112 lines
4.4 KiB
Plaintext
112 lines
4.4 KiB
Plaintext
@implements IDisposable
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@inject IJSRuntime JSRuntime
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@inject IHttpClientFactory HttpFactory
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<image @ref="@RobotRef" />
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<image @ref="@ElementRef" visibility="@(isCarrying ? "visible" : "hidden")" />
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<text @ref="textRef" visibility="@(ShowName ? "visible" : "hidden")">@Model?.RobotName</text>
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@code {
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[Parameter, EditorRequired]
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public RobotVisualizationModel Model { get; set; } = null!;
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[Parameter]
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public bool ShowName { get; set; }
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private ElementReference ElementRef;
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private ElementReference RobotRef;
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private ElementReference textRef;
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private RobotModelDto RobotModel = new();
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private bool isCarrying = false;
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private ElementModelDto ElementModel = new();
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protected override async Task OnAfterRenderAsync(bool firstRender)
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{
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await base.OnAfterRenderAsync(firstRender);
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if (!firstRender) return;
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using var Http = HttpFactory.CreateClient("RobotManagerAPI");
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var model = await Http.GetFromJsonAsync<MessageResult<RobotModelDto?>>($"api/Robots/Model/{Model.RobotId}");
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if (model is not null && model.Data is not null)
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{
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await JSRuntime.InvokeVoidAsync("SetImageAttribute", RobotRef, model.Data.Length, model.Data.Width, model.Data.OriginX, model.Data.OriginY, $"{Http.BaseAddress}api/RobotModels/image/{model.Data.Id}");
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RobotModel = model.Data;
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}
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if (Model is not null)
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{
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Model.PositionChanged += Model_PositionChanged;
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Model.LoadsChanged += Model_LoadChanged;
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await UpdatePosition(Model.X, Model.Y, Model.Theta);
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if(Model.Loads.Length > 0 && Guid.TryParse(Model.Loads[0].LoadId, out Guid loadId))
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{
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await Model_LoadChanged(loadId);
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await UpdateLoadPosition(Model.X, Model.Y, Model.Theta);
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}
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}
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}
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public override async Task SetParametersAsync(ParameterView parameters)
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{
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bool updateRobot = false;
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if (parameters.TryGetValue(nameof(Model), out RobotVisualizationModel? model) && ((Model?.RobotId ?? string.Empty) != (model?.RobotId ?? string.Empty)))
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{
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if (Model != null)
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{
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Model.PositionChanged -= Model_PositionChanged;
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Model.LoadsChanged -= Model_LoadChanged;
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}
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if (model != null)
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{
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updateRobot = true;
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model.PositionChanged += Model_PositionChanged;
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model.LoadsChanged += Model_LoadChanged;
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}
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}
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await base.SetParametersAsync(parameters);
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if (updateRobot && model != null)
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{
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await UpdatePosition(model.X, model.Y, model.Theta);
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if (model.Loads.Length > 0) await UpdateLoadPosition(model.X, model.Y, model.Theta);
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}
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}
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private async Task Model_PositionChanged()
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{
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await UpdatePosition(Model.X, Model.Y, Model.Theta);
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await UpdateLoadPosition(Model.X, Model.Y, Model.Theta);
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}
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public async Task UpdatePosition(double x, double y, double theta)
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=> await JSRuntime.InvokeVoidAsync("SetRobotPosition", RobotRef, textRef, x, y, theta, RobotModel.OriginX, RobotModel.OriginY);
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private async Task UpdateLoadPosition(double x, double y, double theta)
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=> await JSRuntime.InvokeVoidAsync("SetRobotPosition", ElementRef, null, x, y, theta, -ElementModel.Width / 2, -ElementModel.Height / 2);
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private async Task Model_LoadChanged(Guid elementModelId)
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{
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if (elementModelId != Guid.Empty)
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{
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using var Http = HttpFactory.CreateClient("MapManagerAPI");
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var model = await Http.GetFromJsonAsync<MessageResult<ElementModelDto?>>($"api/ElementModels/{elementModelId}");
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if (model is not null && model.Data is not null)
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{
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isCarrying = true;;
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await JSRuntime.InvokeVoidAsync("SetImageAttribute", ElementRef, model.Data.Width, model.Data.Height, -model.Data.Width / 2, -model.Data.Height / 2, $"{Http.BaseAddress}api/images/elementModel/{model.Data.Id}?IsOpen=true");
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await UpdateLoadPosition(Model.X, Model.Y, Model.Theta);
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ElementModel = model.Data;
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}
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}
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else isCarrying = false;
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StateHasChanged();
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}
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public void Dispose()
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{
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if (Model != null) Model.PositionChanged -= Model_PositionChanged;
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GC.SuppressFinalize(this);
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}
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}
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