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dungtt
2025-10-15 15:15:53 +07:00
parent 674ae395be
commit a9577c5756
885 changed files with 74595 additions and 0 deletions
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18
RobotNet.RobotShares/VDA5050/Order/Corridor.cs Normal file
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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; } = "";
}

33
RobotNet.RobotShares/VDA5050/Order/Edge.cs Normal file
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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; } = [];
}

18
RobotNet.RobotShares/VDA5050/Order/EdgeLog.cs Normal file
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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; } = [];
}

19
RobotNet.RobotShares/VDA5050/Order/Node.cs Normal file
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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; } = [];
}

19
RobotNet.RobotShares/VDA5050/Order/NodeLog.cs Normal file
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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; } = [];
}

19
RobotNet.RobotShares/VDA5050/Order/NodePosition.cs Normal file
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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; } = "";
}

21
RobotNet.RobotShares/VDA5050/Order/OrderLog.cs Normal file
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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; } = [];
}

29
RobotNet.RobotShares/VDA5050/Order/OrderMsg.cs Normal file
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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; } = [];
}

23
RobotNet.RobotShares/VDA5050/Order/Trajectory.cs Normal file
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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; } = [];
}