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