I150/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Components/Pages/LidarView.razor

@page "/lidar"
@using RobotNet10.RobotApp.Devices
@using RobotNet10.Shared
@using RobotNet10.RobotApp.Client.Shared.Devices
@rendermode InteractiveServer
@attribute [Authorize]
@inject IDeviceProvider DeviceProvider

<PageTitle>Tim781S LiDAR Visualization</PageTitle>

<style>
    .lidar-container {
        display: flex;
        flex-direction: column;
        height: 100vh;
        background: #1a1a1a;
        color: #ffffff;
    }
    
    .lidar-header {
        padding: 20px;
        background: #2a2a2a;
        border-bottom: 2px solid #3a3a3a;
    }
    
    .lidar-stats {
        display: grid;
        grid-template-columns: repeat(auto-fit, minmax(200px, 1fr));
        gap: 15px;
        margin-top: 15px;
    }
    
    .stat-card {
        background: #3a3a3a;
        padding: 15px;
        border-radius: 8px;
        border-left: 4px solid #00ff88;
    }
    
    .stat-label {
        font-size: 12px;
        color: #888;
        margin-bottom: 5px;
    }
    
    .stat-value {
        font-size: 24px;
        font-weight: bold;
        color: #00ff88;
    }
    
    .canvas-container {
        flex: 1;
        display: flex;
        justify-content: center;
        align-items: center;
        position: relative;
    }
    
    #lidarCanvas {
        border: 2px solid #3a3a3a;
        background: #0a0a0a;
    }
    
    .status-indicator {
        display: inline-block;
        width: 12px;
        height: 12px;
        border-radius: 50%;
        margin-right: 8px;
    }
    
    .status-connected {
        background: #00ff88;
        box-shadow: 0 0 10px #00ff88;
    }
    
    .status-disconnected {
        background: #ff4444;
    }
</style>

<div class="lidar-container">
    <div class="lidar-header">
        <h1>
            <span class="status-indicator @(isConnected ? "status-connected" : "status-disconnected")"></span>
            Tim781S LiDAR Visualization
        </h1>
        
        <div class="lidar-stats">
            <div class="stat-card">
                <div class="stat-label">Scan Frequency</div>
                <div class="stat-value">@scanFrequency Hz</div>
            </div>
            <div class="stat-card">
                <div class="stat-label">Points Per Scan</div>
                <div class="stat-value">@pointCount</div>
            </div>
            <div class="stat-card">
                <div class="stat-label">Min Range</div>
                <div class="stat-value">@minRange.ToString("F2") m</div>
            </div>
            <div class="stat-card">
                <div class="stat-label">Max Range</div>
                <div class="stat-value">@maxRange.ToString("F2") m</div>
            </div>
            <div class="stat-card">
                <div class="stat-label">Valid Points</div>
                <div class="stat-value">@validPoints</div>
            </div>
        </div>
    </div>
    
    <div class="canvas-container">
        <canvas id="lidarCanvas" width="800" height="800"></canvas>
    </div>
</div>

@code {
    private IJSRuntime? JS { get; set; }
    private bool isConnected = false;
    private int scanFrequency = 0;
    private int pointCount = 0;
    private float minRange = 0.0f;
    private float maxRange = 0.0f;
    private int validPoints = 0;
    private ILidar? lidar;
    private System.Threading.Timer? updateTimer;
    
    [Inject]
    public required IJSRuntime JSRuntime { get; set; }
    
    protected override async Task OnInitializedAsync()
    {
        JS = JSRuntime;
        
        // Find Tim781S LiDAR device
        var devices = DeviceProvider.GetDevicesByType(DeviceType.Lidar).OfType<ILidar>();
        lidar = devices.FirstOrDefault(d => (d as DeviceBase)?.DeviceId.Contains("tim781s", StringComparison.OrdinalIgnoreCase) == true);
        
        if (lidar != null)
        {
            lidar.ScanDataReceived += OnScanDataReceived;
            var deviceBase = lidar as DeviceBase;
            isConnected = deviceBase?.Status == DeviceStatus.Connected;
        }
        
        // Start update timer for stats
        updateTimer = new System.Threading.Timer(async _ =>
        {
            await InvokeAsync(StateHasChanged);
        }, null, TimeSpan.Zero, TimeSpan.FromMilliseconds(10));
    }
    
    private async void OnScanDataReceived(object? sender, LidarScanDataEventArgs e)
    {
        if (JS == null) return;
        
        var scan = e.MeasurementData;
        
        // Update stats
        pointCount = scan.Ranges.Length;
        minRange = (float)scan.RangeMin;
        maxRange = (float)scan.RangeMax;
        validPoints = scan.Ranges.Count(r => r >= scan.RangeMin && r <= scan.RangeMax);
        
        // Calculate scan frequency (simple moving average)
        if (lidar != null && lidar.ScanFrequencyHz.HasValue)
        {
            scanFrequency = (int)lidar.ScanFrequencyHz.Value;
        }
        
        // Prepare data for JavaScript visualization
        var points = new List<object>();
        for (int i = 0; i < scan.Ranges.Length; i++)
        {
            float angle = (float)(scan.AngleMin + (i * scan.AngleIncrement));
            float range = (float)scan.Ranges[i];
            
            // Only add valid points
            if (range >= scan.RangeMin && range <= scan.RangeMax)
            {
                points.Add(new { angle, range });
            }
        }
        
        // Call JavaScript to draw
        try
        {
            await JS.InvokeVoidAsync("drawLidarScan", points);
        }
        catch
        {
            // Silently ignore if JS not ready
        }
    }
    
    protected override async Task OnAfterRenderAsync(bool firstRender)
    {
        if (firstRender && JS != null)
        {
            // Initialize canvas
            await JS.InvokeVoidAsync("initLidarCanvas");
        }
    }
    
    public void Dispose()
    {
        updateTimer?.Dispose();
        if (lidar != null)
        {
            lidar.ScanDataReceived -= OnScanDataReceived;
        }
    }
}