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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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namespace RobotNet10.RobotApp.Client.Clients;
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/// <summary>
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/// SignalR client để kết nối với CiA402ServoHub
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/// </summary>
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public class CiA402ServoHubClient : 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 CiA402ServoHubClient(NavigationManager navigationManager)
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{
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var hubUrl = navigationManager.ToAbsoluteUri("/hubs/devices/cia402servo");
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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<CiA402ServoDataDto> GetServoDataAsync(string deviceId)
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{
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var result = await _hubConnection.InvokeAsync<CiA402ServoDataDto?>("GetServoData", deviceId);
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return result ?? new CiA402ServoDataDto();
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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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// State Machine Control Methods
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public async Task EnableOperationAsync(string deviceId)
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{
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await _hubConnection.InvokeAsync("EnableOperationAsync", deviceId);
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}
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public async Task DisableOperationAsync(string deviceId)
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{
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await _hubConnection.InvokeAsync("DisableOperationAsync", deviceId);
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}
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public async Task QuickStopAsync(string deviceId)
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{
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await _hubConnection.InvokeAsync("QuickStopAsync", deviceId);
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}
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public async Task FaultResetAsync(string deviceId)
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{
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await _hubConnection.InvokeAsync("FaultResetAsync", deviceId);
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}
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public async Task ShutdownAsync(string deviceId)
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{
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await _hubConnection.InvokeAsync("ShutdownAsync", deviceId);
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}
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public async Task SwitchOnAsync(string deviceId)
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{
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await _hubConnection.InvokeAsync("SwitchOnAsync", deviceId);
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}
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public async Task EnableAsync(string deviceId)
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{
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await _hubConnection.InvokeAsync("EnableAsync", deviceId);
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}
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public async Task DisableAsync(string deviceId)
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{
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await _hubConnection.InvokeAsync("DisableAsync", deviceId);
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}
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// Operation Mode
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public async Task SetOperationModeAsync(string deviceId, string mode)
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{
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await _hubConnection.InvokeAsync("SetOperationModeAsync", deviceId, mode);
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}
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// Position Control
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public async Task SetTargetPositionAsync(string deviceId, int position)
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{
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await _hubConnection.InvokeAsync("SetTargetPositionAsync", deviceId, position);
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}
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public async Task MoveToPositionAsync(string deviceId, int position, uint velocity = 1000, uint acceleration = 5000, uint deceleration = 5000)
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{
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await _hubConnection.InvokeAsync("MoveToPositionAsync", deviceId, position, velocity, acceleration, deceleration);
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}
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// Velocity Control
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public async Task SetTargetVelocityAsync(string deviceId, int velocity)
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{
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await _hubConnection.InvokeAsync("SetTargetVelocityAsync", deviceId, velocity);
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}
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public async Task TargetVelocityAsync(string deviceId, int targetVelocity, uint acceleration = 5000, uint deceleration = 5000)
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{
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await _hubConnection.InvokeAsync("TargetVelocityAsync", deviceId, targetVelocity, acceleration, deceleration);
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}
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public async Task ProfileVelocityAsync(string deviceId, int targetVelocity, uint acceleration = 5000, uint deceleration = 5000)
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{
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await _hubConnection.InvokeAsync("ProfileVelocityAsync", deviceId, targetVelocity, acceleration, deceleration);
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}
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// Torque Control
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public async Task SetTargetTorqueAsync(string deviceId, short torque)
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{
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await _hubConnection.InvokeAsync("SetTargetTorqueAsync", deviceId, torque);
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}
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public async Task RunTorqueAsync(string deviceId, short torque)
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{
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await _hubConnection.InvokeAsync("RunTorqueAsync", deviceId, torque);
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}
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// Profile Settings
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public async Task SetProfileAccelerationAsync(string deviceId, uint acceleration)
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{
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await _hubConnection.InvokeAsync("SetProfileAccelerationAsync", deviceId, acceleration);
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}
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public async Task SetProfileDecelerationAsync(string deviceId, uint deceleration)
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{
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await _hubConnection.InvokeAsync("SetProfileDecelerationAsync", deviceId, deceleration);
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}
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public async Task SetProfileVelocityAsync(string deviceId, uint velocity)
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{
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await _hubConnection.InvokeAsync("SetProfileVelocityAsync", deviceId, velocity);
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}
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public async Task SetProfileSpeedAsync(string deviceId, uint velocity)
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{
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await _hubConnection.InvokeAsync("SetProfileSpeedAsync", deviceId, velocity);
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}
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/// <summary>
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/// Ghi cùng lúc cả 3 profile (speed, acceleration, deceleration) xuống drive.
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/// </summary>
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public async Task SetProfileSettingsAsync(string deviceId, uint profileSpeed, uint profileAcceleration, uint profileDeceleration)
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{
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await _hubConnection.InvokeAsync("SetProfileSettingsAsync", deviceId, profileSpeed, profileAcceleration, profileDeceleration);
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}
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// Homing
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public async Task SetHomingMethodAsync(string deviceId, byte method)
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{
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await _hubConnection.InvokeAsync("SetHomingMethodAsync", deviceId, method);
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}
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public async Task SetHomingSpeedAsync(string deviceId, int speed)
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{
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await _hubConnection.InvokeAsync("SetHomingSpeedAsync", deviceId, speed);
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}
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public async Task SetHomingOffsetAsync(string deviceId, int offset)
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{
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await _hubConnection.InvokeAsync("SetHomingOffsetAsync", deviceId, offset);
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}
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public async Task StartHomingAsync(string deviceId, byte method, int speed)
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{
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await _hubConnection.InvokeAsync("StartHomingAsync", deviceId, method, speed);
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}
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/// <summary>Đọc lại homing method từ drive để kiểm tra đã ghi xuống chưa.</summary>
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public async Task<byte> GetHomingMethodAsync(string deviceId)
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{
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return await _hubConnection.InvokeAsync<byte>("GetHomingMethodAsync", deviceId);
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}
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/// <summary>Đọc lại homing speed từ drive để kiểm tra đã ghi xuống chưa.</summary>
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public async Task<int> GetHomingSpeedAsync(string deviceId)
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{
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return await _hubConnection.InvokeAsync<int>("GetHomingSpeedAsync", deviceId);
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}
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/// <summary>Đọc lại homing offset từ drive để kiểm tra đã ghi xuống chưa.</summary>
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public async Task<int> GetHomingOffsetAsync(string deviceId)
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{
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return await _hubConnection.InvokeAsync<int>("GetHomingOffsetAsync", deviceId);
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}
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// Position Control - Additional Methods
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public async Task StartPositionMoveAsync(string deviceId)
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{
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await _hubConnection.InvokeAsync("StartPositionMoveAsync", deviceId);
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}
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public async Task WaitUntilAtTargetAsync(string deviceId, int tolerance = 100, bool useStatusword = true, int checkIntervalMs = 10)
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{
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await _hubConnection.InvokeAsync("WaitUntilAtTargetAsync", deviceId, tolerance, useStatusword, checkIntervalMs);
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}
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// Error and Status Information
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public async Task<bool> IsInFaultStateAsync(string deviceId)
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{
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return await _hubConnection.InvokeAsync<bool>("IsInFaultStateAsync", deviceId);
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}
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public async Task<byte> GetErrorRegisterAsync(string deviceId)
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{
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return await _hubConnection.InvokeAsync<byte>("GetErrorRegisterAsync", deviceId);
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}
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public async Task<ushort[]> GetErrorHistoryAsync(string deviceId)
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{
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return await _hubConnection.InvokeAsync<ushort[]>("GetErrorHistoryAsync", deviceId);
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}
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public async Task<ushort> GetLatestErrorCodeAsync(string deviceId)
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{
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return await _hubConnection.InvokeAsync<ushort>("GetLatestErrorCodeAsync", deviceId);
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}
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public async Task<bool> TryFaultResetAsync(string deviceId)
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{
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return await _hubConnection.InvokeAsync<bool>("TryFaultResetAsync", deviceId);
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}
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public async Task<bool> IsEnabledAsync(string deviceId)
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{
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return await _hubConnection.InvokeAsync<bool>("IsEnabledAsync", deviceId);
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}
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public async Task<bool> IsReadyAsync(string deviceId)
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{
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return await _hubConnection.InvokeAsync<bool>("IsReadyAsync", deviceId);
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}
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// Statusword & Controlword
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public async Task<ushort> GetStatuswordAsync(string deviceId)
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{
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return await _hubConnection.InvokeAsync<ushort>("GetStatuswordAsync", deviceId);
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}
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public async Task SetControlwordAsync(string deviceId, ushort controlwordValue)
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{
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await _hubConnection.InvokeAsync("SetControlwordAsync", deviceId, controlwordValue);
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}
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public async Task<string> GetStateAsync(string deviceId)
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{
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return await _hubConnection.InvokeAsync<string>("GetStateAsync", deviceId);
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}
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public async Task<string> GetOperationModeAsync(string deviceId)
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{
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return await _hubConnection.InvokeAsync<string>("GetOperationModeAsync", deviceId);
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}
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// Position, Velocity, Torque
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public async Task<int> GetActualPositionAsync(string deviceId)
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{
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return await _hubConnection.InvokeAsync<int>("GetActualPositionAsync", deviceId);
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}
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public async Task<int> GetActualVelocityAsync(string deviceId)
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{
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return await _hubConnection.InvokeAsync<int>("GetActualVelocityAsync", deviceId);
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}
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public async Task<short> GetActualTorqueAsync(string deviceId)
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{
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return await _hubConnection.InvokeAsync<short>("GetActualTorqueAsync", deviceId);
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}
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// Target Position Checking
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public async Task<bool> IsAtTargetAsync(string deviceId, int tolerance = 100, bool useStatusword = true)
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{
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return await _hubConnection.InvokeAsync<bool>("IsAtTarget", deviceId, tolerance, useStatusword);
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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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