105 lines
3.6 KiB
C#
105 lines
3.6 KiB
C#
using Microsoft.AspNetCore.Components;
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using Microsoft.AspNetCore.SignalR.Client;
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using RobotNet10.RobotApp.Shared.NavigationMonitor;
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namespace RobotNet10.RobotApp.Client.Clients;
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public class NavigationMonitorHubClient : 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 event Action<NavigationTelemetryDto>? TelemetryReceived;
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public event Action<NavigationSafetyViolationDto>? SafetyViolationReceived;
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public event Action<NavigationMonitorStateDto>? MonitorStateChanged;
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public event Action<HubConnectionState>? ConnectionStateChanged;
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public NavigationMonitorHubClient(NavigationManager navigationManager)
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{
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var hubUrl = navigationManager.ToAbsoluteUri("/hubs/motion/navigation-monitor");
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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.On<NavigationTelemetryDto>("ReceiveTelemetry", dto => TelemetryReceived?.Invoke(dto));
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_hubConnection.On<NavigationSafetyViolationDto>("ReceiveSafetyViolation", dto => SafetyViolationReceived?.Invoke(dto));
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_hubConnection.On<NavigationMonitorStateDto>("ReceiveMonitorState", dto => MonitorStateChanged?.Invoke(dto));
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_hubConnection.Reconnecting += async (_) =>
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{
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ConnectionStateChanged?.Invoke(_hubConnection.State);
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await Task.CompletedTask;
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};
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_hubConnection.Reconnected += async (_) =>
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{
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ConnectionStateChanged?.Invoke(_hubConnection.State);
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// Re-subscribe after reconnect
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await _hubConnection.InvokeAsync("Subscribe");
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};
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_hubConnection.Closed += async (_) =>
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{
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ConnectionStateChanged?.Invoke(_hubConnection.State);
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await 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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ConnectionStateChanged?.Invoke(_hubConnection.State);
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await _hubConnection.InvokeAsync("Subscribe");
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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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try { await _hubConnection.InvokeAsync("Unsubscribe"); } catch { }
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await _hubConnection.StopAsync();
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}
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}
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public async Task SetTelemetryEnabledAsync(bool enabled)
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{
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await _hubConnection.InvokeAsync("SetTelemetryEnabled", enabled);
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}
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public async Task SetSafetyStopEnabledAsync(bool enabled)
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{
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await _hubConnection.InvokeAsync("SetSafetyStopEnabled", enabled);
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}
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public async Task UpdateSafetyConfigAsync(NavigationSafetyConfigDto config)
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{
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await _hubConnection.InvokeAsync("UpdateSafetyConfig", config);
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}
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public async Task ReleaseSafetyStopAsync()
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{
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await _hubConnection.InvokeAsync("ReleaseSafetyStop");
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}
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public async Task<NavigationMonitorStateDto> GetStateAsync()
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{
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return await _hubConnection.InvokeAsync<NavigationMonitorStateDto>("GetState");
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}
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public async ValueTask DisposeAsync()
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{
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if (_disposed) return;
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_disposed = true;
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await StopAsync();
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await _hubConnection.DisposeAsync();
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}
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}
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