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2026-07-03 16:37:12 +07:00
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337
srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Components/Motion/LiftModuleCard.razor Normal file
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@using RobotNet10.RobotApp.Client.Clients
@using RobotNet10.RobotApp.Client.Shared.Modules
@using MudBlazor
<MudPaper Class="pa-4" Style="height: 100%;">
<MudStack Spacing="3">
<MudStack Row="true" Justify="Justify.SpaceBetween" AlignItems="AlignItems.Center">
<MudText Typo="Typo.h5">Lift Module</MudText>
<MudIconButton Icon="@Icons.Material.Filled.Refresh"
Color="Color.Primary"
Size="Size.Small"
OnClick="RefreshStatus"
Disabled="@(!IsHubReady || isLoading)" />
</MudStack>
@* Lift Status Information *@
@if (liftStatus != null)
{
<MudCard>
<MudCardContent>
<MudText Typo="Typo.h6" Class="mb-3">Module Status</MudText>
<MudStack Spacing="2">
<MudStack Row="true" Justify="Justify.SpaceBetween">
<MudText>State:</MudText>
<MudChip T="string" Color="@GetStateColor(liftStatus.State)" Size="Size.Small">
@liftStatus.State
</MudChip>
</MudStack>
<MudStack Row="true" Justify="Justify.SpaceBetween">
<MudText>Ready:</MudText>
<MudChip T="bool" Color="@(liftStatus.IsReady ? Color.Success : Color.Default)" Size="Size.Small">
@liftStatus.IsReady
</MudChip>
</MudStack>
<MudStack Row="true" Justify="Justify.SpaceBetween">
<MudText>Current Position:</MudText>
<MudText>
@($"{liftStatus.CurrentPosition:N0} counts")
(@($"{ConvertCountsToMeters(liftStatus.CurrentPosition):F3} m"))
</MudText>
</MudStack>
</MudStack>
</MudCardContent>
</MudCard>
}
@* Lift Control Buttons *@
<MudStack Spacing="3">
<MudText Typo="Typo.h6">Homing & Movement Controls</MudText>
<MudStack Row="true" Spacing="3" AlignItems="AlignItems.Center">
<MudButton Variant="Variant.Filled"
Color="Color.Primary"
OnClick="LiftHome"
Disabled="@(isLoading || !IsHubReady)">
<MudIcon Icon="@Icons.Material.Filled.HomeRepairService" Class="mr-2" />
<MudText>Homing</MudText>
</MudButton>
</MudStack>
<MudStack Row="true" Spacing="3" AlignItems="@AlignItems.Center">
<MudButton Variant="Variant.Filled"
Color="Color.Success"
OnClick="LiftUp"
Disabled="@(isLoading || !IsHubReady || liftStatus?.IsReady != true)">
<MudIcon Icon="@Icons.Material.Filled.ArrowUpward" Class="mr-2" />
<MudText>Up</MudText>
</MudButton>
<MudButton Variant="Variant.Filled"
Color="Color.Error"
OnClick="LiftDown"
Disabled="@(isLoading || !IsHubReady || liftStatus?.IsReady != true)">
<MudIcon Icon="@Icons.Material.Filled.ArrowDownward" Class="mr-2" />
<MudText>Down</MudText>
</MudButton>
<MudButton Variant="Variant.Filled"
Color="Color.Warning"
OnClick="LiftStop"
Disabled="@(!IsHubReady || liftStatus?.IsReady != true || liftStatus?.State != "Moving")">
<MudIcon Icon="@Icons.Material.Filled.Stop" Class="mr-2" />
<MudText>Stop</MudText>
</MudButton>
</MudStack>
<MudStack Row="true" Spacing="3" AlignItems="@AlignItems.Center">
<MudNumericField @bind-Value="targetHeightMeters"
Label="Target Height (m)"
Variant="Variant.Outlined"
Min="0"
Class="flex-grow-1" />
<MudButton Variant="Variant.Filled"
Color="Color.Primary"
OnClick="MoveToPosition"
Disabled="@(isLoading || !IsHubReady || liftStatus?.IsReady != true)">
<MudIcon Icon="@Icons.Material.Filled.LocationOn" Class="mr-2" />
<MudText>Go</MudText>
</MudButton>
</MudStack>
<MudText Typo="Typo.caption">
Scale: 10,000 counts = 0.01 m (1,000,000 counts = 1 m)
</MudText>
</MudStack>
</MudStack>
</MudPaper>
@code {
[Parameter, EditorRequired] public MotionHubClient HubClient { get; set; } = null!;
[Parameter] public bool IsHubReady { get; set; }
[Inject] private ISnackbar Snackbar { get; set; } = null!;
[Inject] private CiA402ServoHubClient ServoHubClient { get; set; } = null!;
private LiftModuleStatusDto? liftStatus;
private bool isLoading = false;
private double targetHeightMeters = 0.0;
private bool _previousIsHubReady = false;
protected override async Task OnParametersSetAsync()
{
// Detect when IsHubReady changes from false to true
if (IsHubReady && !_previousIsHubReady)
{
await RefreshStatus();
}
_previousIsHubReady = IsHubReady;
// Đảm bảo kết nối tới CiA402ServoHub để homing trực tiếp
if (!ServoHubClient.IsConnected)
{
try
{
await ServoHubClient.StartAsync();
}
catch
{
// Nếu connect lỗi, homing sẽ báo lỗi qua Snackbar
}
}
}
public async Task RefreshStatus()
{
if (isLoading || !IsHubReady) return;
try
{
isLoading = true;
liftStatus = await HubClient.GetLiftStatusAsync();
if (liftStatus != null)
{
targetHeightMeters = ConvertCountsToMeters(liftStatus.CurrentPosition);
}
StateHasChanged();
}
catch (Exception ex)
{
Snackbar.Add($"Error refreshing lift status: {ex.Message}", Severity.Error);
}
finally
{
isLoading = false;
}
}
private Color GetStateColor(string state)
{
return state switch
{
"Ready" => Color.Success,
"Moving" => Color.Info,
"Error" => Color.Error,
"Homing" => Color.Warning,
"Initializing" => Color.Warning,
_ => Color.Default
};
}
private async Task LiftUp()
{
if (!IsHubReady || isLoading || liftStatus?.IsReady != true)
return;
try
{
isLoading = true;
Snackbar.Add("Lifting up...", Severity.Info);
await HubClient.LiftUpAsync();
Snackbar.Add("Lift up command sent successfully", Severity.Success);
await Task.Delay(500);
await RefreshStatus();
}
catch (Exception ex)
{
Snackbar.Add($"Error lifting up: {ex.Message}", Severity.Error);
}
finally
{
isLoading = false;
StateHasChanged();
}
}
private async Task LiftDown()
{
if (!IsHubReady || isLoading || liftStatus?.IsReady != true)
return;
try
{
isLoading = true;
Snackbar.Add("Lifting down...", Severity.Info);
await HubClient.LiftDownAsync();
Snackbar.Add("Lift down command sent successfully", Severity.Success);
await Task.Delay(500);
await RefreshStatus();
}
catch (Exception ex)
{
Snackbar.Add($"Error lifting down: {ex.Message}", Severity.Error);
}
finally
{
isLoading = false;
StateHasChanged();
}
}
private async Task LiftStop()
{
if (!IsHubReady || liftStatus?.IsReady != true)
return;
try
{
await HubClient.LiftStopAsync();
Snackbar.Add("Lift stop command sent", Severity.Info);
await Task.Delay(300);
await RefreshStatus();
}
catch (Exception ex)
{
Snackbar.Add($"Error stopping lift: {ex.Message}", Severity.Error);
}
finally
{
StateHasChanged();
}
}
private async Task MoveToPosition()
{
if (!IsHubReady || isLoading || liftStatus?.IsReady != true)
return;
try
{
isLoading = true;
var targetCounts = ConvertMetersToCounts(targetHeightMeters);
Snackbar.Add($"Moving to height {targetHeightMeters:F3} m (~{targetCounts} counts)...", Severity.Info);
await HubClient.LiftToPositionAsync(targetCounts);
Snackbar.Add($"Move to height {targetHeightMeters:F3} m command sent successfully", Severity.Success);
await Task.Delay(500);
await RefreshStatus();
}
catch (Exception ex)
{
Snackbar.Add($"Error moving to position: {ex.Message}", Severity.Error);
}
finally
{
isLoading = false;
StateHasChanged();
}
}
private async Task LiftHome()
{
if (isLoading)
return;
try
{
isLoading = true;
Snackbar.Add("Starting lift homing (direct device)...", Severity.Info);
const string liftDeviceId = "lift-motor";
// Dùng cùng tham số như appsettings (hoặc theo nhu cầu của bạn)
const byte homingMethod = 21;
const int homingSpeed = 20000;
const int homingOffset = 0;
// Ghi homing params xuống drive giống CiA402ServoCard
await ServoHubClient.SetHomingMethodAsync(liftDeviceId, homingMethod);
await ServoHubClient.SetHomingSpeedAsync(liftDeviceId, homingSpeed);
await ServoHubClient.SetHomingOffsetAsync(liftDeviceId, homingOffset);
// Start homing trực tiếp trên thiết bị
await ServoHubClient.StartHomingAsync(liftDeviceId, homingMethod, homingSpeed);
Snackbar.Add("Lift homing command sent to lift-motor", Severity.Success);
await Task.Delay(500);
await RefreshStatus();
}
catch (Exception ex)
{
Snackbar.Add($"Error homing lift: {ex.Message}", Severity.Error);
}
finally
{
isLoading = false;
StateHasChanged();
}
}
private static double ConvertCountsToMeters(int counts)
{
// 10,000 counts = 0.01 m => 1,000,000 counts = 1 m
return counts / 1_000_000.0;
}
private static int ConvertMetersToCounts(double meters)
{
return (int)Math.Round(meters * 1_000_000.0);
}
}

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srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Components/Motion/ManualControlCard.razor Normal file
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@using RobotNet10.RobotApp.Client.Clients
@using MudBlazor
<MudPaper Class="pa-4" Style="height: 100%;">
<MudStack Spacing="3">
<MudStack Row="true" Justify="Justify.SpaceBetween" AlignItems="AlignItems.Center">
<MudText Typo="Typo.h5">Manual Control</MudText>
<MudIconButton Icon="@Icons.Material.Filled.Refresh"
Color="Color.Primary"
Size="Size.Small"
OnClick="RefreshStatus"
Disabled="@(isLoading)" />
</MudStack>
@* Enable / Disable PS5 Controller *@
<MudStack Row="true" Spacing="3" AlignItems="@AlignItems.Center">
<MudButton Variant="Variant.Filled"
Color="@(ps5Enabled ? Color.Error : Color.Success)"
OnClick="TogglePs5Control"
Disabled="@isLoading">
@if (ps5Enabled)
{
<MudIcon Icon="@Icons.Material.Filled.Stop" Class="mr-2" />
<MudText>Disable PS5 Controller</MudText>
}
else
{
<MudIcon Icon="@Icons.Material.Filled.PlayArrow" Class="mr-2" />
<MudText>Enable PS5 Controller</MudText>
}
</MudButton>
</MudStack>
@* Status of PS5 Controller *@
@if (ps5State != null)
{
<MudCard>
<MudCardContent>
<MudText Typo="Typo.h6" Class="mb-3">PS5 Controller Status</MudText>
<MudStack Spacing="2">
<MudStack Row="true" Justify="Justify.SpaceBetween">
<MudText>State:</MudText>
<MudChip T="string" Color="@(ps5Enabled ? Color.Success : Color.Default)" Size="Size.Small">
@ps5State
</MudChip>
</MudStack>
</MudStack>
</MudCardContent>
</MudCard>
}
</MudStack>
</MudPaper>
@code {
[Parameter] public MotionHubClient? HubClient { get; set; }
[Parameter] public bool IsHubReady { get; set; }
[Inject] private HttpClient Http { get; set; } = null!;
[Inject] private ISnackbar Snackbar { get; set; } = null!;
private string? ps5State;
private bool ps5Enabled => string.Equals(ps5State, "Active", StringComparison.OrdinalIgnoreCase);
private bool isLoading = false;
protected override async Task OnInitializedAsync()
{
await RefreshStatus();
}
public async Task RefreshStatus()
{
if (isLoading) return;
try
{
isLoading = true;
var resp = await Http.GetAsync("/api/motion/ps5/status");
if (resp.IsSuccessStatusCode)
{
var json = await resp.Content.ReadFromJsonAsync<Ps5StatusResponse>();
ps5State = json?.State ?? "Unknown";
}
StateHasChanged();
}
catch (Exception ex)
{
Snackbar.Add($"Failed to refresh PS controller status: {ex.Message}", Severity.Error);
}
finally
{
isLoading = false;
}
}
private async Task TogglePs5Control()
{
if (isLoading) return;
try
{
isLoading = true;
if (ps5Enabled)
{
var resp = await Http.PostAsync("/api/motion/ps5/disable", null);
if (resp.IsSuccessStatusCode)
{
Snackbar.Add("PS controller disabled", Severity.Info);
ps5State = "Disabled";
}
else
Snackbar.Add("Failed to disable PS controller", Severity.Error);
}
else
{
var resp = await Http.PostAsync("/api/motion/ps5/enable", null);
if (resp.IsSuccessStatusCode)
{
Snackbar.Add("PS controller enabled", Severity.Success);
ps5State = "Active";
}
else
Snackbar.Add("Failed to enable PS controller", Severity.Error);
}
for (int i = 0; i < 3; i++)
{
await Task.Delay(100);
await RefreshStatus();
if (ps5State != null) break;
}
}
catch (Exception ex)
{
Snackbar.Add($"Error: {ex.Message}", Severity.Error);
}
finally
{
isLoading = false;
StateHasChanged();
}
}
private sealed class Ps5StatusResponse
{
public string State { get; set; } = string.Empty;
}
}

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srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Components/Motion/OdometryCard.razor Normal file
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@using RobotNet10.RobotApp.Client.Shared.Motion
@using RobotNet10.Shared.Geometry
@using RobotNet10.Shared.Numbers
@using QuaternionGeometry = RobotNet10.Shared.Geometry.Quaternion
@using QuaternionNumbers = RobotNet10.Shared.Numbers.Quaternion
@using MudBlazor
@implements IDisposable
<MudPaper Class="pa-4" Style="height: 100%;">
<MudStack Spacing="3">
<MudStack Row="true" Justify="Justify.SpaceBetween" AlignItems="AlignItems.Center">
<MudText Typo="Typo.h5">Odometry</MudText>
</MudStack>
@* Odometry Information *@
@if (Odometry != null)
{
<MudCard>
<MudCardContent>
<MudText Typo="Typo.h6" Class="mb-3">Position</MudText>
<MudStack Spacing="2">
<MudStack Row="true" Justify="Justify.SpaceBetween">
<MudText>X:</MudText>
<MudText>@($"{Odometry.PositionX:F3} m")</MudText>
</MudStack>
<MudStack Row="true" Justify="Justify.SpaceBetween">
<MudText>Y:</MudText>
<MudText>@($"{Odometry.PositionY:F3} m")</MudText>
</MudStack>
<MudStack Row="true" Justify="Justify.SpaceBetween">
<MudText>Z:</MudText>
<MudText>@($"{Odometry.PositionZ:F3} m")</MudText>
</MudStack>
</MudStack>
</MudCardContent>
</MudCard>
<MudCard>
<MudCardContent>
<MudText Typo="Typo.h6" Class="mb-3">Orientation</MudText>
<MudStack Spacing="2">
<MudStack Row="true" Justify="Justify.SpaceBetween">
<MudText>Yaw:</MudText>
<MudText>@($"{yawDegrees:F2}°")</MudText>
</MudStack>
<MudStack Row="true" Justify="Justify.SpaceBetween">
<MudText>Update Freq:</MudText>
<MudChip T="double" Color="@(Odometry.UpdateFrequency > 0 ? Color.Success : Color.Default)" Size="Size.Small">
@($"{Odometry.UpdateFrequency:F2} Hz")
</MudChip>
</MudStack>
</MudStack>
</MudCardContent>
</MudCard>
}
else
{
<MudAlert Severity="Severity.Info">No odometry data available.</MudAlert>
}
</MudStack>
</MudPaper>
@code {
[Parameter, EditorRequired] public OdometryDto? Odometry { get; set; }
[Parameter] public bool IsHubReady { get; set; }
[Inject] private ISnackbar Snackbar { get; set; } = null!;
private double _smoothedYawDegrees;
private bool _hasYaw;
private double yawDegrees => _smoothedYawDegrees;
protected override void OnParametersSet()
{
if (Odometry == null)
return;
// Nếu robot gần như đứng yên (ít quay, ít chạy thẳng) thì giữ nguyên yaw
var angularZ = Odometry.AngularVelocityZ; // rad/s
var linearX = Odometry.LinearVelocityX; // m/s
const double angularDeadZone = 0.01; // ~0.57°
const double linearDeadZone = 0.005; // 5 mm/s
var isAlmostStopped =
Math.Abs(angularZ) < angularDeadZone &&
Math.Abs(linearX) < linearDeadZone;
// Lần đầu vẫn phải init giá trị
if (!_hasYaw)
{
var q0 = new QuaternionGeometry(Odometry.OrientationX, Odometry.OrientationY, Odometry.OrientationZ, Odometry.OrientationW);
_smoothedYawDegrees = q0.ToYawDegrees();
_hasYaw = true;
return;
}
if (isAlmostStopped)
{
// Robot đứng yên: không cập nhật yaw để tránh drift chậm
return;
}
// Robot đang quay / di chuyển: cho phép yaw thay đổi nhưng có lọc
var quaternion = new QuaternionGeometry(Odometry.OrientationX, Odometry.OrientationY, Odometry.OrientationZ, Odometry.OrientationW);
var newYaw = quaternion.ToYawDegrees();
// Normalize delta để tránh nhảy 360° khi wrap-around
var delta = newYaw - _smoothedYawDegrees;
while (delta > 180.0) delta -= 360.0;
while (delta < -180.0) delta += 360.0;
// Low-pass filter để làm mượt (alpha càng nhỏ càng mượt)
const double alpha = 0.3;
_smoothedYawDegrees = _smoothedYawDegrees + alpha * delta;
}
public void Dispose()
{
// Nothing to dispose currently
}
}

233
srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Components/Motion/RotationModuleCard.razor Normal file
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@using RobotNet10.RobotApp.Client.Clients
@using RobotNet10.RobotApp.Client.Shared.Modules
@using MudBlazor
<MudPaper Class="pa-4" Style="height: 100%;">
<MudStack Spacing="3">
<MudStack Row="true" Justify="Justify.SpaceBetween" AlignItems="AlignItems.Center">
<MudText Typo="Typo.h5">Rotation Module</MudText>
<MudIconButton Icon="@Icons.Material.Filled.Refresh"
Color="Color.Primary"
Size="Size.Small"
OnClick="RefreshStatus"
Disabled="@(!IsHubReady || isLoading)" />
</MudStack>
@* Rotation Status Information *@
@if (rotationStatus != null)
{
<MudCard>
<MudCardContent>
<MudText Typo="Typo.h6" Class="mb-3">Module Status</MudText>
<MudStack Spacing="2">
<MudStack Row="true" Justify="Justify.SpaceBetween">
<MudText>State:</MudText>
<MudChip T="string" Color="@GetStateColor(rotationStatus.State)" Size="Size.Small">
@rotationStatus.State
</MudChip>
</MudStack>
<MudStack Row="true" Justify="Justify.SpaceBetween">
<MudText>Ready:</MudText>
<MudChip T="bool" Color="@(rotationStatus.IsReady ? Color.Success : Color.Default)" Size="Size.Small">
@rotationStatus.IsReady
</MudChip>
</MudStack>
<MudStack Row="true" Justify="Justify.SpaceBetween">
<MudText>Current Angle:</MudText>
<MudText>@($"{rotationStatus.CurrentAngle:F2}°")</MudText>
</MudStack>
</MudStack>
</MudCardContent>
</MudCard>
}
@* Rotation Control Buttons *@
<MudStack Spacing="3">
<MudText Typo="Typo.h6">Rotation Controls</MudText>
@* Rotate to Absolute Angle *@
<MudStack Row="true" Spacing="3" AlignItems="@AlignItems.Center">
<MudNumericField @bind-Value="targetAngle"
Label="Target Angle (°)"
Variant="Variant.Outlined"
Class="flex-grow-1" />
<MudButton Variant="Variant.Filled"
Color="Color.Primary"
OnClick="RotateToAngle"
Disabled="@(isLoading || !IsHubReady || rotationStatus?.IsReady != true)">
<MudIcon Icon="@Icons.Material.Filled.LocationOn" Class="mr-2" />
<MudText>Go</MudText>
</MudButton>
</MudStack>
@* Rotate Offset *@
<MudStack Row="true" Spacing="3" AlignItems="@AlignItems.Center">
<MudNumericField @bind-Value="angleOffset"
Label="Offset (°)"
Variant="Variant.Outlined"
HelperText="+/- for CW/CCW"
Class="flex-grow-1" />
<MudButton Variant="Variant.Filled"
Color="Color.Info"
OnClick="RotateOffset"
Disabled="@(isLoading || !IsHubReady || rotationStatus?.IsReady != true)">
<MudIcon Icon="@Icons.Material.Filled.RotateRight" Class="mr-2" />
<MudText>Offset</MudText>
</MudButton>
</MudStack>
@* Quick Rotation Buttons *@
<MudStack Row="true" Spacing="3" AlignItems="@AlignItems.Center" Wrap="Wrap.Wrap">
<MudButton Variant="Variant.Outlined"
Color="Color.Secondary"
OnClick="() => RotateOffsetQuick(-90)"
Disabled="@(isLoading || !IsHubReady || rotationStatus?.IsReady != true)">
<MudIcon Icon="@Icons.Material.Filled.RotateLeft" Class="mr-2" />
<MudText>-90°</MudText>
</MudButton>
<MudButton Variant="Variant.Outlined"
Color="Color.Secondary"
OnClick="() => RotateOffsetQuick(-45)"
Disabled="@(isLoading || !IsHubReady || rotationStatus?.IsReady != true)">
<MudIcon Icon="@Icons.Material.Filled.RotateLeft" Class="mr-2" />
<MudText>-45°</MudText>
</MudButton>
<MudButton Variant="Variant.Outlined"
Color="Color.Secondary"
OnClick="() => RotateOffsetQuick(45)"
Disabled="@(isLoading || !IsHubReady || rotationStatus?.IsReady != true)">
<MudIcon Icon="@Icons.Material.Filled.RotateRight" Class="mr-2" />
<MudText>+45°</MudText>
</MudButton>
<MudButton Variant="Variant.Outlined"
Color="Color.Secondary"
OnClick="() => RotateOffsetQuick(90)"
Disabled="@(isLoading || !IsHubReady || rotationStatus?.IsReady != true)">
<MudIcon Icon="@Icons.Material.Filled.RotateRight" Class="mr-2" />
<MudText>+90°</MudText>
</MudButton>
</MudStack>
</MudStack>
</MudStack>
</MudPaper>
@code {
[Parameter, EditorRequired] public MotionHubClient HubClient { get; set; } = null!;
[Parameter] public bool IsHubReady { get; set; }
[Inject] private ISnackbar Snackbar { get; set; } = null!;
private RotationModuleStatusDto? rotationStatus;
private bool isLoading = false;
private double targetAngle = 0;
private double angleOffset = 0;
private bool _previousIsHubReady = false;
protected override async Task OnParametersSetAsync()
{
// Detect when IsHubReady changes from false to true
if (IsHubReady && !_previousIsHubReady)
{
await RefreshStatus();
}
_previousIsHubReady = IsHubReady;
}
public async Task RefreshStatus()
{
if (isLoading || !IsHubReady) return;
try
{
isLoading = true;
rotationStatus = await HubClient.GetRotationStatusAsync();
StateHasChanged();
}
catch (Exception ex)
{
Snackbar.Add($"Error refreshing rotation status: {ex.Message}", Severity.Error);
}
finally
{
isLoading = false;
}
}
private Color GetStateColor(string state)
{
return state switch
{
"Ready" => Color.Success,
"Moving" => Color.Info,
"Error" => Color.Error,
"Homing" => Color.Warning,
"Initializing" => Color.Warning,
_ => Color.Default
};
}
private async Task RotateToAngle()
{
if (!IsHubReady || isLoading || rotationStatus?.IsReady != true)
return;
try
{
isLoading = true;
Snackbar.Add($"Rotating to angle {targetAngle}°...", Severity.Info);
await HubClient.RotateToAngleAsync(targetAngle);
Snackbar.Add($"Rotate to angle {targetAngle}° command sent successfully", Severity.Success);
await Task.Delay(500);
await RefreshStatus();
}
catch (Exception ex)
{
Snackbar.Add($"Error rotating to angle: {ex.Message}", Severity.Error);
}
finally
{
isLoading = false;
StateHasChanged();
}
}
private async Task RotateOffset()
{
if (!IsHubReady || isLoading || rotationStatus?.IsReady != true)
return;
try
{
isLoading = true;
var offsetText = angleOffset >= 0 ? $"+{angleOffset}°" : $"{angleOffset}°";
Snackbar.Add($"Rotating offset {offsetText}...", Severity.Info);
await HubClient.RotateOffsetAsync(angleOffset);
Snackbar.Add($"Rotate offset {offsetText} command sent successfully", Severity.Success);
await Task.Delay(500);
await RefreshStatus();
}
catch (Exception ex)
{
Snackbar.Add($"Error rotating offset: {ex.Message}", Severity.Error);
}
finally
{
isLoading = false;
StateHasChanged();
}
}
private async Task RotateOffsetQuick(double offset)
{
angleOffset = offset;
await RotateOffset();
}
}