Initial commit

srcs/RobotNet10/RobotApp/Communication/RobotNet10.CANOpen/Models/EmergencyMessage.cs

@@ -0,0 +1,167 @@
+namespace RobotNet10.CANOpen.Models;
+
+/// <summary>
+/// Emergency (EMCY) Error Codes theo CANopen standard
+/// </summary>
+public enum EmergencyErrorCode : ushort
+{
+    // 0x00xx: Error Reset / No Error
+    ErrorReset = 0x0000,
+    
+    // 0x10xx: Generic Error
+    GenericError = 0x1000,
+    
+    // 0x20xx: Current
+    CurrentGeneric = 0x2000,
+    CurrentInputSide = 0x2100,
+    CurrentInsideDevice = 0x2200,
+    CurrentOutputSide = 0x2300,
+    
+    // 0x21xx: Current, device input side
+    OverCurrent = 0x2110,
+    
+    // 0x22xx: Current inside the device
+    ShortCircuit = 0x2220,
+    
+    // 0x23xx: Current, device output side
+    LoadDump = 0x2330,
+    
+    // 0x30xx: Voltage
+    VoltageGeneric = 0x3000,
+    MainsVoltage = 0x3100,
+    VoltageInsideDevice = 0x3200,
+    OutputVoltage = 0x3300,
+    
+    // 0x31xx: Mains Voltage
+    UnderVoltage = 0x3110,
+    OverVoltage = 0x3120,
+    
+    // 0x40xx: Temperature
+    TemperatureGeneric = 0x4000,
+    AmbientTemperature = 0x4100,
+    DeviceTemperature = 0x4200,
+    
+    // 0x41xx: Ambient Temperature
+    TooHigh = 0x4110,
+    TooLow = 0x4120,
+    
+    // 0x50xx: Device Hardware
+    DeviceHardware = 0x5000,
+    
+    // 0x60xx: Device Software
+    DeviceSoftware = 0x6000,
+    InternalSoftware = 0x6100,
+    UserSoftware = 0x6200,
+    DataSet = 0x6300,
+    
+    // 0x70xx: Additional Modules
+    AdditionalModules = 0x7000,
+    
+    // 0x80xx: Monitoring
+    Monitoring = 0x8000,
+    Communication = 0x8100,
+    ProtocolError = 0x8200,
+    
+    // 0x81xx: Communication
+    CanOverrun = 0x8110,
+    ErrorPassive = 0x8120,
+    HeartbeatError = 0x8130,
+    BusOffRecovered = 0x8140,
+    
+    // 0x82xx: Protocol Error
+    PdoNotProcessed = 0x8210,
+    PdoLengthExceeded = 0x8220,
+    DamMpdo = 0x8230,
+    SyncDataLength = 0x8240,
+    
+    // 0x90xx: External Error
+    ExternalError = 0x9000,
+    
+    // 0xF0xx: Additional Functions
+    AdditionalFunctions = 0xF000,
+    
+    // 0xFFxx: Device specific
+    DeviceSpecific = 0xFF00
+}
+
+/// <summary>
+/// Emergency Message theo CANopen
+/// </summary>
+public readonly struct EmergencyMessage(byte nodeId, EmergencyErrorCode errorCode, byte errorRegister,
+    byte[] manufacturerError, DateTime timestamp)
+{
+    /// <summary>
+    /// Node ID của device gửi emergency
+    /// </summary>
+    public byte NodeId { get; init; } = nodeId;
+
+    /// <summary>
+    /// Emergency Error Code (16-bit)
+    /// </summary>
+    public EmergencyErrorCode ErrorCode { get; init; } = errorCode;
+
+    /// <summary>
+    /// Error Register (8-bit)
+    /// </summary>
+    public byte ErrorRegister { get; init; } = errorRegister;
+
+    /// <summary>
+    /// Manufacturer Specific Error Code (40-bit / 5 bytes)
+    /// </summary>
+    public byte[] ManufacturerError { get; init; } = manufacturerError;
+
+    /// <summary>
+    /// Timestamp khi nhận emergency
+    /// </summary>
+    public DateTime Timestamp { get; init; } = timestamp;
+
+    /// <summary>
+    /// Parse Emergency message từ CAN frame
+    /// </summary>
+    public static EmergencyMessage FromCanFrame(uint canId, byte[] data, DateTime timestamp)
+    {
+        if (data.Length < 8)
+            throw new ArgumentException($"Emergency message must be 8 bytes: {BitConverter.ToString(data)}");
+        
+        byte nodeId = (byte)(canId & 0x7F);
+        ushort errorCode = (ushort)(data[0] | (data[1] << 8));
+        byte errorRegister = data[2];
+        byte[] manufacturerError = new byte[5];
+        Array.Copy(data, 3, manufacturerError, 0, 5);
+        
+        return new EmergencyMessage(nodeId, (EmergencyErrorCode)errorCode, errorRegister, 
+            manufacturerError, timestamp);
+    }
+    
+    /// <summary>
+    /// Convert sang CAN frame data
+    /// </summary>
+    public byte[] ToBytes()
+    {
+        byte[] data = new byte[8];
+        data[0] = (byte)((ushort)ErrorCode & 0xFF);
+        data[1] = (byte)(((ushort)ErrorCode >> 8) & 0xFF);
+        data[2] = ErrorRegister;
+        
+        if (ManufacturerError != null && ManufacturerError.Length >= 5)
+        {
+            Array.Copy(ManufacturerError, 0, data, 3, 5);
+        }
+        
+        return data;
+    }
+    
+    // Error Register bit definitions
+    public bool GenericErrorBit => (ErrorRegister & 0x01) != 0;
+    public bool CurrentErrorBit => (ErrorRegister & 0x02) != 0;
+    public bool VoltageErrorBit => (ErrorRegister & 0x04) != 0;
+    public bool TemperatureErrorBit => (ErrorRegister & 0x08) != 0;
+    public bool CommunicationErrorBit => (ErrorRegister & 0x10) != 0;
+    public bool DeviceProfileErrorBit => (ErrorRegister & 0x20) != 0;
+    public bool ManufacturerErrorBit => (ErrorRegister & 0x80) != 0;
+    
+    public override string ToString()
+    {
+        return $"EMCY[Node {NodeId}]: Code=0x{(ushort)ErrorCode:X4}, Register=0x{ErrorRegister:X2}";
+    }
+}