91 lines
2.8 KiB
C#
91 lines
2.8 KiB
C#
using Microsoft.AspNetCore.Components;
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using Microsoft.AspNetCore.SignalR.Client;
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using RobotNet10.RobotApp.Client.Shared.Motion;
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namespace RobotNet10.RobotApp.Client.Clients;
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/// <summary>
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/// SignalR client kết nối tới OdometryHub - hiển thị odom (pose + velocity) realtime
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/// </summary>
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public class OdometryHubClient : IAsyncDisposable
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{
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private readonly HubConnection _hubConnection;
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private bool _disposed;
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/// <summary>
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/// Sự kiện nhận odometry mới (broadcast từ server ~10 Hz)
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/// </summary>
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public event Action<OdometryDto>? OdometryReceived;
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/// <summary>
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/// Trạng thái kết nối thay đổi
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/// </summary>
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public event Action<HubConnectionState>? ConnectionStateChanged;
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public bool IsConnected => _hubConnection.State == HubConnectionState.Connected;
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public HubConnectionState ConnectionState => _hubConnection.State;
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public OdometryHubClient(NavigationManager navigationManager)
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{
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var hubUrl = navigationManager.ToAbsoluteUri("/hubs/odometry");
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_hubConnection = new HubConnectionBuilder()
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.WithUrl(hubUrl)
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.WithAutomaticReconnect()
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.Build();
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_hubConnection.On<OdometryDto>("ReceiveOdometry", dto => OdometryReceived?.Invoke(dto));
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_hubConnection.Reconnecting += _ =>
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{
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ConnectionStateChanged?.Invoke(_hubConnection.State);
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return Task.CompletedTask;
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};
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_hubConnection.Reconnected += _ =>
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{
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ConnectionStateChanged?.Invoke(_hubConnection.State);
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return Task.CompletedTask;
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};
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_hubConnection.Closed += _ =>
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{
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ConnectionStateChanged?.Invoke(_hubConnection.State);
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return Task.CompletedTask;
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};
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}
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public async Task StartAsync()
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{
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if (_hubConnection.State == HubConnectionState.Disconnected)
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{
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await _hubConnection.StartAsync();
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ConnectionStateChanged?.Invoke(_hubConnection.State);
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}
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}
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public async Task StopAsync()
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{
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if (_hubConnection.State != HubConnectionState.Disconnected)
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{
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await _hubConnection.StopAsync();
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ConnectionStateChanged?.Invoke(_hubConnection.State);
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}
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}
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/// <summary>
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/// Lấy odometry hiện tại (on-demand)
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/// </summary>
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public async Task<OdometryDto?> GetCurrentOdometryAsync()
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{
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return await _hubConnection.InvokeAsync<OdometryDto?>("GetCurrentOdometry");
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}
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public async ValueTask DisposeAsync()
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{
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if (_disposed)
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return;
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_disposed = true;
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await StopAsync();
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await _hubConnection.DisposeAsync();
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GC.SuppressFinalize(this);
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}
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}
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