Denso/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Clients/SLAMClient.cs

using Microsoft.AspNetCore.Components;
using Microsoft.AspNetCore.SignalR.Client;
using RobotNet10.RobotApp.Client.Shared.SLAM;
using RobotNet10.RobotApp.Shared.Enums;
using RobotNet10.Shared.Geometry;
using RobotNet10.Shared.Numbers;

namespace RobotNet10.RobotApp.Client.Clients;

/// <summary>
/// SignalR client để kết nối với CartographerHub
/// </summary>
public class SLAMClient : IAsyncDisposable
{
    private readonly HubConnection _hubConnection;
    private bool _disposed;

    // Events từ server
    public event Action<SLAMState>? StateChanged;
    public event Action<int, int, int>? MapSaveProgressChanged;
    public event Action<string, bool>? IsProcessingChanged;

    public bool IsConnected => _hubConnection.State == HubConnectionState.Connected;
    public HubConnectionState ConnectionState => _hubConnection.State;

    // Cached state
    public SLAMState? CurrentState { get; private set; }
    public PoseDto? CurrentPose { get; private set; }

    public SLAMClient(NavigationManager navigationManager)
    {
        var hubUrl = navigationManager.ToAbsoluteUri("/hubs/slam");
        _hubConnection = new HubConnectionBuilder()
            .WithUrl(hubUrl)
            .WithAutomaticReconnect()
            .Build();

        // Subscribe to server events
        _hubConnection.On<SLAMState>("OnStateChanged", state =>
        {
            CurrentState = state;
            StateChanged?.Invoke(state);
        });

        _hubConnection.On<int, int, int>("OnMapSaveProgress", (workItemsAdded, workItemsCompleted, percentComplete) =>
        {
            MapSaveProgressChanged?.Invoke(workItemsAdded, workItemsCompleted, percentComplete);
        });

        _hubConnection.On<string, bool>("OnMapProcessingChanged", (mapName, isProcessing) =>
        {
            IsProcessingChanged?.Invoke(mapName, isProcessing);
        });

        _hubConnection.Reconnected += connectionId =>
        {
            // Refresh state after reconnect
            _ = RefreshStateAsync();
            return Task.CompletedTask;
        };
    }

    public async Task StartAsync()
    {
        if (_hubConnection.State == HubConnectionState.Disconnected)
        {
            await _hubConnection.StartAsync();
            // Get initial state
            await RefreshStateAsync();
        }
    }

    public async Task StopAsync()
    {
        if (_hubConnection.State != HubConnectionState.Disconnected)
        {
            await _hubConnection.StopAsync();
        }
    }

    /// <summary>
    /// Refresh current state from server
    /// </summary>
    public async Task RefreshStateAsync()
    {
        if (IsConnected)
        {
            try
            {
                CurrentState = await _hubConnection.InvokeAsync<SLAMState>("GetCurrentState");
            }
            catch
            {
                // Ignore errors
            }
        }
    }

    // Server method invocations

    public async Task<SLAMState> GetCurrentStateAsync()
    {
        var state = await _hubConnection.InvokeAsync<SLAMState>("GetCurrentState");
        CurrentState = state;
        return state;
    }

    /// <summary>
    /// Lấy tên map hiện tại đang được sử dụng
    /// </summary>
    public async Task<string?> GetCurrentMapAsync()
    {
        return await _hubConnection.InvokeAsync<string?>("GetCurrentMap");
    }

    public async Task<bool> StartLocalizationAsync(string mapName, PoseDto? initialPose = null)
    {
        return await _hubConnection.InvokeAsync<bool>("StartLocalization", mapName, initialPose);
    }

    public async Task StopLocalizationAsync()
    {
        await _hubConnection.InvokeAsync("StopLocalization");
    }

    public async Task<bool> StartScanMappingAsync(string mapName)
    {
        return await _hubConnection.InvokeAsync<bool>("StartScanMapping", mapName);
    }

    public async Task<string?> SaveMapAsync()
    {
        return await _hubConnection.InvokeAsync<string?>("SaveMap");
    }

    public async Task<MapInfoDto[]> ListMapsAsync()
    {
        return await _hubConnection.InvokeAsync<MapInfoDto[]>("ListMaps");
    }

    /// <summary>
    /// Lấy thông tin map và đăng ký nhận cập nhật trạng thái xử lý
    /// </summary>
    /// <param name="mapName">Tên map</param>
    /// <returns>MapInfoDto với trạng thái IsProcessing</returns>
    public async Task<MapInfoDto?> GetMapInfoAndSubscribeProcessingAsync(string mapName)
    {
        return await _hubConnection.InvokeAsync<MapInfoDto?>("GetMapInfoAndSubscribeProcessing", mapName);
    }

    /// <summary>
    /// Hủy đăng ký nhận cập nhật trạng thái xử lý
    /// </summary>
    /// <param name="mapName">Tên map</param>
    public async Task UnsubscribeMapProcessingAsync(string mapName)
    {
        await _hubConnection.InvokeAsync("UnsubscribeMapProcessing", mapName);
    }

    public async Task<bool> DeleteMapAsync(string mapName)
    {
        return await _hubConnection.InvokeAsync<bool>("DeleteMap", mapName);
    }

    /// <summary>
    /// Transform map origin to a new pose
    /// </summary>
    /// <param name="mapName">Name of the map to transform</param>
    /// <param name="newOrigin">New origin pose (position and orientation)</param>
    /// <returns>True if transform was successful</returns>
    public async Task<bool> TransformMapOriginAsync(string mapName, PoseDto newOrigin)
    {
        return await _hubConnection.InvokeAsync<bool>("TransformMapOrigin", mapName, newOrigin);
    }

    /// <summary>
    /// Rerender map image files (PNG, JPG, PGM) with custom OccupancyGridConfiguration.
    /// This is an async operation - returns true if processing started successfully.
    /// Monitor IsProcessingChanged event for completion notification.
    /// </summary>
    /// <param name="mapName">Name of the map to rerender</param>
    /// <param name="config">Custom occupancy grid configuration</param>
    /// <returns>True if rerender was started successfully</returns>
    public async Task<bool> RerenderMapWithConfigAsync(string mapName, OccupancyGridConfigurationDto config)
    {
        return await _hubConnection.InvokeAsync<bool>("RerenderMapWithConfig", mapName, config);
    }

    public async Task SetInitialPoseAsync(PoseDto pose)
    {
        await _hubConnection.InvokeAsync("SetInitialPose", pose);
    }

    /// <summary>
    /// Lấy occupancy grid mới hơn thời gian chỉ định
    /// </summary>
    /// <param name="since">Thời gian để so sánh</param>
    /// <returns>OccupancyGridDto nếu có update mới hơn, null nếu không có</returns>
    public async Task<OccupancyGridDto?> GetOccupancyGridAsync(DateTime since)
    {
        var grid = await _hubConnection.InvokeAsync<OccupancyGridDto?>("GetOccupancyGrid", since);
        return grid;
    }

    /// <summary>
    /// Lấy pose hiện tại của robot
    /// </summary>
    /// <returns>PoseDto nếu có pose, null nếu không có</returns>
    public async Task<PoseDto?> GetCurrentPoseAsync()
    {
        var pose = await _hubConnection.InvokeAsync<PoseDto?>("GetCurrentPose");
        if (pose != null)
        {
            CurrentPose = pose;
        }
        return pose;
    }

    /// <summary>
    /// Lấy sample point cloud từ tất cả lidar devices (trong global frame)
    /// </summary>
    /// <returns>Danh sách Point32 trong global frame</returns>
    public async Task<RobotNet10.Shared.Numbers.Vector3[]> GetSamplePointCloudAsync()
    {
        return await _hubConnection.InvokeAsync<RobotNet10.Shared.Numbers.Vector3[]>("GetSamplePointCloud") ?? [];
    }

    public async ValueTask DisposeAsync()
    {
        if (_disposed)
            return;

        _disposed = true;
        await StopAsync();
        await _hubConnection.DisposeAsync();
        GC.SuppressFinalize(this);
    }
}