239 lines
10 KiB
C#
239 lines
10 KiB
C#
using Microsoft.AspNetCore.Components.Authorization;
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using Microsoft.AspNetCore.Identity;
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using Microsoft.EntityFrameworkCore;
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using MudBlazor.Services;
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using NLog.Web;
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using RobotNet10.CustomConfiguration.Extensions;
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using RobotNet10.FleetManager.Client;
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using RobotNet10.FleetManager.Components;
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using RobotNet10.FleetManager.Components.Account;
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using RobotNet10.FleetManager.Data;
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using RobotNet10.FleetManager.Events;
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using RobotNet10.FleetManager.Hubs;
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using RobotNet10.FleetManager.Script;
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using RobotNet10.FleetManager.Services;
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using RobotNet10.FleetManager.Services.ConfigManager;
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using RobotNet10.FleetManager.Services.OpenACS;
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using RobotNet10.FleetManager.Services.RobotConnections;
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using RobotNet10.FleetManager.Services.RobotManager;
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using RobotNet10.FleetManager.Services.Script;
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using RobotNet10.FleetManager.Services.TrafficControl;
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using RobotNet10.FleetManager.Services.TrafficControl.ACS;
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using RobotNet10.FleetManager.Services.TrafficControl.Services;
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using RobotNet10.GlobalPathPlanner;
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using RobotNet10.MapManager.Extensions;
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using RobotNet10.ScriptEngine;
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using RobotNet10.ScriptEngine.Helpers;
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using RobotNet10.StorageManager;
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using System.Diagnostics;
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using System.Globalization;
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CultureInfo.DefaultThreadCurrentCulture = new CultureInfo("en-US");
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var builder = WebApplication.CreateBuilder(args);
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builder.Host.UseNLog();
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// Add services to the container.
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builder.Services.AddRazorComponents()
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.AddInteractiveServerComponents()
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.AddInteractiveWebAssemblyComponents()
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.AddAuthenticationStateSerialization();
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builder.Services.AddCascadingAuthenticationState();
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builder.Services.AddScoped<IdentityRedirectManager>();
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builder.Services.AddScoped<AuthenticationStateProvider, IdentityRevalidatingAuthenticationStateProvider>();
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builder.Services.AddAuthentication()
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.AddBearerToken(IdentityConstants.BearerScheme);
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var connectionString = builder.Configuration.GetConnectionString("DefaultConnection") ?? throw new InvalidOperationException("Connection string 'DefaultConnection' not found.");
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builder.Services.AddDbContext<ApplicationDbContext>(options => options.UseSqlServer(connectionString));
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builder.Services.AddDatabaseDeveloperPageExceptionFilter();
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builder.Services.AddIdentity<ApplicationUser, IdentityRole>(options =>
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{
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options.SignIn.RequireConfirmedAccount = true;
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options.Lockout.AllowedForNewUsers = false;
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options.Password.RequireNonAlphanumeric = false;
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options.Password.RequireUppercase = false;
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options.Password.RequireLowercase = false;
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options.Password.RequireDigit = false;
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})
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.AddEntityFrameworkStores<ApplicationDbContext>()
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.AddSignInManager()
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.AddDefaultTokenProviders();
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builder.Services.AddSingleton<IEmailSender<ApplicationUser>, IdentityNoOpEmailSender>();
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var mapConnectionString = builder.Configuration.GetConnectionString("MapEditorConnection") ?? throw new InvalidOperationException("Connection string 'MapEditorConnection' not found.");
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builder.Services.AddMapManager(builder.Configuration, options => options.UseSqlServer(mapConnectionString, b => b.MigrationsAssembly("RobotNet10.FleetManager").UseQuerySplittingBehavior(QuerySplittingBehavior.SplitQuery)), "LayoutImage");
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builder.Services.AddMudServices();
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builder.Services.AddNavigationMenu(builder.Configuration["APP_VERSION"] ?? "dev");
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builder.Services.AddControllers();
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// Register VDA5050 Event Bus (must be registered before services that use it)
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builder.Services.AddSingleton<IRobotEventBus, RobotEventBus>();
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// Register StorageConfig for RobotModelImages
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builder.Services.Configure<StorageConfig>("RobotModelImages", options =>
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{
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builder.Configuration.GetSection("RobotModelImage").Bind(options);
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});
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// Register Robot Management Services (with event bus for cache invalidation)
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builder.Services.AddScoped<IRobotModelService, RobotModelService>();
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builder.Services.AddScoped<IRobotService, RobotService>();
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builder.Services.AddScoped<IRobotModelImageStorageService, RobotModelImageStorageService>();
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builder.Services.AddScoped<IRobotModelMapService, RobotModelMapService>();
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// Register SignalR Hub Context as BackgroundService (broadcasts at 1Hz)
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builder.Services.AddSingleton<RobotStateHubContext>();
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builder.Services.AddHostedService(sp => sp.GetRequiredService<RobotStateHubContext>());
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// Register Logger service (factory pattern)
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builder.Services.AddSingleton(typeof(RobotNet10.FleetManager.Services.Logger<>));
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// Register ConfigManager
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builder.Services.AddSingleton<IConnectionConfig, ConnectionConfig>();
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builder.Services.AddSingleton<ITrafficConfig, TrafficConfig>();
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builder.Services.AddSingleton<IACSTrafficConfig, ACSTrafficConfig>();
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// Register OpenACS Services
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builder.Services.AddSingleton<TrafficACS>();
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builder.Services.AddSingleton<OpenACSPublisher>();
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builder.Services.AddHostedService(sp => sp.GetRequiredService<OpenACSPublisher>());
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// Register ACS Order Control
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builder.Services.AddSingleton<IOrderControlService, OrderACSControl>();
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// Note: IRobotEventBus is registered above with Robot Management Services
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// Register VDA5050 RobotConnections Service
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builder.Services.AddSingleton<IRobotConnectionsService, RobotConnectionsService>();
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// Register VDA5050 RobotManager Service
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builder.Services.AddSingleton<RobotManagerService>();
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builder.Services.AddSingleton<IRobotManagerService>(sp => sp.GetRequiredService<RobotManagerService>());
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builder.Services.AddHostedService(sp => sp.GetRequiredService<RobotManagerService>());
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// Register Path Planner Factory
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builder.Services.AddSingleton<IPathPlannerFactory, PathPlannerFactory>();
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// Register TrafficControl Sub-Services (order matters due to dependencies)
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// 1. RouteStorageService - No dependencies
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builder.Services.AddSingleton<IRouteStorageService, RouteStorageService>();
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// 2. PriorityService - Only needs Logger
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builder.Services.AddSingleton<IPriorityService, PriorityService>();
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// 3. RobotInfoService - Needs IServiceScopeFactory, IRobotManagerService, IRobotEventBus
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builder.Services.AddSingleton<IRobotInfoService, RobotInfoService>();
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// 4. EdgeReservationService - Needs INodeService, IEdgeService, IServiceScopeFactory, IRobotInfoService
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builder.Services.AddSingleton<IEdgeReservationService, EdgeReservationService>();
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// 5. OrderUpdateService - Needs IRobotManagerService
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builder.Services.AddSingleton<IOrderUpdateService, OrderUpdateService>();
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// 6. ConflictDetectionService - Needs many services
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builder.Services.AddSingleton<IConflictDetectionService, ConflictDetectionService>();
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// 7. ConflictResolutionService - Needs many services
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builder.Services.AddSingleton<IConflictResolutionService, ConflictResolutionService>();
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// 8. BaseHorizonManagementService - Needs many services
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builder.Services.AddSingleton<IBaseHorizonManagementService, BaseHorizonManagementService>();
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// 9. RoutePlanningService - Needs many services
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builder.Services.AddSingleton<IRoutePlanningService, RoutePlanningService>();
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// Register TrafficControl Service (Orchestrator) - Must be registered after all sub-services
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builder.Services.AddSingleton<TrafficControlService>();
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builder.Services.AddSingleton<ITrafficControlService , TrafficControlService>(sp => sp.GetRequiredService<TrafficControlService>());
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//builder.Services.AddHostedService(sp => sp.GetRequiredService<TrafficControlService>());
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// Add SignalR
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builder.Services.AddSignalR();
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// Add Custom Configuration
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builder.Services.AddCustomConfiguration(builder.Configuration, "StorageConfig");
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var scriptConnectionString = builder.Configuration.GetConnectionString("ScriptEngineConnection") ?? throw new InvalidOperationException("Connection string 'ScriptEngineConnection' not found.");
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builder.Services.AddScriptEngine<ScriptEngineResource>(options => options.UseSqlServer(scriptConnectionString, b => b.MigrationsAssembly("RobotNet10.FleetManager")));
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// Add Script Services
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builder.Services.AddSingleton<IRobotManager, ScriptRobotmanager>();
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builder.Services.AddSingleton<ILayoutManager, ScriptLayoutManager>();
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#if DEBUG
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var dllPath = builder.Configuration["ScriptEngine:RuntimeDllFolder"] ?? "dlls";
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if (!Directory.Exists(dllPath))
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{
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Directory.CreateDirectory(dllPath);
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}
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var netCoreDir = Path.GetDirectoryName(typeof(object).Assembly.Location);
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if (!string.IsNullOrEmpty(netCoreDir))
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{
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var coreSrc = Path.Combine(netCoreDir, "System.Private.CoreLib.dll");
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var runtimeSrc = Path.Combine(netCoreDir, "System.Runtime.dll");
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var linqSrc = Path.Combine(netCoreDir, "System.Linq.Expressions.dll");
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var scriptSrc = typeof(RobotNet10.Script.ILogger).Assembly.Location;
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var fleetSrc = typeof(RobotNet10.FleetManager.Script.IRobot).Assembly.Location;
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var coreDest = Path.Combine(dllPath, "System.Private.CoreLib.dll");
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var runtimeDest = Path.Combine(dllPath, "System.Runtime.dll");
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var linqDest = Path.Combine(dllPath, "System.Linq.Expressions.dll");
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var scriptDest = Path.Combine(dllPath, "RobotNet10.Script.dll");
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var fleetDest = Path.Combine(dllPath, "RobotNet10.FleetManager.Script.dll");
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if (!File.Exists(coreDest)) File.Copy(coreSrc, coreDest);
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if (!File.Exists(runtimeDest)) File.Copy(runtimeSrc, runtimeDest);
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if (!File.Exists(linqDest)) File.Copy(linqSrc, linqDest);
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File.Copy(scriptSrc, scriptDest, true);
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File.Copy(fleetSrc, fleetDest, true);
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}
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#endif
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var app = builder.Build();
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await app.Services.SeedApplicationDbAsync();
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await app.Services.SeedScriptEngineDbAsync();
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await app.Services.SeedMapManagerAsync();
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// Configure the HTTP request pipeline.
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if (app.Environment.IsDevelopment())
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{
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app.UseWebAssemblyDebugging();
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app.UseMigrationsEndPoint();
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}
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else
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{
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app.UseExceptionHandler("/Error", createScopeForErrors: true);
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// The default HSTS value is 30 days. You may want to change this for production scenarios, see https://aka.ms/aspnetcore-hsts.
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app.UseHsts();
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}
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app.UseStatusCodePagesWithReExecute("/not-found", createScopeForStatusCodePages: true);
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app.UseHttpsRedirection();
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app.UseAntiforgery();
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app.MapStaticAssets();
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app.MapRazorComponents<App>()
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.AddInteractiveServerRenderMode()
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.AddInteractiveWebAssemblyRenderMode()
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.AddAdditionalAssemblies(typeof(RobotNet10.FleetManager.Client._Imports).Assembly);
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// Map API controllers
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app.MapControllers();
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// Map SignalR Hubs
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app.MapHub<RobotStateHub>("/hubs/robot-state");
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// Add additional endpoints required by the Identity /Account Razor components.
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app.MapAdditionalIdentityEndpoints();
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app.MapScriptEngineHubs();
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app.Run();
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