Initial commit

2026-07-03 16:37:12 +07:00
commit 63b8c1ea8b
1931 changed files with 640587 additions and 0 deletions
--- a/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Clients/NavigationMonitorHubClient.cs
+++ b/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Clients/NavigationMonitorHubClient.cs
@@ -0,0 +1,104 @@
+using Microsoft.AspNetCore.Components;
+using Microsoft.AspNetCore.SignalR.Client;
+using RobotNet10.RobotApp.Shared.NavigationMonitor;
+
+namespace RobotNet10.RobotApp.Client.Clients;
+
+public class NavigationMonitorHubClient : IAsyncDisposable
+{
+    private readonly HubConnection _hubConnection;
+    private bool _disposed;
+
+    public bool IsConnected => _hubConnection.State == HubConnectionState.Connected;
+    public HubConnectionState ConnectionState => _hubConnection.State;
+
+    public event Action<NavigationTelemetryDto>? TelemetryReceived;
+    public event Action<NavigationSafetyViolationDto>? SafetyViolationReceived;
+    public event Action<NavigationMonitorStateDto>? MonitorStateChanged;
+    public event Action<HubConnectionState>? ConnectionStateChanged;
+
+    public NavigationMonitorHubClient(NavigationManager navigationManager)
+    {
+        var hubUrl = navigationManager.ToAbsoluteUri("/hubs/motion/navigation-monitor");
+
+        _hubConnection = new HubConnectionBuilder()
+            .WithUrl(hubUrl)
+            .WithAutomaticReconnect()
+            .Build();
+
+        _hubConnection.On<NavigationTelemetryDto>("ReceiveTelemetry", dto => TelemetryReceived?.Invoke(dto));
+        _hubConnection.On<NavigationSafetyViolationDto>("ReceiveSafetyViolation", dto => SafetyViolationReceived?.Invoke(dto));
+        _hubConnection.On<NavigationMonitorStateDto>("ReceiveMonitorState", dto => MonitorStateChanged?.Invoke(dto));
+
+        _hubConnection.Reconnecting += async (_) =>
+        {
+            ConnectionStateChanged?.Invoke(_hubConnection.State);
+            await Task.CompletedTask;
+        };
+
+        _hubConnection.Reconnected += async (_) =>
+        {
+            ConnectionStateChanged?.Invoke(_hubConnection.State);
+            // Re-subscribe after reconnect
+            await _hubConnection.InvokeAsync("Subscribe");
+        };
+
+        _hubConnection.Closed += async (_) =>
+        {
+            ConnectionStateChanged?.Invoke(_hubConnection.State);
+            await Task.CompletedTask;
+        };
+    }
+
+    public async Task StartAsync()
+    {
+        if (_hubConnection.State == HubConnectionState.Disconnected)
+        {
+            await _hubConnection.StartAsync();
+            ConnectionStateChanged?.Invoke(_hubConnection.State);
+            await _hubConnection.InvokeAsync("Subscribe");
+        }
+    }
+
+    public async Task StopAsync()
+    {
+        if (_hubConnection.State != HubConnectionState.Disconnected)
+        {
+            try { await _hubConnection.InvokeAsync("Unsubscribe"); } catch { }
+            await _hubConnection.StopAsync();
+        }
+    }
+
+    public async Task SetTelemetryEnabledAsync(bool enabled)
+    {
+        await _hubConnection.InvokeAsync("SetTelemetryEnabled", enabled);
+    }
+
+    public async Task SetSafetyStopEnabledAsync(bool enabled)
+    {
+        await _hubConnection.InvokeAsync("SetSafetyStopEnabled", enabled);
+    }
+
+    public async Task UpdateSafetyConfigAsync(NavigationSafetyConfigDto config)
+    {
+        await _hubConnection.InvokeAsync("UpdateSafetyConfig", config);
+    }
+
+    public async Task ReleaseSafetyStopAsync()
+    {
+        await _hubConnection.InvokeAsync("ReleaseSafetyStop");
+    }
+
+    public async Task<NavigationMonitorStateDto> GetStateAsync()
+    {
+        return await _hubConnection.InvokeAsync<NavigationMonitorStateDto>("GetState");
+    }
+
+    public async ValueTask DisposeAsync()
+    {
+        if (_disposed) return;
+        _disposed = true;
+        await StopAsync();
+        await _hubConnection.DisposeAsync();
+    }
+}