update

examples/NavigationExample/msgs/CommonMsgs.cs

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+using System;
+using System.Runtime.InteropServices;
+
+namespace NavigationExample
+{
+    // ============================================================================
+    // Structures
+    // ============================================================================
+    [StructLayout(LayoutKind.Sequential)]
+    public struct Point
+    {
+        public double x;
+        public double y;
+        public double z;
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct Pose2D
+    {
+        public double x;
+        public double y;
+        public double theta;
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct Twist2D
+    {
+        public double x;
+        public double y;
+        public double theta;
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct Quaternion
+    {
+        public double x;
+        public double y;
+        public double z;
+        public double w;
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct Position
+    {
+        public double x;
+        public double y;
+        public double z;
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct Pose
+    {
+        public Point position;
+        public Quaternion orientation;
+    }
+
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct Vector3
+    {
+        public double x;
+        public double y;
+        public double z;
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct Twist
+    {
+        public Vector3 linear;
+        public Vector3 angular;
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct Header
+    {
+        public uint seq;
+        public uint sec;
+        public uint nsec;
+        public IntPtr frame_id; // char*
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct PoseStamped
+    {
+        public Header header;
+        public Pose pose;
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct Twist2DStamped
+    {
+        public Header header;
+        public Twist2D velocity;
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct LaserScan
+    {
+        public Header header;
+        public float angle_min;
+        public float angle_max;
+        public float angle_increment;
+        public float time_increment;
+        public float scan_time;
+        public float range_min;
+        public float range_max;
+        public IntPtr ranges;
+        public UIntPtr ranges_count;
+        public IntPtr intensities;
+        public UIntPtr intensities_count;
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct PointCloud
+    {
+        public Header header;
+        public IntPtr points;
+        public UIntPtr points_count;
+        public IntPtr channels;
+        public UIntPtr channels_count;
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct PointCloud2
+    {
+        public Header header;
+        public uint height;
+        public uint width;
+        public IntPtr fields;
+        public UIntPtr fields_count;
+        [MarshalAs(UnmanagedType.I1)]
+        public bool is_bigendian;
+        public uint point_step;
+        public uint row_step;
+        public IntPtr data;
+        public UIntPtr data_count;
+        [MarshalAs(UnmanagedType.I1)]
+        public bool is_dense;
+    } 
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct PoseWithCovariance
+    {
+        public Pose pose;
+        public IntPtr covariance;
+        public UIntPtr covariance_count;
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct TwistWithCovariance    {
+        public Twist twist;
+        public IntPtr covariance;
+        public UIntPtr covariance_count;
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct Odometry
+    {
+        public Header header;
+        public IntPtr child_frame_id;
+        public PoseWithCovariance pose;
+        public TwistWithCovariance twist;
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct OccupancyGrid
+    {
+        public Header header;
+        public MapMetaData info;
+        public IntPtr data;
+        public UIntPtr data_count;
+    }
+
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct MapMetaData
+    {
+        public Time map_load_time;
+        public float resolution;
+        public uint width;
+        public uint height;
+        public Pose origin;
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct Time
+    {
+        public uint sec;
+        public uint nsec;
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct Point32
+    {
+        public float x;
+        public float y;
+        public float z;
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct Pose2DStamped
+    {
+        public Header header;
+        public Pose2D pose;
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct Polygon
+    {
+        public IntPtr points;
+        public UIntPtr points_count;
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct PolygonStamped
+    {
+        public Header header;
+        public Polygon polygon;
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct OccupancyGridUpdate
+    {
+        public Header header;
+        public int x;
+        public int y;
+        public uint width;
+        public uint height;
+        public IntPtr data;
+        public UIntPtr data_count;
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct Path2D
+    {
+        public Header header;
+        public IntPtr poses;
+        public UIntPtr poses_count;
+    }
+
+    /// <summary>Name (char*) + OccupancyGrid for static map list API.</summary>
+    [StructLayout(LayoutKind.Sequential)]
+    public struct NamedOccupancyGrid
+    {
+        public IntPtr name;
+        public OccupancyGrid grid;
+    }
+
+    /// <summary>Name (char*) + LaserScan for laser scan list API.</summary>
+    [StructLayout(LayoutKind.Sequential)]
+    public struct NamedLaserScan
+    {
+        public IntPtr name;
+        public LaserScan scan;
+    }
+
+    /// <summary>Name (char*) + PointCloud for point cloud list API.</summary>
+    [StructLayout(LayoutKind.Sequential)]
+    public struct NamedPointCloud
+    {
+        public IntPtr name;
+        public PointCloud cloud;
+    }
+
+    /// <summary>Name (char*) + PointCloud2 for point cloud2 list API.</summary>
+    [StructLayout(LayoutKind.Sequential)]
+    public struct NamedPointCloud2
+    {
+        public IntPtr name;
+        public PointCloud2 cloud;
+    }
+
+
+}

examples/NavigationExample/msgs/ProtocolMsgsTypes.cs

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+using System;
+using System.Runtime.InteropServices;
+
+namespace NavigationExample
+{
+    /// <summary>
+    /// C# struct layout cho protocol_msgs (robot_protocol_msgs C API).
+    /// Khớp với pnkx_nav_core/src/APIs/c_api/include/protocol_msgs/*.h
+    /// </summary>
+    [StructLayout(LayoutKind.Sequential)]
+    public struct ControlPoint
+    {
+        public double x;
+        public double y;
+        public double weight;
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct ActionParameter
+    {
+        public IntPtr key;   // char*
+        public IntPtr value; // char*
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct NodePosition
+    {
+        public double x;
+        public double y;
+        public double theta;
+        public float allowedDeviationXY;
+        public float allowedDeviationTheta;
+        public IntPtr mapId;          // char*
+        public IntPtr mapDescription; // char*
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct Trajectory
+    {
+        public uint degree;
+        public IntPtr knotVector;           // double*
+        public UIntPtr knotVector_count;
+        public IntPtr controlPoints;        // ControlPoint*
+        public UIntPtr controlPoints_count;
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct Action
+    {
+        public IntPtr actionType;       // char*
+        public IntPtr actionId;         // char*
+        public IntPtr actionDescription;// char*
+        public IntPtr blockingType;     // char*
+        public IntPtr actionParameters; // ActionParameter*
+        public UIntPtr actionParameters_count;
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct Node
+    {
+        public IntPtr nodeId;           // char*
+        public int sequenceId;
+        public IntPtr nodeDescription;  // char*
+        public byte released;
+        public NodePosition nodePosition;
+        public IntPtr actions;          // Action*
+        public UIntPtr actions_count;
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct Edge
+    {
+        public IntPtr edgeId;           // char*
+        public int sequenceId;
+        public IntPtr edgeDescription; // char*
+        public byte released;
+        public IntPtr startNodeId;     // char*
+        public IntPtr endNodeId;       // char*
+        public double maxSpeed;
+        public double maxHeight;
+        public double minHeight;
+        public double orientation;
+        public IntPtr orientationType; // char*
+        public IntPtr direction;       // char*
+        public byte rotationAllowed;
+        public double maxRotationSpeed;
+        public Trajectory trajectory;
+        public double length;
+        public IntPtr actions;          // Action*
+        public UIntPtr actions_count;
+    }
+
+    [StructLayout(LayoutKind.Sequential)]
+    public struct Order
+    {
+        public int headerId;
+        public IntPtr timestamp;        // char*
+        public IntPtr version;         // char*
+        public IntPtr manufacturer;    // char*
+        public IntPtr serialNumber;    // char*
+        public IntPtr orderId;         // char*
+        public uint orderUpdateId;
+        public IntPtr nodes;           // Node*
+        public UIntPtr nodes_count;
+        public IntPtr edges;           // Edge*
+        public UIntPtr edges_count;
+        public IntPtr zoneSetId;      // char*
+    }
+}