Initial commit

srcs/RobotNet10/RobotApp/Communication/RobotNet10.CANOpen/Interfaces/ICanOpenDevice.cs

@@ -0,0 +1,81 @@
+using RobotNet10.CANOpen.Enums;
+using RobotNet10.CANOpen.Models;
+using RobotNet10.CANOpen.Services;
+
+namespace RobotNet10.CANOpen.Interfaces;
+
+public interface ICanOpenDevice
+{
+    byte NodeId { get; }
+    NmtState State { get; }
+    
+    /// <summary>
+    /// PDO Manager để quản lý PDOs
+    /// </summary>
+    PdoManager Pdo { get; }
+    
+    // Events
+    event EventHandler<PdoReceivedEventArgs>? PdoReceived;
+    event EventHandler<EmergencyReceivedEventArgs>? EmergencyReceived;
+    event EventHandler<HeartbeatReceivedEventArgs>? HeartbeatReceived;
+    event EventHandler<HeartbeatTimeoutEventArgs>? HeartbeatTimeout;
+    
+    // SDO Operations
+    Task<byte[]> ReadObjectAsync(ushort index, byte subIndex, CancellationToken cancellationToken = default);
+    Task WriteObjectAsync(ushort index, byte subIndex, byte[] data, CancellationToken cancellationToken = default);
+    
+    // Helper methods for reading
+    Task<byte> ReadUInt8Async(ushort index, byte subIndex, CancellationToken cancellationToken = default);
+    Task<ushort> ReadUInt16Async(ushort index, byte subIndex, CancellationToken cancellationToken = default);
+    Task<uint> ReadUInt32Async(ushort index, byte subIndex, CancellationToken cancellationToken = default);
+    Task<short> ReadInt16Async(ushort index, byte subIndex, CancellationToken cancellationToken = default);
+    Task<int> ReadInt32Async(ushort index, byte subIndex, CancellationToken cancellationToken = default);
+    
+    // Helper methods for writing
+    Task WriteUInt8Async(ushort index, byte subIndex, byte value, CancellationToken cancellationToken = default);
+    Task WriteUInt16Async(ushort index, byte subIndex, ushort value, CancellationToken cancellationToken = default);
+    Task WriteUInt32Async(ushort index, byte subIndex, uint value, CancellationToken cancellationToken = default);
+    Task WriteInt16Async(ushort index, byte subIndex, short value, CancellationToken cancellationToken = default);
+    Task WriteInt32Async(ushort index, byte subIndex, int value, CancellationToken cancellationToken = default);
+    
+    // NMT Operations
+    Task SendNmtCommandAsync(NmtCommand command, CancellationToken cancellationToken = default);
+    Task StartNodeAsync(CancellationToken cancellationToken = default);
+    Task StopNodeAsync(CancellationToken cancellationToken = default);
+    Task ResetNodeAsync(CancellationToken cancellationToken = default);
+    Task ResetCommunicationAsync(CancellationToken cancellationToken = default);
+    
+    // PDO Configuration Operations
+    /// <summary>
+    /// Ghi PDO configuration xuống device
+    /// Device phải ở PreOperational state trước khi gọi method này
+    /// </summary>
+    Task WritePdoConfigurationToDeviceAsync(bool isTpdo, byte pdoNumber, CancellationToken cancellationToken = default);
+    
+    /// <summary>
+    /// Ghi tất cả PDO configurations xuống device
+    /// Device phải ở PreOperational state trước khi gọi method này
+    /// </summary>
+    /// <param name="edsFilePath">Đường dẫn đến EDS file (optional, để check PDO support trước khi configure)</param>
+    /// <param name="cancellationToken">Cancellation token</param>
+    Task WriteAllPdoConfigurationsToDeviceAsync(string? edsFilePath = null, CancellationToken cancellationToken = default);
+}
+
+public interface ICanBus : IDisposable
+{
+    string InterfaceName { get; }
+    bool IsConnected { get; }
+    
+    Task ConnectAsync(CancellationToken cancellationToken = default);
+    Task DisconnectAsync(CancellationToken cancellationToken = default);
+    Task SendFrameAsync(uint canId, byte[] data, CancellationToken cancellationToken = default);
+    
+    event EventHandler<CanFrameReceivedEventArgs>? FrameReceived;
+}
+
+public class CanFrameReceivedEventArgs(uint canId, byte[] data, DateTime timestamp) : EventArgs
+{
+    public uint CanId { get; init; } = canId;
+    public byte[] Data { get; init; } = data;
+    public DateTime Timestamp { get; init; } = timestamp;
+}