
|
||||
<MudTh><MudText Typo="Typo.subtitle2">Level</MudText></MudTh>
|
||||
<MudTh><MudText Typo="Typo.subtitle2">Description</MudText></MudTh>
|
||||
</HeaderContent>
|
||||
<RowTemplate>
|
||||
<MudTd>
|
||||
<MudText Color="@(context.IsError? Color.Error: Color.Info)" Typo="Typo.body1">
|
||||
<strong>@context.Type</strong>
|
||||
</MudText>
|
||||
</MudTd>
|
||||
<MudTd>
|
||||
<MudChip T="string"
|
||||
Size="Size.Small"
|
||||
Color="@(context.Level.Contains("ERROR", StringComparison.OrdinalIgnoreCase) ? Color.Error :
|
||||
context.Level.Contains("WARN", StringComparison.OrdinalIgnoreCase) ? Color.Warning : Color.Info)"
|
||||
Variant="@Variant.Filled">
|
||||
@context.Level
|
||||
</MudChip>
|
||||
</MudTd>
|
||||
<MudTd>
|
||||
<MudText Typo="Typo.body2" Class="text-truncate" Style="max-width: 300px;" Title="@context.Description">
|
||||
@context.Description
|
||||
</MudText>
|
||||
</MudTd>
|
||||
</RowTemplate>
|
||||
<NoRecordsContent>
|
||||
<MudAlert Severity="Severity.Info" Class="mx-4 my-8" Variant="@Variant.Text">
|
||||
<MudText>No errors or information messages</MudText>
|
||||
</MudAlert>
|
||||
</NoRecordsContent>
|
||||
</MudTable>
|
||||
</MudCardContent>
|
||||
</MudCard>
|
||||
</MudItem>
|
||||
|
||||
<!-- ACTIONS -->
|
||||
<MudItem xs="12" md="6" lg="3">
|
||||
<MudCard Elevation="6" Class="h-100 rounded-lg">
|
||||
<MudCardHeader>
|
||||
<CardHeaderContent>
|
||||
<MudText Typo="Typo.h6">
|
||||
<MudIcon Icon="@Icons.Material.Filled.Settings" Class="mr-2" />
|
||||
Active Actions
|
||||
</MudText>
|
||||
</CardHeaderContent>
|
||||
</MudCardHeader>
|
||||
<MudCardContent>
|
||||
<MudTable Items="msg.ActionStates"
|
||||
Dense="true"
|
||||
Hover="true"
|
||||
Bordered="true"
|
||||
FixedHeader="true"
|
||||
Height="220px">
|
||||
<HeaderContent>
|
||||
<MudTh>Action</MudTh>
|
||||
<MudTh>ID</MudTh>
|
||||
<MudTh Style="text-align:right">Status</MudTh>
|
||||
</HeaderContent>
|
||||
<RowTemplate>
|
||||
<MudTd><MudText Typo="Typo.body2" Class="text-truncate" Title="@context.ActionType">@context.ActionType</MudText></MudTd>
|
||||
<MudTd><MudText Typo="Typo.caption">@context.ActionId</MudText></MudTd>
|
||||
<MudTd Style="text-align:right">
|
||||
<MudChip T="string"
|
||||
Size="Size.Small"
|
||||
Color="@(context.ActionStatus == "RUNNING" ? Color.Info :
|
||||
context.ActionStatus == "FINISHED" ? Color.Success :
|
||||
context.ActionStatus == "FAILED" ? Color.Error : Color.Default)"
|
||||
Variant="@Variant.Filled">
|
||||
@context.ActionStatus
|
||||
</MudChip>
|
||||
</MudTd>
|
||||
</RowTemplate>
|
||||
<NoRecordsContent>
|
||||
<MudText Class="pa-8 text-center" Color="Color.Secondary">No active actions</MudText>
|
||||
</NoRecordsContent>
|
||||
</MudTable>
|
||||
</MudCardContent>
|
||||
</MudCard>
|
||||
</MudItem>
|
||||
|
||||
<!-- SAFETY -->
|
||||
<MudItem xs="12" md="6" lg="3">
|
||||
<MudCard Elevation="6" Class="h-100 rounded-lg">
|
||||
<MudCardHeader>
|
||||
<CardHeaderContent>
|
||||
<MudText Typo="Typo.h6">
|
||||
<MudIcon Icon="@Icons.Material.Filled.Security" Class="mr-2" />
|
||||
Safety State
|
||||
</MudText>
|
||||
</CardHeaderContent>
|
||||
</MudCardHeader>
|
||||
<MudCardContent Class="pa-6 d-flex flex-column gap-4">
|
||||
<MudChip T="string"
|
||||
Icon="@(msg.SafetyState.EStop == "NONE" ? Icons.Material.Filled.CheckCircle : Icons.Material.Filled.ErrorOutline)"
|
||||
Size="Size.Large"
|
||||
Color="@(msg.SafetyState.EStop == "NONE" ? Color.Success : Color.Error)"
|
||||
Variant="@Variant.Filled"
|
||||
Class="py-6">
|
||||
E-STOP: @msg.SafetyState.EStop
|
||||
</MudChip>
|
||||
<MudChip T="string"
|
||||
Icon="@(msg.SafetyState.FieldViolation ? Icons.Material.Filled.Warning : Icons.Material.Filled.Shield)"
|
||||
Size="Size.Large"
|
||||
Color="@(msg.SafetyState.FieldViolation ? Color.Error : Color.Success)"
|
||||
Variant="@Variant.Filled"
|
||||
Class="py-6">
|
||||
Field Violation: @(msg.SafetyState.FieldViolation ? "YES" : "NO")
|
||||
</MudChip>
|
||||
</MudCardContent>
|
||||
</MudCard>
|
||||
</MudItem>
|
||||
</MudGrid>
|
||||
</MudContainer>
|
||||
|
||||
@code {
|
||||
private static readonly StateMsg EmptyState = new()
|
||||
{
|
||||
};
|
||||
|
||||
private StateMsg? CurrentState;
|
||||
private bool IsConnected;
|
||||
private readonly string RobotSerial = "T800-002";
|
||||
private List<MessageRow> MessageRows = new();
|
||||
|
||||
protected override async Task OnInitializedAsync()
|
||||
{
|
||||
RobotStateClient.OnStateReceived += OnRobotStateReceived;
|
||||
RobotStateClient.OnRobotConnectionChanged += OnRobotConnectionChanged;
|
||||
|
||||
if (RobotStateClient.ConnectionState == RobotClientState.Disconnected)
|
||||
{
|
||||
await RobotStateClient.StartAsync();
|
||||
}
|
||||
|
||||
await RobotStateClient.SubscribeRobotAsync(RobotSerial);
|
||||
|
||||
CurrentState = RobotStateClient.GetLatestState(RobotSerial);
|
||||
IsConnected = RobotStateClient.IsRobotConnected;
|
||||
|
||||
UpdateMessageRows();
|
||||
}
|
||||
private void OnRobotConnectionChanged(bool connected)
|
||||
{
|
||||
InvokeAsync(() =>
|
||||
{
|
||||
IsConnected = connected;
|
||||
StateHasChanged();
|
||||
});
|
||||
}
|
||||
|
||||
|
||||
private void OnRobotStateReceived(string serialNumber, StateMsg state)
|
||||
{
|
||||
if (serialNumber != RobotSerial) return;
|
||||
InvokeAsync(() =>
|
||||
{
|
||||
CurrentState = state;
|
||||
UpdateMessageRows();
|
||||
StateHasChanged();
|
||||
});
|
||||
}
|
||||
|
||||
private void UpdateMessageRows()
|
||||
{
|
||||
MessageRows.Clear();
|
||||
if (CurrentState?.Errors != null)
|
||||
{
|
||||
foreach (var err in CurrentState.Errors)
|
||||
{
|
||||
MessageRows.Add(new MessageRow(err.ErrorType ?? "-", err.ErrorLevel ?? "ERROR", err.ErrorDescription ?? "", true));
|
||||
}
|
||||
}
|
||||
if (CurrentState?.Information != null)
|
||||
{
|
||||
foreach (var info in CurrentState.Information)
|
||||
{
|
||||
MessageRows.Add(new MessageRow(info.InfoType ?? "-", info.InfoLevel ?? "INFO", info.InfoDescription ?? "", false));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public void Dispose()
|
||||
{
|
||||
RobotStateClient.OnStateReceived -= OnRobotStateReceived;
|
||||
RobotStateClient.OnRobotConnectionChanged -= OnRobotConnectionChanged;
|
||||
}
|
||||
|
||||
private record MessageRow(string Type, string Level, string Description, bool IsError);
|
||||
}
|
||||
7
RobotApp.Client/Pages/Home.razor
Normal file
7
RobotApp.Client/Pages/Home.razor
Normal file
|
|
@ -0,0 +1,7 @@
|
|||
@page "/"
|
||||
|
||||
<PageTitle>Home</PageTitle>
|
||||
|
||||
<h1>Hello, world!</h1>
|
||||
|
||||
Welcome to your new app.
|
||||
|
|
@ -1,175 +0,0 @@
|
|||
@page "/logs"
|
||||
@rendermode InteractiveWebAssemblyNoPrerender
|
||||
|
||||
@using Microsoft.AspNetCore.Components.WebAssembly.Authentication
|
||||
@using RobotApp.Client.Models
|
||||
|
||||
@inject IJSRuntime JSRuntime
|
||||
@inject HttpClient Http
|
||||
@inject IConfiguration Configuration
|
||||
@inject ISnackbar Snackbar
|
||||
|
||||
<PageTitle>Logs</PageTitle>
|
||||
|
||||
<div class="w-100 h-100 d-flex flex-column">
|
||||
<div class="d-flex flex-row align-items-center justify-content-between" style="border-bottom: 1px solid silver">
|
||||
<MudTextField Class="mt-1 ms-2" T="string" Value="FilterLog" Adornment="Adornment.End" ValueChanged="OnSearch" AdornmentIcon="@Icons.Material.Filled.Search"
|
||||
IconSize="Size.Medium" Variant="Variant.Outlined" Margin="Margin.Dense" AdornmentColor="Color.Secondary" Label="Search"></MudTextField>
|
||||
<MudSpacer />
|
||||
<div class="m-1 d-flex flex-row">
|
||||
<MudDatePicker Class="mx-4" Label="Date" Date="DateLog" DateChanged="OnDateChanged" MaxDate="DateTime.Today" Variant="Variant.Outlined" Color="Color.Primary"
|
||||
ShowToolbar="false" Margin="Margin.Dense" AdornmentColor="Color.Primary" />
|
||||
|
||||
<MudTooltip Text="Export">
|
||||
<MudFab Class="mt-2" Color="Color.Info" StartIcon="@Icons.Material.Filled.ImportExport" Size="Size.Small" OnClick="ExportLogs" />
|
||||
</MudTooltip>
|
||||
<MudTooltip Text="Refresh">
|
||||
<MudFab Class="mx-4 mt-2" StartIcon="@Icons.Material.Filled.Refresh" Color="Color.Primary" Size="Size.Small" OnClick="LoadLogs" />
|
||||
</MudTooltip>
|
||||
</div>
|
||||
</div>
|
||||
<div class="flex-grow-1 mt-2 ms-2 position-relative" style="background-color: rgba(0, 0, 0, 0);">
|
||||
<MudOverlay Visible="IsLoading" DarkBackground="true" Absolute="true">
|
||||
<MudProgressCircular Color="Color.Info" Indeterminate="true" />
|
||||
</MudOverlay>
|
||||
<div class="h-100 w-100 position-relative">
|
||||
<div class="log-container" @ref="LogContainerRef">
|
||||
@if (ShowRawLog)
|
||||
{
|
||||
<div class="d-flex justify-content-center my-3">
|
||||
<div><MudButton Variant="Variant.Outlined" Size="Size.Small" OnClick="@(() => ShowRawLog = false)">Normal</MudButton></div>
|
||||
</div>
|
||||
<big style="font-size: 14px;">
|
||||
@foreach (var log in ShowLogs)
|
||||
{
|
||||
@log <br />
|
||||
}
|
||||
</big>
|
||||
}
|
||||
else
|
||||
{
|
||||
@if (SearchLogs.Count < ShowLogs.Count)
|
||||
{
|
||||
<div class="d-flex justify-content-center my-3">
|
||||
<div><MudButton Variant="Variant.Outlined" Size="Size.Small" OnClick="@(() => ShowRawLog = true)">Raw log</MudButton></div>
|
||||
</div>
|
||||
}
|
||||
|
||||
@foreach (var log in SearchLogs)
|
||||
{
|
||||
<div class="log">
|
||||
<span class="log-head @log.BackgroundClass">
|
||||
@log.Time <span class="log-level">@log.Level</span>
|
||||
</span>
|
||||
<span>@log.Message</span>
|
||||
@if (log.HasException)
|
||||
{
|
||||
<br />
|
||||
<pre class="log-exception">
|
||||
@log.Exception
|
||||
</pre>
|
||||
}
|
||||
</div>
|
||||
}
|
||||
}
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
|
||||
@code {
|
||||
private DateTime DateLog = DateTime.Today;
|
||||
private bool IsLoading;
|
||||
private readonly List<string> ShowLogs = new();
|
||||
private readonly List<LoggerModel> SearchLogs = new();
|
||||
private ElementReference LogContainerRef { get; set; }
|
||||
private bool ShowRawLog { get; set; }
|
||||
private string? FilterLog { get; set; }
|
||||
|
||||
protected override async Task OnAfterRenderAsync(bool firstRender)
|
||||
{
|
||||
await base.OnAfterRenderAsync(firstRender);
|
||||
if (!firstRender) return;
|
||||
|
||||
await LoadLogs();
|
||||
}
|
||||
|
||||
private async Task LoadLogs()
|
||||
{
|
||||
try
|
||||
{
|
||||
IsLoading = true;
|
||||
ShowLogs.Clear();
|
||||
StateHasChanged();
|
||||
|
||||
var logs = await Http.GetFromJsonAsync<IEnumerable<string>>($"api/LogsManager?date={DateLog}");
|
||||
ShowLogs.AddRange(logs ?? []);
|
||||
|
||||
IsLoading = false;
|
||||
StateHasChanged();
|
||||
|
||||
await ReloadLogs();
|
||||
}
|
||||
catch (AccessTokenNotAvailableException ex)
|
||||
{
|
||||
ex.Redirect();
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
private async Task ReloadLogs()
|
||||
{
|
||||
IsLoading = true;
|
||||
SearchLogs.Clear();
|
||||
StateHasChanged();
|
||||
|
||||
foreach (var line in ShowLogs.Where(log => string.IsNullOrEmpty(FilterLog) || log.Contains(FilterLog)).TakeLast(2000))
|
||||
{
|
||||
try
|
||||
{
|
||||
var log = System.Text.Json.JsonSerializer.Deserialize<LoggerModel>(line);
|
||||
if (log is not null) SearchLogs.Add(log);
|
||||
}
|
||||
catch (System.Text.Json.JsonException)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
IsLoading = false;
|
||||
StateHasChanged();
|
||||
await JSRuntime.InvokeVoidAsync("ScrollToBottom", LogContainerRef);
|
||||
}
|
||||
|
||||
private async Task OnSearch(string text)
|
||||
{
|
||||
FilterLog = text;
|
||||
await ReloadLogs();
|
||||
}
|
||||
|
||||
private async Task OnDateChanged(DateTime? date)
|
||||
{
|
||||
if (date is not null && date.HasValue)
|
||||
{
|
||||
DateLog = date.Value;
|
||||
await LoadLogs();
|
||||
}
|
||||
}
|
||||
|
||||
private async Task ExportLogs()
|
||||
{
|
||||
try
|
||||
{
|
||||
var fileContent = await Http.GetFromJsonAsync<IEnumerable<string>>($"api/LogsManager?date={DateLog}");
|
||||
var formattedContent = string.Join("\n", fileContent ?? []);
|
||||
var fileName = $"LogsManager_{DateLog.ToShortDateString()}.txt";
|
||||
await JSRuntime.InvokeVoidAsync("downloadFile", fileName, formattedContent, "text/plain");
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
Snackbar.Add($"Lỗi khi tải file: {ex.Message}", Severity.Warning);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -1,38 +0,0 @@
|
|||
.log-container {
|
||||
height: 100%;
|
||||
width: 100%;
|
||||
overflow-x: hidden;
|
||||
overflow-y: auto;
|
||||
position: absolute;
|
||||
top: 0px;
|
||||
left: 0px;
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
}
|
||||
|
||||
.log {
|
||||
word-wrap: break-word;
|
||||
line-height: 18px;
|
||||
margin-bottom: 12px;
|
||||
}
|
||||
|
||||
.log-logger {
|
||||
color: rgba(0, 0, 0, 0.3);
|
||||
font-size: 12px;
|
||||
}
|
||||
|
||||
.log-level {
|
||||
display: inline-block;
|
||||
width: 46px;
|
||||
}
|
||||
|
||||
.log-head {
|
||||
border-radius: 3px;
|
||||
padding: 2px 5px;
|
||||
}
|
||||
|
||||
.log-exception {
|
||||
line-height: 16px;
|
||||
margin-left: 30px;
|
||||
color: crimson;
|
||||
}
|
||||
|
|
@ -1,23 +0,0 @@
|
|||
@page "/maps-manager"
|
||||
|
||||
@rendermode InteractiveWebAssemblyNoPrerender
|
||||
|
||||
<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 = [];
|
||||
}
|
||||
|
|
@ -1,172 +0,0 @@
|
|||
<MudPaper Class="pa-4 h-100 d-flex flex-column" Elevation="2">
|
||||
<MudStack Row AlignItems="AlignItems.Center" Justify="Justify.SpaceBetween"
|
||||
Class="mb-4 flex-shrink-0">
|
||||
<MudText Typo="Typo.h6">🔗 Edges</MudText>
|
||||
|
||||
<MudButton Variant="Variant.Filled"
|
||||
Color="Color.Primary"
|
||||
StartIcon="@Icons.Material.Filled.Add"
|
||||
OnClick="AddEdgeAsync">
|
||||
Add Edge
|
||||
</MudButton>
|
||||
</MudStack>
|
||||
|
||||
<div class="flex-grow-1" style="overflow:auto;">
|
||||
<MudExpansionPanels MultiExpansion>
|
||||
@foreach (var edge in Order.Edges)
|
||||
{
|
||||
<MudExpansionPanel @key="edge">
|
||||
<!-- ================= HEADER ================= -->
|
||||
<TitleContent>
|
||||
<div class="d-flex align-center justify-space-between w-100">
|
||||
|
||||
<!-- LEFT: Edge information -->
|
||||
<div class="d-flex align-center gap-3">
|
||||
<MudText Typo="Typo.subtitle1" Class="fw-bold">
|
||||
@edge.EdgeId
|
||||
</MudText>
|
||||
|
||||
<MudChip T="string"
|
||||
Size="Size.Small"
|
||||
Color="Color.Info"
|
||||
Variant="Variant.Outlined">
|
||||
@edge.StartNodeId → @edge.EndNodeId
|
||||
</MudChip>
|
||||
</div>
|
||||
|
||||
<!-- RIGHT: Delete -->
|
||||
<MudIconButton Icon="@Icons.Material.Filled.Delete"
|
||||
Color="Color.Error"
|
||||
Size="Size.Small"
|
||||
OnClick="@(() => RemoveEdgeAsync(edge))"
|
||||
StopPropagation="true" />
|
||||
</div>
|
||||
</TitleContent>
|
||||
|
||||
<!-- ================= BODY ================= -->
|
||||
<ChildContent>
|
||||
<MudGrid Spacing="3">
|
||||
|
||||
<!-- Edge ID -->
|
||||
<MudItem xs="12">
|
||||
<MudTextField Value="@edge.EdgeId"
|
||||
ValueChanged="@((string v) => SetValue(() => edge.EdgeId = v))"
|
||||
Immediate="true"
|
||||
Label="Edge ID" />
|
||||
</MudItem>
|
||||
|
||||
<!-- Start Node -->
|
||||
<MudItem xs="12">
|
||||
<MudSelect T="string"
|
||||
Value="@edge.StartNodeId"
|
||||
ValueChanged="@((string v) => SetValue(() => edge.StartNodeId = v))"
|
||||
Dense
|
||||
Label="Start Node"
|
||||
Required="true">
|
||||
@foreach (var n in Order.Nodes)
|
||||
{
|
||||
<MudSelectItem Value="@n.NodeId">
|
||||
@n.NodeId
|
||||
</MudSelectItem>
|
||||
}
|
||||
</MudSelect>
|
||||
</MudItem>
|
||||
|
||||
<!-- End Node -->
|
||||
<MudItem xs="12">
|
||||
<MudSelect T="string"
|
||||
Value="@edge.EndNodeId"
|
||||
ValueChanged="@((string v) => SetValue(() => edge.EndNodeId = v))"
|
||||
Dense
|
||||
Label="End Node"
|
||||
Required="true">
|
||||
@foreach (var n in Order.Nodes)
|
||||
{
|
||||
<MudSelectItem Value="@n.NodeId">
|
||||
@n.NodeId
|
||||
</MudSelectItem>
|
||||
}
|
||||
</MudSelect>
|
||||
</MudItem>
|
||||
|
||||
@* <!-- Radius -->
|
||||
<MudItem xs="6">
|
||||
<MudNumericField T="double"
|
||||
Value="@edge.Radius"
|
||||
ValueChanged="@((double v) => SetValue(() => edge.Radius = v))"
|
||||
Immediate="true"
|
||||
Min="0"
|
||||
Step="0.1"
|
||||
Label="Radius (0 = straight line)" />
|
||||
</MudItem>
|
||||
|
||||
<!-- Quadrant -->
|
||||
@if (edge.Radius > 0)
|
||||
{
|
||||
<MudItem xs="6">
|
||||
<MudSelect T="Quadrant"
|
||||
Value="@edge.Quadrant"
|
||||
ValueChanged="@((Quadrant v) => SetValue(() => edge.Quadrant = v))"
|
||||
Label="Quadrant">
|
||||
<MudSelectItem Value="Quadrant.I">I</MudSelectItem>
|
||||
<MudSelectItem Value="Quadrant.II">II</MudSelectItem>
|
||||
<MudSelectItem Value="Quadrant.III">III</MudSelectItem>
|
||||
<MudSelectItem Value="Quadrant.IV">IV</MudSelectItem>
|
||||
</MudSelect>
|
||||
</MudItem>
|
||||
}
|
||||
|
||||
<!-- Apply Curve -->
|
||||
@if (!edge.HasTrajectory && edge.Radius > 0 && !edge.Expanded)
|
||||
{
|
||||
<MudItem xs="12">
|
||||
<MudButton Color="Color.Primary"
|
||||
Variant="Variant.Outlined"
|
||||
StartIcon="@Icons.Material.Filled.Merge"
|
||||
OnClick="@(() => ApplyCurveAsync(edge))">
|
||||
Apply Curve (generate node)
|
||||
</MudButton>
|
||||
</MudItem>
|
||||
} *@
|
||||
|
||||
</MudGrid>
|
||||
</ChildContent>
|
||||
</MudExpansionPanel>
|
||||
}
|
||||
</MudExpansionPanels>
|
||||
</div>
|
||||
</MudPaper>
|
||||
|
||||
@code {
|
||||
[Parameter] public OrderMessage Order { get; set; } = default!;
|
||||
|
||||
[Parameter] public EventCallback OnAddEdge { get; set; }
|
||||
[Parameter] public EventCallback<UiEdge> OnRemoveEdge { get; set; }
|
||||
[Parameter] public EventCallback<UiEdge> OnApplyCurve { get; set; }
|
||||
|
||||
[Parameter] public EventCallback OnOrderChanged { get; set; }
|
||||
|
||||
private async Task SetValue(System.Action setter)
|
||||
{
|
||||
setter();
|
||||
await OnOrderChanged.InvokeAsync();
|
||||
}
|
||||
|
||||
private async Task AddEdgeAsync()
|
||||
{
|
||||
await OnAddEdge.InvokeAsync();
|
||||
await OnOrderChanged.InvokeAsync();
|
||||
}
|
||||
|
||||
private async Task RemoveEdgeAsync(UiEdge edge)
|
||||
{
|
||||
await OnRemoveEdge.InvokeAsync(edge);
|
||||
await OnOrderChanged.InvokeAsync();
|
||||
}
|
||||
|
||||
private async Task ApplyCurveAsync(UiEdge edge)
|
||||
{
|
||||
await OnApplyCurve.InvokeAsync(edge);
|
||||
await OnOrderChanged.InvokeAsync();
|
||||
}
|
||||
}
|
||||
|
|
@ -1,201 +0,0 @@
|
|||
@inherits MudComponentBase
|
||||
|
||||
<MudDialog>
|
||||
<TitleContent>
|
||||
<MudText Typo="Typo.h6">Edit Node: @Node.NodeId</MudText>
|
||||
</TitleContent>
|
||||
|
||||
<DialogContent>
|
||||
<MudGrid Spacing="3">
|
||||
<MudItem xs="12">
|
||||
<MudTextField @bind-Value="Node.NodeId" Label="Node ID" Required="true" />
|
||||
</MudItem>
|
||||
<MudItem xs="6">
|
||||
<MudNumericField T="double" @bind-Value="Node.NodePosition.X" Label="X" />
|
||||
</MudItem>
|
||||
|
||||
<MudItem xs="6">
|
||||
<MudNumericField T="double" @bind-Value="Node.NodePosition.Y" Label="Y" />
|
||||
</MudItem>
|
||||
|
||||
<MudItem xs="6">
|
||||
<MudNumericField T="double" @bind-Value="Node.NodePosition.Theta" Label="Theta (rad)" />
|
||||
</MudItem>
|
||||
|
||||
<MudItem xs="6">
|
||||
<MudNumericField T="double" @bind-Value="Node.NodePosition.AllowedDeviationXY"
|
||||
Label="Allowed Dev XY" />
|
||||
</MudItem>
|
||||
|
||||
<MudItem xs="6">
|
||||
<MudNumericField T="double" @bind-Value="Node.NodePosition.AllowedDeviationTheta"
|
||||
Label="Allowed Dev Theta" />
|
||||
</MudItem>
|
||||
|
||||
<MudItem xs="12">
|
||||
<MudTextField @bind-Value="Node.NodePosition.MapId" Label="Map ID" />
|
||||
</MudItem>
|
||||
|
||||
|
||||
<MudItem xs="12">
|
||||
<MudDivider Class="my-4" />
|
||||
<MudText Typo="Typo.subtitle1" Class="mb-3">Actions</MudText>
|
||||
|
||||
@foreach (var act in Node.Actions)
|
||||
{
|
||||
<MudPaper Class="pa-3 mb-3" Outlined="true">
|
||||
<MudGrid Spacing="3">
|
||||
<MudItem xs="10">
|
||||
<MudItem xs="12">
|
||||
<MudSelect T="string"
|
||||
Label="Action Type"
|
||||
Dense="true"
|
||||
Required="true"
|
||||
@bind-Value="act.ActionType">
|
||||
|
||||
@foreach (var at in Enum.GetValues<ActionType>())
|
||||
{
|
||||
<MudSelectItem Value="@at.ToString()">
|
||||
@at
|
||||
</MudSelectItem>
|
||||
}
|
||||
</MudSelect>
|
||||
</MudItem>
|
||||
</MudItem>
|
||||
<MudItem xs="12">
|
||||
<MudSelect T="string" @bind-Value="act.BlockingType" Label="Blocking Type">
|
||||
<MudSelectItem Value="@("NONE")">NONE</MudSelectItem>
|
||||
<MudSelectItem Value="@("SOFT")">SOFT</MudSelectItem>
|
||||
<MudSelectItem Value="@("HARD")">HARD</MudSelectItem>
|
||||
</MudSelect>
|
||||
</MudItem>
|
||||
<MudItem xs="12">
|
||||
<MudTextField @bind-Value="act.ActionId" Label="Action ID" />
|
||||
</MudItem>
|
||||
</MudGrid>
|
||||
|
||||
<MudText Typo="Typo.caption" Class="mt-3 mb-2">Action Parameters</MudText>
|
||||
|
||||
@{
|
||||
var parameters = act.ActionParameters ?? Array.Empty<ActionParameter>();
|
||||
}
|
||||
@foreach (var p in parameters.Cast<UiActionParameter>().ToList())
|
||||
{
|
||||
var param = p; // capture cho lambda
|
||||
<MudGrid Class="mt-1">
|
||||
<MudItem xs="5">
|
||||
<MudTextField @bind-Value="param.Key" Label="Key" />
|
||||
</MudItem>
|
||||
<MudItem xs="5">
|
||||
<MudTextField @bind-Value="param.ValueString" Label="Value" />
|
||||
</MudItem>
|
||||
<MudItem xs="2">
|
||||
<MudIconButton Icon="@Icons.Material.Filled.Delete"
|
||||
Color="Color.Error"
|
||||
Size="Size.Small"
|
||||
OnClick="@(() => RemoveParameter(act, param))" />
|
||||
</MudItem>
|
||||
</MudGrid>
|
||||
}
|
||||
|
||||
<MudButton Size="Size.Small"
|
||||
StartIcon="@Icons.Material.Filled.Add"
|
||||
Class="mt-3"
|
||||
OnClick="@(() => AddParameter(act))">
|
||||
Add Parameter
|
||||
</MudButton>
|
||||
|
||||
<MudDivider Class="my-3" />
|
||||
|
||||
<MudButton Size="Size.Small"
|
||||
Color="Color.Error"
|
||||
Variant="Variant.Text"
|
||||
StartIcon="@Icons.Material.Filled.Delete"
|
||||
OnClick="@(() => RemoveAction(act))">
|
||||
Remove Action
|
||||
</MudButton>
|
||||
</MudPaper>
|
||||
}
|
||||
|
||||
<MudButton Size="Size.Small"
|
||||
StartIcon="@Icons.Material.Filled.Add"
|
||||
OnClick="AddNewAction">
|
||||
Add Action
|
||||
</MudButton>
|
||||
</MudItem>
|
||||
</MudGrid>
|
||||
</DialogContent>
|
||||
|
||||
<DialogActions>
|
||||
<MudButton OnClick="Cancel">Cancel</MudButton>
|
||||
<MudButton Color="Color.Primary" Variant="Variant.Filled" OnClick="Submit">Save</MudButton>
|
||||
</DialogActions>
|
||||
</MudDialog>
|
||||
|
||||
@code {
|
||||
[CascadingParameter] public IMudDialogInstance MudDialog { get; set; } = default!;
|
||||
[Parameter] public Node Node { get; set; } = default!;
|
||||
|
||||
private void Cancel() => MudDialog.Cancel();
|
||||
private void Submit() => MudDialog.Close(DialogResult.Ok(true));
|
||||
|
||||
private void RemoveAction(VDA5050.InstantAction.Action actToRemove)
|
||||
{
|
||||
Node.Actions = Node.Actions
|
||||
.Where(a => a != actToRemove)
|
||||
.ToArray();
|
||||
}
|
||||
|
||||
|
||||
private void AddNewAction()
|
||||
{
|
||||
Node.Actions = Node.Actions
|
||||
.Append(new VDA5050.InstantAction.Action
|
||||
{
|
||||
ActionId = Guid.NewGuid().ToString(),
|
||||
ActionType = ActionType.startPause.ToString(),
|
||||
BlockingType = "NONE",
|
||||
ActionParameters = Array.Empty<ActionParameter>()
|
||||
})
|
||||
.ToArray();
|
||||
}
|
||||
|
||||
|
||||
|
||||
private void AddParameter(VDA5050.InstantAction.Action act)
|
||||
{
|
||||
var newParam = new UiActionParameter();
|
||||
|
||||
if (act.ActionParameters == null || act.ActionParameters.Length == 0)
|
||||
{
|
||||
act.ActionParameters = new[] { newParam };
|
||||
}
|
||||
else
|
||||
{
|
||||
var list = act.ActionParameters.ToList();
|
||||
list.Add(newParam);
|
||||
act.ActionParameters = list.ToArray();
|
||||
}
|
||||
}
|
||||
|
||||
private void RemoveParameter(VDA5050.InstantAction.Action act, UiActionParameter paramToRemove)
|
||||
{
|
||||
if (act.ActionParameters == null || act.ActionParameters.Length == 0)
|
||||
return;
|
||||
|
||||
act.ActionParameters = act.ActionParameters
|
||||
.Where(p => p != paramToRemove) // so sánh reference
|
||||
.ToArray();
|
||||
}
|
||||
|
||||
// UiActionParameter vẫn giữ như cũ trong trang chính
|
||||
public class UiActionParameter : ActionParameter
|
||||
{
|
||||
[JsonIgnore]
|
||||
public string ValueString
|
||||
{
|
||||
get => Value?.ToString() ?? "";
|
||||
set => Value = value;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -1,199 +0,0 @@
|
|||
@using System.Text.Json
|
||||
@using MudBlazor
|
||||
@using Microsoft.AspNetCore.Components.Forms
|
||||
|
||||
<MudDialog>
|
||||
|
||||
<!-- ================= TITLE ================= -->
|
||||
<TitleContent>
|
||||
<MudStack Row AlignItems="AlignItems.Center" Spacing="2">
|
||||
<MudIcon Icon="@Icons.Material.Filled.UploadFile"
|
||||
Color="Color.Primary" />
|
||||
<MudText Typo="Typo.h6">
|
||||
Import Order JSON
|
||||
</MudText>
|
||||
</MudStack>
|
||||
</TitleContent>
|
||||
|
||||
<!-- ================= CONTENT ================= -->
|
||||
<DialogContent>
|
||||
|
||||
@if (ShowWarning)
|
||||
{
|
||||
<MudAlert Severity="Severity.Warning"
|
||||
Variant="Variant.Outlined"
|
||||
Class="mb-4">
|
||||
Only valid <b>VDA 5050 Order JSON</b> is accepted.<br />
|
||||
Invalid structure will be rejected.
|
||||
</MudAlert>
|
||||
}
|
||||
|
||||
<!-- ===== FILE INPUT (PURE BLAZOR) ===== -->
|
||||
<div class="mb-4">
|
||||
<label class="mud-button-root mud-button mud-button-outlined mud-button-outlined-primary"
|
||||
style="cursor:pointer;">
|
||||
<MudIcon Icon="@Icons.Material.Filled.AttachFile" Class="mr-2" />
|
||||
Choose JSON file
|
||||
<InputFile OnChange="OnFileSelected"
|
||||
accept=".json"
|
||||
style="display:none" />
|
||||
</label>
|
||||
</div>
|
||||
|
||||
<MudDivider Class="my-3" />
|
||||
|
||||
<!-- ===== PASTE JSON ===== -->
|
||||
<MudTextField @bind-Value="JsonText"
|
||||
Label="Paste Order JSON"
|
||||
Lines="20"
|
||||
Variant="Variant.Filled"
|
||||
Immediate
|
||||
Style="font-family: monospace" />
|
||||
|
||||
@if (!string.IsNullOrEmpty(ErrorMessage))
|
||||
{
|
||||
<MudAlert Severity="Severity.Error" Class="mt-3">
|
||||
@ErrorMessage
|
||||
</MudAlert>
|
||||
}
|
||||
|
||||
</DialogContent>
|
||||
|
||||
<!-- ================= ACTIONS ================= -->
|
||||
<DialogActions>
|
||||
<MudButton OnClick="Cancel">
|
||||
Cancel
|
||||
</MudButton>
|
||||
|
||||
<MudButton Variant="Variant.Filled"
|
||||
Color="Color.Primary"
|
||||
OnClick="ValidateAndImport">
|
||||
Import
|
||||
</MudButton>
|
||||
</DialogActions>
|
||||
|
||||
</MudDialog>
|
||||
|
||||
@code {
|
||||
[CascadingParameter]
|
||||
public IMudDialogInstance MudDialog { get; set; } = default!;
|
||||
|
||||
public string JsonText { get; set; } = "";
|
||||
public string? ErrorMessage;
|
||||
public bool ShowWarning { get; set; }
|
||||
|
||||
private void Cancel() => MudDialog.Cancel();
|
||||
|
||||
// ================= FILE HANDLER =================
|
||||
private async Task OnFileSelected(InputFileChangeEventArgs e)
|
||||
{
|
||||
ErrorMessage = null;
|
||||
ShowWarning = false;
|
||||
|
||||
var file = e.File;
|
||||
if (file == null)
|
||||
return;
|
||||
|
||||
if (!file.Name.EndsWith(".json", StringComparison.OrdinalIgnoreCase) &&
|
||||
!file.Name.EndsWith(".txt", StringComparison.OrdinalIgnoreCase))
|
||||
{
|
||||
ShowWarning = true;
|
||||
ErrorMessage = "Only .json or .txt files are supported.";
|
||||
return;
|
||||
}
|
||||
|
||||
try
|
||||
{
|
||||
using var stream = file.OpenReadStream(maxAllowedSize: 1_048_576);
|
||||
using var reader = new StreamReader(stream);
|
||||
|
||||
JsonText = await reader.ReadToEndAsync();
|
||||
StateHasChanged();
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
ShowWarning = true;
|
||||
ErrorMessage = $"Failed to read file: {ex.Message}";
|
||||
}
|
||||
}
|
||||
|
||||
// ================= VALIDATE & IMPORT =================
|
||||
private void ValidateAndImport()
|
||||
{
|
||||
ErrorMessage = null;
|
||||
ShowWarning = false;
|
||||
|
||||
if (string.IsNullOrWhiteSpace(JsonText))
|
||||
{
|
||||
ShowWarning = true;
|
||||
ErrorMessage = "JSON content is empty.";
|
||||
return;
|
||||
}
|
||||
|
||||
try
|
||||
{
|
||||
using var doc = JsonDocument.Parse(JsonText);
|
||||
var root = doc.RootElement;
|
||||
|
||||
// ===== BASIC STRUCTURE CHECK =====
|
||||
if (!root.TryGetProperty("nodes", out _) ||
|
||||
!root.TryGetProperty("edges", out _))
|
||||
{
|
||||
throw new Exception("Missing 'nodes' or 'edges' field.");
|
||||
}
|
||||
|
||||
var order = OrderMessage.FromSchemaObject(root);
|
||||
ValidateOrder(order);
|
||||
|
||||
MudDialog.Close(DialogResult.Ok(order));
|
||||
}
|
||||
catch (JsonException)
|
||||
{
|
||||
ShowWarning = true;
|
||||
ErrorMessage = "Invalid JSON format.";
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
ShowWarning = true;
|
||||
ErrorMessage = ex.Message;
|
||||
}
|
||||
}
|
||||
|
||||
// ================= DOMAIN VALIDATION =================
|
||||
private void ValidateOrder(OrderMessage order)
|
||||
{
|
||||
if (order.Nodes.Count == 0)
|
||||
throw new Exception("Order must contain at least one node.");
|
||||
|
||||
if (order.Nodes.Count != order.Edges.Count + 1)
|
||||
throw new Exception(
|
||||
$"Invalid path structure: Nodes count ({order.Nodes.Count}) " +
|
||||
$"must equal Edges count + 1 ({order.Edges.Count + 1})."
|
||||
);
|
||||
|
||||
var nodeIds = order.Nodes
|
||||
.Select(n => n.NodeId)
|
||||
.ToHashSet(StringComparer.Ordinal);
|
||||
|
||||
foreach (var e in order.Edges)
|
||||
{
|
||||
if (string.IsNullOrWhiteSpace(e.StartNodeId) ||
|
||||
string.IsNullOrWhiteSpace(e.EndNodeId))
|
||||
{
|
||||
throw new Exception(
|
||||
$"Edge '{e.EdgeId}' must define both StartNodeId and EndNodeId."
|
||||
);
|
||||
}
|
||||
|
||||
if (!nodeIds.Contains(e.StartNodeId))
|
||||
throw new Exception(
|
||||
$"Edge '{e.EdgeId}' references unknown StartNodeId '{e.StartNodeId}'."
|
||||
);
|
||||
|
||||
if (!nodeIds.Contains(e.EndNodeId))
|
||||
throw new Exception(
|
||||
$"Edge '{e.EdgeId}' references unknown EndNodeId '{e.EndNodeId}'."
|
||||
);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -1,131 +0,0 @@
|
|||
<MudPaper Class="pa-4 h-100 d-flex flex-column overflow-hidden" Elevation="2">
|
||||
<MudStack Row AlignItems="AlignItems.Center" Justify="Justify.SpaceBetween"
|
||||
Class="mb-4 flex-shrink-0">
|
||||
<MudText Typo="Typo.h6">📄 JSON Output (/order)</MudText>
|
||||
|
||||
<div class="d-flex gap-2">
|
||||
|
||||
<!-- IMPORT -->
|
||||
<MudButton Variant="Variant.Outlined"
|
||||
Color="Color.Secondary"
|
||||
Size="Size.Small"
|
||||
StartIcon="@Icons.Material.Filled.UploadFile"
|
||||
OnClick="OnImport">
|
||||
Import JSON
|
||||
</MudButton>
|
||||
|
||||
<!-- CANCEL -->
|
||||
<MudButton Variant="Variant.Filled"
|
||||
Color="@CancelButtonColor"
|
||||
StartIcon="@CancelButtonIcon"
|
||||
Disabled="@DisableCancel"
|
||||
OnClick="OnCancel">
|
||||
@CancelButtonText
|
||||
</MudButton>
|
||||
|
||||
|
||||
<!-- SEND -->
|
||||
<MudButton Variant="Variant.Filled"
|
||||
Color="@SendButtonColor"
|
||||
StartIcon="@SendButtonIcon"
|
||||
OnClick="OnSend"
|
||||
Disabled="@(string.IsNullOrEmpty(OrderJson.Trim()))">
|
||||
@SendButtonText
|
||||
</MudButton>
|
||||
|
||||
<!-- COPY -->
|
||||
<MudTooltip Text="@(Copied ? "Copied!" : "Copy to clipboard")">
|
||||
<MudButton Variant="Variant.Filled"
|
||||
Color="@(Copied ? Color.Success : Color.Primary)"
|
||||
StartIcon="@(Copied ? Icons.Material.Filled.Check : Icons.Material.Filled.ContentCopy)"
|
||||
OnClick="OnCopy">
|
||||
@(Copied ? "Copied!" : "Copy")
|
||||
</MudButton>
|
||||
</MudTooltip>
|
||||
</div>
|
||||
</MudStack>
|
||||
|
||||
<div class="flex-grow-1">
|
||||
<MudTextField Value="@OrderJson"
|
||||
T="string"
|
||||
ValueChanged="OrderJsonChange"
|
||||
Variant="Variant.Filled"
|
||||
Immediate=true
|
||||
Lines="50"
|
||||
Style="font-family: 'Roboto Mono', Consolas, monospace;
|
||||
font-size: 0.85rem;
|
||||
background:#1e1e1e;
|
||||
color:#d4d4d4;" />
|
||||
</div>
|
||||
</MudPaper>
|
||||
|
||||
@code {
|
||||
[Parameter] public string OrderJson { get; set; } = "";
|
||||
[Parameter] public bool Copied { get; set; }
|
||||
[Parameter] public bool? SendSuccess { get; set; }
|
||||
[Parameter] public bool DisableCancel { get; set; }
|
||||
[Parameter] public bool? CancelSuccess { get; set; }
|
||||
|
||||
[Parameter] public EventCallback<string> OrderJsonChanged { get; set; }
|
||||
|
||||
[Parameter] public EventCallback OnCopy { get; set; }
|
||||
[Parameter] public EventCallback OnSend { get; set; }
|
||||
[Parameter] public EventCallback OnImport { get; set; }
|
||||
[Parameter] public EventCallback OnCancel { get; set; }
|
||||
|
||||
private string SendButtonText =>
|
||||
SendSuccess switch
|
||||
{
|
||||
true => "Done",
|
||||
false => "Error",
|
||||
_ => "Send"
|
||||
};
|
||||
|
||||
private Color SendButtonColor =>
|
||||
SendSuccess switch
|
||||
{
|
||||
true => Color.Success,
|
||||
false => Color.Error,
|
||||
_ => Color.Success
|
||||
};
|
||||
|
||||
private string SendButtonIcon =>
|
||||
SendSuccess switch
|
||||
{
|
||||
true => Icons.Material.Filled.CheckCircle,
|
||||
false => Icons.Material.Filled.Error,
|
||||
_ => Icons.Material.Filled.Send
|
||||
};
|
||||
|
||||
private string CancelButtonText =>
|
||||
CancelSuccess switch
|
||||
{
|
||||
true => "Done",
|
||||
false => "Error",
|
||||
_ => "Cancel"
|
||||
};
|
||||
|
||||
private Color CancelButtonColor =>
|
||||
CancelSuccess switch
|
||||
{
|
||||
true => Color.Success,
|
||||
false => Color.Error,
|
||||
_ => Color.Error
|
||||
};
|
||||
|
||||
private string CancelButtonIcon =>
|
||||
CancelSuccess switch
|
||||
{
|
||||
true => Icons.Material.Filled.CheckCircle,
|
||||
false => Icons.Material.Filled.Error,
|
||||
_ => Icons.Material.Filled.Cancel
|
||||
};
|
||||
|
||||
|
||||
private void OrderJsonChange(string value)
|
||||
{
|
||||
OrderJson = value;
|
||||
OrderJsonChanged.InvokeAsync(OrderJson);
|
||||
StateHasChanged();
|
||||
}
|
||||
}
|
||||
|
|
@ -1,276 +0,0 @@
|
|||
<MudPaper Class="pa-4 h-100 d-flex flex-column" Elevation="2">
|
||||
<MudStack Row AlignItems="AlignItems.Center" Justify="Justify.SpaceBetween" Class="mb-4 flex-shrink-0">
|
||||
<MudText Typo="Typo.h6">📍 Nodes</MudText>
|
||||
<MudButton Variant="Variant.Filled"
|
||||
Color="Color.Primary"
|
||||
StartIcon="@Icons.Material.Filled.Add"
|
||||
OnClick="AddNodeAsync">
|
||||
Add Node
|
||||
</MudButton>
|
||||
</MudStack>
|
||||
|
||||
<div class="flex-grow-1" style="overflow:auto;">
|
||||
<MudExpansionPanels MultiExpansion>
|
||||
@foreach (var node in Order.Nodes)
|
||||
{
|
||||
<MudExpansionPanel @key="node.NodeId">
|
||||
<TitleContent>
|
||||
<div class="d-flex align-center justify-space-between w-100">
|
||||
<MudText Typo="Typo.subtitle1" Class="fw-bold">@node.NodeId</MudText>
|
||||
<div>
|
||||
<MudIconButton Icon="@Icons.Material.Filled.Edit"
|
||||
Color="Color.Primary"
|
||||
Size="Size.Small"
|
||||
OnClick="@(() => EditNodeAsync(node))"
|
||||
StopPropagation />
|
||||
<MudIconButton Icon="@Icons.Material.Filled.Delete"
|
||||
Color="Color.Error"
|
||||
Size="Size.Small"
|
||||
OnClick="@(() => RemoveNodeAsync(node))"
|
||||
StopPropagation />
|
||||
</div>
|
||||
</div>
|
||||
</TitleContent>
|
||||
|
||||
<ChildContent>
|
||||
<MudGrid Spacing="3">
|
||||
|
||||
<!-- Node ID -->
|
||||
<MudItem xs="12">
|
||||
<MudTextField Value="@node.NodeId"
|
||||
ValueChanged="@((string v) => SetValue(() => node.NodeId = v))"
|
||||
Immediate="true"
|
||||
Label="Node ID" />
|
||||
</MudItem>
|
||||
|
||||
<!-- Sequence -->
|
||||
@* <MudItem xs="12">
|
||||
<MudNumericField T="int"
|
||||
Value="@node.SequenceId"
|
||||
ValueChanged="@((int v) => SetValue(() => node.SequenceId = v))"
|
||||
Immediate="true"
|
||||
Label="Sequence ID" />
|
||||
</MudItem> *@
|
||||
|
||||
<!-- Released -->
|
||||
@* <MudItem xs="12">
|
||||
<MudSwitch T="bool"
|
||||
Checked="@node.Released"
|
||||
CheckedChanged="@((bool v) => SetValue(() => node.Released = v))"
|
||||
Label="Released" />
|
||||
|
||||
</MudItem> *@
|
||||
|
||||
<!-- Position -->
|
||||
<MudItem xs="6">
|
||||
<MudNumericField T="double"
|
||||
Value="@node.NodePosition.X"
|
||||
ValueChanged="@((double v) => SetValue(() => node.NodePosition.X = v))"
|
||||
Immediate="true"
|
||||
Label="X" />
|
||||
</MudItem>
|
||||
|
||||
<MudItem xs="6">
|
||||
<MudNumericField T="double"
|
||||
Value="@node.NodePosition.Y"
|
||||
ValueChanged="@((double v) => SetValue(() => node.NodePosition.Y = v))"
|
||||
Immediate="true"
|
||||
Label="Y" />
|
||||
</MudItem>
|
||||
|
||||
<MudItem xs="12">
|
||||
<MudTextField Value="@node.NodePosition.MapId"
|
||||
ValueChanged="@((string v) => SetValue(() => node.NodePosition.MapId = v))"
|
||||
Immediate="true"
|
||||
Label="Map ID" />
|
||||
</MudItem>
|
||||
|
||||
<MudItem xs="6">
|
||||
<MudNumericField T="double"
|
||||
Value="@node.NodePosition.Theta"
|
||||
ValueChanged="@((double v) => SetValue(() => node.NodePosition.Theta = v))"
|
||||
Immediate="true"
|
||||
Label="Theta (rad)" />
|
||||
</MudItem>
|
||||
|
||||
<MudItem xs="6">
|
||||
<MudNumericField T="double"
|
||||
Value="@node.NodePosition.AllowedDeviationXY"
|
||||
ValueChanged="@((double v) => SetValue(() => node.NodePosition.AllowedDeviationXY = v))"
|
||||
Immediate="true"
|
||||
Label="Allowed Dev XY" />
|
||||
</MudItem>
|
||||
|
||||
<MudItem xs="6">
|
||||
<MudNumericField T="double"
|
||||
Value="@node.NodePosition.AllowedDeviationTheta"
|
||||
ValueChanged="@((double v) => SetValue(() => node.NodePosition.AllowedDeviationTheta = v))"
|
||||
Immediate="true"
|
||||
Label="Allowed Dev Theta" />
|
||||
</MudItem>
|
||||
|
||||
<!-- Actions -->
|
||||
<MudItem xs="12">
|
||||
<MudDivider Class="my-4" />
|
||||
<MudText Typo="Typo.subtitle1" Class="mb-3">Actions</MudText>
|
||||
|
||||
@foreach (var act in node.Actions ?? Array.Empty<VDA5050.InstantAction.Action>())
|
||||
{
|
||||
<MudPaper Class="pa-3 mb-3" Outlined>
|
||||
<MudGrid Spacing="3">
|
||||
|
||||
<MudItem xs="12">
|
||||
<MudSelect T="string"
|
||||
Value="@act.ActionType"
|
||||
ValueChanged="@((string v) => SetValue(() => act.ActionType = v))"
|
||||
Dense
|
||||
Label="Action Type">
|
||||
@foreach (var at in Enum.GetValues<ActionType>())
|
||||
{
|
||||
<MudSelectItem Value="@at.ToString()">@at</MudSelectItem>
|
||||
}
|
||||
</MudSelect>
|
||||
</MudItem>
|
||||
|
||||
<MudItem xs="12">
|
||||
<MudSelect T="string"
|
||||
Value="@act.BlockingType"
|
||||
ValueChanged="@((string v) => SetValue(() => act.BlockingType = v))"
|
||||
Label="Blocking Type">
|
||||
<MudSelectItem Value="@("NONE")">NONE</MudSelectItem>
|
||||
<MudSelectItem Value="@("SOFT")">SOFT</MudSelectItem>
|
||||
<MudSelectItem Value="@("HARD")">HARD</MudSelectItem>
|
||||
</MudSelect>
|
||||
</MudItem>
|
||||
|
||||
<MudItem xs="12">
|
||||
<MudTextField Value="@act.ActionId"
|
||||
ValueChanged="@((string v) => SetValue(() => act.ActionId = v))"
|
||||
Immediate="true"
|
||||
Label="Action ID" />
|
||||
</MudItem>
|
||||
</MudGrid>
|
||||
|
||||
<MudText Typo="Typo.caption" Class="mt-3 mb-2">Action Parameters</MudText>
|
||||
|
||||
@foreach (var p in act.ActionParameters.Cast<UiActionParameter>())
|
||||
{
|
||||
<MudGrid Class="mt-1">
|
||||
<MudItem xs="6">
|
||||
<MudTextField Value="@p.Key"
|
||||
ValueChanged="@((string v) => SetValue(() => p.Key = v))"
|
||||
Immediate="true"
|
||||
Label="Key" />
|
||||
</MudItem>
|
||||
|
||||
<MudItem xs="6">
|
||||
<MudTextField Value="@p.ValueString"
|
||||
ValueChanged="@((string v) => SetValue(() => p.ValueString = v))"
|
||||
Immediate="true"
|
||||
Label="Value" />
|
||||
</MudItem>
|
||||
|
||||
<MudItem xs="2">
|
||||
<MudIconButton Icon="@Icons.Material.Filled.Delete"
|
||||
Color="Color.Error"
|
||||
OnClick="@(() => RemoveActionParameterAsync(act, p))" />
|
||||
</MudItem>
|
||||
</MudGrid>
|
||||
}
|
||||
|
||||
<MudButton Size="Size.Small"
|
||||
StartIcon="@Icons.Material.Filled.Add"
|
||||
Class="mt-3"
|
||||
OnClick="@(() => AddActionParameterAsync(act))">
|
||||
Add Parameter
|
||||
</MudButton>
|
||||
|
||||
<MudDivider Class="my-3" />
|
||||
|
||||
<MudButton Size="Size.Small"
|
||||
Color="Color.Error"
|
||||
Variant="Variant.Text"
|
||||
StartIcon="@Icons.Material.Filled.Delete"
|
||||
OnClick="@(() => RemoveActionAsync(node, act))">
|
||||
Remove Action
|
||||
</MudButton>
|
||||
</MudPaper>
|
||||
}
|
||||
|
||||
<MudButton Size="Size.Small"
|
||||
StartIcon="@Icons.Material.Filled.Add"
|
||||
OnClick="@(() => AddActionAsync(node))">
|
||||
Add Action
|
||||
</MudButton>
|
||||
</MudItem>
|
||||
</MudGrid>
|
||||
</ChildContent>
|
||||
</MudExpansionPanel>
|
||||
}
|
||||
</MudExpansionPanels>
|
||||
</div>
|
||||
</MudPaper>
|
||||
|
||||
@code {
|
||||
[Parameter] public OrderMessage Order { get; set; } = default!;
|
||||
[Parameter] public EventCallback OnAddNode { get; set; }
|
||||
[Parameter] public EventCallback<Node> OnRemoveNode { get; set; }
|
||||
[Parameter] public EventCallback<Node> OnEditNode { get; set; }
|
||||
[Parameter] public EventCallback<Node> OnAddAction { get; set; }
|
||||
[Parameter] public EventCallback<NodeActionWrapper> OnRemoveAction { get; set; }
|
||||
[Parameter] public EventCallback<VDA5050.InstantAction.Action> OnAddActionParameter { get; set; }
|
||||
[Parameter] public EventCallback<ActionParamWrapper> OnRemoveActionParameter { get; set; }
|
||||
[Parameter] public EventCallback OnOrderChanged { get; set; }
|
||||
|
||||
// 🔥 helper realtime – KHÔNG ambiguous
|
||||
private async Task SetValue(System.Action setter)
|
||||
{
|
||||
setter();
|
||||
await OnOrderChanged.InvokeAsync();
|
||||
}
|
||||
|
||||
private async Task AddNodeAsync()
|
||||
{
|
||||
await OnAddNode.InvokeAsync();
|
||||
await OnOrderChanged.InvokeAsync();
|
||||
}
|
||||
|
||||
private async Task RemoveNodeAsync(Node node)
|
||||
{
|
||||
await OnRemoveNode.InvokeAsync(node);
|
||||
await OnOrderChanged.InvokeAsync();
|
||||
}
|
||||
|
||||
private async Task EditNodeAsync(Node node)
|
||||
{
|
||||
await OnEditNode.InvokeAsync(node);
|
||||
await OnOrderChanged.InvokeAsync();
|
||||
}
|
||||
|
||||
private async Task AddActionAsync(Node node)
|
||||
{
|
||||
await OnAddAction.InvokeAsync(node);
|
||||
await OnOrderChanged.InvokeAsync();
|
||||
}
|
||||
|
||||
private async Task RemoveActionAsync(Node node, VDA5050.InstantAction.Action action)
|
||||
{
|
||||
await OnRemoveAction.InvokeAsync(new NodeActionWrapper(node, action));
|
||||
await OnOrderChanged.InvokeAsync();
|
||||
}
|
||||
|
||||
private async Task AddActionParameterAsync(VDA5050.InstantAction.Action act)
|
||||
{
|
||||
await OnAddActionParameter.InvokeAsync(act);
|
||||
await OnOrderChanged.InvokeAsync();
|
||||
}
|
||||
|
||||
private async Task RemoveActionParameterAsync(VDA5050.InstantAction.Action act, ActionParameter param)
|
||||
{
|
||||
await OnRemoveActionParameter.InvokeAsync(new ActionParamWrapper(act, param));
|
||||
await OnOrderChanged.InvokeAsync();
|
||||
}
|
||||
|
||||
public record NodeActionWrapper(Node Node, VDA5050.InstantAction.Action Action);
|
||||
public record ActionParamWrapper(VDA5050.InstantAction.Action Action, ActionParameter Parameter);
|
||||
}
|
||||
|
|
@ -1,314 +0,0 @@
|
|||
@page "/robot-order"
|
||||
|
||||
@rendermode InteractiveWebAssemblyNoPrerender
|
||||
|
||||
@using System.Text.Json
|
||||
@using System.Text.Json.Serialization
|
||||
|
||||
@inject IJSRuntime JS
|
||||
@inject IDialogService DialogService
|
||||
@inject HttpClient Http
|
||||
|
||||
<MudMainContent Class="pa-0 ma-0">
|
||||
<div style="height:100vh; overflow:hidden;">
|
||||
<MudContainer MaxWidth="MaxWidth.False"
|
||||
Class="pa-4"
|
||||
Style="max-width:100%; height:100%; display:flex; flex-direction:column;">
|
||||
<MudGrid Spacing="4" Class="flex-grow-1" Style="overflow:hidden;">
|
||||
|
||||
<!-- ================= LEFT ================= -->
|
||||
<MudItem xs="12" md="7" Class="d-flex flex-column h-100" Style="gap:16px;">
|
||||
<MudGrid Spacing="4" Class="flex-grow-1" Style="overflow:hidden;">
|
||||
|
||||
<MudItem xs="12" md="6" Class="h-100">
|
||||
<NodesPanel Order="Order"
|
||||
OnAddNode="AddNode"
|
||||
OnRemoveNode="RemoveNode"
|
||||
OnEditNode="OpenEditNodeDialog"
|
||||
OnAddAction="AddAction"
|
||||
OnRemoveAction="@(w => RemoveAction(w.Node, w.Action))"
|
||||
OnAddActionParameter="AddActionParameter"
|
||||
OnRemoveActionParameter="@(w => RemoveActionParameter(w.Action, w.Parameter))"
|
||||
OnOrderChanged="OnOrderChanged" />
|
||||
</MudItem>
|
||||
|
||||
<MudItem xs="12" md="6" Class="h-100">
|
||||
<EdgesPanel Order="Order"
|
||||
OnAddEdge="AddEdge"
|
||||
OnRemoveEdge="RemoveEdge"
|
||||
OnApplyCurve="ApplyCurve"
|
||||
OnOrderChanged="OnOrderChanged" />
|
||||
</MudItem>
|
||||
|
||||
</MudGrid>
|
||||
</MudItem>
|
||||
|
||||
<!-- ================= RIGHT ================= -->
|
||||
<MudItem xs="12" md="5" Class="h-100">
|
||||
<JsonOutputPanel @bind-OrderJson="@OrderJson"
|
||||
Copied="@copied"
|
||||
SendSuccess="@sendSuccess"
|
||||
CancelSuccess="@cancelSuccess"
|
||||
OnCopy="CopyJsonToClipboard"
|
||||
OnSend="SendOrderToServer"
|
||||
OnImport="OpenImportDialog"
|
||||
OnCancel="CancelOrder" />
|
||||
</MudItem>
|
||||
|
||||
</MudGrid>
|
||||
</MudContainer>
|
||||
</div>
|
||||
</MudMainContent>
|
||||
|
||||
@code {
|
||||
// ================= STATE =================
|
||||
private OrderMessage Order { get; set; } = new();
|
||||
private string OrderJson = ""; // 🔥 CACHE JSON (QUAN TRỌNG)
|
||||
private bool copied;
|
||||
private bool? sendSuccess;
|
||||
private bool? cancelSuccess;
|
||||
private CancellationTokenSource? _copyCts;
|
||||
|
||||
// ================= INIT =================
|
||||
protected override void OnInitialized()
|
||||
{
|
||||
RebuildOrderJson();
|
||||
}
|
||||
|
||||
// ================= CORE FIX =================
|
||||
private void RebuildOrderJson()
|
||||
{
|
||||
OrderJson = JsonSerializer.Serialize(
|
||||
Order.ToSchemaObject(),
|
||||
new JsonSerializerOptions
|
||||
{
|
||||
WriteIndented = true,
|
||||
DefaultIgnoreCondition = JsonIgnoreCondition.WhenWritingNull
|
||||
});
|
||||
}
|
||||
private async Task OpenImportDialog()
|
||||
{
|
||||
var dialog = await DialogService.ShowAsync<ImportOrderDialog>(
|
||||
"Import Order JSON",
|
||||
new DialogOptions
|
||||
{
|
||||
FullWidth = true,
|
||||
MaxWidth = MaxWidth.Large
|
||||
});
|
||||
|
||||
var result = await dialog.Result;
|
||||
|
||||
if (!result.Canceled && result.Data is OrderMessage imported)
|
||||
{
|
||||
Order = imported;
|
||||
RebuildOrderJson();
|
||||
StateHasChanged();
|
||||
}
|
||||
}
|
||||
|
||||
private void OnOrderChanged()
|
||||
{
|
||||
RebuildOrderJson(); // 🔥 JSON luôn rebuild
|
||||
StateHasChanged(); // 🔥 ép render
|
||||
}
|
||||
|
||||
// ================= NODE =================
|
||||
void AddNode()
|
||||
{
|
||||
Order.Nodes.Add(new Node
|
||||
{
|
||||
NodeId = $"NODE_{Order.Nodes.Count + 1}",
|
||||
SequenceId = Order.Nodes.Count,
|
||||
Released = true,
|
||||
NodePosition = new VDA5050.Order.NodePosition { MapId = "MAP_01" }
|
||||
});
|
||||
}
|
||||
|
||||
void RemoveNode(Node node)
|
||||
{
|
||||
Order.Nodes.Remove(node);
|
||||
Order.Edges.RemoveAll(e => e.StartNodeId == node.NodeId || e.EndNodeId == node.NodeId);
|
||||
ResequenceNodes();
|
||||
}
|
||||
|
||||
void ResequenceNodes()
|
||||
{
|
||||
for (int i = 0; i < Order.Nodes.Count; i++)
|
||||
Order.Nodes[i].SequenceId = i;
|
||||
}
|
||||
|
||||
// ================= EDGE =================
|
||||
void AddEdge()
|
||||
{
|
||||
if (Order.Nodes.Count == 0)
|
||||
return;
|
||||
|
||||
var start = Order.Nodes[0].NodeId;
|
||||
var end = Order.Nodes.Count > 1
|
||||
? Order.Nodes[1].NodeId
|
||||
: start; // 👈 1 node thì start = end
|
||||
|
||||
Order.Edges.Add(new UiEdge
|
||||
{
|
||||
EdgeId = $"EDGE_{Order.Edges.Count + 1}",
|
||||
StartNodeId = start,
|
||||
EndNodeId = end
|
||||
});
|
||||
}
|
||||
|
||||
|
||||
void RemoveEdge(UiEdge edge)
|
||||
{
|
||||
Order.Edges.Remove(edge);
|
||||
}
|
||||
|
||||
void ApplyCurve(UiEdge edge)
|
||||
{
|
||||
if (edge.Radius <= 0 || edge.Expanded) return;
|
||||
|
||||
var startNode = Order.Nodes.First(n => n.NodeId == edge.StartNodeId);
|
||||
var newNode = OrderMessage.CreateCurveNode(startNode, edge);
|
||||
|
||||
Order.Nodes.Add(newNode);
|
||||
edge.EndNodeId = newNode.NodeId;
|
||||
edge.MarkExpanded(); // ✅
|
||||
|
||||
ResequenceNodes();
|
||||
}
|
||||
|
||||
// ================= ACTION =================
|
||||
void AddAction(Node node)
|
||||
{
|
||||
var list = node.Actions?.ToList() ?? new();
|
||||
list.Add(new VDA5050.InstantAction.Action
|
||||
{
|
||||
ActionId = Guid.NewGuid().ToString(),
|
||||
ActionType = ActionType.startPause.ToString(),
|
||||
BlockingType = "NONE",
|
||||
ActionParameters = Array.Empty<ActionParameter>()
|
||||
});
|
||||
node.Actions = list.ToArray();
|
||||
}
|
||||
|
||||
void RemoveAction(Node node, VDA5050.InstantAction.Action action)
|
||||
{
|
||||
node.Actions = node.Actions?.Where(a => a != action).ToArray()
|
||||
?? Array.Empty<VDA5050.InstantAction.Action>();
|
||||
}
|
||||
|
||||
void AddActionParameter(VDA5050.InstantAction.Action act)
|
||||
{
|
||||
var list = (act.ActionParameters ?? Array.Empty<ActionParameter>()).ToList();
|
||||
list.Add(new UiActionParameter());
|
||||
act.ActionParameters = list.ToArray();
|
||||
}
|
||||
|
||||
void RemoveActionParameter(VDA5050.InstantAction.Action act, ActionParameter param)
|
||||
{
|
||||
act.ActionParameters =
|
||||
act.ActionParameters?.Where(p => p != param).ToArray()
|
||||
?? Array.Empty<ActionParameter>();
|
||||
}
|
||||
|
||||
// ================= SEND / COPY =================
|
||||
async Task SendOrderToServer()
|
||||
{
|
||||
// reset trạng thái trước khi gửi
|
||||
sendSuccess = null;
|
||||
StateHasChanged();
|
||||
|
||||
try
|
||||
{
|
||||
var response = await Http.PostAsJsonAsync(
|
||||
"/api/order",
|
||||
JsonSerializer.Deserialize<JsonElement>(OrderJson)
|
||||
);
|
||||
|
||||
sendSuccess = response.IsSuccessStatusCode;
|
||||
|
||||
}
|
||||
catch
|
||||
{
|
||||
sendSuccess = false;
|
||||
}
|
||||
|
||||
StateHasChanged();
|
||||
|
||||
// 🔥 AUTO RESET SAU 2 GIÂY
|
||||
_ = Task.Run(async () =>
|
||||
{
|
||||
await Task.Delay(2000);
|
||||
|
||||
// quay về trạng thái Send
|
||||
sendSuccess = null;
|
||||
|
||||
await InvokeAsync(StateHasChanged);
|
||||
});
|
||||
}
|
||||
|
||||
async Task CancelOrder()
|
||||
{
|
||||
// reset trạng thái trước khi gửi
|
||||
cancelSuccess = null;
|
||||
StateHasChanged();
|
||||
|
||||
try
|
||||
{
|
||||
var res = await Http.PostAsync("/api/order/cancel", null);
|
||||
cancelSuccess = res.IsSuccessStatusCode;
|
||||
}
|
||||
catch
|
||||
{
|
||||
cancelSuccess = false;
|
||||
}
|
||||
|
||||
StateHasChanged();
|
||||
|
||||
// 🔥 AUTO RESET SAU 2 GIÂY
|
||||
_ = Task.Run(async () =>
|
||||
{
|
||||
await Task.Delay(2000);
|
||||
cancelSuccess = null;
|
||||
await InvokeAsync(StateHasChanged);
|
||||
});
|
||||
}
|
||||
|
||||
|
||||
|
||||
async Task CopyJsonToClipboard()
|
||||
{
|
||||
_copyCts?.Cancel();
|
||||
_copyCts = new();
|
||||
|
||||
await JS.InvokeVoidAsync("navigator.clipboard.writeText", OrderJson);
|
||||
|
||||
copied = true;
|
||||
StateHasChanged();
|
||||
|
||||
try { await Task.Delay(1500, _copyCts.Token); } catch { }
|
||||
copied = false;
|
||||
StateHasChanged();
|
||||
}
|
||||
|
||||
// ================= DIALOG =================
|
||||
async Task OpenEditNodeDialog(Node node)
|
||||
{
|
||||
var parameters = new DialogParameters<EditNodeDialog>
|
||||
{
|
||||
{ x => x.Node, node }
|
||||
};
|
||||
|
||||
var options = new DialogOptions
|
||||
{
|
||||
CloseButton = true,
|
||||
FullWidth = true,
|
||||
MaxWidth = MaxWidth.Large
|
||||
};
|
||||
|
||||
var dialog = await DialogService.ShowAsync<EditNodeDialog>(
|
||||
$"Edit Node: {node.NodeId}", parameters, options);
|
||||
|
||||
await dialog.Result;
|
||||
OnOrderChanged(); // 🔥 cập nhật JSON sau dialog
|
||||
}
|
||||
}
|
||||
|
|
@ -1,436 +0,0 @@
|
|||
@page "/robot-config"
|
||||
@rendermode InteractiveWebAssemblyNoPrerender
|
||||
|
||||
@inject HttpClient Http
|
||||
@inject ISnackbar Snackbar
|
||||
|
||||
@using System.Net.Http.Json
|
||||
@using RobotApp.Common.Shares.Dtos
|
||||
|
||||
<PageTitle>Robot Configuration</PageTitle>
|
||||
|
||||
<div class="d-flex w-100 h-100 p-2 overflow-hidden flex-column position-relative">
|
||||
<div class="rcm-toolbar">
|
||||
<div class="rcm-toolbar-left">
|
||||
<label class="rcm-label" for="configType">Config Type</label>
|
||||
<div class="rcm-select-wrapper">
|
||||
<select id="configType" class="form-select rcm-select" value="@SelectedType" @onchange="OnTypeChanged">
|
||||
@foreach (var type in GetConfigType)
|
||||
{
|
||||
<option value="@type">@type</option>
|
||||
}
|
||||
</select>
|
||||
<span class="rcm-select-icon" aria-hidden="true">
|
||||
<svg width="16" height="16" viewBox="0 0 24 24" fill="none" xmlns="http://www.w3.org/2000/svg" aria-hidden="true">
|
||||
<path d="M7 10l5 5 5-5" stroke="currentColor" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" />
|
||||
</svg>
|
||||
</span>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="rcm-toolbar-right">
|
||||
<div class="rcm-action-group">
|
||||
@* <button type="button" class="btn rcm-icon-btn" data-tooltip="Add config" aria-label="Add" @onclick="OpenAddConfig">
|
||||
<i class="mdi mdi-plus" aria-hidden="true"></i>
|
||||
</button> *@
|
||||
|
||||
<button type="button" class="btn rcm-icon-btn" data-tooltip="Update config" aria-label="Update" @onclick="SaveConfig">
|
||||
<i class="mdi mdi-content-save" aria-hidden="true"></i>
|
||||
</button>
|
||||
|
||||
<button type="button" class="btn rcm-icon-btn" data-tooltip="Load config" aria-label="Update" @onclick="LoadConfig">
|
||||
<i class="mdi mdi-file-download" aria-hidden="true"></i>
|
||||
</button>
|
||||
|
||||
@* <button type="button" class="btn rcm-icon-btn rcm-danger" data-tooltip="Delete config" aria-label="Delete" @onclick="DeleteConfig">
|
||||
<i class="mdi mdi-delete" aria-hidden="true"></i>
|
||||
</button> *@
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="content rcm-content flex-grow-1 d-flex gap-3 mt-3">
|
||||
<div class="card p-2 config-list rcm-config-list">
|
||||
<div class="card-body list-body p-0">
|
||||
@switch (SelectedType)
|
||||
{
|
||||
case RobotConfigType.VDA5050:
|
||||
@RenderList(VdaConfigs, SelectVda, v => v.ConfigName, v => v.IsActive)
|
||||
break;
|
||||
case RobotConfigType.Safety:
|
||||
@RenderList(SafetyConfigs, SelectSafety, s => s.ConfigName, s => s.IsActive)
|
||||
break;
|
||||
case RobotConfigType.Simulation:
|
||||
@RenderList(SimulationConfigs, SelectSimulation, s => s.ConfigName, s => s.IsActive)
|
||||
break;
|
||||
case RobotConfigType.PLC:
|
||||
@RenderList(PlcConfigs, SelectPlc, p => p.ConfigName, p => p.IsActive)
|
||||
break;
|
||||
case RobotConfigType.Core:
|
||||
@RenderList(CoreConfigs, SelectCore, c => c.ConfigName, c => c.IsActive)
|
||||
break;
|
||||
default:
|
||||
<div class="p-2">No configs.</div>
|
||||
break;
|
||||
}
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="card p-2 config-content rcm-config-content">
|
||||
<div class="card-body">
|
||||
@if (!HasSelection)
|
||||
{
|
||||
<div class="text-muted">Select a config from the list or click Add to create one.</div>
|
||||
}
|
||||
else
|
||||
{
|
||||
@switch (SelectedType)
|
||||
{
|
||||
case RobotConfigType.VDA5050:
|
||||
<RobotApp.Client.Pages.Components.Config.RobotVDA5050Config @ref="@RobotVDA5050ConfigRef" @bind-Model="SelectedVda" />
|
||||
break;
|
||||
case RobotConfigType.Safety:
|
||||
<RobotApp.Client.Pages.Components.Config.RobotSafetyConfig @bind-Model="SelectedSafety" />
|
||||
break;
|
||||
case RobotConfigType.Simulation:
|
||||
<RobotApp.Client.Pages.Components.Config.RobotSimulationConfig @bind-Model="SelectedSimulation" />
|
||||
break;
|
||||
case RobotConfigType.PLC:
|
||||
<RobotApp.Client.Pages.Components.Config.RobotPLCConfig @bind-Model="SelectedPlc" />
|
||||
break;
|
||||
case RobotConfigType.Core:
|
||||
<RobotApp.Client.Pages.Components.Config.RobotConfig @bind-Model="SelectedCore" />
|
||||
break;
|
||||
}
|
||||
}
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
@if (IsLoading)
|
||||
{
|
||||
<div class="rcm-overlay" role="status" aria-live="polite" aria-busy="true">
|
||||
<div class="rcm-overlay-content" aria-hidden="false">
|
||||
<div class="spinner-border text-light" role="status" aria-hidden="true"></div>
|
||||
<div class="rcm-overlay-message ms-2">Loading…</div>
|
||||
</div>
|
||||
</div>
|
||||
}
|
||||
|
||||
@if (IsAddingNew)
|
||||
{
|
||||
<div class="rcm-modal-overlay" role="dialog" aria-modal="true">
|
||||
<div class="rcm-modal">
|
||||
<div class="card">
|
||||
<div class="card-header d-flex justify-content-between align-items-center">
|
||||
<strong>Create @SelectedType Config</strong>
|
||||
<button class="btn btn-sm btn-link text-muted" @onclick="CloseAddDialog" aria-label="Close">✕</button>
|
||||
</div>
|
||||
|
||||
<div class="card-body">
|
||||
<EditForm Model="addForm" OnValidSubmit="SaveNewConfigAsync">
|
||||
<DataAnnotationsValidator />
|
||||
<ValidationSummary />
|
||||
|
||||
<div class="mb-2">
|
||||
<label class="form-label">Config name</label>
|
||||
<InputText class="form-control" @bind-Value="addForm.ConfigName" />
|
||||
</div>
|
||||
|
||||
<div class="mb-2">
|
||||
<label class="form-label">Description</label>
|
||||
<InputText class="form-control" @bind-Value="addForm.Description" />
|
||||
</div>
|
||||
|
||||
<div class="mb-2">
|
||||
<label class="form-label">Copy parameters from existing (@SelectedType)</label>
|
||||
<select class="form-select" @bind="SelectedTemplateIdString">
|
||||
@foreach (var t in GetTemplatesForSelectedType())
|
||||
{
|
||||
<option value="@t.Id">@t.Name</option>
|
||||
}
|
||||
</select>
|
||||
<div class="form-text">If you choose an existing config, its parameter fields will be copied into the new config; you can still change name/description.</div>
|
||||
</div>
|
||||
|
||||
<div class="d-flex justify-content-end gap-2 mt-3">
|
||||
<button type="button" class="btn btn-outline-secondary" @onclick="CloseAddDialog">Cancel</button>
|
||||
<button type="submit" class="btn btn-primary">Create</button>
|
||||
</div>
|
||||
</EditForm>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
}
|
||||
|
||||
@if (ShowDeleteConfirm)
|
||||
{
|
||||
<div class="rcm-modal-overlay" role="dialog" aria-modal="true">
|
||||
<div class="rcm-modal">
|
||||
<div class="card">
|
||||
<div class="card-header d-flex justify-content-between align-items-center">
|
||||
<strong>Confirm Delete</strong>
|
||||
<button class="btn btn-sm btn-link text-muted" @onclick="CancelDelete" aria-label="Close">✕</button>
|
||||
</div>
|
||||
<div class="card-body">
|
||||
<p>Are you sure you want to delete configuration "<strong>@DeletePendingName</strong>"?</p>
|
||||
<div class="d-flex justify-content-end gap-2 mt-3">
|
||||
<button class="btn btn-outline-secondary" @onclick="CancelDelete">Cancel</button>
|
||||
<button class="btn btn-danger" @onclick="ConfirmDeleteAsync">Delete</button>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
}
|
||||
|
||||
</div>
|
||||
|
||||
@code {
|
||||
private List<RobotVDA5050ConfigDto> VdaConfigs { get; set; } = new();
|
||||
private List<RobotSafetyConfigDto> SafetyConfigs { get; set; } = new();
|
||||
private List<RobotSimulationConfigDto> SimulationConfigs { get; set; } = new();
|
||||
private List<RobotPlcConfigDto> PlcConfigs { get; set; } = new();
|
||||
private List<RobotConfigDto> CoreConfigs { get; set; } = new();
|
||||
|
||||
private RobotVDA5050ConfigDto? SelectedVda { get; set; }
|
||||
private RobotSafetyConfigDto? SelectedSafety { get; set; }
|
||||
private RobotSimulationConfigDto? SelectedSimulation { get; set; }
|
||||
private RobotPlcConfigDto? SelectedPlc { get; set; }
|
||||
private RobotConfigDto? SelectedCore { get; set; }
|
||||
|
||||
private CreateRobotVDA5050ConfigDto CreateVda = new();
|
||||
private CreateRobotConfigDto CreateSafety = new();
|
||||
private CreateRobotSafetyConfigDto CreateSimulation = new();
|
||||
private CreateRobotSimulationConfigDto CreatePlc = new();
|
||||
private CreateRobotPlcConfigDto CreateCore = new();
|
||||
|
||||
private RobotConfigType SelectedType = RobotConfigType.VDA5050;
|
||||
|
||||
private RobotApp.Client.Pages.Components.Config.RobotVDA5050Config RobotVDA5050ConfigRef = default!;
|
||||
|
||||
private int SelectedIndex = -1;
|
||||
private bool HasSelection => SelectedIndex >= 0;
|
||||
private bool IsLoading = false;
|
||||
private bool IsAddingNew = false;
|
||||
|
||||
private bool ShowDeleteConfirm = false;
|
||||
private Guid? DeletePendingId;
|
||||
private string DeletePendingName = string.Empty;
|
||||
|
||||
private class AddFormModel
|
||||
{
|
||||
public string ConfigName { get; set; } = string.Empty;
|
||||
public string Description { get; set; } = string.Empty;
|
||||
}
|
||||
private AddFormModel addForm = new();
|
||||
|
||||
private string SelectedTemplateIdString = string.Empty;
|
||||
private IEnumerable<RobotConfigType> GetConfigType = [RobotConfigType.VDA5050, RobotConfigType.Simulation];
|
||||
|
||||
private IEnumerable<(Guid Id, string Name, bool Active)> GetTemplatesForSelectedType()
|
||||
{
|
||||
return SelectedType switch
|
||||
{
|
||||
RobotConfigType.VDA5050 => VdaConfigs.Select(x => (x.Id, x.ConfigName ?? string.Empty, x.IsActive)),
|
||||
RobotConfigType.Safety => SafetyConfigs.Select(x => (x.Id, x.ConfigName ?? string.Empty, x.IsActive)),
|
||||
RobotConfigType.Simulation => SimulationConfigs.Select(x => (x.Id, x.ConfigName ?? string.Empty, x.IsActive)),
|
||||
RobotConfigType.PLC => PlcConfigs.Select(x => (x.Id, x.ConfigName ?? string.Empty, x.IsActive)),
|
||||
RobotConfigType.Core => CoreConfigs.Select(x => (x.Id, x.ConfigName ?? string.Empty, x.IsActive)),
|
||||
_ => [],
|
||||
};
|
||||
}
|
||||
|
||||
protected override async Task OnAfterRenderAsync(bool firstRender)
|
||||
{
|
||||
await base.OnAfterRenderAsync(firstRender);
|
||||
if (!firstRender) return;
|
||||
await LoadForTypeAsync(SelectedType);
|
||||
}
|
||||
|
||||
private async Task OnTypeChanged(ChangeEventArgs e)
|
||||
{
|
||||
if (e?.Value is null) return;
|
||||
if (!Enum.TryParse<RobotConfigType>(e.Value.ToString(), out var newType)) return;
|
||||
if (newType == SelectedType) return;
|
||||
|
||||
SelectedType = newType;
|
||||
await LoadForTypeAsync(newType);
|
||||
}
|
||||
|
||||
private async Task LoadForTypeAsync(RobotConfigType type)
|
||||
{
|
||||
IsLoading = true;
|
||||
StateHasChanged();
|
||||
|
||||
try
|
||||
{
|
||||
switch (type)
|
||||
{
|
||||
case RobotConfigType.VDA5050:
|
||||
await LoadVDA5050Configs();
|
||||
break;
|
||||
case RobotConfigType.Safety:
|
||||
await LoadRobotSafetyConfigs();
|
||||
break;
|
||||
case RobotConfigType.Simulation:
|
||||
await LoadRobotSimulationConfigs();
|
||||
break;
|
||||
case RobotConfigType.PLC:
|
||||
await LoadRobotPlcConfigs();
|
||||
break;
|
||||
case RobotConfigType.Core:
|
||||
await LoadRobotConfigs();
|
||||
break;
|
||||
}
|
||||
}
|
||||
finally
|
||||
{
|
||||
IsLoading = false;
|
||||
StateHasChanged();
|
||||
}
|
||||
}
|
||||
|
||||
RenderFragment RenderList<T>(List<T> list, Action<int> onSelect, Func<T, string> nameSelector, Func<T, bool>? isActiveSelector = null) where T : class
|
||||
{
|
||||
return builder =>
|
||||
{
|
||||
if (list is null || !list.Any())
|
||||
{
|
||||
builder.OpenElement(0, "div");
|
||||
builder.AddAttribute(1, "class", "p-2 text-muted");
|
||||
builder.AddContent(2, "No configs found.");
|
||||
builder.CloseElement();
|
||||
return;
|
||||
}
|
||||
|
||||
builder.OpenElement(3, "ul");
|
||||
builder.AddAttribute(4, "class", "list-group list-group-flush");
|
||||
|
||||
for (int i = 0; i < list.Count; i++)
|
||||
{
|
||||
var item = list[i];
|
||||
var idx = i;
|
||||
builder.OpenElement(10 + i * 6, "li");
|
||||
builder.AddAttribute(11 + i * 6, "class", $"list-group-item {(SelectedIndex == idx ? "active" : "")}");
|
||||
builder.AddAttribute(12 + i * 6, "style", "cursor:pointer;padding:0.75rem 1rem;");
|
||||
builder.AddAttribute(13 + i * 6, "onclick", EventCallback.Factory.Create(this, () => onSelect(idx)));
|
||||
|
||||
string name;
|
||||
try
|
||||
{
|
||||
name = nameSelector(item) ?? "Unnamed";
|
||||
}
|
||||
catch
|
||||
{
|
||||
name = "Unnamed";
|
||||
}
|
||||
builder.AddContent(14 + i * 6, name);
|
||||
|
||||
bool isActive = false;
|
||||
if (isActiveSelector is not null)
|
||||
{
|
||||
try
|
||||
{
|
||||
isActive = isActiveSelector(item);
|
||||
}
|
||||
catch
|
||||
{
|
||||
isActive = false;
|
||||
}
|
||||
}
|
||||
|
||||
if (isActive)
|
||||
{
|
||||
builder.OpenElement(15 + i * 6, "span");
|
||||
builder.AddAttribute(16 + i * 6, "class", "badge bg-success ms-2 float-end");
|
||||
builder.AddContent(17 + i * 6, "Active");
|
||||
builder.CloseElement();
|
||||
}
|
||||
|
||||
builder.CloseElement();
|
||||
}
|
||||
|
||||
builder.CloseElement();
|
||||
};
|
||||
}
|
||||
|
||||
private Action<int> SelectVda => idx =>
|
||||
{
|
||||
SelectedIndex = idx;
|
||||
SelectedVda = idx >= 0 && idx < VdaConfigs.Count ? VdaConfigs[idx] with { } : null;
|
||||
StateHasChanged();
|
||||
};
|
||||
|
||||
private Action<int> SelectSafety => idx =>
|
||||
{
|
||||
SelectedIndex = idx;
|
||||
SelectedSafety = idx >= 0 && idx < SafetyConfigs.Count ? SafetyConfigs[idx] with { } : null;
|
||||
StateHasChanged();
|
||||
};
|
||||
|
||||
private Action<int> SelectSimulation => idx =>
|
||||
{
|
||||
SelectedIndex = idx;
|
||||
SelectedSimulation = idx >= 0 && idx < SimulationConfigs.Count ? SimulationConfigs[idx] with { } : null;
|
||||
StateHasChanged();
|
||||
};
|
||||
|
||||
private Action<int> SelectPlc => idx =>
|
||||
{
|
||||
SelectedIndex = idx;
|
||||
SelectedPlc = idx >= 0 && idx < PlcConfigs.Count ? PlcConfigs[idx] with { } : null;
|
||||
StateHasChanged();
|
||||
};
|
||||
|
||||
private Action<int> SelectCore => idx =>
|
||||
{
|
||||
SelectedIndex = idx;
|
||||
SelectedCore = idx >= 0 && idx < CoreConfigs.Count ? CoreConfigs[idx] with { } : null;
|
||||
StateHasChanged();
|
||||
};
|
||||
|
||||
private void OpenAddConfig()
|
||||
{
|
||||
addForm = new AddFormModel();
|
||||
var model = GetTemplatesForSelectedType();
|
||||
var modelActive = model.Where(x => x.Active).ToList();
|
||||
SelectedTemplateIdString = modelActive.Count > 0 ? modelActive.First().Id.ToString() : model.Any() ? model.First().Id.ToString() : string.Empty;
|
||||
IsAddingNew = true;
|
||||
}
|
||||
|
||||
private void CloseAddDialog()
|
||||
{
|
||||
IsAddingNew = false;
|
||||
}
|
||||
|
||||
private void DeleteConfig()
|
||||
{
|
||||
var tuple = SelectedType switch
|
||||
{
|
||||
RobotConfigType.VDA5050 => (Id: SelectedVda?.Id, Name: SelectedVda?.ConfigName),
|
||||
RobotConfigType.Safety => (Id: SelectedSafety?.Id, Name: SelectedSafety?.ConfigName),
|
||||
RobotConfigType.Simulation => (Id: SelectedSimulation?.Id, Name: SelectedSimulation?.ConfigName),
|
||||
RobotConfigType.PLC => (Id: SelectedPlc?.Id, Name: SelectedPlc?.ConfigName),
|
||||
RobotConfigType.Core => (Id: SelectedCore?.Id, Name: SelectedCore?.ConfigName),
|
||||
_ => (Id: (Guid?)null, Name: (string?)null)
|
||||
};
|
||||
|
||||
if (tuple.Id is null || tuple.Id == Guid.Empty)
|
||||
{
|
||||
Snackbar.Add("No config selected to delete.", Severity.Warning);
|
||||
return;
|
||||
}
|
||||
|
||||
DeletePendingId = tuple.Id;
|
||||
DeletePendingName = tuple.Name ?? string.Empty;
|
||||
ShowDeleteConfirm = true;
|
||||
}
|
||||
|
||||
private void CancelDelete()
|
||||
{
|
||||
ShowDeleteConfirm = false;
|
||||
DeletePendingId = null;
|
||||
DeletePendingName = string.Empty;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,569 +0,0 @@
|
|||
using MudBlazor;
|
||||
using RobotApp.Common.Shares;
|
||||
using RobotApp.Common.Shares.Dtos;
|
||||
using RobotApp.Common.Shares.Enums;
|
||||
using System.Net.Http.Headers;
|
||||
using System.Net.Http.Json;
|
||||
using System.Xml.Schema;
|
||||
|
||||
namespace RobotApp.Client.Pages;
|
||||
|
||||
public partial class RobotConfigManager
|
||||
{
|
||||
private async Task LoadVDA5050Configs()
|
||||
{
|
||||
try
|
||||
{
|
||||
var res = await Http.GetFromJsonAsync<MessageResult<RobotVDA5050ConfigDto[]>>("api/RobotConfigs/vda5050");
|
||||
if (res is null) Snackbar.Add("Failed to load VDA5050 configs", Severity.Warning);
|
||||
else if (!res.IsSuccess) Snackbar.Add(res.Message ?? "Failed to load VDA5050 configs", Severity.Warning);
|
||||
else if (res.Data is not null)
|
||||
{
|
||||
VdaConfigs.Clear();
|
||||
VdaConfigs.AddRange(res.Data);
|
||||
|
||||
var activeIdx = VdaConfigs.FindIndex(x => x.IsActive);
|
||||
if (activeIdx >= 0)
|
||||
{
|
||||
SelectedIndex = activeIdx;
|
||||
SelectedVda = VdaConfigs[activeIdx] with { };
|
||||
}
|
||||
else
|
||||
{
|
||||
SelectedIndex = -1;
|
||||
SelectedVda = null;
|
||||
}
|
||||
|
||||
StateHasChanged();
|
||||
}
|
||||
else
|
||||
{
|
||||
Snackbar.Add("No VDA5050 configs found", Severity.Info);
|
||||
}
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
Snackbar.Add($"Error loading PLC configs: {ex.Message}", Severity.Warning);
|
||||
}
|
||||
}
|
||||
|
||||
private async Task LoadRobotConfigs()
|
||||
{
|
||||
try
|
||||
{
|
||||
var res = await Http.GetFromJsonAsync<MessageResult<RobotConfigDto[]>>("api/RobotConfigs/robot");
|
||||
if (res is null) Snackbar.Add("Failed to load VDA5050 configs", Severity.Warning);
|
||||
else if (!res.IsSuccess) Snackbar.Add(res.Message ?? "Failed to load VDA5050 configs", Severity.Warning);
|
||||
else if (res.Data is not null)
|
||||
{
|
||||
CoreConfigs.Clear();
|
||||
CoreConfigs.AddRange(res.Data);
|
||||
|
||||
var activeIdx = CoreConfigs.FindIndex(x => x.IsActive);
|
||||
if (activeIdx >= 0)
|
||||
{
|
||||
SelectedIndex = activeIdx;
|
||||
SelectedCore = CoreConfigs[activeIdx] with { };
|
||||
}
|
||||
else
|
||||
{
|
||||
SelectedIndex = -1;
|
||||
SelectedCore = null;
|
||||
}
|
||||
|
||||
StateHasChanged();
|
||||
}
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
Snackbar.Add($"Error loading PLC configs: {ex.Message}", Severity.Warning);
|
||||
}
|
||||
}
|
||||
|
||||
private async Task LoadRobotSafetyConfigs()
|
||||
{
|
||||
try
|
||||
{
|
||||
var res = await Http.GetFromJsonAsync<MessageResult<RobotSafetyConfigDto[]>>("api/RobotConfigs/safety");
|
||||
if (res is null) Snackbar.Add("Failed to load VDA5050 configs", Severity.Warning);
|
||||
else if (!res.IsSuccess) Snackbar.Add(res.Message ?? "Failed to load VDA5050 configs", Severity.Warning);
|
||||
else if (res.Data is not null)
|
||||
{
|
||||
SafetyConfigs.Clear();
|
||||
SafetyConfigs.AddRange(res.Data);
|
||||
|
||||
var activeIdx = SafetyConfigs.FindIndex(x => x.IsActive);
|
||||
if (activeIdx >= 0)
|
||||
{
|
||||
SelectedIndex = activeIdx;
|
||||
SelectedSafety = SafetyConfigs[activeIdx] with { };
|
||||
}
|
||||
else
|
||||
{
|
||||
SelectedIndex = -1;
|
||||
SelectedSafety = null;
|
||||
}
|
||||
|
||||
StateHasChanged();
|
||||
}
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
Snackbar.Add($"Error loading PLC configs: {ex.Message}", Severity.Warning);
|
||||
}
|
||||
}
|
||||
|
||||
private async Task LoadRobotSimulationConfigs()
|
||||
{
|
||||
try
|
||||
{
|
||||
var res = await Http.GetFromJsonAsync<MessageResult<RobotSimulationConfigDto[]>>("api/RobotConfigs/simulation");
|
||||
if (res is null) Snackbar.Add("Failed to load VDA5050 configs", Severity.Warning);
|
||||
else if (!res.IsSuccess) Snackbar.Add(res.Message ?? "Failed to load VDA5050 configs", Severity.Warning);
|
||||
else if (res.Data is not null)
|
||||
{
|
||||
SimulationConfigs.Clear();
|
||||
SimulationConfigs.AddRange(res.Data);
|
||||
|
||||
var activeIdx = SimulationConfigs.FindIndex(x => x.IsActive);
|
||||
if (activeIdx >= 0)
|
||||
{
|
||||
SelectedIndex = activeIdx;
|
||||
SelectedSimulation = SimulationConfigs[activeIdx] with { };
|
||||
}
|
||||
else
|
||||
{
|
||||
SelectedIndex = -1;
|
||||
SelectedSimulation = null;
|
||||
}
|
||||
|
||||
StateHasChanged();
|
||||
}
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
Snackbar.Add($"Error loading PLC configs: {ex.Message}", Severity.Warning);
|
||||
}
|
||||
}
|
||||
|
||||
private async Task LoadRobotPlcConfigs()
|
||||
{
|
||||
try
|
||||
{
|
||||
var res = await Http.GetFromJsonAsync<MessageResult<RobotPlcConfigDto[]>>("api/RobotConfigs/plc");
|
||||
if (res is null) Snackbar.Add("Failed to load VDA5050 configs", Severity.Warning);
|
||||
else if (!res.IsSuccess) Snackbar.Add(res.Message ?? "Failed to load VDA5050 configs", Severity.Warning);
|
||||
else if (res.Data is not null)
|
||||
{
|
||||
PlcConfigs.Clear();
|
||||
PlcConfigs.AddRange(res.Data);
|
||||
var activeIdx = PlcConfigs.FindIndex(x => x.IsActive);
|
||||
if (activeIdx >= 0)
|
||||
{
|
||||
SelectedIndex = activeIdx;
|
||||
SelectedPlc = PlcConfigs[activeIdx] with { };
|
||||
}
|
||||
else
|
||||
{
|
||||
SelectedIndex = -1;
|
||||
SelectedPlc = null;
|
||||
}
|
||||
StateHasChanged();
|
||||
}
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
Snackbar.Add($"Error loading PLC configs: {ex.Message}", Severity.Warning);
|
||||
}
|
||||
}
|
||||
|
||||
private async Task SaveNewConfigAsync()
|
||||
{
|
||||
try
|
||||
{
|
||||
HttpResponseMessage? res = null;
|
||||
_ = Guid.TryParse(SelectedTemplateIdString, out Guid templateId);
|
||||
|
||||
switch (SelectedType)
|
||||
{
|
||||
case RobotConfigType.VDA5050:
|
||||
{
|
||||
var template = VdaConfigs.FirstOrDefault(x => x.Id == templateId);
|
||||
if (template is null) return;
|
||||
var payload = new
|
||||
{
|
||||
addForm.ConfigName,
|
||||
addForm.Description,
|
||||
template.SerialNumber,
|
||||
template.VDA5050HostServer,
|
||||
template.VDA5050Port,
|
||||
template.VDA5050UserName,
|
||||
template.VDA5050Password,
|
||||
template.VDA5050Manufacturer,
|
||||
template.VDA5050Version,
|
||||
template.VDA5050TopicPrefix,
|
||||
template.VDA5050PublishRepeat,
|
||||
template.VDA5050EnablePassword,
|
||||
template.VDA5050EnableTls
|
||||
};
|
||||
|
||||
res = await Http.PostAsJsonAsync("api/RobotConfigs/vda5050", payload);
|
||||
break;
|
||||
}
|
||||
|
||||
case RobotConfigType.PLC:
|
||||
{
|
||||
var template = PlcConfigs.FirstOrDefault(x => x.Id == templateId);
|
||||
if (template is null) return;
|
||||
var payload = new
|
||||
{
|
||||
addForm.ConfigName,
|
||||
addForm.Description,
|
||||
template.PLCAddress,
|
||||
template.PLCPort,
|
||||
template.PLCUnitId
|
||||
};
|
||||
|
||||
res = await Http.PostAsJsonAsync("api/RobotConfigs/plc", payload);
|
||||
break;
|
||||
}
|
||||
|
||||
case RobotConfigType.Safety:
|
||||
{
|
||||
var template = SafetyConfigs.FirstOrDefault(x => x.Id == templateId);
|
||||
if (template is null) return;
|
||||
var payload = new
|
||||
{
|
||||
addForm.ConfigName,
|
||||
addForm.Description,
|
||||
template.SafetySpeedVerySlow,
|
||||
template.SafetySpeedSlow,
|
||||
template.SafetySpeedNormal,
|
||||
template.SafetySpeedMedium,
|
||||
template.SafetySpeedOptimal,
|
||||
template.SafetySpeedFast,
|
||||
template.SafetySpeedVeryFast
|
||||
};
|
||||
|
||||
res = await Http.PostAsJsonAsync("api/RobotConfigs/safety", payload);
|
||||
break;
|
||||
}
|
||||
|
||||
case RobotConfigType.Simulation:
|
||||
{
|
||||
var template = SimulationConfigs.FirstOrDefault(x => x.Id == templateId);
|
||||
if (template is null) return;
|
||||
var payload = new
|
||||
{
|
||||
addForm.ConfigName,
|
||||
addForm.Description,
|
||||
template.EnableSimulation,
|
||||
template.SimulationMaxVelocity,
|
||||
template.SimulationMaxAngularVelocity,
|
||||
template.SimulationAcceleration,
|
||||
template.SimulationDeceleration
|
||||
};
|
||||
|
||||
res = await Http.PostAsJsonAsync("api/RobotConfigs/simulation", payload);
|
||||
break;
|
||||
}
|
||||
|
||||
case RobotConfigType.Core:
|
||||
default:
|
||||
{
|
||||
var template = CoreConfigs.FirstOrDefault(x => x.Id == templateId);
|
||||
if (template is null) return;
|
||||
var payload = new
|
||||
{
|
||||
addForm.ConfigName,
|
||||
addForm.Description,
|
||||
template.NavigationType,
|
||||
template.RadiusWheel,
|
||||
template.Width,
|
||||
template.Length,
|
||||
template.Height
|
||||
};
|
||||
|
||||
res = await Http.PostAsJsonAsync("api/RobotConfigs/robot", payload);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (res is not null && res.IsSuccessStatusCode)
|
||||
{
|
||||
Snackbar.Add("Config created", Severity.Success);
|
||||
IsAddingNew = false;
|
||||
await LoadForTypeAsync(SelectedType);
|
||||
}
|
||||
else
|
||||
{
|
||||
var message = res is null ? "No response" : await res.Content.ReadAsStringAsync();
|
||||
Snackbar.Add($"Create failed: {message}", Severity.Error);
|
||||
}
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
Snackbar.Add($"Error creating config: {ex.Message}", Severity.Error);
|
||||
}
|
||||
}
|
||||
|
||||
private async Task<bool> SaveCertificates()
|
||||
{
|
||||
using var content = new MultipartFormDataContent();
|
||||
|
||||
if (RobotVDA5050ConfigRef.CaFile is not null)
|
||||
{
|
||||
var fileContent = new StreamContent(RobotVDA5050ConfigRef.CaFile.OpenReadStream(maxAllowedSize: RobotVDA5050ConfigRef.MaxFileSize));
|
||||
content.Add(fileContent, "CaFile", RobotVDA5050ConfigRef.CaFile.Name);
|
||||
}
|
||||
if (RobotVDA5050ConfigRef.CertFile is not null)
|
||||
{
|
||||
var fileContent = new StreamContent(RobotVDA5050ConfigRef.CertFile.OpenReadStream(maxAllowedSize: RobotVDA5050ConfigRef.MaxFileSize));
|
||||
content.Add(fileContent, "CertFile", RobotVDA5050ConfigRef.CertFile.Name);
|
||||
}
|
||||
if (RobotVDA5050ConfigRef.KeyFile is not null)
|
||||
{
|
||||
var fileContent = new StreamContent(RobotVDA5050ConfigRef.KeyFile.OpenReadStream(maxAllowedSize: RobotVDA5050ConfigRef.MaxFileSize));
|
||||
content.Add(fileContent, "KeyFile", RobotVDA5050ConfigRef.KeyFile.Name);
|
||||
}
|
||||
if (content.Any())
|
||||
{
|
||||
var response = await (await Http.PostAsync($"api/File/certificates", content)).Content.ReadFromJsonAsync<MessageResult>();
|
||||
if (response is null) Snackbar.Add("Failed to update certificates", Severity.Warning);
|
||||
else if (!response.IsSuccess) Snackbar.Add(response.Message ?? "Failed to update certificates", Severity.Warning);
|
||||
else return true;
|
||||
StateHasChanged();
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
private async Task SaveConfig()
|
||||
{
|
||||
try
|
||||
{
|
||||
Guid? id = SelectedType switch
|
||||
{
|
||||
RobotConfigType.VDA5050 => SelectedVda?.Id,
|
||||
RobotConfigType.Safety => SelectedSafety?.Id,
|
||||
RobotConfigType.Simulation => SelectedSimulation?.Id,
|
||||
RobotConfigType.PLC => SelectedPlc?.Id,
|
||||
RobotConfigType.Core => SelectedCore?.Id,
|
||||
_ => null
|
||||
};
|
||||
|
||||
if (id == null || id == Guid.Empty)
|
||||
{
|
||||
Snackbar.Add("No config selected to save.", Severity.Warning);
|
||||
return;
|
||||
}
|
||||
|
||||
MessageResult? result = null;
|
||||
|
||||
switch (SelectedType)
|
||||
{
|
||||
case RobotConfigType.VDA5050:
|
||||
{
|
||||
if (SelectedVda is null) { Snackbar.Add("No VDA5050 config selected.", Severity.Warning); return; }
|
||||
var updateDto = new
|
||||
{
|
||||
SelectedVda.SerialNumber,
|
||||
SelectedVda.VDA5050HostServer,
|
||||
SelectedVda.VDA5050Port,
|
||||
SelectedVda.VDA5050UserName,
|
||||
SelectedVda.VDA5050Password,
|
||||
SelectedVda.VDA5050Manufacturer,
|
||||
SelectedVda.VDA5050Version,
|
||||
SelectedVda.VDA5050TopicPrefix,
|
||||
SelectedVda.VDA5050PublishRepeat,
|
||||
SelectedVda.VDA5050EnablePassword,
|
||||
SelectedVda.VDA5050EnableTls,
|
||||
SelectedVda.VDA5050CA,
|
||||
SelectedVda.VDA5050Cer,
|
||||
SelectedVda.VDA5050Key,
|
||||
SelectedVda.Description
|
||||
};
|
||||
var saveCer = await SaveCertificates();
|
||||
if (saveCer) result = await (await Http.PutAsJsonAsync($"api/RobotConfigs/vda5050/{id}", updateDto)).Content.ReadFromJsonAsync<MessageResult>();
|
||||
else return;
|
||||
break;
|
||||
}
|
||||
|
||||
case RobotConfigType.PLC:
|
||||
{
|
||||
if (SelectedPlc is null) { Snackbar.Add("No PLC config selected.", Severity.Warning); return; }
|
||||
var updateDto = new
|
||||
{
|
||||
SelectedPlc.Description,
|
||||
SelectedPlc.PLCAddress,
|
||||
SelectedPlc.PLCPort,
|
||||
SelectedPlc.PLCUnitId
|
||||
};
|
||||
|
||||
result = await (await Http.PutAsJsonAsync($"api/RobotConfigs/plc/{id}", updateDto)).Content.ReadFromJsonAsync<MessageResult>();
|
||||
break;
|
||||
}
|
||||
|
||||
case RobotConfigType.Safety:
|
||||
{
|
||||
if (SelectedSafety is null) { Snackbar.Add("No Safety config selected.", Severity.Warning); return; }
|
||||
var updateDto = new
|
||||
{
|
||||
SelectedSafety.SafetySpeedVerySlow,
|
||||
SelectedSafety.SafetySpeedSlow,
|
||||
SelectedSafety.SafetySpeedNormal,
|
||||
SelectedSafety.SafetySpeedMedium,
|
||||
SelectedSafety.SafetySpeedOptimal,
|
||||
SelectedSafety.SafetySpeedFast,
|
||||
SelectedSafety.SafetySpeedVeryFast,
|
||||
SelectedSafety.Description
|
||||
};
|
||||
|
||||
result = await (await Http.PutAsJsonAsync($"api/RobotConfigs/safety/{id}", updateDto)).Content.ReadFromJsonAsync<MessageResult>();
|
||||
break;
|
||||
}
|
||||
|
||||
case RobotConfigType.Simulation:
|
||||
{
|
||||
if (SelectedSimulation is null) { Snackbar.Add("No Simulation config selected.", Severity.Warning); return; }
|
||||
var updateDto = new
|
||||
{
|
||||
SelectedSimulation.EnableSimulation,
|
||||
SelectedSimulation.SimulationMaxVelocity,
|
||||
SelectedSimulation.SimulationMaxAngularVelocity,
|
||||
SelectedSimulation.SimulationAcceleration,
|
||||
SelectedSimulation.SimulationDeceleration,
|
||||
SelectedSimulation.Description
|
||||
};
|
||||
|
||||
result = await (await Http.PutAsJsonAsync($"api/RobotConfigs/simulation/{id}", updateDto)).Content.ReadFromJsonAsync<MessageResult>();
|
||||
break;
|
||||
}
|
||||
|
||||
case RobotConfigType.Core:
|
||||
default:
|
||||
{
|
||||
if (SelectedCore is null) { Snackbar.Add("No Core config selected.", Severity.Warning); return; }
|
||||
var updateDto = new
|
||||
{
|
||||
SelectedCore.NavigationType,
|
||||
SelectedCore.RadiusWheel,
|
||||
SelectedCore.Width,
|
||||
SelectedCore.Length,
|
||||
SelectedCore.Height,
|
||||
SelectedCore.Description
|
||||
};
|
||||
|
||||
result = await (await Http.PutAsJsonAsync($"api/RobotConfigs/robot/{id}", updateDto)).Content.ReadFromJsonAsync<MessageResult>();
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (result is null) Snackbar.Add("Failed to update config", Severity.Warning);
|
||||
else if (!result.IsSuccess) Snackbar.Add(result.Message ?? "Failed to update config", Severity.Warning);
|
||||
else
|
||||
{
|
||||
Snackbar.Add("Config saved", Severity.Success);
|
||||
|
||||
await LoadForTypeAsync(SelectedType);
|
||||
|
||||
switch (SelectedType)
|
||||
{
|
||||
case RobotConfigType.VDA5050:
|
||||
var vIdx = VdaConfigs.FindIndex(x => x.Id == id);
|
||||
if (vIdx >= 0) { SelectedIndex = vIdx; SelectedVda = VdaConfigs[vIdx] with { }; }
|
||||
break;
|
||||
case RobotConfigType.Safety:
|
||||
var sIdx = SafetyConfigs.FindIndex(x => x.Id == id);
|
||||
if (sIdx >= 0) { SelectedIndex = sIdx; SelectedSafety = SafetyConfigs[sIdx] with { }; }
|
||||
break;
|
||||
case RobotConfigType.Simulation:
|
||||
var simIdx = SimulationConfigs.FindIndex(x => x.Id == id);
|
||||
if (simIdx >= 0) { SelectedIndex = simIdx; SelectedSimulation = SimulationConfigs[simIdx] with { }; }
|
||||
break;
|
||||
case RobotConfigType.PLC:
|
||||
var pIdx = PlcConfigs.FindIndex(x => x.Id == id);
|
||||
if (pIdx >= 0) { SelectedIndex = pIdx; SelectedPlc = PlcConfigs[pIdx] with { }; }
|
||||
break;
|
||||
case RobotConfigType.Core:
|
||||
var cIdx = CoreConfigs.FindIndex(x => x.Id == id);
|
||||
if (cIdx >= 0) { SelectedIndex = cIdx; SelectedCore = CoreConfigs[cIdx] with { }; }
|
||||
break;
|
||||
}
|
||||
|
||||
StateHasChanged();
|
||||
}
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
Snackbar.Add($"Error saving config: {ex.Message}", Severity.Error);
|
||||
}
|
||||
}
|
||||
|
||||
private async Task ConfirmDeleteAsync()
|
||||
{
|
||||
try
|
||||
{
|
||||
if (DeletePendingId is null || DeletePendingId == Guid.Empty)
|
||||
{
|
||||
Snackbar.Add("No config selected to delete.", Severity.Warning);
|
||||
CancelDelete();
|
||||
return;
|
||||
}
|
||||
|
||||
var id = DeletePendingId.Value;
|
||||
string path = SelectedType switch
|
||||
{
|
||||
RobotConfigType.VDA5050 => $"api/RobotConfigs/vda5050/{id}",
|
||||
RobotConfigType.Safety => $"api/RobotConfigs/safety/{id}",
|
||||
RobotConfigType.Simulation => $"api/RobotConfigs/simulation/{id}",
|
||||
RobotConfigType.PLC => $"api/RobotConfigs/plc/{id}",
|
||||
RobotConfigType.Core => $"api/RobotConfigs/robot/{id}",
|
||||
_ => throw new InvalidOperationException("Unsupported config type")
|
||||
};
|
||||
|
||||
IsLoading = true;
|
||||
StateHasChanged();
|
||||
|
||||
var httpRes = await Http.DeleteFromJsonAsync<MessageResult>(path);
|
||||
|
||||
if (httpRes is null) Snackbar.Add("Failed to delete config", Severity.Warning);
|
||||
else if (!httpRes.IsSuccess) Snackbar.Add(httpRes.Message ?? "Failed to delete config", Severity.Warning);
|
||||
else
|
||||
{
|
||||
Snackbar.Add("Config deleted", Severity.Success);
|
||||
|
||||
SelectedIndex = -1;
|
||||
switch (SelectedType)
|
||||
{
|
||||
case RobotConfigType.VDA5050: SelectedVda = null; break;
|
||||
case RobotConfigType.Safety: SelectedSafety = null; break;
|
||||
case RobotConfigType.Simulation: SelectedSimulation = null; break;
|
||||
case RobotConfigType.PLC: SelectedPlc = null; break;
|
||||
case RobotConfigType.Core: SelectedCore = null; break;
|
||||
}
|
||||
|
||||
await LoadForTypeAsync(SelectedType);
|
||||
}
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
Snackbar.Add($"Error deleting config: {ex.Message}", Severity.Error);
|
||||
}
|
||||
finally
|
||||
{
|
||||
IsLoading = false;
|
||||
CancelDelete();
|
||||
StateHasChanged();
|
||||
}
|
||||
}
|
||||
|
||||
private async Task LoadConfig()
|
||||
{
|
||||
var response = await (await Http.PostAsync($"api/RobotConfigs/load", null)).Content.ReadFromJsonAsync<MessageResult>();
|
||||
if (response is null) Snackbar.Add("Failed to load config", Severity.Warning);
|
||||
else if (!response.IsSuccess) Snackbar.Add(response.Message ?? "Failed to load config", Severity.Warning);
|
||||
else Snackbar.Add("Config loaded", Severity.Success);
|
||||
StateHasChanged();
|
||||
}
|
||||
}
|
||||
|
|
@ -1,520 +0,0 @@
|
|||
/* Toolbar layout */
|
||||
.rcm-toolbar {
|
||||
display: flex;
|
||||
gap: 1rem;
|
||||
align-items: center;
|
||||
justify-content: space-between;
|
||||
background: var(--mud-palette-surface, #ffffff);
|
||||
color: #e6e6e6;
|
||||
padding: 0.75rem 1rem;
|
||||
border-radius: 0.375rem;
|
||||
box-shadow: 0 2px 6px rgba(0,0,0,0.6);
|
||||
border: 1px solid rgba(255,255,255,0.04);
|
||||
}
|
||||
|
||||
/* Content layout: take remaining height */
|
||||
.rcm-content {
|
||||
height: calc(100vh - 90px); /* approximate toolbar + padding height; adjust if needed */
|
||||
min-height: 0; /* allow flex children to shrink properly */
|
||||
}
|
||||
|
||||
/* Config list uses flexible basis and can shrink instead of forcing overflow */
|
||||
.rcm-config-list {
|
||||
/* replace fixed width with flex basis + shrink */
|
||||
flex: 0 1 35%; /* flex-grow:0, flex-shrink:1, flex-basis:35% */
|
||||
min-width: 240px; /* allow smaller than before but keep readable */
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
min-height: 0;
|
||||
}
|
||||
|
||||
/* Config content uses remaining space and can shrink/grow */
|
||||
.rcm-config-content {
|
||||
flex: 1 1 65%; /* flex-grow:1 to take remaining, flex-shrink:1 */
|
||||
min-width: 220px;
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
}
|
||||
|
||||
/* Make card body scrollable if content overflows */
|
||||
.config-list .list-body,
|
||||
.rcm-config-content .card-body,
|
||||
.config-list .list-body ul {
|
||||
overflow: auto;
|
||||
}
|
||||
|
||||
/* Ensure list-body and editor body expand to fill container */
|
||||
.config-list .list-body {
|
||||
height: 100%;
|
||||
}
|
||||
|
||||
.rcm-config-content .card-body {
|
||||
height: 100%;
|
||||
}
|
||||
|
||||
/* Make config list body fill available height and scroll when content overflows */
|
||||
.rcm-config-list .card-body.list-body {
|
||||
flex: 1 1 auto; /* expand to fill container */
|
||||
min-height: 0; /* allow flex children to shrink in many browsers */
|
||||
overflow: auto; /* enable scrolling when content overflows */
|
||||
padding: 0.25rem 0.5rem; /* keep slight padding for list */
|
||||
}
|
||||
|
||||
/* Ensure the list itself doesn't add extra margins that affect scrolling */
|
||||
.rcm-config-list .list-group {
|
||||
margin: 0;
|
||||
padding: 0;
|
||||
}
|
||||
|
||||
/* Each list item keeps its padding but stays in flow */
|
||||
.rcm-config-list .list-group-item {
|
||||
padding: 0.75rem 1rem;
|
||||
}
|
||||
|
||||
/* List items spacing */
|
||||
.list-group-item {
|
||||
cursor: pointer;
|
||||
}
|
||||
|
||||
/* Left side controls (robot id + select) */
|
||||
.rcm-toolbar-left {
|
||||
display: flex;
|
||||
gap: 0.5rem;
|
||||
align-items: center;
|
||||
flex-wrap: wrap;
|
||||
}
|
||||
|
||||
/* Right side action buttons */
|
||||
.rcm-toolbar-right {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
}
|
||||
|
||||
/* Group buttons with small spacing */
|
||||
.rcm-action-group {
|
||||
display: flex;
|
||||
gap: 0.5rem;
|
||||
}
|
||||
|
||||
/* Inputs sizing */
|
||||
.rcm-input {
|
||||
width: 160px;
|
||||
background: #1a1a1a;
|
||||
border: 1px solid rgba(255,255,255,0.06);
|
||||
color: #e6e6e6;
|
||||
}
|
||||
|
||||
.rcm-select-wrapper {
|
||||
position: relative;
|
||||
display: inline-flex;
|
||||
align-items: center;
|
||||
}
|
||||
|
||||
/* Make select background brighter and match button gradients (blue tone similar to Update) */
|
||||
.rcm-select {
|
||||
width: 180px;
|
||||
margin-left: 6px; /* bring select closer to left controls */
|
||||
background: linear-gradient(180deg, #4aa0db, #2b87c9);
|
||||
border: 1px solid rgba(0,0,0,0.12);
|
||||
color: #fff;
|
||||
appearance: none;
|
||||
padding-right: 28px; /* space for icon */
|
||||
box-shadow: 0 1px 0 rgba(255,255,255,0.04) inset;
|
||||
}
|
||||
|
||||
/* Hover effect: slightly brighter */
|
||||
.rcm-select-wrapper:hover .rcm-select {
|
||||
background: linear-gradient(180deg, #5bb6ee, #399ad6);
|
||||
border-color: rgba(58,123,184,0.22);
|
||||
transform: translateY(-1px);
|
||||
}
|
||||
|
||||
/* Select icon color to contrast with brighter select */
|
||||
.rcm-select-icon {
|
||||
position: absolute;
|
||||
right: 6px;
|
||||
pointer-events: none;
|
||||
color: rgba(255,255,255,0.9);
|
||||
display: inline-flex;
|
||||
align-items: center;
|
||||
}
|
||||
|
||||
/* Toolbar labels */
|
||||
.rcm-label {
|
||||
font-size: 0.9rem;
|
||||
margin-right: 6px;
|
||||
color: #cfcfcf;
|
||||
}
|
||||
|
||||
/* Minor button styling to match toolbar */
|
||||
.rcm-btn {
|
||||
min-width: 84px;
|
||||
}
|
||||
|
||||
/* Icon button styles */
|
||||
.rcm-icon-btn {
|
||||
display: inline-flex;
|
||||
align-items: center;
|
||||
justify-content: center;
|
||||
width: 38px;
|
||||
height: 34px;
|
||||
padding: 0.25rem;
|
||||
border-radius: 6px;
|
||||
background: transparent;
|
||||
color: #e6e6e6;
|
||||
border: 1px solid rgba(255,255,255,0.04);
|
||||
}
|
||||
|
||||
.rcm-icon-btn svg {
|
||||
display: block;
|
||||
}
|
||||
|
||||
/* Icon button hover and focus states */
|
||||
.rcm-icon-btn:hover, .rcm-icon-btn:focus {
|
||||
background: rgba(255,255,255,0.03);
|
||||
color: #fff;
|
||||
border-color: rgba(255,255,255,0.08);
|
||||
}
|
||||
|
||||
.rcm-danger {
|
||||
color: #ffb3b3;
|
||||
border-color: rgba(255,100,100,0.18);
|
||||
}
|
||||
|
||||
/* Adjust bootstrap button colors for dark toolbar when using outline variants */
|
||||
.rcm-toolbar .btn-outline-primary {
|
||||
color: #cfe2ff;
|
||||
border-color: rgba(95,160,255,0.2);
|
||||
}
|
||||
|
||||
.rcm-toolbar .btn-outline-success {
|
||||
color: #d4f5d4;
|
||||
border-color: rgba(60,200,120,0.18);
|
||||
}
|
||||
|
||||
.rcm-toolbar .btn-outline-danger {
|
||||
color: #ffcfcf;
|
||||
border-color: rgba(255,100,100,0.18);
|
||||
}
|
||||
|
||||
/* Specific styles for action buttons (Add, Update, Delete) */
|
||||
.rcm-action-group button[aria-label="Add"] {
|
||||
background: linear-gradient(180deg, #4bb24b, #2f9a2f); /* bright green */
|
||||
color: #fff;
|
||||
border: 1px solid rgba(0,0,0,0.08);
|
||||
box-shadow: 0 1px 0 rgba(255,255,255,0.06) inset;
|
||||
}
|
||||
|
||||
.rcm-action-group button[aria-label="Add"]:hover {
|
||||
background: linear-gradient(180deg, #66d166, #3fb83f);
|
||||
transform: translateY(-1px);
|
||||
}
|
||||
|
||||
.rcm-action-group button[aria-label="Add"]:focus {
|
||||
outline: none;
|
||||
box-shadow: 0 0 0 3px rgba(56,160,56,0.18);
|
||||
}
|
||||
|
||||
.rcm-action-group button[aria-label="Update"] {
|
||||
background: linear-gradient(180deg, #4aa0db, #2b87c9); /* bright blue */
|
||||
color: #fff;
|
||||
border: 1px solid rgba(0,0,0,0.08);
|
||||
box-shadow: 0 1px 0 rgba(255,255,255,0.08) inset;
|
||||
}
|
||||
|
||||
.rcm-action-group button[aria-label="Update"]:hover {
|
||||
background: linear-gradient(180deg, #5bb6ee, #399ad6);
|
||||
transform: translateY(-1px);
|
||||
}
|
||||
|
||||
.rcm-action-group button[aria-label="Update"]:focus {
|
||||
outline: none;
|
||||
box-shadow: 0 0 0 3px rgba(58,123,184,0.18);
|
||||
}
|
||||
|
||||
.rcm-action-group button[aria-label="Delete"] {
|
||||
background: linear-gradient(180deg, #ff6b6b, #e04848); /* bright red */
|
||||
color: #fff;
|
||||
border: 1px solid rgba(0,0,0,0.08);
|
||||
box-shadow: 0 1px 0 rgba(255,255,255,0.06) inset;
|
||||
}
|
||||
|
||||
.rcm-action-group button[aria-label="Delete"]:hover {
|
||||
background: linear-gradient(180deg, #ff8282, #ec5b5b);
|
||||
transform: translateY(-1px);
|
||||
}
|
||||
|
||||
.rcm-action-group button[aria-label="Delete"]:focus {
|
||||
outline: none;
|
||||
box-shadow: 0 0 0 3px rgba(224,72,72,0.18);
|
||||
}
|
||||
|
||||
/* Ensure icons inside the action buttons remain visible */
|
||||
.rcm-action-group button[aria-label="Add"] .mdi,
|
||||
.rcm-action-group button[aria-label="Update"] .mdi,
|
||||
.rcm-action-group button[aria-label="Delete"] .mdi {
|
||||
color: #fff;
|
||||
}
|
||||
|
||||
/* Ensure dropdown options use dark theme matching select */
|
||||
.rcm-select option {
|
||||
background-color: #141414 !important;
|
||||
color: #e6e6e6 !important;
|
||||
}
|
||||
|
||||
/* Hover/active state inside dropdown */
|
||||
.rcm-select option:hover,
|
||||
.rcm-select option:checked {
|
||||
background-color: #2b87c9 !important; /* match update button blue */
|
||||
color: #fff !important;
|
||||
}
|
||||
|
||||
/* Optgroup styling (if used) */
|
||||
.rcm-select optgroup {
|
||||
color: #e6e6e6;
|
||||
background: #141414;
|
||||
}
|
||||
|
||||
/* Tooltip for action buttons using data-tooltip attribute */
|
||||
.rcm-action-group button[data-tooltip] {
|
||||
position: relative;
|
||||
}
|
||||
|
||||
.rcm-action-group button[data-tooltip]::after {
|
||||
content: attr(data-tooltip);
|
||||
position: absolute;
|
||||
left: 50%;
|
||||
transform: translateX(-50%) translateY(8px);
|
||||
bottom: -9999px; /* hidden by default below flow */
|
||||
background: rgba(20,20,20,0.98);
|
||||
color: #fff;
|
||||
padding: 6px 10px;
|
||||
border-radius: 6px;
|
||||
font-size: 0.85rem;
|
||||
white-space: nowrap;
|
||||
box-shadow: 0 2px 6px rgba(0,0,0,0.5);
|
||||
opacity: 0;
|
||||
pointer-events: none;
|
||||
transition: opacity 0.12s ease, transform 0.12s ease;
|
||||
z-index: 50;
|
||||
}
|
||||
|
||||
/* Arrow below tooltip */
|
||||
.rcm-action-group button[data-tooltip]::before {
|
||||
content: "";
|
||||
position: absolute;
|
||||
left: 50%;
|
||||
transform: translateX(-50%);
|
||||
bottom: -9999px;
|
||||
width: 8px;
|
||||
height: 8px;
|
||||
background: rgba(20,20,20,0.98);
|
||||
transform-origin: center;
|
||||
rotate: 45deg;
|
||||
z-index: 49;
|
||||
}
|
||||
|
||||
/* Show tooltip on hover */
|
||||
.rcm-action-group button[data-tooltip]:hover::after,
|
||||
.rcm-action-group button[data-tooltip]:hover::before {
|
||||
bottom: -45px; /* reduced gap: place tooltip closer to the button */
|
||||
opacity: 1;
|
||||
transform: translateX(-50%) translateY(0);
|
||||
}
|
||||
|
||||
/* Adjust for danger button (slightly different color) */
|
||||
.rcm-action-group button[data-tooltip].rcm-danger::after {
|
||||
background: rgba(224,72,72,0.95);
|
||||
}
|
||||
|
||||
/* Slightly lift the button on hover to match tooltip */
|
||||
.rcm-action-group button[data-tooltip]:hover {
|
||||
transform: translateY(-2px);
|
||||
}
|
||||
|
||||
/* Tooltip backgrounds matching their buttons */
|
||||
.rcm-action-group button[aria-label="Add"][data-tooltip]::after {
|
||||
background: linear-gradient(180deg, #4bb24b, #2f9a2f);
|
||||
}
|
||||
.rcm-action-group button[aria-label="Add"][data-tooltip]::before {
|
||||
background: #2f9a2f;
|
||||
}
|
||||
|
||||
.rcm-action-group button[aria-label="Update"][data-tooltip]::after {
|
||||
background: linear-gradient(180deg, #4aa0db, #2b87c9);
|
||||
}
|
||||
.rcm-action-group button[aria-label="Update"][data-tooltip]::before {
|
||||
background: #2b87c9;
|
||||
}
|
||||
|
||||
/* Delete already had a red variant, update the arrow to match precisely */
|
||||
.rcm-action-group button[aria-label="Delete"][data-tooltip]::after,
|
||||
.rcm-action-group button[data-tooltip].rcm-danger::after {
|
||||
background: linear-gradient(180deg, #ff6b6b, #e04848);
|
||||
}
|
||||
.rcm-action-group button[aria-label="Delete"][data-tooltip]::before,
|
||||
.rcm-action-group button[data-tooltip].rcm-danger::before {
|
||||
background: #e04848;
|
||||
}
|
||||
|
||||
/* Ensure tooltip text stays readable on gradients */
|
||||
.rcm-action-group button[data-tooltip]::after {
|
||||
color: #fff;
|
||||
}
|
||||
|
||||
/* Active badge in config list: make slightly larger and more visible */
|
||||
.rcm-config-list .list-group-item .badge {
|
||||
font-size: 1.05rem; /* slightly larger */
|
||||
padding: 0.45rem 0.8rem;
|
||||
border-radius: 0.5rem;
|
||||
line-height: 1;
|
||||
margin-left: 0.6rem;
|
||||
opacity: 0.98;
|
||||
display: inline-block;
|
||||
vertical-align: middle;
|
||||
}
|
||||
|
||||
/* Overlay that blocks the whole viewport while loading */
|
||||
.rcm-overlay {
|
||||
position: absolute;
|
||||
inset: 0; /* top:0; right:0; bottom:0; left:0; */
|
||||
display: flex;
|
||||
align-items: center;
|
||||
justify-content: center;
|
||||
background: rgba(7, 10, 13, 0.55);
|
||||
z-index: 1050; /* above most UI layers */
|
||||
pointer-events: auto; /* capture mouse interactions */
|
||||
}
|
||||
|
||||
/* inner content: spinner + optional message */
|
||||
.rcm-overlay-content {
|
||||
display: inline-flex;
|
||||
align-items: center;
|
||||
gap: 0.6rem;
|
||||
background: rgba(20, 20, 20, 0.85);
|
||||
padding: 0.75rem 1rem;
|
||||
border-radius: 8px;
|
||||
box-shadow: 0 8px 24px rgba(0,0,0,0.45);
|
||||
color: #fff;
|
||||
font-weight: 500;
|
||||
transform: translateY(-6px);
|
||||
}
|
||||
|
||||
/* message text */
|
||||
.rcm-overlay-message {
|
||||
font-size: 0.95rem;
|
||||
color: #eef3ff;
|
||||
}
|
||||
|
||||
/* ensure spinner is visible on dark overlay */
|
||||
.rcm-overlay .spinner-border {
|
||||
width: 1.25rem;
|
||||
height: 1.25rem;
|
||||
border-width: 0.18rem;
|
||||
color: #ffffff;
|
||||
}
|
||||
|
||||
/* Modal overlay (create dialog) */
|
||||
.rcm-modal-overlay {
|
||||
position: absolute;
|
||||
inset: 0;
|
||||
display: flex;
|
||||
align-items: center;
|
||||
justify-content: center;
|
||||
background: rgba(7, 10, 13, 0.45);
|
||||
z-index: 1065;
|
||||
pointer-events: auto;
|
||||
}
|
||||
|
||||
/* Modal container */
|
||||
.rcm-modal {
|
||||
width: 820px;
|
||||
max-width: calc(100% - 40px);
|
||||
border-radius: 8px;
|
||||
box-shadow: 0 12px 40px rgba(0,0,0,0.5);
|
||||
background: var(--mud-palette-surface, #0f1720);
|
||||
color: #e6e6e6;
|
||||
}
|
||||
|
||||
/* Ensure card inside modal uses default spacing already present */
|
||||
.rcm-modal .card {
|
||||
background: #0f1720;
|
||||
border: 1px solid rgba(255,255,255,0.04);
|
||||
}
|
||||
|
||||
/* Header styling */
|
||||
.rcm-modal .card-header {
|
||||
padding: 0.6rem 0.9rem;
|
||||
background: rgba(255,255,255,0.02);
|
||||
border-bottom: 1px solid rgba(255,255,255,0.03);
|
||||
}
|
||||
|
||||
/* Modal message / spinner adjustments (already defined for overlay) */
|
||||
.rcm-overlay .spinner-border {
|
||||
width: 1.25rem;
|
||||
height: 1.25rem;
|
||||
border-width: 0.18rem;
|
||||
color: #ffffff;
|
||||
}
|
||||
|
||||
/* Keep responsive layout for modal form inputs */
|
||||
.rcm-modal .card-body {
|
||||
padding: 0.8rem;
|
||||
color: #e6e6e6;
|
||||
}
|
||||
|
||||
/* --- Contrast adjustments for modal form elements --- */
|
||||
/* Improve readability by increasing text contrast and adjusting input backgrounds */
|
||||
.rcm-modal {
|
||||
color: #eaf4ff; /* default text inside modal */
|
||||
}
|
||||
|
||||
/* labels, headers and small notes */
|
||||
.rcm-modal .form-label,
|
||||
.rcm-modal label,
|
||||
.rcm-modal .card-header strong,
|
||||
.rcm-modal .card-header,
|
||||
.rcm-modal .form-text,
|
||||
.rcm-modal .validation-message,
|
||||
.rcm-modal .text-muted {
|
||||
color: #cfe6ff;
|
||||
}
|
||||
|
||||
/* form controls */
|
||||
.rcm-modal .form-control,
|
||||
.rcm-modal .form-select,
|
||||
.rcm-modal input[type="text"],
|
||||
.rcm-modal input[type="number"],
|
||||
.rcm-modal textarea {
|
||||
/*background: rgba(255,255,255,0.03);*/ /* subtle contrast with modal bg */
|
||||
/*color: #ffffff;*/
|
||||
border: 1px solid rgba(255,255,255,0.08);
|
||||
box-shadow: none;
|
||||
caret-color: #ffffff;
|
||||
}
|
||||
|
||||
/* placeholder text */
|
||||
.rcm-modal .form-control::placeholder,
|
||||
.rcm-modal input::placeholder,
|
||||
.rcm-modal textarea::placeholder {
|
||||
color: rgba(255,255,255,0.55);
|
||||
}
|
||||
|
||||
/* validation / summary messages */
|
||||
.rcm-modal .validation-message,
|
||||
.rcm-modal .validation-summary-valid,
|
||||
.rcm-modal .validation-summary-errors,
|
||||
.rcm-modal .field-validation-error {
|
||||
color: #ffd2d2;
|
||||
}
|
||||
|
||||
/* modal buttons */
|
||||
.rcm-modal .btn-link {
|
||||
color: #cfcfcf;
|
||||
}
|
||||
|
||||
/* keep modal small text readable */
|
||||
.rcm-modal .card-body {
|
||||
font-size: 0.95rem;
|
||||
line-height: 1.4;
|
||||
}
|
||||
|
|
@ -1,43 +0,0 @@
|
|||
@page "/robot-monitor"
|
||||
@rendermode InteractiveWebAssemblyNoPrerender
|
||||
@inject RobotApp.Client.Services.RobotMonitorService MonitorService
|
||||
@implements IAsyncDisposable
|
||||
|
||||
<PageTitle>Robot Monitor</PageTitle>
|
||||
|
||||
<div class="d-flex w-100 h-100 overflow-hidden">
|
||||
<RobotApp.Client.Pages.Components.Monitor.RobotMonitorView @ref="@RobotMonitorViewRef"
|
||||
MonitorData="@_monitorData"
|
||||
IsConnected="@MonitorService.IsConnected" />
|
||||
</div>
|
||||
|
||||
@code {
|
||||
private RobotMonitorDto? _monitorData;
|
||||
private RobotApp.Client.Pages.Components.Monitor.RobotMonitorView? RobotMonitorViewRef;
|
||||
|
||||
protected override async Task OnAfterRenderAsync(bool firstRender)
|
||||
{
|
||||
if (firstRender)
|
||||
{
|
||||
MonitorService.OnDataReceived += OnMonitorDataReceived;
|
||||
await MonitorService.StartAsync();
|
||||
}
|
||||
}
|
||||
|
||||
private void OnMonitorDataReceived(RobotMonitorDto data)
|
||||
{
|
||||
_monitorData = data;
|
||||
RobotMonitorViewRef?.UpdatePath();
|
||||
InvokeAsync(StateHasChanged);
|
||||
}
|
||||
|
||||
public async ValueTask DisposeAsync()
|
||||
{
|
||||
MonitorService.OnDataReceived -= OnMonitorDataReceived;
|
||||
await MonitorService.StopAsync();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
63
RobotApp.Client/Pages/Weather.razor
Normal file
63
RobotApp.Client/Pages/Weather.razor
Normal file
|
|
@ -0,0 +1,63 @@
|
|||
@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);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,26 +0,0 @@
|
|||
@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
|
||||
@using System.Text.Json
|
||||
@using System.Text.Json.Serialization
|
||||
@using RobotApp.Client.Pages.Order
|
||||
@using RobotApp.Client.Services
|
||||
@using RobotApp.VDA5050.InstantAction
|
||||
@using RobotApp.VDA5050.Order
|
||||
@using RobotApp.VDA5050.Type
|
||||
@using System.ComponentModel.DataAnnotations
|
||||
|
|
@ -1,24 +1,9 @@
|
|||
using Microsoft.AspNetCore.Components.WebAssembly.Hosting;
|
||||
using MudBlazor.Services;
|
||||
using RobotApp.Client.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.AddScoped<RobotApp.Client.Services.RobotMonitorService>();
|
||||
builder.Services.AddScoped<RobotApp.Client.Services.RobotStateClient>();
|
||||
|
||||
builder.Services.AddMudServices(config =>
|
||||
{
|
||||
config.SnackbarConfiguration.VisibleStateDuration = 2000;
|
||||
config.SnackbarConfiguration.HideTransitionDuration = 500;
|
||||
config.SnackbarConfiguration.ShowTransitionDuration = 500;
|
||||
});
|
||||
|
||||
await builder.Build().RunAsync();
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
<Project Sdk="Microsoft.NET.Sdk.BlazorWebAssembly">
|
||||
|
||||
<PropertyGroup>
|
||||
<TargetFramework>net10.0</TargetFramework>
|
||||
<TargetFramework>net9.0</TargetFramework>
|
||||
<ImplicitUsings>enable</ImplicitUsings>
|
||||
<Nullable>enable</Nullable>
|
||||
<NoDefaultLaunchSettingsFile>true</NoDefaultLaunchSettingsFile>
|
||||
|
|
@ -9,17 +9,8 @@
|
|||
</PropertyGroup>
|
||||
|
||||
<ItemGroup>
|
||||
<PackageReference Include="Blazored.LocalStorage" Version="4.5.0" />
|
||||
<PackageReference Include="Excubo.Blazor.Canvas" Version="3.2.91" />
|
||||
<PackageReference Include="Microsoft.AspNetCore.Components.WebAssembly" Version="9.0.1" />
|
||||
<PackageReference Include="Microsoft.AspNetCore.Components.WebAssembly.Authentication" Version="9.0.1" />
|
||||
<PackageReference Include="Microsoft.AspNetCore.SignalR.Client" Version="10.0.1" />
|
||||
<PackageReference Include="MudBlazor" Version="8.15.0" />
|
||||
</ItemGroup>
|
||||
|
||||
<ItemGroup>
|
||||
<ProjectReference Include="..\RobotApp.Common.Shares\RobotApp.Common.Shares.csproj" />
|
||||
<ProjectReference Include="..\RobotApp.VDA5050\RobotApp.VDA5050.csproj" />
|
||||
</ItemGroup>
|
||||
|
||||
</Project>
|
||||
|
|
|
|||
10
RobotApp.Client/Routes.razor
Normal file
10
RobotApp.Client/Routes.razor
Normal file
|
|
@ -0,0 +1,10 @@
|
|||
<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>
|
||||
|
|
@ -1,52 +0,0 @@
|
|||
using Microsoft.AspNetCore.Components;
|
||||
using Microsoft.AspNetCore.SignalR.Client;
|
||||
using RobotApp.Common.Shares.Dtos;
|
||||
|
||||
namespace RobotApp.Client.Services;
|
||||
|
||||
public class RobotMonitorService : IAsyncDisposable
|
||||
{
|
||||
private HubConnection? _hubConnection;
|
||||
private readonly string _hubUrl;
|
||||
|
||||
public event Action<RobotMonitorDto>? OnDataReceived;
|
||||
public bool IsConnected => _hubConnection?.State == HubConnectionState.Connected;
|
||||
|
||||
public RobotMonitorService(NavigationManager navigationManager)
|
||||
{
|
||||
var baseUrl = navigationManager.BaseUri.TrimEnd('/');
|
||||
_hubUrl = $"{baseUrl}/hubs/robotMonitor";
|
||||
}
|
||||
|
||||
public async Task StartAsync()
|
||||
{
|
||||
if (_hubConnection is not null) return;
|
||||
|
||||
_hubConnection = new HubConnectionBuilder()
|
||||
.WithUrl(_hubUrl)
|
||||
.WithAutomaticReconnect()
|
||||
.Build();
|
||||
|
||||
_hubConnection.On<RobotMonitorDto>("ReceiveRobotMonitorData", data =>
|
||||
{
|
||||
OnDataReceived?.Invoke(data);
|
||||
});
|
||||
|
||||
await _hubConnection.StartAsync();
|
||||
}
|
||||
|
||||
public async Task StopAsync()
|
||||
{
|
||||
if (_hubConnection is null) return;
|
||||
|
||||
await _hubConnection.StopAsync();
|
||||
await _hubConnection.DisposeAsync();
|
||||
_hubConnection = null;
|
||||
}
|
||||
|
||||
public async ValueTask DisposeAsync()
|
||||
{
|
||||
await StopAsync();
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -1,211 +0,0 @@
|
|||
using Microsoft.AspNetCore.Components;
|
||||
using Microsoft.AspNetCore.SignalR.Client;
|
||||
using RobotApp.Common.Shares;
|
||||
using RobotApp.VDA5050.State;
|
||||
using System.Collections.Concurrent;
|
||||
using System.Text.Json;
|
||||
|
||||
namespace RobotApp.Client.Services;
|
||||
|
||||
// ================= SIGNALR CONNECTION STATE =================
|
||||
public enum RobotClientState
|
||||
{
|
||||
Disconnected,
|
||||
Connecting,
|
||||
Connected,
|
||||
Reconnecting
|
||||
}
|
||||
|
||||
// ================= ROBOT STATE CLIENT =================
|
||||
public sealed class RobotStateClient : IAsyncDisposable
|
||||
{
|
||||
private readonly NavigationManager _nav;
|
||||
private HubConnection? _connection;
|
||||
|
||||
private readonly object _lock = new();
|
||||
private bool _started;
|
||||
|
||||
// ================= STATE CACHE =================
|
||||
public ConcurrentDictionary<string, StateMsg> LatestStates { get; } = new();
|
||||
|
||||
// ================= ROBOT CONNECTION =================
|
||||
private bool _isRobotConnected;
|
||||
public bool IsRobotConnected => _isRobotConnected;
|
||||
|
||||
// ================= EVENTS =================
|
||||
public event Action<string, StateMsg>? OnStateReceived;
|
||||
public event Action<StateMsg>? OnStateReceivedAny;
|
||||
public event Action<bool>? OnRobotConnectionChanged;
|
||||
public event Action<RobotClientState>? OnConnectionStateChanged;
|
||||
|
||||
public RobotClientState ConnectionState { get; private set; } = RobotClientState.Disconnected;
|
||||
|
||||
// ================= CTOR =================
|
||||
public RobotStateClient(NavigationManager nav)
|
||||
{
|
||||
_nav = nav;
|
||||
}
|
||||
|
||||
// ================= STATE HELPER =================
|
||||
private void SetState(RobotClientState state)
|
||||
{
|
||||
if (ConnectionState == state)
|
||||
return;
|
||||
|
||||
ConnectionState = state;
|
||||
OnConnectionStateChanged?.Invoke(state);
|
||||
}
|
||||
|
||||
// ================= START =================
|
||||
public async Task StartAsync(string hubPath = "/hubs/robot")
|
||||
{
|
||||
lock (_lock)
|
||||
{
|
||||
if (_started) return;
|
||||
_started = true;
|
||||
}
|
||||
|
||||
SetState(RobotClientState.Connecting);
|
||||
|
||||
_connection = new HubConnectionBuilder()
|
||||
.WithUrl(_nav.ToAbsoluteUri(hubPath))
|
||||
.WithAutomaticReconnect(new[]
|
||||
{
|
||||
TimeSpan.Zero,
|
||||
TimeSpan.FromSeconds(2),
|
||||
TimeSpan.FromSeconds(10)
|
||||
})
|
||||
.Build();
|
||||
|
||||
_connection.Reconnecting += _ =>
|
||||
{
|
||||
SetState(RobotClientState.Reconnecting);
|
||||
return Task.CompletedTask;
|
||||
};
|
||||
|
||||
_connection.Reconnected += _ =>
|
||||
{
|
||||
SetState(RobotClientState.Connected);
|
||||
return Task.CompletedTask;
|
||||
};
|
||||
|
||||
_connection.Closed += async _ =>
|
||||
{
|
||||
_started = false;
|
||||
SetState(RobotClientState.Disconnected);
|
||||
|
||||
if (_connection != null)
|
||||
{
|
||||
try
|
||||
{
|
||||
await StartAsync(hubPath);
|
||||
}
|
||||
catch { }
|
||||
}
|
||||
};
|
||||
|
||||
// ================= SIGNALR HANDLERS =================
|
||||
|
||||
// VDA5050 State
|
||||
_connection.On<string>("ReceiveState", HandleState);
|
||||
|
||||
// Robot connection (bool only)
|
||||
_connection.On<bool>("ReceiveRobotConnection", HandleRobotConnection);
|
||||
|
||||
try
|
||||
{
|
||||
await _connection.StartAsync();
|
||||
SetState(RobotClientState.Connected);
|
||||
}
|
||||
catch
|
||||
{
|
||||
_started = false;
|
||||
SetState(RobotClientState.Disconnected);
|
||||
}
|
||||
}
|
||||
|
||||
// ================= HANDLE STATE =================
|
||||
private void HandleState(string stateJson)
|
||||
{
|
||||
StateMsg? state;
|
||||
|
||||
try
|
||||
{
|
||||
state = JsonSerializer.Deserialize<StateMsg>(
|
||||
stateJson,
|
||||
JsonOptionExtends.Read
|
||||
);
|
||||
}
|
||||
catch
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
if (state?.SerialNumber == null)
|
||||
return;
|
||||
|
||||
LatestStates[state.SerialNumber] = state;
|
||||
|
||||
OnStateReceived?.Invoke(state.SerialNumber, state);
|
||||
OnStateReceivedAny?.Invoke(state);
|
||||
}
|
||||
|
||||
// ================= HANDLE ROBOT CONNECTION =================
|
||||
private void HandleRobotConnection(bool isConnected)
|
||||
{
|
||||
_isRobotConnected = isConnected;
|
||||
OnRobotConnectionChanged?.Invoke(isConnected);
|
||||
}
|
||||
|
||||
// ================= SUBSCRIBE =================
|
||||
public async Task SubscribeRobotAsync(string serialNumber)
|
||||
{
|
||||
if (_connection?.State != HubConnectionState.Connected)
|
||||
return;
|
||||
|
||||
try
|
||||
{
|
||||
await _connection.InvokeAsync("JoinRobot", serialNumber);
|
||||
}
|
||||
catch
|
||||
{
|
||||
// ignore – reconnect sẽ tự join lại
|
||||
}
|
||||
}
|
||||
|
||||
public async Task UnsubscribeRobotAsync(string serialNumber)
|
||||
{
|
||||
if (_connection?.State == HubConnectionState.Connected)
|
||||
{
|
||||
try
|
||||
{
|
||||
await _connection.InvokeAsync("LeaveRobot", serialNumber);
|
||||
}
|
||||
catch { }
|
||||
}
|
||||
|
||||
LatestStates.TryRemove(serialNumber, out _);
|
||||
_isRobotConnected = false;
|
||||
}
|
||||
|
||||
// ================= GET CACHE =================
|
||||
public StateMsg? GetLatestState(string serialNumber)
|
||||
{
|
||||
LatestStates.TryGetValue(serialNumber, out var state);
|
||||
return state;
|
||||
}
|
||||
|
||||
// ================= DISPOSE =================
|
||||
public async ValueTask DisposeAsync()
|
||||
{
|
||||
_started = false;
|
||||
_isRobotConnected = false;
|
||||
SetState(RobotClientState.Disconnected);
|
||||
|
||||
if (_connection != null)
|
||||
{
|
||||
await _connection.DisposeAsync();
|
||||
_connection = null;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -1,446 +0,0 @@
|
|||
using RobotApp.VDA5050.InstantAction;
|
||||
using RobotApp.VDA5050.Order;
|
||||
using System.Text.Json;
|
||||
using System.Text.Json.Serialization;
|
||||
|
||||
namespace RobotApp.Client.Services;
|
||||
|
||||
// ======================================================
|
||||
// EDGE UI
|
||||
// ======================================================
|
||||
public class UiEdge
|
||||
{
|
||||
public string EdgeId { get; set; } = "";
|
||||
public int SequenceId { get; set; }
|
||||
public bool Released { get; set; } = true;
|
||||
|
||||
public string StartNodeId { get; set; } = "";
|
||||
public string EndNodeId { get; set; } = "";
|
||||
|
||||
// ===== CURVE (EDITOR GENERATED) =====
|
||||
public double Radius { get; set; } = 0;
|
||||
public Quadrant Quadrant { get; set; }
|
||||
|
||||
// ===== IMPORTED TRAJECTORY =====
|
||||
public bool HasTrajectory { get; set; } = false;
|
||||
public UiTrajectory? Trajectory { get; set; }
|
||||
|
||||
// ===== UI STATE =====
|
||||
public bool Expanded { get; private set; } = false;
|
||||
|
||||
public void MarkExpanded()
|
||||
{
|
||||
Expanded = true;
|
||||
}
|
||||
}
|
||||
|
||||
public class UiTrajectory
|
||||
{
|
||||
public int Degree { get; set; }
|
||||
public double[] KnotVector { get; set; } = Array.Empty<double>();
|
||||
public List<Point> ControlPoints { get; set; } = new();
|
||||
}
|
||||
|
||||
public enum Quadrant
|
||||
{
|
||||
I,
|
||||
II,
|
||||
III,
|
||||
IV
|
||||
}
|
||||
|
||||
// ======================================================
|
||||
// GEOMETRY MODELS
|
||||
// ======================================================
|
||||
public record Point(double X, double Y);
|
||||
|
||||
public record QuarterResult(
|
||||
Point EndPoint,
|
||||
object Trajectory
|
||||
);
|
||||
|
||||
// ======================================================
|
||||
// GEOMETRY HELPER (QUARTER CIRCLE)
|
||||
// ======================================================
|
||||
public static class QuarterGeometry
|
||||
{
|
||||
private const double K = 0.5522847498307936;
|
||||
|
||||
public static QuarterResult BuildQuarterTrajectory(
|
||||
Point A,
|
||||
double r,
|
||||
Quadrant q
|
||||
)
|
||||
{
|
||||
Point P1, P2, C;
|
||||
|
||||
switch (q)
|
||||
{
|
||||
case Quadrant.I:
|
||||
P1 = new(A.X, A.Y + K * r);
|
||||
P2 = new(A.X + K * r, A.Y + r);
|
||||
C = new(A.X + r, A.Y + r);
|
||||
break;
|
||||
|
||||
case Quadrant.II:
|
||||
P1 = new(A.X - K * r, A.Y);
|
||||
P2 = new(A.X - r, A.Y + K * r);
|
||||
C = new(A.X - r, A.Y + r);
|
||||
break;
|
||||
|
||||
case Quadrant.III:
|
||||
P1 = new(A.X, A.Y - K * r);
|
||||
P2 = new(A.X - K * r, A.Y - r);
|
||||
C = new(A.X - r, A.Y - r);
|
||||
break;
|
||||
|
||||
case Quadrant.IV:
|
||||
P1 = new(A.X + K * r, A.Y);
|
||||
P2 = new(A.X + r, A.Y - K * r);
|
||||
C = new(A.X + r, A.Y - r);
|
||||
break;
|
||||
|
||||
default:
|
||||
throw new ArgumentOutOfRangeException(nameof(q));
|
||||
}
|
||||
|
||||
return new QuarterResult(
|
||||
C,
|
||||
new
|
||||
{
|
||||
degree = 3,
|
||||
knotVector = new[] { 0, 0, 0, 0, 1, 1, 1, 1 },
|
||||
controlPoints = new[]
|
||||
{
|
||||
new { x = A.X, y = A.Y }, // P0
|
||||
new { x = P1.X, y = P1.Y }, // P1
|
||||
new { x = P2.X, y = P2.Y }, // P2
|
||||
new { x = C.X, y = C.Y } // P3
|
||||
}
|
||||
}
|
||||
);
|
||||
}
|
||||
}
|
||||
// ======================================================
|
||||
// ORDER MESSAGE
|
||||
// ======================================================
|
||||
public class OrderMessage
|
||||
{
|
||||
public int HeaderId { get; set; }
|
||||
public string Timestamp { get; set; } = "";
|
||||
public string Version { get; set; } = "v1";
|
||||
public string Manufacturer { get; set; } = "PNKX";
|
||||
public string SerialNumber { get; set; } = "T800-002";
|
||||
public string OrderId { get; set; }
|
||||
public int OrderUpdateId { get; set; }
|
||||
public string? ZoneSetId { get; set; }
|
||||
|
||||
public List<Node> Nodes { get; set; } = new();
|
||||
public List<UiEdge> Edges { get; set; } = new();
|
||||
public static Node CreateCurveNode(Node startNode, UiEdge edge)
|
||||
{
|
||||
var A = new Point(
|
||||
startNode.NodePosition.X,
|
||||
startNode.NodePosition.Y
|
||||
);
|
||||
|
||||
var result = QuarterGeometry.BuildQuarterTrajectory(
|
||||
A,
|
||||
edge.Radius,
|
||||
edge.Quadrant
|
||||
);
|
||||
|
||||
return new Node
|
||||
{
|
||||
NodeId = $"NODE_C{Guid.NewGuid():N}".Substring(0, 12),
|
||||
Released = true,
|
||||
NodePosition = new NodePosition
|
||||
{
|
||||
X = result.EndPoint.X,
|
||||
Y = result.EndPoint.Y,
|
||||
Theta = startNode.NodePosition.Theta,
|
||||
MapId = startNode.NodePosition.MapId
|
||||
}
|
||||
};
|
||||
}
|
||||
public static OrderMessage FromSchemaObject(JsonElement root)
|
||||
{
|
||||
var order = new OrderMessage
|
||||
{
|
||||
HeaderId = root.GetProperty("headerId").GetInt32(),
|
||||
Timestamp = root.GetProperty("timestamp").GetString(),
|
||||
Version = root.GetProperty("version").GetString(),
|
||||
Manufacturer = root.GetProperty("manufacturer").GetString(),
|
||||
SerialNumber = root.GetProperty("serialNumber").GetString(),
|
||||
OrderId = root.GetProperty("orderId").GetString(),
|
||||
OrderUpdateId = root.GetProperty("orderUpdateId").GetInt32()
|
||||
};
|
||||
|
||||
// ================= NODES =================
|
||||
foreach (var n in root.GetProperty("nodes").EnumerateArray())
|
||||
{
|
||||
var node = new Node
|
||||
{
|
||||
NodeId = n.GetProperty("nodeId").GetString()!,
|
||||
SequenceId = n.GetProperty("sequenceId").GetInt32(),
|
||||
Released = n.GetProperty("released").GetBoolean(),
|
||||
|
||||
NodePosition = new NodePosition
|
||||
{
|
||||
X = n.GetProperty("nodePosition").GetProperty("x").GetDouble(),
|
||||
Y = n.GetProperty("nodePosition").GetProperty("y").GetDouble(),
|
||||
Theta = n.GetProperty("nodePosition").GetProperty("theta").GetDouble(),
|
||||
AllowedDeviationXY = n.GetProperty("nodePosition").GetProperty("allowedDeviationXY").GetDouble(),
|
||||
AllowedDeviationTheta = n.GetProperty("nodePosition").GetProperty("allowedDeviationTheta").GetDouble(),
|
||||
MapId = n.GetProperty("nodePosition").GetProperty("mapId").GetString()
|
||||
},
|
||||
|
||||
Actions = ParseActions(n)
|
||||
};
|
||||
|
||||
order.Nodes.Add(node);
|
||||
}
|
||||
|
||||
foreach (var e in root.GetProperty("edges").EnumerateArray())
|
||||
{
|
||||
var edge = new UiEdge
|
||||
{
|
||||
EdgeId = e.GetProperty("edgeId").GetString()!,
|
||||
SequenceId = e.GetProperty("sequenceId").GetInt32(),
|
||||
Released = e.GetProperty("released").GetBoolean(),
|
||||
StartNodeId = e.GetProperty("startNodeId").GetString()!,
|
||||
EndNodeId = e.GetProperty("endNodeId").GetString()!,
|
||||
};
|
||||
|
||||
// ===== IMPORT TRAJECTORY =====
|
||||
if (e.TryGetProperty("trajectory", out var traj))
|
||||
{
|
||||
edge.HasTrajectory = true;
|
||||
edge.Trajectory = new UiTrajectory
|
||||
{
|
||||
Degree = traj.GetProperty("degree").GetInt32(),
|
||||
KnotVector = traj.GetProperty("knotVector")
|
||||
.EnumerateArray()
|
||||
.Select(x => x.GetDouble())
|
||||
.ToArray(),
|
||||
|
||||
ControlPoints = traj.GetProperty("controlPoints")
|
||||
.EnumerateArray()
|
||||
.Select(p => new Point(
|
||||
p.GetProperty("x").GetDouble(),
|
||||
p.GetProperty("y").GetDouble()
|
||||
))
|
||||
.ToList()
|
||||
};
|
||||
|
||||
// 🔥 IMPORTED CURVE → LOCK APPLY
|
||||
edge.MarkExpanded();
|
||||
}
|
||||
|
||||
order.Edges.Add(edge);
|
||||
}
|
||||
|
||||
return order;
|
||||
}
|
||||
|
||||
// ================= ACTION PARSER =================
|
||||
private static VDA5050.InstantAction.Action[] ParseActions(JsonElement parent)
|
||||
{
|
||||
if (!parent.TryGetProperty("actions", out var acts))
|
||||
return Array.Empty<VDA5050.InstantAction.Action>();
|
||||
|
||||
return acts.EnumerateArray().Select(a =>
|
||||
new VDA5050.InstantAction.Action
|
||||
{
|
||||
ActionId = a.GetProperty("actionId").GetString(),
|
||||
ActionType = a.GetProperty("actionType").GetString(),
|
||||
BlockingType = a.GetProperty("blockingType").GetString(),
|
||||
|
||||
ActionParameters = a.TryGetProperty("actionParameters", out var ps)
|
||||
? ps.EnumerateArray()
|
||||
.Select(p => new ActionParameter
|
||||
{
|
||||
Key = p.GetProperty("key").GetString(),
|
||||
Value = p.GetProperty("value").GetString()
|
||||
})
|
||||
.ToArray()
|
||||
: Array.Empty<ActionParameter>()
|
||||
}
|
||||
).ToArray();
|
||||
}
|
||||
public object ToSchemaObject()
|
||||
{
|
||||
// ================= SORT NODES BY UI SEQUENCE =================
|
||||
var orderedNodes = Nodes
|
||||
.OrderBy(n => n.SequenceId)
|
||||
.ToList();
|
||||
|
||||
// ================= BUILD NODE OBJECTS =================
|
||||
var nodeObjects = orderedNodes
|
||||
.Select((n, index) => new
|
||||
{
|
||||
nodeId = n.NodeId,
|
||||
sequenceId = index * 2, // ✅ NODE = EVEN
|
||||
released = n.Released,
|
||||
|
||||
nodePosition = new
|
||||
{
|
||||
x = n.NodePosition.X,
|
||||
y = n.NodePosition.Y,
|
||||
theta = n.NodePosition.Theta,
|
||||
|
||||
allowedDeviationXY = n.NodePosition.AllowedDeviationXY,
|
||||
allowedDeviationTheta = n.NodePosition.AllowedDeviationTheta,
|
||||
|
||||
mapId = string.IsNullOrWhiteSpace(n.NodePosition.MapId)
|
||||
? "MAP_01"
|
||||
: n.NodePosition.MapId
|
||||
},
|
||||
|
||||
actions = n.Actions?
|
||||
.Select(a => new
|
||||
{
|
||||
actionId = a.ActionId,
|
||||
actionType = a.ActionType,
|
||||
blockingType = a.BlockingType,
|
||||
|
||||
actionParameters = a.ActionParameters?
|
||||
.Select(p => new
|
||||
{
|
||||
key = p.Key,
|
||||
value = p.Value
|
||||
})
|
||||
.ToArray()
|
||||
?? Array.Empty<object>()
|
||||
})
|
||||
.ToArray()
|
||||
?? Array.Empty<object>()
|
||||
})
|
||||
.ToArray();
|
||||
|
||||
// ================= BUILD EDGE OBJECTS =================
|
||||
var edgeObjects = Edges
|
||||
.Select<UiEdge, object>((e, index) =>
|
||||
{
|
||||
int sequenceId = index * 2 + 1; // ✅ EDGE = ODD
|
||||
|
||||
// ---------- BASE ----------
|
||||
var baseEdge = new
|
||||
{
|
||||
edgeId = e.EdgeId,
|
||||
sequenceId,
|
||||
released = true,
|
||||
startNodeId = e.StartNodeId,
|
||||
endNodeId = e.EndNodeId
|
||||
};
|
||||
|
||||
// =================================================
|
||||
// 1️⃣ IMPORTED TRAJECTORY
|
||||
// =================================================
|
||||
if (e.HasTrajectory && e.Trajectory != null)
|
||||
{
|
||||
return new
|
||||
{
|
||||
baseEdge.edgeId,
|
||||
baseEdge.sequenceId,
|
||||
baseEdge.released,
|
||||
baseEdge.startNodeId,
|
||||
baseEdge.endNodeId,
|
||||
|
||||
trajectory = new
|
||||
{
|
||||
degree = e.Trajectory.Degree,
|
||||
knotVector = e.Trajectory.KnotVector,
|
||||
controlPoints = e.Trajectory.ControlPoints
|
||||
.Select(p => new { x = p.X, y = p.Y })
|
||||
.ToArray()
|
||||
},
|
||||
|
||||
actions = Array.Empty<object>()
|
||||
};
|
||||
}
|
||||
|
||||
// =================================================
|
||||
// 2️⃣ STRAIGHT EDGE
|
||||
// =================================================
|
||||
if (e.Radius <= 0)
|
||||
{
|
||||
return new
|
||||
{
|
||||
baseEdge.edgeId,
|
||||
baseEdge.sequenceId,
|
||||
baseEdge.released,
|
||||
baseEdge.startNodeId,
|
||||
baseEdge.endNodeId,
|
||||
actions = Array.Empty<object>()
|
||||
};
|
||||
}
|
||||
|
||||
// =================================================
|
||||
// 3️⃣ GENERATED CURVE (EDITOR)
|
||||
// =================================================
|
||||
var startNode = orderedNodes.First(n => n.NodeId == e.StartNodeId);
|
||||
|
||||
var A = new Point(
|
||||
startNode.NodePosition.X,
|
||||
startNode.NodePosition.Y
|
||||
);
|
||||
|
||||
var result = QuarterGeometry.BuildQuarterTrajectory(
|
||||
A,
|
||||
e.Radius,
|
||||
e.Quadrant
|
||||
);
|
||||
|
||||
return new
|
||||
{
|
||||
baseEdge.edgeId,
|
||||
baseEdge.sequenceId,
|
||||
baseEdge.released,
|
||||
baseEdge.startNodeId,
|
||||
baseEdge.endNodeId,
|
||||
|
||||
trajectory = result.Trajectory,
|
||||
actions = Array.Empty<object>()
|
||||
};
|
||||
})
|
||||
.ToArray();
|
||||
|
||||
// ================= FINAL SCHEMA OBJECT =================
|
||||
return new
|
||||
{
|
||||
headerId = HeaderId++,
|
||||
|
||||
timestamp = string.IsNullOrWhiteSpace(Timestamp)
|
||||
? DateTime.UtcNow.ToString("O")
|
||||
: Timestamp,
|
||||
|
||||
version = Version,
|
||||
manufacturer = Manufacturer,
|
||||
serialNumber = SerialNumber,
|
||||
|
||||
orderId = OrderId= Guid.NewGuid().ToString(),
|
||||
orderUpdateId = OrderUpdateId,
|
||||
|
||||
zoneSetId = string.IsNullOrWhiteSpace(ZoneSetId)
|
||||
? null
|
||||
: ZoneSetId,
|
||||
|
||||
nodes = nodeObjects,
|
||||
edges = edgeObjects
|
||||
};
|
||||
}
|
||||
}
|
||||
|
||||
// ======================================================
|
||||
// UI ACTION PARAM
|
||||
// ======================================================
|
||||
public class UiActionParameter : ActionParameter
|
||||
{
|
||||
[JsonIgnore]
|
||||
public string ValueString
|
||||
{
|
||||
get => Value?.ToString() ?? "";
|
||||
set => Value = value;
|
||||
}
|
||||
}
|
||||
|
|
@ -5,14 +5,6 @@
|
|||
@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.Dtos
|
||||
@using RobotApp.Common.Shares.Enums
|
||||
@using Blazored.LocalStorage
|
||||
@using RobotApp.Client.Services
|
||||
@using RobotApp.VDA5050.State
|
||||
|
|
|
|||
Binary file not shown.
|
Before Width: | Height: | Size: 104 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 809 B |
|
|
@ -1,10 +0,0 @@
|
|||
<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>
|
||||
|
Before Width: | Height: | Size: 522 B |
|
|
@ -1,48 +0,0 @@
|
|||
<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>
|
||||
|
Before Width: | Height: | Size: 2.3 KiB |
|
|
@ -1 +0,0 @@
|
|||
|
||||
|
|
@ -1,107 +0,0 @@
|
|||
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;
|
||||
}
|
||||
};
|
||||
|
|
@ -1,62 +0,0 @@
|
|||
// Helper functions for Robot Monitor
|
||||
|
||||
window.robotMonitor = {
|
||||
// Get element size
|
||||
getElementSize: function (element) {
|
||||
const rect = element.getBoundingClientRect();
|
||||
return {
|
||||
Width: rect.width,
|
||||
Height: rect.height
|
||||
};
|
||||
},
|
||||
|
||||
// Get element bounding rect
|
||||
getElementBoundingRect: function (element) {
|
||||
const rect = element.getBoundingClientRect();
|
||||
return {
|
||||
X: rect.x,
|
||||
Y: rect.y,
|
||||
Width: rect.width,
|
||||
Height: rect.height
|
||||
};
|
||||
},
|
||||
|
||||
// Convert trajectory to SVG path
|
||||
trajectoryToPath: function (trajectory, startX, startY, endX, endY) {
|
||||
if (!trajectory || !trajectory.ControlPoints || trajectory.ControlPoints.length === 0) {
|
||||
// Linear path
|
||||
return `M ${startX} ${startY} L ${endX} ${endY}`;
|
||||
}
|
||||
|
||||
const degree = trajectory.Degree || 1;
|
||||
const controlPoints = trajectory.ControlPoints;
|
||||
|
||||
if (degree === 1) {
|
||||
// Linear
|
||||
return `M ${startX} ${startY} L ${endX} ${endY}`;
|
||||
} else if (degree === 2) {
|
||||
// Quadratic bezier
|
||||
if (controlPoints.length > 0) {
|
||||
const cp1 = controlPoints[0];
|
||||
return `M ${startX} ${startY} Q ${cp1.X} ${cp1.Y} ${endX} ${endY}`;
|
||||
}
|
||||
return `M ${startX} ${startY} L ${endX} ${endY}`;
|
||||
} else if (degree === 3) {
|
||||
// Cubic bezier
|
||||
if (controlPoints.length >= 2) {
|
||||
const cp1 = controlPoints[0];
|
||||
const cp2 = controlPoints[1];
|
||||
return `M ${startX} ${startY} C ${cp1.X} ${cp1.Y}, ${cp2.X} ${cp2.Y}, ${endX} ${endY}`;
|
||||
} else if (controlPoints.length === 1) {
|
||||
const cp1 = controlPoints[0];
|
||||
return `M ${startX} ${startY} Q ${cp1.X} ${cp1.Y} ${endX} ${endY}`;
|
||||
}
|
||||
return `M ${startX} ${startY} L ${endX} ${endY}`;
|
||||
}
|
||||
|
||||
return `M ${startX} ${startY} L ${endX} ${endY}`;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
|
@ -1,13 +0,0 @@
|
|||
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; }
|
||||
}
|
||||
|
|
@ -1,47 +0,0 @@
|
|||
using RobotApp.Common.Shares.Enums;
|
||||
using System.ComponentModel.DataAnnotations;
|
||||
|
||||
namespace RobotApp.Common.Shares.Dtos;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public record RobotConfigDto
|
||||
{
|
||||
public Guid Id { get; set; }
|
||||
public NavigationType NavigationType { get; set; }
|
||||
[Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
|
||||
public double RadiusWheel { get; set; }
|
||||
[Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
|
||||
public double Width { get; set; }
|
||||
[Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
|
||||
public double Length { get; set; }
|
||||
[Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
|
||||
public double Height { get; set; }
|
||||
public DateTime CreatedAt { get; set; }
|
||||
public DateTime UpdatedAt { get; set; }
|
||||
public bool IsActive { get; set; }
|
||||
[Required]
|
||||
public string ConfigName { get; set; }
|
||||
public string Description { get; set; }
|
||||
}
|
||||
|
||||
public record UpdateRobotConfigDto
|
||||
{
|
||||
public NavigationType NavigationType { get; set; }
|
||||
public double RadiusWheel { get; set; }
|
||||
public double Width { get; set; }
|
||||
public double Length { get; set; }
|
||||
public double Height { get; set; }
|
||||
public string Description { get; set; }
|
||||
}
|
||||
|
||||
public record CreateRobotConfigDto
|
||||
{
|
||||
public string ConfigName { get; set; }
|
||||
public string Description { get; set; }
|
||||
public NavigationType NavigationType { get; set; }
|
||||
public double RadiusWheel { get; set; }
|
||||
public double Width { get; set; }
|
||||
public double Length { get; set; }
|
||||
public double Height { get; set; }
|
||||
}
|
||||
|
|
@ -1,31 +0,0 @@
|
|||
using RobotApp.VDA5050.State;
|
||||
|
||||
namespace RobotApp.Common.Shares.Dtos;
|
||||
|
||||
public class RobotMonitorDto
|
||||
{
|
||||
public RobotPositionDto RobotPosition { get; set; } = new();
|
||||
public EdgeStateDto[] EdgeStates { get; set; } = [];
|
||||
public NodeState[] NodeStates { get; set; } = [];
|
||||
public bool HasOrder { get; set; }
|
||||
public DateTime Timestamp { get; set; } = DateTime.UtcNow;
|
||||
}
|
||||
|
||||
public class RobotPositionDto
|
||||
{
|
||||
public double X { get; set; }
|
||||
public double Y { get; set; }
|
||||
public double Theta { get; set; }
|
||||
}
|
||||
public class EdgeStateDto()
|
||||
{
|
||||
public double StartX { get; set; }
|
||||
public double StartY { get; set; }
|
||||
public double EndX { get; set; }
|
||||
public double EndY { get; set; }
|
||||
public double ControlPoint1X { get; set; }
|
||||
public double ControlPoint1Y { get; set; }
|
||||
public double ControlPoint2X { get; set; }
|
||||
public double ControlPoint2Y { get; set; }
|
||||
public int Degree { get; set; }
|
||||
}
|
||||
|
|
@ -1,39 +0,0 @@
|
|||
using System.ComponentModel.DataAnnotations;
|
||||
|
||||
namespace RobotApp.Common.Shares.Dtos;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public record RobotPlcConfigDto
|
||||
{
|
||||
public Guid Id { get; set; }
|
||||
[Required]
|
||||
public string PLCAddress { get; set; }
|
||||
[Range(1, 65535, ErrorMessage = "Value must be from 1 to 65535")]
|
||||
public int PLCPort { get; set; }
|
||||
[Range(1, 65535, ErrorMessage = "Value must be from 1 to 65535")]
|
||||
public int PLCUnitId { get; set; }
|
||||
public DateTime CreatedAt { get; set; }
|
||||
public DateTime UpdatedAt { get; set; }
|
||||
public bool IsActive { get; set; }
|
||||
[Required]
|
||||
public string ConfigName { get; set; }
|
||||
public string Description { get; set; }
|
||||
}
|
||||
|
||||
public record UpdateRobotPlcConfigDto
|
||||
{
|
||||
public string Description { get; set; }
|
||||
public string PLCAddress { get; set; }
|
||||
public int PLCPort { get; set; }
|
||||
public int PLCUnitId { get; set; }
|
||||
}
|
||||
|
||||
public record CreateRobotPlcConfigDto
|
||||
{
|
||||
public string ConfigName { get; set; }
|
||||
public string Description { get; set; }
|
||||
public string PLCAddress { get; set; }
|
||||
public int PLCPort { get; set; }
|
||||
public int PLCUnitId { get; set; }
|
||||
}
|
||||
|
|
@ -1,54 +0,0 @@
|
|||
using System.ComponentModel.DataAnnotations;
|
||||
|
||||
namespace RobotApp.Common.Shares.Dtos;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public record RobotSafetyConfigDto
|
||||
{
|
||||
public Guid Id { get; set; }
|
||||
public double SafetySpeedVerySlow { get; set; }
|
||||
[Range(0, 10, ErrorMessage = "Value must be from 0 to 10")]
|
||||
public double SafetySpeedSlow { get; set; }
|
||||
[Range(0, 10, ErrorMessage = "Value must be from 0 to 10")]
|
||||
public double SafetySpeedNormal { get; set; }
|
||||
[Range(0, 10, ErrorMessage = "Value must be from 0 to 10")]
|
||||
public double SafetySpeedMedium { get; set; }
|
||||
[Range(0, 10, ErrorMessage = "Value must be from 0 to 10")]
|
||||
public double SafetySpeedOptimal { get; set; }
|
||||
[Range(0, 10, ErrorMessage = "Value must be from 0 to 10")]
|
||||
public double SafetySpeedFast { get; set; }
|
||||
[Range(0, 10, ErrorMessage = "Value must be from 0 to 10")]
|
||||
public double SafetySpeedVeryFast { get; set; }
|
||||
public DateTime CreatedAt { get; set; }
|
||||
public DateTime UpdatedAt { get; set; }
|
||||
public bool IsActive { get; set; }
|
||||
[Required]
|
||||
public string ConfigName { get; set; }
|
||||
public string Description { get; set; }
|
||||
}
|
||||
|
||||
public record UpdateRobotSafetyConfigDto
|
||||
{
|
||||
public double SafetySpeedVerySlow { get; set; }
|
||||
public double SafetySpeedSlow { get; set; }
|
||||
public double SafetySpeedNormal { get; set; }
|
||||
public double SafetySpeedMedium { get; set; }
|
||||
public double SafetySpeedOptimal { get; set; }
|
||||
public double SafetySpeedFast { get; set; }
|
||||
public double SafetySpeedVeryFast { get; set; }
|
||||
public string Description { get; set; }
|
||||
}
|
||||
|
||||
public record CreateRobotSafetyConfigDto
|
||||
{
|
||||
public double SafetySpeedVerySlow { get; set; }
|
||||
public double SafetySpeedSlow { get; set; }
|
||||
public double SafetySpeedNormal { get; set; }
|
||||
public double SafetySpeedMedium { get; set; }
|
||||
public double SafetySpeedOptimal { get; set; }
|
||||
public double SafetySpeedFast { get; set; }
|
||||
public double SafetySpeedVeryFast { get; set; }
|
||||
public string ConfigName { get; set; }
|
||||
public string Description { get; set; }
|
||||
}
|
||||
|
|
@ -1,46 +0,0 @@
|
|||
using System.ComponentModel.DataAnnotations;
|
||||
|
||||
namespace RobotApp.Common.Shares.Dtos;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public record RobotSimulationConfigDto
|
||||
{
|
||||
public Guid Id { get; set; }
|
||||
public bool EnableSimulation { get; set; }
|
||||
[Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
|
||||
public double SimulationMaxVelocity { get; set; }
|
||||
[Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
|
||||
public double SimulationMaxAngularVelocity { get; set; }
|
||||
[Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
|
||||
public double SimulationAcceleration { get; set; }
|
||||
[Range(0.1, 10, ErrorMessage = "Value must be from 0.1 to 10")]
|
||||
public double SimulationDeceleration { get; set; }
|
||||
public DateTime CreatedAt { get; set; }
|
||||
public DateTime UpdatedAt { get; set; }
|
||||
public bool IsActive { get; set; }
|
||||
[Required]
|
||||
public string ConfigName { get; set; }
|
||||
public string Description { get; set; }
|
||||
}
|
||||
|
||||
public record UpdateRobotSimulationConfigDto
|
||||
{
|
||||
public bool EnableSimulation { get; set; }
|
||||
public double SimulationMaxVelocity { get; set; }
|
||||
public double SimulationMaxAngularVelocity { get; set; }
|
||||
public double SimulationAcceleration { get; set; }
|
||||
public double SimulationDeceleration { get; set; }
|
||||
public string Description { get; set; }
|
||||
}
|
||||
|
||||
public record CreateRobotSimulationConfigDto
|
||||
{
|
||||
public bool EnableSimulation { get; set; }
|
||||
public double SimulationMaxVelocity { get; set; }
|
||||
public double SimulationMaxAngularVelocity { get; set; }
|
||||
public double SimulationAcceleration { get; set; }
|
||||
public double SimulationDeceleration { get; set; }
|
||||
public string ConfigName { get; set; }
|
||||
public string Description { get; set; }
|
||||
}
|
||||
|
|
@ -1,74 +0,0 @@
|
|||
using System.ComponentModel.DataAnnotations;
|
||||
|
||||
namespace RobotApp.Common.Shares.Dtos;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public record RobotVDA5050ConfigDto
|
||||
{
|
||||
public Guid Id { get; set; }
|
||||
[Required]
|
||||
public string SerialNumber { get; set; }
|
||||
[Required]
|
||||
public string VDA5050HostServer { get; set; }
|
||||
[Required]
|
||||
[Range(1, 65535, ErrorMessage = "Value must be from 1 to 65535")]
|
||||
public int VDA5050Port { get; set; }
|
||||
public string VDA5050UserName { get; set; }
|
||||
public string VDA5050Password { get; set; }
|
||||
public string VDA5050Manufacturer { get; set; }
|
||||
public string VDA5050Version { get; set; }
|
||||
public string VDA5050TopicPrefix { get; set; }
|
||||
[Range(1, 65535, ErrorMessage = "Value must be from 1 to 65535")]
|
||||
public int VDA5050PublishRepeat { get; set; }
|
||||
public bool VDA5050EnablePassword { get; set; }
|
||||
public bool VDA5050EnableTls { get; set; }
|
||||
public string VDA5050CA { get; set; }
|
||||
public string VDA5050Cer { get; set; }
|
||||
public string VDA5050Key { get; set; }
|
||||
public DateTime CreatedAt { get; set; }
|
||||
public DateTime UpdatedAt { get; set; }
|
||||
public bool IsActive { get; set; }
|
||||
[Required]
|
||||
public string ConfigName { get; set; }
|
||||
public string Description { get; set; }
|
||||
}
|
||||
|
||||
public record UpdateRobotVDA5050ConfigDto
|
||||
{
|
||||
public string SerialNumber { get; set; }
|
||||
public string VDA5050HostServer { get; set; }
|
||||
public int VDA5050Port { get; set; }
|
||||
public string VDA5050UserName { get; set; }
|
||||
public string VDA5050Password { get; set; }
|
||||
public string VDA5050Manufacturer { get; set; }
|
||||
public string VDA5050Version { get; set; }
|
||||
public string VDA5050TopicPrefix { get; set; }
|
||||
public int VDA5050PublishRepeat { get; set; }
|
||||
public bool VDA5050EnablePassword { get; set; }
|
||||
public bool VDA5050EnableTls { get; set; }
|
||||
public string VDA5050CA { get; set; }
|
||||
public string VDA5050Cer { get; set; }
|
||||
public string VDA5050Key { get; set; }
|
||||
public string Description { get; set; }
|
||||
}
|
||||
|
||||
public record CreateRobotVDA5050ConfigDto
|
||||
{
|
||||
public string SerialNumber { get; set; }
|
||||
public string VDA5050HostServer { get; set; }
|
||||
public int VDA5050Port { get; set; }
|
||||
public string VDA5050UserName { get; set; }
|
||||
public string VDA5050Password { get; set; }
|
||||
public string VDA5050Manufacturer { get; set; }
|
||||
public string VDA5050Version { get; set; }
|
||||
public string VDA5050TopicPrefix { get; set; }
|
||||
public int VDA5050PublishRepeat { get; set; }
|
||||
public bool VDA5050EnablePassword { get; set; }
|
||||
public bool VDA5050EnableTls { get; set; }
|
||||
public string VDA5050CA { get; set; }
|
||||
public string VDA5050Cer { get; set; }
|
||||
public string VDA5050Key { get; set; }
|
||||
public string ConfigName { get; set; }
|
||||
public string Description { get; set; }
|
||||
}
|
||||
|
|
@ -1,7 +0,0 @@
|
|||
namespace RobotApp.Common.Shares.Enums;
|
||||
|
||||
public enum NavigationType
|
||||
{
|
||||
Differential,
|
||||
Forklift,
|
||||
}
|
||||
|
|
@ -1,10 +0,0 @@
|
|||
namespace RobotApp.Common.Shares.Enums;
|
||||
|
||||
public enum RobotConfigType
|
||||
{
|
||||
VDA5050,
|
||||
Core,
|
||||
Safety ,
|
||||
Simulation,
|
||||
PLC,
|
||||
}
|
||||
|
|
@ -1,7 +0,0 @@
|
|||
namespace RobotApp.Common.Shares.Enums;
|
||||
|
||||
public enum RobotDirection
|
||||
{
|
||||
FORWARD,
|
||||
BACKWARD,
|
||||
}
|
||||
|
|
@ -1,94 +0,0 @@
|
|||
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,
|
||||
Bumber,
|
||||
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,
|
||||
}
|
||||
|
|
@ -1,8 +0,0 @@
|
|||
namespace RobotApp.Common.Shares.Enums;
|
||||
|
||||
public enum TrajectoryDegree
|
||||
{
|
||||
One,
|
||||
Two,
|
||||
Three,
|
||||
}
|
||||
|
|
@ -1,18 +0,0 @@
|
|||
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,
|
||||
};
|
||||
}
|
||||
|
|
@ -1,110 +0,0 @@
|
|||
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);
|
||||
}
|
||||
|
||||
public static double Distance(double x1, double y1, double x2, double y2)
|
||||
{
|
||||
return Math.Sqrt(Math.Pow(x2 - x1, 2) + Math.Pow(y2 - y1, 2));
|
||||
}
|
||||
}
|
||||
|
|
@ -1,8 +0,0 @@
|
|||
namespace RobotApp.Common.Shares;
|
||||
|
||||
public record MessageResult(bool IsSuccess, string Message = "");
|
||||
|
||||
public record MessageResult<T>(bool IsSuccess, string Message = "")
|
||||
{
|
||||
public T? Data { get; set; }
|
||||
}
|
||||
|
|
@ -1,16 +0,0 @@
|
|||
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; }
|
||||
}
|
||||
|
|
@ -1,13 +0,0 @@
|
|||
<Project Sdk="Microsoft.NET.Sdk">
|
||||
|
||||
<PropertyGroup>
|
||||
<TargetFramework>net10.0</TargetFramework>
|
||||
<ImplicitUsings>enable</ImplicitUsings>
|
||||
<Nullable>enable</Nullable>
|
||||
</PropertyGroup>
|
||||
|
||||
<ItemGroup>
|
||||
<ProjectReference Include="..\RobotApp.VDA5050\RobotApp.VDA5050.csproj" />
|
||||
</ItemGroup>
|
||||
|
||||
</Project>
|
||||
|
|
@ -2,6 +2,8 @@
|
|||
|
||||
namespace RobotApp.VDA5050.Factsheet;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public enum ValueDataType
|
||||
{
|
||||
BOOL,
|
||||
|
|
@ -15,9 +17,9 @@ public enum ValueDataType
|
|||
public class ActionParameters
|
||||
{
|
||||
[Required]
|
||||
public string Key { get; set; } = string.Empty;
|
||||
public string Key { get; set; }
|
||||
[Required]
|
||||
public string ValueDataType { get; set; } = string.Empty;
|
||||
public string Description { get; set; } = string.Empty;
|
||||
public string ValueDataType { get; set; }
|
||||
public string Description { get; set; }
|
||||
public bool IsOptional { get; set; }
|
||||
}
|
||||
|
|
|
|||
|
|
@ -2,6 +2,7 @@
|
|||
|
||||
namespace RobotApp.VDA5050.Factsheet;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public enum ActionScopes
|
||||
{
|
||||
|
|
@ -9,15 +10,14 @@ public enum ActionScopes
|
|||
NODE,
|
||||
EDGE,
|
||||
}
|
||||
|
||||
public class AgvAction
|
||||
public class AgvActions
|
||||
{
|
||||
[Required]
|
||||
public string ActionType { get; set; } = string.Empty;
|
||||
public string ActionDescription { get; set; } = string.Empty;
|
||||
public string ActionType { get; set; }
|
||||
public string ActionDescription { get; set; }
|
||||
[Required]
|
||||
public string[] ActionScopes { get; set; } = [];
|
||||
public ActionParameters[] ActionParameters { get; set; } = [];
|
||||
public string ResultDescription { get; set; } = string.Empty;
|
||||
public string[] BlockingTypes { get; set; } = [];
|
||||
public string[] ActionScopes { get; set; }
|
||||
public ActionParameters[] ActionParameters { get; set; }
|
||||
public string ResultDescription { get; set; }
|
||||
public string[] BlockingTypes { get; set; }
|
||||
}
|
||||
|
|
|
|||
|
|
@ -2,10 +2,11 @@
|
|||
|
||||
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; }
|
||||
}
|
||||
|
|
|
|||
|
|
@ -2,6 +2,8 @@
|
|||
|
||||
namespace RobotApp.VDA5050.Factsheet;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public class PolygonPoints
|
||||
{
|
||||
[Required]
|
||||
|
|
@ -12,8 +14,8 @@ public class PolygonPoints
|
|||
public class Envelopes2d
|
||||
{
|
||||
[Required]
|
||||
public string Set { get; set; } = string.Empty;
|
||||
public string Set { get; set; }
|
||||
[Required]
|
||||
public PolygonPoints[] PolygonPoints { get; set; } = [];
|
||||
public string Description { get; set; } = string.Empty;
|
||||
public PolygonPoints[] PolygonPoints { get; set; }
|
||||
public string Description { get; set; }
|
||||
}
|
||||
|
|
|
|||
|
|
@ -2,13 +2,15 @@
|
|||
|
||||
namespace RobotApp.VDA5050.Factsheet;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public class Envelopes3d
|
||||
{
|
||||
[Required]
|
||||
public string Set { get; set; } = string.Empty;
|
||||
public string Set { get; set; }
|
||||
[Required]
|
||||
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;
|
||||
public string Format { get; set; }
|
||||
public object Data { get; set; }
|
||||
public string Url { get; set; }
|
||||
public string Description { get; set; }
|
||||
}
|
||||
|
|
|
|||
|
|
@ -2,27 +2,29 @@
|
|||
|
||||
namespace RobotApp.VDA5050.Factsheet;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public class FactSheetMsg
|
||||
{
|
||||
public uint HeaderId { get; set; } = 1;
|
||||
public string Timestamp { get; set; } = DateTime.Now.ToString("yyyy-MM-ddTHH:mm:ss.fffZ");
|
||||
public uint HeaderId { get; set; }
|
||||
public string Timestamp { get; set; }
|
||||
[Required]
|
||||
public string Version { get; set; } = "1.0.0";
|
||||
public string Version { get; set; }
|
||||
[Required]
|
||||
public string Manufacturer { get; set; } = "PhenikaaX";
|
||||
public string Manufacturer { get; set; }
|
||||
[Required]
|
||||
public string SerialNumber { get; set; } = string.Empty;
|
||||
public string SerialNumber { get; set; }
|
||||
[Required]
|
||||
public TypeSpecification TypeSpecification { get; set; } = new();
|
||||
public TypeSpecification TypeSpecification { get; set; }
|
||||
[Required]
|
||||
public PhysicalParameters PhysicalParameters { get; set; } = new();
|
||||
public PhysicalParameters PhysicalParameters { get; set; }
|
||||
[Required]
|
||||
public ProtocolLimits ProtocolLimits { get; set; } = new();
|
||||
public ProtocolLimits ProtocolLimits { get; set; }
|
||||
[Required]
|
||||
public ProtocolFeatures ProtocolFeatures { get; set; } = new();
|
||||
public ProtocolFeatures ProtocolFeatures { get; set; }
|
||||
[Required]
|
||||
public AgvGeometry AgvGeometry { get; set; } = new();
|
||||
public AgvGeometry AgvGeometry { get; set; }
|
||||
[Required]
|
||||
public LoadSpecification LoadSpecification { get; set; } = new();
|
||||
public LoadSpecification LoadSpecification { get; set; }
|
||||
//public LocalizationParameter LocalizationParameters { get; set; }
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,12 +1,14 @@
|
|||
namespace RobotApp.VDA5050.Factsheet;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public class LoadSets
|
||||
{
|
||||
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 string SetName { get; set; }
|
||||
public string LoadType { get; set; }
|
||||
public string[] LoadPositions { get; set; }
|
||||
public BoundingBoxReference BoundingBoxReference { get; set; }
|
||||
public LoadDimensions LoadDimensions { get; set; }
|
||||
public double MaxWeigth { get; set; }
|
||||
public double MinLoadhandlingHeight { get; set; }
|
||||
public double MaxLoadhandlingHeight { get; set; }
|
||||
|
|
@ -19,6 +21,6 @@ public class LoadSets
|
|||
public double AgvDecelerationLimit { get; set; }
|
||||
public double PickTime { get; set; }
|
||||
public double DropTime { get; set; }
|
||||
public string Description { get; set; } = string.Empty;
|
||||
public string Description { get; set; }
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,8 +1,9 @@
|
|||
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; }
|
||||
}
|
||||
|
|
|
|||
|
|
@ -2,6 +2,7 @@
|
|||
|
||||
namespace RobotApp.VDA5050.Factsheet;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public enum Support
|
||||
{
|
||||
|
|
@ -11,8 +12,8 @@ public enum Support
|
|||
public class OptionalParameters
|
||||
{
|
||||
[Required]
|
||||
public string Parameter { get; set; } = string.Empty;
|
||||
public string Parameter { get; set; }
|
||||
[Required]
|
||||
public string Support { get; set; } = string.Empty;
|
||||
public string Description { get; set; } = string.Empty;
|
||||
public string Support { get; set; }
|
||||
public string Description { get; set; }
|
||||
}
|
||||
|
|
|
|||
|
|
@ -2,11 +2,12 @@
|
|||
|
||||
namespace RobotApp.VDA5050.Factsheet;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public class ProtocolFeatures
|
||||
{
|
||||
[Required]
|
||||
public OptionalParameters[] OptionalParameters { get; set; } = [];
|
||||
public OptionalParameters[] OptionalParameters { get; set; }
|
||||
[Required]
|
||||
public AgvAction[] AgvActions { get; set; } = [];
|
||||
public AgvActions[] AgvActions { get; set; }
|
||||
}
|
||||
|
|
|
|||
|
|
@ -2,12 +2,13 @@
|
|||
|
||||
namespace RobotApp.VDA5050.Factsheet;
|
||||
|
||||
#nullable disable
|
||||
public class ProtocolLimits
|
||||
{
|
||||
[Required]
|
||||
public MaxStringLens MaxStringLens { get; set; } = new();
|
||||
public MaxStringLens MaxStringLens { get; set; }
|
||||
[Required]
|
||||
public MaxArrayLens MaxArrayLens { get; set; } = new();
|
||||
public MaxArrayLens MaxArrayLens { get; set; }
|
||||
[Required]
|
||||
public Timing Timing { get; set; } = new();
|
||||
public Timing Timing { get; set; }
|
||||
}
|
||||
|
|
|
|||
|
|
@ -2,6 +2,8 @@
|
|||
|
||||
namespace RobotApp.VDA5050.Factsheet;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public enum AgvKinematic
|
||||
{
|
||||
DIFF,
|
||||
|
|
@ -33,12 +35,12 @@ public enum NavigationTypes
|
|||
public class TypeSpecification
|
||||
{
|
||||
[Required]
|
||||
public string SeriesName { get; set; } = string.Empty;
|
||||
public string SeriesDescription { get; set; } = string.Empty;
|
||||
public string SeriesName { get; set; }
|
||||
public string SeriesDescription { get; set; }
|
||||
[Required]
|
||||
public string AgvKinematic { get; set; } = string.Empty;
|
||||
public string AgvKinematic { get; set; }
|
||||
[Required]
|
||||
public string AgvClass { get; set; } = string.Empty;
|
||||
public string AgvClass { get; set; }
|
||||
[Required]
|
||||
public double MaxLoadMass { get; set; }
|
||||
[Required]
|
||||
|
|
|
|||
|
|
@ -2,6 +2,8 @@
|
|||
|
||||
namespace RobotApp.VDA5050.Factsheet;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public enum WheelDefinitionsType
|
||||
{
|
||||
DRIVE,
|
||||
|
|
@ -9,7 +11,6 @@ public enum WheelDefinitionsType
|
|||
FIXED,
|
||||
MECANUM,
|
||||
}
|
||||
|
||||
public class WheelDefinitionsPosition
|
||||
{
|
||||
[Required]
|
||||
|
|
@ -22,17 +23,17 @@ public class WheelDefinitionsPosition
|
|||
public class WheelDefinitions
|
||||
{
|
||||
[Required]
|
||||
public string Type { get; set; } = string.Empty;
|
||||
public string Type { get; set; }
|
||||
[Required]
|
||||
public bool IsActiveDriven { get; set; }
|
||||
[Required]
|
||||
public bool IsActiveSteered { get; set; }
|
||||
[Required]
|
||||
public WheelDefinitionsPosition Position { get; set; } = new();
|
||||
public WheelDefinitionsPosition Position { get; set; }
|
||||
[Required]
|
||||
public double Diameter { get; set; }
|
||||
[Required]
|
||||
public double Width { get; set; }
|
||||
public double CenterDisplacement { get; set; }
|
||||
public string Constraints { get; set; } = string.Empty;
|
||||
public string Constraints { get; set; }
|
||||
}
|
||||
|
|
|
|||
9
RobotApp.VDA5050/FactsheetExtend/Battery.cs
Normal file
9
RobotApp.VDA5050/FactsheetExtend/Battery.cs
Normal file
|
|
@ -0,0 +1,9 @@
|
|||
namespace RobotApp.VDA5050.FactsheetExtend;
|
||||
|
||||
public class Battery
|
||||
{
|
||||
public uint Battery_low { get; set; }
|
||||
public uint Battery_normal { get; set; }
|
||||
public uint Battery_good { get; set; }
|
||||
public uint Battery_full { get; set; }
|
||||
}
|
||||
11
RobotApp.VDA5050/FactsheetExtend/BatteryThreshold.cs
Normal file
11
RobotApp.VDA5050/FactsheetExtend/BatteryThreshold.cs
Normal file
|
|
@ -0,0 +1,11 @@
|
|||
namespace RobotApp.VDA5050.FactsheetExtend;
|
||||
|
||||
public enum BatteryThreshold
|
||||
{
|
||||
LOW,
|
||||
NORMAL,
|
||||
MIDDLE,
|
||||
GOOD,
|
||||
FULL,
|
||||
NONE
|
||||
}
|
||||
31
RobotApp.VDA5050/FactsheetExtend/CameraSafety.cs
Normal file
31
RobotApp.VDA5050/FactsheetExtend/CameraSafety.cs
Normal file
|
|
@ -0,0 +1,31 @@
|
|||
namespace RobotApp.VDA5050.FactsheetExtend;
|
||||
|
||||
public class CameraSafety
|
||||
{
|
||||
public double Pass_through_x_min { get; set; }
|
||||
public double Pass_through_x_max { get; set; }
|
||||
public double Pass_through_y_min { get; set; }
|
||||
public double Pass_through_y_max { get; set; }
|
||||
public double Pass_through_z_min { get; set; }
|
||||
public double Pass_through_z_max { get; set; }
|
||||
public uint Ground_seg_max_iterations { get; set; }
|
||||
public double Ground_seg_distance_threshold { get; set; }
|
||||
public double Warn_z1 { get; set; }
|
||||
public double Protect_z1 { get; set; }
|
||||
public double Warn_z2 { get; set; }
|
||||
public double Protect_z2 { get; set; }
|
||||
public double Warn_z3 { get; set; }
|
||||
public double Protect_z3 { get; set; }
|
||||
public double Warn_z4 { get; set; }
|
||||
public double Protect_z4 { get; set; }
|
||||
public double Warn_z5 { get; set; }
|
||||
public double Protect_z5 { get; set; }
|
||||
public double Warn_z6 { get; set; }
|
||||
public double Protect_z6 { get; set; }
|
||||
public uint Min_cluster_warn_size { get; set; }
|
||||
public uint Min_cluster_protect_size { get; set; }
|
||||
public uint Min_cluster_detect_size { get; set; }
|
||||
public uint Min_consecutive_warn_count { get; set; }
|
||||
public uint Min_consecutive_protect_count { get; set; }
|
||||
public uint Min_consecutive_detect_count { get; set; }
|
||||
}
|
||||
9
RobotApp.VDA5050/FactsheetExtend/ChargerParam.cs
Normal file
9
RobotApp.VDA5050/FactsheetExtend/ChargerParam.cs
Normal file
|
|
@ -0,0 +1,9 @@
|
|||
namespace RobotApp.VDA5050.FactsheetExtend;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public class ChargerParam
|
||||
{
|
||||
public string Charger_ip { get; set; }
|
||||
public uint Charger_port { get; set; }
|
||||
}
|
||||
19
RobotApp.VDA5050/FactsheetExtend/FactsheetExtendMsg.cs
Normal file
19
RobotApp.VDA5050/FactsheetExtend/FactsheetExtendMsg.cs
Normal file
|
|
@ -0,0 +1,19 @@
|
|||
namespace RobotApp.VDA5050.FactsheetExtend;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public class FactsheetExtendMsg
|
||||
{
|
||||
public uint HeaderId { get; set; }
|
||||
public DateTime Timestamp { get; set; }
|
||||
public string Version { get; set; }
|
||||
public string Manufacturer { get; set; }
|
||||
public string SerialNumber { get; set; }
|
||||
|
||||
public ServerParam Server_param { get; set; }
|
||||
public RobotParam Robot_param { get; set; }
|
||||
public Localization Localization { get; set; }
|
||||
public Navigation Navigation { get; set; }
|
||||
public Safety Safety { get; set; }
|
||||
public ChargerParam Charger_param { get; set; }
|
||||
}
|
||||
9
RobotApp.VDA5050/FactsheetExtend/ForkSafety.cs
Normal file
9
RobotApp.VDA5050/FactsheetExtend/ForkSafety.cs
Normal file
|
|
@ -0,0 +1,9 @@
|
|||
namespace RobotApp.VDA5050.FactsheetExtend;
|
||||
|
||||
public class ForkSafety
|
||||
{
|
||||
public double Muted_field_size { get; set; }
|
||||
public double Protected_field_size { get; set; }
|
||||
public double Warning_field_size { get; set; }
|
||||
public double Detect_field_size { get; set; }
|
||||
}
|
||||
9
RobotApp.VDA5050/FactsheetExtend/Initpose.cs
Normal file
9
RobotApp.VDA5050/FactsheetExtend/Initpose.cs
Normal file
|
|
@ -0,0 +1,9 @@
|
|||
namespace RobotApp.VDA5050.FactsheetExtend;
|
||||
|
||||
public class Initpose
|
||||
{
|
||||
public bool Use_manual_initpose { get; set; }
|
||||
public double Initpose_x { get; set; }
|
||||
public double Initpose_y { get; set; }
|
||||
public double Initpose_yaw { get; set; }
|
||||
}
|
||||
10
RobotApp.VDA5050/FactsheetExtend/LineSegment.cs
Normal file
10
RobotApp.VDA5050/FactsheetExtend/LineSegment.cs
Normal file
|
|
@ -0,0 +1,10 @@
|
|||
namespace RobotApp.VDA5050.FactsheetExtend;
|
||||
|
||||
public class LineSegment
|
||||
{
|
||||
public double Least_thresh { get; set; }
|
||||
public double Min_line_length { get; set; }
|
||||
public double Predict_distance { get; set; }
|
||||
public uint Seed_line_points { get; set; }
|
||||
public uint Min_line_points { get; set; }
|
||||
}
|
||||
14
RobotApp.VDA5050/FactsheetExtend/Localization.cs
Normal file
14
RobotApp.VDA5050/FactsheetExtend/Localization.cs
Normal file
|
|
@ -0,0 +1,14 @@
|
|||
namespace RobotApp.VDA5050.FactsheetExtend;
|
||||
|
||||
#nullable disable
|
||||
|
||||
public class Localization
|
||||
{
|
||||
public uint Threshold_quality_loc { get; set; }
|
||||
public bool Use_localization_marker { get; set; }
|
||||
public bool Use_pallet_detection { get; set; }
|
||||
public Initpose Initpose { get; set; }
|
||||
public Xloc Xloc { get; set; }
|
||||
public VlMarker Vl_marker { get; set; }
|
||||
|
||||
}
|
||||
9
RobotApp.VDA5050/FactsheetExtend/Motor.cs
Normal file
9
RobotApp.VDA5050/FactsheetExtend/Motor.cs
Normal file
|
|
@ -0,0 +1,9 @@
|
|||
namespace RobotApp.VDA5050.FactsheetExtend;
|
||||
|
||||
public class Motor
|
||||
{
|
||||
public double OdomEncSteeringAngleOffset { get; set; }
|
||||
public double Steering_fix_wheel_distance_x { get; set; }
|
||||
public double Steering_fix_wheel_distance_y { get; set; }
|
||||
public double WheelAcceleration { get; set; }
|
||||
}
|
||||
11
RobotApp.VDA5050/FactsheetExtend/Navigation.cs
Normal file
11
RobotApp.VDA5050/FactsheetExtend/Navigation.cs
Normal file
|
|
@ -0,0 +1,11 @@
|
|||
namespace RobotApp.VDA5050.FactsheetExtend;
|
||||
|
||||
#nullable disable
|
||||
public class Navigation
|
||||
{
|
||||
public bool Using_control_safety { get; set; }
|
||||
public uint Control_rate { get; set; }
|
||||
public Rotate Rotate { get; set; }
|
||||
public PTA Pta { get; set; }
|
||||
public PPA Ppa { get; set; }
|
||||
}
|
||||
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue
Block a user