97 lines
3.7 KiB
C#
97 lines
3.7 KiB
C#
using MudBlazor.Extensions;
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using RobotNet.VDA5050.Factsheet;
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using RobotNet.VDA5050.Type;
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using RobotNet10.RobotApp.Interfaces;
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using RobotNet10.RobotApp.Services.Exceptions;
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using System.Collections.ObjectModel;
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namespace RobotNet10.RobotApp.Services.Robot.Actions;
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[RobotAction(ActionType.ROTATE,
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[ActionScope.INSTANT, ActionScope.NODE, ActionScope.EDGE],
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[BlockingType.HARD],
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"Xoay robot tại chỗ.",
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"Robot đã xoay tại chỗ.")]
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public class RobotRotateAction(IServiceProvider ServiceProvider) : RobotAction(ServiceProvider)
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{
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private static readonly ReadOnlyCollection<ActionParameter> ActionParameters = new List<ActionParameter>
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{
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new()
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{
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Key = "angle",
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Description = "Góc xoay của robot. (rad)",
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ValueDataType = ValueDataType.FLOAT,
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IsOptional = false,
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}
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}.AsReadOnly();
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private double Angle = 0;
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private INavigation? RobotNavigation;
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private ILocalization? Localization;
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private const int MAX_TIMEOUT = 60000 * 2;
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private int CountTimeout = 0;
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protected override Task StartAction()
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{
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RobotNavigation = ServiceProvider.GetRequiredService<INavigation>();
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Localization = ServiceProvider.GetRequiredService<ILocalization>();
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RobotNavigation.Rotate(Angle);
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CountTimeout = 0;
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return base.StartAction();
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}
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protected override Task StopAction()
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{
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RobotNavigation?.CancelMovement();
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return base.StopAction();
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}
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protected override Task ExecuteAction()
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{
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if (RobotNavigation is null)
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{
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SetStatus(ActionEvent.FAILED);
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ResultDescription = "Module Navigation is not existed";
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}
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else if (RobotNavigation.State == NavigationState.Completed && Localization is not null && Math.Abs(Localization.Theta - Angle) * 180 / Math.PI < 5)
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{
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SetStatus(ActionEvent.FINISHED);
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ResultDescription = string.IsNullOrEmpty(ActionAttribute.ResultDescription) ? ResultDescription : ActionAttribute.ResultDescription;
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}
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else if (RobotNavigation.State == NavigationState.Error)
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{
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SetStatus(ActionEvent.FAILED);
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ResultDescription = $"Action Handle [{Type} - {Id}] - angle: {Angle} is failed";
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}
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else if (CountTimeout++ > MAX_TIMEOUT / ActionInterval)
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{
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RobotNavigation?.CancelMovement();
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SetStatus(ActionEvent.FAILED);
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ResultDescription = "Timeout action";
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}
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return base.ExecuteAction();
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}
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protected override void Initialize()
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{
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base.Initialize();
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if (ActionParameters.Count > 0)
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{
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foreach (var parameterStore in ActionParameters)
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{
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if (!parameterStore.IsOptional)
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{
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if (Action is null || Action.ActionParameters is null || !Action.ActionParameters.Any(a => a.Key == parameterStore.Key)) throw new ActionException($"Thiếu tham số bắt buộc '{parameterStore.Key}' cho action {Type}.");
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}
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}
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Parameters = Action is null || Action.ActionParameters is null ? [] : Action.ActionParameters;
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}
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var anglePara = Parameters.FirstOrDefault(p => p.Key == "angle") ?? throw new ActionException($"Action {Type} không tìm thấy parameter key 'angle'");
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var angleParse = double.TryParse(anglePara.Value, out double angleData);
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if (!angleParse) throw new ActionException($"Action {Type} có parameter 'angle' không đúng kiểu dữ liệu");
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Angle = angleData;
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}
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}
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