RobotNet/RobotNet.WebApp/Robots/Components/Robot/RobotAction.razor

@implements IAsyncDisposable

@using Microsoft.AspNetCore.Components.WebAssembly.Authentication
@using RobotNet.WebApp.Clients

@inject RobotHubClient RobotHub
@inject ISnackbar Snackbar
@inject IHttpClientFactory HttpFactory

<MudCard Class="w-100 me-2 position-relative" Elevation="0" Outlined Style="height: 450px">
    <MudCardHeader>
        <MudText Typo="Typo.h5">Setting</MudText>
        <MudSpacer />
        <MudText Typo="Typo.subtitle1">@Robot.Name</MudText>
    </MudCardHeader>
    <MudCardContent>
        <div class="d-flex flex-column">
            <div class="d-flex flex-row my-2">
                <div class="d-flex flex-row" style="width: 350px">
                    <MudAutocomplete T="MapInfoDto" Variant="Variant.Outlined" Label="Map" ShrinkLabel Disabled="!Robot.Online" Modal SearchFunc="MapSearch"
                                     ToStringFunc="@(e=> e == null ? null : $"{e.Name}")" MaxItems="Maps.Count" ValueChanged="MapChanged" ShowProgressIndicator="true">
                        <NoItemsTemplate>
                            <MudText Align="Align.Center" Class="px-4 py-1">
                                No items found
                            </MudText>
                        </NoItemsTemplate>
                    </MudAutocomplete>
                </div>
                <MudButton Class="d-flex flex-grow-1 mt-2 mb-1 ms-2" Variant="Variant.Filled" Color="Color.Info" Disabled="!Robot.Online" OnClick="SetMap">SetMap</MudButton>
            </div>
            <div class="d-flex flex-row my-2">
                <div class="d-flex flex-row" style="width: 350px">
                    <MudAutocomplete T="string" Variant="Variant.Outlined" Label="Node" ShrinkLabel Disabled="!Robot.Online" Modal SearchFunc="NodeSearch" ShowProgressIndicator="true"
                                     MaxItems="@Nodes.Count" ValueChanged="NodeChanged">
                        <NoItemsTemplate>
                            <MudText Align="Align.Center" Class="px-4 py-1">
                                No items found
                            </MudText>
                        </NoItemsTemplate>
                    </MudAutocomplete>
                    <MudButton Class="ms-2 mt-2 mb-1" Variant="Variant.Filled" Color="Color.Info" Disabled="@(!Robot.Online || IsWorking)" OnClick="MoveToNode">Move</MudButton>
                </div>
                <MudButton Class="d-flex flex-grow-1 mt-2 mb-1 ms-2" Variant="Variant.Filled" Color="Color.Secondary" Disabled="@(!Robot.Online)" OnClick="CancelOrder">CancelOrder</MudButton>
            </div>
            <div class="d-flex flex-row my-2">
                <div class="d-flex flex-row" style="width: 350px">
                    <MudAutocomplete T="ActionDto" Variant="Variant.Outlined" Label="Action" ShrinkLabel Disabled="!Robot.Online" Modal SearchFunc="ActionSearch" ShowProgressIndicator="true"
                                     MaxItems="@Actions.Count" ValueChanged="ActionChanged" ToStringFunc="@(e=> e == null ? null : $"{e.Name}")">
                        <NoItemsTemplate>
                            <MudText Align="Align.Center" Class="px-4 py-1">
                                No items found
                            </MudText>
                        </NoItemsTemplate>
                    </MudAutocomplete>
                    <MudButton Class="ms-2 mt-2 mb-1" Variant="Variant.Filled" Color="Color.Info" Disabled="@(!Robot.Online || IsWorking)" OnClick="SendAction">Send</MudButton>
                </div>
                <MudButton Class="d-flex flex-grow-1 mt-2 mb-1 ms-2" Variant="Variant.Filled" Color="Color.Secondary" Disabled="@(!Robot.Online)" OnClick="CancelAction">CancelAction</MudButton>
            </div>
            <div class="d-flex flex-row my-2">
                <div class="d-flex flex-row" style="width: 350px">
                    <MudNumericField T="double" Label="X(m)" Class="me-2" @bind-Value="InitPosition.X" Disabled="!Robot.Online" Variant="Variant.Outlined"></MudNumericField>
                    <MudNumericField T="double" Label="Y(m)" Class="me-2" @bind-Value="InitPosition.Y" Disabled="!Robot.Online" Variant="Variant.Outlined"></MudNumericField>
                    <MudNumericField T="double" Label="Theta(degree)" @bind-Value="InitPosition.Theta" Disabled="!Robot.Online" Variant="Variant.Outlined"></MudNumericField>
                </div>
                <MudButton Class="d-flex flex-grow-1 ms-2" Variant="Variant.Filled" Color="Color.Info" Disabled="!Robot.Online" OnClick="InitPose">InitPose</MudButton>
            </div>
        </div>
    </MudCardContent>

    <MudOverlay Visible="OverlayIsVisible" DarkBackground="true" Absolute="true">
        <MudProgressCircular Color="Color.Secondary" Indeterminate="true" />
    </MudOverlay>
</MudCard>

@code {
    [Parameter, EditorRequired]
    public RobotDto Robot { get; set; } = new();

    private MapInfoDto MapSelected = default!;
    private string SelectedNode = "";

    private List<NodeDto> Nodes = [];
    private List<MapInfoDto> Maps = [];

    private (double X, double Y, double Theta) InitPosition = new();
    private bool IsWorking = false;
    private bool OverlayIsVisible;

    private List<ActionDto> Actions = [];
    private ActionDto? ActionSelected = null;

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

        await RobotHub.StartAsync();

        await LoadMaps();
    }

    public void UpdateState(bool isOnline, bool isWorking)
    {
        Robot.Online = isOnline;
        IsWorking = isWorking;
        StateHasChanged();
    }

    private async Task MoveToNode()
    {
        if (string.IsNullOrEmpty(SelectedNode))
        {
            Snackbar.Add("Vui lòng chọn node", Severity.Warning);
        }
        else
        {
            OverlayIsVisible = true;
            StateHasChanged();

            var result = await RobotHub.MoveToNode(Robot.RobotId, SelectedNode);
            if (result.IsSuccess) Snackbar.Add("Ra lệnh thành công", Severity.Success);
            else Snackbar.Add($"Ra lệnh không thành công: {result.Message}", Severity.Warning);

            OverlayIsVisible = false;
        }
        StateHasChanged();
    }

    private async Task CancelOrder()
    {
        OverlayIsVisible = true;
        StateHasChanged();

        var result = await RobotHub.CancelNavigation(Robot.RobotId);
        if (result.IsSuccess) Snackbar.Add("Ra lệnh thành công", Severity.Success);
        else Snackbar.Add($"Ra lệnh không thành công: {result.Message}", Severity.Warning);

        OverlayIsVisible = false;
        StateHasChanged();
    }

    private async Task SetMap()
    {
        OverlayIsVisible = true;
        StateHasChanged();

        var result = await RobotHub.SetMap(Robot.RobotId, MapSelected.Id);
        if (result.IsSuccess)
        {
            Robot.MapId = MapSelected.Id;
            await LoadNodes();
            await LoadActionAsync();
            Snackbar.Add("Ra lệnh thành công", Severity.Success);
        }
        else Snackbar.Add($"Ra lệnh không thành công: {result.Message}", Severity.Warning);

        OverlayIsVisible = false;
        StateHasChanged();
    }

    private async Task InitPose()
    {
        OverlayIsVisible = true;
        StateHasChanged();

        var result = await RobotHub.SetInitialPose(Robot.RobotId, InitPosition.X, InitPosition.Y, InitPosition.Theta * Math.PI / 180);
        if (result.IsSuccess) Snackbar.Add("Ra lệnh thành công", Severity.Success);
        else Snackbar.Add($"Ra lệnh không thành công: {result.Message}", Severity.Warning);

        OverlayIsVisible = false;
        StateHasChanged();
    }

    private async Task SendAction()
    {
        if (ActionSelected is null)
        {
            Snackbar.Add("Vui lòng chọn action", Severity.Warning);
        }
        else
        {
            OverlayIsVisible = true;
            StateHasChanged();

            var result = await RobotHub.SendAction(Robot.RobotId, ActionSelected);
            if (result.IsSuccess) Snackbar.Add("Ra lệnh thành công", Severity.Success);
            else Snackbar.Add($"Ra lệnh không thành công: {result.Message}", Severity.Warning);

            OverlayIsVisible = false;
        }
        StateHasChanged();
    }

    private async Task CancelAction()
    {
        OverlayIsVisible = true;
        StateHasChanged();

        var result = await RobotHub.CancelAction(Robot.RobotId);
        if (result.IsSuccess) Snackbar.Add("Ra lệnh thành công", Severity.Success);
        else Snackbar.Add($"Ra lệnh không thành công: {result.Message}", Severity.Warning);

        OverlayIsVisible = false;
        StateHasChanged();
    }

    public async Task LoadActionAsync()
    {
        Actions.Clear();
        using var Http = HttpFactory.CreateClient("MapManagerAPI");
        var result = await Http.GetFromJsonAsync<IEnumerable<ActionDto>>($"api/Actions/{Robot.MapId}");

        if (result is not null && result.Any())
        {
            Actions.AddRange(result);
        }
        if (Actions.Any()) ActionSelected = Actions.First();

        StateHasChanged();
    }

    public async Task LoadNodes()
    {
        try
        {
            using var Http = HttpFactory.CreateClient("MapManagerAPI");
            var result = await Http.GetFromJsonAsync<NodeDto[]>($"api/Nodes/{Robot.MapId}");
            if (result is not null) Nodes = result.Where(n => !string.IsNullOrEmpty(n.Name)).ToList();
        }
        catch (AccessTokenNotAvailableException ex)
        {
            ex.Redirect();
        }
    }

    private async Task LoadMaps()
    {
        try
        {
            Maps.Clear();
            using var Http = HttpFactory.CreateClient("MapManagerAPI");
            var maps = await Http.GetFromJsonAsync<IEnumerable<MapInfoDto>>($"api/MapsManager?txtSearch=");
            Maps.AddRange(maps ?? []);
            StateHasChanged();
        }
        catch (AccessTokenNotAvailableException ex)
        {
            ex.Redirect();
            return;
        }
    }

    private async Task<IEnumerable<MapInfoDto>> MapSearch(string value, CancellationToken token)
    {
        await Task.Delay(5, token);

        if (string.IsNullOrEmpty(value))
        {
            return Maps;
        }

        return Maps.Where(x => x.Name.Contains(value, StringComparison.InvariantCultureIgnoreCase));
    }

    private async Task<IEnumerable<string>> NodeSearch(string value, CancellationToken token)
    {
        await Task.Delay(5, token);

        if (string.IsNullOrEmpty(value))
        {
            return Nodes.Select(n => n.Name);
        }

        return Nodes.Where(x => x.Name.Contains(value, StringComparison.InvariantCultureIgnoreCase)).Select(n => n.Name);
    }


    private async Task<IEnumerable<ActionDto>> ActionSearch(string value, CancellationToken token)
    {
        await Task.Delay(5, token);

        if (string.IsNullOrEmpty(value))
        {
            return Actions;
        }

        return Actions.Where(x => x.Name.Contains(value, StringComparison.InvariantCultureIgnoreCase));
    }

    private void NodeChanged(string value)
    {
        if (string.IsNullOrEmpty(SelectedNode) || value != SelectedNode) SelectedNode = value;
    }


    private void ActionChanged(ActionDto value)
    {
        if (ActionSelected is null || value.Id != ActionSelected.Id) ActionSelected = value;
    }

    private void MapChanged(MapInfoDto value)
    {
        if (MapSelected is null || value.Id != MapSelected.Id) MapSelected = value;
    }

    public async ValueTask DisposeAsync()
    {
        await RobotHub.StopAsync();
    }
}