Initial commit

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Components/SLAM/MapLocalization.razor

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+@implements IAsyncDisposable
+
+@using MudBlazor
+@using RobotNet10.RobotApp.Client.Clients
+@using RobotNet10.RobotApp.Client.Shared.SLAM
+@using RobotNet10.Shared.Geometry
+@using RobotNet10.Shared.Localization
+@using Microsoft.JSInterop
+@using System.Linq
+
+@inject SLAMClient CartographerClient
+@inject ISnackbar Snackbar
+@inject IJSRuntime JSRuntime
+
+<div class="map-localization-container" @ref="containerRef" tabindex="1">
+    <div @ref="viewMovementRef" class="map-view-movement">
+        <!-- Canvas for base occupancy grid (background layer) -->
+        <canvas @ref="mapCanvasBaseRef" class="map-canvas">
+        </canvas>
+        <!-- Canvas for laser scan points (middle layer) -->
+        <canvas @ref="laserScanCanvasRef" class="map-canvas">
+        </canvas>
+        <!-- SVG overlay for robot position, trajectory, etc. (foreground layer) -->
+        <svg @ref="mapContainerRef" class="map-editor" viewBox="0 0 0 0">
+             <defs>
+                <marker id="originvector" markerWidth="2.4" markerHeight="2.4" refX="0.1" refY="0.1">
+                    <line x1="0" y1="0.1" x2="0.5" y2="0.1" stroke="red" stroke-width="0.02" />
+                    <path d="M 0.5 0.15 L 0.6 0.1 L 0.5 0.05 Z" fill="red" stroke-width="0" />
+                    <line x1="0.1" y1="0" x2="0.1" y2="0.5" stroke="blue" stroke-width="0.02" />
+                    <path d="M 0.05 0.5 L 0.1 0.6 L 0.15 0.5 Z" fill="blue" stroke-width="0" />
+                </marker>
+            </defs>
+            <!-- Trajectory polyline (ScanMapping) - updated via JsInvoke, no id -->
+            <polyline @ref="trajectoryPolylineRef" points="" fill="none" stroke="#00FF00" stroke-width="0.05" opacity="0.6" />
+            <GoalPose @ref="GoalPoseRef" />
+            <!-- Robot pose component -->
+            <RobotPose @ref="RobotPoseRef" />
+            <!-- Grid origin marker -->
+            <line class="origin" marker-end="url(#originvector)" />
+            @Elements
+        </svg>
+    </div>
+    
+    <MapMousePosition @ref="MapMousePositionRef" />
+    <RobotPoseInfo @ref="RobotPoseInfoRef" />
+</div>
+
+@code {
+    [Parameter]
+    public RenderFragment? Elements { get; set; }
+
+    private ElementReference containerRef;
+    private ElementReference viewMovementRef;
+    private ElementReference mapContainerRef;
+    private ElementReference mapCanvasBaseRef;
+    private ElementReference laserScanCanvasRef;
+    private ElementReference trajectoryPolylineRef;
+    private MapMousePosition MapMousePositionRef = null!;
+    private GoalPose GoalPoseRef = null!;
+    private RobotPose RobotPoseRef = null!;
+    private RobotPoseInfo RobotPoseInfoRef = null!;
+
+    private bool ShowMap => CurrentGrid != null;
+}