Initial commit

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

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+using Microsoft.AspNetCore.Components;
+using Microsoft.AspNetCore.SignalR.Client;
+using RobotNet10.RobotApp.Client.Shared.Motion;
+using RobotNet10.RobotApp.Client.Shared.Modules;
+
+namespace RobotNet10.RobotApp.Client.Clients;
+
+/// <summary>
+/// SignalR client thống nhất để kết nối với MotionHub
+/// Bao gồm: ManualControl, Odometry, LiftModule, RotationModule
+/// </summary>
+public class MotionHubClient : IAsyncDisposable
+{
+    private readonly HubConnection _hubConnection;
+    private bool _disposed;
+
+    public bool IsConnected => _hubConnection.State == HubConnectionState.Connected;
+    public HubConnectionState ConnectionState => _hubConnection.State;
+
+    /// <summary>
+    /// Event fired when odometry pose changes
+    /// </summary>
+    public event Action<OdometryDto>? PoseUpdated;
+
+    /// <summary>
+    /// Event fired when connection state changes
+    /// </summary>
+    public event Action<HubConnectionState>? ConnectionStateChanged;
+
+    public MotionHubClient(NavigationManager navigationManager)
+    {
+        var hubUrl = navigationManager.ToAbsoluteUri("/hubs/motion");
+
+        _hubConnection = new HubConnectionBuilder()
+            .WithUrl(hubUrl)
+            .WithAutomaticReconnect()
+            .Build();
+
+        // Subscribe to pose updates from server
+        _hubConnection.On<OdometryDto>("PoseUpdated", dto => PoseUpdated?.Invoke(dto));
+
+        _hubConnection.Reconnecting += async (ex) =>
+        {
+            ConnectionStateChanged?.Invoke(_hubConnection.State);
+            await Task.CompletedTask;
+        };
+
+        _hubConnection.Reconnected += async (id) =>
+        {
+            ConnectionStateChanged?.Invoke(_hubConnection.State);
+            await Task.CompletedTask;
+        };
+
+        _hubConnection.Closed += async (ex) =>
+        {
+            ConnectionStateChanged?.Invoke(_hubConnection.State);
+            await Task.CompletedTask;
+        };
+    }
+
+    /// <summary>
+    /// Connect to hub
+    /// </summary>
+    public async Task StartAsync()
+    {
+        if (_hubConnection.State == HubConnectionState.Disconnected)
+        {
+            await _hubConnection.StartAsync();
+            ConnectionStateChanged?.Invoke(_hubConnection.State);
+        }
+    }
+
+    /// <summary>
+    /// Disconnect from hub
+    /// </summary>
+    public async Task StopAsync()
+    {
+        if (_hubConnection.State != HubConnectionState.Disconnected)
+        {
+            await _hubConnection.StopAsync();
+        }
+    }
+
+    #region Manual Control
+
+    /// <summary>
+    /// Get current status
+    /// </summary>
+    public async Task<ManualControlStatusDto> GetStatusAsync()
+    {
+        return await _hubConnection.InvokeAsync<ManualControlStatusDto>("GetStatus");
+    }
+
+    /// <summary>
+    /// Enable manual control
+    /// </summary>
+    public async Task EnableAsync()
+    {
+        await _hubConnection.InvokeAsync("Enable");
+    }
+
+    /// <summary>
+    /// Disable manual control
+    /// </summary>
+    public async Task DisableAsync()
+    {
+        await _hubConnection.InvokeAsync("Disable");
+    }
+
+    #endregion
+
+    #region Odometry
+
+    /// <summary>
+    /// Get current odometry pose
+    /// </summary>
+    public async Task<OdometryDto> GetCurrentPoseAsync()
+    {
+        return await _hubConnection.InvokeAsync<OdometryDto>("GetCurrentPose");
+    }
+
+    /// <summary>
+    /// Reset odometry to initial position
+    /// </summary>
+    public async Task ResetOdometryAsync()
+    {
+        await _hubConnection.InvokeAsync("ResetOdometry");
+    }
+
+    /// <summary>
+    /// Reset odometry to a specific pose
+    /// </summary>
+    public async Task ResetOdometryPoseAsync(OdometryDto dto)
+    {
+        await _hubConnection.InvokeAsync("ResetOdometryPose", dto);
+    }
+
+    #endregion
+
+    #region Lift Module
+
+    /// <summary>
+    /// Get lift module status
+    /// </summary>
+    public async Task<LiftModuleStatusDto> GetLiftStatusAsync()
+    {
+        return await _hubConnection.InvokeAsync<LiftModuleStatusDto>("GetLiftStatus");
+    }
+
+    /// <summary>
+    /// Get current lift position
+    /// </summary>
+    public async Task<int> GetLiftCurrentPositionAsync()
+    {
+        return await _hubConnection.InvokeAsync<int>("GetLiftCurrentPosition");
+    }
+
+    /// <summary>
+    /// Lift up
+    /// </summary>
+    public async Task LiftUpAsync()
+    {
+        await _hubConnection.InvokeAsync("LiftUp");
+    }
+
+    /// <summary>
+    /// Lift down
+    /// </summary>
+    public async Task LiftDownAsync()
+    {
+        await _hubConnection.InvokeAsync("LiftDown");
+    }
+
+    /// <summary>
+    /// Stop lift movement (when moving up/down)
+    /// </summary>
+    public async Task LiftStopAsync()
+    {
+        await _hubConnection.InvokeAsync("LiftStop");
+    }
+
+    /// <summary>
+    /// Move lift to position
+    /// </summary>
+    public async Task LiftToPositionAsync(int position)
+    {
+        await _hubConnection.InvokeAsync("LiftToPosition", position);
+    }
+
+    /// <summary>
+    /// Check if lift module is homed
+    /// </summary>
+    public async Task<bool> IsLiftHomedAsync()
+    {
+        return await _hubConnection.InvokeAsync<bool>("IsLiftHomed");
+    }
+
+    /// <summary>
+    /// Manual homing for lift module
+    /// </summary>
+    public async Task LiftHomeAsync()
+    {
+        await _hubConnection.InvokeAsync("LiftHome");
+    }
+
+    #endregion
+
+    #region Rotation Module
+
+    /// <summary>
+    /// Get rotation module status
+    /// </summary>
+    public async Task<RotationModuleStatusDto> GetRotationStatusAsync()
+    {
+        return await _hubConnection.InvokeAsync<RotationModuleStatusDto>("GetRotationStatus");
+    }
+
+    /// <summary>
+    /// Get current rotation angle
+    /// </summary>
+    public async Task<double> GetRotationCurrentAngleAsync()
+    {
+        return await _hubConnection.InvokeAsync<double>("GetRotationCurrentAngle");
+    }
+
+    /// <summary>
+    /// Rotate to absolute angle
+    /// </summary>
+    public async Task RotateToAngleAsync(double angleDegrees)
+    {
+        await _hubConnection.InvokeAsync("RotateToAngle", angleDegrees);
+    }
+
+    /// <summary>
+    /// Rotate relative offset
+    /// </summary>
+    public async Task RotateOffsetAsync(double angleOffsetDegrees)
+    {
+        await _hubConnection.InvokeAsync("RotateOffset", angleOffsetDegrees);
+    }
+
+    /// <summary>
+    /// Check if rotation module is homed
+    /// </summary>
+    public async Task<bool> IsRotationHomedAsync()
+    {
+        return await _hubConnection.InvokeAsync<bool>("IsRotationHomed");
+    }
+
+    #endregion
+
+    public async ValueTask DisposeAsync()
+    {
+        if (_disposed)
+            return;
+
+        _disposed = true;
+
+        await StopAsync();
+        await _hubConnection.DisposeAsync();
+    }
+}