Initial commit

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Clients/OdometryHubClient.cs

@@ -0,0 +1,90 @@
+using Microsoft.AspNetCore.Components;
+using Microsoft.AspNetCore.SignalR.Client;
+using RobotNet10.RobotApp.Client.Shared.Motion;
+
+namespace RobotNet10.RobotApp.Client.Clients;
+
+/// <summary>
+/// SignalR client kết nối tới OdometryHub - hiển thị odom (pose + velocity) realtime
+/// </summary>
+public class OdometryHubClient : IAsyncDisposable
+{
+    private readonly HubConnection _hubConnection;
+    private bool _disposed;
+
+    /// <summary>
+    /// Sự kiện nhận odometry mới (broadcast từ server ~10 Hz)
+    /// </summary>
+    public event Action<OdometryDto>? OdometryReceived;
+
+    /// <summary>
+    /// Trạng thái kết nối thay đổi
+    /// </summary>
+    public event Action<HubConnectionState>? ConnectionStateChanged;
+
+    public bool IsConnected => _hubConnection.State == HubConnectionState.Connected;
+    public HubConnectionState ConnectionState => _hubConnection.State;
+
+    public OdometryHubClient(NavigationManager navigationManager)
+    {
+        var hubUrl = navigationManager.ToAbsoluteUri("/hubs/odometry");
+        _hubConnection = new HubConnectionBuilder()
+            .WithUrl(hubUrl)
+            .WithAutomaticReconnect()
+            .Build();
+
+        _hubConnection.On<OdometryDto>("ReceiveOdometry", dto => OdometryReceived?.Invoke(dto));
+
+        _hubConnection.Reconnecting += _ =>
+        {
+            ConnectionStateChanged?.Invoke(_hubConnection.State);
+            return Task.CompletedTask;
+        };
+        _hubConnection.Reconnected += _ =>
+        {
+            ConnectionStateChanged?.Invoke(_hubConnection.State);
+            return Task.CompletedTask;
+        };
+        _hubConnection.Closed += _ =>
+        {
+            ConnectionStateChanged?.Invoke(_hubConnection.State);
+            return Task.CompletedTask;
+        };
+    }
+
+    public async Task StartAsync()
+    {
+        if (_hubConnection.State == HubConnectionState.Disconnected)
+        {
+            await _hubConnection.StartAsync();
+            ConnectionStateChanged?.Invoke(_hubConnection.State);
+        }
+    }
+
+    public async Task StopAsync()
+    {
+        if (_hubConnection.State != HubConnectionState.Disconnected)
+        {
+            await _hubConnection.StopAsync();
+            ConnectionStateChanged?.Invoke(_hubConnection.State);
+        }
+    }
+
+    /// <summary>
+    /// Lấy odometry hiện tại (on-demand)
+    /// </summary>
+    public async Task<OdometryDto?> GetCurrentOdometryAsync()
+    {
+        return await _hubConnection.InvokeAsync<OdometryDto?>("GetCurrentOdometry");
+    }
+
+    public async ValueTask DisposeAsync()
+    {
+        if (_disposed)
+            return;
+        _disposed = true;
+        await StopAsync();
+        await _hubConnection.DisposeAsync();
+        GC.SuppressFinalize(this);
+    }
+}