83 lines
2.2 KiB
C#
83 lines
2.2 KiB
C#
using Microsoft.AspNetCore.Components;
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using Microsoft.AspNetCore.SignalR.Client;
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using RobotNet10.RobotApp.Client.Shared.Devices;
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using RobotNet10.Shared.Sensor;
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namespace RobotNet10.RobotApp.Client.Clients;
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/// <summary>
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/// SignalR client để kết nối với LidarHub
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/// </summary>
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public class LidarHubClient : IAsyncDisposable
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{
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private readonly HubConnection _hubConnection;
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private bool _disposed;
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public bool IsConnected => _hubConnection.State == HubConnectionState.Connected;
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public HubConnectionState ConnectionState => _hubConnection.State;
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public LidarHubClient(NavigationManager navigationManager)
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{
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var hubUrl = navigationManager.ToAbsoluteUri("/hubs/devices/lidar");
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_hubConnection = new HubConnectionBuilder()
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.WithUrl(hubUrl)
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.WithAutomaticReconnect()
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.Build();
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_hubConnection.Reconnecting += error =>
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{
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return Task.CompletedTask;
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};
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_hubConnection.Reconnected += connectionId =>
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{
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return Task.CompletedTask;
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};
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_hubConnection.Closed += error =>
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{
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return Task.CompletedTask;
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};
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}
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public async Task StartAsync()
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{
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if (_hubConnection.State == HubConnectionState.Disconnected)
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{
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await _hubConnection.StartAsync();
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}
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}
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public async Task StopAsync()
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{
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if (_hubConnection.State != HubConnectionState.Disconnected)
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{
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await _hubConnection.StopAsync();
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}
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}
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public async Task<LaserScan> GetLidarDataAsync(string deviceId)
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{
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var result = await _hubConnection.InvokeAsync<LaserScan?>("GetLidarData", deviceId);
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return result ?? new LaserScan();
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}
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public async Task<DeviceInfoDto?> GetDeviceInfoAsync(string deviceId)
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{
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return await _hubConnection.InvokeAsync<DeviceInfoDto?>("GetDeviceInfo", deviceId);
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}
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public async ValueTask DisposeAsync()
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{
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if (_disposed)
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return;
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_disposed = true;
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await StopAsync();
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await _hubConnection.DisposeAsync();
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GC.SuppressFinalize(this);
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}
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}
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