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QUYVN
2026-07-13 09:25:40 +07:00
parent c08ff54676
commit bccfb156d7
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srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Modules/NoOpModules.cs Normal file
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namespace RobotNet10.RobotApp.Modules;
/// <summary>
/// No-op lift module used when hardware lift module is not enabled.
/// </summary>
public sealed class NoOpLiftModule : ILiftModule
{
public bool Enable => false;
public bool IsReady => false;
public LiftModuleState State => LiftModuleState.Uninitialized;
public LiftPosition Position => LiftPosition.Bottom;
public Task LiftUpAsync(CancellationToken cancellationToken = default) => Task.CompletedTask;
public Task LiftDownAsync(CancellationToken cancellationToken = default) => Task.CompletedTask;
public Task LiftStopAsync(CancellationToken cancellationToken = default) => Task.CompletedTask;
public Task LiftToPositionAsync(int position, CancellationToken cancellationToken = default) => Task.CompletedTask;
public Task<int> GetCurrentPositionAsync(CancellationToken cancellationToken = default) => Task.FromResult(0);
public Task<bool> IsHomedAsync(CancellationToken cancellationToken = default) => Task.FromResult(false);
public Task HomeAsync(CancellationToken cancellationToken = default) => Task.CompletedTask;
public int GetPositionFromHeightM(double heightM) => 0;
}
/// <summary>
/// No-op rotation module used when hardware rotation module is not enabled.
/// </summary>
public sealed class NoOpRotationModule : IRotationModule
{
public bool Enable => false;
public bool IsReady => false;
public RotationModuleState State => RotationModuleState.Uninitialized;
public Task RotateToAngleAsync(double angleDegrees, CancellationToken cancellationToken = default) => Task.CompletedTask;
public Task RotateOffsetAsync(double angleOffsetDegrees, CancellationToken cancellationToken = default) => Task.CompletedTask;
public Task<double> GetCurrentAngleAsync(CancellationToken cancellationToken = default) => Task.FromResult(0.0);
public Task<bool> IsHomedAsync(CancellationToken cancellationToken = default) => Task.FromResult(false);
}