RobotApp/RobotApp.Client/Services/UiEdge.cs

using RobotApp.VDA5050.InstantAction;
using RobotApp.VDA5050.Order;
using System.Text.Json.Serialization;

namespace RobotApp.Client.Services;

// ======================================================
// EDGE UI
// ======================================================
public class UiEdge : VDA5050.Order.Edge
{
    public double Radius { get; set; } = 0.0;
    public Quadrant Quadrant { get; set; } = Quadrant.I;

    // Đánh dấu đã expand chưa
    public bool Expanded { get; set; } = false;
}

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; } = Guid.NewGuid().ToString();
    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 object ToSchemaObject()
    {
        int seq = 0;

        return new
        {
            headerId = HeaderId++,

            timestamp = string.IsNullOrWhiteSpace(Timestamp)
                ? DateTime.UtcNow.ToString("O")
                : Timestamp,

            version = Version,
            manufacturer = Manufacturer,
            serialNumber = SerialNumber,
            orderId = OrderId,
            orderUpdateId = OrderUpdateId,

            zoneSetId = string.IsNullOrWhiteSpace(ZoneSetId)
                ? null
                : ZoneSetId,

            // ================= NODES =================
            nodes = Nodes.Select(n => new
            {
                nodeId = n.NodeId,
                sequenceId = seq++,
                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 != null
                        ? a.ActionParameters
                            .Select(p => new { key = p.Key, value = p.Value })
                            .ToArray()
                        : Array.Empty<object>()
                }).ToArray()
            }).ToArray(),

            // ================= EDGES =================
            edges = Edges.Select<UiEdge, object>(e =>
            {
                // ---------- ĐƯỜNG THẲNG ----------
                if (e.Radius <= 0)
                {
                    return new
                    {
                        edgeId = e.EdgeId,
                        sequenceId = seq++,
                        released = true,
                        startNodeId = e.StartNodeId,
                        endNodeId = e.EndNodeId,
                        actions = Array.Empty<object>()
                    };
                }

                // ---------- ĐƯỜNG CONG 1/4 ----------
                var startNode = Nodes.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
                {
                    edgeId = e.EdgeId,
                    sequenceId = seq++,
                    released = true,

                    startNodeId = e.StartNodeId,
                    endNodeId = e.EndNodeId,

                    trajectory = result.Trajectory,
                    actions = Array.Empty<object>()
                };
            }).ToArray()
        };
    }
}

// ======================================================
// UI ACTION PARAM
// ======================================================
public class UiActionParameter : ActionParameter
{
    [JsonIgnore]
    public string ValueString
    {
        get => Value?.ToString() ?? "";
        set => Value = value;
    }
}