351 lines
11 KiB
Plaintext
351 lines
11 KiB
Plaintext
@page "/robot-order"
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@rendermode InteractiveWebAssemblyNoPrerender
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@using System.Text.Json
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@using System.Text.Json.Serialization
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@inject IJSRuntime JS
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@inject IDialogService DialogService
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@inject HttpClient Http
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@inject ISnackbar Snackbar
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<MudMainContent Class="pa-0 ma-0">
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<div style="height:100vh; overflow:hidden;">
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<MudContainer MaxWidth="MaxWidth.False"
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Class="pa-4"
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Style="max-width:100%; height:100%; display:flex; flex-direction:column;">
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<MudGrid Spacing="4" Class="flex-grow-1" Style="overflow:hidden;">
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<!-- ================= LEFT ================= -->
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<MudItem xs="12" md="7" Class="d-flex flex-column h-100" Style="gap:16px;">
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<MudGrid Spacing="4" Class="flex-grow-1" Style="overflow:hidden;">
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<MudItem xs="12" md="6" Class="h-100">
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<NodesPanel Order="Order"
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OnAddNode="AddNode"
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OnRemoveNode="RemoveNode"
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OnEditNode="OpenEditNodeDialog"
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OnAddAction="AddAction"
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OnRemoveAction="@(w => RemoveAction(w.Node, w.Action))"
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OnAddActionParameter="AddActionParameter"
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OnRemoveActionParameter="@(w => RemoveActionParameter(w.Action, w.Parameter))"
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OnOrderChanged="OnOrderChanged" />
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</MudItem>
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<MudItem xs="12" md="6" Class="h-100">
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<EdgesPanel Order="Order"
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OnAddEdge="AddEdge"
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OnRemoveEdge="RemoveEdge"
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OnApplyCurve="ApplyCurve"
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OnOrderChanged="OnOrderChanged" />
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</MudItem>
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</MudGrid>
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</MudItem>
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<!-- ================= RIGHT ================= -->
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<MudItem xs="12" md="5" Class="h-100">
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<JsonOutputPanel @bind-OrderJson="@OrderJson"
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Copied="@copied"
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SendSuccess="@sendSuccess"
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CancelSuccess="@cancelSuccess"
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OnCopy="CopyJsonToClipboard"
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OnSend="SendOrderToServer"
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OnImport="OpenImportDialog"
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OnCancel="CancelOrder" />
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</MudItem>
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</MudGrid>
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</MudContainer>
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</div>
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</MudMainContent>
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@code {
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// ================= STATE =================
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private OrderMessage Order { get; set; } = new();
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private string OrderJson = ""; // 🔥 CACHE JSON (QUAN TRỌNG)
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private bool copied;
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private bool? sendSuccess;
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private bool? cancelSuccess;
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private CancellationTokenSource? _copyCts;
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// ================= INIT =================
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protected override void OnInitialized()
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{
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RebuildOrderJson();
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}
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// ================= CORE FIX =================
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private void RebuildOrderJson()
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{
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OrderJson = JsonSerializer.Serialize(
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Order.ToSchemaObject(),
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new JsonSerializerOptions
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{
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WriteIndented = true,
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DefaultIgnoreCondition = JsonIgnoreCondition.WhenWritingNull
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});
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}
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private async Task OpenImportDialog()
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{
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var dialog = await DialogService.ShowAsync<ImportOrderDialog>(
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"Import Order JSON",
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new DialogOptions
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{
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FullWidth = true,
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MaxWidth = MaxWidth.Large
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});
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var result = await dialog.Result;
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if (!result.Canceled && result.Data is OrderMessage imported)
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{
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Order = imported;
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RebuildOrderJson();
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StateHasChanged();
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}
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}
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private void OnOrderChanged()
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{
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RebuildOrderJson(); // 🔥 JSON luôn rebuild
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StateHasChanged(); // 🔥 ép render
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}
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// ================= NODE =================
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void AddNode()
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{
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Order.Nodes.Add(new Node
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{
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NodeId = $"NODE_{Order.Nodes.Count + 1}",
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SequenceId = Order.Nodes.Count,
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Released = true,
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NodePosition = new VDA5050.Order.NodePosition { MapId = "MAP_01" }
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});
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}
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void RemoveNode(Node node)
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{
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Order.Nodes.Remove(node);
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Order.Edges.RemoveAll(e => e.StartNodeId == node.NodeId || e.EndNodeId == node.NodeId);
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ResequenceNodes();
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}
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void ResequenceNodes()
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{
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for (int i = 0; i < Order.Nodes.Count; i++)
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Order.Nodes[i].SequenceId = i;
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}
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// ================= EDGE =================
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void AddEdge()
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{
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if (Order.Nodes.Count == 0)
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return;
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var start = Order.Nodes[0].NodeId;
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var end = Order.Nodes.Count > 1
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? Order.Nodes[1].NodeId
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: start; // 👈 1 node thì start = end
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Order.Edges.Add(new UiEdge
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{
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EdgeId = $"EDGE_{Order.Edges.Count + 1}",
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StartNodeId = start,
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EndNodeId = end
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});
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}
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void RemoveEdge(UiEdge edge)
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{
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Order.Edges.Remove(edge);
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}
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void ApplyCurve(UiEdge edge)
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{
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if (edge.Radius <= 0 || edge.Expanded) return;
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var startNode = Order.Nodes.First(n => n.NodeId == edge.StartNodeId);
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var newNode = OrderMessage.CreateCurveNode(startNode, edge);
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Order.Nodes.Add(newNode);
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edge.EndNodeId = newNode.NodeId;
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edge.MarkExpanded(); // ✅
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ResequenceNodes();
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}
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// ================= ACTION =================
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void AddAction(Node node)
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{
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var list = node.Actions?.ToList() ?? new();
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list.Add(new VDA5050.InstantAction.Action
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{
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ActionId = Guid.NewGuid().ToString(),
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ActionType = ActionType.startPause.ToString(),
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BlockingType = "NONE",
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ActionParameters = Array.Empty<ActionParameter>()
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});
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node.Actions = list.ToArray();
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}
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void RemoveAction(Node node, VDA5050.InstantAction.Action action)
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{
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node.Actions = node.Actions?.Where(a => a != action).ToArray()
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?? Array.Empty<VDA5050.InstantAction.Action>();
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}
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void AddActionParameter(VDA5050.InstantAction.Action act)
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{
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var list = (act.ActionParameters ?? Array.Empty<ActionParameter>()).ToList();
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list.Add(new UiActionParameter());
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act.ActionParameters = list.ToArray();
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}
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void RemoveActionParameter(VDA5050.InstantAction.Action act, ActionParameter param)
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{
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act.ActionParameters =
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act.ActionParameters?.Where(p => p != param).ToArray()
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?? Array.Empty<ActionParameter>();
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}
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// ================= SEND / COPY =================
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async Task SendOrderToServer()
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{
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// reset trạng thái trước khi gửi
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sendSuccess = null;
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StateHasChanged();
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try
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{
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var orderMsg = JsonSerializer.Deserialize<OrderMsg>(OrderJson);
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if (orderMsg is null)
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{
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Snackbar.Add("Unable to convert JSON to Order", Severity.Warning);
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return;
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}
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if (orderMsg.Nodes.Length < 1)
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{
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Snackbar.Add("The order must contain at least one node (number of nodes > 0)", Severity.Warning);
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return;
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}
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if (orderMsg.Nodes.Length - 1 != orderMsg.Edges.Length)
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{
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Snackbar.Add("Order must have a number of edges equal to the number of nodes minus 1", Severity.Warning);
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return;
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}
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foreach(var edge in orderMsg.Edges)
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{
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if (!orderMsg.Nodes.Any(n => n.NodeId == edge.StartNodeId))
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{
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Snackbar.Add($"The edge {edge.EdgeId} references a startNodeId {edge.StartNodeId} that does not exist in the list of nodes", Severity.Warning);
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return;
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}
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if (!orderMsg.Nodes.Any(n => n.NodeId == edge.EndNodeId))
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{
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Snackbar.Add($"The edge {edge.EdgeId} references a startNodeId {edge.EndNodeId} that does not exist in the list of nodes", Severity.Warning);
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return;
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}
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}
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var response = await Http.PostAsJsonAsync(
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"/api/order",
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JsonSerializer.Deserialize<OrderMsg>(OrderJson)
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);
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sendSuccess = response.IsSuccessStatusCode;
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}
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catch(JsonException jsonEx)
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{
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Snackbar.Add($"Json to Order failed: {jsonEx.Message}", Severity.Warning);
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}
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catch
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{
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sendSuccess = false;
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}
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StateHasChanged();
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// 🔥 AUTO RESET SAU 2 GIÂY
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_ = Task.Run(async () =>
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{
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await Task.Delay(2000);
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// quay về trạng thái Send
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sendSuccess = null;
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await InvokeAsync(StateHasChanged);
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});
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}
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async Task CancelOrder()
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{
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// reset trạng thái trước khi gửi
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cancelSuccess = null;
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StateHasChanged();
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try
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{
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var res = await Http.PostAsync("/api/order/cancel", null);
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cancelSuccess = res.IsSuccessStatusCode;
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}
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catch
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{
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cancelSuccess = false;
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}
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StateHasChanged();
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// 🔥 AUTO RESET SAU 2 GIÂY
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_ = Task.Run(async () =>
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{
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await Task.Delay(2000);
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cancelSuccess = null;
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await InvokeAsync(StateHasChanged);
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});
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}
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async Task CopyJsonToClipboard()
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{
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_copyCts?.Cancel();
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_copyCts = new();
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await JS.InvokeVoidAsync("navigator.clipboard.writeText", OrderJson);
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copied = true;
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StateHasChanged();
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try { await Task.Delay(1500, _copyCts.Token); } catch { }
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copied = false;
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StateHasChanged();
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}
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// ================= DIALOG =================
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async Task OpenEditNodeDialog(Node node)
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{
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var parameters = new DialogParameters<EditNodeDialog>
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{
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{ x => x.Node, node }
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};
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var options = new DialogOptions
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{
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CloseButton = true,
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FullWidth = true,
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MaxWidth = MaxWidth.Large
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};
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var dialog = await DialogService.ShowAsync<EditNodeDialog>(
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$"Edit Node: {node.NodeId}", parameters, options);
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await dialog.Result;
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OnOrderChanged(); // 🔥 cập nhật JSON sau dialog
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}
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}
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