Initial commit

srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/Interfaces/ICola2Command.cs

@@ -0,0 +1,49 @@
+namespace Sick.SafetyScanners.Cola2.Commands;
+
+/// <summary>
+/// Base interface for all COLA2 commands
+/// </summary>
+public interface ICola2Command
+{
+    /// <summary>
+    /// Command type (e.g., 'R' for Read, 'W' for Write, 'O' for Method)
+    /// </summary>
+    byte CommandType { get; }
+    
+    /// <summary>
+    /// Command mode (e.g., 'I' for Index, 'N' for Name)
+    /// </summary>
+    byte CommandMode { get; }
+    
+    /// <summary>
+    /// Session ID (set by Cola2Session)
+    /// </summary>
+    uint SessionId { get; set; }
+    
+    /// <summary>
+    /// Request ID (set by Cola2Session)
+    /// </summary>
+    ushort RequestId { get; set; }
+    
+    /// <summary>
+    /// Indicates if the command was successfully executed
+    /// </summary>
+    bool WasSuccessful { get; }
+    
+    /// <summary>
+    /// Gets the data vector for the command payload
+    /// </summary>
+    ReadOnlyMemory<byte> GetDataVector();
+    
+    /// <summary>
+    /// Processes the reply from the sensor
+    /// </summary>
+    /// <param name="replyData">The reply data from the sensor</param>
+    bool ProcessReply(ReadOnlyMemory<byte> replyData, byte replyCommandType, byte replyCommandMode);
+    
+    /// <summary>
+    /// Indicates if the command can be executed without a session ID
+    /// </summary>
+    bool CanBeExecutedWithoutSessionId { get; }
+}
+

srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/Interfaces/ICola2Session.cs

@@ -0,0 +1,43 @@
+using Sick.SafetyScanners.Cola2.Commands;
+using Sick.SafetyScanners.Types;
+
+namespace Sick.SafetyScanners.Interfaces;
+
+/// <summary>
+/// Interface cho COLA2 session management
+/// </summary>
+public interface ICola2Session : IDisposable
+{
+    /// <summary>
+    /// Gets the current session ID, if available
+    /// </summary>
+    uint? SessionId { get; }
+    
+    /// <summary>
+    /// Indicates whether a COLA2 session is currently opened
+    /// </summary>
+    bool IsOpen { get; }
+    
+    /// <summary>
+    /// Opens a COLA2 session
+    /// </summary>
+    void Open();
+    
+    /// <summary>
+    /// Closes the current COLA2 session
+    /// </summary>
+    void Close();
+    
+    /// <summary>
+    /// Sends a COLA2 command to the sensor and waits for response
+    /// </summary>
+    /// <param name="command">The command to send</param>
+    /// <param name="timeout">The timeout for the operation</param>
+    void SendCommand(ICola2Command command, TimeDuration? timeout = null);
+    
+    /// <summary>
+    /// Gets the next request ID (thread-safe, auto-increments)
+    /// </summary>
+    ushort GetNextRequestId();
+}
+

srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/Interfaces/ITcpClient.cs

@@ -0,0 +1,50 @@
+using Sick.SafetyScanners.DataStructures;
+using Sick.SafetyScanners.Types;
+
+namespace Sick.SafetyScanners.Interfaces;
+
+/// <summary>
+/// Interface cho TCP client communication
+/// </summary>
+public interface ITcpClient : IDisposable
+{
+    /// <summary>
+    /// Server IP address
+    /// </summary>
+    IpAddress ServerIp { get; }
+    
+    /// <summary>
+    /// Server port
+    /// </summary>
+    Port ServerPort { get; }
+    
+    /// <summary>
+    /// Indicates whether the TCP socket is currently connected
+    /// </summary>
+    bool IsConnected { get; }
+    
+    /// <summary>
+    /// Establishes a connection to the sensor
+    /// </summary>
+    /// <param name="timeout">Timeout for connection</param>
+    void Connect(TimeDuration? timeout = null);
+    
+    /// <summary>
+    /// Disconnects from the sensor
+    /// </summary>
+    void Disconnect();
+    
+    /// <summary>
+    /// Sends data to the sensor
+    /// </summary>
+    /// <param name="data">Data to send</param>
+    void Send(ReadOnlyMemory<byte> data);
+    
+    /// <summary>
+    /// Receives data from the sensor
+    /// </summary>
+    /// <param name="timeout">Timeout for receive operation</param>
+    /// <returns>Received packet buffer</returns>
+    PacketBuffer Receive(TimeDuration? timeout = null);
+}
+

srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/Interfaces/IUdpClient.cs

@@ -0,0 +1,42 @@
+using Sick.SafetyScanners.DataStructures;
+using Sick.SafetyScanners.Types;
+
+namespace Sick.SafetyScanners.Interfaces;
+
+/// <summary>
+/// Interface for UDP receiver (not a connection - UDP is connectionless)
+/// Used for receiving scan data packets from SICK Safety Scanner via UDP (push mode)
+/// Note: This is NOT a "connection" - it's just a UDP socket receiver that binds to a local port
+/// and waits for packets from the scanner
+/// </summary>
+public interface IUdpClient : IDisposable
+{
+    /// <summary>
+    /// Indicates whether the UDP socket is open (ready to receive)
+    /// Note: UDP is connectionless, so this just checks if socket is bound/open
+    /// </summary>
+    bool IsConnected { get; }
+    
+    /// <summary>
+    /// Gets the local port number assigned to this client
+    /// Returns null if socket is not bound yet
+    /// </summary>
+    Port? LocalPort { get; }
+    
+    /// <summary>
+    /// Indicates whether data is available in the receiving buffer
+    /// </summary>
+    bool IsDataAvailable { get; }
+    
+    /// <summary>
+    /// Starts receiving UDP packets on a dedicated high-priority thread
+    /// </summary>
+    /// <param name="packetHandler">Callback function to handle received packets</param>
+    void StartReceiving(Action<PacketBuffer> packetHandler);
+    
+    /// <summary>
+    /// Stops the receiving thread
+    /// </summary>
+    void Stop();
+}
+