Initial commit

2026-07-13 09:25:40 +07:00
parent c08ff54676
commit bccfb156d7
1938 changed files with 641646 additions and 0 deletions
--- a/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/CommSettings.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/DataStructures/CommSettings.cs
@@ -0,0 +1,150 @@
+namespace Sick.SafetyScanners.DataStructures;
+
+/// <summary>
+/// Communication settings used to configure the SICK Safety Scanner
+/// This structure is used with ChangeCommSettingsCommand to configure scanner parameters
+/// </summary>
+public sealed class CommSettings
+{
+    /// <summary>
+    /// Gets or sets the channel number (0-3)
+    /// </summary>
+    public byte Channel { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the publishing frequency (publish every n-th scan)
+    /// Example: 1 = publish every scan, 2 = publish every 2nd scan (half frequency)
+    /// </summary>
+    public ushort PublishingFrequency { get; init; } = 1;
+    
+    /// <summary>
+    /// Gets or sets the interface type
+    /// 0: EFI-pro, 1: EtherNet/IP, 3: Profinet, 4: Non-safe Ethernet
+    /// </summary>
+    public InterfaceType EInterfaceType { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the start angle in radians
+    /// If start and end angles are equal, all angles are regarded
+    /// </summary>
+    public double StartAngle { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the end angle in radians
+    /// If start and end angles are equal, all angles are regarded
+    /// </summary>
+    public double EndAngle { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the enabled features as a bitset (ushort)
+    /// Use SensorDataFeatures constants or SensorDataFeatures.ToFeatureFlags() to set
+    /// </summary>
+    public ushort Features { get; init; } = SensorDataFeatures.All;
+    
+    /// <summary>
+    /// Gets or sets whether general system state feature is enabled
+    /// </summary>
+    public bool GeneralSystemStateEnabled { get; init; } = true;
+    
+    /// <summary>
+    /// Gets or sets whether derived settings feature is enabled
+    /// </summary>
+    public bool DerivedSettingsEnabled { get; init; } = true;
+    
+    /// <summary>
+    /// Gets or sets whether measurement data feature is enabled
+    /// </summary>
+    public bool MeasurementDataEnabled { get; init; } = true;
+    
+    /// <summary>
+    /// Gets or sets whether intrusion data feature is enabled
+    /// </summary>
+    public bool IntrusionDataEnabled { get; init; } = true;
+    
+    /// <summary>
+    /// Gets or sets whether application data feature is enabled
+    /// </summary>
+    public bool ApplicationDataEnabled { get; init; } = true;
+    
+    /// <summary>
+    /// Gets or sets whether the channel is enabled
+    /// </summary>
+    public bool Enabled { get; init; } = true;
+    
+    /// <summary>
+    /// Gets or sets the host UDP port (0 = auto-assign)
+    /// </summary>
+    public ushort HostUdpPort { get; init; }
+    
+    /// <summary>
+    /// Gets or sets the host IP address as a string (e.g., "192.168.1.100")
+    /// </summary>
+    public string HostIp { get; init; } = "192.168.1.100";
+    
+    /// <summary>
+    /// Creates a CommSettings with all features enabled
+    /// </summary>
+    public static CommSettings CreateDefault()
+    {
+        return new CommSettings
+        {
+            Channel = 0,
+            PublishingFrequency = 1,
+            EInterfaceType = InterfaceType.NonSafeEthernet,
+            StartAngle = 0.0,
+            EndAngle = 0.0, // Equal to start angle means all angles
+            Features = SensorDataFeatures.All,
+            GeneralSystemStateEnabled = true,
+            DerivedSettingsEnabled = true,
+            MeasurementDataEnabled = true,
+            IntrusionDataEnabled = true,
+            ApplicationDataEnabled = true,
+            Enabled = true,
+            HostUdpPort = 0,
+            HostIp = "192.168.1.100"
+        };
+    }
+    
+    /// <summary>
+    /// Creates a CommSettings with custom feature flags
+    /// </summary>
+    public static CommSettings Create(
+        byte channel,
+        string hostIp,
+        ushort hostUdpPort,
+        bool generalSystemState = true,
+        bool derivedSettings = true,
+        bool measurementData = true,
+        bool intrusionData = true,
+        bool applicationData = true,
+        ushort publishingFrequency = 1,
+        double startAngle = 0.0,
+        double endAngle = 0.0,
+        InterfaceType interfaceType = InterfaceType.NonSafeEthernet,
+        bool enabled = true)
+    {
+        return new CommSettings
+        {
+            Channel = channel,
+            PublishingFrequency = publishingFrequency,
+            EInterfaceType = interfaceType,
+            StartAngle = startAngle,
+            EndAngle = endAngle,
+            Features = SensorDataFeatures.ToFeatureFlags(
+                generalSystemState,
+                derivedSettings,
+                measurementData,
+                intrusionData,
+                applicationData),
+            GeneralSystemStateEnabled = generalSystemState,
+            DerivedSettingsEnabled = derivedSettings,
+            MeasurementDataEnabled = measurementData,
+            IntrusionDataEnabled = intrusionData,
+            ApplicationDataEnabled = applicationData,
+            Enabled = enabled,
+            HostUdpPort = hostUdpPort,
+            HostIp = hostIp
+        };
+    }
+}
+