RobotApp/RobotApp.Client/Pages/Components/Mapping/MapView.razor

@inject IJSRuntime JS
@using Excubo.Blazor.Canvas.Contexts

<div class="view">
    <div class="toolbar">
        <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="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-restore icon-button"></i>
            </button>
        </MudTooltip>
        <div class="ms-auto d-flex align-items-center">
            <div class="zoom-info-container">
                <small class="zoom-info">
                    <span class="info-item">
                        <i class="mdi mdi-magnify"></i>
                        Zoom: @($"{ZoomScale:F2}x")
                    </span>
                    <span class="info-separator">|</span>
                    <span class="info-item">
                        <i class="mdi mdi-crosshairs-gps"></i>
                        Mouse: (@($"{MouseX:F0}"), @($"{MouseY:F0}"))
                    </span>
                    <span class="info-separator">|</span>
                    <span class="info-item">
                        <i class="mdi mdi-map-marker"></i>
                        World: (@($"{WorldMouseX:F2}m"), @($"{WorldMouseY:F2}m"))
                    </span>
                    <span class="info-separator">|</span>
                    <span class="info-item">
                        <i class="mdi mdi-map-marker"></i>
                        Translate: (@($"{CanvasTranslateX:F2}"), @($"{CanvasTranslateY:F2}"))
                    </span>
                </small>
            </div>
        </div>
    </div>
    <div @ref="ViewContainerRef" class="d-flex position-relative w-100 flex-grow-1 overflow-hidden">
        <canvas @ref="CanvasRef"
                @onwheel="HandleWheel"
                @onwheel:preventDefault="true"
                @onmousemove="HandleMouseMove"
                @onmouseleave="HandleMouseLeave"
                style="display: block; cursor: crosshair; transform: scale(1, -1)"></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;

    protected override async Task OnAfterRenderAsync(bool first_render)
    {
        await base.OnAfterRenderAsync(first_render);
        if (!first_render) return;

        var parentSize = await JS.InvokeAsync<DomRect>("getElementSize", ViewContainerRef);

        CanvasWidth = parentSize.Width;
        CanvasHeight = parentSize.Height;

        await JS.InvokeVoidAsync("setCanvasSize", CanvasRef, CanvasWidth, CanvasHeight);

        CanvasTranslateX = CanvasWidth / 2;
        CanvasTranslateY = CanvasHeight / 2;

        await DrawCanvas();
    }

    private async Task DrawCanvas()
    {
        await using var ctx = await JS.GetContext2DAsync(CanvasRef);

        await ctx.ClearRectAsync(0, 0, CanvasWidth, CanvasHeight);

        // Draw rulers first (outside transform)
        await DrawRulers(ctx);

        await ctx.SaveAsync();

        await ctx.TranslateAsync(CanvasTranslateX, CanvasTranslateY);
        await ctx.ScaleAsync(ZoomScale, ZoomScale);

        await DrawGrid(ctx);
        await DrawAxes(ctx);

        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 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 string FormatRulerLabel(double worldValue, double scaleInterval)
    {
        if (scaleInterval < 1.0)
        {
            return $"{worldValue:F1}m"; 
        }
        else if (scaleInterval < 10.0)
        {
            return $"{worldValue:F0}m"; 
        }
        else
        {
            return $"{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, 10 / ZoomScale, 0, Math.PI * 2);
        await ctx.FillAsync(FillRule.NonZero);

        await ctx.LineWidthAsync(2 / ZoomScale);

        await ctx.StrokeStyleAsync("blue");
        await ctx.BeginPathAsync();
        await ctx.MoveToAsync(-CanvasWidth / ZoomScale, originCanvasY);
        await ctx.LineToAsync(CanvasWidth / ZoomScale, originCanvasY);
        await ctx.StrokeAsync();

        await ctx.StrokeStyleAsync("red");
        await ctx.BeginPathAsync();
        await ctx.MoveToAsync(originCanvasX, -CanvasHeight / ZoomScale);
        await ctx.LineToAsync(originCanvasX, CanvasHeight / ZoomScale);
        await ctx.StrokeAsync();

        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, originCanvasY);
        await ctx.StrokeAsync();

        await ctx.BeginPathAsync();
        await ctx.MoveToAsync(originCanvasX + arrowLength, originCanvasY);
        await ctx.LineToAsync(originCanvasX + arrowLength - arrowHeadSize, originCanvasY - arrowHeadSize / 2);
        await ctx.LineToAsync(originCanvasX + arrowLength - arrowHeadSize, originCanvasY + 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);
        await ctx.StrokeAsync();

        await ctx.BeginPathAsync();
        await ctx.MoveToAsync(originCanvasX, originCanvasY + arrowLength);
        await ctx.LineToAsync(originCanvasX - arrowHeadSize / 2, originCanvasY + arrowLength - arrowHeadSize);
        await ctx.LineToAsync(originCanvasX + arrowHeadSize / 2, originCanvasY + arrowLength - 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(new double[] { 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(new double[] { });
    }

    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 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;
    }

    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 ResetView()
    {
        CanvasTranslateX = CanvasWidth / 2;
        CanvasTranslateY = CanvasHeight / 2;
        ZoomScale = 1.0;
        StateHasChanged();
        await DrawCanvas();
    }

    public class DomRect
    {
        public double Width { get; set; }
        public double Height { get; set; }
    }
}