Initial commit

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Clients/LidarHubClient.cs

@@ -0,0 +1,82 @@
+using Microsoft.AspNetCore.Components;
+using Microsoft.AspNetCore.SignalR.Client;
+using RobotNet10.RobotApp.Client.Shared.Devices;
+using RobotNet10.Shared.Sensor;
+
+namespace RobotNet10.RobotApp.Client.Clients;
+
+/// <summary>
+/// SignalR client để kết nối với LidarHub
+/// </summary>
+public class LidarHubClient : IAsyncDisposable
+{
+    private readonly HubConnection _hubConnection;
+    private bool _disposed;
+
+    public bool IsConnected => _hubConnection.State == HubConnectionState.Connected;
+    public HubConnectionState ConnectionState => _hubConnection.State;
+
+    public LidarHubClient(NavigationManager navigationManager)
+    {
+        var hubUrl = navigationManager.ToAbsoluteUri("/hubs/devices/lidar");
+        _hubConnection = new HubConnectionBuilder()
+            .WithUrl(hubUrl)
+            .WithAutomaticReconnect()
+            .Build();
+
+        _hubConnection.Reconnecting += error =>
+        {
+            return Task.CompletedTask;
+        };
+
+        _hubConnection.Reconnected += connectionId =>
+        {
+            return Task.CompletedTask;
+        };
+
+        _hubConnection.Closed += error =>
+        {
+            return Task.CompletedTask;
+        };
+    }
+
+    public async Task StartAsync()
+    {
+        if (_hubConnection.State == HubConnectionState.Disconnected)
+        {
+            await _hubConnection.StartAsync();
+        }
+    }
+
+    public async Task StopAsync()
+    {
+        if (_hubConnection.State != HubConnectionState.Disconnected)
+        {
+            await _hubConnection.StopAsync();
+        }
+    }
+
+    public async Task<LaserScan> GetLidarDataAsync(string deviceId)
+    {
+        var result = await _hubConnection.InvokeAsync<LaserScan?>("GetLidarData", deviceId);
+        return result ?? new LaserScan();
+    }
+
+    public async Task<DeviceInfoDto?> GetDeviceInfoAsync(string deviceId)
+    {
+        return await _hubConnection.InvokeAsync<DeviceInfoDto?>("GetDeviceInfo", deviceId);
+    }
+
+    public async ValueTask DisposeAsync()
+    {
+        if (_disposed)
+            return;
+
+        _disposed = true;
+        await StopAsync();
+        await _hubConnection.DisposeAsync();
+        GC.SuppressFinalize(this);
+    }
+}
+
+