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Server Application Reference

The web application lives in src/server/ and consists of two projects:

Project Type Purpose
SmartBotBlazorApp ASP.NET Core 8.0 (Blazor Web App host) SignalR hub, EF Core persistence, Identity, image processing, server-rendered pages
SmartBotBlazorApp.Client Blazor WebAssembly 8.0 Browser-side diagnostic/auth pages; /chat connects to SignalR from WASM

Pages

Route Component Render mode Description
/ Home.razor Server Landing page and project overview
/chat Client/Pages/Chat.razor WebAssembly Text-message diagnostics for the SignalR connection
/image-receiver-server ImageReceiver_server.razor Server Authorized live 512×512 depth heatmap plus joystick/keyboard robot control and speed gauges
/matrix-receiver-server MatrixReceiver_server.razor Server Authorized live 32×32 interpolated depth grid with per-cell coloring and robot control
/measurement-charts MeasurementCharts.razor Server Authorized historical MudBlazor charts: temperature, average distance, acceleration (X/Y/Z), rotation (X/Y/Z); date-range picker, defaults to the last 5 minutes
/weather Weather.razor Server (stream rendering) Air-quality data pulled from an external GreenCity/InPost sensor API
/Account/* Identity pages Server Registration, login, 2FA, password reset, account management

Robot Control Input

The control panel in ImageReceiver_server.razor accepts pointer events from mouse or touch and keyboard events from the arrow keys:

  • Components/RobotMovementInput/JoystickInputHandler.cs normalizes the two joystick axes, applies stop/straight-driving dead zones, and mixes them as left = y + x and right = y - x. This provides proportional straight motion, curved motion, and rotation around the robot's own axis from one joystick.
  • Components/RobotMovementInput/keyboardInputHandler.cs maps the arrow keys to full-range -255, 0, or 255 motor commands. Up/down drive both motors in the same direction; left/right drive them in opposite directions for rotation in place.
  • ImageReceiver_server.razor sends commands through SendMovementCommand, updates both speed gauges, limits normal command transmission to one message per 250 ms, and sends (0, 0) when pointer or keyboard input is released.

See architecture.md for the equations, exact key mapping, and the interaction with the firmware dead-man timer.

Services

Hubs/SignalHub.cs — SignalR hub (/signalhub)

The single real-time endpoint shared by robots and dashboards. See architecture.md for the full message contract. On each ReceiveRobotData invocation it concurrently:

  1. saves the measurement (MeasurementService),
  2. broadcasts a heatmap frame (ReceiveBase64Frame),
  3. broadcasts the interpolated matrix (ReceiveMatrix).

ImageProcessor.cs

  • GenerateHeatmapBase64Image(ushort[64]) — renders the 8×8 depth frame to a PNG heatmap (ImageSharp) using a red→yellow→green→blue→purple gradient normalized over 10–3500 mm, returned base64-encoded.
  • InterpolateData(ushort[64], 32) — bilinear upsampling of the frame to 32×32 for the matrix view.

Data/MeasurementService.cs

  • SaveMeasurementsToDatabase(user, measurements, avgDistance) — validates the seven-value IMU payload and inserts at most one row per second for each robot ID. The in-process throttle is synchronized across concurrent hub calls and uses UTC for elapsed-time comparisons while retaining local timestamps for the existing chart filters.
  • RoundMeasurements(measurements, digits) — display rounding (2 decimal places).
  • Date-range query used by the charts page.

Data/ApplicationDbContext.cs

EF Core context combining ASP.NET Core Identity tables with the Measurement telemetry table. Migrations live in Data/Migrations/ and are applied automatically at startup.

Data Model

Measurement (Data/Measurement.cs):

Column Type Notes
Id int Primary key
RobotId string (≤ 50) Required; identifies the sending robot
TemperatureC double From the MPU6050 die sensor
AccelerationX/Y/Z double m/s²
RotationX/Y/Z double °/s
AvgDistance ushort Average ToF distance, mm
Timestamp DateTime Defaults to insert time

Configuration Reference

appsettings.json

Key Purpose
ConnectionStrings:DefaultConnection SQL Server connection (LocalDB by default)
Logging:LogLevel:* Standard ASP.NET Core logging levels
Api:Url External API base URL placeholder
AccountAccess:AllowRegistration Enables the registration endpoint; false by default, true in Development
AccountAccess:ShowSelfConfirmationLink Shows the no-email confirmation link; for local development only
AllowedHosts Host filtering (* by default)

Environment variables

Variable Purpose
SmartBotDBConnectionString Overrides the connection string (used in Docker/Azure)
RobotApiKey URL-safe key (minimum 32 characters) accepted from robot connections to /signalhub
ASPNETCORE_ENVIRONMENT Development / Production
AccountAccess__AllowRegistration / AccountAccess__ShowSelfConfirmationLink Environment-variable overrides for account provisioning
ASPNETCORE_HTTP_PORTS / ASPNETCORE_HTTPS_PORTS Optional container port bindings; the image serves HTTP on 8080 by default

Ports (Properties/launchSettings.json)

Profile HTTP HTTPS
Kestrel (http/https) 5221 7297
IIS Express 24385 44312
Docker (default runtime) 8080 —

Middleware Pipeline (from Program.cs)

Response compression (including application/octet-stream for SignalR payloads) → HTTPS redirection → static files → Identity authentication/authorization → role-aware SignalR access guard → antiforgery → Razor components (Server + WASM render modes) → SignalR hub at /signalhub → Identity endpoints.

Notes for hardening before production use:

  • Registration is disabled outside Development. Temporarily provision accounts in a trusted environment or connect a controlled administrative flow.
  • IEmailSender is a no-op stub (IdentityNoOpEmailSender) — plug in a real sender before enabling registration publicly. Never enable the self-confirmation link publicly.

Deployment

  • Docker: src/server/SmartBotBlazorApp/Dockerfile (multi-stage .NET 10 SDK build → publish → non-root mcr.microsoft.com/dotnet/aspnet:8.0 runtime, serving HTTP on 8080). The project also defines .NET SDK container metadata (kamilr616/smartbotblazorapp:latest).
  • CI: .github/workflows/smartbotweb.yml performs locked restore, formatting and vulnerability checks, build, tests with coverage, publish, and a container build for pushes and pull requests targeting main. External deployment is intentionally manual; the Azure App Service used for the project presentation is no longer hosted.