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# =====================================================================
# RobotNet10.FleetManager - Environment Variables
#
# Sao chép file này thành .env và điền giá trị thực:
# cp .env.example .env
# =====================================================================
# ─────────────────────────────────────────────────────────────────────
# FleetManager App
# ─────────────────────────────────────────────────────────────────────
# Port expose ra host
FLEET_HTTP_PORT=8080
FLEET_HTTPS_PORT=8081
# Tên và tag Docker image
FLEET_IMAGE=robotics.doc:8083/robotnet10/robotnet10-fleet-manager
FLEET_VERSION=0.0.7
# Môi trường ASP.NET Core
ASPNETCORE_ENVIRONMENT=Production
# ─────────────────────────────────────────────────────────────────────
# HTTPS Certificate
# Đặt file certificate vào thư mục certs/ cạnh file này
#
# Tạo self-signed cert (dùng cho dev/test):
# dotnet dev-certs https -ep certs/fleet-manager.pfx -p <password>
#
# Hoặc dùng openssl:
# openssl req -x509 -newkey rsa:4096 -keyout certs/key.pem -out certs/cert.pem -days 365 -nodes
# openssl pkcs12 -export -out certs/fleet-manager.pfx -inkey certs/key.pem -in certs/cert.pem -passout pass:<password>
# ─────────────────────────────────────────────────────────────────────
# Tên file certificate trong thư mục certs/
CERT_FILE=fleet-manager.pfx
# Mật khẩu của certificate
CERT_PASSWORD=robotics@2026
# ─────────────────────────────────────────────────────────────────────
# SQL Server (external)
# ─────────────────────────────────────────────────────────────────────
DB_DEFAULT_CONNECTION=Server=host.docker.internal;Database=RobotNet10.FleetManager;User Id=sa;Password=robotics@2022;TrustServerCertificate=True;MultipleActiveResultSets=true
DB_MAP_CONNECTION=Server=host.docker.internal;Database=RobotNet10.Layout;User Id=sa;Password=robotics@2022;TrustServerCertificate=True;MultipleActiveResultSets=true
DB_SCRIPT_CONNECTION=Server=host.docker.internal;Database=RobotNet10.Script;User Id=sa;Password=robotics@2022;TrustServerCertificate=True;MultipleActiveResultSets=true
# ─────────────────────────────────────────────────────────────────────
# MinIO (external)
# ─────────────────────────────────────────────────────────────────────
# Đặt true để dùng thư mục local thay vì MinIO (phù hợp môi trường dev)
STORAGE_USING_LOCAL=false
MINIO_ENDPOINT=host.docker.internal:9000
MINIO_USER=minio
MINIO_PASSWORD=robotics
MINIO_ENABLE_SSL=false

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# syntax=docker/dockerfile:1
# =====================================================================
# RobotNet10.FleetManager - Multi-stage Docker Build
#
# Build context: srcs/RobotNet10/
# Build command (run from srcs/RobotNet10/):
# docker build -f FleetManager/Dockerfile -t robotnet10-fleet-manager:latest .
#
# Run example:
# docker run -d -p 8080:8080 \
# -e ConnectionStrings__DefaultConnection="Server=<host>;Database=...;User Id=sa;Password=...;TrustServerCertificate=True" \
# -e ConnectionStrings__MapEditorConnection="Server=<host>;Database=...;User Id=sa;Password=...;TrustServerCertificate=True" \
# -e ConnectionStrings__ScriptEngineConnection="Server=<host>;Database=...;User Id=sa;Password=...;TrustServerCertificate=True" \
# --name fleet-manager \
# robotnet10-fleet-manager:latest
# =====================================================================
# =====================================================================
# Stage 1: Build
# - Uses the full .NET SDK to restore, build, and publish
# =====================================================================
FROM mcr.microsoft.com/dotnet/sdk:10.0 AS build
WORKDIR /src
# Copy toàn bộ source (build context = srcs/RobotNet10/)
COPY . .
# Restore NuGet packages cho main project (bao gồm tất cả dependencies)
RUN dotnet restore FleetManager/RobotNet10.FleetManager/RobotNet10.FleetManager.csproj
# Publish Release build
RUN dotnet publish FleetManager/RobotNet10.FleetManager/RobotNet10.FleetManager.csproj \
-c Release \
-o /app/publish \
--no-restore
# ─── Chuẩn bị thư mục DLL cho ScriptEngine ───────────────────────────
# ScriptEngine cần các DLL này để thực thi dynamic script lúc runtime.
# Trong Release mode, #if DEBUG block không chạy nên phải copy thủ công.
RUN mkdir -p /app/publish/bin/dlls && \
# Tìm thư mục .NET Core runtime trong SDK image
CORE_DIR=$(find /usr/share/dotnet/shared/Microsoft.NETCore.App -maxdepth 1 -mindepth 1 -type d | sort -V | tail -1) && \
echo "Using .NET Core runtime from: $CORE_DIR" && \
cp "$CORE_DIR/System.Private.CoreLib.dll" /app/publish/bin/dlls/ && \
cp "$CORE_DIR/System.Runtime.dll" /app/publish/bin/dlls/ && \
cp "$CORE_DIR/System.Linq.Expressions.dll" /app/publish/bin/dlls/ && \
# Copy các DLL đặc thù của project (đã có trong publish output)
cp /app/publish/RobotNet10.Script.dll /app/publish/bin/dlls/ 2>/dev/null || echo "RobotNet10.Script.dll not found (optional)" && \
cp /app/publish/RobotNet10.FleetManager.Script.dll /app/publish/bin/dlls/ 2>/dev/null || echo "RobotNet10.FleetManager.Script.dll not found (optional)"
# =====================================================================
# Stage 2: Runtime
# - Chỉ chứa ASP.NET Core runtime, không có SDK (image nhỏ hơn)
# =====================================================================
FROM mcr.microsoft.com/dotnet/aspnet:10.0 AS final
WORKDIR /app
# Tạo thư mục logs (NLog ghi log vào đây theo nlog.config)
RUN mkdir -p logs
# Copy toàn bộ published output từ build stage
COPY --from=build /app/publish .
# ─── Environment Variables mặc định ──────────────────────────────────
# Có thể override khi chạy container bằng -e hoặc docker-compose
# ASP.NET Core lắng nghe HTTP trên 8080 và HTTPS trên 8081
ENV ASPNETCORE_HTTP_PORTS=8080
ENV ASPNETCORE_HTTPS_PORTS=8081
ENV ASPNETCORE_ENVIRONMENT=Production
# ─── Port ─────────────────────────────────────────────────────────────
EXPOSE 8080
EXPOSE 8081
# ─── Entrypoint ───────────────────────────────────────────────────────
ENTRYPOINT ["dotnet", "RobotNet10.FleetManager.dll"]

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# =====================================================================
# .dockerignore cho RobotNet10.FleetManager
# Build context: srcs/RobotNet10/
# File này được Docker BuildKit tự động nhận khi dùng:
# docker build -f FleetManager/Dockerfile ...
# =====================================================================
# Build outputs (không cần thiết, làm tăng kích thước context)
**/bin/
**/obj/
# Visual Studio artifacts
**/.vs/
**/*.user
**/*.suo
**/.idea/
# Logs
**/logs/
**/*.log
# Git
.git/
.gitignore
.gitattributes
# Không cần RobotApp khi build FleetManager
RobotApp/
# Không cần Tests
Tests/
# Docs và scripts nếu có
**/docs/
**/*.md
**/Documents/
# Node modules (nếu có)
**/node_modules/
# User secrets (không nên đưa vào image)
**/secrets.json
**/*.pfx
**/*.p12

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# RobotNet10.FleetManager
Hệ thống quản lý và điều phối đội robot AMR (Autonomous Mobile Robot) theo chuẩn **VDA 5050**, xây dựng trên nền tảng **.NET 10 Blazor**.
---
## Mục lục
- [Tổng quan](#tổng-quan)
- [Yêu cầu hệ thống](#yêu-cầu-hệ-thống)
- [Cấu trúc project](#cấu-trúc-project)
- [Cấu hình](#cấu-hình)
- [Build & Chạy local](#build--chạy-local)
- [Docker](#docker)
- [Các services phụ thuộc](#các-services-phụ-thuộc)
- [Tài khoản mặc định](#tài-khoản-mặc-định)
---
## Tổng quan
FleetManager là ứng dụng **Blazor Web App** chạy trên server nhà máy, cung cấp:
| Tính năng | Mô tả |
|---|---|
| **Robot Management** | Quản lý kết nối và trạng thái nhiều robot qua MQTT/VDA 5050 |
| **Traffic Control** | Tự động tính route, phát hiện và giải quyết xung đột |
| **Map Editor** | Tạo và quản lý bản đồ nhà máy |
| **Script Engine** | Viết và chạy C# script để tự động hóa mission |
| **Real-time Monitor** | Theo dõi toàn đội robot qua SignalR |
| **Web UI** | Giao diện Blazor + MudBlazor (15 trang) |
**Tech stack:** .NET 10 · Blazor (Server + WASM) · SignalR · MQTT (MQTTnet 5) · EF Core · SQL Server · MinIO
---
## Yêu cầu hệ thống
### Để build
| Yêu cầu | Phiên bản |
|---|---|
| .NET SDK | **10.0** trở lên |
| Git | Bất kỳ |
### Để chạy (runtime dependencies)
| Service | Mô tả | Cổng mặc định |
|---|---|---|
| **SQL Server** | 3 database: App, Layout, Script | 1433 |
| **MinIO** | Object storage (ảnh robot model, layout, config) | 9000 |
| **MQTT Broker** | Eclipse Mosquitto hoặc tương đương | 1883 |
---
## Cấu trúc project
```
srcs/RobotNet10/
├── FleetManager/
│ ├── RobotNet10.FleetManager/ # Main web app (backend + Blazor Server)
│ │ ├── Components/ # Razor components & pages
│ │ ├── Controllers/ # REST API controllers
│ │ ├── Data/ # EF Core DbContext & Migrations
│ │ ├── Events/ # VDA 5050 event bus
│ │ ├── Hubs/ # SignalR hub
│ │ ├── Services/
│ │ │ ├── ConfigManager/ # MQTT/Traffic config
│ │ │ ├── OpenACS/ # ACS traffic integration
│ │ │ ├── RobotConnections/ # VDA 5050 MQTT connections
│ │ │ ├── RobotManager/ # VDA 5050 robot management
│ │ │ ├── Script/ # Script engine integration
│ │ │ └── TrafficControl/ # Route planning & conflict resolution
│ │ ├── appsettings.json
│ │ ├── nlog.config
│ │ └── Program.cs
│ │
│ ├── RobotNet10.FleetManager.Client/ # Blazor WASM (frontend UI)
│ │ ├── Pages/ # 15 trang UI
│ │ └── Services/ # API & SignalR client services
│ │
│ ├── RobotNet10.FleetManager.Shared/ # DTOs, Models, Enums dùng chung
│ ├── RobotNet10.FleetManager.Script/ # Script engine cho FleetManager
│ └── RobotNet10.FleetManager.Script.Shared/
├── Commons/ # Các thư viện dùng chung
│ ├── RobotNet10.MapManager/ # Quản lý bản đồ + EF migrations
│ ├── RobotNet10.ScriptEngine/ # Script engine core
│ ├── RobotNet10.MqttConnection/ # MQTT wrapper
│ └── ...
├── Shared/
│ └── RobotNet.VDA5050/ # VDA 5050 standard models
├── Dockerfile.FleetManager # Docker build file
└── .dockerignore
```
---
## Cấu hình
Tất cả cấu hình nằm trong `RobotNet10.FleetManager/appsettings.json`.
### Connection Strings (bắt buộc)
```json
{
"ConnectionStrings": {
"DefaultConnection": "Server=<SQL_HOST>;Database=RobotNet10.FleetManager;User Id=sa;Password=<PASSWORD>;TrustServerCertificate=True;MultipleActiveResultSets=true",
"MapEditorConnection": "Server=<SQL_HOST>;Database=RobotNet10.Layout;User Id=sa;Password=<PASSWORD>;TrustServerCertificate=True;MultipleActiveResultSets=true",
"ScriptEngineConnection":"Server=<SQL_HOST>;Database=RobotNet10.Script;User Id=sa;Password=<PASSWORD>;TrustServerCertificate=True;MultipleActiveResultSets=true"
}
}
```
> **Lưu ý:** EF Core sẽ tự tạo database và chạy migration khi khởi động lần đầu.
### MinIO (object storage)
```json
{
"StorageConfig": {
"UsingLocal": false,
"Bucket": "fleet-custom-configs",
"MinioConfig": {
"Endpoint": "<MINIO_HOST>:9000",
"User": "minio",
"Password": "<MINIO_PASSWORD>",
"EnableSSL": false
}
},
"LayoutImage": {
"UsingLocal": false,
"Bucket": "fleet-layout-images",
"MinioConfig": { "Endpoint": "<MINIO_HOST>:9000", "User": "minio", "Password": "<MINIO_PASSWORD>" }
},
"RobotModelImage": {
"UsingLocal": false,
"Bucket": "robotmodel-images",
"MinioConfig": { "Endpoint": "<MINIO_HOST>:9000", "User": "minio", "Password": "<MINIO_PASSWORD>" }
}
}
```
> Đặt `"UsingLocal": true` để dùng thư mục local thay vì MinIO (phù hợp môi trường dev).
### ScriptEngine DLL folder
```json
{
"ScriptEngine": {
"RuntimeDllFolder": "bin/dlls"
}
}
```
---
## Build & Chạy local
### 1. Clone và di chuyển vào thư mục solution
```bash
git clone <repo-url>
cd srcs/RobotNet10
```
### 2. Restore packages
```bash
dotnet restore FleetManager/RobotNet10.FleetManager/RobotNet10.FleetManager.csproj
```
### 3. Cấu hình connection strings
Sửa `FleetManager/RobotNet10.FleetManager/appsettings.json` hoặc dùng User Secrets:
```bash
cd FleetManager/RobotNet10.FleetManager
dotnet user-secrets set "ConnectionStrings:DefaultConnection" \
"Server=localhost;Database=RobotNet10.FleetManager;User Id=sa;Password=YourPassword;TrustServerCertificate=True"
dotnet user-secrets set "ConnectionStrings:MapEditorConnection" \
"Server=localhost;Database=RobotNet10.Layout;User Id=sa;Password=YourPassword;TrustServerCertificate=True"
dotnet user-secrets set "ConnectionStrings:ScriptEngineConnection" \
"Server=localhost;Database=RobotNet10.Script;User Id=sa;Password=YourPassword;TrustServerCertificate=True"
```
### 4. Chạy ứng dụng
```bash
# Từ thư mục srcs/RobotNet10/
dotnet run --project FleetManager/RobotNet10.FleetManager/RobotNet10.FleetManager.csproj
```
Ứng dụng sẽ tự động:
- Tạo database và chạy EF Core migrations
- Seed dữ liệu ban đầu (user admin mặc định)
- Khởi động web server tại `https://localhost:5001` / `http://localhost:5000`
### 5. Build Release
```bash
dotnet publish FleetManager/RobotNet10.FleetManager/RobotNet10.FleetManager.csproj \
-c Release \
-o ./publish
```
---
## Docker
### Yêu cầu
- Docker Desktop hoặc Docker Engine với Linux containers
- Build context phải là thư mục `srcs/RobotNet10/`
### Chuẩn bị certificate (HTTPS)
Đặt file certificate `.pfx` vào thư mục `certs/` trước khi chạy container:
```bash
# Tùy chọn 1 — dùng dotnet dev-certs (self-signed, phù hợp dev/test)
dotnet dev-certs https -ep certs/fleet-manager.pfx -p YourCertPassword
# Tùy chọn 2 — dùng openssl (tự ký)
openssl req -x509 -newkey rsa:4096 -keyout certs/key.pem -out certs/cert.pem -days 365 -nodes \
-subj "/CN=fleet-manager"
openssl pkcs12 -export -out certs/fleet-manager.pfx \
-inkey certs/key.pem -in certs/cert.pem -passout pass:YourCertPassword
# Tùy chọn 3 — dùng certificate thật từ CA (Let's Encrypt, v.v.)
# Chuyển đổi sang .pfx nếu đang ở dạng .pem:
openssl pkcs12 -export -out certs/fleet-manager.pfx \
-inkey certs/privkey.pem -in certs/fullchain.pem -passout pass:YourCertPassword
```
> `certs/*.pfx` đã được loại khỏi `.dockerignore` — certificate **không bao giờ** được copy vào image, chỉ được mount tại runtime.
### Build image
```bash
# Chạy từ srcs/RobotNet10/
docker build -f FleetManager/Dockerfile -t robotnet10-fleet-manager:latest .
```
Quá trình build gồm 2 stage:
1. **Build stage** (mcr.microsoft.com/dotnet/sdk:10.0): Restore + Publish Release
2. **Runtime stage** (mcr.microsoft.com/dotnet/aspnet:10.0): Chỉ chứa output đã publish
Kích thước image cuối: **~211 MB** (content size) — Ports: HTTP `8080`, HTTPS `8081`
### Chạy container
```bash
docker run -d \
-p 8080:8080 -p 8081:8081 \
-v ./certs:/app/certs:ro \
-e ASPNETCORE_Kestrel__Certificates__Default__Path=/app/certs/fleet-manager.pfx \
-e ASPNETCORE_Kestrel__Certificates__Default__Password="YourCertPassword" \
-e ConnectionStrings__DefaultConnection="Server=<SQL_HOST>;Database=RobotNet10.FleetManager;User Id=sa;Password=<PASSWORD>;TrustServerCertificate=True;MultipleActiveResultSets=true" \
-e ConnectionStrings__MapEditorConnection="Server=<SQL_HOST>;Database=RobotNet10.Layout;User Id=sa;Password=<PASSWORD>;TrustServerCertificate=True;MultipleActiveResultSets=true" \
-e ConnectionStrings__ScriptEngineConnection="Server=<SQL_HOST>;Database=RobotNet10.Script;User Id=sa;Password=<PASSWORD>;TrustServerCertificate=True;MultipleActiveResultSets=true" \
--name fleet-manager \
robotnet10-fleet-manager:latest
```
> **Chú ý:** Dùng `__` (hai dấu gạch dưới) thay cho `:` khi truyền environment variable trong Docker.
### Gắn volume cho logs
```bash
docker run -d \
-p 8080:8080 \
-v /host/path/logs:/app/logs \
-e ConnectionStrings__DefaultConnection="..." \
--name fleet-manager \
robotnet10-fleet-manager:latest
```
### Docker Compose (khuyến nghị)
File [docker-compose.yml](docker-compose.yml) quản lý **fleet-manager** và kết nối đến SQL Server, MinIO, MQTT Broker đã có sẵn bên ngoài.
```bash
# 1. Tạo file .env từ template (từ thư mục FleetManager/)
cp .env.example .env
# Điền SQL Server host, MinIO host và các thông tin kết nối vào .env
# 2. Chạy container
docker compose up -d
# 3. Xem trạng thái
docker compose ps
# 4. Xem log
docker compose logs -f fleet-manager
```
**Các biến cần thiết trong `.env`:**
| Biến | Mô tả |
|---|---|
| `DB_DEFAULT_CONNECTION` | Connection string SQL Server (App DB) |
| `DB_MAP_CONNECTION` | Connection string SQL Server (Layout DB) |
| `DB_SCRIPT_CONNECTION` | Connection string SQL Server (Script DB) |
| `MINIO_ENDPOINT` | Địa chỉ MinIO, ví dụ `192.168.1.100:9000` |
| `MINIO_PASSWORD` | Mật khẩu MinIO |
| `FLEET_PORT` | Port expose web app (mặc định `8080`) |
---
## Các services phụ thuộc
### SQL Server
Ứng dụng cần **3 database** riêng biệt (tự tạo khi khởi động):
| Database | Connection String key | Mục đích |
|---|---|---|
| `RobotNet10.FleetManager` | `DefaultConnection` | User identity, Robot, RobotModel |
| `RobotNet10.Layout` | `MapEditorConnection` | Bản đồ nhà máy (nodes, edges, stations) |
| `RobotNet10.Script` | `ScriptEngineConnection` | Script engine data |
### MinIO
Tạo 3 bucket sau trong MinIO console (`http://<host>:9001`) trước khi chạy ứng dụng:
| Bucket | Config key | Mục đích |
|---|---|---|
| `fleet-custom-configs` | `StorageConfig.Bucket` | Custom configuration files |
| `fleet-layout-images` | `LayoutImage.Bucket` | Ảnh nền bản đồ |
| `robotmodel-images` | `RobotModelImage.Bucket` | Ảnh robot model |
> **Dev mode:** Đặt `"UsingLocal": true` để bỏ qua MinIO, dùng thư mục local.
### MQTT Broker
FleetManager kết nối đến MQTT Broker theo cấu hình trong **UI** (trang Config Manager), không cần cấu hình trong `appsettings.json`. Broker phổ biến:
```bash
# Eclipse Mosquitto (Docker)
docker run -d -p 1883:1883 -p 9883:9883 eclipse-mosquitto
```
---
## Tài khoản mặc định
Khi ứng dụng khởi động lần đầu, seed data sẽ tạo tài khoản admin:
| Trường | Giá trị |
|---|---|
| **Username/Email** | `admin@robotnet.local` |
| **Password** | `Admin@123` |
| **Role** | Administrator |
> **Quan trọng:** Đổi mật khẩu ngay sau lần đăng nhập đầu tiên trong môi trường production.
---
## Logs
Log được ghi vào thư mục `logs/` theo cấu hình NLog (`nlog.config`):
- Format: JSON, mỗi ngày một file (`YYYY-MM-DD.log`)
- Giữ tối đa 90 ngày
- Đường dẫn: `<app_dir>/logs/`
```bash
# Xem log trong container
docker logs fleet-manager
docker exec fleet-manager tail -f /app/logs/$(date +%Y-%m-%d).log
```
---
## Các lệnh Docker hữu ích
```bash
# Xem danh sách images
docker images robotnet10-fleet-manager
# Xem logs container
docker logs -f fleet-manager
# Vào shell container
docker exec -it fleet-manager bash
# Dừng và xóa container
docker stop fleet-manager && docker rm fleet-manager
# Rebuild image (sau khi cập nhật code)
docker build -f FleetManager/Dockerfile -t robotnet10-fleet-manager:latest . --no-cache
# Export image để chuyển sang máy khác
docker save robotnet10-fleet-manager:latest | gzip > fleet-manager.tar.gz
# Load image từ file
docker load < fleet-manager.tar.gz
```
---
## Tài liệu chi tiết
- [Architecture Overview](../../../docs/fleetmanager/README.md)
- [Traffic Control](../../../docs/fleetmanager/TrafficControl.md)
- [Robot Connections](../../../docs/fleetmanager/RobotConnections.md)
- [Script Engine](../../../docs/fleetmanager/ScriptEngine.md)
- [Map Editor](../../../docs/fleetmanager/MapEditor.md)
- [Configuration](../../../docs/fleetmanager/FleetManagerConfig.md)

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@using RobotNet.VDA5050.State
@using RobotNet.VDA5050.Type
<MudPaper Class="pa-4" Elevation="2">
<MudText Typo="Typo.h6" Class="mb-3">Action States</MudText>
@if (State?.ActionStates != null && State.ActionStates.Length > 0)
{
<MudTable Items="@State.ActionStates" T="ActionState" Hover="true" Dense="true" Height="400px" FixedHeader="true" Elevation="0">
<HeaderContent>
<MudTh>Action ID</MudTh>
<MudTh>Action Type</MudTh>
<MudTh>Status</MudTh>
<MudTh>Description</MudTh>
<MudTh>Result</MudTh>
</HeaderContent>
<RowTemplate>
<MudTd DataLabel="Action ID">
<MudText Typo="Typo.body2" Style="max-width: 150px; overflow: hidden; text-overflow: ellipsis; white-space: nowrap;">
@context.ActionId
</MudText>
</MudTd>
<MudTd DataLabel="Action Type">@(context.ActionType ?? "N/A")</MudTd>
<MudTd DataLabel="Status">
<MudChip T="string"
Size="Size.Small"
Color="@GetActionStatusColor(context.ActionStatus)">
@context.ActionStatus
</MudChip>
</MudTd>
<MudTd DataLabel="Description">
<MudText Typo="Typo.body2" Style="max-width: 200px; overflow: hidden; text-overflow: ellipsis; white-space: nowrap;">
@(context.ActionDescription ?? "N/A")
</MudText>
</MudTd>
<MudTd DataLabel="Result">
<MudText Typo="Typo.body2" Style="max-width: 200px; overflow: hidden; text-overflow: ellipsis; white-space: nowrap;">
@(context.ResultDescription ?? "N/A")
</MudText>
</MudTd>
</RowTemplate>
</MudTable>
}
else
{
<MudText Typo="Typo.body2" Align="Align.Center">No action states available</MudText>
}
</MudPaper>
@code {
public StateMsg? State { get; set; }
private Color GetActionStatusColor(ActionStatus status)
{
return status switch
{
ActionStatus.WAITING => Color.Default,
ActionStatus.RUNNING => Color.Info,
ActionStatus.FINISHED => Color.Success,
ActionStatus.FAILED => Color.Error,
_ => Color.Default
};
}
public void Update(StateMsg? state)
{
State = state;
StateHasChanged();
}
}

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@using RobotNet.VDA5050.State
<MudPaper Class="pa-4" Elevation="2">
@if (ShowNameCard)
{
<MudText Typo="Typo.h6" Class="mb-3">Battery State</MudText>
}
@if (BatteryState != null)
{
<MudSimpleTable Elevation="0">
<tbody>
<tr>
<td><strong>Charge:</strong></td>
<td>
<MudProgressLinear Value="@BatteryState.BatteryCharge"
Color="@GetBatteryColor(BatteryState.BatteryCharge)" />
@BatteryState.BatteryCharge.ToString("F1")%
</td>
</tr>
<tr>
<td><strong>Voltage:</strong></td>
<td>@BatteryState.BatteryVoltage?.ToString("F2") V</td>
</tr>
<tr>
<td><strong>Health:</strong></td>
<td>@BatteryState.BatteryHealth.ToString("F1")%</td>
</tr>
<tr>
<td><strong>Charging:</strong></td>
<td>
@if (BatteryState.Charging)
{
<MudChip T="string" Size="Size.Small" Color="Color.Info">Yes</MudChip>
}
else
{
<MudChip T="string" Size="Size.Small" Color="Color.Default">No</MudChip>
}
</td>
</tr>
@if (BatteryState.Reach > 0)
{
<tr>
<td><strong>Reach:</strong></td>
<td>@BatteryState.Reach?.ToString("F0") m</td>
</tr>
}
</tbody>
</MudSimpleTable>
}
else
{
<MudText Typo="Typo.body2" Align="Align.Center">No battery data available</MudText>
}
</MudPaper>
@code {
[Parameter]
public bool ShowNameCard { get; set; } = true;
public BatteryState? BatteryState { get; set; }
private Color GetBatteryColor(double charge)
{
if (charge > 50) return Color.Success;
if (charge > 20) return Color.Warning;
return Color.Error;
}
public void Update(BatteryState? batteryState)
{
BatteryState = batteryState;
StateHasChanged();
}
}

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@using RobotNet.VDA5050.State
<MudPaper Class="pa-4" Elevation="2">
<MudText Typo="Typo.h6" Class="mb-3">Edge States</MudText>
@if (State?.EdgeStates != null && State.EdgeStates.Length > 0)
{
<MudTable Items="@State.EdgeStates" T="EdgeState" Hover="true" Dense="true" Height="400px" FixedHeader="true" Elevation="0">
<HeaderContent>
<MudTh>Edge ID</MudTh>
<MudTh>Sequence ID</MudTh>
<MudTh>Released</MudTh>
<MudTh>Description</MudTh>
<MudTh>Trajectory</MudTh>
</HeaderContent>
<RowTemplate>
<MudTd DataLabel="Edge ID">@context.EdgeId</MudTd>
<MudTd DataLabel="Sequence ID">@context.SequenceId</MudTd>
<MudTd DataLabel="Released">
@if (context.Released)
{
<MudChip T="string" Size="Size.Small" Color="Color.Success">Yes</MudChip>
}
else
{
<MudChip T="string" Size="Size.Small" Color="Color.Warning">No</MudChip>
}
</MudTd>
<MudTd DataLabel="Description">
<MudText Typo="Typo.body2" Style="max-width: 200px; overflow: hidden; text-overflow: ellipsis; white-space: nowrap;">
@(context.EdgeDescription ?? "N/A")
</MudText>
</MudTd>
<MudTd DataLabel="Trajectory">
@if (context.Trajectory != null)
{
<MudChip T="string" Size="Size.Small" Color="Color.Info">Available</MudChip>
}
else
{
<MudText Typo="Typo.body2">N/A</MudText>
}
</MudTd>
</RowTemplate>
</MudTable>
}
else
{
<MudText Typo="Typo.body2" Align="Align.Center">No edge states available</MudText>
}
</MudPaper>
@code {
public StateMsg? State { get; set; }
public void Update(StateMsg? state)
{
State = state;
StateHasChanged();
}
}

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@using RobotNet.VDA5050.State
@using RobotNet.VDA5050.Type
<MudPaper Class="pa-4" Elevation="2">
<MudText Typo="Typo.h6" Class="mb-3">Errors</MudText>
@if (Errors != null && Errors.Length > 0)
{
<MudTable Items="@Errors" T="Error" Hover="true" Dense="true" Height="400px" FixedHeader="true" Elevation="0">
<HeaderContent>
<MudTh>Error Type</MudTh>
<MudTh>Level</MudTh>
<MudTh>Description</MudTh>
<MudTh>Hint</MudTh>
<MudTh>References</MudTh>
</HeaderContent>
<RowTemplate>
<MudTd DataLabel="Error Type">@context.ErrorType</MudTd>
<MudTd DataLabel="Level">
<MudChip T="string"
Size="Size.Small"
Color="@GetErrorLevelColor(context.ErrorLevel)">
@context.ErrorLevel
</MudChip>
</MudTd>
<MudTd DataLabel="Description">
<MudText Typo="Typo.body2" Style="max-width: 250px; overflow: hidden; text-overflow: ellipsis; white-space: nowrap;">
@(context.ErrorDescription ?? "N/A")
</MudText>
</MudTd>
<MudTd DataLabel="Hint">
<MudText Typo="Typo.body2" Style="max-width: 200px; overflow: hidden; text-overflow: ellipsis; white-space: nowrap;">
@(context.ErrorHint ?? "N/A")
</MudText>
</MudTd>
<MudTd DataLabel="References">
@if (context.ErrorReferences != null && context.ErrorReferences.Length > 0)
{
<MudChip T="string" Size="Size.Small" Color="Color.Info">
@context.ErrorReferences.Length reference(s)
</MudChip>
}
else
{
<MudText Typo="Typo.body2">N/A</MudText>
}
</MudTd>
</RowTemplate>
</MudTable>
}
else
{
<MudText Typo="Typo.body2" Align="Align.Center">No errors</MudText>
}
</MudPaper>
@code {
private Error[]? Errors { get; set; }
private Color GetErrorLevelColor(ErrorLevel level)
{
return level switch
{
ErrorLevel.NONE => Color.Success,
ErrorLevel.WARNING => Color.Warning,
ErrorLevel.FATAL => Color.Error,
_ => Color.Default
};
}
public void Update(Error[]? errors)
{
Errors = errors;
StateHasChanged();
}
}

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@using RobotNet.VDA5050.State
<MudPaper Class="pa-4" Elevation="2">
<MudText Typo="Typo.h6" Class="mb-3">Header Information</MudText>
@if (State != null)
{
<MudSimpleTable Elevation="0">
<tbody>
<tr>
<td><strong>Header ID:</strong></td>
<td>@State.HeaderId</td>
</tr>
<tr>
<td><strong>Timestamp:</strong></td>
<td>@State.Timestamp.ToString("g")</td>
</tr>
<tr>
<td><strong>Version:</strong></td>
<td>@State.Version</td>
</tr>
<tr>
<td><strong>Manufacturer:</strong></td>
<td>@State.Manufacturer</td>
</tr>
<tr>
<td><strong>Serial Number:</strong></td>
<td>@State.SerialNumber</td>
</tr>
</tbody>
</MudSimpleTable>
}
else
{
<MudText Typo="Typo.body2" Align="Align.Center">No state data available</MudText>
}
</MudPaper>
@code {
public StateMsg? State { get; set; }
public void Update(StateMsg? state)
{
State = state;
StateHasChanged();
}
}

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@using RobotNet.VDA5050.State
@using RobotNet.VDA5050.Type
<MudPaper Class="pa-4" Elevation="2">
<MudText Typo="Typo.h6" Class="mb-3">Information</MudText>
@if (Info != null && Info.Length > 0)
{
<MudTable Items="@Info" T="Information" Hover="true" Dense="true" Height="400px" FixedHeader="true" Elevation="0">
<HeaderContent>
<MudTh>Info Type</MudTh>
<MudTh>Level</MudTh>
<MudTh>Description</MudTh>
<MudTh>References</MudTh>
</HeaderContent>
<RowTemplate>
<MudTd DataLabel="Info Type">@context.InfoType</MudTd>
<MudTd DataLabel="Level">
<MudChip T="string"
Size="Size.Small"
Color="@GetInfoLevelColor(context.InfoLevel)">
@context.InfoLevel
</MudChip>
</MudTd>
<MudTd DataLabel="Description">
<MudText Typo="Typo.body2" Style="max-width: 300px; overflow: hidden; text-overflow: ellipsis; white-space: nowrap;">
@(context.InfoDescription ?? "N/A")
</MudText>
</MudTd>
<MudTd DataLabel="References">
@if (context.InfoReferences != null && context.InfoReferences.Length > 0)
{
<MudChip T="string" Size="Size.Small" Color="Color.Info">
@context.InfoReferences.Length reference(s)
</MudChip>
}
else
{
<MudText Typo="Typo.body2">N/A</MudText>
}
</MudTd>
</RowTemplate>
</MudTable>
}
else
{
<MudText Typo="Typo.body2" Align="Align.Center">No information available</MudText>
}
</MudPaper>
@code {
private Information[]? Info { get; set; }
private Color GetInfoLevelColor(InfoLevel level)
{
return level switch
{
InfoLevel.INFO => Color.Info,
InfoLevel.DEBUG => Color.Default,
_ => Color.Default
};
}
public void Update(Information[]? info)
{
Info = info;
StateHasChanged();
}
}

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@using RobotNet.VDA5050.State
<MudPaper Class="pa-4" Elevation="2">
<MudText Typo="Typo.h6" Class="mb-3">Loads</MudText>
@if (State?.Loads != null && State.Loads.Length > 0)
{
<MudTable Items="@State.Loads" T="Load" Hover="true" Dense="true" Height="400px" FixedHeader="true" Elevation="0">
<HeaderContent>
<MudTh>Load ID</MudTh>
<MudTh>Load Type</MudTh>
<MudTh>Position</MudTh>
<MudTh>Weight</MudTh>
<MudTh>Dimensions</MudTh>
</HeaderContent>
<RowTemplate>
<MudTd DataLabel="Load ID">
<MudText Typo="Typo.body2" Style="max-width: 150px; overflow: hidden; text-overflow: ellipsis; white-space: nowrap;">
@(context.LoadId ?? "N/A")
</MudText>
</MudTd>
<MudTd DataLabel="Load Type">@(context.LoadType ?? "N/A")</MudTd>
<MudTd DataLabel="Position">@(context.LoadPosition ?? "N/A")</MudTd>
<MudTd DataLabel="Weight">@(context.Weight > 0 ? context.Weight?.ToString("F2") + " kg" : "N/A")</MudTd>
<MudTd DataLabel="Dimensions">
@if (context.LoadDimensions != null)
{
<MudText Typo="Typo.body2">
@($"{context.LoadDimensions.Length:F2} × {context.LoadDimensions.Width:F2}")
@if (context.LoadDimensions.Height > 0)
{
<text> × @context.LoadDimensions.Height.ToString("F2")</text>
}
<text> m</text>
</MudText>
}
else
{
<MudText Typo="Typo.body2">N/A</MudText>
}
</MudTd>
</RowTemplate>
</MudTable>
}
else
{
<MudText Typo="Typo.body2" Align="Align.Center">No loads available</MudText>
}
</MudPaper>
@code {
public StateMsg? State { get; set; }
public void Update(StateMsg? state)
{
State = state;
StateHasChanged();
}
}

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@using RobotNet.VDA5050
@using RobotNet.VDA5050.Type
@using System.Net.Http.Json
@using RobotNet10.FleetManager.Shared.Models
@using RobotNet10.Shared
@inject HttpClient HttpClient
@inject ISnackbar Snackbar
<MudPaper Class="pa-4" Elevation="0">
<MudText Typo="Typo.h6" Class="mb-4">Manual Actions</MudText>
<MudStack Spacing="3">
<!-- Action Type Selector -->
<MudSelect @bind-Value="selectedActionType"
Label="Action Type"
Variant="Variant.Outlined"
T="ActionType">
@foreach (ActionType actionType in Enum.GetValues<ActionType>())
{
<MudSelectItem Value="@actionType">@actionType.ToString()</MudSelectItem>
}
</MudSelect>
<!-- Blocking Type Selector -->
<MudSelect @bind-Value="selectedBlockingType"
Label="Blocking Type"
Variant="Variant.Outlined"
T="BlockingType">
@foreach (BlockingType blockingType in Enum.GetValues<BlockingType>())
{
<MudSelectItem Value="@blockingType">@blockingType.ToString()</MudSelectItem>
}
</MudSelect>
<!-- Action Parameters -->
<MudText Typo="Typo.subtitle2">Action Parameters</MudText>
@foreach (var param in actionParameters)
{
<MudGrid>
<MudItem xs="5">
<MudTextField @bind-Value="param.Key"
Label="Key"
Variant="Variant.Outlined"
Margin="Margin.Dense" />
</MudItem>
<MudItem xs="5">
<MudTextField @bind-Value="param.Value"
Label="Value"
Variant="Variant.Outlined"
Margin="Margin.Dense" />
</MudItem>
<MudItem xs="2">
<MudIconButton Icon="@Icons.Material.Filled.Delete"
Color="Color.Error"
Size="Size.Small"
OnClick="@(() => RemoveParameter(param))" />
</MudItem>
</MudGrid>
}
<MudButton StartIcon="@Icons.Material.Filled.Add"
Variant="Variant.Outlined"
Color="Color.Primary"
OnClick="AddParameter">
Add Parameter
</MudButton>
<!-- Send Action Button -->
<MudButton Variant="Variant.Filled"
Color="Color.Primary"
StartIcon="@Icons.Material.Filled.Send"
OnClick="SendAction"
Disabled="@isSending"
FullWidth="true">
@if (isSending)
{
<MudProgressCircular Class="mr-2" Size="Size.Small" Indeterminate="true" />
<span>Sending...</span>
}
else
{
<span>Send Action</span>
}
</MudButton>
<!-- Action History -->
<MudDivider />
<MudText Typo="Typo.subtitle2">Recent Actions</MudText>
@if (actionHistory.Count > 0)
{
<MudStack Spacing="1" Style="height: 200px; overflow-y: auto">
@foreach (var action in actionHistory.Take(10))
{
<MudPaper Class="pa-2" Elevation="0">
<MudText Typo="Typo.body2">
<strong>@action.ActionType</strong> - @action.Timestamp.ToString("g")
</MudText>
</MudPaper>
}
</MudStack>
}
else
{
<MudText Typo="Typo.body2" Align="Align.Center">No actions sent yet</MudText>
}
</MudStack>
</MudPaper>
@code {
[Parameter]
public string RobotId { get; set; } = string.Empty;
private ActionType selectedActionType = ActionType.STATE_REQUEST;
private BlockingType selectedBlockingType = BlockingType.HARD;
private List<RobotNet.VDA5050.InstantAction.ActionParameter> actionParameters = new();
private List<SentAction> actionHistory = new();
private bool isSending = false;
private class SentAction
{
public ActionType ActionType { get; set; }
public DateTime Timestamp { get; set; }
}
private void AddParameter()
{
actionParameters.Add(new RobotNet.VDA5050.InstantAction.ActionParameter());
}
private void RemoveParameter(RobotNet.VDA5050.InstantAction.ActionParameter param)
{
actionParameters.Remove(param);
}
private async Task SendAction()
{
if (string.IsNullOrWhiteSpace(RobotId))
{
Snackbar.Add("Robot ID is required", Severity.Warning);
return;
}
isSending = true;
StateHasChanged();
try
{
// Build action request
var actionRequest = new RobotInstantActionModel
{
RobotId = RobotId,
Action = new RobotNet.VDA5050.InstantAction.Action
{
ActionId = Guid.NewGuid().ToString(),
BlockingType = selectedBlockingType,
ActionType = selectedActionType.ToJsonString(),
ActionParameters = [.. actionParameters.Where(p => !string.IsNullOrWhiteSpace(p.Key))],
}
};
// Call API endpoint (TODO: Create this endpoint in Phase 10)
var response = await HttpClient.PostAsJsonAsync($"/api/robotManager/InstantActions", actionRequest);
if (response.IsSuccessStatusCode)
{
var result = await response.Content.ReadFromJsonAsync<MessageResult>();
if(result is null)
{
Snackbar.Add($"Sending action is failed", Severity.Warning);
}
else if (!result.IsSuccess)
{
Snackbar.Add($"{result.Message}", Severity.Warning);
}
else
{
Snackbar.Add($"Action '{selectedActionType}' sent successfully", Severity.Success);
// Add to history
actionHistory.Insert(0, new SentAction
{
ActionType = selectedActionType,
Timestamp = DateTime.UtcNow
});
// Clear parameters
actionParameters.Clear();
}
}
else if (response.StatusCode == System.Net.HttpStatusCode.NotFound)
{
Snackbar.Add($"Robot with ID '{RobotId}' not found", Severity.Error);
}
else if (response.StatusCode == System.Net.HttpStatusCode.BadRequest)
{
var error = await response.Content.ReadAsStringAsync();
Snackbar.Add($"Invalid action request: {error}", Severity.Warning);
}
else
{
var error = await response.Content.ReadAsStringAsync();
Snackbar.Add($"Error sending action: {error}", Severity.Error);
}
}
catch (Exception ex)
{
Snackbar.Add($"Error sending action: {ex.Message}", Severity.Error);
}
finally
{
isSending = false;
StateHasChanged();
}
}
}

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@using RobotNet10.FleetManager.Shared.DTOs.Robot
@using RobotNet10.FleetManager.Client.Services
@using RobotNet10.MapEditor.Services.API
@using RobotNet10.MapEditor.Shared.DTOs.LayoutData
@using RobotNet10.MapEditor.Shared.DTOs.Node
@using RobotNet10.FleetManager.Shared.Models
@using RobotNet10.Shared
@using System.Net.Http.Json
@inject HttpClient HttpClient
@inject ISnackbar Snackbar
@inject RobotApiService RobotApiService
@inject MapManagerApiService MapApiService
<MudPaper Class="pa-4" Elevation="0">
<MudText Typo="Typo.h6" Class="mb-4">Manual Order</MudText>
<MudStack Spacing="3">
<!-- Node Selector -->
<MudSelect @bind-Value="selectedNodeName"
Label="Select Node"
Variant="Variant.Outlined"
T="string"
Disabled="@isLoadingNodes"
ErrorText="@GetValidationError("NodeName")">
@if (isLoadingNodes)
{
<MudSelectItem Value="@(string.Empty)" Disabled="true">Loading nodes...</MudSelectItem>
}
else if (nodes != null && nodes.Any())
{
<MudSelectItem Value="@(string.Empty)">-- Select Node --</MudSelectItem>
@foreach (var node in nodes.Where(n => !string.IsNullOrEmpty(n.NodeName)).OrderBy(n => n.NodeName))
{
var displayName = !string.IsNullOrWhiteSpace(node.NodeName)
? $"{node.NodeName} ({node.NodeId})"
: node.NodeId;
<MudSelectItem Value="@node.NodeName">@displayName</MudSelectItem>
}
}
else
{
<MudSelectItem Value="@(string.Empty)" Disabled="true">No nodes available</MudSelectItem>
}
</MudSelect>
@if (!string.IsNullOrWhiteSpace(selectedNodeName))
{
var selectedNode = nodes?.FirstOrDefault(n =>
(!string.IsNullOrWhiteSpace(n.NodeName) && n.NodeName == selectedNodeName) ||
(string.IsNullOrWhiteSpace(n.NodeName) && n.NodeId == selectedNodeName));
@if (selectedNode != null)
{
<MudPaper Class="pa-2" Elevation="0" Style="background-color: var(--mud-palette-background-grey);">
<MudText Typo="Typo.body2">
<strong>Node ID:</strong> @selectedNode.NodeId<br />
@if (!string.IsNullOrWhiteSpace(selectedNode.NodeDescription))
{
<strong>Description:</strong> @selectedNode.NodeDescription<br />
}
<strong>Position:</strong> X: @selectedNode.X.ToString("F2")m, Y: @selectedNode.Y.ToString("F2")m
</MudText>
</MudPaper>
}
}
<!-- Action Buttons -->
<MudStack Row="true" Spacing="2">
<MudButton Variant="Variant.Filled"
Color="Color.Primary"
StartIcon="@Icons.Material.Filled.Send"
OnClick="SendOrder"
Disabled="@(isSending || string.IsNullOrWhiteSpace(selectedNodeName))"
FullWidth="true">
@if (isSending)
{
<MudProgressCircular Class="mr-2" Size="Size.Small" Indeterminate="true" />
<span>Sending...</span>
}
else
{
<span>Send Order</span>
}
</MudButton>
<MudButton Variant="Variant.Filled"
Color="Color.Error"
StartIcon="@Icons.Material.Filled.Cancel"
OnClick="CancelOrder"
Disabled="@isCanceling"
FullWidth="true">
@if (isCanceling)
{
<MudProgressCircular Class="mr-2" Size="Size.Small" Indeterminate="true" />
<span>Canceling...</span>
}
else
{
<span>Cancel Order</span>
}
</MudButton>
</MudStack>
<!-- Order History -->
<MudDivider />
<MudText Typo="Typo.subtitle2">Recent Orders</MudText>
@if (orderHistory.Count > 0)
{
<MudStack Spacing="1" Style="height: 200px; overflow: auto;">
@foreach (var order in orderHistory.Take(10))
{
<MudPaper Class="pa-2" Elevation="0">
<MudText Typo="Typo.body2">
<strong>@order.NodeName</strong> - @order.Timestamp.ToString("g")
@if (!order.IsSuccess)
{
<MudChip T="string" Size="Size.Small" Color="Color.Error" Class="ml-2">Failed</MudChip>
}
else
{
<MudChip T="string" Size="Size.Small" Color="Color.Success" Class="ml-2">Success</MudChip>
}
</MudText>
</MudPaper>
}
</MudStack>
}
else
{
<MudText Typo="Typo.body2" Align="Align.Center">No orders sent yet</MudText>
}
</MudStack>
</MudPaper>
@code {
[Parameter]
public string RobotId { get; set; } = string.Empty;
[Parameter]
public Guid? MapId { get; set; }
private string selectedNodeName = string.Empty;
private List<NodeDto> nodes = new();
private List<SentOrder> orderHistory = new();
private bool isSending = false;
private bool isCanceling = false;
private bool isLoadingNodes = false;
private Dictionary<string, string> validationErrors = new();
protected override async Task OnInitializedAsync()
{
await LoadNodesAsync();
}
private async Task LoadNodesAsync()
{
if (!MapId.HasValue || MapId.Value == Guid.Empty)
{
// Try to get MapId from robot
try
{
var robot = await RobotApiService.GetByRobotIdAsync(RobotId);
if (robot?.MapId.HasValue == true)
{
MapId = robot.MapId;
}
else
{
nodes = new List<NodeDto>();
return;
}
}
catch (Exception ex)
{
Snackbar.Add($"Error loading robot: {ex.Message}", Severity.Warning);
nodes = new List<NodeDto>();
return;
}
}
isLoadingNodes = true;
StateHasChanged();
try
{
var layoutData = await MapApiService.GetLayoutDataAsync(MapId.Value);
nodes = layoutData.Nodes?.ToList() ?? new List<NodeDto>();
}
catch (Exception ex)
{
Snackbar.Add($"Error loading nodes: {ex.Message}", Severity.Warning);
nodes = new List<NodeDto>();
}
finally
{
isLoadingNodes = false;
StateHasChanged();
}
}
private string? GetValidationError(string fieldName)
{
return validationErrors.TryGetValue(fieldName, out var error) ? error : null;
}
private async Task SendOrder()
{
if (string.IsNullOrWhiteSpace(RobotId))
{
Snackbar.Add("Robot ID is required", Severity.Warning);
return;
}
if (string.IsNullOrWhiteSpace(selectedNodeName))
{
validationErrors["NodeName"] = "Please select a node";
StateHasChanged();
return;
}
isSending = true;
validationErrors.Clear();
StateHasChanged();
try
{
// Find the selected node to get NodeName (preferred) or NodeId
var selectedNode = nodes?.FirstOrDefault(n =>
(!string.IsNullOrWhiteSpace(n.NodeName) && n.NodeName == selectedNodeName) ||
(string.IsNullOrWhiteSpace(n.NodeName) && n.NodeId == selectedNodeName));
if (selectedNode == null)
{
Snackbar.Add("Selected node not found", Severity.Warning);
return;
}
// Use NodeName if available, otherwise use NodeId
var nodeNameToSend = !string.IsNullOrWhiteSpace(selectedNode.NodeName)
? selectedNode.NodeName
: selectedNode.NodeId;
// Build order request
var orderRequest = new RobotMoveToNodeModel
{
RobotId = RobotId,
NodeName = nodeNameToSend,
LastAngle = null, // Optional, can be enhanced later
};
// Call API endpoint
var response = await HttpClient.PostAsJsonAsync($"/api/RobotManager/MoveToNode", orderRequest);
if (response.IsSuccessStatusCode)
{
var result = await response.Content.ReadFromJsonAsync<MessageResult>();
if (result is null)
{
Snackbar.Add($"Sending order failed", Severity.Warning);
orderHistory.Insert(0, new SentOrder
{
NodeName = selectedNodeName,
Timestamp = DateTime.UtcNow,
IsSuccess = false
});
}
else if (!result.IsSuccess)
{
Snackbar.Add($"{result.Message}", Severity.Warning);
orderHistory.Insert(0, new SentOrder
{
NodeName = selectedNodeName,
Timestamp = DateTime.UtcNow,
IsSuccess = false
});
}
else
{
Snackbar.Add($"Order to node '{selectedNodeName}' sent successfully", Severity.Success);
// Add to history
orderHistory.Insert(0, new SentOrder
{
NodeName = selectedNodeName,
Timestamp = DateTime.UtcNow,
IsSuccess = true
});
// Clear selection
selectedNodeName = string.Empty;
}
}
else if (response.StatusCode == System.Net.HttpStatusCode.NotFound)
{
Snackbar.Add($"Robot with ID '{RobotId}' not found", Severity.Error);
orderHistory.Insert(0, new SentOrder
{
NodeName = selectedNodeName,
Timestamp = DateTime.UtcNow,
IsSuccess = false
});
}
else if (response.StatusCode == System.Net.HttpStatusCode.BadRequest)
{
var error = await response.Content.ReadAsStringAsync();
Snackbar.Add($"Invalid order request: {error}", Severity.Warning);
orderHistory.Insert(0, new SentOrder
{
NodeName = selectedNodeName,
Timestamp = DateTime.UtcNow,
IsSuccess = false
});
}
else
{
var error = await response.Content.ReadAsStringAsync();
Snackbar.Add($"Error sending order: {error}", Severity.Error);
orderHistory.Insert(0, new SentOrder
{
NodeName = selectedNodeName,
Timestamp = DateTime.UtcNow,
IsSuccess = false
});
}
}
catch (Exception ex)
{
Snackbar.Add($"Error sending order: {ex.Message}", Severity.Error);
orderHistory.Insert(0, new SentOrder
{
NodeName = selectedNodeName ?? "Unknown",
Timestamp = DateTime.UtcNow,
IsSuccess = false
});
}
finally
{
isSending = false;
StateHasChanged();
}
}
private async Task CancelOrder()
{
if (string.IsNullOrWhiteSpace(RobotId))
{
Snackbar.Add("Robot ID is required", Severity.Warning);
return;
}
isCanceling = true;
StateHasChanged();
try
{
// Call API endpoint
var response = await HttpClient.DeleteAsync($"/api/RobotManager/MoveToNode/{RobotId}");
if (response.IsSuccessStatusCode)
{
var result = await response.Content.ReadFromJsonAsync<MessageResult>();
if (result is null)
{
Snackbar.Add($"Canceling order failed", Severity.Warning);
}
else if (!result.IsSuccess)
{
Snackbar.Add($"{result.Message}", Severity.Warning);
}
else
{
Snackbar.Add($"Order canceled successfully", Severity.Success);
}
}
else if (response.StatusCode == System.Net.HttpStatusCode.NotFound)
{
Snackbar.Add($"Robot with ID '{RobotId}' not found", Severity.Error);
}
else
{
var error = await response.Content.ReadAsStringAsync();
Snackbar.Add($"Error canceling order: {error}", Severity.Error);
}
}
catch (Exception ex)
{
Snackbar.Add($"Error canceling order: {ex.Message}", Severity.Error);
}
finally
{
isCanceling = false;
StateHasChanged();
}
}
// Helper class for order history
private class SentOrder
{
public string NodeName { get; set; } = string.Empty;
public DateTime Timestamp { get; set; }
public bool IsSuccess { get; set; }
}
}

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@using RobotNet.VDA5050.State
<MudPaper Class="pa-4" Elevation="2">
<MudText Typo="Typo.h6" Class="mb-3">Maps</MudText>
@if (State?.Maps != null && State.Maps.Length > 0)
{
<MudTable Items="@State.Maps" T="Map" Hover="true" Dense="true" Elevation="0">
<HeaderContent>
<MudTh>Map ID</MudTh>
<MudTh>Map Description</MudTh>
</HeaderContent>
<RowTemplate>
<MudTd DataLabel="Map ID">@context.MapId</MudTd>
<MudTd DataLabel="Map Description">@(context.MapDescription ?? "N/A")</MudTd>
</RowTemplate>
</MudTable>
}
else
{
<MudText Typo="Typo.body2" Align="Align.Center">No maps available</MudText>
}
</MudPaper>
@code {
public StateMsg? State { get; set; }
public void Update(StateMsg? state)
{
State = state;
StateHasChanged();
}
}

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@using RobotNet.VDA5050.State
<MudPaper Class="pa-4" Elevation="2">
<MudText Typo="Typo.h6" Class="mb-3">Node States</MudText>
@if (State?.NodeStates != null && State.NodeStates.Length > 0)
{
<MudTable Items="@State.NodeStates" T="NodeState" Hover="true" Dense="true" Height="400px" FixedHeader="true" Elevation="0">
<HeaderContent>
<MudTh>Node ID</MudTh>
<MudTh>Sequence ID</MudTh>
<MudTh>Released</MudTh>
<MudTh>Description</MudTh>
<MudTh>Position</MudTh>
</HeaderContent>
<RowTemplate>
<MudTd DataLabel="Node ID">@context.NodeId</MudTd>
<MudTd DataLabel="Sequence ID">@context.SequenceId</MudTd>
<MudTd DataLabel="Released">
@if (context.Released)
{
<MudChip T="string" Size="Size.Small" Color="Color.Success">Yes</MudChip>
}
else
{
<MudChip T="string" Size="Size.Small" Color="Color.Warning">No</MudChip>
}
</MudTd>
<MudTd DataLabel="Description">
<MudText Typo="Typo.body2" Style="max-width: 200px; overflow: hidden; text-overflow: ellipsis; white-space: nowrap;">
@(context.NodeDescription ?? "N/A")
</MudText>
</MudTd>
<MudTd DataLabel="Position">
@if (context.NodePosition != null)
{
<MudText Typo="Typo.body2">
@($"({context.NodePosition.X:F2}, {context.NodePosition.Y:F2})")
</MudText>
}
else
{
<MudText Typo="Typo.body2">N/A</MudText>
}
</MudTd>
</RowTemplate>
</MudTable>
}
else
{
<MudText Typo="Typo.body2" Align="Align.Center">No node states available</MudText>
}
</MudPaper>
@code {
public StateMsg? State { get; set; }
public void Update(StateMsg? state)
{
State = state;
Console.WriteLine($"Update node state: {State?.NodeStates.Length}");
StateHasChanged();
}
}

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@using RobotNet.VDA5050.State
<MudPaper Class="pa-4" Elevation="2">
<MudText Typo="Typo.h6" Class="mb-3">Order Information</MudText>
@if (State != null)
{
<MudSimpleTable Elevation="0">
<tbody>
<tr>
<td><strong>Order ID:</strong></td>
<td>@State.OrderId</td>
</tr>
<tr>
<td><strong>Order Update ID:</strong></td>
<td>@State.OrderUpdateId</td>
</tr>
<tr>
<td><strong>Zone Set ID:</strong></td>
<td>@(State.ZoneSetId ?? "N/A")</td>
</tr>
<tr>
<td><strong>Last Node ID:</strong></td>
<td>@State.LastNodeId</td>
</tr>
<tr>
<td><strong>Last Node Sequence ID:</strong></td>
<td>@State.LastNodeSequenceId</td>
</tr>
<tr>
<td><strong>Driving:</strong></td>
<td>
@if (State.Driving)
{
<MudChip T="string" Size="Size.Small" Color="Color.Success">Yes</MudChip>
}
else
{
<MudChip T="string" Size="Size.Small" Color="Color.Default">No</MudChip>
}
</td>
</tr>
<tr>
<td><strong>Paused:</strong></td>
<td>
@if (State.Paused)
{
<MudChip T="string" Size="Size.Small" Color="Color.Warning">Yes</MudChip>
}
else
{
<MudChip T="string" Size="Size.Small" Color="Color.Default">No</MudChip>
}
</td>
</tr>
<tr>
<td><strong>Operating Mode:</strong></td>
<td>@State.OperatingMode</td>
</tr>
<tr>
<td><strong>Distance Since Last Node:</strong></td>
<td>@State.DistanceSinceLastNode?.ToString("F3") m</td>
</tr>
<tr>
<td><strong>New Base Request:</strong></td>
<td>
@if (State.NewBaseRequest)
{
<MudChip T="string" Size="Size.Small" Color="Color.Warning">Yes</MudChip>
}
else
{
<MudChip T="string" Size="Size.Small" Color="Color.Default">No</MudChip>
}
</td>
</tr>
</tbody>
</MudSimpleTable>
}
else
{
<MudText Typo="Typo.body2" Align="Align.Center">No order data available</MudText>
}
</MudPaper>
@code {
public StateMsg? State { get; set; }
public void Update(StateMsg? state)
{
State = state;
StateHasChanged();
}
}

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@using RobotNet.VDA5050.State
<MudPaper Class="pa-4" Elevation="2">
<MudText Typo="Typo.h6" Class="mb-3">Position</MudText>
@if (State?.AgvPosition != null)
{
<MudSimpleTable Elevation="0">
<tbody>
<tr>
<td><strong>X:</strong></td>
<td>@State.AgvPosition.X.ToString("F3") m</td>
</tr>
<tr>
<td><strong>Y:</strong></td>
<td>@State.AgvPosition.Y.ToString("F3") m</td>
</tr>
<tr>
<td><strong>Theta:</strong></td>
<td>@State.AgvPosition.Theta.ToString("F3") rad</td>
</tr>
<tr>
<td><strong>Map ID:</strong></td>
<td>@(State.AgvPosition.MapId ?? "N/A")</td>
</tr>
<tr>
<td><strong>Position Initialized:</strong></td>
<td>
@if (State.AgvPosition.PositionInitialized)
{
<MudChip T="string" Size="Size.Small" Color="Color.Success">Yes</MudChip>
}
else
{
<MudChip T="string" Size="Size.Small" Color="Color.Warning">No</MudChip>
}
</td>
</tr>
@if (State.AgvPosition.LocalizationScore >= 0)
{
<tr>
<td><strong>Localization Score:</strong></td>
<td>@State.AgvPosition.LocalizationScore.ToString("F3")</td>
</tr>
}
@if (State.AgvPosition.DeviationRange >= 0)
{
<tr>
<td><strong>Deviation Range:</strong></td>
<td>@State.AgvPosition.DeviationRange.ToString("F3") m</td>
</tr>
}
@if (!string.IsNullOrWhiteSpace(State.AgvPosition.MapDescription))
{
<tr>
<td><strong>Map Description:</strong></td>
<td>@State.AgvPosition.MapDescription</td>
</tr>
}
</tbody>
</MudSimpleTable>
}
else
{
<MudText Typo="Typo.body2" Align="Align.Center">No position data available</MudText>
}
</MudPaper>
@code {
public StateMsg? State { get; set; }
public void Update(StateMsg? state)
{
State = state;
StateHasChanged();
}
}

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@using RobotNet.VDA5050.State
@using RobotNet.VDA5050.Type
<MudPaper Class="pa-4" Elevation="2">
<MudText Typo="Typo.h6" Class="mb-3">Safety State</MudText>
@if (State?.SafetyState != null)
{
<MudSimpleTable Elevation="0">
<tbody>
<tr>
<td><strong>E-Stop:</strong></td>
<td>
<MudChip T="string"
Size="Size.Small"
Color="@GetEStopColor(State.SafetyState.EStop)">
@State.SafetyState.EStop
</MudChip>
</td>
</tr>
<tr>
<td><strong>Field Violation:</strong></td>
<td>
@if (State.SafetyState.FieldViolation)
{
<MudChip T="string" Size="Size.Small" Color="Color.Error">Yes</MudChip>
}
else
{
<MudChip T="string" Size="Size.Small" Color="Color.Success">No</MudChip>
}
</td>
</tr>
</tbody>
</MudSimpleTable>
}
else
{
<MudText Typo="Typo.body2" Align="Align.Center">No safety state data available</MudText>
}
</MudPaper>
@code {
public StateMsg? State { get; set; }
private Color GetEStopColor(EStop eStop)
{
return eStop switch
{
EStop.NONE => Color.Success,
EStop.AUTOACK => Color.Warning,
EStop.MANUAL => Color.Error,
EStop.REMOTE => Color.Warning,
_ => Color.Default
};
}
public void Update(StateMsg? state)
{
State = state;
StateHasChanged();
}
}

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@using RobotNet.VDA5050.State
<MudPaper Class="pa-4" Elevation="2">
<MudText Typo="Typo.h6" Class="mb-3">Velocity</MudText>
@if (State?.Velocity != null)
{
<MudSimpleTable Elevation="0">
<tbody>
<tr>
<td><strong>Vx:</strong></td>
<td>@State.Velocity.Vx.ToString("F3") m/s</td>
</tr>
<tr>
<td><strong>Vy:</strong></td>
<td>@State.Velocity.Vy.ToString("F3") m/s</td>
</tr>
<tr>
<td><strong>Omega:</strong></td>
<td>@State.Velocity.Omega.ToString("F3") rad/s</td>
</tr>
</tbody>
</MudSimpleTable>
}
else
{
<MudText Typo="Typo.body2" Align="Align.Center">No velocity data available</MudText>
}
</MudPaper>
@code {
public StateMsg? State { get; set; }
public void Update(StateMsg? state)
{
State = state;
StateHasChanged();
}
}

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@using RobotNet10.FleetManager.Shared.DTOs.Robot
@using RobotNet10.FleetManager.Shared.DTOs.RobotModel
@using RobotNet10.FleetManager.Client.Services
@using RobotNet10.MapEditor.Services.API
@using RobotNet10.MapEditor.Shared.DTOs.Layout
@inject ISnackbar Snackbar
@inject MapManagerApiService MapApiService
<MudDialog>
<TitleContent>
<MudText Typo="Typo.h6">
<MudIcon Icon="@Icons.Material.Filled.Add" Color="Color.Primary" Class="mr-2" />
Create Robot
</MudText>
</TitleContent>
<DialogContent>
<MudStack Spacing="3">
<MudTextField @bind-Value="request.RobotId"
Label="Robot ID *"
Variant="Variant.Outlined"
ErrorText="@GetValidationError("RobotId")"
HelperText="Unique identifier for the robot" />
<MudTextField @bind-Value="request.Name"
Label="Name *"
Variant="Variant.Outlined"
ErrorText="@GetValidationError("Name")" />
<MudSelect @bind-Value="request.ModelId"
Label="Robot Model *"
Variant="Variant.Outlined"
T="Guid"
ErrorText="@GetValidationError("ModelId")">
@if (isLoadingModels)
{
<MudProgressCircular Size="Size.Small" Indeterminate="true" />
}
else
{
@foreach (var model in robotModels)
{
<MudSelectItem Value="@model.Id">@model.ModelName</MudSelectItem>
}
}
</MudSelect>
<MudSelect @bind-Value="request.MapId"
Label="Map (Optional)"
Variant="Variant.Outlined"
Clearable="true"
T="Guid?"
Disabled="@isLoadingMaps"
ErrorText="@GetValidationError("MapId")">
@if (isLoadingMaps)
{
<MudSelectItem Value="@((Guid?)null)" Disabled="true">Loading maps...</MudSelectItem>
}
else if (mapLevels != null && mapLevels.Any())
{
<MudSelectItem Value="@((Guid?)null)">No Map</MudSelectItem>
@foreach (var mapLevel in mapLevels)
{
<MudSelectItem Value="@((Guid?)mapLevel.LevelId)">@mapLevel.DisplayName</MudSelectItem>
}
}
else
{
<MudSelectItem Value="@((Guid?)null)" Disabled="true">No maps available</MudSelectItem>
}
</MudSelect>
</MudStack>
</DialogContent>
<DialogActions>
<MudButton OnClick="Cancel">Cancel</MudButton>
<MudButton Color="Color.Primary"
Variant="Variant.Filled"
OnClick="Submit"
Disabled="@isCreating">
@if (isCreating)
{
<MudProgressCircular Class="mr-2" Size="Size.Small" Indeterminate="true" />
<span>Creating...</span>
}
else
{
<span>Create</span>
}
</MudButton>
</DialogActions>
</MudDialog>
@code {
[CascadingParameter] private IMudDialogInstance? MudDialog { get; set; }
[Parameter] public RobotApiService RobotApiService { get; set; } = null!;
[Parameter] public RobotModelApiService RobotModelApiService { get; set; } = null!;
private CreateRobotRequest request = new();
private List<RobotModelDto> robotModels = new();
private List<MapLevelInfo> mapLevels = new();
private Dictionary<string, string> validationErrors = new();
private bool isCreating = false;
private bool isLoadingModels = true;
private bool isLoadingMaps = false;
protected override async Task OnInitializedAsync()
{
await Task.WhenAll(
LoadRobotModelsAsync(),
LoadMapsAsync()
);
}
private async Task LoadRobotModelsAsync()
{
isLoadingModels = true;
try
{
robotModels = await RobotModelApiService.GetAllAsync();
}
catch (Exception ex)
{
Snackbar.Add($"Error loading robot models: {ex.Message}", Severity.Error);
}
finally
{
isLoadingModels = false;
StateHasChanged();
}
}
private async Task LoadMapsAsync()
{
isLoadingMaps = true;
StateHasChanged();
try
{
// Load all layouts (with nested versions and levels)
var layouts = await MapApiService.SearchLayoutsAsync();
if (layouts is null) return;
// Get all levels from all layouts (not just active layouts)
mapLevels = new List<MapLevelInfo>();
foreach (var layout in layouts.Where(l => l.Versions != null))
{
if (layout.Versions is null) continue;
foreach (var version in layout.Versions.Where(v => v.Levels != null))
{
if (version.Levels is null) continue;
foreach (var level in version.Levels.OrderBy(l => l.LevelOrder))
{
mapLevels.Add(new MapLevelInfo
{
LevelId = level.Id,
DisplayName = $"{layout.LayoutName} - {version.Version} - {level.LayoutLevelId}"
});
}
}
}
}
catch (Exception ex)
{
Snackbar.Add($"Error loading maps: {ex.Message}", Severity.Warning);
mapLevels = new List<MapLevelInfo>();
}
finally
{
isLoadingMaps = false;
StateHasChanged();
}
}
private bool Validate()
{
validationErrors.Clear();
if (string.IsNullOrWhiteSpace(request.RobotId))
{
validationErrors["RobotId"] = "Robot ID is required";
}
else if (request.RobotId.Length > 64)
{
validationErrors["RobotId"] = "Robot ID must be 64 characters or less";
}
if (string.IsNullOrWhiteSpace(request.Name))
{
validationErrors["Name"] = "Name is required";
}
else if (request.Name.Length > 256)
{
validationErrors["Name"] = "Name must be 256 characters or less";
}
if (request.ModelId == Guid.Empty)
{
validationErrors["ModelId"] = "Robot Model is required";
}
return validationErrors.Count == 0;
}
private string? GetValidationError(string fieldName)
{
return validationErrors.TryGetValue(fieldName, out var error) ? error : null;
}
private void Cancel()
{
MudDialog?.Cancel();
}
private async Task Submit()
{
if (!Validate())
{
Snackbar.Add("Please fix validation errors", Severity.Warning);
StateHasChanged();
return;
}
isCreating = true;
StateHasChanged();
try
{
var created = await RobotApiService.CreateAsync(request);
Snackbar.Add($"Robot '{request.Name}' created successfully", Severity.Success);
MudDialog?.Close(DialogResult.Ok(created));
}
catch (Exception ex)
{
Snackbar.Add($"Error creating robot: {ex.Message}", Severity.Error);
}
finally
{
isCreating = false;
StateHasChanged();
}
}
// Helper class for map level display
private class MapLevelInfo
{
public Guid LevelId { get; set; }
public string DisplayName { get; set; } = string.Empty;
}
}

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@using RobotNet10.FleetManager.Shared.DTOs.Robot
@using RobotNet10.FleetManager.Client.Services
@inject ISnackbar Snackbar
<MudDialog>
<TitleContent>
<MudText Typo="Typo.h6">
<MudIcon Icon="@Icons.Material.Filled.Delete" Color="Color.Error" Class="mr-2" />
Delete Robot
</MudText>
</TitleContent>
<DialogContent>
<MudStack Spacing="3">
<MudText Typo="Typo.body1">
Are you sure you want to delete the robot <strong>@Robot.Name</strong> (ID: <strong>@Robot.RobotId</strong>)?
</MudText>
<MudAlert Severity="Severity.Warning">
<MudText>This action cannot be undone.</MudText>
</MudAlert>
</MudStack>
</DialogContent>
<DialogActions>
<MudButton OnClick="Cancel">Cancel</MudButton>
<MudButton Color="Color.Error"
Variant="Variant.Filled"
OnClick="Submit"
Disabled="@isDeleting">
@if (isDeleting)
{
<MudProgressCircular Class="mr-2" Size="Size.Small" Indeterminate="true" />
<span>Deleting...</span>
}
else
{
<span>Delete</span>
}
</MudButton>
</DialogActions>
</MudDialog>
@code {
[CascadingParameter] private IMudDialogInstance? MudDialog { get; set; }
[Parameter] public RobotApiService RobotApiService { get; set; } = null!;
[Parameter] public RobotDto Robot { get; set; } = null!;
private bool isDeleting = false;
private void Cancel()
{
MudDialog?.Cancel();
}
private async Task Submit()
{
isDeleting = true;
StateHasChanged();
try
{
await RobotApiService.DeleteAsync(Robot.Id);
Snackbar.Add($"Robot '{Robot.Name}' deleted successfully", Severity.Success);
MudDialog?.Close(DialogResult.Ok(true));
}
catch (Exception ex)
{
Snackbar.Add($"Error deleting robot: {ex.Message}", Severity.Error);
}
finally
{
isDeleting = false;
StateHasChanged();
}
}
}

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@using RobotNet10.FleetManager.Shared.DTOs.Robot
@using RobotNet10.FleetManager.Shared.DTOs.RobotModel
@using RobotNet10.FleetManager.Client.Services
@using RobotNet10.MapEditor.Services.API
@using RobotNet10.MapEditor.Shared.DTOs.Layout
@inject ISnackbar Snackbar
@inject MapManagerApiService MapApiService
<MudDialog>
<TitleContent>
<MudText Typo="Typo.h6">
<MudIcon Icon="@Icons.Material.Filled.Edit" Color="Color.Primary" Class="mr-2" />
Edit Robot
</MudText>
</TitleContent>
<DialogContent>
<MudStack Spacing="3">
<MudTextField @bind-Value="request.RobotId"
Label="Robot ID"
Variant="Variant.Outlined"
ErrorText="@GetValidationError("RobotId")"
HelperText="Unique identifier for the robot" ReadOnly />
<MudTextField @bind-Value="request.Name"
Label="Name"
Variant="Variant.Outlined"
ErrorText="@GetValidationError("Name")" />
<MudSelect @bind-Value="request.ModelId"
Label="Robot Model"
Variant="Variant.Outlined"
T="Guid ?"
ErrorText="@GetValidationError("ModelId")">
@if (isLoadingModels)
{
<MudProgressCircular Size="Size.Small" Indeterminate="true" />
}
else
{
@foreach (var model in robotModels)
{
<MudSelectItem Value="@((Guid?)model.Id)">@model.ModelName</MudSelectItem>
}
}
</MudSelect>
<MudSelect @bind-Value="request.MapId"
Label="Map (Optional)"
Variant="Variant.Outlined"
Clearable="true"
T="Guid ?"
Disabled="@isLoadingMaps"
ErrorText="@GetValidationError("MapId")">
@if (isLoadingMaps)
{
<MudSelectItem Value="@((Guid?)null)" Disabled="true">Loading maps...</MudSelectItem>
}
else if (mapLevels != null && mapLevels.Any())
{
<MudSelectItem Value="@((Guid?)null)">No Map</MudSelectItem>
@foreach (var mapLevel in mapLevels)
{
<MudSelectItem Value="@((Guid?)mapLevel.LevelId)">@mapLevel.DisplayName</MudSelectItem>
}
}
else
{
<MudSelectItem Value="@((Guid?)null)" Disabled="true">No maps available</MudSelectItem>
}
</MudSelect>
</MudStack>
</DialogContent>
<DialogActions>
<MudButton OnClick="Cancel">Cancel</MudButton>
<MudButton Color="Color.Primary"
Variant="Variant.Filled"
OnClick="Submit"
Disabled="@isUpdating">
@if (isUpdating)
{
<MudProgressCircular Class="mr-2" Size="Size.Small" Indeterminate="true" />
<span>Updating...</span>
}
else
{
<span>Update</span>
}
</MudButton>
</DialogActions>
</MudDialog>
@code {
[CascadingParameter] private IMudDialogInstance? MudDialog { get; set; }
[Parameter] public RobotApiService RobotApiService { get; set; } = null!;
[Parameter] public RobotModelApiService RobotModelApiService { get; set; } = null!;
[Parameter] public RobotDto Robot { get; set; } = null!;
private UpdateRobotRequest request = new();
private List<RobotModelDto> robotModels = new();
private List<MapLevelInfo> mapLevels = new();
private Dictionary<string, string> validationErrors = new();
private bool isUpdating = false;
private bool isLoadingModels = true;
private bool isLoadingMaps = false;
protected override void OnInitialized()
{
// Pre-fill with existing data
request.RobotId = Robot.RobotId;
request.Name = Robot.Name;
request.ModelId = Robot.ModelId;
request.MapId = Robot.MapId;
}
protected override async Task OnInitializedAsync()
{
await Task.WhenAll(
LoadRobotModelsAsync(),
LoadMapsAsync()
);
}
private async Task LoadRobotModelsAsync()
{
isLoadingModels = true;
try
{
robotModels = await RobotModelApiService.GetAllAsync();
}
catch (Exception ex)
{
Snackbar.Add($"Error loading robot models: {ex.Message}", Severity.Error);
}
finally
{
isLoadingModels = false;
StateHasChanged();
}
}
private async Task LoadMapsAsync()
{
isLoadingMaps = true;
StateHasChanged();
try
{
// Load all layouts (with nested versions and levels)
var layouts = await MapApiService.SearchLayoutsAsync();
if (layouts is null) return;
// Get all levels from all layouts (not just active layouts)
mapLevels = new List<MapLevelInfo>();
foreach (var layout in layouts.Where(l => l.Versions != null))
{
if (layout.Versions is null) continue;
foreach (var version in layout.Versions.Where(v => v.Levels != null))
{
if (version.Levels is null) continue;
foreach (var level in version.Levels.OrderBy(l => l.LevelOrder))
{
mapLevels.Add(new MapLevelInfo
{
LevelId = level.Id,
DisplayName = $"{layout.LayoutName} - {version.Version} - {level.LayoutLevelId}"
});
}
}
}
}
catch (Exception ex)
{
Snackbar.Add($"Error loading maps: {ex.Message}", Severity.Warning);
mapLevels = new List<MapLevelInfo>();
}
finally
{
isLoadingMaps = false;
StateHasChanged();
}
}
private bool Validate()
{
validationErrors.Clear();
if (!string.IsNullOrWhiteSpace(request.RobotId) && request.RobotId.Length > 64)
{
validationErrors["RobotId"] = "Robot ID must be 64 characters or less";
}
if (!string.IsNullOrWhiteSpace(request.Name) && request.Name.Length > 256)
{
validationErrors["Name"] = "Name must be 256 characters or less";
}
return validationErrors.Count == 0;
}
private string? GetValidationError(string fieldName)
{
return validationErrors.TryGetValue(fieldName, out var error) ? error : null;
}
private void Cancel()
{
MudDialog?.Cancel();
}
private async Task Submit()
{
if (!Validate())
{
Snackbar.Add("Please fix validation errors", Severity.Warning);
StateHasChanged();
return;
}
isUpdating = true;
StateHasChanged();
try
{
var updated = await RobotApiService.UpdateAsync(Robot.Id, request);
Snackbar.Add($"Robot '{updated.Name}' updated successfully", Severity.Success);
MudDialog?.Close(DialogResult.Ok(updated));
}
catch (Exception ex)
{
Snackbar.Add($"Error updating robot: {ex.Message}", Severity.Error);
}
finally
{
isUpdating = false;
StateHasChanged();
}
}
// Helper class for map level display
private class MapLevelInfo
{
public Guid LevelId { get; set; }
public string DisplayName { get; set; } = string.Empty;
}
}

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@using RobotNet10.FleetManager.Shared.DTOs.Robot
@using RobotNet10.FleetManager.Shared.DTOs.RobotModel
@using RobotNet10.FleetManager.Client.Services
@using RobotNet10.FleetManager.Client.Components.RobotManager.Dialogs
@using RobotNet10.MapEditor.Services.API
@using RobotNet10.MapEditor.Shared.DTOs.Layout
@using RobotNet10.Shared
@using System.Net.Http.Json
@inject IDialogService DialogService
@inject ISnackbar Snackbar
@inject NavigationManager NavigationManager
@inject MapManagerApiService MapApiService
@inject HttpClient HttpClient
<MudPaper Class="pa-4" Elevation="1">
<MudStack Spacing="3">
<!-- Search and Filters -->
<MudGrid>
<MudItem xs="12" md="4">
<MudTextField Value="@searchText"
Placeholder="Search by RobotId or Name..."
Variant="Variant.Outlined"
Adornment="Adornment.Start"
AdornmentIcon="@Icons.Material.Filled.Search"
Margin="Margin.Dense"
Immediate="false"
T="string"
ValueChanged="OnSearchTextChanged"
Clearable="true"
Class="mt-2" />
</MudItem>
<MudItem xs="12" md="4">
<MudSelect @bind-Value="selectedModelId"
@bind-Value:after="OnModelFilterChanged"
Label="Filter by Model"
Variant="Variant.Outlined"
Margin="Margin.Dense"
Clearable="true"
T="Guid ?">
@foreach (var model in robotModels)
{
<MudSelectItem Value="@((Guid?)model.Id)">@model.ModelName</MudSelectItem>
}
</MudSelect>
</MudItem>
<MudItem xs="12" md="4">
<MudSelect @bind-Value="selectedMapId"
@bind-Value:after="OnMapFilterChanged"
Label="Filter by Map"
Variant="Variant.Outlined"
Margin="Margin.Dense"
Clearable="true"
T="Guid ?">
<!-- TODO: Load maps from MapManager service if available -->
<MudSelectItem Value="@((Guid?)null)">All Maps</MudSelectItem>
</MudSelect>
</MudItem>
</MudGrid>
<!-- Robot Table -->
@if (isLoading)
{
<MudStack AlignItems="AlignItems.Center" Spacing="2" Class="my-4">
<MudProgressCircular Color="Color.Primary" Indeterminate="true" Size="Size.Medium" />
<MudText Typo="Typo.body2">Loading robots...</MudText>
</MudStack>
}
else if (robots.Count == 0)
{
<MudPaper Class="pa-4" Elevation="0">
<MudText Typo="Typo.body1" Align="Align.Center" Class="mt-4">
@if (!string.IsNullOrWhiteSpace(searchText) || selectedModelId.HasValue || selectedMapId.HasValue)
{
<span>No robots found matching the current filters.</span>
}
else
{
<span>No robots found. Click "Add Robot" to create one.</span>
}
</MudText>
</MudPaper>
}
else
{
<MudTable Items="@robots"
@ref="@table"
T="RobotDto"
Hover="true"
Dense="true"
FixedHeader="true"
Elevation="0"
Height="calc(100vh - 325px)">
<HeaderContent>
<MudTh>Robot ID</MudTh>
<MudTh>Name</MudTh>
<MudTh>Model</MudTh>
<MudTh>Map</MudTh>
<MudTh>Status</MudTh>
<MudTh>Created Date</MudTh>
<MudTh></MudTh>
</HeaderContent>
<RowTemplate>
<MudTd DataLabel="Robot ID">
<MudText Typo="Typo.body2">@context.RobotId</MudText>
</MudTd>
<MudTd DataLabel="Name">
<MudText Typo="Typo.body2">@context.Name</MudText>
</MudTd>
<MudTd DataLabel="Model">
<MudChip T="string" Size="Size.Small" Color="Color.Primary">
@(context.ModelName ?? "N/A")
</MudChip>
</MudTd>
<MudTd DataLabel="Map">
<MudText Typo="Typo.body2">@GetMapDisplayName(context.MapId)</MudText>
</MudTd>
<MudTd DataLabel="Status">
@if (GetRobotOnlineStatus(context.RobotId))
{
<MudChip T="string" Size="Size.Small" Color="Color.Success">Online</MudChip>
}
else
{
<MudChip T="string" Size="Size.Small" Color="Color.Default">Offline</MudChip>
}
</MudTd>
<MudTd DataLabel="Created Date">
<MudText Typo="Typo.body2">@context.CreatedDate.ToString("g")</MudText>
</MudTd>
<MudTd DataLabel="Actions">
<MudIconButton Icon="@Icons.Material.Filled.Edit"
Color="Color.Primary"
Size="Size.Small"
OnClick="@(() => HandleEdit(context))" />
<MudIconButton Icon="@Icons.Material.Filled.Delete"
Color="Color.Error"
Size="Size.Small"
OnClick="@(() => HandleDelete(context))" />
<MudIconButton Color="Color.Primary"
Size="Size.Small"
Icon="@Icons.Material.Filled.TrendingFlat"
OnClick="@(() => NavigateToDetail(context.RobotId))">
</MudIconButton>
</MudTd>
</RowTemplate>
<PagerContent>
<div class="d-flex w-100 flex-row-reverse">
<MudTablePager Style="width: 100%;" PageSizeOptions="new[] { 25, 50, 100 }" />
</div>
</PagerContent>
</MudTable>
}
</MudStack>
</MudPaper>
@code {
[Parameter]
public RobotApiService RobotApiService { get; set; } = null!;
[Parameter]
public RobotModelApiService RobotModelApiService { get; set; } = null!;
[Parameter]
public EventCallback OnRobotDeleted { get; set; }
[Parameter]
public EventCallback OnRobotUpdated { get; set; }
private List<RobotDto> robots = new();
private List<RobotModelDto> robotModels = new();
private MudTable<RobotDto>? table;
private bool isLoading = false;
private string searchText = string.Empty;
private Guid? selectedModelId;
private Guid? selectedMapId;
private Dictionary<Guid, string> mapDisplayNames = new();
private Dictionary<string, bool> robotOnlineStatus = new();
protected override async Task OnInitializedAsync()
{
await LoadRobotModelsAsync();
await LoadDataAsync();
}
protected override async Task OnParametersSetAsync()
{
await LoadDataAsync();
}
public async Task LoadDataAsync()
{
isLoading = true;
StateHasChanged();
try
{
if (!string.IsNullOrWhiteSpace(searchText))
{
robots = await RobotApiService.SearchAsync(searchText);
}
else
{
robots = await RobotApiService.GetAllAsync(selectedModelId, selectedMapId);
}
// Load map display names and online status
await LoadMapDisplayNamesAsync();
await LoadRobotOnlineStatusAsync();
table?.ReloadServerData();
}
catch (HttpRequestException ex)
{
Snackbar.Add($"Network error loading robots: {ex.Message}", Severity.Error);
robots = new List<RobotDto>();
}
catch (Exception ex)
{
Snackbar.Add($"Error loading robots: {ex.Message}", Severity.Error);
robots = new List<RobotDto>();
}
finally
{
isLoading = false;
StateHasChanged();
}
}
private async Task LoadMapDisplayNamesAsync()
{
mapDisplayNames.Clear();
var mapIds = robots.Where(r => r.MapId.HasValue).Select(r => r.MapId!.Value).Distinct().ToList();
if (mapIds.Count == 0) return;
try
{
// Load all layouts once
var layouts = await MapApiService.SearchLayoutsAsync();
// Create a dictionary to map level ID to layout/version info
var levelInfoMap = new Dictionary<Guid, (string LayoutName, string Version, string LevelId)>();
foreach (var layout in layouts)
{
if (layout.Versions != null)
{
foreach (var version in layout.Versions)
{
if (version.Levels != null)
{
foreach (var level in version.Levels)
{
levelInfoMap[level.Id] = (layout.LayoutName, version.Version, level.LayoutLevelId);
}
}
}
}
}
// Build display names for each map ID
foreach (var mapId in mapIds)
{
if (levelInfoMap.TryGetValue(mapId, out var info))
{
mapDisplayNames[mapId] = $"{info.LayoutName} - {info.Version} - {info.LevelId}";
}
else
{
mapDisplayNames[mapId] = "N/A";
}
}
}
catch (Exception ex)
{
// If loading fails, set all to N/A
foreach (var mapId in mapIds)
{
mapDisplayNames[mapId] = "N/A";
}
Snackbar.Add($"Error loading map information: {ex.Message}", Severity.Warning);
}
}
private async Task LoadRobotOnlineStatusAsync()
{
robotOnlineStatus.Clear();
var tasks = robots.Select(async robot =>
{
try
{
var response = await HttpClient.GetAsync($"/api/RobotManager/OnlineStatus/{robot.RobotId}");
if (response.IsSuccessStatusCode)
{
var result = await response.Content.ReadFromJsonAsync<MessageResult<bool>>();
robotOnlineStatus[robot.RobotId] = result?.Data ?? false;
}
else
{
robotOnlineStatus[robot.RobotId] = false;
}
}
catch
{
robotOnlineStatus[robot.RobotId] = false;
}
});
await Task.WhenAll(tasks);
}
private string GetMapDisplayName(Guid? mapId)
{
if (!mapId.HasValue) return "N/A";
return mapDisplayNames.TryGetValue(mapId.Value, out var displayName) ? displayName : "Loading...";
}
private bool GetRobotOnlineStatus(string robotId)
{
return robotOnlineStatus.TryGetValue(robotId, out var isOnline) && isOnline;
}
private async Task LoadRobotModelsAsync()
{
try
{
robotModels = await RobotModelApiService.GetAllAsync();
}
catch (Exception ex)
{
Snackbar.Add($"Error loading robot models: {ex.Message}", Severity.Error);
}
}
private async Task OnSearchTextChanged(string text)
{
searchText = text;
await LoadDataAsync();
}
private async Task OnModelFilterChanged()
{
await LoadDataAsync();
}
private async Task OnMapFilterChanged()
{
await LoadDataAsync();
}
private void NavigateToDetail(string robotId)
{
NavigationManager.NavigateTo($"/robots/{robotId}/detail");
}
private async Task HandleEdit(RobotDto robot)
{
var parameters = new DialogParameters
{
["RobotApiService"] = RobotApiService,
["RobotModelApiService"] = RobotModelApiService,
["Robot"] = robot
};
var dialog = await DialogService.ShowAsync<EditRobotDialog>("Edit Robot", parameters,
new DialogOptions { MaxWidth = MaxWidth.Medium, FullWidth = true });
var result = await dialog.Result;
if (result != null && !result.Canceled)
{
await LoadDataAsync();
await OnRobotUpdated.InvokeAsync();
}
}
private async Task HandleDelete(RobotDto robot)
{
var parameters = new DialogParameters
{
["RobotApiService"] = RobotApiService,
["Robot"] = robot
};
var dialog = await DialogService.ShowAsync<DeleteRobotDialog>("Delete Robot", parameters);
var result = await dialog.Result;
if (result != null && !result.Canceled)
{
await LoadDataAsync();
await OnRobotDeleted.InvokeAsync();
}
}
}

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@using RobotNet10.FleetManager.Shared.DTOs.RobotModel
@using RobotNet10.FleetManager.Shared.Enums
@using RobotNet10.FleetManager.Client.Services
@using RobotNet10.MapEditor.Services.API
@using RobotNet10.MapEditor.Shared.DTOs.VehicleType
@inject ISnackbar Snackbar
@inject MapManagerApiService MapApiService
<MudDialog>
<TitleContent>
<MudText Typo="Typo.h6">
<MudIcon Icon="@Icons.Material.Filled.Add" Color="Color.Primary" Class="mr-2" />
Create Robot Model
</MudText>
</TitleContent>
<DialogContent>
<MudStack Spacing="3">
<MudTextField @bind-Value="request.ModelName"
Label="Model Name *"
Variant="Variant.Outlined"
ErrorText="@GetValidationError("ModelName")" />
<MudNumericField T="double" @bind-Value="request.Length"
Label="Length (m) *"
Variant="Variant.Outlined"
Min="0.01"
Max="1000"
Step="0.01"
ErrorText="@GetValidationError("Length")" />
<MudNumericField T="double" @bind-Value="request.Width"
Label="Width (m) *"
Variant="Variant.Outlined"
Min="0.01"
Max="1000"
Step="0.01"
ErrorText="@GetValidationError("Width")" />
<MudNumericField T="double" @bind-Value="request.NavigationPointX"
Label="Navigation Point X (m) *"
Variant="Variant.Outlined"
Step="0.01"
ErrorText="@GetValidationError("NavigationPointX")" />
<MudNumericField T="double" @bind-Value="request.NavigationPointY"
Label="Navigation Point Y (m) *"
Variant="Variant.Outlined"
Step="0.01"
ErrorText="@GetValidationError("NavigationPointY")" />
<MudSelect @bind-Value="request.NavigationType"
Label="Navigation Type *"
Variant="Variant.Outlined"
ErrorText="@GetValidationError("NavigationType")">
@foreach (NavigationType navType in Enum.GetValues<NavigationType>())
{
<MudSelectItem Value="@navType">@navType.ToString()</MudSelectItem>
}
</MudSelect>
<MudSelect @bind-Value="request.VehicleTypeId"
Label="Vehicle Type (Optional)"
Variant="Variant.Outlined"
T="Guid ?"
Clearable="true"
Disabled="@isLoadingVehicleTypes"
ErrorText="@GetValidationError("VehicleTypeId")">
@if (isLoadingVehicleTypes)
{
<MudSelectItem Value="@((Guid?)null)" Disabled="true">Loading vehicle types...</MudSelectItem>
}
else if (vehicleTypes != null && vehicleTypes.Any())
{
<MudSelectItem Value="@((Guid?)null)">None</MudSelectItem>
@foreach (var vehicleType in vehicleTypes)
{
<MudSelectItem Value="@((Guid?)vehicleType.Id)">@($"{vehicleType.VehicleTypeId} - {vehicleType.VehicleTypeName}")</MudSelectItem>
}
}
else
{
<MudSelectItem Value="@((Guid?)null)" Disabled="true">No vehicle types available</MudSelectItem>
}
</MudSelect>
<MudDivider />
<MudText Typo="Typo.subtitle2">Image Upload (Optional)</MudText>
<MudFileUpload T="IBrowserFile"
@bind-Files="selectedFile"
Accept=".png"
MaximumFileCount="1">
<CustomContent>
<MudButton Variant="Variant.Filled"
Color="Color.Primary"
StartIcon="@Icons.Material.Filled.CloudUpload"
OnClick="@context.OpenFilePickerAsync">
Upload Image (PNG)
</MudButton>
</CustomContent>
</MudFileUpload>
@if (selectedFile != null)
{
<MudChip T="string" Color="Color.Success" Icon="@Icons.Material.Filled.AttachFile">
@selectedFile.Name (@FormatFileSize(selectedFile.Size))
</MudChip>
}
</MudStack>
</DialogContent>
<DialogActions>
<MudButton OnClick="Cancel">Cancel</MudButton>
<MudButton Color="Color.Primary"
Variant="Variant.Filled"
OnClick="Submit"
Disabled="@isCreating">
@if (isCreating)
{
<MudProgressCircular Class="mr-2" Size="Size.Small" Indeterminate="true" />
<span>Creating...</span>
}
else
{
<span>Create</span>
}
</MudButton>
</DialogActions>
</MudDialog>
@code {
[CascadingParameter] private IMudDialogInstance? MudDialog { get; set; }
[Parameter] public RobotModelApiService ApiService { get; set; } = null!;
private CreateRobotModelRequest request = new()
{
NavigationType = NavigationType.Differential, // Default value
ImageWidth = 100, // Default value, will be updated if image is uploaded
ImageHeight = 100 // Default value, will be updated if image is uploaded
};
private IBrowserFile? selectedFile;
private Dictionary<string, string> validationErrors = new();
private bool isCreating = false;
private List<VehicleTypeDto>? vehicleTypes;
private bool isLoadingVehicleTypes = false;
protected override async Task OnInitializedAsync()
{
await LoadVehicleTypesAsync();
}
private async Task LoadVehicleTypesAsync()
{
isLoadingVehicleTypes = true;
StateHasChanged();
try
{
vehicleTypes = await MapApiService.GetVehicleTypesAsync(isActive: true);
}
catch (Exception ex)
{
Snackbar.Add($"Error loading vehicle types: {ex.Message}", Severity.Warning);
vehicleTypes = new List<VehicleTypeDto>();
}
finally
{
isLoadingVehicleTypes = false;
StateHasChanged();
}
}
private bool Validate()
{
validationErrors.Clear();
if (string.IsNullOrWhiteSpace(request.ModelName))
{
validationErrors["ModelName"] = "Model Name is required";
}
else if (request.ModelName.Length > 256)
{
validationErrors["ModelName"] = "Model Name must not exceed 256 characters";
}
if (request.Length <= 0)
{
validationErrors["Length"] = "Length must be greater than 0";
}
else if (request.Length > 1000)
{
validationErrors["Length"] = "Length must not exceed 1000 meters";
}
if (request.Width <= 0)
{
validationErrors["Width"] = "Width must be greater than 0";
}
else if (request.Width > 1000)
{
validationErrors["Width"] = "Width must not exceed 1000 meters";
}
// ImageWidth and ImageHeight are set to default values (100) when request is initialized
// They will be updated by server if image is uploaded
// No need to validate them here as they're always set to valid values (100)
// NavigationPointX and NavigationPointY can be 0 or any decimal value
// They are required fields but can be 0, so no validation needed here
// Server-side validation will handle range checks if needed
return validationErrors.Count == 0;
}
private string? GetValidationError(string fieldName)
{
return validationErrors.TryGetValue(fieldName, out var error) ? error : null;
}
private string FormatFileSize(long bytes)
{
string[] sizes = { "B", "KB", "MB", "GB" };
double len = bytes;
int order = 0;
while (len >= 1024 && order < sizes.Length - 1)
{
order++;
len = len / 1024;
}
return $"{len:0.##} {sizes[order]}";
}
private void Cancel()
{
MudDialog?.Cancel();
}
private async Task Submit()
{
if (!Validate())
{
var errorMessages = string.Join(", ", validationErrors.Values);
Snackbar.Add($"Please fix validation errors: {errorMessages}", Severity.Warning);
StateHasChanged();
return;
}
isCreating = true;
StateHasChanged();
try
{
// ImageWidth and ImageHeight are already set to default values (100) in request initialization
// If image is provided, server will update these values after extracting dimensions
// If no image, default values (100x100) will be used
// Create robot model first
var created = await ApiService.CreateAsync(request);
// Upload image if provided
if (selectedFile != null)
{
try
{
using var stream = selectedFile.OpenReadStream(maxAllowedSize: 10 * 1024 * 1024); // 10MB
await ApiService.UploadImageAsync(created.Id, stream, selectedFile.Name);
}
catch (Exception imageEx)
{
// Log image upload error but don't fail the entire operation
// The robot model was created successfully, image can be uploaded later
Snackbar.Add($"Robot model created but image upload failed: {imageEx.Message}", Severity.Warning);
}
}
Snackbar.Add($"Robot model '{request.ModelName}' created successfully", Severity.Success);
MudDialog?.Close(DialogResult.Ok(created));
}
catch (HttpRequestException httpEx)
{
var errorMessage = httpEx.Message;
if (httpEx.Data.Contains("Response"))
{
errorMessage = $"Network error: {httpEx.Message}";
}
Snackbar.Add($"Error creating robot model: {errorMessage}", Severity.Error);
}
catch (Exception ex)
{
Snackbar.Add($"Error creating robot model: {ex.Message}", Severity.Error);
}
finally
{
isCreating = false;
StateHasChanged();
}
}
}

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@using RobotNet10.FleetManager.Shared.DTOs.RobotModel
@using RobotNet10.FleetManager.Client.Services
@inject ISnackbar Snackbar
<MudDialog>
<TitleContent>
<MudText Typo="Typo.h6">
<MudIcon Icon="@Icons.Material.Filled.Delete" Color="Color.Error" Class="mr-2" />
Delete Robot Model
</MudText>
</TitleContent>
<DialogContent>
<MudStack Spacing="3">
<MudText Typo="Typo.body1">
Are you sure you want to delete the robot model <strong>@RobotModel.ModelName</strong>?
</MudText>
@if (usageInfo != null)
{
@if (usageInfo.RobotCount > 0)
{
<MudAlert Severity="Severity.Error">
<MudText>This robot model is currently being used by <strong>@usageInfo.RobotCount</strong> robot(s).</MudText>
<MudText>You must delete or reassign all robots using this model before you can delete it.</MudText>
</MudAlert>
}
else
{
<MudAlert Severity="Severity.Warning">
<MudText>This action cannot be undone.</MudText>
</MudAlert>
}
}
else if (isLoadingUsageInfo)
{
<MudProgressCircular Size="Size.Small" Indeterminate="true" />
}
</MudStack>
</DialogContent>
<DialogActions>
<MudButton OnClick="Cancel">Cancel</MudButton>
<MudButton Color="Color.Error"
Variant="Variant.Filled"
OnClick="Submit"
Disabled="@(isDeleting || (usageInfo != null && !usageInfo.CanDelete))">
@if (isDeleting)
{
<MudProgressCircular Class="mr-2" Size="Size.Small" Indeterminate="true" />
<span>Deleting...</span>
}
else
{
<span>Delete</span>
}
</MudButton>
</DialogActions>
</MudDialog>
@code {
[CascadingParameter] private IMudDialogInstance? MudDialog { get; set; }
[Parameter] public RobotModelApiService ApiService { get; set; } = null!;
[Parameter] public RobotModelDto RobotModel { get; set; } = null!;
private RobotModelUsageInfoDto? usageInfo;
private bool isLoadingUsageInfo = true;
private bool isDeleting = false;
protected override async Task OnInitializedAsync()
{
await LoadUsageInfoAsync();
}
private async Task LoadUsageInfoAsync()
{
isLoadingUsageInfo = true;
try
{
usageInfo = await ApiService.GetUsageInfoAsync(RobotModel.Id);
}
catch (Exception ex)
{
Snackbar.Add($"Error loading usage info: {ex.Message}", Severity.Error);
}
finally
{
isLoadingUsageInfo = false;
StateHasChanged();
}
}
private void Cancel()
{
MudDialog?.Cancel();
}
private async Task Submit()
{
if (usageInfo != null && !usageInfo.CanDelete)
{
Snackbar.Add("Cannot delete robot model that is in use", Severity.Warning);
return;
}
isDeleting = true;
StateHasChanged();
try
{
await ApiService.DeleteAsync(RobotModel.Id);
Snackbar.Add($"Robot model '{RobotModel.ModelName}' deleted successfully", Severity.Success);
MudDialog?.Close(DialogResult.Ok(true));
}
catch (Exception ex)
{
Snackbar.Add($"Error deleting robot model: {ex.Message}", Severity.Error);
}
finally
{
isDeleting = false;
StateHasChanged();
}
}
}

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@using RobotNet10.FleetManager.Shared.DTOs.RobotModel
@using RobotNet10.FleetManager.Shared.Enums
@using RobotNet10.FleetManager.Client.Services
@using RobotNet10.MapEditor.Services.API
@using RobotNet10.MapEditor.Shared.DTOs.VehicleType
@inject ISnackbar Snackbar
@inject MapManagerApiService MapApiService
<MudDialog>
<TitleContent>
<MudText Typo="Typo.h6">
<MudIcon Icon="@Icons.Material.Filled.Edit" Color="Color.Primary" Class="mr-2" />
Edit Robot Model
</MudText>
</TitleContent>
<DialogContent>
<MudStack Spacing="3">
<MudTextField @bind-Value="request.ModelName"
Label="Model Name"
Variant="Variant.Outlined"
ErrorText="@GetValidationError("ModelName")" />
<MudNumericField T="double?" @bind-Value="request.Length"
Label="Length (m)"
Variant="Variant.Outlined"
Min="0.01"
Max="1000"
Step="0.01"
ErrorText="@GetValidationError("Length")" />
<MudNumericField T="double?" @bind-Value="request.Width"
Label="Width (m)"
Variant="Variant.Outlined"
Min="0.01"
Max="1000"
Step="0.01"
ErrorText="@GetValidationError("Width")" />
<MudNumericField T="double?" @bind-Value="request.NavigationPointX"
Label="Navigation Point X (m)"
Variant="Variant.Outlined"
Step="0.01"
ErrorText="@GetValidationError("NavigationPointX")" />
<MudNumericField T="double?" @bind-Value="request.NavigationPointY"
Label="Navigation Point Y (m)"
Variant="Variant.Outlined"
Step="0.01"
ErrorText="@GetValidationError("NavigationPointY")" />
<MudSelect @bind-Value="request.NavigationType"
Label="Navigation Type"
Variant="Variant.Outlined"
T="NavigationType?"
ErrorText="@GetValidationError("NavigationType")" ReadOnly>
@foreach (NavigationType navType in Enum.GetValues<NavigationType>())
{
<MudSelectItem Value="@((NavigationType?)navType)">@navType.ToString()</MudSelectItem>
}
</MudSelect>
<MudSelect @bind-Value="request.VehicleTypeId"
Label="Vehicle Type (Optional)"
Variant="Variant.Outlined"
T="Guid?"
Clearable="true"
Disabled="@isLoadingVehicleTypes"
ErrorText="@GetValidationError("VehicleTypeId")">
@if (isLoadingVehicleTypes)
{
<MudSelectItem Value="@((Guid?)null)" Disabled="true">Loading vehicle types...</MudSelectItem>
}
else if (vehicleTypes != null && vehicleTypes.Any())
{
<MudSelectItem Value="@((Guid?)null)">None</MudSelectItem>
@foreach (var vehicleType in vehicleTypes)
{
<MudSelectItem Value="@((Guid?)vehicleType.Id)">@($"{vehicleType.VehicleTypeId} - {vehicleType.VehicleTypeName}")</MudSelectItem>
}
}
else
{
<MudSelectItem Value="@((Guid?)null)" Disabled="true">No vehicle types available</MudSelectItem>
}
</MudSelect>
<MudDivider />
<MudText Typo="Typo.subtitle2">Image Upload (Optional - Leave empty to keep current image)</MudText>
<MudFileUpload T="IBrowserFile"
@bind-Files="selectedFile"
Accept=".png"
MaximumFileCount="1">
<CustomContent>
<MudButton Variant="Variant.Filled"
Color="Color.Primary"
StartIcon="@Icons.Material.Filled.CloudUpload"
OnClick="@context.OpenFilePickerAsync">
Upload New Image (PNG)
</MudButton>
</CustomContent>
</MudFileUpload>
@if (selectedFile != null)
{
<MudChip T="string" Color="Color.Success" Icon="@Icons.Material.Filled.AttachFile">
@selectedFile.Name (@FormatFileSize(selectedFile.Size))
</MudChip>
}
</MudStack>
</DialogContent>
<DialogActions>
<MudButton OnClick="Cancel">Cancel</MudButton>
<MudButton Color="Color.Primary"
Variant="Variant.Filled"
OnClick="Submit"
Disabled="@isUpdating">
@if (isUpdating)
{
<MudProgressCircular Class="mr-2" Size="Size.Small" Indeterminate="true" />
<span>Updating...</span>
}
else
{
<span>Update</span>
}
</MudButton>
</DialogActions>
</MudDialog>
@code {
[CascadingParameter] private IMudDialogInstance? MudDialog { get; set; }
[Parameter] public RobotModelApiService ApiService { get; set; } = null!;
[Parameter] public RobotModelDto RobotModel { get; set; } = null!;
private UpdateRobotModelRequest request = new();
private IBrowserFile? selectedFile;
private Dictionary<string, string> validationErrors = new();
private bool isUpdating = false;
private List<VehicleTypeDto>? vehicleTypes;
private bool isLoadingVehicleTypes = false;
protected override async Task OnInitializedAsync()
{
// Pre-fill with existing data
request.ModelName = RobotModel.ModelName;
request.Length = RobotModel.Length;
request.Width = RobotModel.Width;
request.NavigationPointX = RobotModel.NavigationPointX;
request.NavigationPointY = RobotModel.NavigationPointY;
request.NavigationType = RobotModel.NavigationType; // This is nullable, but we set it to the actual value
request.VehicleTypeId = RobotModel.VehicleTypeId;
await LoadVehicleTypesAsync();
}
private async Task LoadVehicleTypesAsync()
{
isLoadingVehicleTypes = true;
StateHasChanged();
try
{
vehicleTypes = await MapApiService.GetVehicleTypesAsync(isActive: true);
}
catch (Exception ex)
{
Snackbar.Add($"Error loading vehicle types: {ex.Message}", Severity.Warning);
vehicleTypes = new List<VehicleTypeDto>();
}
finally
{
isLoadingVehicleTypes = false;
StateHasChanged();
}
}
private bool Validate()
{
validationErrors.Clear();
if (!string.IsNullOrWhiteSpace(request.ModelName) && request.ModelName.Length > 256)
{
validationErrors["ModelName"] = "Model Name must be 256 characters or less";
}
if (request.Length.HasValue && request.Length.Value <= 0)
{
validationErrors["Length"] = "Length must be greater than 0";
}
if (request.Width.HasValue && request.Width.Value <= 0)
{
validationErrors["Width"] = "Width must be greater than 0";
}
return validationErrors.Count == 0;
}
private string? GetValidationError(string fieldName)
{
return validationErrors.TryGetValue(fieldName, out var error) ? error : null;
}
private string FormatFileSize(long bytes)
{
string[] sizes = { "B", "KB", "MB", "GB" };
double len = bytes;
int order = 0;
while (len >= 1024 && order < sizes.Length - 1)
{
order++;
len = len / 1024;
}
return $"{len:0.##} {sizes[order]}";
}
private void Cancel()
{
MudDialog?.Cancel();
}
private async Task Submit()
{
if (!Validate())
{
Snackbar.Add("Please fix validation errors", Severity.Warning);
StateHasChanged();
return;
}
isUpdating = true;
StateHasChanged();
try
{
// Update robot model
var updated = await ApiService.UpdateAsync(RobotModel.Id, request);
// Upload new image if provided
if (selectedFile != null)
{
using var stream = selectedFile.OpenReadStream(maxAllowedSize: 10 * 1024 * 1024); // 10MB
await ApiService.UploadImageAsync(updated.Id, stream, selectedFile.Name);
}
Snackbar.Add($"Robot model '{updated.ModelName}' updated successfully", Severity.Success);
MudDialog?.Close(DialogResult.Ok(updated));
}
catch (Exception ex)
{
Snackbar.Add($"Error updating robot model: {ex.Message}", Severity.Error);
}
finally
{
isUpdating = false;
StateHasChanged();
}
}
}

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@*
Component: RobotModelDetailsPanel
Purpose: Displays detailed information about a selected robot model.
Shows image preview with navigation point, dimensions, and usage statistics.
*@
@using RobotNet10.FleetManager.Shared.DTOs.RobotModel
@using RobotNet10.FleetManager.Client.Services
@using RobotNet10.FleetManager.Client.Components.RobotModelManager.Dialogs
@using RobotNet10.MapEditor.Services.API
@using RobotNet10.MapEditor.Shared.DTOs.VehicleType
@inject IDialogService DialogService
@inject MapManagerApiService MapApiService
<!-- Image Preview -->
<RobotModelImagePreview RobotModel="@RobotModel" />
<!-- Details -->
<MudStack Class="mt-2">
<MudSimpleTable>
<tbody>
<tr>
<td><strong>Model Name:</strong></td>
<td>@RobotModel.ModelName</td>
</tr>
<tr>
<td><strong>Navigation Type:</strong></td>
<td>@RobotModel.NavigationType</td>
</tr>
<tr>
<td><strong>Vehicle Type:</strong></td>
<td>
@if (RobotModel.VehicleTypeId.HasValue)
{
@if (vehicleTypeName != null)
{
<MudChip T="string" Size="Size.Small" Color="Color.Info">@vehicleTypeName</MudChip>
}
else if (isLoadingVehicleType)
{
<MudProgressCircular Size="Size.Small" Indeterminate="true" />
}
else
{
<MudChip T="string" Size="Size.Small" Color="Color.Warning">@RobotModel.VehicleTypeId.Value.ToString("N")</MudChip>
}
}
else
{
<MudText Typo="Typo.body2" Style="color: gray;">Not assigned</MudText>
}
</td>
</tr>
<tr>
<td><strong>Dimensions:</strong></td>
<td>@($"{RobotModel.Length}m × {RobotModel.Width}m")</td>
</tr>
<tr>
<td><strong>Image Size:</strong></td>
<td>@($"{RobotModel.ImageWidth} × {RobotModel.ImageHeight} px")</td>
</tr>
<tr>
<td><strong>Navigation Point:</strong></td>
<td>@($"X: {RobotModel.NavigationPointX}m, Y: {RobotModel.NavigationPointY}m")</td>
</tr>
<tr>
<td><strong>Robot Count:</strong></td>
<td>@RobotModel.RobotCount</td>
</tr>
<tr>
<td><strong>Created:</strong></td>
<td>@RobotModel.CreatedDate.ToString("g")</td>
</tr>
@if (RobotModel.UpdatedDate.HasValue)
{
<tr>
<td><strong>Updated:</strong></td>
<td>@RobotModel.UpdatedDate.Value.ToString("g")</td>
</tr>
}
</tbody>
</MudSimpleTable>
</MudStack>
@code {
[Parameter]
public RobotModelDto RobotModel { get; set; } = null!;
private string? vehicleTypeName;
private bool isLoadingVehicleType = false;
protected override async Task OnInitializedAsync()
{
if (RobotModel.VehicleTypeId.HasValue)
{
await LoadVehicleTypeNameAsync();
}
}
protected override async Task OnParametersSetAsync()
{
if (RobotModel.VehicleTypeId.HasValue)
{
await LoadVehicleTypeNameAsync();
}
else
{
vehicleTypeName = null;
}
}
private async Task LoadVehicleTypeNameAsync()
{
if (!RobotModel.VehicleTypeId.HasValue)
{
vehicleTypeName = null;
return;
}
isLoadingVehicleType = true;
StateHasChanged();
try
{
var vehicleType = await MapApiService.GetVehicleTypeAsync(RobotModel.VehicleTypeId.Value);
if (vehicleType != null)
{
vehicleTypeName = $"{vehicleType.VehicleTypeId} - {vehicleType.VehicleTypeName}";
}
else
{
vehicleTypeName = null;
}
}
catch (Exception)
{
vehicleTypeName = null;
}
finally
{
isLoadingVehicleType = false;
StateHasChanged();
}
}
}

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@*
Component: RobotModelImagePreview
Purpose: Displays robot model image with navigation point overlay visualization.
The navigation point is shown as arrows (X+ in red, Y+ in green) and a blue marker.
Uses SVG viewBox to automatically scale overlay to match displayed image size.
*@
@using RobotNet10.FleetManager.Shared.DTOs.RobotModel
@using RobotNet10.FleetManager.Client.Services
@inject RobotModelApiService ApiService
@if (imageBase64 != null)
{
<div style="position: relative; width: 100%; max-width: 100%; max-height: 250px; overflow: hidden; display: flex; align-items: center; justify-content: center; border-radius: 4px;">
<div style="position: relative; display: inline-block; max-width: 100%; max-height: 250px;">
<img @ref="imageElement"
src="data:image/png;base64,@imageBase64"
alt="Robot Model Image"
style="max-width: 100%; max-height: 250px; height: auto; width: auto; display: block; object-fit: contain;"
@onload="OnImageLoaded" />
<!-- SVG Overlay for Navigation Point -->
@if (RobotModel.ImageWidth > 0 && RobotModel.ImageHeight > 0)
{
<svg style="position: absolute; top: 0; left: 0; width: 100%; height: 100%; pointer-events: none;"
viewBox="0 0 @RobotModel.ImageWidth @RobotModel.ImageHeight"
preserveAspectRatio="xMidYMid meet">
<!-- X-axis arrow (right) - Red arrow pointing right (X+) -->
<line x1="@svgX"
y1="@svgY"
x2="@(svgX + arrowLength)"
y2="@svgY"
stroke="red"
stroke-width="5"
marker-end="url(#arrowhead-x-@uniqueId)" />
<!-- Y-axis arrow (up) - Green arrow pointing up (Y+) -->
<line x1="@svgX"
y1="@svgY"
x2="@svgX"
y2="@(svgY - arrowLength)"
stroke="green"
stroke-width="5"
marker-end="url(#arrowhead-y-@uniqueId)" />
<!-- Navigation point marker -->
<circle cx="@svgX"
cy="@svgY"
r="10"
fill="blue"
stroke="white"
stroke-width="2" />
<!-- Arrow markers definition -->
<defs>
<marker id="arrowhead-x-@uniqueId"
markerWidth="10"
markerHeight="10"
refX="9"
refY="3"
orient="auto"
markerUnits="strokeWidth">
<polygon points="0 0, 10 3, 0 6" fill="red" />
</marker>
<marker id="arrowhead-y-@uniqueId"
markerWidth="10"
markerHeight="10" efX="9"
refY="3"
orient="auto"
markerUnits="strokeWidth">
<polygon points="0 0, 10 3, 0 6" fill="green" />
</marker>
</defs>
</svg>
}
</div>
</div>
}
else
{
<MudAlert Severity="Severity.Info">No image available</MudAlert>
}
@code {
[Parameter]
public RobotModelDto RobotModel { get; set; } = null!;
private string? imageBase64;
private double svgX;
private double svgY;
private double arrowLength;
private ElementReference imageElement;
private string uniqueId = Guid.NewGuid().ToString("N")[..8]; // Unique ID for SVG markers
protected override async Task OnInitializedAsync()
{
await LoadImageAsync();
}
protected override async Task OnParametersSetAsync()
{
await LoadImageAsync();
}
private void OnImageLoaded()
{
CalculateNavigationPoint();
}
private void CalculateNavigationPoint()
{
if (RobotModel.ImageWidth > 0 && RobotModel.ImageHeight > 0 && RobotModel.Length > 0 && RobotModel.Width > 0)
{
// Calculate scale: pixels per meter in original image
// This converts from robot coordinate system (meters) to image coordinate system (pixels)
var scaleX = RobotModel.ImageWidth / RobotModel.Length;
var scaleY = RobotModel.ImageHeight / RobotModel.Width;
// Navigation point coordinates are relative to the bottom-left corner of the image (in meters)
// Image coordinate system: (0,0) is at bottom-left corner
// X-axis: left to right (0 to ImageWidth)
// Y-axis: bottom to top (0 to ImageHeight in robot coords, but SVG Y increases downward)
// Convert navigation point from meters to pixels
// NavigationPointX: distance from left edge (in meters)
// NavigationPointY: distance from bottom edge (in meters)
var navX = RobotModel.NavigationPointX * scaleX;
var navY = RobotModel.NavigationPointY * scaleY;
// Final position in SVG coordinates (using original image coordinate system)
// SVG viewBox will automatically scale to match the displayed image size
// X: from left edge (0 is left, ImageWidth is right)
svgX = navX;
// Y: from bottom edge (0 is bottom in robot coords, but SVG Y=0 is top, Y=ImageHeight is bottom)
// So we need to invert: svgY = ImageHeight - navY
svgY = RobotModel.ImageHeight - navY;
// Arrow length: 15% of the smaller dimension for better visibility
arrowLength = Math.Min(RobotModel.ImageWidth, RobotModel.ImageHeight) * 0.15;
StateHasChanged();
}
}
private async Task LoadImageAsync()
{
try
{
imageBase64 = await ApiService.GetImageAsync(RobotModel.Id);
if (imageBase64 != null)
{
// Calculate navigation point when image loads
CalculateNavigationPoint();
}
}
catch (Exception)
{
imageBase64 = null;
}
}
}

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@using RobotNet10.FleetManager.Shared.DTOs.RobotModel
@using RobotNet10.FleetManager.Client.Services
@using RobotNet10.FleetManager.Client.Components.RobotModelManager.Dialogs
@inject IDialogService DialogService
@inject ISnackbar Snackbar
<style>
.selected {
background-color: #1E88E5 !important;
}
.selected > td {
color: white !important;
}
.selected > td .mud-input {
color: white !important;
}
</style>
<MudPaper Class="pa-4" Elevation="1">
@if (isLoading)
{
<MudStack AlignItems="AlignItems.Center" Spacing="2" Class="my-4">
<MudProgressCircular Color="Color.Primary" Indeterminate="true" Size="Size.Medium" />
<MudText Typo="Typo.body2">Loading robot models...</MudText>
</MudStack>
}
else if (robotModels.Count == 0)
{
<MudPaper Class="pa-4" Elevation="0">
<MudText Typo="Typo.body1" Align="Align.Center" Class="mt-4">
No robot models found. Click "Add Robot Model" to create one.
</MudText>
</MudPaper>
}
else
{
<MudTable Items="@robotModels"
@ref="@table"
T="RobotModelDto"
Hover="true"
Dense="true"
FixedHeader="true"
SelectOnRowClick=true
Elevation="0"
Height="calc(100vh - 254px)"
RowClass="cursor-pointer"
RowClassFunc="@SelectedRowClassFunc"
OnRowClick="RowClickEvent"
SelectedItemChanged="HandleSelectedItemChanged">
<HeaderContent>
<MudTh>Model Name</MudTh>
<MudTh>Navigation Type</MudTh>
<MudTh>Dimensions</MudTh>
<MudTh>Robot Count</MudTh>
<MudTh>Actions</MudTh>
</HeaderContent>
<RowTemplate>
<MudTd DataLabel="Model Name">
<MudText Typo="Typo.body2">@context.ModelName</MudText>
</MudTd>
<MudTd DataLabel="Navigation Type">
<MudChip T="string" Size="Size.Small" Color="Color.Primary">
@context.NavigationType.ToString()
</MudChip>
</MudTd>
<MudTd DataLabel="Dimensions">
<MudText Typo="Typo.body2">@($"{context.Length}m × {context.Width}m")</MudText>
</MudTd>
<MudTd DataLabel="Robot Count">
<MudText Typo="Typo.body2">@context.RobotCount</MudText>
</MudTd>
<MudTd DataLabel="Actions">
<MudIconButton Icon="@Icons.Material.Filled.Edit"
Color="Color.Primary"
Size="Size.Small"
OnClick="@(() => HandleEdit(context))" />
<MudIconButton Icon="@Icons.Material.Filled.Delete"
Color="Color.Error"
Size="Size.Small"
OnClick="@(() => HandleDelete(context))" />
</MudTd>
</RowTemplate>
<PagerContent>
<div class="d-flex w-100 flex-row-reverse">
<MudTablePager Style="width: 100%;" PageSizeOptions="new[] { 25, 50, 100 }" />
</div>
</PagerContent>
</MudTable>
}
</MudPaper>
@code {
[Parameter]
public RobotModelApiService ApiService { get; set; } = null!;
[Parameter]
public EventCallback<RobotModelDto?> SelectedRobotModelChanged { get; set; }
[Parameter]
public string SearchText { get; set; } = string.Empty;
private List<RobotModelDto> robotModels = new();
private MudTable<RobotModelDto>? table;
private bool isLoading = false;
private int selectedRowNumber = -1;
public RobotModelDto? SelectedRobotModel { get; set; }
protected override async Task OnInitializedAsync()
{
await LoadDataAsync();
}
public async Task LoadDataAsync()
{
isLoading = true;
StateHasChanged();
try
{
robotModels = await ApiService.GetAllAsync();
table?.ReloadServerData();
}
catch (HttpRequestException ex)
{
Snackbar.Add($"Network error loading robot models: {ex.Message}", Severity.Error);
robotModels = new List<RobotModelDto>();
}
catch (Exception ex)
{
Snackbar.Add($"Error loading robot models: {ex.Message}", Severity.Error);
robotModels = new List<RobotModelDto>();
}
finally
{
isLoading = false;
StateHasChanged();
}
}
public async Task SearchAsync(string query)
{
isLoading = true;
StateHasChanged();
try
{
if (string.IsNullOrWhiteSpace(query))
{
robotModels = await ApiService.GetAllAsync();
}
else
{
robotModels = await ApiService.SearchAsync(query);
}
table?.ReloadServerData();
}
catch (HttpRequestException ex)
{
Snackbar.Add($"Network error searching robot models: {ex.Message}", Severity.Error);
robotModels = new List<RobotModelDto>();
}
catch (Exception ex)
{
Snackbar.Add($"Error searching robot models: {ex.Message}", Severity.Error);
robotModels = new List<RobotModelDto>();
}
finally
{
isLoading = false;
StateHasChanged();
}
}
private void RowClickEvent(TableRowClickEventArgs<RobotModelDto> tableRowClickEventArgs) { }
private string SelectedRowClassFunc(RobotModelDto element, int rowNumber)
{
if (selectedRowNumber == rowNumber && table?.SelectedItem != null && !table.SelectedItem.Equals(element))
{
return string.Empty;
}
else if (selectedRowNumber == rowNumber && table?.SelectedItem != null && table.SelectedItem.Equals(element))
{
return "selected";
}
else if (table?.SelectedItem != null && table.SelectedItem.Equals(element))
{
selectedRowNumber = rowNumber;
return "selected";
}
else
{
return string.Empty;
}
}
private void HandleSelectedItemChanged(RobotModelDto element)
{
SelectedRobotModel = element;
_ = SelectedRobotModelChanged.InvokeAsync(element);
}
private async Task HandleEdit(RobotModelDto model)
{
var parameters = new DialogParameters
{
["ApiService"] = ApiService,
["RobotModel"] = model
};
var dialog = await DialogService.ShowAsync<EditRobotModelDialog>("Edit Robot Model", parameters,
new DialogOptions { MaxWidth = MaxWidth.Medium, FullWidth = true });
var result = await dialog.Result;
if (result != null && !result.Canceled)
{
await LoadDataAsync();
// Reload selected model if it was the one edited
if (SelectedRobotModel?.Id == model.Id)
{
var updated = await ApiService.GetByIdAsync(model.Id);
if (updated != null)
{
await SelectedRobotModelChanged.InvokeAsync(updated);
}
}
}
}
private async Task HandleDelete(RobotModelDto model)
{
var parameters = new DialogParameters
{
["ApiService"] = ApiService,
["RobotModel"] = model
};
var dialog = await DialogService.ShowAsync<DeleteRobotModelDialog>("Delete Robot Model", parameters);
var result = await dialog.Result;
if (result != null && !result.Canceled)
{
await LoadDataAsync();
// Clear selection if deleted model was selected
if (SelectedRobotModel?.Id == model.Id)
{
await SelectedRobotModelChanged.InvokeAsync(null);
}
}
}
}

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@using RobotNet10.FleetManager.Client.Services
@implements IDisposable
@if (State.ShowPath)
{
<defs>
<marker id="target" markerWidth="8" markerHeight="8" refX="4" refY="4">
<circle r="0.8" cx="4" cy="4" fill="red" />
<circle r="3" cx="4" cy="4" stroke="red" stroke-width="0.2" fill="transparent" stroke-dasharray="0.2 0.2" />
<line x1="0" y1="4" x2="2" y2="4" stroke="red" stroke-width="0.2" />
<line x1="6" y1="4" x2="8" y2="4" stroke="red" stroke-width="0.2" />
<line x1="4" y1="0" x2="4" y2="2" stroke="red" stroke-width="0.2" />
<line x1="4" y1="6" x2="4" y2="8" stroke="red" stroke-width="0.2" />
</marker>
</defs>
<g id="robot-paths-layer">
@foreach (var robot in State.Robots.Values)
{
if (robot is null || robot.Data is null || robot.Data.Path is null) continue;
var isSelected = State.SelectedRobotId == robot.RobotId;
var strokeColor = isSelected ? "#0288D1" : "#0097A7";
var opacity = isSelected ? "1" : "0.8";
@if (robot.Data.Path.RobotPath.Length > 0)
{
var data = UpdatePath(robot.Data.Path.RobotPath);
var strokeWidth = isSelected ? "0.12" : "0.08";
<path class="robot-path"
d="@data"
fill="none"
stroke="@strokeColor"
stroke-width="@strokeWidth"
opacity="@opacity"
stroke-dasharray="@(isSelected ? "0.2,0.1" : "none")"
marker-end="url(#target)" />
}
@if (robot.Data.Path.RobotBasePath.Length > 0)
{
var data = UpdatePath(robot.Data.Path.RobotBasePath);
var strokeWidth = isSelected ? "0.4" : "0.3";
<path class="robot-path"
d="@data"
fill="none"
stroke="@strokeColor"
stroke-width="@strokeWidth"
opacity="@opacity"
stroke-dasharray="@(isSelected ? "0.2,0.1" : "none")" />
}
}
</g>
}
<g id="robots-layer">
@foreach (var robot in State.Robots.Values)
{
if (robot is null || robot.Data is null) continue;
var svgPos = State.WorldToSvg(robot.Data.AgvPosition.X, robot.Data.AgvPosition.Y);
var degrees = -robot.Data.AgvPosition.Theta * 180.0 / Math.PI;
var baseScale = 2 / State.Viewport.ZoomLevel;
var minScale = 1;
var maxScale = 10.0;
baseScale = Math.Max(minScale, Math.Min(maxScale, baseScale));
@if (robot.Model != null && !string.IsNullOrEmpty(robot.ModelImageBase64))
{
var imageLength = robot.Model.Length * baseScale;
var imageWidth = robot.Model.Width * baseScale;
@* Navigation point offset: position relative to bottom-left corner of image *@
@* Scale navigation point offset with robot size *@
var navPointX = robot.Model.NavigationPointX * baseScale;
var navPointY = robot.Model.NavigationPointY * baseScale;
var imageX = -navPointX;
var imageY = navPointY - imageWidth;
<g transform="translate(@svgPos.X.ToString("F2"), @svgPos.Y.ToString("F2")) rotate(@degrees.ToString("F2"))">
<image href="data:image/png;base64,@robot.ModelImageBase64"
x="@imageX.ToString("F3")"
y="@imageY.ToString("F3")"
width="@imageLength.ToString("F3")"
height="@imageWidth.ToString("F3")"
preserveAspectRatio="xMidYMid"
@onclick="() => HandleRobotClick(robot.RobotId)"
style="cursor: pointer; pointer-events: all;" />
</g>
}
else
{
@* Placeholder circle until image loads - scale with zoom *@
var placeholderRadius = 0.5 * baseScale;
<g transform="translate(@svgPos.X.ToString("F2"), @svgPos.Y.ToString("F2")) rotate(@degrees.ToString("F2"))">
<circle cx="0"
cy="0"
r="@placeholderRadius.ToString("F3")"
fill="var(--mud-palette-error)"
stroke="var(--mud-palette-error-darken)"
stroke-width="@(0.05 * baseScale).ToString(" F3")"
@onclick="() => HandleRobotClick(robot.RobotId)"
style="cursor: pointer;" />
</g>
}
@* Selection highlight *@
@if (State.SelectedRobotId == robot.RobotId)
{
@* Calculate highlight radius based on robot size and scale *@
var highlightRadius = robot.Model != null
? (Math.Max(robot.Model.Length, robot.Model.Width) / 2.0 + 0.2) * baseScale
: 0.5 * baseScale;
<circle class="robot-selection-highlight"
cx="@svgPos.X.ToString("F2")"
cy="@svgPos.Y.ToString("F2")"
r="@highlightRadius.ToString("F2")"
fill="none"
stroke="#1976d2"
stroke-width="@(0.1 * baseScale).ToString(" F3")"
stroke-dasharray="0.15,0.1"
opacity="0.8" />
}
@* Robot name (if ShowName = true) *@
@if (State.ShowName)
{
@* Get robot name from AvailableRobots *@
var robotName = State.AvailableRobots.FirstOrDefault(r => r.RobotId == robot.RobotId)?.Name ?? robot.RobotId;
var isSelected = State.SelectedRobotId == robot.RobotId;
var fontSize = 0.4 / Math.Sqrt(State.Viewport.ZoomLevel / 1.5);
var textColor = isSelected ? "#9C27B0" : "#3F51B5";
var fontWeight = isSelected ? "bold" : "500";
var offset = 0.6 * baseScale;
@RenderSvgText(robotName, svgPos.X, svgPos.Y + offset, fontSize, textColor, fontWeight)
}
}
</g>
@code {
[Parameter]
public RobotMonitorState State { get; set; } = default!;
protected override async Task OnAfterRenderAsync(bool firstRender)
{
await base.OnAfterRenderAsync(firstRender);
if (!firstRender) return;
State.OnDataChanged += StateHasChanged;
}
public void Dispose()
{
State.OnDataChanged -= StateHasChanged;
}
private void HandleRobotClick(string robotId)
{
State.SelectRobot(robotId);
}
/// <summary>
/// Render SVG text element
/// </summary>
private RenderFragment RenderSvgText(string content, double x, double y, double fontSize, string fillColor, string fontWeight) => builder =>
{
builder.OpenElement(0, "text");
builder.AddAttribute(1, "letter-spacing", "-0.01em");
builder.AddAttribute(2, "x", x.ToString("F2"));
builder.AddAttribute(3, "y", y.ToString("F2"));
builder.AddAttribute(4, "font-size", fontSize.ToString("F3"));
builder.AddAttribute(5, "fill", fillColor);
builder.AddAttribute(6, "text-anchor", "middle");
builder.AddAttribute(7, "font-family", "Segoe UI");
builder.AddAttribute(8, "font-weight", fontWeight);
builder.AddAttribute(9, "pointer-events", "none");
builder.AddContent(10, content);
builder.CloseElement();
};
public string UpdatePath(Shared.DTOs.Robot.NavigationPathEdge[] path)
{
if (path.Length > 0)
{
var startSvg = State.WorldToSvg(path[0].StartX, path[0].StartY);
var inPath = $"M {startSvg.X} {startSvg.Y}";
for (int i = 0; i < path.Length; i++)
{
var endSvg = State.WorldToSvg(path[i].EndX, path[i].EndY);
var cp1Svg = State.WorldToSvg(path[i].ControlPoint1X, path[i].ControlPoint1Y);
var cp2Svg = State.WorldToSvg(path[i].ControlPoint2X, path[i].ControlPoint2Y);
if (path[i].Degree == 1) inPath = $"{inPath} L {endSvg.X} {endSvg.Y}";
else if (path[i].Degree == 2) inPath = $"{inPath} Q {cp1Svg.X} {cp1Svg.Y} {endSvg.X} {endSvg.Y}";
else inPath = $"{inPath} C {cp1Svg.X} {cp1Svg.Y} , {cp2Svg.X} {cp2Svg.Y}, {endSvg.X} {endSvg.Y}";
}
return inPath;
}
else return "";
}
}

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/* Robot selection highlight animation */
@keyframes pulse {
0%, 100% {
opacity: 0.6;
stroke-width: 0.08px;
}
50% {
opacity: 1;
stroke-width: 0.12px;
}
}
.robot-selection-highlight {
animation: pulse 1.5s ease-in-out infinite;
stroke-dasharray: 0.15, 0.1;
}
/* Path visualization */
.robot-path {
transition: stroke-opacity 0.3s ease;
}
.robot-path:hover {
stroke-opacity: 1;
}

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@using MudBlazor
@using RobotNet10.FleetManager.Client.Services
<div class="pa-2 monitor-toolbar">
<MudStack Row="true" AlignItems="AlignItems.Center" Spacing="2">
<!-- Viewport Controls -->
<MudTooltip Text="Zoom In">
<MudIconButton Icon="@Icons.Material.Filled.ZoomIn"
Size="Size.Medium"
Color="Color.Primary"
Variant="Variant.Outlined"
OnClick="HandleZoomIn" />
</MudTooltip>
<MudTooltip Text="Zoom Out">
<MudIconButton Icon="@Icons.Material.Filled.ZoomOut"
Size="Size.Medium"
Color="Color.Primary"
Variant="Variant.Outlined"
OnClick="HandleZoomOut" />
</MudTooltip>
<MudTooltip Text="Fit to Screen">
<MudIconButton Icon="@Icons.Material.Filled.FitScreen"
Size="Size.Medium"
Color="Color.Primary"
Variant="Variant.Outlined"
OnClick="HandleFitScale" />
</MudTooltip>
<MudTooltip Text="Focus on Robot">
<MudIconButton Icon="@Icons.Material.Filled.CenterFocusStrong"
Size="Size.Medium"
Color="Color.Primary"
Variant="Variant.Outlined"
OnClick="HandleFocus"
Disabled="@(State.SelectedRobotId == null)" />
</MudTooltip>
<MudDivider Vertical="true" />
<!-- Display Options -->
<MudCheckBox @bind-Value="State.FollowRobot"
Label="Follow Robot"
T=bool
Dense
Size="Size.Small" />
<MudCheckBox @bind-Value="State.ShowPath"
Label="Path"
T=bool
Dense
Size="Size.Small" />
<MudCheckBox @bind-Value="State.ShowName"
Label="Name"
T=bool
Dense
Size="Size.Small" />
<MudCheckBox @bind-Value="State.ShowGrid"
@bind-Value:after="() => State.NotifyStateChanged()"
Label="Grid"
T=bool
Dense
Size="Size.Small" />
<MudDivider Vertical="true" />
<!-- Layout SelectBox -->
<MudSelect Value="@State.SelectedLayoutId"
ValueChanged="@HandleLayoutChanged"
Label="Layout"
Variant="Variant.Outlined"
T="Guid ?"
Dense="true"
Margin="Margin.Dense"
Style="min-width: 150px;">
<MudSelectItem Value="@((Guid?)null)">-- Select Layout --</MudSelectItem>
@foreach (var layout in State.Layouts)
{
<MudSelectItem Value="@((Guid?)layout.Id)">@(layout.LayoutName)</MudSelectItem>
}
</MudSelect>
<!-- Version SelectBox -->
<MudSelect Value="@State.SelectedVersionId"
ValueChanged="@HandleVersionChanged"
Label="Version"
Variant="Variant.Outlined"
T="Guid ?"
Dense="true"
Margin="Margin.Dense"
Style="min-width: 120px;"
Disabled="@(!State.SelectedLayoutId.HasValue)">
<MudSelectItem Value="@((Guid?)null)">-- Select Version --</MudSelectItem>
@foreach (var version in State.AvailableVersions)
{
<MudSelectItem Value="@((Guid?)version.Id)">@version.Version</MudSelectItem>
}
</MudSelect>
<!-- Level SelectBox -->
<MudSelect Value="@State.SelectedLevelId"
ValueChanged="@HandleLevelChanged"
Label="Level"
Variant="Variant.Outlined"
T="Guid ?"
Dense="true"
Margin="Margin.Dense"
Style="min-width: 120px;"
Disabled="@(!State.SelectedVersionId.HasValue)">
<MudSelectItem Value="@((Guid?)null)">-- Select Level --</MudSelectItem>
@foreach (var level in State.AvailableLevels)
{
<MudSelectItem Value="@((Guid?)level.Id)">@level.LayoutLevelId</MudSelectItem>
}
</MudSelect>
<!-- Robot SelectBox (only online robots) -->
<MudSelect Value="@State.SelectedRobotId"
ValueChanged="@HandleRobotChanged"
Label="Robot"
Variant="Variant.Outlined"
T="string"
Dense="true"
Margin="Margin.Dense"
Style="min-width: 150px;">
<MudSelectItem T="string" Value="@(string.Empty)">-- Select Robot --</MudSelectItem>
@foreach (var robot in State.Robots.Values.OrderBy(r => r.RobotId))
{
@* Get robot name from AvailableRobots if available *@
var robotName = State.AvailableRobots.FirstOrDefault(ar => ar.RobotId == robot.RobotId)?.Name ?? robot.RobotId;
<MudSelectItem T="string" Value="@robot.RobotId">@robotName (@robot.RobotId)</MudSelectItem>
}
</MudSelect>
<!-- Expand/Collapse Panel Button (cạnh phía InfoPanel) -->
<MudSpacer />
<MudTooltip Text="@(State.RobotInfoPanelExpanded ? "Collapse Panel" : "Expand Panel")">
<MudIconButton Icon="@(State.RobotInfoPanelExpanded? Icons.Material.Filled.ChevronRight : Icons.Material.Filled.ChevronLeft)"
OnClick="HandleTogglePanel"
Color="Color.Success"
Variant="Variant.Outlined" />
</MudTooltip>
</MudStack>
</div>
@code {
[Parameter]
public RobotMonitorState State { get; set; } = null!;
private void HandleZoomIn()
{
State.ZoomAtCenter(1.2);
}
private void HandleZoomOut()
{
State.ZoomAtCenter(1.0 / 1.2);
}
private void HandleFitScale()
{
State.FitToScreen();
}
private void HandleFocus()
{
if (State.SelectedRobotId != null)
{
State.FocusOnRobot(State.SelectedRobotId);
}
}
private void HandleTogglePanel()
{
State.ToggleRobotInfoPanel();
}
private async Task HandleLayoutChanged(Guid? layoutId)
{
State.SelectedLayoutId = layoutId;
await State.OnLayoutSelectedAsync(layoutId);
}
private async Task HandleVersionChanged(Guid? versionId)
{
State.SelectedVersionId = versionId;
await State.OnVersionSelectedAsync(versionId);
}
private async Task HandleLevelChanged(Guid? levelId)
{
State.SelectedLevelId = levelId;
await State.OnLevelSelectedAsync(levelId);
}
private void HandleRobotChanged(string? robotId)
{
State.SelectRobot(robotId);
}
}

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/* Monitor Toolbar Styles */
.monitor-toolbar {
border-bottom: 1px solid var(--mud-palette-lines-default);
background-color: var(--mud-palette-surface);
flex-shrink: 0; /* Prevent toolbar from shrinking */
width: 100%; /* Full width */
overflow-x: auto; /* Allow horizontal scroll if needed */
overflow-y: hidden;
}

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<div class="mouse-position-display">
<span class="coord-label">X:</span>
<span class="coord-value">@X.ToString("F2") m</span>
<span class="coord-label">Y:</span>
<span class="coord-value">@Y.ToString("F2") m</span>
</div>
@code {
private double X { get; set; }
private double Y { get; set; }
public void Update(double x, double y)
{
X = x;
Y = y;
StateHasChanged();
}
}

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.mouse-position-display {
position: absolute;
top: 10px;
left: 10px;
z-index: 50;
background-color: rgba(33, 33, 33, 0.85);
color: white;
padding: 6px 12px;
border-radius: 4px;
font-family: 'Consolas', 'Monaco', monospace;
font-size: 12px;
display: flex;
gap: 8px;
align-items: center;
box-shadow: 0 2px 4px rgba(0, 0, 0, 0.3);
}
.coord-label {
color: #aaa;
font-weight: 500;
}
.coord-value {
color: #4fc3f7;
font-weight: bold;
min-width: 70px;
}

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@using MudBlazor
@using RobotNet10.FleetManager.Client.Services
<div class="pa-4 robot-info-panel">
<MudStack Spacing="3">
<!-- Header -->
<MudText Typo="Typo.h6" Class="mb-2">Robot Information</MudText>
@if (State.SelectedRobotId != null && State.Robots.TryGetValue(State.SelectedRobotId, out var robot))
{
<SelectedRobotInfo RobotData="robot" State="State" />
}
else
{
<MudAlert Severity="Severity.Info" Variant="Variant.Text" Class="mt-4">
<MudText Typo="Typo.body2">
No robot selected. Click on a robot on the map to view its information.
</MudText>
</MudAlert>
}
</MudStack>
</div>
@code {
[Parameter]
public RobotMonitorState State { get; set; } = null!;
}

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/* Robot Info Panel Styles */
.robot-info-panel {
height: 100%;
overflow-y: auto;
transition: width 0.3s ease-in-out;
background-color: var(--mud-palette-surface);
border-left: 1px solid var(--mud-palette-lines-default);
flex-shrink: 0;
width: 300px;
min-width: 200px;
max-width: 400px;
}
/* Info panel scrollbar styling */
.robot-info-panel::-webkit-scrollbar {
width: 8px;
}
.robot-info-panel::-webkit-scrollbar-track {
background: var(--mud-palette-background-grey);
}
.robot-info-panel::-webkit-scrollbar-thumb {
background: var(--mud-palette-text-disabled);
border-radius: 4px;
}
.robot-info-panel::-webkit-scrollbar-thumb:hover {
background: var(--mud-palette-text-secondary);
}
/* Responsive adjustments */
@media (max-width: 960px) {
.robot-info-panel {
position: absolute;
right: 0;
top: 0;
bottom: 0;
width: 100%;
max-width: 400px;
z-index: 100;
box-shadow: -2px 0 8px rgba(0, 0, 0, 0.1);
}
}

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@using MudBlazor
@using RobotNet10.FleetManager.Client.Services
@inject RobotMonitorState State
@implements IAsyncDisposable
<div class="robot-monitor-container">
@if (State.IsLoading)
{
<MudPaper Class="pa-4" Elevation="1">
<MudStack AlignItems="AlignItems.Center" Spacing="3">
<MudProgressCircular Color="Color.Primary" Indeterminate="true" Size="Size.Large" />
<MudText Typo="Typo.body1">Loading robot monitor...</MudText>
</MudStack>
</MudPaper>
}
else if (!string.IsNullOrEmpty(State.ErrorMessage))
{
<MudPaper Class="pa-4" Elevation="1">
<MudStack Spacing="3">
<MudAlert Severity="Severity.Error" Variant="Variant.Filled">
<MudText Typo="Typo.h6">Error</MudText>
<MudText Typo="Typo.body2">@State.ErrorMessage</MudText>
</MudAlert>
<MudButton Variant="Variant.Filled"
Color="Color.Primary"
StartIcon="@Icons.Material.Filled.Refresh"
OnClick="HandleReload">
Retry
</MudButton>
</MudStack>
</MudPaper>
}
else
{
<!-- Top: Toolbar (full width) -->
<MonitorToolbar State="@State" />
<!-- Bottom: Canvas and Info Panel -->
<div class="monitor-main-content">
<!-- Left: Canvas -->
<SvgMonitorCanvas State="@State" />
<!-- Right: Robot Info Panel -->
@if (State.RobotInfoPanelExpanded)
{
<RobotInfoPanel State="@State" />
}
</div>
<!-- Overlay for deactivated monitor -->
@if (State.IsMonitorDeactivated)
{
<div class="monitor-deactivated-overlay">
<MudPaper Class="pa-6" Elevation="10">
<MudStack AlignItems="AlignItems.Center" Spacing="4">
<MudIcon Icon="@Icons.Material.Filled.Block" Size="Size.Large" Color="Color.Error" />
<MudText Typo="Typo.h5">Monitor Deactivated</MudText>
<MudText Typo="Typo.body1" Align="Align.Center">
Maximum 5 connections per level reached.<br />
Another connection has taken your place.
</MudText>
<MudButton Variant="Variant.Filled"
Color="Color.Primary"
StartIcon="@Icons.Material.Filled.Refresh"
OnClick="HandleReload">
Reconnect
</MudButton>
</MudStack>
</MudPaper>
</div>
}
}
</div>
@code {
protected override async Task OnInitializedAsync()
{
State.OnStateChanged += HandleStateChanged;
await State.InitializeAsync();
}
public async ValueTask DisposeAsync()
{
State.OnStateChanged -= HandleStateChanged;
await State.CleanupAsync();
}
private void HandleStateChanged()
{
InvokeAsync(StateHasChanged);
}
private async Task HandleReload()
{
await State.InitializeAsync();
}
}

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/* Robot Monitor Component Styles */
.robot-monitor-container {
display: flex;
flex-direction: column;
height: 100%;
width: 100%;
overflow: hidden;
background-color: var(--mud-palette-background);
}
.monitor-main-content {
display: flex;
flex: 1;
overflow: hidden;
min-height: 0; /* Important for flex child overflow */
}
.monitor-deactivated-overlay {
position: absolute;
top: 0;
left: 0;
right: 0;
bottom: 0;
background-color: rgba(0, 0, 0, 0.7);
display: flex;
align-items: center;
justify-content: center;
z-index: 1000;
pointer-events: all;
}

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@using MudBlazor
@using RobotNet.VDA5050.State
@using RobotNet.VDA5050.Type
@using RobotNet10.FleetManager.Client.Components.RobotDetail
@using RobotNet10.FleetManager.Client.Components.RobotMonitor
@using RobotNet10.FleetManager.Client.Services
@implements IDisposable
<MudStack Spacing="3">
<!-- Robot Header Info -->
<MudPaper Class="pa-3" Elevation="1" Style="background: linear-gradient(135deg, #667eea 0%, #764ba2 100%);">
<MudStack Spacing="2">
<MudText Typo="Typo.h6" Style="color: white;">
@GetRobotName()
</MudText>
<MudText Typo="Typo.body2" Style="color: rgba(255, 255, 255, 0.8);">
ID: @RobotData.RobotId
</MudText>
@if (RobotData.Model != null)
{
<MudChip T="string" Size="Size.Small" Style="background: rgba(255, 255, 255, 0.2); color: white;">
@RobotData.Model.ModelName
</MudChip>
}
@if (RobotData.LastUpdateTime != default)
{
<MudText Typo="Typo.caption" Style="color: rgba(255, 255, 255, 0.7);">
Last update: @RobotData.LastUpdateTime.ToLocalTime().ToString("HH:mm:ss")
</MudText>
}
</MudStack>
</MudPaper>
<!-- Position Info (Quick View) -->
@if (RobotData.Data != null)
{
<MudPaper Class="pa-3" Elevation="1">
<MudText Typo="Typo.subtitle2" Class="mb-2">Visualization</MudText>
<MudSimpleTable Dense="true" Elevation="0">
<tbody>
<tr>
<td><strong>X:</strong></td>
<td>@RobotData.Data.AgvPosition.X.ToString("F2") m</td>
</tr>
<tr>
<td><strong>Y:</strong></td>
<td>@RobotData.Data.AgvPosition.Y.ToString("F2") m</td>
</tr>
<tr>
<td><strong>Θ:</strong></td>
<td>@((RobotData.Data.AgvPosition.Theta * 180.0 / Math.PI).ToString("F1"))°</td>
</tr>
<tr>
<td><strong>Vx:</strong></td>
<td>@RobotData.Data.AgvVelocity.Vx.ToString("F2") m/s</td>
</tr>
<tr>
<td><strong>Vy:</strong></td>
<td>@RobotData.Data.AgvVelocity.Vy.ToString("F2") m/s</td>
</tr>
<tr>
<td><strong>Omega:</strong></td>
<td>@RobotData.Data.AgvVelocity.Omega.ToString("F2") rad/s</td>
</tr>
<tr>
<td><strong>Position Initialized:</strong></td>
<td>
<MudChip T="string"
Size="Size.Small"
Color="@(RobotData.Data.AgvPosition.PositionInitialized ? Color.Success : Color.Warning)">
@(RobotData.Data.AgvPosition.PositionInitialized ? "Yes" : "No")
</MudChip>
</td>
</tr>
@if (RobotData.Data.AgvPosition.LocalizationScore >= 0)
{
<tr>
<td><strong>Localization Score:</strong></td>
<td>@RobotData.Data.AgvPosition.LocalizationScore.ToString("F2")</td>
</tr>
}
@if (RobotData.Data.AgvPosition.DeviationRange >= 0)
{
<tr>
<td><strong>Deviation Range:</strong></td>
<td>@RobotData.Data.AgvPosition.DeviationRange.ToString("F2") m</td>
</tr>
}
</tbody>
</MudSimpleTable>
</MudPaper>
}
<!-- Expansion Panels for Detailed Info -->
<MudExpansionPanels Elevation="0" MultiExpansion="true" Gutters="false">
<!-- Battery State Panel -->
<MudExpansionPanel Icon="@Icons.Material.Filled.BatteryChargingFull"
Expanded="true">
<TitleContent>
<MudText>Battery State</MudText>
</TitleContent>
<ChildContent>
<BatteryCard @ref="BatteryCardRef" ShowNameCard="false"/>
</ChildContent>
</MudExpansionPanel>
<!-- Errors Panel -->
<MudExpansionPanel Icon="@Icons.Material.Filled.Error"
Expanded="false">
<TitleContent>
<div class="d-flex">
<MudText>Errors</MudText>
<MudBadge Content="Errors.Length" Color="Color.Info" Overlap="true" Class="d-flex ml-auto">
<MudIcon Icon="@Icons.Material.Filled.Info" Color="Color.Secondary" />
</MudBadge>
</div>
</TitleContent>
<ChildContent>
<MudPaper Class="pa-4" Elevation="2">
@foreach (var error in Errors)
{
<MudTooltip Text="@error.ErrorDescription" Placement="Placement.Top" Color="Color.Info">
<MudButton Class="m-2" Color="@(error.ErrorLevel == ErrorLevel.FATAL ? Color.Error : Color.Warning)" Variant="Variant.Filled" Size="Size.Small" Style="text-transform:none">@error.ErrorType</MudButton>
</MudTooltip>
}
</MudPaper>
</ChildContent>
</MudExpansionPanel>
<!-- Information Panel -->
<MudExpansionPanel Icon="@Icons.Material.Filled.Info"
Expanded="false">
<TitleContent>
<div class="d-flex">
<MudText>Notification</MudText>
<MudBadge Content="Information.Length" Color="Color.Info" Overlap="true" Class="d-flex ml-auto">
<MudIcon Icon="@Icons.Material.Filled.Notifications" Color="Color.Warning" />
</MudBadge>
</div>
</TitleContent>
<ChildContent>
<MudPaper Class="pa-4" Elevation="2">
<div class="d-flex flex-column">
@foreach (var info in Information)
{
<MudTooltip Text="@info.InfoDescription" Placement="Placement.Top" Color="Color.Info">
<MudButton Class="m-2" Color="@(info.InfoLevel == InfoLevel.INFO ? Color.Info : Color.Default)" Variant="Variant.Filled" Size="Size.Small" Style="text-transform:none">@info.InfoType</MudButton>
</MudTooltip>
}
</div>
</MudPaper>
</ChildContent>
</MudExpansionPanel>
</MudExpansionPanels>
</MudStack>
@code {
[Parameter]
public RobotMonitorData RobotData { get; set; } = null!;
[Parameter]
public RobotMonitorState State { get; set; } = null!;
private BatteryCard BatteryCardRef = default!;
private Error[] Errors = [];
private Information[] Information = [];
protected override async Task OnAfterRenderAsync(bool firstRender)
{
await base.OnAfterRenderAsync(firstRender);
if (!firstRender) return;
State.OnDataChanged += OnDataChanged;
}
private void OnDataChanged()
{
if (State.SelectedRobotId != null && State.Robots.TryGetValue(State.SelectedRobotId, out var robot))
{
BatteryCardRef.Update(robot.Data?.Battery);
Errors = robot.Data?.Errors ?? [];
Information = robot.Data?.Infomations ?? [];
RobotData = robot;
StateHasChanged();
}
}
public void Dispose()
{
State.OnDataChanged -= OnDataChanged;
}
private string GetRobotName()
{
// Try to get robot name from AvailableRobots
var robot = State.AvailableRobots.FirstOrDefault(r => r.RobotId == RobotData.RobotId);
return robot?.Name ?? RobotData.RobotId;
}
}

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@using Microsoft.JSInterop
@using RobotNet10.FleetManager.Client.Services
@using RobotNet10.MapEditor.Shared.DTOs.Edge
@using RobotNet10.MapEditor.Shared.DTOs.Node
@inject IJSRuntime JSRuntime
@implements IAsyncDisposable
<div class="svg-monitor-container" @ref="containerRef">
<!-- Mouse Position Display -->
<MousePositionDisplay @ref="MousePositionDisplayRef" />
<svg @ref="svgRef"
id="monitor-svg"
class="monitor-svg"
viewBox="@State.Viewport.ToViewBoxString()"
preserveAspectRatio="xMidYMid meet">
<!-- SVG Markers -->
<marker id="arrowhead" markerWidth="5" markerHeight="5" refX="0" refY="1.5" orient="auto-start-reverse">
<polygon class="edge-arrow"
points="0 0, 3 1.5, 0 3"
fill="#4caf50" />
</marker>
<marker id="originvector" markerWidth="2.4" markerHeight="2.4" refX="0.4" refY="2">
<line x1="0" y1="2" x2="2" y2="2" stroke="red" stroke-width="0.15" />
<path d="M 2 2.2 L 2.4 2 L 2 1.8 Z" fill="red" stroke-width="0" />
<line x1="0.4" y1="2.4" x2="0.4" y2="0.4" stroke="blue" stroke-width="0.15" />
<path d="M 0.6 0.4 L 0.4 0 L 0.2 0.4 Z" fill="blue" stroke-width="0" />
</marker>
<!-- Layer 1: Background Image -->
@if (State.ShowBackgroundImage && State.BackgroundImage != null && State.Level?.EditorSettings != null)
{
var (physicalWidth, physicalHeight) = State.GetPhysicalDimensions();
var imageDataUrl = $"data:image/png;base64,{Convert.ToBase64String(State.BackgroundImage)}";
<image href="@imageDataUrl"
x="0"
y="0"
width="@physicalWidth.ToString("F2")"
height="@physicalHeight.ToString("F2")"
preserveAspectRatio="none"
style="image-rendering: pixelated"/>
}
<!-- Layer 2: Grid -->
@if (State.ShowGrid && State.Level?.EditorSettings != null)
{
var (physicalWidth, physicalHeight) = State.GetPhysicalDimensions();
var settings = State.Level.EditorSettings;
var originX = settings.OriginX;
var originY = settings.OriginY;
var gridSpacing = 1.0; // Default grid spacing
<g id="grid-layer" stroke="#808080" stroke-width="0.04" opacity="0.7" stroke-dasharray="0.1,0.1">
@* Vertical lines *@
@{
var worldMinX = originX;
var worldMaxX = originX + physicalWidth;
var firstGridXWorld = Math.Floor(worldMinX / gridSpacing) * gridSpacing;
var lastGridXWorld = Math.Ceiling(worldMaxX / gridSpacing) * gridSpacing;
for (double worldX = firstGridXWorld; worldX <= lastGridXWorld; worldX += gridSpacing)
{
var svgX = State.WorldToSvg(worldX, 0).X;
if (svgX >= 0 && svgX <= physicalWidth)
{
<line x1="@svgX.ToString("F2")" y1="0" x2="@svgX.ToString("F2")" y2="@physicalHeight.ToString("F2")" />
}
}
}
@* Horizontal lines *@
@{
var worldMinY = originY;
var worldMaxY = originY + physicalHeight;
var firstGridYWorld = Math.Floor(worldMinY / gridSpacing) * gridSpacing;
var lastGridYWorld = Math.Ceiling(worldMaxY / gridSpacing) * gridSpacing;
for (double worldY = firstGridYWorld; worldY <= lastGridYWorld; worldY += gridSpacing)
{
var svgY = State.WorldToSvg(0, worldY).Y;
if (svgY >= 0 && svgY <= physicalHeight)
{
<line x1="0" y1="@svgY.ToString("F2")" x2="@physicalWidth.ToString("F2")" y2="@svgY.ToString("F2")" />
}
}
}
</g>
}
<!-- Origin Vector (after grid, before edges) -->
@if (State.Level is not null && State.Level.EditorSettings != null)
{
var (_, physicalHeight) = State.GetPhysicalDimensions();
var svgOriginY = physicalHeight + State.Level.EditorSettings.OriginY;
var width = 1.0 / State.Viewport.ZoomLevel;
<line x1="@(-State.Level.EditorSettings.OriginX)" y1="@(svgOriginY)" x2="@(-State.Level.EditorSettings.OriginX)" y2="@(svgOriginY)" fill="none" marker-end="url(#originvector)" stroke-width="@width" />
}
<!-- Layer 3: Edges -->
<g id="edges-layer">
@foreach (var edge in State.Edges)
{
var startNode = State.Nodes.FirstOrDefault(n => n.Id == edge.StartNodeId);
var endNode = State.Nodes.FirstOrDefault(n => n.Id == edge.EndNodeId);
if (startNode != null && endNode != null)
{
var startSvg = State.WorldToSvg(startNode.X, startNode.Y);
var endSvg = State.WorldToSvg(endNode.X, endNode.Y);
<line x1="@startSvg.X.ToString("F2")"
y1="@startSvg.Y.ToString("F2")"
x2="@endSvg.X.ToString("F2")"
y2="@endSvg.Y.ToString("F2")"
stroke="#4caf50"
stroke-width="0.07"
fill="none" />
}
}
</g>
<!-- Layer 4: Nodes -->
<g id="nodes-layer">
@foreach (var node in State.Nodes)
{
var svgPos = State.WorldToSvg(node.X, node.Y);
var nodeRadius = 0.25 / Math.Sqrt(State.Viewport.ZoomLevel / 1.5);
<circle cx="@svgPos.X.ToString("F2")"
cy="@svgPos.Y.ToString("F2")"
r="@nodeRadius.ToString("F3")"
fill="#2196f3"
stroke="#fff"
stroke-width="0.03" />
}
</g>
<RobotNet10.FleetManager.Client.Components.RobotMonitor.Element.RobotView State="State" />
</svg>
</div>
@code {
[Parameter]
public RobotMonitorState State { get; set; } = null!;
private ElementReference containerRef;
private ElementReference svgRef;
private IJSObjectReference? jsModule;
private DotNetObjectReference<SvgMonitorCanvas>? dotNetRef;
// Pan state
private bool isPanning;
private (double X, double Y)? panLastScreen; // Last screen coordinates (for incremental delta calculation)
private MousePositionDisplay MousePositionDisplayRef = default!;
protected override async Task OnAfterRenderAsync(bool firstRender)
{
if (firstRender)
{
dotNetRef = DotNetObjectReference.Create(this);
try
{
jsModule = await JSRuntime.InvokeAsync<IJSObjectReference>(
"import", "./js/svgMonitor.js");
await jsModule.InvokeVoidAsync("initMonitor", svgRef, dotNetRef);
}
catch (Exception ex)
{
Console.WriteLine($"Failed to initialize JS module: {ex.Message}");
}
}
}
public async ValueTask DisposeAsync()
{
if (jsModule != null)
{
try
{
await jsModule.InvokeVoidAsync("disposeMonitor");
await jsModule.DisposeAsync();
}
catch { }
}
dotNetRef?.Dispose();
}
// Called from JavaScript
[JSInvokable]
public async Task OnMouseMove(double svgX, double svgY, double screenX = 0, double screenY = 0)
{
// Update mouse position (world coordinates)
var (worldX, worldY) = State.SvgToWorld(svgX, svgY);
MousePositionDisplayRef.Update(worldX, worldY);
// Update pan - use incremental delta to avoid accumulation issues
// Key insight: When panning, ViewBox changes after each pan, which changes SVG coordinates
// of the same screen point. If we calculate delta from the start point each time,
// we get cumulative error because the start point's SVG coordinates change.
// Solution: Calculate delta incrementally from the last mouse position, not from start
if (isPanning && panLastScreen.HasValue)
{
// Calculate incremental delta: from last position to current position
// This avoids accumulation because we're always calculating relative to the last move
if (jsModule != null)
{
await PanIncrementalAsync(panLastScreen.Value.X, panLastScreen.Value.Y, screenX, screenY);
}
// Update last position for next move
panLastScreen = (screenX, screenY);
}
}
private async Task PanIncrementalAsync(double lastScreenX, double lastScreenY, double currentScreenX, double currentScreenY)
{
if (jsModule == null) return;
try
{
// Convert last and current screen positions to SVG coordinates
// using the CURRENT viewBox (before this pan)
var lastSvg = await jsModule.InvokeAsync<double[]>("screenToSvgArray", lastScreenX, lastScreenY);
var currentSvg = await jsModule.InvokeAsync<double[]>("screenToSvgArray", currentScreenX, currentScreenY);
if (lastSvg.Length >= 2 && currentSvg.Length >= 2)
{
// Calculate incremental delta: how much the mouse moved since last position
// Pan moves viewBox in opposite direction of mouse movement
var dx = lastSvg[0] - currentSvg[0];
var dy = lastSvg[1] - currentSvg[1];
State.Pan(dx, dy);
}
}
catch (Exception ex)
{
Console.WriteLine($"Error in PanIncrementalAsync: {ex.Message}");
}
}
[JSInvokable]
public void OnMouseDown(double svgX, double svgY, int button, double screenX = 0, double screenY = 0)
{
// Middle mouse button (button 1) - start pan
if (button == 1)
{
isPanning = true;
panLastScreen = (screenX, screenY);
}
}
[JSInvokable]
public void OnMouseUp(double svgX, double svgY, int button)
{
// End pan
if (button == 1)
{
isPanning = false;
panLastScreen = null;
}
}
[JSInvokable]
public void OnWheel(double svgX, double svgY, double deltaY)
{
// Use same zoom factor as LayoutEditor for consistency
var factor = deltaY > 0 ? 0.9 : 1.1;
State.Zoom(factor, svgX, svgY);
}
}

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/* SVG Monitor Canvas Styles */
.svg-monitor-container {
flex: 1;
position: relative;
overflow: hidden;
background-color: #808080;
border: 1px solid var(--mud-palette-lines-default);
min-width: 0; /* Important for flex child overflow */
min-height: 0; /* Important for flex child overflow */
width: 100%;
height: 100%;
}
.monitor-svg {
width: 100%;
height: 100%;
display: block;
cursor: default;
}
.monitor-svg:active {
cursor: grabbing;
}

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using Microsoft.AspNetCore.Components.Routing;
using RobotNet10.Components;
namespace RobotNet10.FleetManager.Client;
public static class Extensions
{
extension(IServiceCollection services)
{
public void AddNavigationMenu(string version = "dev")
{
services.AddSingleton(sp => new OptionLayout()
{
AppName = "FleetManager",
Version = version,
NavModels = [
new("mdi-view-dashboard", "/", "Dashboard", NavLinkMatch.All),
new("mdi-map", "/layout-manager", "Map Editor", NavLinkMatch.All),
new("mdi-robot-mower-outline", "/vehicle-manager", "Vehicle", NavLinkMatch.All),
new("mdi-robot-industrial", "/robot-models", "RobotModel", NavLinkMatch.All),
new("mdi-robot", "/robots", "Robot", NavLinkMatch.All),
new("mdi-monitor-eye", "/robots/monitor", "Monitor", NavLinkMatch.All),
new("mdi-file-code", "/programming", "Programming", NavLinkMatch.All),
new("mdi-flag-checkered", "/missions", "Missions", NavLinkMatch.All),
new("mdi-application-cog-outline", "/config-manager", "Configuration", NavLinkMatch.All),
new("mdi-math-log", "/logs", "Logs", NavLinkMatch.All),
]
});
}
}
}

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@page "/config-manager"
@rendermode RobotNet10.Components.RenderMode.InteractiveWebAssemblyNoPrerender
<PageTitle>Configuration Manager</PageTitle>
<RobotNet10.CustomConfigurationEditor.Components.ConfigManager.ConfigManagerComponent />
<MudThemeProvider IsDarkMode />
<MudPopoverProvider />
<MudDialogProvider />
<MudSnackbarProvider />

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@page "/layout-editor/{LevelId:guid}"
@rendermode RobotNet10.Components.RenderMode.InteractiveWebAssemblyNoPrerender
<PageTitle>Layout Editor</PageTitle>
<RobotNet10.MapEditor.Components.LayoutEditor.LayoutEditorComponent LevelId="@LevelId" />
<MudThemeProvider IsDarkMode />
<MudPopoverProvider />
<MudDialogProvider />
<MudSnackbarProvider />
@code {
[Parameter]
public Guid LevelId { get; set; }
}

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@page "/layout-manager"
@rendermode InteractiveWebAssemblyNoPrerender
<PageTitle>Layout Manager</PageTitle>
<RobotNet10.MapEditor.Components.LayoutManager.LayoutManagerComponent />
<MudThemeProvider IsDarkMode />
<MudPopoverProvider />
<MudDialogProvider />
<MudSnackbarProvider />

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@page "/logs"
@rendermode InteractiveWebAssemblyNoPrerender
@using Microsoft.AspNetCore.Components.WebAssembly.Authentication
@using System.Text.Json.Serialization
@inject IJSRuntime JSRuntime
@inject HttpClient Http
@inject IConfiguration Configuration
@inject ISnackbar Snackbar
<PageTitle>Logs</PageTitle>
<div class="w-100 h-100 d-flex flex-column">
<div class="d-flex flex-row align-items-center justify-content-between" style="border-bottom: 1px solid silver">
<MudTextField Class="mt-1 ms-2" T="string" Value="FilterLog" Adornment="Adornment.End" ValueChanged="OnSearch" AdornmentIcon="@Icons.Material.Filled.Search"
IconSize="Size.Medium" Variant="Variant.Outlined" Margin="Margin.Dense" AdornmentColor="Color.Secondary" Label="Search"></MudTextField>
<MudSpacer />
<div class="m-1 d-flex flex-row">
<MudDatePicker Class="mx-4" Label="Date" Date="DateLog" DateChanged="OnDateChanged" MaxDate="DateTime.Today" Variant="Variant.Outlined" Color="Color.Primary"
ShowToolbar="false" Margin="Margin.Dense" AdornmentColor="Color.Primary" />
<MudTooltip Text="Export">
<MudFab Class="mt-2" Color="Color.Info" StartIcon="@Icons.Material.Filled.ImportExport" Size="Size.Small" OnClick="ExportLogs" />
</MudTooltip>
<MudTooltip Text="Refresh">
<MudFab Class="mx-4 mt-2" StartIcon="@Icons.Material.Filled.Refresh" Color="Color.Primary" Size="Size.Small" OnClick="LoadLogs" />
</MudTooltip>
</div>
</div>
<div class="flex-grow-1 mt-2 ms-2 position-relative" style="background-color: rgba(0, 0, 0, 0);">
<MudOverlay Visible="IsLoading" DarkBackground="true" Absolute="true">
<MudProgressCircular Color="Color.Info" Indeterminate="true" />
</MudOverlay>
<div class="h-100 w-100 position-relative">
<div class="log-container" @ref="LogContainerRef">
@if (ShowRawLog)
{
<div class="d-flex justify-content-center my-3">
<div><MudButton Variant="Variant.Outlined" Size="Size.Small" OnClick="@(() => ShowRawLog = false)">Normal</MudButton></div>
</div>
<big style="font-size: 14px;">
@foreach (var log in ShowLogs)
{
@log <br />
}
</big>
}
else
{
@if (SearchLogs.Count < ShowLogs.Count)
{
<div class="d-flex justify-content-center my-3">
<div><MudButton Variant="Variant.Outlined" Size="Size.Small" OnClick="@(() => ShowRawLog = true)">Raw log</MudButton></div>
</div>
}
@foreach (var log in SearchLogs)
{
<div class="log">
<span class="log-head @log.BackgroundClass">
@log.Time <span class="log-level">@log.Level</span>
</span>
<span>@log.Message</span>
@if (log.HasException)
{
<br />
<pre class="log-exception">
@log.Exception
</pre>
}
</div>
}
}
</div>
</div>
</div>
</div>
<script>
window.ScrollToBottom = (element) => {
if (element) {
element.scrollTop = element.scrollHeight;
}
};
</script>
<MudThemeProvider IsDarkMode />
<MudPopoverProvider />
<MudDialogProvider />
<MudSnackbarProvider />
@code {
private DateTime DateLog = DateTime.Today;
private bool IsLoading;
private readonly List<string> ShowLogs = new();
private readonly List<LoggerModel> SearchLogs = new();
private ElementReference LogContainerRef { get; set; }
private bool ShowRawLog { get; set; }
private string? FilterLog { get; set; }
protected override async Task OnAfterRenderAsync(bool firstRender)
{
await base.OnAfterRenderAsync(firstRender);
if (!firstRender) return;
await LoadLogs();
}
private async Task LoadLogs()
{
try
{
IsLoading = true;
ShowLogs.Clear();
StateHasChanged();
var logs = await Http.GetFromJsonAsync<IEnumerable<string>>($"api/LogsManager?date={DateLog}");
ShowLogs.AddRange(logs ?? []);
IsLoading = false;
StateHasChanged();
await ReloadLogs();
}
catch (AccessTokenNotAvailableException ex)
{
ex.Redirect();
return;
}
}
private async Task ReloadLogs()
{
IsLoading = true;
SearchLogs.Clear();
StateHasChanged();
foreach (var line in ShowLogs.Where(log => string.IsNullOrEmpty(FilterLog) || log.Contains(FilterLog)).TakeLast(2000))
{
try
{
var log = System.Text.Json.JsonSerializer.Deserialize<LoggerModel>(line);
if (log is not null) SearchLogs.Add(log);
}
catch (System.Text.Json.JsonException)
{
continue;
}
}
IsLoading = false;
StateHasChanged();
await JSRuntime.InvokeVoidAsync("ScrollToBottom", LogContainerRef);
}
private async Task OnSearch(string text)
{
FilterLog = text;
await ReloadLogs();
}
private async Task OnDateChanged(DateTime? date)
{
if (date is not null && date.HasValue)
{
DateLog = date.Value;
await LoadLogs();
}
}
private async Task ExportLogs()
{
try
{
var fileContent = await Http.GetFromJsonAsync<IEnumerable<string>>($"api/LogsManager?date={DateLog}");
var formattedContent = string.Join("\n", fileContent ?? []);
var fileName = $"LogsManager_{DateLog.ToShortDateString()}.txt";
await JSRuntime.InvokeVoidAsync("downloadFile", fileName, formattedContent, "text/plain");
}
catch (Exception ex)
{
Snackbar.Add($"Lỗi khi tải file: {ex.Message}", Severity.Warning);
}
}
public class LoggerModel
{
[JsonPropertyName("time")]
public string? Time { get; set; }
[JsonPropertyName("level")]
public string? Level { get; set; }
[JsonPropertyName("message")]
public string? Message { get; set; }
[JsonPropertyName("exception")]
public string? Exception { get; set; }
public string ColorClass => Level switch
{
"WARN" => "text-warning",
"INFO" => "text-info",
"DEBUG" => "text-success",
"ERROR" => "text-danger",
"FATAL" => "text-secondary",
_ => "text-muted",
};
public string BackgroundClass => Level switch
{
"WARN" => "bg-warning text-dark",
"INFO" => "bg-info text-dark",
"DEBUG" => "bg-success text-white",
"ERROR" => "bg-danger text-white",
"FATAL" => "bg-secondary text-white",
_ => "bg-dark text-white",
};
public bool HasException => !string.IsNullOrEmpty(Exception);
}
}

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.log-container {
height: 100%;
width: 100%;
overflow-x: hidden;
overflow-y: auto;
position: absolute;
top: 0px;
left: 0px;
display: flex;
flex-direction: column;
}
.log {
word-wrap: break-word;
line-height: 18px;
margin-bottom: 12px;
}
.log-logger {
color: rgba(0, 0, 0, 0.3);
font-size: 12px;
}
.log-level {
display: inline-block;
width: 60px;
}
.log-head {
border-radius: 3px;
padding: 2px 5px;
}
.log-exception {
line-height: 16px;
margin-left: 30px;
color: crimson;
}

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@page "/missions"
@rendermode InteractiveWebAssemblyNoPrerender
<PageTitle>Mission Manager</PageTitle>
<RobotNet10.ScriptEditor.InstanceMissionManager />
<MudThemeProvider IsDarkMode />
<MudPopoverProvider />
<MudDialogProvider />
<MudSnackbarProvider />

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@page "/robots/{robotId}/detail"
@rendermode RobotNet10.Components.RenderMode.InteractiveWebAssemblyNoPrerender
@implements IAsyncDisposable
<PageTitle>Robot Detail - @robotName</PageTitle>
@using RobotNet10.FleetManager.Client.Services
@using RobotNet10.FleetManager.Client.Components.RobotDetail
@using RobotNet10.FleetManager.Shared.DTOs.Robot
@using RobotNet.VDA5050.State
@using RobotNet.VDA5050.Visualization
@using Microsoft.AspNetCore.SignalR.Client
@inject RobotApiService RobotApiService
@inject RobotStateHubClient HubClient
@inject NavigationManager NavigationManager
@inject ISnackbar Snackbar
<MudContainer MaxWidth="MaxWidth.ExtraExtraLarge" Class="mt-4">
<!-- Header -->
<MudPaper Class="pa-4 mb-4 align-content-center" MinHeight="80px">
<MudStack Row="true" AlignItems="AlignItems.Center" Justify="Justify.SpaceBetween" Spacing="3">
<MudStack Row="true" AlignItems="AlignItems.Center" Spacing="2">
<MudIconButton Icon="@Icons.Material.Filled.ArrowBack" OnClick="NavigateBack" />
<MudText Typo="Typo.h5">Robot Detail: @robotName</MudText>
</MudStack>
<MudButton StartIcon="@Icons.Material.Filled.Refresh"
Variant="Variant.Outlined"
Color="Color.Primary"
OnClick="HandleRefresh"
Disabled="@isRefreshing">
@if (isRefreshing)
{
<MudProgressCircular Class="mr-2" Size="Size.Small" Indeterminate="true" />
}
Refresh
</MudButton>
</MudStack>
</MudPaper>
@if (isLoadingRobot)
{
<MudPaper Class="pa-4" Elevation="1">
<MudStack AlignItems="AlignItems.Center" Spacing="3">
<MudProgressCircular Color="Color.Primary" Indeterminate="true" Size="Size.Large" />
<MudText Typo="Typo.body1">Loading robot information...</MudText>
</MudStack>
</MudPaper>
}
else if (robot == null)
{
<MudPaper Class="pa-4" Elevation="1">
<MudAlert Severity="Severity.Error" Variant="Variant.Filled">
<MudText Typo="Typo.h6">Robot Not Found</MudText>
<MudText Typo="Typo.body2">The robot with ID '@RobotId' could not be found.</MudText>
<MudButton Variant="Variant.Text" Color="Color.Error" OnClick="NavigateBack" Class="mt-2">
<MudIcon Icon="@Icons.Material.Filled.ArrowBack" Class="mr-2" />
Go Back to Robot List
</MudButton>
</MudAlert>
</MudPaper>
}
else
{
<!-- Main Content -->
<MudGrid>
<!-- Left: State Cards with Tabs (60%) -->
<MudItem xs="12" md="7">
<MudPaper Class="pa-2" Elevation="1" Style="height: calc(100vh - 200px); overflow: hidden">
<MudTabs @bind-ActivePanelIndex="ActivePanelIndex" Elevation="0" Rounded="true" Color="Color.Primary">
<!-- Overview Tab -->
<MudTabPanel Text="Overview" Icon="@Icons.Material.Filled.Dashboard">
<MudStack Spacing="3" Class="mt-2" Style="overflow-y: auto; height: calc(100vh - 288px);">
<HeaderInfoCard @ref="HeaderInfoCardRef" />
<MudGrid Spacing="3">
<MudItem xs="12" md="6">
<PositionCard @ref="PositionCardRef" />
</MudItem>
<MudItem xs="12" md="6">
<VelocityCard @ref="VelocityCardRef" />
</MudItem>
</MudGrid>
<MudGrid Spacing="3">
<MudItem xs="12" md="6">
<BatteryCard @ref="BatteryCardRef" />
</MudItem>
<MudItem xs="12" md="6">
<SafetyStateCard @ref="SafetyStateCardRef" />
</MudItem>
</MudGrid>
</MudStack>
</MudTabPanel>
<!-- Navigation Tab -->
<MudTabPanel Text="Navigation" Icon="@Icons.Material.Filled.Navigation">
<MudStack Spacing="3" Class="mt-2" Style="overflow-y: auto; height: calc(100vh - 288px);">
<MapsCard @ref="MapsCardRef" />
<NodeStatesCard @ref="NodeStatesCardRef" />
<EdgeStatesCard @ref="EdgeStatesCardRef" />
</MudStack>
</MudTabPanel>
<!-- Orders & Actions Tab -->
<MudTabPanel Text="Orders & Actions" Icon="@Icons.Material.Filled.ListAlt">
<MudStack Spacing="3" Class="mt-2" Style="overflow-y: auto; height: calc(100vh - 288px);">
<OrderInfoCard @ref="OrderInfoCardRef" />
<ActionStatesCard @ref="ActionStatesCardRef" />
<LoadsCard @ref="LoadsCardRef" />
</MudStack>
</MudTabPanel>
<!-- Errors & Information Tab -->
<MudTabPanel Text="Errors & Info" Icon="@Icons.Material.Filled.Info">
<MudStack Spacing="3" Class="mt-2" Style="overflow-y: auto; height: calc(100vh - 288px);">
<ErrorsCard @ref="ErrorsCardRef" />
<InformationCard @ref="InformationCardRef" />
</MudStack>
</MudTabPanel>
</MudTabs>
</MudPaper>
</MudItem>
<!-- Right: Manual Actions & Orders (40%) -->
<MudItem xs="12" md="5">
<MudStack Spacing="3" Style="max-height: calc(100vh - 200px); overflow-y: auto;">
<MudPaper Class="pa-2" Elevation="2">
<ManualOrderPanel RobotId="@RobotId" MapId="@robot?.MapId" />
</MudPaper>
<MudPaper Class="pa-2" Elevation="2">
<ManualActionsPanel RobotId="@RobotId" />
</MudPaper>
</MudStack>
</MudItem>
</MudGrid>
}
</MudContainer>
<MudThemeProvider IsDarkMode />
<MudPopoverProvider />
<MudDialogProvider />
<MudSnackbarProvider />
@code {
[Parameter]
public string RobotId { get; set; } = string.Empty;
private RobotDto? robot;
private string robotName = "Loading...";
private bool isLoadingRobot = true;
private bool isRefreshing = false;
private HeaderInfoCard HeaderInfoCardRef = default!;
private PositionCard PositionCardRef = default!;
private VelocityCard VelocityCardRef = default!;
private BatteryCard BatteryCardRef = default!;
private SafetyStateCard SafetyStateCardRef = default!;
private MapsCard MapsCardRef = default!;
private NodeStatesCard NodeStatesCardRef = default!;
private EdgeStatesCard EdgeStatesCardRef = default!;
private OrderInfoCard OrderInfoCardRef = default!;
private ActionStatesCard ActionStatesCardRef = default!;
private LoadsCard LoadsCardRef = default!;
private ErrorsCard ErrorsCardRef = default!;
private InformationCard InformationCardRef = default!;
private int ActivePanelIndex = 0;
protected override async Task OnInitializedAsync()
{
await LoadRobotAsync();
await InitializeSignalRAsync();
}
private async Task LoadRobotAsync()
{
isLoadingRobot = true;
try
{
robot = await RobotApiService.GetByRobotIdAsync(RobotId);
if (robot != null)
{
robotName = robot.Name;
}
else
{
Snackbar.Add($"Robot with ID '{RobotId}' not found", Severity.Error);
}
}
catch (Exception ex)
{
Snackbar.Add($"Error loading robot: {ex.Message}", Severity.Error);
}
finally
{
isLoadingRobot = false;
StateHasChanged();
}
}
private async Task InitializeSignalRAsync()
{
try
{
// Register event handlers
HubClient.OnStateUpdate += HandleStateUpdate;
HubClient.OnConnectionError += HandleConnectionError;
// Connect and subscribe
await HubClient.ConnectAsync();
await HubClient.SubscribeToRobotAsync(RobotId);
}
catch (Exception ex)
{
Snackbar.Add($"Error connecting to SignalR: {ex.Message}", Severity.Error);
}
}
private void StateUpdate(StateMsg? state)
{
switch (ActivePanelIndex)
{
case 0:
HeaderInfoCardRef.Update(state);
BatteryCardRef.Update(state?.BatteryState);
SafetyStateCardRef.Update(state);
PositionCardRef.Update(state);
VelocityCardRef.Update(state);
break;
case 1:
MapsCardRef.Update(state);
NodeStatesCardRef.Update(state);
EdgeStatesCardRef.Update(state);
break;
case 2:
OrderInfoCardRef.Update(state);
ActionStatesCardRef.Update(state);
LoadsCardRef.Update(state);
break;
case 3:
ErrorsCardRef.Update(state?.Errors);
InformationCardRef.Update(state?.Information);
break;
}
}
private void HandleStateUpdate(StateMsg state)
{
if (state.SerialNumber != RobotId) return;
StateUpdate(state);
}
private void HandleConnectionError(string error)
{
Snackbar.Add($"SignalR connection error: {error}", Severity.Warning);
}
private async Task HandleRefresh()
{
isRefreshing = true;
StateHasChanged();
await LoadRobotAsync();
isRefreshing = false;
StateHasChanged();
}
private void NavigateBack()
{
NavigationManager.NavigateTo("/robots");
}
public async ValueTask DisposeAsync()
{
if (HubClient != null)
{
HubClient.OnStateUpdate -= HandleStateUpdate;
HubClient.OnConnectionError -= HandleConnectionError;
await HubClient.UnsubscribeFromRobotAsync(RobotId);
}
}
}

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@page "/robots"
@rendermode RobotNet10.Components.RenderMode.InteractiveWebAssemblyNoPrerender
<PageTitle>Robot Management</PageTitle>
@using RobotNet10.FleetManager.Client.Services
@using RobotNet10.FleetManager.Client.Components.RobotManager
@using RobotNet10.FleetManager.Client.Components.RobotManager.Dialogs
@using RobotNet10.FleetManager.Shared.DTOs.Robot
@inject RobotApiService RobotApiService
@inject RobotModelApiService RobotModelApiService
@inject IDialogService DialogService
@inject ISnackbar Snackbar
@inject NavigationManager NavigationManager
<MudContainer MaxWidth="MaxWidth.ExtraExtraLarge" Class="mt-4">
<!-- Header -->
<MudPaper Class="pa-4 mb-4 align-content-center" MinHeight="80px">
<MudStack Row="true" AlignItems="AlignItems.Center" Justify="Justify.SpaceBetween" Spacing="3">
<MudText Typo="Typo.h5">Robot Management</MudText>
<MudButton StartIcon="@Icons.Material.Filled.Add"
Variant="Variant.Filled"
Color="Color.Success"
OnClick="HandleCreate">
Add Robot
</MudButton>
</MudStack>
</MudPaper>
<!-- Main Content -->
<RobotTable @ref="TableRef"
RobotApiService="@RobotApiService"
RobotModelApiService="@RobotModelApiService"
OnRobotDeleted="@HandleDeleted"
OnRobotUpdated="@HandleUpdated" />
</MudContainer>
<MudThemeProvider IsDarkMode />
<MudPopoverProvider />
<MudDialogProvider />
<MudSnackbarProvider />
@code {
private RobotTable? TableRef;
private async Task HandleCreate()
{
var parameters = new DialogParameters
{
["RobotApiService"] = RobotApiService,
["RobotModelApiService"] = RobotModelApiService
};
var dialog = await DialogService.ShowAsync<CreateRobotDialog>("Create Robot", parameters,
new DialogOptions { MaxWidth = MaxWidth.Medium, FullWidth = true });
var result = await dialog.Result;
if (result != null && !result.Canceled)
{
await TableRef?.LoadDataAsync()!;
Snackbar.Add("Robot created successfully", Severity.Success);
}
}
private async Task HandleDeleted()
{
await TableRef?.LoadDataAsync()!;
Snackbar.Add("Robot deleted successfully", Severity.Success);
}
private async Task HandleUpdated()
{
await TableRef?.LoadDataAsync()!;
Snackbar.Add("Robot updated successfully", Severity.Success);
}
}

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@page "/robot-models"
@rendermode InteractiveWebAssemblyNoPrerender
<PageTitle>Robot Model Management</PageTitle>
@using RobotNet10.FleetManager.Client.Services
@using RobotNet10.FleetManager.Client.Components.RobotModelManager
@using RobotNet10.FleetManager.Client.Components.RobotModelManager.Dialogs
@using RobotNet10.FleetManager.Shared.DTOs.RobotModel
@inject RobotModelApiService ApiService
@inject IDialogService DialogService
@inject ISnackbar Snackbar
<MudContainer MaxWidth="MaxWidth.ExtraExtraLarge" Class="mt-4">
<!-- Header -->
<MudPaper Class="pa-4 mb-4 align-content-center" MinHeight="80px">
<MudStack Row="true" AlignItems="AlignItems.Center" Justify="Justify.SpaceBetween" Spacing="3">
<MudText Typo="Typo.h5">Robot Model Management</MudText>
<MudStack Row="true" AlignItems="AlignItems.Center" Spacing="2">
<MudTextField Value="@searchText"
Placeholder="Search robot models..."
Variant="Variant.Outlined"
Adornment="Adornment.Start"
AdornmentIcon="@Icons.Material.Filled.Search"
Margin="Margin.Dense"
Style="min-width: 250px;"
Immediate="false"
T="string"
ValueChanged="TextSearchChanged"
Clearable="true" />
<MudButton StartIcon="@Icons.Material.Filled.Add"
Variant="Variant.Filled"
Color="Color.Success"
OnClick="HandleCreate">
Add Robot Model
</MudButton>
</MudStack>
</MudStack>
</MudPaper>
<!-- Main Content -->
<MudGrid>
<!-- Left: List Panel (60%) -->
<MudItem xs="12" md="7">
<RobotModelListPanel @ref="ListPanelRef"
ApiService="@ApiService"
SelectedRobotModelChanged="SelectedRobotModelChanged"
SearchText="@searchText" />
</MudItem>
<!-- Right: Details Panel (40%) -->
<MudItem xs="12" md="5">
<MudPaper Class="pa-3" Elevation="1" Style="height: calc(100vh - 169px); overflow-y: auto;">
@if (selectedRobotModel != null)
{
<RobotModelDetailsPanel RobotModel="@selectedRobotModel" />
}
else
{
<MudText Typo="Typo.body1" Align="Align.Center" Class="mt-8">
Select a robot model to view details
</MudText>
}
</MudPaper>
</MudItem>
</MudGrid>
</MudContainer>
<MudThemeProvider IsDarkMode />
<MudPopoverProvider />
<MudDialogProvider />
<MudSnackbarProvider />
@code {
private string searchText = string.Empty;
private RobotModelDto? selectedRobotModel;
private RobotModelListPanel? ListPanelRef;
private async Task TextSearchChanged(string text)
{
searchText = text;
if (ListPanelRef != null)
{
await ListPanelRef.SearchAsync(text);
}
}
private async Task HandleCreate()
{
var parameters = new DialogParameters
{
["ApiService"] = ApiService
};
var dialog = await DialogService.ShowAsync<CreateRobotModelDialog>("Create Robot Model", parameters,
new DialogOptions { MaxWidth = MaxWidth.Medium, FullWidth = true });
var result = await dialog.Result;
if (result != null && !result.Canceled)
{
await ListPanelRef?.LoadDataAsync()!;
Snackbar.Add("Robot model created successfully", Severity.Success);
}
}
private void SelectedRobotModelChanged(RobotModelDto? model)
{
selectedRobotModel = model;
StateHasChanged();
}
}

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@page "/robots/monitor"
@rendermode RobotNet10.Components.RenderMode.InteractiveWebAssemblyNoPrerender
@using RobotNet10.FleetManager.Client.Components.RobotMonitor
<PageTitle>Robot Monitor</PageTitle>
<RobotMonitorComponent />
<MudThemeProvider IsDarkMode />
<MudPopoverProvider />
<MudDialogProvider />
<MudSnackbarProvider />

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@page "/programming"
@rendermode InteractiveWebAssemblyNoPrerender
<PageTitle>Script Editor</PageTitle>
<RobotNet10.ScriptEditor.ScriptEditor />
<MudThemeProvider IsDarkMode />
<MudPopoverProvider />
<MudDialogProvider />
<MudSnackbarProvider />

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@page "/station-manager/{LevelId:guid}"
@rendermode RobotNet10.Components.RenderMode.InteractiveWebAssemblyNoPrerender
<PageTitle>Station Manager</PageTitle>
<RobotNet10.MapEditor.Components.StationManager.StationManagerComponent LayoutLevelId="LevelId" />
<MudThemeProvider IsDarkMode />
<MudPopoverProvider />
<MudDialogProvider />
<MudSnackbarProvider />
@code
{
[Parameter]
public Guid LevelId { get; set; }
}

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@page "/vehicletypes/edit/{Id:guid}"
@rendermode RobotNet10.Components.RenderMode.InteractiveWebAssemblyNoPrerender
<PageTitle>Vehicle Editor</PageTitle>
<RobotNet10.MapEditor.Components.VehicleTypeManager.VehicleTypeEditComponent Id="@Id" />
<MudThemeProvider IsDarkMode />
<MudPopoverProvider />
<MudDialogProvider />
<MudSnackbarProvider />
@code {
[Parameter]
public Guid Id { get; set; }
}

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@page "/vehicle-manager"
@rendermode RobotNet10.Components.RenderMode.InteractiveWebAssemblyNoPrerender
<PageTitle>Vehicle Manager</PageTitle>
<RobotNet10.MapEditor.Components.VehicleTypeManager.VehicleTypeManagerComponent />
<MudThemeProvider IsDarkMode />
<MudPopoverProvider />
<MudDialogProvider />
<MudSnackbarProvider />

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@using Microsoft.AspNetCore.Authorization
@attribute [Authorize]

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using Microsoft.AspNetCore.Components;
using Microsoft.AspNetCore.Components.Authorization;
using Microsoft.AspNetCore.Components.WebAssembly.Hosting;
using MudBlazor;
using MudBlazor.Services;
using RobotNet10.CustomConfigurationEditor.Services.API;
using RobotNet10.CustomConfigurationEditor.Services.State;
using RobotNet10.FleetManager.Client;
using RobotNet10.FleetManager.Client.Services;
using RobotNet10.MapEditor.Services.API;
using RobotNet10.MapEditor.Services.State;
using RobotNet10.ScriptEditor;
using System.Globalization;
CultureInfo.DefaultThreadCurrentCulture = new CultureInfo("en-US");
var builder = WebAssemblyHostBuilder.CreateDefault(args);
builder.Logging.AddFilter("System.Net.Http.HttpClient", LogLevel.Warning);
builder.Services.AddAuthorizationCore();
builder.Services.AddCascadingAuthenticationState();
builder.Services.AddAuthenticationStateDeserialization();
builder.Services.AddNavigationMenu();
builder.Services.AddScoped(sp => new HttpClient { BaseAddress = new Uri(builder.HostEnvironment.BaseAddress), });
builder.Services.AddMudServices(config =>
{
config.SnackbarConfiguration.VisibleStateDuration = 2000;
config.SnackbarConfiguration.HideTransitionDuration = 500;
config.SnackbarConfiguration.ShowTransitionDuration = 500;
config.SnackbarConfiguration.PositionClass = Defaults.Classes.Position.BottomLeft;
});
// MapEditor Services
builder.Services.AddScoped<MapManagerApiService>();
builder.Services.AddScoped<LayoutManagerState>();
builder.Services.AddScoped<LayoutEditorState>();
builder.Services.AddScoped<VehicleTypeManagerState>();
builder.Services.AddScoped<VehicleTypeEditState>();
builder.Services.AddScoped<StationManagerState>();
// Robot Management Services
builder.Services.AddScoped<RobotModelApiService>();
builder.Services.AddScoped<RobotApiService>();
// SignalR Hub Client - Use factory to create per-scope instances
builder.Services.AddScoped<RobotStateHubClient>(sp =>
{
var navigationManager = sp.GetRequiredService<NavigationManager>();
var logger = sp.GetService<ILogger<RobotStateHubClient>>();
return new RobotStateHubClient(navigationManager, logger);
});
// Robot Monitor State
builder.Services.AddScoped<RobotMonitorState>(sp =>
{
var mapApiService = sp.GetRequiredService<MapManagerApiService>();
var robotApiService = sp.GetRequiredService<RobotApiService>();
var robotModelApiService = sp.GetRequiredService<RobotModelApiService>();
var hubClient = sp.GetRequiredService<RobotStateHubClient>();
return new RobotMonitorState(mapApiService, robotApiService, robotModelApiService, hubClient);
});
// Config Manager Services
builder.Services.AddScoped<ConfigApiService>();
builder.Services.AddScoped<ConfigManagerState>(sp =>
{
var configApi = sp.GetRequiredService<ConfigApiService>();
var authStateProvider = sp.GetService<AuthenticationStateProvider>();
return new ConfigManagerState(configApi, authStateProvider, "Distributor");
});
// Script Engine Services
builder.Services.AddScriptEditor<ScriptEngineResource>();
await builder.Build().RunAsync();

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@inject NavigationManager NavigationManager
@code {
protected override void OnInitialized()
{
NavigationManager.NavigateTo($"Account/Login?returnUrl={Uri.EscapeDataString(NavigationManager.Uri)}", forceLoad: true);
}
}

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<Project Sdk="Microsoft.NET.Sdk.BlazorWebAssembly">
<PropertyGroup>
<TargetFramework>net10.0</TargetFramework>
<ImplicitUsings>enable</ImplicitUsings>
<Nullable>enable</Nullable>
<NoDefaultLaunchSettingsFile>true</NoDefaultLaunchSettingsFile>
<StaticWebAssetProjectMode>Default</StaticWebAssetProjectMode>
<BlazorDisableThrowNavigationException>true</BlazorDisableThrowNavigationException>
</PropertyGroup>
<ItemGroup>
<PackageReference Include="Microsoft.AspNetCore.Components.WebAssembly" Version="10.0.3" />
<PackageReference Include="Microsoft.AspNetCore.Components.WebAssembly.Authentication" Version="10.0.3" />
</ItemGroup>
<ItemGroup>
<ProjectReference Include="..\..\Commons\RobotNet10.Script\RobotNet10.Script.csproj" />
<ProjectReference Include="..\..\Components\RobotNet10.CustomConfigurationEditor\RobotNet10.CustomConfigurationEditor.csproj" />
<ProjectReference Include="..\..\Components\RobotNet10.MapEditor\RobotNet10.MapEditor.csproj" />
<ProjectReference Include="..\..\Components\RobotNet10.Components\RobotNet10.Components.csproj" />
<ProjectReference Include="..\..\Components\RobotNet10.ScriptEditor\RobotNet10.ScriptEditor.csproj" />
<ProjectReference Include="..\..\Shared\RobotNet10.ScriptEngine.Shared\RobotNet10.ScriptEngine.Shared.csproj" />
<ProjectReference Include="..\..\Shared\RobotNet10.Shared\RobotNet10.Shared.csproj" />
<ProjectReference Include="..\RobotNet10.FleetManager.Script.Shared\RobotNet10.FleetManager.Script.Shared.csproj" />
<ProjectReference Include="..\RobotNet10.FleetManager.Script\RobotNet10.FleetManager.Script.csproj" />
<ProjectReference Include="..\RobotNet10.FleetManager.Shared\RobotNet10.FleetManager.Shared.csproj" />
</ItemGroup>
</Project>

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using System.Net.Http.Json;
using RobotNet10.FleetManager.Shared.DTOs.Robot;
using RobotNet10.FleetManager.Shared.DTOs.Responses;
namespace RobotNet10.FleetManager.Client.Services;
/// <summary>
/// API service for robot operations.
/// Provides methods to interact with the robot API endpoints.
/// </summary>
public class RobotApiService
{
private readonly HttpClient _httpClient;
private readonly ILogger<RobotApiService>? _logger;
public RobotApiService(HttpClient httpClient, ILogger<RobotApiService>? logger = null)
{
_httpClient = httpClient;
_logger = logger;
}
/// <summary>
/// Get all robots with optional filters
/// </summary>
public async Task<List<RobotDto>> GetAllAsync(Guid? modelId = null, Guid? mapId = null)
{
try
{
var queryParams = new List<string>();
if (modelId.HasValue)
queryParams.Add($"modelId={modelId.Value}");
if (mapId.HasValue)
queryParams.Add($"mapId={mapId.Value}");
var queryString = queryParams.Count > 0 ? "?" + string.Join("&", queryParams) : "";
var response = await _httpClient.GetAsync($"/api/robots{queryString}");
response.EnsureSuccessStatusCode();
return await response.Content.ReadFromJsonAsync<List<RobotDto>>() ?? new List<RobotDto>();
}
catch (Exception ex)
{
_logger?.LogError(ex, "Error getting all robots");
throw;
}
}
/// <summary>
/// Get robot by ID
/// </summary>
public async Task<RobotDto?> GetByIdAsync(Guid id)
{
try
{
var response = await _httpClient.GetAsync($"/api/robots/{id}");
if (response.StatusCode == System.Net.HttpStatusCode.NotFound)
{
return null;
}
response.EnsureSuccessStatusCode();
return await response.Content.ReadFromJsonAsync<RobotDto>();
}
catch (Exception ex)
{
_logger?.LogError(ex, "Error getting robot {Id}", id);
throw;
}
}
/// <summary>
/// Get robot by RobotId (string identifier)
/// </summary>
public async Task<RobotDto?> GetByRobotIdAsync(string robotId)
{
try
{
var response = await _httpClient.GetAsync($"/api/robots/robotId/{Uri.EscapeDataString(robotId)}");
if (response.StatusCode == System.Net.HttpStatusCode.NotFound)
{
return null;
}
response.EnsureSuccessStatusCode();
return await response.Content.ReadFromJsonAsync<RobotDto>();
}
catch (Exception ex)
{
_logger?.LogError(ex, "Error getting robot with RobotId {RobotId}", robotId);
throw;
}
}
/// <summary>
/// Search robots
/// </summary>
public async Task<List<RobotDto>> SearchAsync(string query)
{
try
{
var response = await _httpClient.GetAsync($"/api/robots/search?query={Uri.EscapeDataString(query)}");
response.EnsureSuccessStatusCode();
return await response.Content.ReadFromJsonAsync<List<RobotDto>>() ?? new List<RobotDto>();
}
catch (Exception ex)
{
_logger?.LogError(ex, "Error searching robots with query {Query}", query);
throw;
}
}
/// <summary>
/// Get all robots by model ID
/// </summary>
public async Task<List<RobotDto>> GetByModelIdAsync(Guid modelId)
{
try
{
var response = await _httpClient.GetAsync($"/api/robots/model/{modelId}");
response.EnsureSuccessStatusCode();
return await response.Content.ReadFromJsonAsync<List<RobotDto>>() ?? new List<RobotDto>();
}
catch (Exception ex)
{
_logger?.LogError(ex, "Error getting robots by model {ModelId}", modelId);
throw;
}
}
/// <summary>
/// Create a new robot
/// </summary>
public async Task<RobotDto> CreateAsync(CreateRobotRequest request)
{
try
{
var response = await _httpClient.PostAsJsonAsync("/api/robots", request);
response.EnsureSuccessStatusCode();
return await response.Content.ReadFromJsonAsync<RobotDto>()
?? throw new InvalidOperationException("Failed to deserialize created robot");
}
catch (Exception ex)
{
_logger?.LogError(ex, "Error creating robot");
throw;
}
}
/// <summary>
/// Update an existing robot
/// </summary>
public async Task<RobotDto> UpdateAsync(Guid id, UpdateRobotRequest request)
{
try
{
var response = await _httpClient.PutAsJsonAsync($"/api/robots/{id}", request);
response.EnsureSuccessStatusCode();
return await response.Content.ReadFromJsonAsync<RobotDto>()
?? throw new InvalidOperationException("Failed to deserialize updated robot");
}
catch (Exception ex)
{
_logger?.LogError(ex, "Error updating robot {Id}", id);
throw;
}
}
/// <summary>
/// Delete a robot
/// </summary>
public async Task DeleteAsync(Guid id)
{
try
{
var response = await _httpClient.DeleteAsync($"/api/robots/{id}");
response.EnsureSuccessStatusCode();
}
catch (Exception ex)
{
_logger?.LogError(ex, "Error deleting robot {Id}", id);
throw;
}
}
}

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using System.Net.Http.Json;
using RobotNet10.FleetManager.Shared.DTOs.RobotModel;
using RobotNet10.FleetManager.Shared.DTOs.Responses;
namespace RobotNet10.FleetManager.Client.Services;
/// <summary>
/// API service for robot model operations.
/// Provides methods to interact with the robot model API endpoints.
/// </summary>
public class RobotModelApiService
{
private readonly HttpClient _httpClient;
private readonly ILogger<RobotModelApiService>? _logger;
public RobotModelApiService(HttpClient httpClient, ILogger<RobotModelApiService>? logger = null)
{
_httpClient = httpClient;
_logger = logger;
}
/// <summary>
/// Get all robot models
/// </summary>
public async Task<List<RobotModelDto>> GetAllAsync()
{
try
{
var response = await _httpClient.GetAsync("/api/robot-models");
response.EnsureSuccessStatusCode();
return await response.Content.ReadFromJsonAsync<List<RobotModelDto>>() ?? new List<RobotModelDto>();
}
catch (Exception ex)
{
_logger?.LogError(ex, "Error getting all robot models");
throw;
}
}
/// <summary>
/// Get robot model by ID
/// </summary>
public async Task<RobotModelDto?> GetByIdAsync(Guid id)
{
try
{
var response = await _httpClient.GetAsync($"/api/robot-models/{id}");
if (response.StatusCode == System.Net.HttpStatusCode.NotFound)
{
return null;
}
response.EnsureSuccessStatusCode();
return await response.Content.ReadFromJsonAsync<RobotModelDto>();
}
catch (Exception ex)
{
_logger?.LogError(ex, "Error getting robot model {Id}", id);
throw;
}
}
/// <summary>
/// Search robot models
/// </summary>
public async Task<List<RobotModelDto>> SearchAsync(string query)
{
try
{
var response = await _httpClient.GetAsync($"/api/robot-models/search?query={Uri.EscapeDataString(query)}");
response.EnsureSuccessStatusCode();
return await response.Content.ReadFromJsonAsync<List<RobotModelDto>>() ?? new List<RobotModelDto>();
}
catch (Exception ex)
{
_logger?.LogError(ex, "Error searching robot models with query {Query}", query);
throw;
}
}
/// <summary>
/// Get usage information for a robot model
/// </summary>
public async Task<RobotModelUsageInfoDto> GetUsageInfoAsync(Guid id)
{
try
{
var response = await _httpClient.GetAsync($"/api/robot-models/{id}/usage");
response.EnsureSuccessStatusCode();
return await response.Content.ReadFromJsonAsync<RobotModelUsageInfoDto>()
?? throw new InvalidOperationException("Failed to deserialize usage info");
}
catch (Exception ex)
{
_logger?.LogError(ex, "Error getting usage info for robot model {Id}", id);
throw;
}
}
/// <summary>
/// Create a new robot model
/// </summary>
public async Task<RobotModelDto> CreateAsync(CreateRobotModelRequest request)
{
try
{
var response = await _httpClient.PostAsJsonAsync("/api/robot-models", request);
if (!response.IsSuccessStatusCode)
{
var errorContent = await response.Content.ReadAsStringAsync();
_logger?.LogError("Error creating robot model. Status: {StatusCode}, Response: {Error}",
response.StatusCode, errorContent);
if (response.StatusCode == System.Net.HttpStatusCode.BadRequest)
{
throw new InvalidOperationException($"Validation error: {errorContent}");
}
response.EnsureSuccessStatusCode();
}
return await response.Content.ReadFromJsonAsync<RobotModelDto>()
?? throw new InvalidOperationException("Failed to deserialize created robot model");
}
catch (HttpRequestException ex)
{
_logger?.LogError(ex, "HTTP error creating robot model");
throw;
}
catch (Exception ex)
{
_logger?.LogError(ex, "Error creating robot model");
throw;
}
}
/// <summary>
/// Update an existing robot model
/// </summary>
public async Task<RobotModelDto> UpdateAsync(Guid id, UpdateRobotModelRequest request)
{
try
{
var response = await _httpClient.PutAsJsonAsync($"/api/robot-models/{id}", request);
response.EnsureSuccessStatusCode();
return await response.Content.ReadFromJsonAsync<RobotModelDto>()
?? throw new InvalidOperationException("Failed to deserialize updated robot model");
}
catch (Exception ex)
{
_logger?.LogError(ex, "Error updating robot model {Id}", id);
throw;
}
}
/// <summary>
/// Delete a robot model
/// </summary>
public async Task DeleteAsync(Guid id)
{
try
{
var response = await _httpClient.DeleteAsync($"/api/robot-models/{id}");
response.EnsureSuccessStatusCode();
}
catch (Exception ex)
{
_logger?.LogError(ex, "Error deleting robot model {Id}", id);
throw;
}
}
/// <summary>
/// Get robot model image
/// </summary>
public async Task<string?> GetImageAsync(Guid id)
{
try
{
var response = await _httpClient.GetAsync($"/api/robot-models/{id}/image");
if (response.StatusCode == System.Net.HttpStatusCode.NotFound)
{
return null;
}
response.EnsureSuccessStatusCode();
var imageBytes = await response.Content.ReadAsByteArrayAsync();
return Convert.ToBase64String(imageBytes);
}
catch (Exception ex)
{
_logger?.LogError(ex, "Error getting image for robot model {Id}", id);
throw;
}
}
/// <summary>
/// Upload robot model image
/// </summary>
public async Task UploadImageAsync(Guid id, Stream imageStream, string fileName)
{
try
{
using var content = new MultipartFormDataContent();
using var streamContent = new StreamContent(imageStream);
streamContent.Headers.ContentType = new System.Net.Http.Headers.MediaTypeHeaderValue("image/png");
content.Add(streamContent, "file", fileName);
var response = await _httpClient.PostAsync($"/api/robot-models/{id}/image", content);
if (!response.IsSuccessStatusCode)
{
var errorContent = await response.Content.ReadAsStringAsync();
_logger?.LogError("Error uploading image. Status: {StatusCode}, Response: {Error}",
response.StatusCode, errorContent);
if (response.StatusCode == System.Net.HttpStatusCode.BadRequest)
{
throw new InvalidOperationException($"Image upload validation error: {errorContent}");
}
response.EnsureSuccessStatusCode();
}
}
catch (HttpRequestException ex)
{
_logger?.LogError(ex, "HTTP error uploading image for robot model {Id}", id);
throw;
}
catch (Exception ex)
{
_logger?.LogError(ex, "Error uploading image for robot model {Id}", id);
throw;
}
}
/// <summary>
/// Delete robot model image
/// </summary>
public async Task DeleteImageAsync(Guid id)
{
try
{
var response = await _httpClient.DeleteAsync($"/api/robot-models/{id}/image");
response.EnsureSuccessStatusCode();
}
catch (Exception ex)
{
_logger?.LogError(ex, "Error deleting image for robot model {Id}", id);
throw;
}
}
}

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using RobotNet10.FleetManager.Client;
using RobotNet10.FleetManager.Shared.DTOs.Robot;
using RobotNet10.FleetManager.Shared.DTOs.RobotModel;
using RobotNet10.MapEditor.Services.API;
using RobotNet10.MapEditor.Shared.DTOs.Edge;
using RobotNet10.MapEditor.Shared.DTOs.Layout;
using RobotNet10.MapEditor.Shared.DTOs.Node;
namespace RobotNet10.FleetManager.Client.Services;
/// <summary>
/// Viewport state for SVG canvas
/// </summary>
public class ViewportState
{
public double ViewBoxX { get; set; }
public double ViewBoxY { get; set; }
public double ViewBoxWidth { get; set; }
public double ViewBoxHeight { get; set; }
public double ZoomLevel { get; set; } = 1.0;
public string ToViewBoxString() =>
$"{ViewBoxX:F2} {ViewBoxY:F2} {ViewBoxWidth:F2} {ViewBoxHeight:F2}";
}
/// <summary>
/// Robot data for monitoring
/// </summary>
public class RobotMonitorData
{
public string RobotId { get; set; } = string.Empty;
public Guid? ModelId { get; set; }
public RobotModelDto? Model { get; set; } // Robot model info (Length, Width, etc.)
public string? ModelImageBase64 { get; set; }
public DateTime LastUpdateTime { get; set; }
public RobotMonitorBoardcastData? Data { get; set; }
}
/// <summary>
/// State management for RobotMonitor page
/// </summary>
public class RobotMonitorState(
MapManagerApiService mapApiService,
RobotApiService robotApiService,
RobotModelApiService robotModelApiService,
RobotStateHubClient? hubClient = null)
{
// ===== DATA =====
public List<LayoutDto> Layouts { get; private set; } = [];
public List<LayoutVersionDto> AvailableVersions { get; private set; } = [];
public List<LayoutLevelDto> AvailableLevels { get; private set; } = [];
public List<RobotDto> AvailableRobots { get; private set; } = [];
public Guid? SelectedLayoutId { get; set; }
public Guid? SelectedVersionId { get; set; }
public Guid? SelectedLevelId { get; set; }
public LayoutLevelDto? Level { get; private set; }
public List<NodeDto> Nodes { get; private set; } = [];
public List<EdgeDto> Edges { get; private set; } = [];
public byte[]? BackgroundImage { get; private set; }
// ===== ROBOTS =====
public Dictionary<string, RobotMonitorData> Robots { get; private set; } = [];
public string? SelectedRobotId { get; set; }
// ===== DISPLAY OPTIONS =====
public bool ShowGrid { get; set; } = false;
public bool ShowBackgroundImage { get; set; } = true;
public bool ShowPath { get; set; } = false;
public bool ShowName { get; set; } = true;
public bool FollowRobot { get; set; } = false;
public bool RobotInfoPanelExpanded { get; set; } = false;
// ===== VIEWPORT =====
public ViewportState Viewport { get; } = new();
// ===== UI STATE =====
public bool IsLoading { get; private set; }
public string? ErrorMessage { get; set; }
public bool IsMonitorDeactivated { get; private set; } = false;
// ===== EVENTS =====
public event Action? OnDataChanged;
public event Action? OnStateChanged;
// ===== DEPENDENCIES =====
private readonly MapManagerApiService _mapApiService = mapApiService;
private readonly RobotApiService _robotApiService = robotApiService;
private readonly RobotModelApiService _robotModelApiService = robotModelApiService;
private readonly RobotStateHubClient? _hubClient = hubClient;
// ===== ROBOT MODEL CACHE =====
private readonly Dictionary<Guid, string> _robotModelImageCache = [];
private readonly Dictionary<Guid, RobotModelDto> _robotModelCache = []; // modelId -> RobotModelDto
private readonly Dictionary<string, Guid> _robotModelIdCache = []; // robotId -> modelId
// ===== TIMEOUT CONFIGURATION =====
private const int RobotTimeoutSeconds = 10; // Remove robots after 10 seconds of no updates
/// <summary>
/// Initialize monitor state
/// </summary>
public async Task InitializeAsync()
{
IsLoading = true;
ErrorMessage = null;
NotifyStateChanged();
try
{
// Load layouts
await LoadLayoutsAsync();
// Load robots and their models
await LoadRobotsAsync();
// Connect SignalR if available
if (_hubClient != null)
{
await InitializeSignalRAsync();
// Register OnMonitorDeactivated event handler
_hubClient.OnMonitorDeactivated += HandleMonitorDeactivated;
}
}
catch (Exception ex)
{
ErrorMessage = $"Failed to initialize: {ex.Message}";
// Log error for debugging
System.Diagnostics.Debug.WriteLine($"RobotMonitor initialization error: {ex}");
}
IsLoading = false;
NotifyStateChanged();
}
/// <summary>
/// Load all layouts
/// </summary>
public async Task LoadLayoutsAsync()
{
try
{
var allLayouts = await _mapApiService.SearchLayoutsAsync();
// Only get active layouts
Layouts = [.. allLayouts.Where(l => l.IsActive)];
ErrorMessage = null; // Clear any previous errors
// Auto-select first layout, last version, last level
if (Layouts.Count > 0)
{
var firstLayout = Layouts[0];
SelectedLayoutId = firstLayout.Id;
// Load versions for first layout
AvailableVersions = await _mapApiService.GetVersionsAsync(firstLayout.Id);
if (AvailableVersions.Count > 0)
{
var lastVersion = AvailableVersions.Last();
SelectedVersionId = lastVersion.Id;
// Load levels for last version
AvailableLevels = await _mapApiService.GetLevelsAsync(lastVersion.Id);
if (AvailableLevels.Count > 0)
{
var lastLevel = AvailableLevels.Last();
SelectedLevelId = lastLevel.Id;
// Load layout data for last level
await LoadLayoutDataAsync();
}
}
}
}
catch (Exception ex)
{
// Build detailed error message
var errorDetails = new System.Text.StringBuilder();
errorDetails.AppendLine($"Failed to load layouts: {ex.Message}");
// Add inner exception details if available
if (ex.InnerException != null)
{
errorDetails.AppendLine($"Inner exception: {ex.InnerException.Message}");
}
// Add stack trace for debugging (first few lines only)
if (ex.StackTrace != null)
{
var stackLines = ex.StackTrace.Split('\n').Take(3);
errorDetails.AppendLine($"Stack trace: {string.Join(" ", stackLines)}");
}
ErrorMessage = errorDetails.ToString().Trim();
Layouts = [];
}
NotifyStateChanged();
}
/// <summary>
/// Handle layout selection change
/// </summary>
public async Task OnLayoutSelectedAsync(Guid? layoutId)
{
SelectedLayoutId = layoutId;
SelectedVersionId = null;
SelectedLevelId = null;
AvailableVersions = [];
AvailableLevels = [];
if (layoutId.HasValue)
{
// Load versions for selected layout
try
{
AvailableVersions = await _mapApiService.GetVersionsAsync(layoutId.Value);
}
catch (Exception ex)
{
var errorDetails = GetDetailedErrorMessage(ex, "load versions");
ErrorMessage = errorDetails;
AvailableVersions = [];
}
}
// Clear layout data
await LoadLayoutDataAsync();
NotifyStateChanged();
}
/// <summary>
/// Handle version selection change
/// </summary>
public async Task OnVersionSelectedAsync(Guid? versionId)
{
SelectedVersionId = versionId;
SelectedLevelId = null;
AvailableLevels = [];
if (versionId.HasValue)
{
// Load levels for selected version
try
{
AvailableLevels = await _mapApiService.GetLevelsAsync(versionId.Value);
AvailableLevels = [.. AvailableLevels.OrderBy(l => l.LevelOrder)];
}
catch (Exception ex)
{
var errorDetails = GetDetailedErrorMessage(ex, "load levels");
ErrorMessage = errorDetails;
AvailableLevels = [];
}
}
// Clear layout data
await LoadLayoutDataAsync();
NotifyStateChanged();
}
/// <summary>
/// Handle level selection change
/// </summary>
public async Task OnLevelSelectedAsync(Guid? levelId)
{
// Unsubscribe from old level if exists
if (SelectedLevelId.HasValue && _hubClient != null)
{
try
{
await _hubClient.UnsubscribeFromLevelForMonitorAsync();
}
catch
{
// Ignore unsubscribe errors
}
}
SelectedLevelId = levelId;
await LoadLayoutDataAsync();
// Subscribe to new level
if (SelectedLevelId.HasValue && _hubClient != null)
{
try
{
await _hubClient.SubscribeToLevelForMonitorAsync(SelectedLevelId.Value);
IsMonitorDeactivated = false; // Reset deactivated state when subscribing
}
catch
{
// Ignore subscription errors
}
}
NotifyStateChanged();
}
/// <summary>
/// Handle robot selection change (from dropdown)
/// </summary>
public void OnRobotSelected(string? robotId)
{
SelectRobot(robotId);
}
/// <summary>
/// Load layout data for selected level
/// </summary>
public async Task LoadLayoutDataAsync()
{
if (!SelectedLevelId.HasValue)
{
Level = null;
Nodes = [];
Edges = [];
BackgroundImage = null;
NotifyStateChanged();
return;
}
IsLoading = true;
ErrorMessage = null;
NotifyStateChanged();
try
{
// Load level info
Level = await _mapApiService.GetLevelAsync(SelectedLevelId.Value);
// Load layout data (nodes, edges)
var layoutData = await _mapApiService.GetLayoutDataAsync(SelectedLevelId.Value);
Nodes = layoutData.Nodes?.ToList() ?? [];
Edges = layoutData.Edges?.ToList() ?? [];
// Load background image
try
{
BackgroundImage = await _mapApiService.GetLayoutImageAsync(SelectedLevelId.Value);
}
catch
{
BackgroundImage = null;
}
// Initialize viewport
InitializeViewport();
}
catch (Exception ex)
{
var errorDetails = GetDetailedErrorMessage(ex, "load layout data");
ErrorMessage = errorDetails;
}
IsLoading = false;
NotifyStateChanged();
}
/// <summary>
/// Load robots from API
/// </summary>
private async Task LoadRobotsAsync()
{
try
{
AvailableRobots = await _robotApiService.GetAllAsync();
// Cache robot model IDs
foreach (var robot in AvailableRobots)
{
if (robot.ModelId != Guid.Empty)
{
_robotModelIdCache[robot.RobotId] = robot.ModelId;
}
}
}
catch (Exception ex)
{
var errorDetails = GetDetailedErrorMessage(ex, "load robots");
ErrorMessage = errorDetails;
AvailableRobots = [];
}
}
/// <summary>
/// Initialize SignalR connection
/// </summary>
private async Task InitializeSignalRAsync()
{
if (_hubClient == null) return;
try
{
// Register event handlers
_hubClient.OnMonitorBoardcastUpdate += HandleStateUpdate;
//_hubClient.OnVisualizationUpdate += HandleVisualizationUpdate;
_hubClient.OnConnectionError += HandleConnectionError;
// Connect
await _hubClient.ConnectAsync();
// Subscribe to all robots
// Subscribe to level will be done in OnLevelSelectedAsync when level is selected
if (SelectedLevelId.HasValue && _hubClient != null)
{
try
{
await _hubClient.SubscribeToLevelForMonitorAsync(SelectedLevelId.Value);
IsMonitorDeactivated = false; // Reset deactivated state when subscribing
}
catch
{
// Ignore subscription errors
}
}
}
catch (Exception ex)
{
var errorDetails = GetDetailedErrorMessage(ex, "connect SignalR");
ErrorMessage = errorDetails;
}
}
/// <summary>
/// Handle monitor deactivated event (when connection is evicted due to max connections)
/// </summary>
private void HandleMonitorDeactivated()
{
IsMonitorDeactivated = true;
ErrorMessage = "Monitor connection deactivated: Maximum 5 connections per level reached. Another connection has taken your place.";
NotifyStateChanged();
}
/// <summary>
/// Handle SignalR connection error
/// </summary>
private void HandleConnectionError(string error)
{
ErrorMessage = $"SignalR connection error: {error}";
NotifyStateChanged();
}
/// <summary>
/// Initialize viewport to fit the image bounds
/// </summary>
private void InitializeViewport()
{
if (Level?.EditorSettings != null)
{
var settings = Level.EditorSettings;
// Calculate physical dimensions
double physicalWidth = (settings.ImageWidth ?? 1000) * settings.Resolution;
double physicalHeight = (settings.ImageHeight ?? 500) * settings.Resolution;
// Set viewport to fit image
Viewport.ViewBoxX = 0;
Viewport.ViewBoxY = 0;
Viewport.ViewBoxWidth = physicalWidth;
Viewport.ViewBoxHeight = physicalHeight;
Viewport.ZoomLevel = 1.0;
}
else
{
// Default viewport
Viewport.ViewBoxX = 0;
Viewport.ViewBoxY = 0;
Viewport.ViewBoxWidth = 50;
Viewport.ViewBoxHeight = 30;
Viewport.ZoomLevel = 1.0;
}
}
// ==========================================
// SIGNALR HANDLERS
// ==========================================
/// <summary>
/// Handle StateMsg update from SignalR
/// </summary>
private void HandleStateUpdate(RobotMonitorBoardcastData state)
{
var robotId = state.RobotId;
// Get or create robot data
if (!Robots.TryGetValue(robotId, out var robotData))
{
robotData = new RobotMonitorData
{
RobotId = robotId,
ModelId = _robotModelIdCache.TryGetValue(robotId, out var modelId) ? modelId : null
};
Robots[robotId] = robotData;
// Load robot model image asynchronously
_ = LoadRobotModelImageAsync(robotData);
}
// Update position and state
robotData.Data = state;
robotData.LastUpdateTime = DateTime.UtcNow;
// If FollowRobot and this is selected robot, update viewport
if (FollowRobot && SelectedRobotId == robotId)
{
FocusOnRobot(robotId);
}
// Remove inactive robots periodically (check every update)
RemoveInactiveRobots();
OnDataChanged?.Invoke();
}
/// <summary>
/// Load robot model image and info
/// </summary>
private async Task LoadRobotModelImageAsync(RobotMonitorData robotData)
{
if (!robotData.ModelId.HasValue) return;
try
{
// Load model info if not cached
if (!_robotModelCache.TryGetValue(robotData.ModelId.Value, out var model))
{
model = await _robotModelApiService.GetByIdAsync(robotData.ModelId.Value);
if (model != null)
{
_robotModelCache[robotData.ModelId.Value] = model;
}
}
if (model != null)
{
robotData.Model = model;
}
// Check image cache first
if (_robotModelImageCache.TryGetValue(robotData.ModelId.Value, out var cachedImage))
{
robotData.ModelImageBase64 = cachedImage;
NotifyStateChanged();
return;
}
// Load image from API
var imageBase64 = await _robotModelApiService.GetImageAsync(robotData.ModelId.Value);
if (imageBase64 != null)
{
_robotModelImageCache[robotData.ModelId.Value] = imageBase64;
robotData.ModelImageBase64 = imageBase64;
NotifyStateChanged();
}
}
catch
{
// Ignore errors loading images
}
}
// ==========================================
// ROBOT SELECTION
// ==========================================
/// <summary>
/// Select a robot
/// </summary>
public void SelectRobot(string? robotId)
{
SelectedRobotId = robotId;
NotifyStateChanged();
}
// ==========================================
// VIEWPORT OPERATIONS
// ==========================================
/// <summary>
/// Pan the viewport by delta (in SVG units)
/// </summary>
public void Pan(double deltaX, double deltaY)
{
Viewport.ViewBoxX += deltaX;
Viewport.ViewBoxY += deltaY;
NotifyStateChanged(); // Use immediate for smooth panning
}
/// <summary>
/// Zoom the viewport around a point (in SVG/world coordinates)
/// </summary>
public void Zoom(double factor, double svgCenterX, double svgCenterY)
{
// Limit zoom level
var newZoom = Viewport.ZoomLevel * factor;
if (newZoom < 0.1 || newZoom > 10) return;
// Calculate the ratio of the cursor position within the current viewBox
var ratioX = (svgCenterX - Viewport.ViewBoxX) / Viewport.ViewBoxWidth;
var ratioY = (svgCenterY - Viewport.ViewBoxY) / Viewport.ViewBoxHeight;
// New dimensions after zoom
var newWidth = Viewport.ViewBoxWidth / factor;
var newHeight = Viewport.ViewBoxHeight / factor;
// Adjust ViewBox position so the cursor point stays at the same world position
Viewport.ViewBoxX = svgCenterX - ratioX * newWidth;
Viewport.ViewBoxY = svgCenterY - ratioY * newHeight;
Viewport.ViewBoxWidth = newWidth;
Viewport.ViewBoxHeight = newHeight;
Viewport.ZoomLevel = newZoom;
NotifyStateChanged(); // Use immediate for smooth zooming
}
/// <summary>
/// Zoom in/out centered at the viewport center
/// </summary>
public void ZoomAtCenter(double factor)
{
// Limit zoom level
var newZoom = Viewport.ZoomLevel * factor;
if (newZoom < 0.1 || newZoom > 10) return;
// Calculate center of current viewport
var centerX = Viewport.ViewBoxX + Viewport.ViewBoxWidth / 2;
var centerY = Viewport.ViewBoxY + Viewport.ViewBoxHeight / 2;
// New dimensions after zoom
var newWidth = Viewport.ViewBoxWidth / factor;
var newHeight = Viewport.ViewBoxHeight / factor;
// Adjust viewBox to keep the same center point
Viewport.ViewBoxX = centerX - newWidth / 2;
Viewport.ViewBoxY = centerY - newHeight / 2;
Viewport.ViewBoxWidth = newWidth;
Viewport.ViewBoxHeight = newHeight;
Viewport.ZoomLevel = newZoom;
NotifyStateChanged();
}
/// <summary>
/// Fit viewport to image bounds
/// </summary>
public void FitToScreen()
{
InitializeViewport();
NotifyStateChanged();
}
/// <summary>
/// Focus viewport on selected robot (with optional zoom)
/// </summary>
public void FocusOnRobot(string robotId, bool zoomToFit = false)
{
if (!Robots.TryGetValue(robotId, out var robot) || robot is null || robot.Data is null)
return;
// Center viewport on robot
var (X, Y) = WorldToSvg(robot.Data.AgvPosition.X, robot.Data.AgvPosition.Y);
if (zoomToFit && robot.Model != null)
{
// Zoom to fit robot with some padding
var padding = 2.0; // meters padding around robot
var robotSize = Math.Max(robot.Model.Length, robot.Model.Width);
var viewSize = robotSize + padding * 2;
Viewport.ViewBoxWidth = viewSize;
Viewport.ViewBoxHeight = viewSize;
Viewport.ZoomLevel = GetPhysicalDimensions().Width / viewSize;
}
Viewport.ViewBoxX = X - Viewport.ViewBoxWidth / 2;
Viewport.ViewBoxY = Y - Viewport.ViewBoxHeight / 2;
NotifyStateChanged();
}
// ==========================================
// COORDINATE TRANSFORM
// ==========================================
/// <summary>
/// Get physical dimensions of the layout
/// </summary>
public (double Width, double Height) GetPhysicalDimensions()
{
if (Level?.EditorSettings == null)
return (50, 30);
var settings = Level.EditorSettings;
return (
(settings.ImageWidth ?? 1000) * settings.Resolution,
(settings.ImageHeight ?? 500) * settings.Resolution
);
}
/// <summary>
/// Transform world coordinates (layout) to SVG coordinates
/// </summary>
public (double X, double Y) WorldToSvg(double worldX, double worldY)
{
var (_, physicalHeight) = GetPhysicalDimensions();
var originX = Level != null && Level.EditorSettings != null ? Level.EditorSettings.OriginX : 0;
var originY = Level != null && Level.EditorSettings != null ? Level.EditorSettings.OriginY : 0;
return (worldX - originX, physicalHeight - (worldY - originY));
}
/// <summary>
/// Transform SVG coordinates to world coordinates (layout)
/// </summary>
public (double X, double Y) SvgToWorld(double svgX, double svgY)
{
var (_, physicalHeight) = GetPhysicalDimensions();
var originX = Level != null && Level.EditorSettings != null ? Level.EditorSettings.OriginX : 0;
var originY = Level != null && Level.EditorSettings != null ? Level.EditorSettings.OriginY : 0;
return (svgX + originX, physicalHeight - svgY + originY);
}
// ==========================================
// DISPLAY OPTIONS
// ==========================================
/// <summary>
/// Toggle follow robot mode
/// </summary>
public void ToggleFollowRobot()
{
FollowRobot = !FollowRobot;
NotifyStateChanged();
}
/// <summary>
/// Toggle robot info panel visibility
/// </summary>
public void ToggleRobotInfoPanel()
{
RobotInfoPanelExpanded = !RobotInfoPanelExpanded;
NotifyStateChanged();
}
// ==========================================
// UTILITIES
// ==========================================
/// <summary>
/// Remove robots that haven't been updated for a while
/// </summary>
private void RemoveInactiveRobots()
{
var now = DateTime.UtcNow;
var timeout = TimeSpan.FromSeconds(RobotTimeoutSeconds);
var robotsToRemove = new List<string>();
foreach (var kvp in Robots)
{
if (now - kvp.Value.LastUpdateTime > timeout)
{
robotsToRemove.Add(kvp.Key);
}
}
foreach (var robotId in robotsToRemove)
{
Robots.Remove(robotId);
// Clear selection if removed robot was selected
if (SelectedRobotId == robotId)
{
SelectedRobotId = null;
}
}
}
/// <summary>
/// Cleanup resources (unsubscribe from SignalR, etc.)
/// </summary>
public async Task CleanupAsync()
{
if (_hubClient != null)
{
// Unregister event handlers
_hubClient.OnMonitorBoardcastUpdate -= HandleStateUpdate;
//_hubClient.OnVisualizationUpdate -= HandleVisualizationUpdate;
_hubClient.OnConnectionError -= HandleConnectionError;
_hubClient.OnMonitorDeactivated -= HandleMonitorDeactivated;
// Unsubscribe from level before disconnecting
try
{
await _hubClient.UnsubscribeFromLevelForMonitorAsync();
}
catch
{
// Ignore unsubscribe errors
}
// Disconnect
try
{
await _hubClient.DisconnectAsync();
}
catch
{
// Ignore disconnect errors
}
}
}
/// <summary>
/// Get detailed error message from exception
/// </summary>
private static string GetDetailedErrorMessage(Exception ex, string operation)
{
var errorDetails = new System.Text.StringBuilder();
errorDetails.AppendLine($"Failed to {operation}: {ex.Message}");
// Add inner exception details if available
if (ex.InnerException != null)
{
errorDetails.AppendLine($"Inner exception: {ex.InnerException.Message}");
}
// For HttpRequestException, try to extract more details
if (ex is System.Net.Http.HttpRequestException httpEx)
{
var message = httpEx.Message;
// Extract status code if present
if (message.Contains("404"))
{
errorDetails.AppendLine("Status: 404 Not Found - The requested resource was not found on the server.");
}
else if (message.Contains("401"))
{
errorDetails.AppendLine("Status: 401 Unauthorized - Authentication required.");
}
else if (message.Contains("403"))
{
errorDetails.AppendLine("Status: 403 Forbidden - Access denied.");
}
else if (message.Contains("500"))
{
errorDetails.AppendLine("Status: 500 Internal Server Error - Server encountered an error.");
}
// Add URL if present in message
if (message.Contains("URL:"))
{
var urlStart = message.IndexOf("URL:");
if (urlStart >= 0)
{
var urlPart = message[urlStart..];
errorDetails.AppendLine(urlPart);
}
}
}
return errorDetails.ToString().Trim();
}
/// <summary>
/// Notify state changed immediately (for critical updates)
/// </summary>
public void NotifyStateChanged()
{
OnStateChanged?.Invoke();
}
}

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using Microsoft.AspNetCore.Components;
using Microsoft.AspNetCore.SignalR.Client;
using RobotNet.VDA5050.State;
using RobotNet10.FleetManager.Shared.DTOs.Robot;
namespace RobotNet10.FleetManager.Client.Services;
/// <summary>
/// SignalR Hub Client for robot state and visualization updates.
/// Manages connection to the SignalR hub and provides methods to subscribe/unsubscribe to robot updates.
/// </summary>
/// <remarks>
/// This client automatically handles reconnection and provides events for state and visualization updates.
/// Dispose the client when done to properly clean up the connection.
/// </remarks>
public class RobotStateHubClient : IAsyncDisposable
{
private readonly HubConnection _hubConnection;
private readonly ILogger<RobotStateHubClient>? _logger;
public event Action<RobotMonitorBoardcastData>? OnMonitorBoardcastUpdate;
public event Action<StateMsg>? OnStateUpdate;
public event Action<string>? OnConnectionError;
public event Action? OnMonitorDeactivated;
public RobotStateHubClient(NavigationManager navigationManager, ILogger<RobotStateHubClient>? logger = null)
{
_logger = logger;
var hubUrl = navigationManager.ToAbsoluteUri("/hubs/robot-state");
_hubConnection = new HubConnectionBuilder()
.WithUrl(hubUrl)
.WithAutomaticReconnect()
.Build();
// Register event handlers
_hubConnection.On<StateMsg>("OnStateUpdate", (state) =>
{
OnStateUpdate?.Invoke(state);
});
_hubConnection.On<RobotMonitorBoardcastData>("OnMonitorUpdate", (state) =>
{
OnMonitorBoardcastUpdate?.Invoke(state);
});
_hubConnection.On("OnMonitorDeactivated", () =>
{
OnMonitorDeactivated?.Invoke();
});
_hubConnection.Closed += async (error) =>
{
if (error != null)
{
_logger?.LogError(error, "SignalR connection closed with error");
OnConnectionError?.Invoke(error.Message);
}
else
{
_logger?.LogInformation("SignalR connection closed");
}
await Task.CompletedTask;
};
_hubConnection.Reconnecting += async (error) =>
{
_logger?.LogWarning(error, "SignalR connection reconnecting");
await Task.CompletedTask;
};
_hubConnection.Reconnected += async (connectionId) =>
{
_logger?.LogInformation("SignalR connection reconnected with ID {ConnectionId}", connectionId);
await Task.CompletedTask;
};
}
/// <summary>
/// Connect to the SignalR hub
/// </summary>
public async Task ConnectAsync()
{
try
{
if (_hubConnection.State == HubConnectionState.Disconnected)
{
await _hubConnection.StartAsync();
_logger?.LogInformation("SignalR hub connected");
}
}
catch (Exception ex)
{
_logger?.LogError(ex, "Error connecting to SignalR hub");
OnConnectionError?.Invoke(ex.Message);
throw;
}
}
/// <summary>
/// Disconnect from the SignalR hub
/// </summary>
public async Task DisconnectAsync()
{
try
{
if (_hubConnection.State != HubConnectionState.Disconnected)
{
await _hubConnection.StopAsync();
_logger?.LogInformation("SignalR hub disconnected");
}
}
catch (Exception ex)
{
_logger?.LogError(ex, "Error disconnecting from SignalR hub");
throw;
}
}
/// <summary>
/// Subscribe to receive updates for a specific robot
/// </summary>
/// <param name="robotId">Robot identifier (serialNumber)</param>
public async Task SubscribeToRobotAsync(string robotId)
{
try
{
if (_hubConnection.State == HubConnectionState.Connected)
{
await _hubConnection.InvokeAsync("SubscribeToRobot", robotId);
_logger?.LogInformation("Subscribed to robot {RobotId}", robotId);
}
else
{
_logger?.LogWarning("Cannot subscribe to robot {RobotId}: Hub not connected", robotId);
}
}
catch (Exception ex)
{
_logger?.LogError(ex, "Error subscribing to robot {RobotId}", robotId);
throw;
}
}
/// <summary>
/// Unsubscribe from updates for a specific robot
/// </summary>
/// <param name="robotId">Robot identifier (serialNumber)</param>
public async Task UnsubscribeFromRobotAsync(string robotId)
{
try
{
if (_hubConnection.State == HubConnectionState.Connected)
{
await _hubConnection.InvokeAsync("UnsubscribeFromRobot", robotId);
_logger?.LogInformation("Unsubscribed from robot {RobotId}", robotId);
}
}
catch (Exception ex)
{
_logger?.LogError(ex, "Error unsubscribing from robot {RobotId}", robotId);
throw;
}
}
/// <summary>
/// Subscribe to receive monitor updates for a specific levelId
/// Each connection can only subscribe to one levelId at a time.
/// Maximum 5 connections per levelId (FIFO).
/// </summary>
/// <param name="levelId">Level identifier (LayoutLevel.Id)</param>
public async Task SubscribeToLevelForMonitorAsync(Guid levelId)
{
try
{
if (_hubConnection.State == HubConnectionState.Connected)
{
await _hubConnection.InvokeAsync("SubscribeToLevelForMonitor", levelId);
_logger?.LogInformation("Subscribed to level {LevelId} for monitor", levelId);
}
else
{
_logger?.LogWarning("Cannot subscribe to level {LevelId}: Hub not connected", levelId);
}
}
catch (Exception ex)
{
_logger?.LogError(ex, "Error subscribing to level {LevelId} for monitor", levelId);
throw;
}
}
/// <summary>
/// Unsubscribe from monitor updates for the current level
/// </summary>
public async Task UnsubscribeFromLevelForMonitorAsync()
{
try
{
if (_hubConnection.State == HubConnectionState.Connected)
{
await _hubConnection.InvokeAsync("UnsubscribeFromLevelForMonitor");
_logger?.LogInformation("Unsubscribed from level for monitor");
}
}
catch (Exception ex)
{
_logger?.LogError(ex, "Error unsubscribing from level for monitor");
throw;
}
}
/// <summary>
/// Get the current connection state
/// </summary>
public HubConnectionState ConnectionState => _hubConnection.State;
public async ValueTask DisposeAsync()
{
if (_hubConnection != null)
{
await DisconnectAsync();
await _hubConnection.DisposeAsync();
}
GC.SuppressFinalize(this);
}
}

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using RobotNet10.ScriptEngine.Shared;
using System.Collections.Immutable;
using RobotNet10.FleetManager.Script.Shared;
namespace RobotNet10.FleetManager.Client.Services;
public class ScriptEngineResource : IScriptEngineResource
{
public Type AppGlobalType => FleetManagerScriptEngineResource.GlobalType;
public ImmutableArray<string> UsingNamespaces => FleetManagerScriptEngineResource.UsingNamespaces;
public ImmutableArray<string> Modules => FleetManagerScriptEngineResource.Modules;
public ImmutableArray<string> DocModules => FleetManagerScriptEngineResource.DocModules;
public IDictionary<string, object?> GetMissionGlobals(Guid id, CancellationToken cancellationToken)
=> new Dictionary<string, object?>();
public IDictionary<string, object?> GetTaskGlobals()
=> new Dictionary<string, object?>();
}

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@using System.Net.Http
@using System.Net.Http.Json
@using Microsoft.AspNetCore.Components.Authorization
@using Microsoft.AspNetCore.Components.Forms
@using Microsoft.AspNetCore.Components.Routing
@using Microsoft.AspNetCore.Components.Web
@using static RobotNet10.Components.RenderMode
@using Microsoft.AspNetCore.Components.Web.Virtualization
@using Microsoft.JSInterop
@using RobotNet10.FleetManager.Client
@using MudBlazor

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{
"Logging": {
"LogLevel": {
"Default": "Information",
"Microsoft.AspNetCore": "Warning"
}
}
}

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// SVG Monitor JavaScript Module for RobotMonitor
// Handles mouse events for zoom and pan (simplified version of svgEditor.js)
let svgElement = null;
let dotNetRef = null;
let isInitialized = false;
/**
* Initialize the SVG monitor with event listeners
* @param {SVGElement} svg - The SVG element
* @param {DotNetObjectReference} dotNet - Reference to Blazor component
*/
export function initMonitor(svg, dotNet) {
svgElement = svg;
dotNetRef = dotNet;
if (!svgElement || !dotNetRef) {
console.error('SVG Monitor: Invalid initialization parameters');
return;
}
// Mouse events (only zoom and pan)
svgElement.addEventListener('mousemove', handleMouseMove);
svgElement.addEventListener('mousedown', handleMouseDown);
svgElement.addEventListener('mouseup', handleMouseUp);
svgElement.addEventListener('wheel', handleWheel, { passive: false });
svgElement.addEventListener('contextmenu', handleContextMenu);
// Prevent default drag behavior
svgElement.addEventListener('dragstart', (e) => e.preventDefault());
isInitialized = true;
console.log('SVG Monitor initialized');
}
/**
* Dispose the monitor and remove event listeners
*/
export function disposeMonitor() {
if (svgElement) {
svgElement.removeEventListener('mousemove', handleMouseMove);
svgElement.removeEventListener('mousedown', handleMouseDown);
svgElement.removeEventListener('mouseup', handleMouseUp);
svgElement.removeEventListener('wheel', handleWheel);
svgElement.removeEventListener('contextmenu', handleContextMenu);
}
svgElement = null;
dotNetRef = null;
isInitialized = false;
console.log('SVG Monitor disposed');
}
/**
* Convert screen coordinates to SVG coordinates
* @param {number} screenX - Screen X coordinate
* @param {number} screenY - Screen Y coordinate
* @returns {{x: number, y: number}} SVG coordinates
*/
function screenToSvg(screenX, screenY) {
if (!svgElement) return { x: 0, y: 0 };
const pt = svgElement.createSVGPoint();
pt.x = screenX;
pt.y = screenY;
const ctm = svgElement.getScreenCTM();
if (!ctm) return { x: 0, y: 0 };
const svgPt = pt.matrixTransform(ctm.inverse());
return { x: svgPt.x, y: svgPt.y };
}
/**
* Export screenToSvg for use from Blazor
* @param {number} screenX - Screen X coordinate
* @param {number} screenY - Screen Y coordinate
* @returns {number[]} SVG coordinates as [x, y]
*/
export function screenToSvgArray(screenX, screenY) {
const coords = screenToSvg(screenX, screenY);
return [coords.x, coords.y];
}
/**
* Handle mouse move event
* @param {MouseEvent} e
*/
function handleMouseMove(e) {
if (!dotNetRef) return;
const svgCoords = screenToSvg(e.clientX, e.clientY);
// Pass SVG coordinates and screen coordinates for panning
dotNetRef.invokeMethodAsync('OnMouseMove', svgCoords.x, svgCoords.y, e.clientX, e.clientY);
}
/**
* Handle mouse down event
* @param {MouseEvent} e
*/
function handleMouseDown(e) {
if (!dotNetRef) return;
const svgCoords = screenToSvg(e.clientX, e.clientY);
// Middle mouse button (button 1) - start pan
// Also pass screen coordinates for incremental pan calculation
dotNetRef.invokeMethodAsync('OnMouseDown', svgCoords.x, svgCoords.y, e.button, e.clientX, e.clientY);
}
/**
* Handle mouse up event
* @param {MouseEvent} e
*/
function handleMouseUp(e) {
if (!dotNetRef) return;
const svgCoords = screenToSvg(e.clientX, e.clientY);
dotNetRef.invokeMethodAsync('OnMouseUp', svgCoords.x, svgCoords.y, e.button);
}
/**
* Handle mouse wheel event (zoom)
* @param {WheelEvent} e
*/
function handleWheel(e) {
if (!dotNetRef) return;
e.preventDefault();
const svgCoords = screenToSvg(e.clientX, e.clientY);
dotNetRef.invokeMethodAsync('OnWheel', svgCoords.x, svgCoords.y, e.deltaY);
}
/**
* Handle context menu (right click)
* @param {MouseEvent} e
*/
function handleContextMenu(e) {
// Prevent default context menu
e.preventDefault();
}

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using System.Collections.Immutable;
namespace RobotNet10.FleetManager.Script.Shared;
/// <summary>
/// Provides configuration resources for the FleetManager ScriptEngine.
/// Defines the global type, namespaces, modules, and documentation modules available to scripts.
/// </summary>
public class FleetManagerScriptEngineResource
{
/// <summary>
/// Gets the global type that will be exposed to scripts as the entry point for FleetManager APIs.
/// </summary>
public static readonly Type GlobalType = typeof(IFleetManagerScriptGlobals);
/// <summary>
/// Gets the collection of namespaces that are automatically imported in scripts.
/// These namespaces are available without explicit using statements.
/// </summary>
public static readonly ImmutableArray<string> UsingNamespaces = [
"System",
"System.Collections.Generic",
"System.Threading",
"System.Threading.Tasks",
"System.Runtime.CompilerServices",
"RobotNet10.FleetManager.Script",
"RobotNet10.Script",
];
/// <summary>
/// Gets the collection of assembly modules that are loaded and available to scripts.
/// These modules provide the runtime types and functionality accessible from scripts.
/// </summary>
public static readonly ImmutableArray<string> Modules = [
"System.Runtime",
"System.Collections",
"System.Private.CoreLib",
"RobotNet10.FleetManager.Script",
"RobotNet10.Script",
];
/// <summary>
/// Gets the collection of XML documentation module files used for IntelliSense and code completion in scripts.
/// These documentation files provide type information and method descriptions to script editors.
/// </summary>
public static readonly ImmutableArray<string> DocModules = [
"System.Runtime.xml",
"System.Collections.xml",
//"System.Private.CoreLib.xml",
"RobotNet10.FleetManager.Script.xml",
"RobotNet10.Script.xml",
];
}

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namespace RobotNet10.FleetManager.Script.Shared;
/// <summary>
/// Provides global APIs exposed to FleetManager scripts for robot management and layout access.
/// This interface defines the entry point for scripts to interact with the FleetManager system.
/// </summary>
public interface IFleetManagerScriptGlobals
{
/// <summary>
/// Gets the robot management service that provides methods to retrieve, query, and control robots in the fleet.
/// </summary>
IRobotManager RobotManager { get; }
/// <summary>
/// Gets the layout management service that provides methods to access map elements (nodes, stations) and actions.
/// </summary>
ILayoutManager LayoutManager { get; }
}

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<Project Sdk="Microsoft.NET.Sdk">
<PropertyGroup>
<TargetFramework>net10.0</TargetFramework>
<ImplicitUsings>enable</ImplicitUsings>
<Nullable>enable</Nullable>
</PropertyGroup>
<ItemGroup>
<ProjectReference Include="..\RobotNet10.FleetManager.Script\RobotNet10.FleetManager.Script.csproj" />
</ItemGroup>
</Project>

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namespace RobotNet10.FleetManager.Script;
/// <summary>
/// Service interface for managing map layouts, nodes, and stations.
/// Provides methods to retrieve map elements (nodes, stations) and actions from the layout database.
/// </summary>
public interface ILayoutManager
{
/// <summary>
/// Retrieves a station from the specified map by its name.
/// </summary>
/// <param name="layout">The identifier of the map/layout. Cannot be null or empty.</param>
/// <param name="version">The version of the map. Cannot be null or empty.</param>
/// <param name="level">The level identifier within the map. Cannot be null or empty.</param>
/// <param name="name">The name of the station to retrieve. Cannot be null or empty.</param>
/// <returns>
/// A task that represents the asynchronous operation.
/// The task result contains the <see cref="IStation"/> matching the specified name within the given map,
/// or throws an exception if no such station exists.
/// </returns>
Task<IStation> GetStation(string layout, string version, string level, string name);
/// <summary>
/// Retrieves a node from the specified map by its name.
/// </summary>
/// <remarks>
/// This method performs an asynchronous operation to locate a node within the specified map.
/// Ensure that the map and name parameters are valid and non-empty before calling this method.
/// </remarks>
/// <param name="layout">The identifier of the map from which to retrieve the node. Cannot be null or empty.</param>
/// <param name="version">The version of the map. Cannot be null or empty.</param>
/// <param name="level">The level identifier within the map. Cannot be null or empty.</param>
/// <param name="name">The name of the node to retrieve. Cannot be null or empty.</param>
/// <returns>
/// A task that represents the asynchronous operation.
/// The task result contains the <see cref="INode"/> matching the specified name within the given map,
/// or throws an exception if no such node exists.
/// </returns>
Task<INode> GetNode(string layout, string version, string level, string name);
/// <summary>
/// Retrieves a VDA5050 action configuration for a specific element (node or station) in the map.
/// </summary>
/// <param name="layout">The identifier of the map/layout. Cannot be null or empty.</param>
/// <param name="version">The version of the map. Cannot be null or empty.</param>
/// <param name="level">The level identifier within the map. Cannot be null or empty.</param>
/// <param name="name">The name of the element (node or station) for which to retrieve the action. Cannot be null or empty.</param>
/// <param name="robotId">The identifier of the robot that will execute the action. Used for robot-specific action configuration. Cannot be null or empty.</param>
/// <returns>
/// A task that represents the asynchronous operation.
/// The task result contains the VDA5050 <see cref="RobotNet.VDA5050.InstantAction.Action"/> configured for the specified element and robot,
/// or throws an exception if no such action exists.
/// </returns>
Task<RobotNet.VDA5050.InstantAction.Action> GetAction(string layout, string version, string level, string name, string robotId);
}
/// <summary>
/// Represents a node (waypoint) in the map layout.
/// Nodes define points where robots can navigate to or pass through.
/// Conforms to VDMA LIF (Logistics Interface Format) standard.
/// </summary>
public interface INode
{
/// <summary>
/// Gets or sets the unique identifier of the node.
/// </summary>
public Guid Id { get; set; }
/// <summary>
/// Gets or sets the parent map identifier that contains this node.
/// </summary>
public Guid MapId { get; set; }
/// <summary>
/// Gets or sets the node identifier (VDMA LIF: nodeId).
/// This is a required field and must be unique within the level.
/// </summary>
public string NodeId { get; set; }
/// <summary>
/// Gets or sets the node name (VDMA LIF: nodeName).
/// This is an optional human-readable name for the node.
/// </summary>
public string? NodeName { get; set; }
/// <summary>
/// Gets or sets the node description (VDMA LIF: nodeDescription).
/// This is an optional description providing additional information about the node.
/// </summary>
public string? NodeDescription { get; set; }
/// <summary>
/// Gets or sets the X coordinate of the node position in meters (VDMA LIF: nodePosition.x).
/// This is a required field.
/// </summary>
public double X { get; set; }
/// <summary>
/// Gets or sets the Y coordinate of the node position in meters (VDMA LIF: nodePosition.y).
/// This is a required field.
/// </summary>
public double Y { get; set; }
}
/// <summary>
/// Represents a station (workstation or loading/unloading point) in the map layout.
/// Stations are locations where robots can perform pick or drop operations.
/// Conforms to VDMA LIF (Logistics Interface Format) standard.
/// </summary>
public interface IStation
{
/// <summary>
/// Gets the unique identifier of the station.
/// </summary>
Guid Id { get; }
/// <summary>
/// Gets the identifier of the map that contains this station.
/// </summary>
Guid MapId { get; }
/// <summary>
/// Gets the identifiers of the nodes that this station is linked to.
/// A station can be associated with one or more nodes for navigation purposes.
/// </summary>
Guid[] NodeId { get; }
/// <summary>
/// Gets the station identifier (VDMA LIF: stationId).
/// This is a required field and must be unique within the level.
/// </summary>
public string StationId { get; }
/// <summary>
/// Gets the station name (VDMA LIF: stationName).
/// This is an optional human-readable name for the station.
/// </summary>
public string? StationName { get; }
/// <summary>
/// Gets the station description (VDMA LIF: stationDescription).
/// This is an optional description providing additional information about the station.
/// </summary>
public string? StationDescription { get; }
/// <summary>
/// Gets the station height in meters (VDMA LIF: stationHeight).
/// This is an optional field indicating the height of the station platform.
/// </summary>
public double? StationHeight { get; }
/// <summary>
/// Gets the X coordinate of the station position in meters (VDMA LIF: stationPosition.x).
/// This is a required field.
/// </summary>
public double X { get; }
/// <summary>
/// Gets the Y coordinate of the station position in meters (VDMA LIF: stationPosition.y).
/// This is a required field.
/// </summary>
public double Y { get; }
/// <summary>
/// Gets the theta orientation angle in radians (VDMA LIF: stationPosition.theta).
/// This is an optional field indicating the orientation of the station.
/// Range: [-Pi ... Pi]
/// </summary>
public double? Theta { get; }
}

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namespace RobotNet10.FleetManager.Script;
/// <summary>
/// Defines the action types that can be performed at a station.
/// </summary>
public enum StationAction
{
/// <summary>
/// Pick up a load from the station.
/// </summary>
Pick,
/// <summary>
/// Drop off a load at the station.
/// </summary>
Drop,
/// <summary>
/// No action - robot moves to station without performing any load operation.
/// </summary>
None
}
/// <summary>
/// Interface for controlling an Autonomous Mobile Robot (AMR).
/// Provides methods to move the robot, execute actions, and query its current state.
/// </summary>
public interface IRobot
{
/// <summary>
/// Gets the unique identifier of the robot (serial number or unique identifier).
/// </summary>
string RobotId { get; }
/// <summary>
/// Gets the display name of the robot.
/// </summary>
string Name { get; }
/// <summary>
/// Gets the robot model identifier.
/// </summary>
Guid ModelId { get; }
/// <summary>
/// Gets the map identifier where the robot is currently operating, or <see langword="null"/> if not assigned to a map.
/// </summary>
Guid? MapId { get; }
/// <summary>
/// Gets the current state of the robot, including position, battery, loads, and operational status.
/// </summary>
RobotState State { get; }
/// <summary>
/// Moves the robot to a target node on the map without performing any end action.
/// </summary>
/// <param name="nodeName">The name of the target node. Cannot be null or empty.</param>
/// <param name="cancellationToken">A cancellation token that can be used to cancel the operation.</param>
/// <returns>
/// A task that represents the asynchronous operation.
/// The task result contains a <see cref="RobotResult"/> indicating success or failure of the movement command.
/// </returns>
Task<RobotResult> MoveToNode(string nodeName, CancellationToken cancellationToken);
/// <summary>
/// Moves the robot to a target node with a specific orientation at the endpoint.
/// </summary>
/// <param name="nodeName">The name of the target node. Cannot be null or empty.</param>
/// <param name="lastAngle">The required orientation angle in radians at the endpoint. Range: [-Pi ... Pi].</param>
/// <param name="cancellationToken">A cancellation token that can be used to cancel the operation.</param>
/// <returns>
/// A task that represents the asynchronous operation.
/// The task result contains a <see cref="RobotResult"/> indicating success or failure of the movement command.
/// </returns>
Task<RobotResult> MoveToNode(string nodeName, double lastAngle, CancellationToken cancellationToken);
/// <summary>
/// Moves the robot to a target station node and executes the specified action (pick, drop, or none).
/// </summary>
/// <param name="nodeName">The name of the target station node. Cannot be null or empty.</param>
/// <param name="action">The action to perform at the station: <see cref="StationAction.Pick"/>, <see cref="StationAction.Drop"/>, or <see cref="StationAction.None"/>.</param>
/// <param name="cancellationToken">A cancellation token that can be used to cancel the operation.</param>
/// <returns>
/// A task that represents the asynchronous operation.
/// The task result contains a <see cref="RobotResult"/> indicating success or failure of the movement and action execution.
/// </returns>
Task<RobotResult> MoveToStation(string nodeName, StationAction action, CancellationToken cancellationToken);
/// <summary>
/// Aborts or cancels the ongoing robot movement action, if one exists.
/// </summary>
/// <returns>
/// A task that represents the asynchronous operation.
/// </returns>
Task AbortMovement();
/// <summary>
/// Immediately executes an instant action on the robot, bypassing any waiting period.
/// Instant actions are executed immediately without requiring the robot to be at a specific location.
/// </summary>
/// <param name="action">The VDA5050 instant action to execute. Cannot be null.</param>
/// <param name="cancellationToken">A cancellation token that can be used to cancel the operation.</param>
/// <returns>
/// A task that represents the asynchronous operation.
/// The task result contains a <see cref="RobotResult"/> indicating success or failure of the action execution.
/// </returns>
Task<RobotResult> Execute(RobotNet.VDA5050.InstantAction.Action action, CancellationToken cancellationToken);
}

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using System.Linq.Expressions;
namespace RobotNet10.FleetManager.Script;
/// <summary>
/// Robot management service interface for FleetManager scripts.
/// Provides methods to retrieve, query, and manage robots in the fleet.
/// </summary>
public interface IRobotManager
{
/// <summary>
/// Retrieves a robot controller by its unique identifier.
/// </summary>
/// <param name="robotId">The unique identifier of the robot. Cannot be null or empty.</param>
/// <returns>
/// A task that represents the asynchronous operation.
/// The task result contains the <see cref="IRobot"/> instance if found, or <see langword="null"/> if the robot does not exist or is not available.
/// </returns>
Task<IRobot?> GetRobotById(string robotId);
/// <summary>
/// Gets the current state of a robot by its identifier.
/// </summary>
/// <param name="robotId">The unique identifier of the robot. Cannot be null or empty.</param>
/// <returns>
/// A task that represents the asynchronous operation.
/// The task result contains the <see cref="RobotState"/> if the robot is found and connected, or <see langword="null"/> otherwise.
/// </returns>
Task<RobotState?> GetRobotState(string robotId);
/// <summary>
/// Searches for robots on a specific map by layout, version, level, and model.
/// </summary>
/// <param name="layout">The identifier of the map/layout. Cannot be null or empty.</param>
/// <param name="version">The version of the map. Cannot be null or empty.</param>
/// <param name="level">The level identifier within the map. Cannot be null or empty.</param>
/// <param name="model">The robot model identifier to filter by. Cannot be null or empty.</param>
/// <returns>
/// A task that represents the asynchronous operation.
/// The task result contains a collection of robot IDs that match the specified criteria.
/// </returns>
Task<IEnumerable<string>> SearchRobots(string layout, string version, string level, string model);
/// <summary>
/// Searches for robots on a specific map with additional state-based filtering conditions.
/// </summary>
/// <param name="layout">The identifier of the map/layout. Cannot be null or empty.</param>
/// <param name="version">The version of the map. Cannot be null or empty.</param>
/// <param name="level">The level identifier within the map. Cannot be null or empty.</param>
/// <param name="model">The robot model identifier to filter by. Cannot be null or empty.</param>
/// <param name="expr">A lambda expression that defines additional filtering conditions based on <see cref="RobotState"/>.</param>
/// <returns>
/// A task that represents the asynchronous operation.
/// The task result contains a collection of robot IDs that match all specified criteria including the state filter.
/// </returns>
/// <example>
/// <code>
/// // Find all ready robots with battery voltage above 24V
/// var robots = await RobotManager.SearchRobots("layout1", "v1", "level1", "model1", tate => state.IsReady, state.Voltage > 24.0);
/// </code>
/// </example>
Task<IEnumerable<string>> SearchRobots(string layout, string version, string level, string model, Expression<Func<RobotState, bool>> expr);
/// <summary>
/// Gets the current order status of a robot.
/// </summary>
/// <param name="robotId">The unique identifier of the robot. Cannot be null or empty.</param>
/// <returns>
/// A task that represents the asynchronous operation.
/// The task result contains the <see cref="RobotOrderStatus"/> indicating the current order processing state of the robot.
/// </returns>
Task<RobotOrderStatus> GetRobotOrderStatus(string robotId);
}

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<Project Sdk="Microsoft.NET.Sdk">
<PropertyGroup>
<TargetFramework>net10.0</TargetFramework>
<ImplicitUsings>enable</ImplicitUsings>
<Nullable>enable</Nullable>
<GenerateDocumentationFile>True</GenerateDocumentationFile>
</PropertyGroup>
<ItemGroup>
<ProjectReference Include="..\..\Shared\RobotNet.VDA5050\RobotNet.VDA5050.csproj" />
<ProjectReference Include="..\..\Shared\RobotNet10.Shared\RobotNet10.Shared.csproj" />
</ItemGroup>
</Project>

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namespace RobotNet10.FleetManager.Script;
/// <summary>
/// Represents the current order processing status of a robot.
/// </summary>
public enum RobotOrderStatus
{
/// <summary>
/// The robot's current order has encountered an error and cannot be completed.
/// </summary>
IsError,
/// <summary>
/// The robot's current order has been successfully completed.
/// </summary>
IsCompleted,
/// <summary>
/// The robot is currently processing an order.
/// </summary>
IsProccessing,
/// <summary>
/// The robot's current order has been canceled.
/// </summary>
IsCanceled,
/// <summary>
/// The robot has no active order (order queue is empty).
/// </summary>
Empty
}

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namespace RobotNet10.FleetManager.Script;
/// <summary>
/// Represents the result of a robot operation, including success status and a descriptive message.
/// </summary>
/// <param name="IsSuccess">Indicates whether the operation completed successfully. <see langword="true"/> if successful; otherwise, <see langword="false"/>.</param>
/// <param name="Message">A descriptive message providing details about the operation result. May contain error information if the operation failed.</param>
public record RobotResult(bool IsSuccess, string Message);

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using RobotNet.VDA5050.State;
namespace RobotNet10.FleetManager.Script;
/// <summary>
/// Represents the current state of a robot, including position, operational status, battery information, and load status.
/// </summary>
/// <param name="IsReady">Indicates whether the robot is ready to accept new commands. <see langword="true"/> if ready; otherwise, <see langword="false"/>.</param>
/// <param name="Voltage">The current battery voltage in volts.</param>
/// <param name="Loads">An array of loads currently carried by the robot. Empty array if no loads are present.</param>
/// <param name="IsCharging">Indicates whether the robot is currently charging. <see langword="true"/> if charging; otherwise, <see langword="false"/>.</param>
/// <param name="X">The X coordinate of the robot's current position in meters.</param>
/// <param name="Y">The Y coordinate of the robot's current position in meters.</param>
/// <param name="Theta">The orientation angle of the robot in radians. Range: [-Pi ... Pi].</param>
public record RobotState(bool IsReady, double Voltage, Load[] Loads, bool IsCharging, double X, double Y, double Theta);

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namespace RobotNet10.FleetManager.Shared.DTOs.Responses;
/// <summary>
/// Error response DTO for API error responses
/// </summary>
public class ErrorResponseDto
{
public string Error { get; set; } = string.Empty;
public string? ErrorCode { get; set; }
public Dictionary<string, object>? Details { get; set; }
}

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using System.ComponentModel.DataAnnotations;
namespace RobotNet10.FleetManager.Shared.DTOs.Robot;
/// <summary>
/// Request to create a new robot
/// </summary>
public class CreateRobotRequest
{
[Required(ErrorMessage = "RobotId is required")]
[StringLength(64, ErrorMessage = "RobotId must not exceed 64 characters")]
public string RobotId { get; set; } = string.Empty;
[Required(ErrorMessage = "Name is required")]
[StringLength(256, ErrorMessage = "Name must not exceed 256 characters")]
public string Name { get; set; } = string.Empty;
[Required(ErrorMessage = "ModelId is required")]
public Guid ModelId { get; set; }
public Guid? MapId { get; set; }
}

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namespace RobotNet10.FleetManager.Shared.DTOs.Robot;
/// <summary>
/// Robot data transfer object
/// </summary>
public class RobotDto
{
public Guid Id { get; set; }
public string RobotId { get; set; } = string.Empty;
public string Name { get; set; } = string.Empty;
public Guid ModelId { get; set; }
/// <summary>
/// Robot model name (from navigation property)
/// </summary>
public string? ModelName { get; set; }
public Guid? MapId { get; set; }
public string? MapName { get; set; }
public DateTime CreatedDate { get; set; }
public DateTime? UpdatedDate { get; set; }
}

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using RobotNet.VDA5050.State;
using RobotNet.VDA5050.Visualization;
namespace RobotNet10.FleetManager.Shared.DTOs.Robot;
public class RobotMonitorBoardcastData
{
public string RobotId { get; set; } = string.Empty;
public Load[] Loads { get; set; } = [];
public BatteryState Battery { get; set; } = new();
public Error[] Errors { get; set; } = [];
public Information[] Infomations { get; set; } = [];
public AgvPosition AgvPosition { get; set; } = new();
public Velocity AgvVelocity { get; set; } = new();
public NavigationPath Path { get; set; } = new();
public DateTime LastUpdateTime { get; set; }
}
public class NavigationPath
{
public string NavigationState { get; set; } = string.Empty;
public NavigationPathEdge[] RobotPath { get; set; } = [];
public NavigationPathEdge[] RobotBasePath { get; set; } = [];
}
public class NavigationPathEdge()
{
public double StartX { get; set; }
public double StartY { get; set; }
public double EndX { get; set; }
public double EndY { get; set; }
public double ControlPoint1X { get; set; }
public double ControlPoint1Y { get; set; }
public double ControlPoint2X { get; set; }
public double ControlPoint2Y { get; set; }
public int Degree { get; set; }
}

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using System.ComponentModel.DataAnnotations;
namespace RobotNet10.FleetManager.Shared.DTOs.Robot;
/// <summary>
/// Request to update an existing robot
/// </summary>
public class UpdateRobotRequest
{
[StringLength(64, ErrorMessage = "RobotId must not exceed 64 characters")]
public string? RobotId { get; set; }
[StringLength(256, ErrorMessage = "Name must not exceed 256 characters")]
public string? Name { get; set; }
public Guid? ModelId { get; set; }
public Guid? MapId { get; set; }
}

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using System.ComponentModel.DataAnnotations;
using RobotNet10.FleetManager.Shared.Enums;
namespace RobotNet10.FleetManager.Shared.DTOs.RobotModel;
/// <summary>
/// Request to create a new robot model
/// </summary>
public class CreateRobotModelRequest
{
[Required(ErrorMessage = "ModelName is required")]
[StringLength(256, ErrorMessage = "ModelName must not exceed 256 characters")]
public string ModelName { get; set; } = string.Empty;
[Required(ErrorMessage = "Length is required")]
[Range(0.01, 1000, ErrorMessage = "Length must be between 0.01 and 1000 meters")]
public double Length { get; set; }
[Required(ErrorMessage = "Width is required")]
[Range(0.01, 1000, ErrorMessage = "Width must be between 0.01 and 1000 meters")]
public double Width { get; set; }
[Required(ErrorMessage = "ImageWidth is required")]
[Range(1, 10000, ErrorMessage = "ImageWidth must be between 1 and 10000 pixels")]
public int ImageWidth { get; set; }
[Required(ErrorMessage = "ImageHeight is required")]
[Range(1, 10000, ErrorMessage = "ImageHeight must be between 1 and 10000 pixels")]
public int ImageHeight { get; set; }
[Required(ErrorMessage = "NavigationPointX is required")]
public double NavigationPointX { get; set; }
[Required(ErrorMessage = "NavigationPointY is required")]
public double NavigationPointY { get; set; }
[Required(ErrorMessage = "NavigationType is required")]
public NavigationType NavigationType { get; set; }
/// <summary>
/// Foreign key to VehicleType (in MapManager database)
/// Optional - can be set later
/// </summary>
public Guid? VehicleTypeId { get; set; }
}

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namespace RobotNet10.FleetManager.Shared.DTOs.RobotModel;
/// <summary>
/// Map validation result for robot model
/// </summary>
public class MapValidationResultDto
{
/// <summary>
/// Whether the map data is valid after filtering and validation
/// </summary>
public bool IsValid { get; set; }
/// <summary>
/// List of validation errors
/// </summary>
public List<ValidationError> Errors { get; set; } = [];
/// <summary>
/// List of validation warnings
/// </summary>
public List<ValidationWarning> Warnings { get; set; } = [];
/// <summary>
/// Number of nodes removed during validation
/// </summary>
public int NodesRemoved { get; set; }
/// <summary>
/// Number of edges removed during validation
/// </summary>
public int EdgesRemoved { get; set; }
}
/// <summary>
/// Validation error information
/// </summary>
public class ValidationError
{
/// <summary>
/// Error code (e.g., "NODE_NO_EDGES", "EDGE_MISSING_START_NODE")
/// </summary>
public string Code { get; set; } = string.Empty;
/// <summary>
/// Human-readable error message
/// </summary>
public string Message { get; set; } = string.Empty;
/// <summary>
/// Entity ID that caused the error (NodeId or EdgeId)
/// </summary>
public string? EntityId { get; set; }
/// <summary>
/// Entity type ("Node" or "Edge")
/// </summary>
public string? EntityType { get; set; }
}
/// <summary>
/// Validation warning information
/// </summary>
public class ValidationWarning
{
/// <summary>
/// Warning code
/// </summary>
public string Code { get; set; } = string.Empty;
/// <summary>
/// Human-readable warning message
/// </summary>
public string Message { get; set; } = string.Empty;
/// <summary>
/// Entity ID related to the warning
/// </summary>
public string? EntityId { get; set; }
}

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using RobotNet10.FleetManager.Shared.Enums;
namespace RobotNet10.FleetManager.Shared.DTOs.RobotModel;
/// <summary>
/// Robot model data transfer object
/// </summary>
public class RobotModelDto
{
public Guid Id { get; set; }
public string ModelName { get; set; } = string.Empty;
public double Length { get; set; }
public double Width { get; set; }
public int ImageWidth { get; set; }
public int ImageHeight { get; set; }
public double NavigationPointX { get; set; }
public double NavigationPointY { get; set; }
public NavigationType NavigationType { get; set; }
/// <summary>
/// Foreign key to VehicleType (in MapManager database)
/// Links RobotModel to VehicleType for map filtering
/// </summary>
public Guid? VehicleTypeId { get; set; }
public DateTime CreatedDate { get; set; }
public DateTime? UpdatedDate { get; set; }
/// <summary>
/// Number of robots using this model
/// </summary>
public int RobotCount { get; set; }
}

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using RobotNet10.MapEditor.Shared.DTOs.Edge;
using RobotNet10.MapEditor.Shared.DTOs.Node;
namespace RobotNet10.FleetManager.Shared.DTOs.RobotModel;
/// <summary>
/// Validated map data for a robot model
/// Contains filtered and validated nodes/edges based on VehicleType properties
/// </summary>
public class RobotModelMapDataDto
{
/// <summary>
/// Robot model ID
/// </summary>
public Guid RobotModelId { get; set; }
/// <summary>
/// Robot model name
/// </summary>
public string RobotModelName { get; set; } = string.Empty;
/// <summary>
/// Vehicle type ID (from MapManager)
/// </summary>
public Guid? VehicleTypeId { get; set; }
/// <summary>
/// Vehicle type name (for display)
/// </summary>
public string? VehicleTypeName { get; set; }
/// <summary>
/// Layout level ID (MapId from RobotModel)
/// </summary>
public Guid? LevelId { get; set; }
/// <summary>
/// Layout level identifier (for display)
/// </summary>
public string? LevelName { get; set; }
/// <summary>
/// Valid nodes after filtering and validation
/// </summary>
public List<NodeDto> ValidNodes { get; set; } = [];
/// <summary>
/// Valid edges after filtering and validation
/// </summary>
public List<EdgeDto> ValidEdges { get; set; } = [];
/// <summary>
/// Total number of nodes in the level (before filtering)
/// </summary>
public int TotalNodesInLevel { get; set; }
/// <summary>
/// Total number of edges in the level (before filtering)
/// </summary>
public int TotalEdgesInLevel { get; set; }
/// <summary>
/// Number of nodes after filtering by VehicleType (before validation)
/// </summary>
public int FilteredNodesCount { get; set; }
/// <summary>
/// Number of edges after filtering by VehicleType (before validation)
/// </summary>
public int FilteredEdgesCount { get; set; }
/// <summary>
/// Number of valid nodes after validation
/// </summary>
public int ValidNodesCount => ValidNodes.Count;
/// <summary>
/// Number of valid edges after validation
/// </summary>
public int ValidEdgesCount => ValidEdges.Count;
/// <summary>
/// Validation result with errors and warnings
/// </summary>
public MapValidationResultDto ValidationResult { get; set; } = new();
}

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namespace RobotNet10.FleetManager.Shared.DTOs.RobotModel;
/// <summary>
/// Robot model usage information DTO
/// </summary>
public class RobotModelUsageInfoDto
{
public Guid Id { get; set; }
public string ModelName { get; set; } = string.Empty;
public int RobotCount { get; set; }
/// <summary>
/// Indicates whether this model can be deleted (no robots using it)
/// </summary>
public bool CanDelete => RobotCount == 0;
}

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using System.ComponentModel.DataAnnotations;
using RobotNet10.FleetManager.Shared.Enums;
namespace RobotNet10.FleetManager.Shared.DTOs.RobotModel;
/// <summary>
/// Request to update an existing robot model
/// </summary>
public class UpdateRobotModelRequest
{
[StringLength(256, ErrorMessage = "ModelName must not exceed 256 characters")]
public string? ModelName { get; set; }
[Range(0.01, 1000, ErrorMessage = "Length must be between 0.01 and 1000 meters")]
public double? Length { get; set; }
[Range(0.01, 1000, ErrorMessage = "Width must be between 0.01 and 1000 meters")]
public double? Width { get; set; }
[Range(1, 10000, ErrorMessage = "ImageWidth must be between 1 and 10000 pixels")]
public int? ImageWidth { get; set; }
[Range(1, 10000, ErrorMessage = "ImageHeight must be between 1 and 10000 pixels")]
public int? ImageHeight { get; set; }
public double? NavigationPointX { get; set; }
public double? NavigationPointY { get; set; }
public NavigationType? NavigationType { get; set; }
/// <summary>
/// Foreign key to VehicleType (in MapManager database)
/// Optional - can be set or cleared
/// </summary>
public Guid? VehicleTypeId { get; set; }
}

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namespace RobotNet10.FleetManager.Shared.Enums;
/// <summary>
/// Navigation type for robot models
/// </summary>
public enum NavigationType
{
/// <summary>
/// Differential drive navigation
/// </summary>
Differential = 0,
/// <summary>
/// Forklift navigation
/// </summary>
Forklift = 1,
/// <summary>
/// Omni-directional drive navigation
/// </summary>
OmniDrive = 2
}

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namespace RobotNet10.FleetManager.Shared.Models;
public record RobotInstantActionModel
{
public string RobotId { get; set; } = string.Empty;
public RobotNet.VDA5050.InstantAction.Action Action { get; set; } = new();
}

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namespace RobotNet10.FleetManager.Shared.Models;
public record RobotMoveToNodeModel
{
public string RobotId { get; set; } = string.Empty;
public string NodeName { get; set; } = string.Empty;
public double? LastAngle { get; set; } = null;
}

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<Project Sdk="Microsoft.NET.Sdk">
<PropertyGroup>
<TargetFramework>net10.0</TargetFramework>
<ImplicitUsings>enable</ImplicitUsings>
<Nullable>enable</Nullable>
</PropertyGroup>
<ItemGroup>
<ProjectReference Include="..\..\Shared\RobotNet.VDA5050\RobotNet.VDA5050.csproj" />
<ProjectReference Include="..\..\Shared\RobotNet10.MapEditor.Shared\RobotNet10.MapEditor.Shared.csproj" />
</ItemGroup>
</Project>

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using Microsoft.AspNetCore.Antiforgery;
using Microsoft.AspNetCore.Authentication;
using Microsoft.AspNetCore.Components.Authorization;
using Microsoft.AspNetCore.Http.Extensions;
using Microsoft.AspNetCore.Identity;
using Microsoft.AspNetCore.Mvc;
using Microsoft.Extensions.Primitives;
using RobotNet10.FleetManager.Components.Account.Pages;
using RobotNet10.FleetManager.Data;
using System.Security.Claims;
using System.Text.Json;
namespace Microsoft.AspNetCore.Routing
{
internal static class IdentityComponentsEndpointRouteBuilderExtensions
{
// These endpoints are required by the Identity Razor components defined in the /Components/Account/Pages directory of this project.
public static IEndpointConventionBuilder MapAdditionalIdentityEndpoints(this IEndpointRouteBuilder endpoints)
{
ArgumentNullException.ThrowIfNull(endpoints);
var accountGroup = endpoints.MapGroup("/Account");
accountGroup.MapPost("/Logout", async (
ClaimsPrincipal user,
[FromServices] SignInManager<ApplicationUser> signInManager,
[FromForm] string returnUrl) =>
{
await signInManager.SignOutAsync();
return TypedResults.LocalRedirect($"~/{returnUrl}");
});
return accountGroup;
}
}
}

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using Microsoft.AspNetCore.Identity;
using Microsoft.AspNetCore.Identity.UI.Services;
using RobotNet10.FleetManager.Data;
namespace RobotNet10.FleetManager.Components.Account
{
// Remove the "else if (EmailSender is IdentityNoOpEmailSender)" block from RegisterConfirmation.razor after updating with a real implementation.
internal sealed class IdentityNoOpEmailSender : IEmailSender<ApplicationUser>
{
private readonly IEmailSender emailSender = new NoOpEmailSender();
public Task SendConfirmationLinkAsync(ApplicationUser user, string email, string confirmationLink) =>
emailSender.SendEmailAsync(email, "Confirm your email", $"Please confirm your account by <a href='{confirmationLink}'>clicking here</a>.");
public Task SendPasswordResetLinkAsync(ApplicationUser user, string email, string resetLink) =>
emailSender.SendEmailAsync(email, "Reset your password", $"Please reset your password by <a href='{resetLink}'>clicking here</a>.");
public Task SendPasswordResetCodeAsync(ApplicationUser user, string email, string resetCode) =>
emailSender.SendEmailAsync(email, "Reset your password", $"Please reset your password using the following code: {resetCode}");
}
}

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using Microsoft.AspNetCore.Components;
using Microsoft.AspNetCore.Identity;
using RobotNet10.FleetManager.Data;
namespace RobotNet10.FleetManager.Components.Account
{
internal sealed class IdentityRedirectManager(NavigationManager navigationManager)
{
public const string StatusCookieName = "Identity.StatusMessage";
private static readonly CookieBuilder StatusCookieBuilder = new()
{
SameSite = SameSiteMode.Strict,
HttpOnly = true,
IsEssential = true,
MaxAge = TimeSpan.FromSeconds(5),
};
public void RedirectTo(string? uri)
{
uri ??= "";
// Prevent open redirects.
if (!Uri.IsWellFormedUriString(uri, UriKind.Relative))
{
uri = navigationManager.ToBaseRelativePath(uri);
}
navigationManager.NavigateTo(uri);
}
public void RedirectTo(string uri, Dictionary<string, object?> queryParameters)
{
var uriWithoutQuery = navigationManager.ToAbsoluteUri(uri).GetLeftPart(UriPartial.Path);
var newUri = navigationManager.GetUriWithQueryParameters(uriWithoutQuery, queryParameters);
RedirectTo(newUri);
}
public void RedirectToWithStatus(string uri, string message, HttpContext context)
{
context.Response.Cookies.Append(StatusCookieName, message, StatusCookieBuilder.Build(context));
RedirectTo(uri);
}
private string CurrentPath => navigationManager.ToAbsoluteUri(navigationManager.Uri).GetLeftPart(UriPartial.Path);
public void RedirectToCurrentPage() => RedirectTo(CurrentPath);
public void RedirectToCurrentPageWithStatus(string message, HttpContext context)
=> RedirectToWithStatus(CurrentPath, message, context);
public void RedirectToInvalidUser(UserManager<ApplicationUser> userManager, HttpContext context)
=> RedirectToWithStatus("Account/InvalidUser", $"Error: Unable to load user with ID '{userManager.GetUserId(context.User)}'.", context);
}
}

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using Microsoft.AspNetCore.Components.Authorization;
using Microsoft.AspNetCore.Components.Server;
using Microsoft.AspNetCore.Identity;
using Microsoft.Extensions.Options;
using RobotNet10.FleetManager.Data;
using System.Security.Claims;
namespace RobotNet10.FleetManager.Components.Account
{
// This is a server-side AuthenticationStateProvider that revalidates the security stamp for the connected user
// every 30 minutes an interactive circuit is connected.
internal sealed class IdentityRevalidatingAuthenticationStateProvider(
ILoggerFactory loggerFactory,
IServiceScopeFactory scopeFactory,
IOptions<IdentityOptions> options)
: RevalidatingServerAuthenticationStateProvider(loggerFactory)
{
protected override TimeSpan RevalidationInterval => TimeSpan.FromMinutes(30);
protected override async Task<bool> ValidateAuthenticationStateAsync(
AuthenticationState authenticationState, CancellationToken cancellationToken)
{
// Get the user manager from a new scope to ensure it fetches fresh data
await using var scope = scopeFactory.CreateAsyncScope();
var userManager = scope.ServiceProvider.GetRequiredService<UserManager<ApplicationUser>>();
return await ValidateSecurityStampAsync(userManager, authenticationState.User);
}
private async Task<bool> ValidateSecurityStampAsync(UserManager<ApplicationUser> userManager, ClaimsPrincipal principal)
{
var user = await userManager.GetUserAsync(principal);
if (user is null)
{
return false;
}
else if (!userManager.SupportsUserSecurityStamp)
{
return true;
}
else
{
var principalStamp = principal.FindFirstValue(options.Value.ClaimsIdentity.SecurityStampClaimType);
var userStamp = await userManager.GetSecurityStampAsync(user);
return principalStamp == userStamp;
}
}
}
}

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@page "/Account/Login"
@using System.ComponentModel.DataAnnotations
@using Microsoft.AspNetCore.Authentication
@using Microsoft.AspNetCore.Identity
@using RobotNet10.FleetManager.Data
@inject UserManager<ApplicationUser> UserManager
@inject SignInManager<ApplicationUser> SignInManager
@inject RobotNet10.FleetManager.Services.Logger<Login> Logger
@inject NavigationManager NavigationManager
@inject IdentityRedirectManager RedirectManager
<PageTitle>Log in</PageTitle>
<div class="w-100 h-100 d-flex flex-column justify-content-center align-items-center">
<h1>Log in</h1>
@if (!string.IsNullOrEmpty(errorMessage))
{
var statusMessageClass = errorMessage.StartsWith("Error") ? "danger" : "success";
<div class="alert alert-@statusMessageClass" role="alert">
@errorMessage
</div>
}
<EditForm Model="Input" method="post" OnValidSubmit="LoginUser" FormName="login" style="width: 300px;">
<DataAnnotationsValidator />
<hr />
<ValidationSummary class="text-danger" role="alert" />
<div class="form-floating mb-3">
<InputText @bind-Value="Input.Username" class="form-control" autocomplete="username" aria-required="true" />
<label for="username" class="form-label">Username</label>
<ValidationMessage For="() => Input.Username" class="text-danger" />
</div>
<div class="form-floating mb-3">
<InputText type="password" @bind-Value="Input.Password" class="form-control" autocomplete="current-password" aria-required="true" />
<label for="password" class="form-label">Password</label>
<ValidationMessage For="() => Input.Password" class="text-danger" />
</div>
<div class="checkbox mb-3">
<label class="form-label">
<InputCheckbox @bind-Value="Input.RememberMe" class="darker-border-checkbox form-check-input" />
Remember me
</label>
</div>
<div>
<button type="submit" class="w-100 btn btn-lg btn-primary">Log in</button>
</div>
</EditForm>
</div>
@code {
private string? errorMessage;
[CascadingParameter]
private HttpContext HttpContext { get; set; } = default!;
[SupplyParameterFromForm]
private InputModel Input { get; set; } = null!;
[SupplyParameterFromQuery]
private string? ReturnUrl { get; set; }
protected override void OnInitialized()
{
Input ??= new();
base.OnInitialized();
}
protected override async Task OnInitializedAsync()
{
if (HttpMethods.IsGet(HttpContext.Request.Method))
{
// Clear the existing external cookie to ensure a clean login process
await HttpContext.SignOutAsync(IdentityConstants.ExternalScheme);
}
errorMessage = HttpContext.Request.Cookies[IdentityRedirectManager.StatusCookieName];
if (errorMessage is not null)
{
HttpContext.Response.Cookies.Delete(IdentityRedirectManager.StatusCookieName);
}
}
public async Task LoginUser()
{
// This doesn't count login failures towards account lockout
// To enable password failures to trigger account lockout, set lockoutOnFailure: true
var result = await SignInManager.PasswordSignInAsync(Input.Username, Input.Password, Input.RememberMe, lockoutOnFailure: false);
if (result.Succeeded)
{
Logger.Info("User logged in.");
RedirectManager.RedirectTo(ReturnUrl);
}
else if (result.RequiresTwoFactor)
{
RedirectManager.RedirectTo(
"Account/LoginWith2fa",
new() { ["returnUrl"] = ReturnUrl, ["rememberMe"] = Input.RememberMe });
}
else if (result.IsLockedOut)
{
Logger.Warning("User account locked out.");
RedirectManager.RedirectTo("Account/Lockout");
}
else
{
errorMessage = "Error: Invalid login attempt.";
}
}
private sealed class InputModel
{
[Required]
public string Username { get; set; } = "";
[Required]
[DataType(DataType.Password)]
public string Password { get; set; } = "";
[Display(Name = "Remember me?")]
public bool RememberMe { get; set; }
}
}

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@attribute [ExcludeFromInteractiveRouting]

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