Initial commit

srcs/RobotNet10/Commons/RobotNet10.NavigationTune/Execution/VelocityControllerAdapter.cs

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+namespace RobotNet10.NavigationTune.Execution;
+
+/// <summary>
+/// Adapter to wrap IVelocityController from RobotApp
+/// This will be implemented in the application layer that has access to RobotApp
+/// </summary>
+public class VelocityControllerAdapter(
+    Func<(double Linear, double Angular)> getActualVelocity,
+    Action<double, double> setVelocity,
+    Func<double> getModelConfidence,
+    Action<double>? setAcceleration = null,
+    Action<double>? setDeceleration = null) : IVelocityProvider
+{
+    private readonly Func<(double Linear, double Angular)> _getActualVelocity = getActualVelocity;
+    private readonly Action<double, double> _setVelocity = setVelocity;
+    private readonly Func<double> _getModelConfidence = getModelConfidence;
+    private readonly Action<double>? _setAcceleration = setAcceleration;
+    private readonly Action<double>? _setDeceleration = setDeceleration;
+
+    public (double Linear, double Angular) GetActualVelocity()
+    {
+        return _getActualVelocity();
+    }
+
+    public void SetVelocity(double linearVel, double angularVel)
+    {
+        _setVelocity(linearVel, angularVel);
+    }
+
+    public double GetModelConfidence()
+    {
+        return _getModelConfidence();
+    }
+
+    public void SetAcceleration(double acc)
+    {
+        _setAcceleration?.Invoke(acc);
+    }
+
+    public void SetDeceleration(double dec)
+    {
+        _setDeceleration?.Invoke(dec);
+    }
+}