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/RobotNet10.RobotApp/Services/Robot/Actions/ControlLight.cs
+++ b/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Services/Robot/Actions/ControlLight.cs
@@ -0,0 +1,77 @@
+using RobotNet.VDA5050.Type;
+using RobotNet10.RobotApp.Devices;
+using RobotNet10.RobotApp.Services.Exceptions;
+using RobotNet10.RobotApp.Interfaces;
+
+namespace RobotNet10.RobotApp.Services.Robot.Actions;
+
+/// <summary>
+/// Bật đèn camera (M918 - coil 2966).
+/// action tương tự các action PLC toggle khác: ghi ON, rồi chờ PLC phản hồi đã ON.
+/// </summary>
+[RobotAction(ActionType.CONTROL_LIGHT,
+            [ActionScope.INSTANT, ActionScope.NODE, ActionScope.EDGE],
+            [BlockingType.NONE, BlockingType.SOFT, BlockingType.HARD],
+            "Bật đèn camera (M918 Light on).",
+            "Đèn camera đã bật (M918 Light on).")]
+public class ControlLightAction(IServiceProvider ServiceProvider) : RobotAction(ServiceProvider)
+{
+    private IPlcController? PlcController;
+
+    private const int MAX_TIMEOUT = 4000;
+    private int CountTimeout = 0;
+    private bool IsLightOn = false;
+
+    
+    protected override void Initialize()
+    {
+        base.Initialize();
+
+        var controlTypeParam = Action?.ActionParameters?.FirstOrDefault(p =>
+            string.Equals(p.Key, "CONTROL_TYPE", StringComparison.OrdinalIgnoreCase));
+        if (controlTypeParam is null || string.IsNullOrWhiteSpace(controlTypeParam.Value))
+        {
+            throw new ActionException("ControlLight requires actionParameter CONTROL_TYPE (CONTROL_ON/CONTROL_OFF).");
+        }
+
+        var controlType = controlTypeParam.Value.Trim();
+        if (string.Equals(controlType, "CONTROL_ON", StringComparison.OrdinalIgnoreCase))
+        {
+            IsLightOn = true;
+        }
+        else if (string.Equals(controlType, "CONTROL_OFF", StringComparison.OrdinalIgnoreCase))
+        {
+            IsLightOn = false;
+        }
+        else
+        {
+            throw new ActionException($"CONTROL_TYPE value '{controlType}' is invalid. Expected CONTROL_ON or CONTROL_OFF.");
+        }
+
+        CountTimeout = 0;
+    }
+
+    protected override Task StartAction()
+    {
+        PlcController = ServiceProvider.GetRequiredService<IPlcController>();
+        PlcController.SetLightOn(IsLightOn); // M918 Light on
+        return base.StartAction();
+    }
+
+    protected override Task ExecuteAction()
+    {
+        if (PlcController is not null && PlcController.SetLightOnValue == IsLightOn)
+        {
+            SetStatus(ActionEvent.FINISHED);
+            ResultDescription = string.IsNullOrEmpty(ActionAttribute.ResultDescription) ? ResultDescription : ActionAttribute.ResultDescription;
+        }
+        else if (CountTimeout++ > MAX_TIMEOUT / ActionInterval)
+        {
+            SetStatus(ActionEvent.FAILED);
+            ResultDescription = "Timeout action";
+        }
+
+        return base.ExecuteAction();
+    }
+}
+