| | | 1 | | using LGDXRobotCloud.API.Repositories; |
| | | 2 | | using LGDXRobotCloud.Data.Models.Redis; |
| | | 3 | | using LGDXRobotCloud.Protos; |
| | | 4 | | using LGDXRobotCloud.Utilities.Enums; |
| | | 5 | | |
| | | 6 | | namespace LGDXRobotCloud.API.Services.Navigation; |
| | | 7 | | |
| | | 8 | | public interface ISlamService |
| | | 9 | | { |
| | | 10 | | Task<bool> StartSlamAsync(Guid robotId); |
| | | 11 | | Task StopSlamAsync(Guid robotId); |
| | | 12 | | |
| | | 13 | | // Client to Server |
| | | 14 | | Task UpdateSlamDataAsync(Guid robotId, RobotClientsSlamStatus status, RobotClientsMapData? mapData); |
| | | 15 | | |
| | | 16 | | // Server to Client |
| | | 17 | | Task<bool> AddSlamCommandAsync(int realmId, RobotClientsSlamCommands commands); |
| | | 18 | | } |
| | | 19 | | |
| | 0 | 20 | | public class SlamService( |
| | 0 | 21 | | ISlamDataRepository slamDataRepository, |
| | 0 | 22 | | IRobotService robotService |
| | 0 | 23 | | ) : ISlamService |
| | | 24 | | { |
| | 0 | 25 | | private readonly ISlamDataRepository _slamDataRepository = slamDataRepository ?? throw new ArgumentNullException(nameo |
| | 0 | 26 | | private readonly IRobotService _robotService = robotService ?? throw new ArgumentNullException(nameof(robotService)); |
| | | 27 | | |
| | | 28 | | public async Task<bool> StartSlamAsync(Guid robotId) |
| | 0 | 29 | | { |
| | 0 | 30 | | var realmId = await _robotService.GetRobotRealmIdAsync(robotId) ?? 0; |
| | 0 | 31 | | return await _slamDataRepository.StartSlamAsync(realmId, robotId); |
| | 0 | 32 | | } |
| | | 33 | | |
| | | 34 | | public async Task StopSlamAsync(Guid robotId) |
| | 0 | 35 | | { |
| | 0 | 36 | | var realmId = await _robotService.GetRobotRealmIdAsync(robotId) ?? 0; |
| | 0 | 37 | | await _slamDataRepository.StopSlamAsync(realmId, robotId); |
| | 0 | 38 | | } |
| | | 39 | | |
| | | 40 | | public async Task UpdateSlamDataAsync(Guid robotId, RobotClientsSlamStatus status, RobotClientsMapData? mapData) |
| | 0 | 41 | | { |
| | 0 | 42 | | var realmId = await _robotService.GetRobotRealmIdAsync(robotId) ?? 0; |
| | 0 | 43 | | MapData? map = null; |
| | 0 | 44 | | if (mapData != null && mapData.Data.Count > 0) |
| | 0 | 45 | | { |
| | 0 | 46 | | map = new MapData |
| | 0 | 47 | | { |
| | 0 | 48 | | Resolution = mapData.Resolution, |
| | 0 | 49 | | Width = mapData.Width, |
| | 0 | 50 | | Height = mapData.Height, |
| | 0 | 51 | | Origin = new RobotDof |
| | 0 | 52 | | { |
| | 0 | 53 | | X = mapData.Origin.X, |
| | 0 | 54 | | Y = mapData.Origin.Y, |
| | 0 | 55 | | Rotation = mapData.Origin.Rotation, |
| | 0 | 56 | | }, |
| | 0 | 57 | | Data = [.. mapData.Data.Select(x => (short)x)] |
| | 0 | 58 | | }; |
| | 0 | 59 | | } |
| | 0 | 60 | | var data = new SlamData |
| | 0 | 61 | | { |
| | 0 | 62 | | RobotId = robotId, |
| | 0 | 63 | | RealmId = realmId, |
| | 0 | 64 | | SlamStatus = (SlamStatus)status, |
| | 0 | 65 | | MapData = map |
| | 0 | 66 | | }; |
| | 0 | 67 | | await _slamDataRepository.SetSlamExchangeAsync(realmId, data); |
| | 0 | 68 | | } |
| | | 69 | | |
| | | 70 | | public async Task<bool> AddSlamCommandAsync(int realmId, RobotClientsSlamCommands commands) |
| | 0 | 71 | | { |
| | 0 | 72 | | return await _slamDataRepository.AddSlamCommandAsync(realmId, commands); |
| | 0 | 73 | | } |
| | | 74 | | } |