Initial commit

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Interfaces/IAction.cs

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+using RobotNet.VDA5050.Type;
+using RobotNet10.RobotApp.Services.Robot.Actions;
+using Action = RobotNet.VDA5050.InstantAction.Action;
+
+namespace RobotNet10.RobotApp.Interfaces;
+
+public interface IAction
+{
+    RobotNet.VDA5050.State.ActionState[] ActionStates { get; }
+    bool HasActionRunning { get; }
+    bool HasActionWaitting { get; }
+    RobotAction? this[string actionId] { get; }
+    IEnumerable<RobotAction> GetRunningActions();
+    void AddOrderActions(Action[] actions, ActionScope scope = ActionScope.NODE);
+    void AddInstantAction(Action[] action);
+    void StartOrderAction(string actionId);
+    void StopOrderAction(string actionId = "");
+    void FinishAction(string actionId);
+    Task ClearActions();
+    void PauseActions();
+    void ResumeActions();
+}

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Interfaces/IError.cs

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+using RobotNet.VDA5050.State;
+using RobotNet10.RobotApp.Services.Robot;
+
+namespace RobotNet10.RobotApp.Interfaces;
+
+public interface IError
+{
+    Error[] ErrorsState { get; }
+    event Action? OnNewFatalError;
+    bool HasFatalError { get; }
+    void AddError(RobotError error, TimeSpan? clearAfter = null);
+    void DeleteErrorType(string errorType);
+    void DeleteErrorId(int id);
+    void ClearAllErrors();
+    void ClearFatalErrors();
+}

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Interfaces/IFactsheet.cs

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+using RobotNet.VDA5050.Factsheet;
+using RobotNet.VDA5050.Type;
+
+namespace RobotNet10.RobotApp.Interfaces;
+
+public interface IFactsheet
+{
+    Task PubFactsheet();
+}

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Interfaces/IInfomation.cs

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+using RobotNet.VDA5050.State;
+
+namespace RobotNet10.RobotApp.Interfaces;
+
+public interface IInfomation
+{
+    Information[] InformationState { get; }
+    void AddInfo(Information infor);
+    void DeleteInfoType(string infoType);
+    void ClearAllInfos();
+}

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Interfaces/ILoad.cs

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+using RobotNet.VDA5050.State;
+
+namespace RobotNet10.RobotApp.Interfaces;
+
+public interface ILoad
+{
+    Load[] Load { get; }
+
+    void AddLoad(Load load);
+    void ClearLoad();
+}

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Interfaces/ILocalization.cs

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+using RobotNet10.Shared;
+
+namespace RobotNet10.RobotApp.Interfaces;
+
+public interface ILocalization
+{
+    /// <summary>
+    /// Trạng thái sẵn sàng của hệ thống định vị.
+    /// </summary>
+    bool IsReady { get; }
+
+    /// <summary>
+    /// Vị trí hiện tại của robot trong hệ tọa độ toàn cục theo trục X (đơn vị: mét).
+    /// </summary>
+    double X { get; }
+
+    /// <summary>
+    /// Vị trí hiện tại của robot trong hệ tọa độ toàn cục theo trục Y (đơn vị: mét).
+    /// </summary>
+    double Y { get; }
+
+    /// <summary>
+    /// Hướng hiện tại của robot trong hệ tọa độ toàn cục (đơn vị: radian).
+    /// </summary>
+    double Theta { get; }
+
+    /// <summary>
+    /// Giá trị cho phạm vi sai lệch của vị trí tính bằng mét..
+    /// </summary>
+    double DeviationRange { get; }
+
+    /// <summary>
+    /// Độ phù hợp của vị trí định vị hiện tại so với bản đồ (0.0 - 1.0).
+    /// </summary>
+    double LocalizationScore { get; }
+
+    /// <summary>
+    /// Bản đồ đang được sử dụng để định vị hiện tại.
+    /// </summary>
+    string CurrentActiveMap { get; }
+
+    /// <summary>
+    /// Giá trị thể hiện cho việc vị trí đã được khởi tạo.
+    /// </summary>
+    bool PositionInitialized { get; }
+
+    /// <summary>
+    /// Khởi tạo vị trí của robot trong hệ tọa độ toàn cục.
+    /// </summary>
+    /// <param name="x">đơn vị: mét</param>
+    /// <param name="y">đơn vị: mét</param>
+    /// <param name="theta">đơn vị: độ</param>
+    /// <returns></returns>
+    MessageResult SetInitializePosition(double x, double y, double theta);
+
+    /// <summary>
+    /// Khoảng cách từ vị trí hiện tại đến tọa độ (x, y) trong hệ tọa độ toàn cục.
+    /// </summary>
+    /// <param name="x"></param>
+    /// <param name="y"></param>
+    /// <returns></returns>
+    double DistanceTo(double x, double y);
+}

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Interfaces/INavigation.cs

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+using RobotNet.VDA5050.Order;
+using RobotNet10.RobotApp.Detection;
+using RobotNet10.RobotApp.Shared.Enums;
+namespace RobotNet10.RobotApp.Interfaces;
+
+public enum NavigationState
+{
+    None,
+    Idle,
+    Initializing,
+    Waiting,
+    Moving,
+    Rotating,
+    Docking,
+    FinePositioning,
+    MovingStraight,
+    Completed,
+    Canceled,
+    Paused,
+    Error,
+    SafetyStop
+}
+
+public interface INavigation
+{
+    event Action<NavigationState>? OnNavigationFinished;  
+    bool IsReady { get; }
+    bool Driving { get; }
+    double VelocityX { get; }
+    double VelocityY { get; }
+    double Omega { get; }
+    NavigationState State { get; }
+    void Move(OrderMsg order, bool hasLoad = false);
+    void MoveStraight(double x, double y, bool hasLoad = false, RobotDirection? direction = null);
+    void Rotate(double angle);
+    void DockTo(IDetectSession session, bool hasLoad = false, RobotDirection? direction = null);
+    void Pause();
+    void Resume();
+    void UpdateOrder(string lastBaseNodeId);
+    void RefreshOrder(Node[] nodes, Edge[] edges);
+    void Refresh();
+    void SafetyStop();
+    void CancelMovement();
+    void SetSpeed(double speed);
+    void Start();
+    void Stop();    
+}

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Interfaces/IOrder.cs

@@ -0,0 +1,20 @@
+namespace RobotNet10.RobotApp.Interfaces;
+
+public interface IOrder
+{
+    string OrderId { get; }
+    int OrderUpdateId { get; }
+    string LastNodeId { get; }
+    int LastNodeSequenceId { get; }
+    bool NewBaseRequest { get; }
+    double DistanceSinceLastNode { get; }
+    bool IsPaused { get; }  
+
+    RobotNet.VDA5050.State.NodeState[] NodeStates { get; }
+    RobotNet.VDA5050.State.EdgeState[] EdgeStates { get; }
+
+    void UpdateOrder(RobotNet.VDA5050.Order.OrderMsg order);
+    void StopOrder();
+    void PauseOrder();
+    void ResumeOrder();
+}

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Interfaces/IPlcController.cs

@@ -0,0 +1,140 @@
+using RobotNet.VDA5050.Type;
+
+namespace RobotNet10.RobotApp.Interfaces;
+
+public enum PeripheralButton
+{
+    Start,
+    Reset,
+    Stop,
+}
+
+public enum SystemState
+{
+    INIT,
+    PAUSED,
+    IDLE,
+    PROCCESSING,
+    DOCKING,
+    MAINTENANCE,
+    MANUAL,
+    OVERRIDE,
+    CHARGING,
+    ERROR,
+}
+
+public enum StopStateType
+{
+    EMC,
+    Bumper,
+    FrontProtective,
+    BackProtective,
+    TimProtective,
+    None,
+}
+
+public enum OperationState
+{
+    Move,
+    Lifting,
+    LiftRotating,
+    None,
+}
+
+public enum RFMode
+{
+    Maintenance,
+    Override,
+    Default,
+    None
+}
+public enum SafetySpeed
+{
+    Very_Slow,
+    Slow,
+    Normal,
+    Medium,
+    Optimal,
+    Fast,
+    Very_Fast,
+}
+
+public interface IPlcController
+{
+    event Action<OperatingMode>? OnPeripheralModeChanged;
+    event Action<PeripheralButton>? OnButtonPressed;
+    event Action<StopStateType>? OnStop;
+    event Action<SafetySpeed>? OnSafetySpeedChanged;
+
+    bool IsReady { get; }
+    bool IsDisconected { get; }
+    OperatingMode PeripheralMode { get; }
+    SafetySpeed SafetySpeed { get; }
+
+    bool Emergency { get; }
+    bool Bumper { get; }
+    bool LidarFrontProtectField { get; }
+    bool LidarBackProtectField { get; }
+    bool LidarFrontTimProtectField { get; }
+
+    bool LiftedUp { get; }
+    bool LiftedDown { get; }
+    bool LiftHome { get; }
+
+    bool LeftMotorReady { get; }
+    bool RightMotorReady { get; }
+    bool LiftMotorReady { get; }
+
+    bool ButtonStart { get; }
+    bool ButtonStop { get; }
+    bool ButtonReset { get; }
+
+    bool HasLoad { get; }
+    bool EnabledCharger { get; }
+    bool Charging { get; }
+    bool MutedBase { get; }
+    bool MutedLoad { get; }
+
+    // Write state tracking (các giá trị đã được ghi xuống PLC)
+    SystemState CurrentSystemState { get; }
+    OperationState CurrentOperationState { get; }
+    RFMode CurrentRFMode { get; }
+    bool SetHorizontalLoadValue { get; }
+    bool SetMutedBaseValue { get; }
+    bool SetMutedLoadValue { get; }
+    bool SetEnableChargerValue { get; }
+    bool SetHasLoadValue { get; }
+    bool SetRFEStopValue { get; }
+    bool SetBatteryLowValue { get; }
+    bool SetLightOnValue { get; }
+
+    void SetSystemState(SystemState state);
+    void SetOperationState(OperationState state);
+    void SetEnableCharger(bool value);
+    void SetHorizontalLoad(bool value);
+    void SetMutedBase(bool muted);
+    void SetMutedLoad(bool muted);
+    void SetRFMode(RFMode mode);
+    void SetHasLoad(bool hasLoad);
+    void SetRFEStop(bool stop);
+    void SetBatteryLow(bool value);
+    /// <summary>Bật/tắt đèn — ghi coil M918 (TCP address 2966).</summary>
+    void SetLightOn(bool value);
+    /// <summary>Ghi hướng di chuyển xuống PLC: tiến M931, lùi M932; không đi thì cả hai off.</summary>
+    void SetDirectionForwardBackward(bool forward, bool backward);
+
+    /// <summary>Ghi M815 Alarm Reset xuống PLC (pulse) — PLC thực hiện alarm reset.</summary>
+    void WriteAlarmResetM815();
+
+    /// <summary>Lift: Homing (pulse coil M933).</summary>
+    void LiftHoming();
+
+    /// <summary>Lift: Điều khiển theo velocity — lên/xuống/dừng (coils M934, M935).</summary>
+    void SetLiftVelocity(bool up, bool down);
+
+    /// <summary>Lift: Ghi vị trí đích (internal units: 10000 = 0.01m) và trigger di chuyển (pulse M936).</summary>
+    void SetLiftPositionAndGo(int position);
+
+    Task Start(CancellationToken cancellationToken);
+    void Stop();
+}

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Interfaces/IRFHandler.cs

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+namespace RobotNet10.RobotApp.Interfaces;
+
+public enum RFHandlerMode
+{
+    Default,    
+    Maintenance,
+    Override,
+    Unknown
+}
+
+public interface IRFHandler
+{
+    bool IsConnected { get; }
+    bool IsEnabled { get; }
+    bool IsLocked { get; }
+    bool EStop { get; }
+    bool LiftUp { get; }
+    bool LiftDown { get; }
+    int Speed { get; }
+    bool Forward { get; }   
+    bool Backward { get; }
+    bool RotateLeft { get; }
+    bool RotateRight { get; }
+    bool Left { get; }
+    bool Right { get; }
+    RFHandlerMode Mode { get; }
+    event Action<RFHandlerMode> OnStateChanged;
+    event Action<bool>? OnConnectionChanged;
+}

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Interfaces/IRobotActionProvider.cs

@@ -0,0 +1,11 @@
+using RobotNet.VDA5050.Type;
+using RobotNet10.RobotApp.Services.Robot.Actions;
+
+namespace RobotNet10.RobotApp.Interfaces;
+
+public interface IRobotActionProvider
+{
+    bool IsInitialized { get; }
+    RobotAction GetRobotAction(ActionType type);
+    RobotAction[] GetRobotActions();
+}

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Interfaces/IRobotController.cs

@@ -0,0 +1,8 @@
+namespace RobotNet10.RobotApp.Interfaces;
+
+public interface IRobotController
+{
+    void Pause();
+    void Resume();
+    bool TryClearFault();
+}

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Interfaces/IState.cs

@@ -0,0 +1,6 @@
+namespace RobotNet10.RobotApp.Interfaces;
+
+public interface IState
+{
+    Task PubState();
+}