Initial commit

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Services/OdometryBroadcastService.cs

@@ -0,0 +1,54 @@
+using RobotNet10.RobotApp.Hubs;
+
+namespace RobotNet10.RobotApp.Services;
+
+/// <summary>
+/// Broadcast odometry tới SignalR clients định kỳ (mặc định 10 Hz) để hiển thị realtime
+/// </summary>
+public class OdometryBroadcastService : IHostedService, IDisposable
+{
+    private readonly OdometryHubContext _odometryHubContext;
+    private readonly ILogger<OdometryBroadcastService> _logger;
+    private Timer? _timer;
+    private const int BroadcastIntervalMs = 100; // 10 Hz
+
+    public OdometryBroadcastService(OdometryHubContext odometryHubContext, ILogger<OdometryBroadcastService> logger)
+    {
+        _odometryHubContext = odometryHubContext;
+        _logger = logger;
+    }
+
+    public Task StartAsync(CancellationToken cancellationToken)
+    {
+        _timer = new Timer(
+            async _ =>
+            {
+                try
+                {
+                    await _odometryHubContext.BroadcastOdometryAsync();
+                }
+                catch (Exception ex)
+                {
+                    _logger.LogDebug(ex, "Odometry broadcast skipped");
+                }
+            },
+            null,
+            TimeSpan.FromMilliseconds(BroadcastIntervalMs),
+            TimeSpan.FromMilliseconds(BroadcastIntervalMs));
+        _logger.LogInformation("Odometry broadcast started at {Hz} Hz", 1000.0 / BroadcastIntervalMs);
+        return Task.CompletedTask;
+    }
+
+    public Task StopAsync(CancellationToken cancellationToken)
+    {
+        _timer?.Change(Timeout.Infinite, 0);
+        _logger.LogInformation("Odometry broadcast stopped");
+        return Task.CompletedTask;
+    }
+
+    public void Dispose()
+    {
+        _timer?.Dispose();
+        GC.SuppressFinalize(this);
+    }
+}