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2026-07-03 16:31:37 +07:00
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srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Components/Motion/LiftModuleCard.razor Normal file
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@using RobotNet10.RobotApp.Client.Clients
@using RobotNet10.RobotApp.Client.Shared.Modules
@using MudBlazor
<MudPaper Class="pa-4" Style="height: 100%;">
<MudStack Spacing="3">
<MudStack Row="true" Justify="Justify.SpaceBetween" AlignItems="AlignItems.Center">
<MudText Typo="Typo.h5">Lift Module</MudText>
<MudIconButton Icon="@Icons.Material.Filled.Refresh"
Color="Color.Primary"
Size="Size.Small"
OnClick="RefreshStatus"
Disabled="@(!IsHubReady || isLoading)" />
</MudStack>
@* Lift Status Information *@
@if (liftStatus != null)
{
<MudCard>
<MudCardContent>
<MudText Typo="Typo.h6" Class="mb-3">Module Status</MudText>
<MudStack Spacing="2">
<MudStack Row="true" Justify="Justify.SpaceBetween">
<MudText>State:</MudText>
<MudChip T="string" Color="@GetStateColor(liftStatus.State)" Size="Size.Small">
@liftStatus.State
</MudChip>
</MudStack>
<MudStack Row="true" Justify="Justify.SpaceBetween">
<MudText>Ready:</MudText>
<MudChip T="bool" Color="@(liftStatus.IsReady ? Color.Success : Color.Default)" Size="Size.Small">
@liftStatus.IsReady
</MudChip>
</MudStack>
<MudStack Row="true" Justify="Justify.SpaceBetween">
<MudText>Current Position:</MudText>
<MudText>
@($"{liftStatus.CurrentPosition:N0} counts")
(@($"{ConvertCountsToMeters(liftStatus.CurrentPosition):F3} m"))
</MudText>
</MudStack>
</MudStack>
</MudCardContent>
</MudCard>
}
@* Lift Control Buttons *@
<MudStack Spacing="3">
<MudText Typo="Typo.h6">Homing & Movement Controls</MudText>
<MudStack Row="true" Spacing="3" AlignItems="AlignItems.Center">
<MudButton Variant="Variant.Filled"
Color="Color.Primary"
OnClick="LiftHome"
Disabled="@(isLoading || !IsHubReady)">
<MudIcon Icon="@Icons.Material.Filled.HomeRepairService" Class="mr-2" />
<MudText>Homing</MudText>
</MudButton>
</MudStack>
<MudStack Row="true" Spacing="3" AlignItems="@AlignItems.Center">
<MudButton Variant="Variant.Filled"
Color="Color.Success"
OnClick="LiftUp"
Disabled="@(isLoading || !IsHubReady || liftStatus?.IsReady != true)">
<MudIcon Icon="@Icons.Material.Filled.ArrowUpward" Class="mr-2" />
<MudText>Up</MudText>
</MudButton>
<MudButton Variant="Variant.Filled"
Color="Color.Error"
OnClick="LiftDown"
Disabled="@(isLoading || !IsHubReady || liftStatus?.IsReady != true)">
<MudIcon Icon="@Icons.Material.Filled.ArrowDownward" Class="mr-2" />
<MudText>Down</MudText>
</MudButton>
<MudButton Variant="Variant.Filled"
Color="Color.Warning"
OnClick="LiftStop"
Disabled="@(!IsHubReady || liftStatus?.IsReady != true || liftStatus?.State != "Moving")">
<MudIcon Icon="@Icons.Material.Filled.Stop" Class="mr-2" />
<MudText>Stop</MudText>
</MudButton>
</MudStack>
<MudStack Row="true" Spacing="3" AlignItems="@AlignItems.Center">
<MudNumericField @bind-Value="targetHeightMeters"
Label="Target Height (m)"
Variant="Variant.Outlined"
Min="0"
Class="flex-grow-1" />
<MudButton Variant="Variant.Filled"
Color="Color.Primary"
OnClick="MoveToPosition"
Disabled="@(isLoading || !IsHubReady || liftStatus?.IsReady != true)">
<MudIcon Icon="@Icons.Material.Filled.LocationOn" Class="mr-2" />
<MudText>Go</MudText>
</MudButton>
</MudStack>
<MudText Typo="Typo.caption">
Scale: 10,000 counts = 0.01 m (1,000,000 counts = 1 m)
</MudText>
</MudStack>
</MudStack>
</MudPaper>
@code {
[Parameter, EditorRequired] public MotionHubClient HubClient { get; set; } = null!;
[Parameter] public bool IsHubReady { get; set; }
[Inject] private ISnackbar Snackbar { get; set; } = null!;
[Inject] private CiA402ServoHubClient ServoHubClient { get; set; } = null!;
private LiftModuleStatusDto? liftStatus;
private bool isLoading = false;
private double targetHeightMeters = 0.0;
private bool _previousIsHubReady = false;
protected override async Task OnParametersSetAsync()
{
// Detect when IsHubReady changes from false to true
if (IsHubReady && !_previousIsHubReady)
{
await RefreshStatus();
}
_previousIsHubReady = IsHubReady;
// Đảm bảo kết nối tới CiA402ServoHub để homing trực tiếp
if (!ServoHubClient.IsConnected)
{
try
{
await ServoHubClient.StartAsync();
}
catch
{
// Nếu connect lỗi, homing sẽ báo lỗi qua Snackbar
}
}
}
public async Task RefreshStatus()
{
if (isLoading || !IsHubReady) return;
try
{
isLoading = true;
liftStatus = await HubClient.GetLiftStatusAsync();
if (liftStatus != null)
{
targetHeightMeters = ConvertCountsToMeters(liftStatus.CurrentPosition);
}
StateHasChanged();
}
catch (Exception ex)
{
Snackbar.Add($"Error refreshing lift status: {ex.Message}", Severity.Error);
}
finally
{
isLoading = false;
}
}
private Color GetStateColor(string state)
{
return state switch
{
"Ready" => Color.Success,
"Moving" => Color.Info,
"Error" => Color.Error,
"Homing" => Color.Warning,
"Initializing" => Color.Warning,
_ => Color.Default
};
}
private async Task LiftUp()
{
if (!IsHubReady || isLoading || liftStatus?.IsReady != true)
return;
try
{
isLoading = true;
Snackbar.Add("Lifting up...", Severity.Info);
await HubClient.LiftUpAsync();
Snackbar.Add("Lift up command sent successfully", Severity.Success);
await Task.Delay(500);
await RefreshStatus();
}
catch (Exception ex)
{
Snackbar.Add($"Error lifting up: {ex.Message}", Severity.Error);
}
finally
{
isLoading = false;
StateHasChanged();
}
}
private async Task LiftDown()
{
if (!IsHubReady || isLoading || liftStatus?.IsReady != true)
return;
try
{
isLoading = true;
Snackbar.Add("Lifting down...", Severity.Info);
await HubClient.LiftDownAsync();
Snackbar.Add("Lift down command sent successfully", Severity.Success);
await Task.Delay(500);
await RefreshStatus();
}
catch (Exception ex)
{
Snackbar.Add($"Error lifting down: {ex.Message}", Severity.Error);
}
finally
{
isLoading = false;
StateHasChanged();
}
}
private async Task LiftStop()
{
if (!IsHubReady || liftStatus?.IsReady != true)
return;
try
{
await HubClient.LiftStopAsync();
Snackbar.Add("Lift stop command sent", Severity.Info);
await Task.Delay(300);
await RefreshStatus();
}
catch (Exception ex)
{
Snackbar.Add($"Error stopping lift: {ex.Message}", Severity.Error);
}
finally
{
StateHasChanged();
}
}
private async Task MoveToPosition()
{
if (!IsHubReady || isLoading || liftStatus?.IsReady != true)
return;
try
{
isLoading = true;
var targetCounts = ConvertMetersToCounts(targetHeightMeters);
Snackbar.Add($"Moving to height {targetHeightMeters:F3} m (~{targetCounts} counts)...", Severity.Info);
await HubClient.LiftToPositionAsync(targetCounts);
Snackbar.Add($"Move to height {targetHeightMeters:F3} m command sent successfully", Severity.Success);
await Task.Delay(500);
await RefreshStatus();
}
catch (Exception ex)
{
Snackbar.Add($"Error moving to position: {ex.Message}", Severity.Error);
}
finally
{
isLoading = false;
StateHasChanged();
}
}
private async Task LiftHome()
{
if (isLoading)
return;
try
{
isLoading = true;
Snackbar.Add("Starting lift homing (direct device)...", Severity.Info);
const string liftDeviceId = "lift-motor";
// Dùng cùng tham số như appsettings (hoặc theo nhu cầu của bạn)
const byte homingMethod = 21;
const int homingSpeed = 20000;
const int homingOffset = 0;
// Ghi homing params xuống drive giống CiA402ServoCard
await ServoHubClient.SetHomingMethodAsync(liftDeviceId, homingMethod);
await ServoHubClient.SetHomingSpeedAsync(liftDeviceId, homingSpeed);
await ServoHubClient.SetHomingOffsetAsync(liftDeviceId, homingOffset);
// Start homing trực tiếp trên thiết bị
await ServoHubClient.StartHomingAsync(liftDeviceId, homingMethod, homingSpeed);
Snackbar.Add("Lift homing command sent to lift-motor", Severity.Success);
await Task.Delay(500);
await RefreshStatus();
}
catch (Exception ex)
{
Snackbar.Add($"Error homing lift: {ex.Message}", Severity.Error);
}
finally
{
isLoading = false;
StateHasChanged();
}
}
private static double ConvertCountsToMeters(int counts)
{
// 10,000 counts = 0.01 m => 1,000,000 counts = 1 m
return counts / 1_000_000.0;
}
private static int ConvertMetersToCounts(double meters)
{
return (int)Math.Round(meters * 1_000_000.0);
}
}