Initial commit

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Hubs/MarkerDetectorHub.cs

@@ -0,0 +1,69 @@
+using Microsoft.AspNetCore.Authorization;
+using Microsoft.AspNetCore.SignalR;
+using RobotNet10.RobotApp.Detection;
+using RobotNet10.Shared;
+using RobotNet10.Shared.Detection;
+using RobotNet10.Shared.Geometry;
+
+namespace RobotNet10.RobotApp.Hubs;
+
+[Authorize]
+public class MarkerDetectorHub(IMarkerDetector markerDetector, ILogger<MarkerDetectorHub> logger) : Hub
+{
+    private const string SessionKey = "DetectSessionId";
+
+    public async Task<MessageResult<Guid>> CreateSession(MarkersSearchRequest request)
+    {
+        try
+        {
+            // If this client already has a session, dispose it first
+            if (Context.Items.TryGetValue(SessionKey, out var existing) && existing is Guid existingSessionId)
+            {
+                var existingSession = markerDetector.GetSession(existingSessionId);
+                existingSession?.Dispose();
+                Context.Items.Remove(SessionKey);
+                logger.LogInformation("Disposed existing session {SessionId} for client {ConnectionId}", existingSessionId, Context.ConnectionId);
+            }
+
+            request.Yaw = Math.PI * request.Yaw / 180.0;
+            var session = await markerDetector.CreateSessionAsync(request);
+            Context.Items[SessionKey] = session.SessionId;
+
+            logger.LogInformation("Created session {SessionId} for client {ConnectionId}", session.SessionId, Context.ConnectionId);
+            return new MessageResult<Guid>(true, session.SessionId);
+        }
+        catch (Exception ex)
+        {
+            logger.LogError(ex, "Failed to create detect session for client {ConnectionId}", Context.ConnectionId);
+            return new MessageResult<Guid>(false, Message: ex.Message);
+        }
+    }
+
+    public MessageResult<Pose> GetGoal(Guid sessionId)
+    {
+        var session = markerDetector.GetSession(sessionId);
+        if (session == null)
+            return new(false, Message: $"Session '{sessionId}' not found.");
+
+        if (session.Goal.HasValue)
+        {
+            return new(true, session.Goal.Value.Pose);
+        }
+        else
+        {
+            return new(false);
+        }
+    }
+
+    public override async Task OnDisconnectedAsync(Exception? exception)
+    {
+        if (Context.Items.TryGetValue(SessionKey, out var existing) && existing is Guid sessionId)
+        {
+            var session = markerDetector.GetSession(sessionId);
+            session?.Dispose();
+            logger.LogInformation("Disposed session {SessionId} on disconnect of client {ConnectionId}", sessionId, Context.ConnectionId);
+        }
+
+        await base.OnDisconnectedAsync(exception);
+    }
+}