Initial commit
This commit is contained in:
@@ -0,0 +1,69 @@
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@using RobotNet.VDA5050.State
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@using RobotNet.VDA5050.Type
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<MudPaper Class="pa-4" Elevation="2">
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<MudText Typo="Typo.h6" Class="mb-3">Action States</MudText>
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@if (State?.ActionStates != null && State.ActionStates.Length > 0)
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{
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<MudTable Items="@State.ActionStates" T="ActionState" Hover="true" Dense="true" Height="400px" FixedHeader="true" Elevation="0">
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<HeaderContent>
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<MudTh>Action ID</MudTh>
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<MudTh>Action Type</MudTh>
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<MudTh>Status</MudTh>
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<MudTh>Description</MudTh>
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<MudTh>Result</MudTh>
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</HeaderContent>
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<RowTemplate>
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<MudTd DataLabel="Action ID">
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<MudText Typo="Typo.body2" Style="max-width: 150px; overflow: hidden; text-overflow: ellipsis; white-space: nowrap;">
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@context.ActionId
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</MudText>
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</MudTd>
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<MudTd DataLabel="Action Type">@(context.ActionType ?? "N/A")</MudTd>
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<MudTd DataLabel="Status">
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<MudChip T="string"
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Size="Size.Small"
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Color="@GetActionStatusColor(context.ActionStatus)">
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@context.ActionStatus
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</MudChip>
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</MudTd>
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<MudTd DataLabel="Description">
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<MudText Typo="Typo.body2" Style="max-width: 200px; overflow: hidden; text-overflow: ellipsis; white-space: nowrap;">
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@(context.ActionDescription ?? "N/A")
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</MudText>
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</MudTd>
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<MudTd DataLabel="Result">
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<MudText Typo="Typo.body2" Style="max-width: 200px; overflow: hidden; text-overflow: ellipsis; white-space: nowrap;">
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@(context.ResultDescription ?? "N/A")
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</MudText>
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</MudTd>
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</RowTemplate>
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</MudTable>
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}
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else
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{
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<MudText Typo="Typo.body2" Align="Align.Center">No action states available</MudText>
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}
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</MudPaper>
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@code {
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public StateMsg? State { get; set; }
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private Color GetActionStatusColor(ActionStatus status)
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{
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return status switch
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{
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ActionStatus.WAITING => Color.Default,
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ActionStatus.RUNNING => Color.Info,
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ActionStatus.FINISHED => Color.Success,
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ActionStatus.FAILED => Color.Error,
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_ => Color.Default
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};
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}
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public void Update(StateMsg? state)
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{
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State = state;
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StateHasChanged();
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}
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}
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@@ -0,0 +1,75 @@
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@using RobotNet.VDA5050.State
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<MudPaper Class="pa-4" Elevation="2">
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@if (ShowNameCard)
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{
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<MudText Typo="Typo.h6" Class="mb-3">Battery State</MudText>
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}
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@if (BatteryState != null)
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{
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<MudSimpleTable Elevation="0">
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<tbody>
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<tr>
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<td><strong>Charge:</strong></td>
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<td>
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<MudProgressLinear Value="@BatteryState.BatteryCharge"
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Color="@GetBatteryColor(BatteryState.BatteryCharge)" />
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@BatteryState.BatteryCharge.ToString("F1")%
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</td>
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</tr>
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<tr>
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<td><strong>Voltage:</strong></td>
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<td>@BatteryState.BatteryVoltage?.ToString("F2") V</td>
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</tr>
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<tr>
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<td><strong>Health:</strong></td>
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<td>@BatteryState.BatteryHealth.ToString("F1")%</td>
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</tr>
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<tr>
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<td><strong>Charging:</strong></td>
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<td>
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@if (BatteryState.Charging)
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{
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<MudChip T="string" Size="Size.Small" Color="Color.Info">Yes</MudChip>
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}
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else
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{
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<MudChip T="string" Size="Size.Small" Color="Color.Default">No</MudChip>
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}
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</td>
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</tr>
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@if (BatteryState.Reach > 0)
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{
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<tr>
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<td><strong>Reach:</strong></td>
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<td>@BatteryState.Reach?.ToString("F0") m</td>
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</tr>
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}
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</tbody>
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</MudSimpleTable>
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}
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else
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{
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<MudText Typo="Typo.body2" Align="Align.Center">No battery data available</MudText>
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}
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</MudPaper>
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@code {
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[Parameter]
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public bool ShowNameCard { get; set; } = true;
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public BatteryState? BatteryState { get; set; }
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private Color GetBatteryColor(double charge)
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{
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if (charge > 50) return Color.Success;
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if (charge > 20) return Color.Warning;
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return Color.Error;
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}
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public void Update(BatteryState? batteryState)
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{
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BatteryState = batteryState;
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StateHasChanged();
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}
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}
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@@ -0,0 +1,60 @@
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@using RobotNet.VDA5050.State
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<MudPaper Class="pa-4" Elevation="2">
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<MudText Typo="Typo.h6" Class="mb-3">Edge States</MudText>
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@if (State?.EdgeStates != null && State.EdgeStates.Length > 0)
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{
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<MudTable Items="@State.EdgeStates" T="EdgeState" Hover="true" Dense="true" Height="400px" FixedHeader="true" Elevation="0">
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<HeaderContent>
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<MudTh>Edge ID</MudTh>
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<MudTh>Sequence ID</MudTh>
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<MudTh>Released</MudTh>
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<MudTh>Description</MudTh>
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<MudTh>Trajectory</MudTh>
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</HeaderContent>
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<RowTemplate>
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<MudTd DataLabel="Edge ID">@context.EdgeId</MudTd>
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<MudTd DataLabel="Sequence ID">@context.SequenceId</MudTd>
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<MudTd DataLabel="Released">
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@if (context.Released)
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{
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<MudChip T="string" Size="Size.Small" Color="Color.Success">Yes</MudChip>
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}
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else
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{
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<MudChip T="string" Size="Size.Small" Color="Color.Warning">No</MudChip>
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}
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</MudTd>
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<MudTd DataLabel="Description">
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<MudText Typo="Typo.body2" Style="max-width: 200px; overflow: hidden; text-overflow: ellipsis; white-space: nowrap;">
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@(context.EdgeDescription ?? "N/A")
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</MudText>
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</MudTd>
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<MudTd DataLabel="Trajectory">
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@if (context.Trajectory != null)
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{
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<MudChip T="string" Size="Size.Small" Color="Color.Info">Available</MudChip>
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}
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else
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{
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<MudText Typo="Typo.body2">N/A</MudText>
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}
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</MudTd>
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</RowTemplate>
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</MudTable>
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}
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else
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{
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<MudText Typo="Typo.body2" Align="Align.Center">No edge states available</MudText>
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}
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</MudPaper>
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@code {
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public StateMsg? State { get; set; }
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public void Update(StateMsg? state)
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{
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State = state;
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StateHasChanged();
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}
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}
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@@ -0,0 +1,75 @@
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@using RobotNet.VDA5050.State
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@using RobotNet.VDA5050.Type
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<MudPaper Class="pa-4" Elevation="2">
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<MudText Typo="Typo.h6" Class="mb-3">Errors</MudText>
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@if (Errors != null && Errors.Length > 0)
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{
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<MudTable Items="@Errors" T="Error" Hover="true" Dense="true" Height="400px" FixedHeader="true" Elevation="0">
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<HeaderContent>
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<MudTh>Error Type</MudTh>
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<MudTh>Level</MudTh>
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<MudTh>Description</MudTh>
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<MudTh>Hint</MudTh>
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<MudTh>References</MudTh>
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</HeaderContent>
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<RowTemplate>
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<MudTd DataLabel="Error Type">@context.ErrorType</MudTd>
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<MudTd DataLabel="Level">
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<MudChip T="string"
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Size="Size.Small"
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Color="@GetErrorLevelColor(context.ErrorLevel)">
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@context.ErrorLevel
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</MudChip>
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</MudTd>
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<MudTd DataLabel="Description">
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<MudText Typo="Typo.body2" Style="max-width: 250px; overflow: hidden; text-overflow: ellipsis; white-space: nowrap;">
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@(context.ErrorDescription ?? "N/A")
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</MudText>
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</MudTd>
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<MudTd DataLabel="Hint">
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<MudText Typo="Typo.body2" Style="max-width: 200px; overflow: hidden; text-overflow: ellipsis; white-space: nowrap;">
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@(context.ErrorHint ?? "N/A")
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</MudText>
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</MudTd>
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<MudTd DataLabel="References">
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@if (context.ErrorReferences != null && context.ErrorReferences.Length > 0)
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{
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<MudChip T="string" Size="Size.Small" Color="Color.Info">
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@context.ErrorReferences.Length reference(s)
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</MudChip>
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}
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else
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{
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<MudText Typo="Typo.body2">N/A</MudText>
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}
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</MudTd>
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</RowTemplate>
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</MudTable>
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}
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else
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{
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<MudText Typo="Typo.body2" Align="Align.Center">No errors</MudText>
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}
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</MudPaper>
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@code {
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private Error[]? Errors { get; set; }
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private Color GetErrorLevelColor(ErrorLevel level)
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{
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return level switch
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{
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ErrorLevel.NONE => Color.Success,
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ErrorLevel.WARNING => Color.Warning,
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ErrorLevel.FATAL => Color.Error,
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_ => Color.Default
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};
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}
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public void Update(Error[]? errors)
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{
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Errors = errors;
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StateHasChanged();
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}
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}
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@@ -0,0 +1,46 @@
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@using RobotNet.VDA5050.State
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<MudPaper Class="pa-4" Elevation="2">
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<MudText Typo="Typo.h6" Class="mb-3">Header Information</MudText>
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@if (State != null)
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{
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<MudSimpleTable Elevation="0">
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<tbody>
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<tr>
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<td><strong>Header ID:</strong></td>
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<td>@State.HeaderId</td>
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</tr>
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<tr>
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<td><strong>Timestamp:</strong></td>
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<td>@State.Timestamp.ToString("g")</td>
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</tr>
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<tr>
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<td><strong>Version:</strong></td>
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<td>@State.Version</td>
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</tr>
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<tr>
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<td><strong>Manufacturer:</strong></td>
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<td>@State.Manufacturer</td>
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</tr>
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<tr>
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<td><strong>Serial Number:</strong></td>
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<td>@State.SerialNumber</td>
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</tr>
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</tbody>
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</MudSimpleTable>
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}
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else
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{
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<MudText Typo="Typo.body2" Align="Align.Center">No state data available</MudText>
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}
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</MudPaper>
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@code {
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public StateMsg? State { get; set; }
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public void Update(StateMsg? state)
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{
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State = state;
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StateHasChanged();
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}
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}
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@@ -0,0 +1,68 @@
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@using RobotNet.VDA5050.State
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@using RobotNet.VDA5050.Type
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<MudPaper Class="pa-4" Elevation="2">
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<MudText Typo="Typo.h6" Class="mb-3">Information</MudText>
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@if (Info != null && Info.Length > 0)
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{
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<MudTable Items="@Info" T="Information" Hover="true" Dense="true" Height="400px" FixedHeader="true" Elevation="0">
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<HeaderContent>
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<MudTh>Info Type</MudTh>
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<MudTh>Level</MudTh>
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<MudTh>Description</MudTh>
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<MudTh>References</MudTh>
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</HeaderContent>
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<RowTemplate>
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<MudTd DataLabel="Info Type">@context.InfoType</MudTd>
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<MudTd DataLabel="Level">
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<MudChip T="string"
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Size="Size.Small"
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Color="@GetInfoLevelColor(context.InfoLevel)">
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@context.InfoLevel
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</MudChip>
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</MudTd>
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<MudTd DataLabel="Description">
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<MudText Typo="Typo.body2" Style="max-width: 300px; overflow: hidden; text-overflow: ellipsis; white-space: nowrap;">
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@(context.InfoDescription ?? "N/A")
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</MudText>
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</MudTd>
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<MudTd DataLabel="References">
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@if (context.InfoReferences != null && context.InfoReferences.Length > 0)
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{
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<MudChip T="string" Size="Size.Small" Color="Color.Info">
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@context.InfoReferences.Length reference(s)
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||||
</MudChip>
|
||||
}
|
||||
else
|
||||
{
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||||
<MudText Typo="Typo.body2">N/A</MudText>
|
||||
}
|
||||
</MudTd>
|
||||
</RowTemplate>
|
||||
</MudTable>
|
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}
|
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else
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{
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<MudText Typo="Typo.body2" Align="Align.Center">No information available</MudText>
|
||||
}
|
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</MudPaper>
|
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|
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@code {
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private Information[]? Info { get; set; }
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private Color GetInfoLevelColor(InfoLevel level)
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{
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return level switch
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||||
{
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InfoLevel.INFO => Color.Info,
|
||||
InfoLevel.DEBUG => Color.Default,
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_ => Color.Default
|
||||
};
|
||||
}
|
||||
|
||||
public void Update(Information[]? info)
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||||
{
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||||
Info = info;
|
||||
StateHasChanged();
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,58 @@
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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)
|
||||
{
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||||
<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();
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,216 @@
|
||||
@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();
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,401 @@
|
||||
@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; }
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,32 @@
|
||||
@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();
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,63 @@
|
||||
@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();
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,93 @@
|
||||
@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();
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,76 @@
|
||||
@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();
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,62 @@
|
||||
@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();
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,38 @@
|
||||
@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();
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,248 @@
|
||||
@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;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,75 @@
|
||||
@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();
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,245 @@
|
||||
@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;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,392 @@
|
||||
@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();
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,296 @@
|
||||
@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();
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,123 @@
|
||||
@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();
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,259 @@
|
||||
@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();
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,144 @@
|
||||
@*
|
||||
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();
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,162 @@
|
||||
@*
|
||||
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;
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,252 @@
|
||||
@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);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,205 @@
|
||||
@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 "";
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,27 @@
|
||||
|
||||
/* 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;
|
||||
}
|
||||
@@ -0,0 +1,197 @@
|
||||
@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);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,10 @@
|
||||
/* 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;
|
||||
}
|
||||
@@ -0,0 +1,18 @@
|
||||
<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();
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,27 @@
|
||||
.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;
|
||||
}
|
||||
@@ -0,0 +1,27 @@
|
||||
@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!;
|
||||
}
|
||||
@@ -0,0 +1,45 @@
|
||||
/* 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);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,97 @@
|
||||
@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();
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,31 @@
|
||||
/* 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;
|
||||
}
|
||||
@@ -0,0 +1,200 @@
|
||||
@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;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,275 @@
|
||||
@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);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,24 @@
|
||||
/* 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;
|
||||
}
|
||||
Reference in New Issue
Block a user