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.Client/Pages/Motion/ManualControl.razor
+++ b/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Pages/Motion/ManualControl.razor
@@ -0,0 +1,133 @@
+@page "/motion/manualcontrol"
+@rendermode InteractiveWebAssemblyNoPrerender
+@implements IAsyncDisposable
+
+@using RobotNet10.RobotApp.Client.Clients
+@using RobotNet10.RobotApp.Client.Components.Motion
+@using RobotNet10.RobotApp.Client.Shared.Motion
+@using Microsoft.AspNetCore.SignalR.Client
+@using MudBlazor
+
+<PageTitle>Manual Control</PageTitle>
+
+<MudContainer MaxWidth="MaxWidth.ExtraLarge" Class="mt-4">
+    @* Disconnected Overlay *@
+    <MudOverlay Visible="@(!isHubReady)" DarkBackground="true" ZIndex="9999" AutoClose="false">
+        <MudStack AlignItems="AlignItems.Center" Spacing="4">
+            <MudProgressCircular Color="Color.Primary" Indeterminate="true" Size="Size.Large" />
+            <MudText Typo="Typo.h5" Color="Color.Primary">MotionHub Disconnected</MudText>
+            <MudText Typo="Typo.body1">Waiting for connection...</MudText>
+        </MudStack>
+    </MudOverlay>
+
+    <MudStack Spacing="4">
+        @* 4 Cards Grid *@
+        <MudGrid>
+            @* Card 1: Manual Control *@
+            <MudItem xs="12" md="6">
+                <ManualControlCard HubClient="motionHubClient" IsHubReady="isHubReady" />
+            </MudItem>
+
+            @* Card 2: Odometry (from OdometryService → XLOC) *@
+            <MudItem xs="12" md="6">
+                <OdometryCard Odometry="currentOdometry" IsHubReady="odometryHubReady" />
+            </MudItem>
+
+            @* Card 3: Lift Module *@
+            <MudItem xs="12" md="6">
+                <LiftModuleCard HubClient="motionHubClient" IsHubReady="isHubReady" />
+            </MudItem>
+
+            @* Card 4: Rotation Module *@
+            <MudItem xs="12" md="6">
+                <RotationModuleCard HubClient="motionHubClient" IsHubReady="isHubReady" />
+            </MudItem>
+        </MudGrid>
+    </MudStack>
+</MudContainer>
+
+<MudThemeProvider IsDarkMode />
+<MudPopoverProvider />
+<MudDialogProvider />
+<MudSnackbarProvider />
+
+@code {
+    [Inject] private MotionHubClient MotionHubClientInjected { get; set; } = null!;
+    [Inject] private OdometryHubClient OdometryHubClientInjected { get; set; } = null!;
+    [Inject] private ISnackbar Snackbar { get; set; } = null!;
+
+    private MotionHubClient motionHubClient = null!;
+    private bool isHubReady = false;
+
+    private OdometryHubClient odometryHubClient = null!;
+    private bool odometryHubReady = false;
+    private OdometryDto? currentOdometry;
+
+    protected override async Task OnInitializedAsync()
+    {
+        motionHubClient = MotionHubClientInjected;
+        odometryHubClient = OdometryHubClientInjected;
+
+        // Subscribe to connection state changes
+        motionHubClient.ConnectionStateChanged += OnConnectionStateChanged;
+        odometryHubClient.ConnectionStateChanged += OnOdometryConnectionStateChanged;
+        odometryHubClient.OdometryReceived += OnOdometryReceived;
+
+        try
+        {
+            await motionHubClient.StartAsync();
+            isHubReady = motionHubClient.IsConnected;
+
+            // Wait a bit for connection to establish
+            await Task.Delay(500);
+            isHubReady = motionHubClient.IsConnected;
+
+            await odometryHubClient.StartAsync();
+            odometryHubReady = odometryHubClient.IsConnected;
+
+            if (odometryHubReady)
+            {
+                currentOdometry = await odometryHubClient.GetCurrentOdometryAsync();
+            }
+        }
+        catch (Exception ex)
+        {
+            Snackbar.Add($"Error initializing: {ex.Message}", Severity.Error);
+            isHubReady = false;
+        }
+    }
+
+    private void OnConnectionStateChanged(HubConnectionState state)
+    {
+        isHubReady = state == HubConnectionState.Connected;
+        InvokeAsync(StateHasChanged);
+    }
+
+    private void OnOdometryConnectionStateChanged(HubConnectionState state)
+    {
+        odometryHubReady = state == HubConnectionState.Connected;
+        InvokeAsync(StateHasChanged);
+    }
+
+    private void OnOdometryReceived(OdometryDto dto)
+    {
+        currentOdometry = dto;
+        InvokeAsync(StateHasChanged);
+    }
+
+    public async ValueTask DisposeAsync()
+    {
+        if (motionHubClient != null)
+        {
+            motionHubClient.ConnectionStateChanged -= OnConnectionStateChanged;
+        }
+
+        if (odometryHubClient != null)
+        {
+            odometryHubClient.ConnectionStateChanged -= OnOdometryConnectionStateChanged;
+            odometryHubClient.OdometryReceived -= OnOdometryReceived;
+        }
+
+        await ValueTask.CompletedTask;
+    }
+}