first commit -push

RobotNet.RobotShares/VDA5050/Connection/ConnectionMsg.cs

@@ -0,0 +1,28 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.Connection;
+
+#nullable disable
+
+public enum ConnectionState
+{
+    ONLINE,
+    OFFLINE,
+    CONNECTIONBROKEN
+}
+
+public class ConnectionMsg
+{
+    [Required]
+    public uint HeaderId { get; set; }
+    [Required]
+    public string Timestamp { get; set; } = "";
+    [Required]
+    public string Version { get; set; } = "";
+    [Required]
+    public string Manufacturer { get; set; } = "";
+    [Required]
+    public string SerialNumber { get; set; } = "";
+    [Required]
+    public string ConnectionState { get; set; } = "";
+}

RobotNet.RobotShares/VDA5050/Factsheet/ActionParameters.cs

@@ -0,0 +1,25 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.Factsheet;
+
+#nullable disable
+
+public enum ValueDataType
+{
+    BOOL,
+    NUMBER,
+    INTEGER,
+    FLOAT,
+    STRING,
+    OBJECT,
+    ARRAY,
+}
+public class ActionParameters
+{
+    [Required]
+    public string Key { get; set; }
+    [Required]
+    public string ValueDataType { get; set; }
+    public string Description { get; set; }
+    public bool IsOptional { get; set; }
+}

RobotNet.RobotShares/VDA5050/Factsheet/AgvActions.cs

@@ -0,0 +1,23 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.Factsheet;
+
+#nullable disable
+
+public enum ActionScopes
+{
+    INSTANT,
+    NODE,
+    EDGE,
+}
+public class AgvActions
+{
+    [Required]
+    public string ActionType { get; set; }
+    public string ActionDescription { get; set; }
+    [Required]
+    public string[] ActionScopes { get; set; }
+    public ActionParameters[] ActionParameters { get; set; }
+    public string ResultDescription { get; set; }
+    public string[] BlockingTypes { get; set; } 
+}

RobotNet.RobotShares/VDA5050/Factsheet/AgvGeometry.cs

@@ -0,0 +1,12 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.Factsheet;
+
+#nullable disable 
+
+public class AgvGeometry
+{
+    public WheelDefinitions[] WheelDefinitions { get; set; }
+    public Envelopes2d[] Envelopes2d { get; set; }
+    public Envelopes3d[] Envelopes3d { get; set; }
+}

RobotNet.RobotShares/VDA5050/Factsheet/BoundingBoxReference.cs

@@ -0,0 +1,15 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.Factsheet;
+
+public class BoundingBoxReference
+{
+    [Required]
+    public double X { get; set; }
+    [Required]
+    public double Y { get; set; }
+    [Required]
+    public double Z { get; set; }
+    public double Theta { get; set; }
+
+}

RobotNet.RobotShares/VDA5050/Factsheet/Envelopes2d.cs

@@ -0,0 +1,21 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.Factsheet;
+
+#nullable disable
+
+public class PolygonPoints
+{
+    [Required]
+    public double X { get; set; }
+    [Required]
+    public double Y { get; set; }
+}
+public class Envelopes2d
+{
+    [Required]
+    public string Set {  get; set; }
+    [Required]
+    public PolygonPoints[] PolygonPoints { get; set; }
+    public string Description { get; set; }
+}

RobotNet.RobotShares/VDA5050/Factsheet/Envelopes3d.cs

@@ -0,0 +1,16 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.Factsheet;
+
+#nullable disable
+
+public class Envelopes3d
+{
+    [Required]
+    public string Set { get; set; }
+    [Required]
+    public string Format { get; set; }
+    public object Data { get; set; }
+    public string Url { get; set; }
+    public string Description { get; set; }
+}

RobotNet.RobotShares/VDA5050/Factsheet/FactSheetMsg.cs

@@ -0,0 +1,30 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.Factsheet;
+
+#nullable disable
+
+public  class FactSheetMsg
+{
+    public uint HeaderId { get; set; }
+    public string Timestamp { get; set; }
+    [Required]
+    public string Version { get; set; }
+    [Required]
+    public string Manufacturer { get; set; }
+    [Required]
+    public string SerialNumber { get; set; }
+    [Required]
+    public TypeSpecification TypeSpecification { get; set; }
+    [Required]
+    public PhysicalParameters PhysicalParameters { get; set; }
+    [Required]
+    public ProtocolLimits ProtocolLimits { get; set; }
+    [Required]
+    public ProtocolFeatures ProtocolFeatures { get; set; }
+    [Required]
+    public AgvGeometry AgvGeometry { get; set; }
+    [Required]
+    public LoadSpecification LoadSpecification { get; set; }    
+    //public LocalizationParameter LocalizationParameters { get; set; }
+}

RobotNet.RobotShares/VDA5050/Factsheet/LoadDimensions.cs

@@ -0,0 +1,13 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.Factsheet;
+
+public class LoadDimensions
+{
+    [Required]
+    public double Length { get; set; }
+    [Required]
+    public double Width { get; set; }
+    public double Height { get; set; }
+
+}

RobotNet.RobotShares/VDA5050/Factsheet/LoadSets.cs

@@ -0,0 +1,26 @@
+namespace RobotNet.RobotShares.VDA5050.Factsheet;
+
+#nullable disable
+
+public class LoadSets
+{
+    public string SetName { get; set; } 
+    public string LoadType { get; set; }
+    public string[] LoadPositions { get; set; }
+    public BoundingBoxReference BoundingBoxReference { get; set; }
+    public LoadDimensions LoadDimensions { get; set; }
+    public double MaxWeigth { get; set; }
+    public double MinLoadhandlingHeight { get; set; }
+    public double MaxLoadhandlingHeight { get; set; }
+    public double MinLoadhandlingDepth { get; set; }
+    public double MaxLoadhandlingDepth { get; set; }
+    public double MinLoadhandlingTilt { get; set; }
+    public double MaxLoadhandlingTilt { get; set; }
+    public double AgvSpeedLimit { get; set; }
+    public double AgvAccelerationLimit { get; set; }
+    public double AgvDecelerationLimit { get; set; }
+    public double PickTime { get; set; }
+    public double DropTime { get; set; }
+    public string Description { get; set; }
+
+}

RobotNet.RobotShares/VDA5050/Factsheet/LoadSpecification.cs

@@ -0,0 +1,9 @@
+namespace RobotNet.RobotShares.VDA5050.Factsheet;
+
+#nullable disable
+
+public class LoadSpecification
+{
+    public string[] LoadPositions { get; set; } 
+    public LoadSets[] LoadSets { get; set; }
+}

RobotNet.RobotShares/VDA5050/Factsheet/LocalizationParameter.cs

@@ -0,0 +1,6 @@
+namespace RobotNet.RobotShares.VDA5050.Factsheet;
+
+public class LocalizationParameter
+{
+    public double LocalizationParameters { get; set; }
+}

RobotNet.RobotShares/VDA5050/Factsheet/MaxArrayLens.cs

@@ -0,0 +1,21 @@
+namespace RobotNet.RobotShares.VDA5050.Factsheet;
+
+public class MaxArrayLens
+{
+    public int OrderNodes { get; set; }
+    public int OrderEdges { get; set; }
+    public int NodeActions { get; set; }
+    public int EdgeActions { get; set; }
+    public int ActionsActionsParameters { get; set; }
+    public int InstantActions { get; set; }
+    public int TrajectoryKnotVector { get; set; }
+    public int TrajectoryControlPoints { get; set; }
+    public int StateNodeStates { get; set; }
+    public int StateEdgeStates { get; set; }
+    public int StateLoads { get; set; }
+    public int StateActionStates { get; set; }
+    public int StateErrors { get; set; }
+    public int StateInformation { get; set; }
+    public int ErrorErrorReferences { get; set; }
+    public int InformationInfoReferences { get; set; }
+}

RobotNet.RobotShares/VDA5050/Factsheet/MaxStringLens.cs

@@ -0,0 +1,12 @@
+namespace RobotNet.RobotShares.VDA5050.Factsheet;
+
+public class MaxStringLens
+{
+    public int MsgLen { get; set; }
+    public int TopicSerialLen { get; set; }
+    public int TopicElemLen { get; set; }
+    public int IdLen { get; set; }
+    public bool IdNumericalOnly { get; set; }
+    public int EnumLen { get; set; }
+    public int LoadIdLen { get; set; }
+}

RobotNet.RobotShares/VDA5050/Factsheet/OptionalParameters.cs

@@ -0,0 +1,19 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.Factsheet;
+
+#nullable disable
+
+public enum Support
+{
+    SUPPORTED,
+    REQUIRED,
+}
+public class OptionalParameters
+{
+    [Required]
+    public string Parameter {  get; set; }
+    [Required]
+    public string Support { get; set; }
+    public string Description { get; set; }
+}

RobotNet.RobotShares/VDA5050/Factsheet/PhysicalParameters.cs

@@ -0,0 +1,22 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.Factsheet;
+
+public class PhysicalParameters
+{
+    [Required]
+    public double SpeedMin { get; set; }
+    [Required]
+    public double SpeedMax { get; set; }
+    [Required]
+    public double AccelerationMax { get; set; }
+    [Required]
+    public double DecelerationMax { get; set; }
+    public double HeightMin { get; set; }
+    [Required]
+    public double HeightMax { get; set; }
+    [Required]
+    public double Width { get; set; }
+    [Required]
+    public double Length { get; set; }
+}

RobotNet.RobotShares/VDA5050/Factsheet/ProtocolFeatures.cs

@@ -0,0 +1,13 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.Factsheet;
+
+#nullable disable
+
+public class ProtocolFeatures
+{
+    [Required]
+    public OptionalParameters[] OptionalParameters { get; set; }
+    [Required]
+    public AgvActions[] AgvActions { get; set; }  
+}

RobotNet.RobotShares/VDA5050/Factsheet/ProtocolLimits.cs

@@ -0,0 +1,14 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.Factsheet;
+
+#nullable disable
+public class ProtocolLimits
+{
+    [Required]
+    public MaxStringLens MaxStringLens { get; set; }
+    [Required]
+    public MaxArrayLens MaxArrayLens { get; set; }
+    [Required]
+    public Timing Timing { get; set; }
+}

RobotNet.RobotShares/VDA5050/Factsheet/Timing.cs

@@ -0,0 +1,13 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.Factsheet;
+
+public class Timing
+{
+    [Required]
+    public double MinOrderInterval { get; set; }
+    [Required]
+    public double MinStateInterval { get; set; }
+    public double DefaultStateInterval { get; set; }
+    public double VisualizationInterval { get; set; }
+}

RobotNet.RobotShares/VDA5050/Factsheet/TypeSpecification.cs

@@ -0,0 +1,50 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.Factsheet;
+
+#nullable disable
+
+public enum AgvKinematic
+{
+    DIFF,
+    OMNI,
+    THREEWHEEL
+}
+public enum AgvClass
+{
+    FORKLIFT,
+    CONVEYOR,
+    TUGGER,
+    CARRIER
+}
+public enum LocalizationTypes
+{
+    NATURAL,
+    REFLECTOR,
+    RFID,
+    DMC,
+    SPOT,
+    GRID,
+}
+public enum NavigationTypes
+{
+    PHYSICAL_LINDE_GUIDED,
+    VIRTUAL_LINE_GUIDED,
+    AUTONOMOUS,
+}
+public class TypeSpecification
+{
+    [Required]
+    public string SeriesName { get; set; }  
+    public string SeriesDescription { get; set; }
+    [Required]
+    public string AgvKinematic { get; set; }
+    [Required]
+    public string AgvClass { get; set; }
+    [Required]
+    public double MaxLoadMass { get; set; }
+    [Required]
+    public string[] LocalizationTypes { get; set; } = [];
+    [Required]
+    public string[] NavigationTypes { get; set; } = [];
+}

RobotNet.RobotShares/VDA5050/Factsheet/WheelDefinitions.cs

@@ -0,0 +1,39 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.Factsheet;
+
+#nullable disable
+
+public enum WheelDefinitionsType
+{
+    DRIVE,
+    CASTER,
+    FIXED,
+    MECANUM,
+}
+public class WheelDefinitionsPosition
+{
+    [Required]
+    public double X {  get; set; }
+    [Required]
+    public double Y { get; set; }
+    public double Theta { get; set; }
+}
+
+public class WheelDefinitions
+{
+    [Required]
+    public string Type { get; set; }
+    [Required]
+    public bool IsActiveDriven { get; set; }
+    [Required]
+    public bool IsActiveSteered { get; set; }
+    [Required]
+    public WheelDefinitionsPosition Position { get; set; }
+    [Required]
+    public double Diameter { get; set; }
+    [Required]
+    public double Width { get; set; }
+    public double CenterDisplacement { get; set; }
+    public string Constraints { get; set; }
+}

RobotNet.RobotShares/VDA5050/FactsheetExtend/Battery.cs

@@ -0,0 +1,9 @@
+namespace RobotNet.RobotShares.VDA5050.FactsheetExtend;
+
+public class Battery
+{
+    public uint Battery_low { get; set; }
+    public uint Battery_normal { get; set; }
+    public uint Battery_good { get; set; }
+    public uint Battery_full { get; set; }
+}

RobotNet.RobotShares/VDA5050/FactsheetExtend/BatteryThreshold.cs

@@ -0,0 +1,11 @@
+namespace RobotNet.RobotShares.VDA5050.FactsheetExtend;
+
+public enum BatteryThreshold
+{
+    LOW,
+    NORMAL,
+    MIDDLE,
+    GOOD,
+    FULL,
+    NONE
+}

RobotNet.RobotShares/VDA5050/FactsheetExtend/CameraSafety.cs

@@ -0,0 +1,31 @@
+namespace RobotNet.RobotShares.VDA5050.FactsheetExtend;
+
+public class CameraSafety
+{
+    public double Pass_through_x_min { get; set; }
+    public double Pass_through_x_max { get; set; }
+    public double Pass_through_y_min { get; set; }
+    public double Pass_through_y_max { get; set; }
+    public double Pass_through_z_min { get; set; }
+    public double Pass_through_z_max { get; set; }
+    public uint Ground_seg_max_iterations { get; set; }
+    public double Ground_seg_distance_threshold { get; set; }
+    public double Warn_z1 { get; set; }
+    public double Protect_z1 { get; set; }
+    public double Warn_z2 { get; set; }
+    public double Protect_z2 { get; set; }
+    public double Warn_z3 { get; set; }
+    public double Protect_z3 { get; set; }
+    public double Warn_z4 { get; set; }
+    public double Protect_z4 { get; set; }
+    public double Warn_z5 { get; set; }
+    public double Protect_z5 { get; set; }
+    public double Warn_z6 { get; set; }
+    public double Protect_z6 { get; set; }
+    public uint Min_cluster_warn_size { get; set; }
+    public uint Min_cluster_protect_size { get; set; }
+    public uint Min_cluster_detect_size { get; set; }
+    public uint Min_consecutive_warn_count { get; set; }
+    public uint Min_consecutive_protect_count { get; set; }
+    public uint Min_consecutive_detect_count { get; set; }
+}

RobotNet.RobotShares/VDA5050/FactsheetExtend/ChargerParam.cs

@@ -0,0 +1,9 @@
+namespace RobotNet.RobotShares.VDA5050.FactsheetExtend;
+
+#nullable disable
+
+public class ChargerParam
+{
+    public string Charger_ip { get; set; }
+    public uint Charger_port { get; set; }
+}

RobotNet.RobotShares/VDA5050/FactsheetExtend/FactsheetExtendMsg.cs

@@ -0,0 +1,19 @@
+namespace RobotNet.RobotShares.VDA5050.FactsheetExtend;
+
+#nullable disable
+
+public class FactsheetExtendMsg
+{
+    public uint HeaderId { get; set; }
+    public DateTime Timestamp { get; set; }
+    public string Version { get; set; }
+    public string Manufacturer { get; set; }
+    public string SerialNumber { get; set; }
+
+    public ServerParam Server_param { get; set; }
+    public RobotParam Robot_param { get; set; }
+    public Localization Localization { get; set; }
+    public Navigation Navigation { get; set; }
+    public Safety Safety { get; set; }
+    public ChargerParam Charger_param { get; set; }
+}

RobotNet.RobotShares/VDA5050/FactsheetExtend/ForkSafety.cs

@@ -0,0 +1,9 @@
+namespace RobotNet.RobotShares.VDA5050.FactsheetExtend;
+
+public class ForkSafety
+{
+    public double Muted_field_size { get; set; }
+    public double Protected_field_size { get; set; }
+    public double Warning_field_size { get; set; }
+    public double Detect_field_size { get; set; }
+}

RobotNet.RobotShares/VDA5050/FactsheetExtend/Initpose.cs

@@ -0,0 +1,9 @@
+namespace RobotNet.RobotShares.VDA5050.FactsheetExtend;
+
+public class Initpose
+{
+    public bool Use_manual_initpose { get; set; }
+    public double Initpose_x { get; set; }
+    public double Initpose_y { get; set; }
+    public double Initpose_yaw { get; set; }
+}

RobotNet.RobotShares/VDA5050/FactsheetExtend/LineSegment.cs

@@ -0,0 +1,10 @@
+namespace RobotNet.RobotShares.VDA5050.FactsheetExtend;
+
+public class LineSegment
+{
+    public double Least_thresh { get; set; }
+    public double Min_line_length { get; set; }
+    public double Predict_distance { get; set; }
+    public uint Seed_line_points { get; set; }
+    public uint Min_line_points { get; set; }
+}

RobotNet.RobotShares/VDA5050/FactsheetExtend/Localization.cs

@@ -0,0 +1,14 @@
+namespace RobotNet.RobotShares.VDA5050.FactsheetExtend;
+
+#nullable disable
+
+public class Localization
+{
+    public uint Threshold_quality_loc { get; set; }
+    public bool Use_localization_marker { get; set; }
+    public bool Use_pallet_detection { get; set; }
+    public Initpose Initpose { get; set; }
+    public Xloc Xloc { get; set; }
+    public VlMarker Vl_marker { get; set; }
+
+}

RobotNet.RobotShares/VDA5050/FactsheetExtend/Motor.cs

@@ -0,0 +1,9 @@
+namespace RobotNet.RobotShares.VDA5050.FactsheetExtend;
+
+public class Motor
+{
+    public double OdomEncSteeringAngleOffset { get; set; }
+    public double Steering_fix_wheel_distance_x { get; set; }
+    public double Steering_fix_wheel_distance_y { get; set; }
+    public double WheelAcceleration { get; set; }
+}

RobotNet.RobotShares/VDA5050/FactsheetExtend/Navigation.cs

@@ -0,0 +1,11 @@
+namespace RobotNet.RobotShares.VDA5050.FactsheetExtend;
+
+#nullable disable
+public class Navigation
+{
+    public bool Using_control_safety { get; set; }
+    public uint Control_rate { get; set; }
+    public Rotate Rotate { get; set; }
+    public PTA Pta { get; set; }
+    public PPA Ppa { get; set; }
+}

RobotNet.RobotShares/VDA5050/FactsheetExtend/PPA.cs

@@ -0,0 +1,7 @@
+namespace RobotNet.RobotShares.VDA5050.FactsheetExtend;
+
+public class PPA
+{
+    public double Ppa_accuracy_goal { get; set; }
+    public double Ppa_distance_reduce { get; set; }
+}

RobotNet.RobotShares/VDA5050/FactsheetExtend/PTA.cs

@@ -0,0 +1,15 @@
+namespace RobotNet.RobotShares.VDA5050.FactsheetExtend;
+
+public class PTA
+{
+    public double Pta_linear_vel_max { get; set; }
+    public double Pta_linear_vel_min { get; set; }
+    public double Pta_accuracy_goal { get; set; }
+    public double Pta_distance_reduce { get; set; }
+    public double Pta_acceleration { get; set; }
+    public double Pta_lm_front { get; set; }
+    public double Pta_lm_back { get; set; }
+    public double Pta_phi_max { get; set; }
+    public double Pta_amplitude_max { get; set; }
+    public uint Pta_w_option { get; set; }
+}

RobotNet.RobotShares/VDA5050/FactsheetExtend/RobotParam.cs

@@ -0,0 +1,12 @@
+namespace RobotNet.RobotShares.VDA5050.FactsheetExtend;
+
+public class RobotParam
+{
+    public bool Use_dynamic_parameter { get; set; }          // (Default: True) Declare whether to use dynamic parameters or not
+    public string? Ethernet_name { get; set; }                // The name of Ethernet port which connects to wifi client (e.g eno1, lo, enp3s0)
+    public double Speed_max_backward { get; set; }          // (Default: True) Declare whether to use dynamic parameters or not
+    public uint Num_day_logger { get; set; }                // The name of Ethernet port which connects to wifi client (e.g eno1, lo, enp3s0)
+
+    public Motor Motor { get; set; } = new();
+    public Battery Battery { get; set; } = new();
+}

RobotNet.RobotShares/VDA5050/FactsheetExtend/Rotate.cs

@@ -0,0 +1,9 @@
+namespace RobotNet.RobotShares.VDA5050.FactsheetExtend;
+
+public class Rotate
+{
+    public double Angular_vel_max { get; set; }
+    public double Angular_vel_min { get; set; }
+    public double Acceleration_rotate { get; set; }
+    public double Tolerances_rotate { get; set; }
+}

RobotNet.RobotShares/VDA5050/FactsheetExtend/Safety.cs

@@ -0,0 +1,8 @@
+namespace RobotNet.RobotShares.VDA5050.FactsheetExtend;
+
+public class Safety
+{
+    public bool Use_camera_safety { get; set; }
+    public CameraSafety Camera_safety { get; set; } = new();
+    public ForkSafety Fork_safety { get; set; } = new();
+}

RobotNet.RobotShares/VDA5050/FactsheetExtend/ServerParam.cs

@@ -0,0 +1,14 @@
+namespace RobotNet.RobotShares.VDA5050.FactsheetExtend;
+
+#nullable disable
+
+public class ServerParam
+{
+    public string Server_ip { get; set; }
+    public string Server_port { get; set; }
+    public string Keepalive { get; set; }
+    public string Username { get; set; }
+    public string Password { get; set; }
+    public string Client_protocol { get; set; }
+    public string Client_id { get; set; }
+}

RobotNet.RobotShares/VDA5050/FactsheetExtend/VlMarker.cs

@@ -0,0 +1,21 @@
+namespace RobotNet.RobotShares.VDA5050.FactsheetExtend;
+
+public class VlMarker
+{
+    public bool Use_odometry { get; set; }
+    public uint V_angle { get; set; }
+    public double Length_v { get; set; }
+    public double Length_l { get; set; }
+    public double X_laser { get; set; }
+    public double Y_laser { get; set; }
+    public bool Flip_laser { get; set; }
+    public double Rotate_laser { get; set; }
+    public uint Frequence_control { get; set; }
+    public double Angle_min { get; set; }
+    public double Angle_max { get; set; }
+    public double Max_init_x { get; set; }
+    public double Max_init_y { get; set; }
+    public double Max_init_yaw { get; set; }
+
+    public LineSegment Line_segment { get; set; } = new();
+}

RobotNet.RobotShares/VDA5050/FactsheetExtend/Xloc.cs

@@ -0,0 +1,16 @@
+namespace RobotNet.RobotShares.VDA5050.FactsheetExtend;
+
+public class Xloc
+{
+    public double Front_vls_width { get; set; }
+    public double Front_vls_pose_x { get; set; }
+    public double Front_vls_pose_y { get; set; }
+    public double Front_vls_pose_yaw { get; set; }
+    public uint Front_vls_source_id { get; set; }
+
+    public double Rear_vls_width { get; set; }
+    public double Rear_vls_pose_x { get; set; }
+    public double Rear_vls_pose_y { get; set; }
+    public double Rear_vls_pose_yaw { get; set; }
+    public uint Rear_vls_source_id { get; set; }
+}

RobotNet.RobotShares/VDA5050/InstantAction/ActionParameter.cs

@@ -0,0 +1,12 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.InstantAction;
+
+#nullable disable
+public class ActionParameter
+{
+    [Required]
+    public string Key { get; set; } = "";
+    [Required]
+    public string Value { get; set; } = "";
+}

RobotNet.RobotShares/VDA5050/InstantAction/Actions.cs

@@ -0,0 +1,23 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.InstantAction;
+
+#nullable disable 
+
+public enum BlockingType
+{
+    NONE,
+    SOFT,
+    HARD
+}
+public class Action
+{
+    [Required]
+    public string ActionType { get; set; } = "";
+    [Required]
+    public string ActionId { get; set; } = "";
+    public string ActionDescription { get; set; } = "";
+    [Required]
+    public string BlockingType { get; set; } = "";
+    public ActionParameter[] ActionParameters { get; set; } = [];
+}

RobotNet.RobotShares/VDA5050/InstantAction/InstantActionsMsg.cs

@@ -0,0 +1,13 @@
+namespace RobotNet.RobotShares.VDA5050.InstantAction;
+
+#nullable disable
+
+public class InstantActionsMsg
+{
+    public uint HeaderId { get; set; }
+    public string Timestamp { get; set; } = "";
+    public string Version { get; set; } = "";
+    public string Manufacturer { get; set; } = "";
+    public string SerialNumber { get; set; } = "";
+    public Action[] Actions { get; set; } = [];
+}

RobotNet.RobotShares/VDA5050/Order/Corridor.cs

@@ -0,0 +1,18 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.Order;
+
+public enum CorridorRefPoint
+{
+    KINEMATICCENTER,
+    CONTOUR
+}
+
+public class Corridor
+{
+    [Required]
+    public double LeftWidth { get; set; }
+    [Required]
+    public double RightWidth { get; set; }
+    public string CorridorRefPoint { get; set; } = "";
+}

RobotNet.RobotShares/VDA5050/Order/Edge.cs

@@ -0,0 +1,33 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.Order;
+
+#nullable disable
+
+public class Edge
+{
+    [Required]
+    public string EdgeId { get; set; } = "";
+    [Required]
+    public int SequenceId { get; set; }
+    public string EdgeDescription { get; set; } = "";
+    [Required]
+    public bool Released { get; set; }
+    [Required]
+    public string StartNodeId { get; set; } = "";
+    [Required]
+    public string EndNodeId { get; set; } = "";
+    public double MaxSpeed { get; set; }
+    public double MaxHeight { get; set; }
+    public double MinHeight { get; set; }
+    public double Orientation { get; set; }
+    public string OrientationType { get; set; } = "";
+    public string Direction { get; set; } = "";
+    public bool RotationAllowed { get; set; }
+    public double MaxRotationSpeed { get; set; }
+    public double Length { get; set; }
+    public Trajectory Trajectory { get; set; }
+    public Corridor Corridor { get; set; } = new();
+    [Required]
+    public InstantAction.Action[] Actions { get; set; } = [];
+}

RobotNet.RobotShares/VDA5050/Order/EdgeLog.cs

@@ -0,0 +1,18 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.Order;
+
+#nullable disable
+public class EdgeLog
+{
+
+    [Required]
+    public string EdgeId { get; set; } = "";
+    public string EdgeDescription { get; set; } = "";
+    [Required]
+    public string StartNodeId { get; set; } = "";
+    [Required]
+    public string EndNodeId { get; set; } = "";
+    public Trajectory Trajectory { get; set; } = new();
+    public InstantAction.Action[] Actions { get; set; } = [];
+}

RobotNet.RobotShares/VDA5050/Order/Node.cs

@@ -0,0 +1,19 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.Order;
+
+#nullable disable
+
+public class Node
+{
+    [Required]
+    public string NodeId { get; set; } = "";
+    [Required]
+    public int SequenceId { get; set; }
+    public string NodeDescription { get; set; } = "";
+    [Required]
+    public bool Released { get; set; }
+    public NodePosition NodePosition { get; set; }
+    [Required]
+    public InstantAction.Action[] Actions { get; set; } = [];
+}

RobotNet.RobotShares/VDA5050/Order/NodeLog.cs

@@ -0,0 +1,19 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.Order;
+
+#nullable disable
+
+public class NodeLog
+{
+    [Required]
+    public string NodeId { get; set; } = "";
+    public string NodeDescription { get; set; } = "";
+    [Required]
+    public double X { get; set; }
+    [Required]
+    public double Y { get; set; }
+    [Required]
+    public double Theta { get; set; }
+    public InstantAction.Action[] Actions { get; set; } = [];
+}

RobotNet.RobotShares/VDA5050/Order/NodePosition.cs

@@ -0,0 +1,19 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.Order;
+
+#nullable disable
+
+public class NodePosition
+{
+    [Required]
+    public double X { get; set; }
+    [Required]
+    public double Y { get; set; }
+    public double Theta { get; set; }
+    public double AllowedDeviationXY { get; set; }
+    public double AllowedDeviationTheta { get; set; }
+    [Required]
+    public string MapId { get; set; } = "";
+    public string MapDescription { get; set; } = "";
+}

RobotNet.RobotShares/VDA5050/Order/OrderLog.cs

@@ -0,0 +1,21 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.Order;
+
+#nullable disable
+
+public class OrderLog
+{
+    [Required]
+    public string Timestamp { get; set; } = "";
+    [Required]
+    public string SerialNumber { get; set; } = "";
+    [Required]
+    public string OrderId { get; set; } = "";
+    [Required]
+    public int OrderUpdateId { get; set; }
+    [Required]
+    public NodeLog[] Nodes { get; set; } = [];
+    [Required]
+    public EdgeLog[] Edges { get; set; } = [];
+}

RobotNet.RobotShares/VDA5050/Order/OrderMsg.cs

@@ -0,0 +1,29 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.Order;
+
+#nullable disable
+
+public class OrderMsg
+{
+    [Required]
+    public uint HeaderId { get; set; }
+    [Required]
+    public string Timestamp { get; set; } = "";
+    [Required]
+    public string Version { get; set; } = "";
+    [Required]
+    public string Manufacturer { get; set; } = "";
+    [Required]
+    public string SerialNumber { get; set; } = "";
+    [Required]
+    public string OrderId { get; set; } = "";
+    [Required]
+    public int OrderUpdateId { get; set; }
+    public string ZoneSetId { get; set; } = "";
+    [Required]
+    public Node[] Nodes { get; set; } = [];
+    [Required]
+    public Edge[] Edges { get; set; } = [];
+
+}

RobotNet.RobotShares/VDA5050/Order/Trajectory.cs

@@ -0,0 +1,23 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.Order;
+
+#nullable disable
+
+public class ControlPoint
+{
+    [Required]
+    public double X { get; set; }
+    [Required]
+    public double Y { get; set; }
+    public double Weight { get; set; }
+}
+public class Trajectory
+{
+    [Required]
+    public int Degree { get; set; }
+    [Required]
+    public double[] KnotVector { get; set; } = [];
+    [Required]
+    public ControlPoint[] ControlPoints { get; set; } = [];
+}

RobotNet.RobotShares/VDA5050/State/ActionState.cs

@@ -0,0 +1,25 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.State;
+
+#nullable disable
+
+public enum ActionStatus
+{
+    WAITING,
+    INITIALIZING,
+    RUNNING,
+    PAUSED,
+    FINISHED,
+    FAILED,
+}
+public class ActionState
+{
+    public string ActionType { get; set; }
+    [Required]
+    public string ActionId { get; set; }
+    public string ActionDescription { get; set; }
+    [Required]
+    public string ActionStatus { get; set; }
+    public string ResultDescription { get; set; }
+}

RobotNet.RobotShares/VDA5050/State/BatteryState.cs

@@ -0,0 +1,15 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.State;
+
+public class BatteryState
+{
+    [Required]
+    public double BatteryCharge { get; set; }
+    public double BatteryVoltage { get; set; }
+    [Range(0, 100, ErrorMessage = "Value for BatteryHealth must be between 0 and 100.")]
+    public double BatteryHealth { get; set; }
+    [Required]
+    public bool Charging { get; set; }
+    public double Reach { get; set; }
+}

RobotNet.RobotShares/VDA5050/State/EdgeState.cs

@@ -0,0 +1,19 @@
+using RobotNet.RobotShares.VDA5050.Order;
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.State;
+
+#nullable disable
+
+public class EdgeState
+{
+
+    [Required]
+    public string EdgeId { get; set; }
+    [Required]
+    public int SequenceId { get; set; }
+    public string EdgeDescription { get; set; }
+    [Required]
+    public bool Released { get; set; }
+    public Trajectory Trajectory { get; set; }
+}

RobotNet.RobotShares/VDA5050/State/Error.cs

@@ -0,0 +1,29 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.State;
+
+#nullable disable
+
+public enum ErrorLevel
+{
+    NONE,
+    WARNING,
+    FATAL
+}
+public class ErrorReferences
+{
+    [Required]
+    public string ReferenceKey { get; set; }
+    [Required]
+    public string ReferenceValue { get; set; }
+}
+public class Error
+{
+    [Required]
+    public string ErrorType { get; set; }
+    public ErrorReferences[] ErrorReferences { get; set; }
+    public string ErrorDescription { get; set; }
+    public string ErrorHint { get; set; }
+    [Required]
+    public string ErrorLevel { get; set; }
+}

RobotNet.RobotShares/VDA5050/State/Information.cs

@@ -0,0 +1,27 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.State;
+
+#nullable disable
+
+public enum InfoLevel
+{
+    INFO,
+    DEBUG
+}
+public class InfomationReferences
+{
+    [Required]
+    public string ReferenceKey { get; set; }
+    [Required]
+    public string ReferenceValue { get; set; }
+}
+public class Information
+{
+    [Required]
+    public string InfoType { get; set; }
+    public InfomationReferences[] InfoReferences { get; set; }
+    public string InfoDescription { get; set; }
+    [Required]
+    public string InfoLevel { get; set; }
+}

RobotNet.RobotShares/VDA5050/State/Load.cs

@@ -0,0 +1,16 @@
+using RobotNet.RobotShares.VDA5050.Factsheet;
+
+namespace RobotNet.RobotShares.VDA5050.State;
+
+#nullable disable
+
+public class Load
+{
+    public string LoadId { get; set; }
+    public string LoadType { get; set; }
+    public string LoadPosition { get; set; }
+    public BoundingBoxReference BoundingBoxReference { get; set; }
+    public LoadDimensions LoadDimensions { get; set; }
+    public double Weight { get; set; }
+
+}

RobotNet.RobotShares/VDA5050/State/Map.cs

@@ -0,0 +1,20 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.State;
+
+public enum MapStatus
+{
+    Enabled,
+    Disabled,
+}
+
+public class Map
+{
+    [Required]
+    public string MapId { get; set; } = string.Empty;
+    [Required]
+    public string MapVersion { get; set; } = string.Empty;
+    public string MapDescription { get; set; } = string.Empty;
+    [Required]
+    public string MapStatus { get; set; } = string.Empty;
+}

RobotNet.RobotShares/VDA5050/State/NodeState.cs

@@ -0,0 +1,30 @@
+using RobotNet.RobotShares.VDA5050.Order;
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.State;
+
+#nullable disable
+
+public class NodeState
+{
+    [Required]
+    public string NodeId { get; set; }
+    [Required]
+    public int SequenceId { get; set; }
+    public string NodeDescription { get; set; }
+    [Required]
+    public bool Released { get; set; }
+    public NodePosition NodePosition { get; set; }
+}
+
+public class NodePosition
+{
+    [Required]
+    public double X { get; set; }
+    [Required]
+    public double Y { get; set; }
+    public double Theta { get; set; }
+    [Required]
+    public string MapId { get; set; } = "";
+
+}

RobotNet.RobotShares/VDA5050/State/SafetyState.cs

@@ -0,0 +1,20 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.State;
+
+public enum EStop
+{
+    AUTOACK,
+    MANUAL,
+    REMOTE,
+    NONE,
+}
+
+public class SafetyState
+{
+    [Required]
+    public string? EStop { get; set; }
+
+    [Required]
+    public bool FieldViolation { get; set; }
+}

RobotNet.RobotShares/VDA5050/State/StateMsg.cs

@@ -0,0 +1,61 @@
+using RobotNet.RobotShares.VDA5050.Visualization;
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.State;
+
+#nullable disable
+
+public enum OperatingMode
+{
+    AUTOMATIC,
+    SEMIAUTOMATIC,
+    MANUAL,
+    SERVICE,
+    TEACHIN,
+}
+public class StateMsg
+{
+    [Required]
+    public uint HeaderId { get; set; }
+    [Required]
+    public string Timestamp { get; set; }
+    [Required]
+    public string Version { get; set; }
+    [Required]
+    public string Manufacturer { get; set; }
+    [Required]
+    public string SerialNumber { get; set; }
+    public Map[] Maps { get; set; } = [];
+    [Required]
+    public string OrderId { get; set; }
+    [Required]
+    public int OrderUpdateId { get; set; }
+    public string ZoneSetId { get; set; }
+    [Required]
+    public string LastNodeId { get; set; }
+    [Required]
+    public int LastNodeSequenceId { get; set; }
+    [Required]
+    public bool Driving { get; set; }
+    public bool Paused { get; set; }
+    public bool NewBaseRequest { get; set; }
+    public double DistanceSinceLastNode { get; set; }
+    [Required]
+    public string OperatingMode { get; set; }
+    [Required]
+    public NodeState[] NodeStates { get; set; } = [];
+    [Required]
+    public EdgeState[] EdgeStates { get; set; } = [];
+    public AgvPosition AgvPosition { get; set; } = new();
+    public Velocity Velocity { get; set; } = new();
+    public Load[] Loads { get; set; } = [];
+    [Required]
+    public ActionState[] ActionStates { get; set; } = [];
+    [Required]
+    public BatteryState BatteryState { get; set; } = new();
+    [Required]
+    public Error[] Errors { get; set; } = [];
+    public Information[] Information { get; set; } = [];
+    [Required]
+    public SafetyState SafetyState { get; set; } = new();
+}

RobotNet.RobotShares/VDA5050/Type/ActionType.cs

@@ -0,0 +1,35 @@
+namespace RobotNet.RobotShares.VDA5050.Type;
+
+public enum ActionType
+{
+    startPause,              // No actionParameters
+    stopPause,              // No actionParameters
+    startCharging,         // ActionParameters {CHARGER_IP, CHARGER_PORT, X, Y, THETA}
+    stopCharging,            // ActionParameters {X, Y, THETA}
+    initPosition,            // ActionParameters {X, Y, THETA, MAP_ID, LAST_NODE_ID}
+    stateRequest,            // No actionParameters
+    logReport,               // No actionParameters
+    pick,                    // No actionParameters
+    drop,                   // No actionParameters
+    detectObject,            // No actionParameters
+    finePositioning,         // ActionParameters {X, Y, THETA, MAP_ID, LAST_NODE_ID}
+    waitForTrigger,          // No actionParameters
+    cancelOrder,             // No actionParameters
+    factsheetRequest,        // No actionParameters
+
+    setDynparam,             // ActionParameters {PARAM_NAME, PARAM_TYPE, PARAM_VALUE}
+    saveDynparamRuntime,     // No actionParameters
+    loadDynparamRuntime,     // No actionParameters
+    loadDynparamDefault,     // No actionParameters
+    getDynparamRuntime,      // No actionParameters
+
+    controlLight,            // ActionParameters {LIGHT_TYPE, CONTROL_TYPE}
+    controlFan,              // ActionParameters {CONTROL_TYPE}
+    controlSpeaker,          // ActionParameters {SONG_NUMBER, CONTROL_TYPE}
+    controlSafetyField,      // ActionParameters {FIELD_TYPE, CONTROL_TYPE}
+    startInPallet,        // ActionParameters {X, Y, THETA}
+    startOutPallet,                    // ActionParameters {X, Y, THETA}      
+
+    rotate,      // ActionParameters {THETA}      
+    setMap,      // ActionParameter {MAP_ID}
+}

RobotNet.RobotShares/VDA5050/Type/InformationType.cs

@@ -0,0 +1,23 @@
+namespace RobotNet.RobotShares.VDA5050.Type;
+
+public enum InformationType
+{
+    connection_server,
+    order,
+    control_navigation,
+    robot_general
+}
+
+public enum InformationReferencesKey
+{
+    count_retry,
+    robot_area,
+    robot_state,
+}
+
+public enum InformationMMGArea
+{
+    CHARGING,
+    WORKING,
+    HOME,
+}

RobotNet.RobotShares/VDA5050/Type/LoadType.cs

@@ -0,0 +1,7 @@
+namespace RobotNet.RobotShares.VDA5050.Type;
+
+public enum LoadType
+{
+    PALLET,
+    GOODS
+}

RobotNet.RobotShares/VDA5050/Type/ManualActionType.cs

@@ -0,0 +1,17 @@
+namespace RobotNet.RobotShares.VDA5050.Type;
+
+public enum ManualActionType
+{
+    RELEASE,
+    GO_HOME,
+    GO_CHARGING,
+    STOP_CHARGING,
+    MOVE_TO_NODE,
+    PICK_PALLET,
+    DROP_PALLET,
+    FACTSHEET_REQUEST,
+    SET_MAP,
+    PICK,
+    DROP,
+    CHARGING
+}

RobotNet.RobotShares/VDA5050/VDA5050Helper.cs

@@ -0,0 +1,29 @@
+using RobotNet.RobotShares.VDA5050.State;
+using System.Text;
+
+namespace RobotNet.RobotShares.VDA5050;
+
+public class VDA5050Helper
+{
+    public static string ConvertErrorDetail(IEnumerable<Error> errors)
+    {
+        string errorsType = "";
+        foreach (var error in errors)
+        {
+            if (error == errors.Last()) errorsType += $"{error.ErrorType}";
+            else errorsType += $"{error.ErrorType}, ";
+        }
+        StringBuilder errorStr = new($"Robot có lỗi: [{errorsType}]\n");
+        foreach (var error in errors)
+        {
+            string errorDes = $"- {error.ErrorType}: {error.ErrorDescription}\n";
+            errorStr.Append(errorDes.PadLeft(errorDes.Length + 3));
+            foreach (var refer in error.ErrorReferences)
+            {
+                string errorRefer = $"+ {refer.ReferenceKey}: {refer.ReferenceValue}\n";
+                errorStr.Append(errorRefer.PadLeft(errorRefer.Length + 9));
+            }
+        }
+        return !errors.Any() ? "" : errorStr.ToString();
+    }
+}

RobotNet.RobotShares/VDA5050/VDA5050Setting.cs

@@ -0,0 +1,19 @@
+namespace RobotNet.RobotShares.VDA5050;
+
+#nullable disable
+
+public class VDA5050Setting
+{
+    public bool ServerEnable { get; set; }
+    public string HostServer { get; set; }
+    public int Port { get; set; }
+    public string UserName { get; set; }
+    public string Password { get; set; }
+    public string Manufacturer { get; set; }
+    public string Version { get; set; }
+    public int Repeat { get; set; }
+    public int ConnectionTimeoutSeconds { get; set; }
+    public int ConnectionBacklog { set; get; }
+    public int KeepAliveInterval { get; set; }
+    public int CheckingRobotMsgTimout { get; set; }
+}

RobotNet.RobotShares/VDA5050/VDA5050Topic.cs

@@ -0,0 +1,12 @@
+namespace RobotNet.RobotShares.VDA5050;
+
+public static class VDA5050Topic
+{
+    public const string Connection = "connection";
+    public const string Order = "order";
+    public const string InstantActions = "instantActions";
+    public const string State = "state";
+    public const string Visualization = "visualization";
+    public const string Factsheet = "factsheet";
+    public const string FactsheetExtend = "factsheetExtend";
+}

RobotNet.RobotShares/VDA5050/Visualization/AgvPosition.cs

@@ -0,0 +1,21 @@
+using System.ComponentModel.DataAnnotations;
+
+namespace RobotNet.RobotShares.VDA5050.Visualization;
+
+#nullable disable
+
+public class AgvPosition
+{
+    [Required]
+    public double X { get; set; }
+    [Required]
+    public double Y { get; set; }
+    [Required]
+    public string MapId { get; set; }
+    [Required]
+    public double Theta { get; set; }
+    [Required]
+    public bool PositionInitialized { get; set; }
+    public double LocalizationScore { get; set; }
+    public double DeviationRange { get; set; }
+}

RobotNet.RobotShares/VDA5050/Visualization/Velocity.cs

@@ -0,0 +1,8 @@
+namespace RobotNet.RobotShares.VDA5050.Visualization;
+
+public class Velocity
+{
+    public double Vx { get; set; }
+    public double Vy { get; set; }
+    public double Omega { get; set; }
+}

RobotNet.RobotShares/VDA5050/Visualization/Visualizationmsg.cs

@@ -0,0 +1,16 @@
+namespace RobotNet.RobotShares.VDA5050.Visualization;
+
+#nullable disable
+
+public class VisualizationMsg
+{
+    public uint HeaderId { get; set; }
+    public string Timestamp { get; set; }
+    public string Version { get; set; }
+    public string Manufacturer { get; set; }
+    public string SerialNumber { get; set; }
+    public string MapId { get; set; }
+    public string MapDescription { get; set; }
+    public AgvPosition AgvPosition { get; set; } = new();
+    public Velocity Velocity { get; set; } = new();
+}