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QUYVN
2026-07-13 09:25:40 +07:00
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commit bccfb156d7
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srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Services/Robot/RobotExtensions.cs Normal file
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using RobotNet10.FleetManager.Events;
using RobotNet10.RobotApp.Events;
using RobotNet10.RobotApp.Interfaces;
using RobotNet10.RobotApp.Services.ConfigManager;
using RobotNet10.RobotApp.Services.Navigation;
using RobotNet10.RobotApp.Services.Navigation.CSharp;
using RobotNet10.RobotApp.Services.Robot.Actions;
using RobotNet10.RobotApp.Services.Robot.Connection;
using RobotNet10.RobotApp.Services.Robot.Modules;
using RobotNet10.RobotApp.Services.State;
using System.Diagnostics.CodeAnalysis;
namespace RobotNet10.RobotApp.Services.Robot;
public static class RobotExtensions
{
public static IServiceCollection AddRobot(this IServiceCollection services)
{
services.AddSingleton<RobotStateMachine>();
services.AddSingleton<RobotStateMachineExecute>();
services.AddSingleton<RobotVisualization>();
services.AddInterfaceServiceSingleton<IRobotConfiguration, RobotConfiguration>();
services.AddInterfaceServiceSingleton<IConnectionConfig, ConnectionConfig>();
services.AddInterfaceServiceSingleton<INavigationConfig, ConfigManager.NavigationConfig>();
services.AddInterfaceServiceSingleton<IRobotConnectionsService, RobotConnectionsService>();
services.AddInterfaceServiceSingleton<IRobotEventBus, RobotEventBus>();
services.AddInterfaceServiceSingleton<IError, RobotErrors>();
services.AddInterfaceServiceSingleton<IInfomation, RobotInfomations>();
services.AddInterfaceServiceSingleton<INavigation, RobotNavigation>();
services.AddInterfaceServiceSingleton<IOrder, RobotOrderController>();
services.AddInterfaceServiceSingleton<ILoad, RobotLoads>();
services.AddInterfaceServiceSingleton<ILocalization, RobotLocalization>();
services.AddInterfaceServiceSingleton<IState, RobotStates>();
services.AddInterfaceServiceSingleton<IPlcController, RobotPlcController>();
services.AddInterfaceServiceSingleton<IVelocityController, VelocityController>();
services.AddInterfaceServiceSingleton<IFactsheet, RobotFactsheet>();
services.AddHostedInterfaceServiceSingleton<IAction, RobotActionController>();
services.AddHostedInterfaceServiceSingleton<IRobotActionProvider, RobotActionProvider>();
services.AddHostedInterfaceServiceSingleton<IRobotController, RobotController>();
return services;
}
public static IServiceCollection AddInterfaceServiceSingleton<TService, [DynamicallyAccessedMembers(DynamicallyAccessedMemberTypes.PublicConstructors)] TImplementation>(this IServiceCollection services) where TService : class where TImplementation : class, TService
{
services.AddSingleton<TImplementation>();
services.AddSingleton<TService>(sp => sp.GetRequiredService<TImplementation>());
return services;
}
public static IServiceCollection AddInterfacesServiceSingleton<TService1, TService2, [DynamicallyAccessedMembers(DynamicallyAccessedMemberTypes.PublicConstructors)] TImplementation>(this IServiceCollection services) where TService1 : class where TService2 : class where TImplementation : class, TService1, TService2
{
services.AddSingleton<TImplementation>();
services.AddSingleton<TService1>(sp => sp.GetRequiredService<TImplementation>());
services.AddSingleton<TService2>(sp => sp.GetRequiredService<TImplementation>());
return services;
}
public static IServiceCollection AddHostedServiceSingleton<[DynamicallyAccessedMembers(DynamicallyAccessedMemberTypes.PublicConstructors)] THostedService>(this IServiceCollection services) where THostedService : class, IHostedService
{
services.AddSingleton<THostedService>();
services.AddHostedService(sp => sp.GetRequiredService<THostedService>());
return services;
}
public static IServiceCollection AddHostedInterfaceServiceSingleton<TService, [DynamicallyAccessedMembers(DynamicallyAccessedMemberTypes.PublicConstructors)] THostedService>(this IServiceCollection services) where TService : class where THostedService : class, IHostedService, TService
{
services.AddSingleton<THostedService>();
services.AddSingleton<TService>(sp => sp.GetRequiredService<THostedService>());
services.AddHostedService(sp => sp.GetRequiredService<THostedService>());
return services;
}
public static IServiceCollection AddHostedInterfaceServiceSingleton<TService1, TService2, [DynamicallyAccessedMembers(DynamicallyAccessedMemberTypes.PublicConstructors)] THostedService>(this IServiceCollection services) where TService1 : class where TService2 : class where THostedService : class, IHostedService, TService1, TService2
{
services.AddSingleton<THostedService>();
services.AddSingleton<TService1>(sp => sp.GetRequiredService<THostedService>());
services.AddSingleton<TService2>(sp => sp.GetRequiredService<THostedService>());
services.AddHostedService(sp => sp.GetRequiredService<THostedService>());
return services;
}
}