Denso/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Components/Motion/RotationModuleCard.razor

@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">Rotation Module</MudText>
            <MudIconButton Icon="@Icons.Material.Filled.Refresh"
                          Color="Color.Primary"
                          Size="Size.Small"
                          OnClick="RefreshStatus"
                          Disabled="@(!IsHubReady || isLoading)" />
        </MudStack>

        @* Rotation Status Information *@
        @if (rotationStatus != 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(rotationStatus.State)" Size="Size.Small">
                                @rotationStatus.State
                            </MudChip>
                        </MudStack>
                        <MudStack Row="true" Justify="Justify.SpaceBetween">
                            <MudText>Ready:</MudText>
                            <MudChip T="bool" Color="@(rotationStatus.IsReady ? Color.Success : Color.Default)" Size="Size.Small">
                                @rotationStatus.IsReady
                            </MudChip>
                        </MudStack>
                        <MudStack Row="true" Justify="Justify.SpaceBetween">
                            <MudText>Current Angle:</MudText>
                            <MudText>@($"{rotationStatus.CurrentAngle:F2}°")</MudText>
                        </MudStack>
                    </MudStack>
                </MudCardContent>
            </MudCard>
        }

        @* Rotation Control Buttons *@
        <MudStack Spacing="3">
            <MudText Typo="Typo.h6">Rotation Controls</MudText>

            @* Rotate to Absolute Angle *@
            <MudStack Row="true" Spacing="3" AlignItems="@AlignItems.Center">
                <MudNumericField @bind-Value="targetAngle"
                                     Label="Target Angle (°)"
                                     Variant="Variant.Outlined"
                                     Class="flex-grow-1" />
                <MudButton Variant="Variant.Filled"
                          Color="Color.Primary"
                          OnClick="RotateToAngle"
                          Disabled="@(isLoading || !IsHubReady || rotationStatus?.IsReady != true)">
                    <MudIcon Icon="@Icons.Material.Filled.LocationOn" Class="mr-2" />
                    <MudText>Go</MudText>
                </MudButton>
            </MudStack>

            @* Rotate Offset *@
            <MudStack Row="true" Spacing="3" AlignItems="@AlignItems.Center">
                <MudNumericField @bind-Value="angleOffset"
                                     Label="Offset (°)"
                                     Variant="Variant.Outlined"
                                     HelperText="+/- for CW/CCW"
                                     Class="flex-grow-1" />
                <MudButton Variant="Variant.Filled"
                          Color="Color.Info"
                          OnClick="RotateOffset"
                          Disabled="@(isLoading || !IsHubReady || rotationStatus?.IsReady != true)">
                    <MudIcon Icon="@Icons.Material.Filled.RotateRight" Class="mr-2" />
                    <MudText>Offset</MudText>
                </MudButton>
            </MudStack>

            @* Quick Rotation Buttons *@
            <MudStack Row="true" Spacing="3" AlignItems="@AlignItems.Center" Wrap="Wrap.Wrap">
                <MudButton Variant="Variant.Outlined"
                          Color="Color.Secondary"
                          OnClick="() => RotateOffsetQuick(-90)"
                          Disabled="@(isLoading || !IsHubReady || rotationStatus?.IsReady != true)">
                    <MudIcon Icon="@Icons.Material.Filled.RotateLeft" Class="mr-2" />
                    <MudText>-90°</MudText>
                </MudButton>

                <MudButton Variant="Variant.Outlined"
                          Color="Color.Secondary"
                          OnClick="() => RotateOffsetQuick(-45)"
                          Disabled="@(isLoading || !IsHubReady || rotationStatus?.IsReady != true)">
                    <MudIcon Icon="@Icons.Material.Filled.RotateLeft" Class="mr-2" />
                    <MudText>-45°</MudText>
                </MudButton>

                <MudButton Variant="Variant.Outlined"
                          Color="Color.Secondary"
                          OnClick="() => RotateOffsetQuick(45)"
                          Disabled="@(isLoading || !IsHubReady || rotationStatus?.IsReady != true)">
                    <MudIcon Icon="@Icons.Material.Filled.RotateRight" Class="mr-2" />
                    <MudText>+45°</MudText>
                </MudButton>

                <MudButton Variant="Variant.Outlined"
                          Color="Color.Secondary"
                          OnClick="() => RotateOffsetQuick(90)"
                          Disabled="@(isLoading || !IsHubReady || rotationStatus?.IsReady != true)">
                    <MudIcon Icon="@Icons.Material.Filled.RotateRight" Class="mr-2" />
                    <MudText>+90°</MudText>
                </MudButton>
            </MudStack>
        </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!;

    private RotationModuleStatusDto? rotationStatus;
    private bool isLoading = false;
    private double targetAngle = 0;
    private double angleOffset = 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;
    }

    public async Task RefreshStatus()
    {
        if (isLoading || !IsHubReady) return;

        try
        {
            isLoading = true;
            rotationStatus = await HubClient.GetRotationStatusAsync();
            StateHasChanged();
        }
        catch (Exception ex)
        {
            Snackbar.Add($"Error refreshing rotation 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 RotateToAngle()
    {
        if (!IsHubReady || isLoading || rotationStatus?.IsReady != true)
            return;

        try
        {
            isLoading = true;
            Snackbar.Add($"Rotating to angle {targetAngle}°...", Severity.Info);

            await HubClient.RotateToAngleAsync(targetAngle);

            Snackbar.Add($"Rotate to angle {targetAngle}° command sent successfully", Severity.Success);

            await Task.Delay(500);
            await RefreshStatus();
        }
        catch (Exception ex)
        {
            Snackbar.Add($"Error rotating to angle: {ex.Message}", Severity.Error);
        }
        finally
        {
            isLoading = false;
            StateHasChanged();
        }
    }

    private async Task RotateOffset()
    {
        if (!IsHubReady || isLoading || rotationStatus?.IsReady != true)
            return;

        try
        {
            isLoading = true;
            var offsetText = angleOffset >= 0 ? $"+{angleOffset}°" : $"{angleOffset}°";
            Snackbar.Add($"Rotating offset {offsetText}...", Severity.Info);

            await HubClient.RotateOffsetAsync(angleOffset);

            Snackbar.Add($"Rotate offset {offsetText} command sent successfully", Severity.Success);

            await Task.Delay(500);
            await RefreshStatus();
        }
        catch (Exception ex)
        {
            Snackbar.Add($"Error rotating offset: {ex.Message}", Severity.Error);
        }
        finally
        {
            isLoading = false;
            StateHasChanged();
        }
    }

    private async Task RotateOffsetQuick(double offset)
    {
        angleOffset = offset;
        await RotateOffset();
    }
}