Initial commit

2026-07-13 09:25:40 +07:00
parent c08ff54676
commit bccfb156d7
1938 changed files with 641646 additions and 0 deletions
--- a/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Xloc/XlocAutoLocalizationHostedService.cs
+++ b/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Xloc/XlocAutoLocalizationHostedService.cs
@@ -0,0 +1,110 @@
+using Microsoft.Extensions.Configuration;
+using Microsoft.Extensions.Hosting;
+using Microsoft.Extensions.Logging;
+
+namespace RobotNet10.RobotApp.Xloc;
+
+/// <summary>
+/// Polls XLOC diagnostics and calls <see cref="XlocIntegrationService.StartLocalization"/> when
+/// state transitions to READY (3) with an active map. Does not depend on the web UI.
+/// </summary>
+public sealed class XlocAutoLocalizationHostedService : BackgroundService
+{
+    private readonly XlocIntegrationService _xloc;
+    private readonly ILogger<XlocAutoLocalizationHostedService> _logger;
+    private readonly XlocIntegrationConfiguration _config = new();
+    private byte? _previousXlocState;
+    private bool _hasAutoStartedOnce;
+
+    public XlocAutoLocalizationHostedService(
+        XlocIntegrationService xloc,
+        IConfiguration configuration,
+        ILogger<XlocAutoLocalizationHostedService> logger)
+    {
+        _xloc = xloc;
+        _logger = logger;
+
+        var section = configuration.GetSection("Xloc:Integration");
+        if (section.Exists())
+            section.Bind(_config);
+    }
+
+    protected override async Task ExecuteAsync(CancellationToken stoppingToken)
+    {
+        if (!_config.Enabled)
+        {
+            _logger.LogInformation("XlocAutoLocalizationHostedService skipped: Xloc:Integration:Enabled is false");
+            return;
+        }
+
+        if (!_config.AutoStartLocalizationOnReady)
+        {
+            _logger.LogInformation("XlocAutoLocalizationHostedService skipped: AutoStartLocalizationOnReady is false");
+            return;
+        }
+
+        var pollMs = Math.Clamp(_config.AutoStartLocalizationPollIntervalMs, 100, 10_000);
+        var cooldownMs = Math.Max(0, _config.AutoStartLocalizationCooldownAfterStopMs);
+
+        _logger.LogInformation(
+            "XlocAutoLocalizationHostedService running (poll {PollMs}ms, stop cooldown {CooldownMs}ms)",
+            pollMs,
+            cooldownMs);
+
+        while (!stoppingToken.IsCancellationRequested)
+        {
+            try
+            {
+                await Task.Delay(pollMs, stoppingToken).ConfigureAwait(false);
+
+                var diag = _xloc.GetDiagnostics();
+                if (diag == null)
+                    continue;
+
+                var s = diag.XlocState;
+                var transitionedToReady = s == 3 && (!_previousXlocState.HasValue || _previousXlocState.Value != 3);
+                _previousXlocState = s;
+
+                if (!transitionedToReady || _hasAutoStartedOnce)
+                    continue;
+
+                if (string.IsNullOrWhiteSpace(diag.CurrentActiveMap))
+                {
+                    _logger.LogDebug("Auto-start localization skipped: no active map in diagnostics");
+                    continue;
+                }
+
+                if (_xloc.LastLocalizationStopUtc.HasValue)
+                {
+                    var elapsedMs = (DateTime.UtcNow - _xloc.LastLocalizationStopUtc.Value).TotalMilliseconds;
+                    if (elapsedMs < cooldownMs)
+                    {
+                        _logger.LogDebug(
+                            "Auto-start localization skipped: cooldown after stop ({ElapsedMs:F0}ms < {CooldownMs}ms)",
+                            elapsedMs,
+                            cooldownMs);
+                        continue;
+                    }
+                }
+
+                _hasAutoStartedOnce = true;
+
+                _logger.LogInformation(
+                    "XLOC READY with active map '{Map}'. Auto-starting localization...",
+                    diag.CurrentActiveMap);
+
+                var ok = _xloc.StartLocalization();
+                if (!ok)
+                    _logger.LogWarning("Auto-start localization failed (StartLocalization returned false)");
+            }
+            catch (OperationCanceledException) when (stoppingToken.IsCancellationRequested)
+            {
+                break;
+            }
+            catch (Exception ex)
+            {
+                _logger.LogError(ex, "Error in XlocAutoLocalizationHostedService loop");
+            }
+        }
+    }
+}