Initial commit

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Shared/DockStation/DockStationDtos.cs

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+using RobotNet10.Shared.Enum;
+using RobotNet10.Shared.Numbers;
+
+namespace RobotNet10.RobotApp.Shared.DockStation;
+
+public class DockStationConfigDto
+{
+    public Guid Id { get; set; }
+    public string StationId { get; set; } = string.Empty;
+    public string? ConfigName { get; set; }
+    public string? Description { get; set; }
+    public double X { get; set; }
+    public double Y { get; set; }
+    public double Yaw { get; set; }
+    public double Width { get; set; }
+    public double Length { get; set; }
+    public DateTime CreatedAt { get; set; }
+    public DateTime UpdatedAt { get; set; }
+    public bool IsActive { get; set; }
+    public List<DockStationMarkerEntryDto> MarkerEntries { get; set; } = [];
+}
+
+public class DockStationMarkerEntryDto
+{
+    public Guid Id { get; set; }
+    public string MarkerId { get; set; } = string.Empty;
+    public MarkerType Type { get; set; }
+    public int Priority { get; set; }
+    public string? DeviceId { get; set; }
+    public string? Code { get; set; }
+    public List<Vector2> ReferencePoints { get; set; } = [];
+}
+
+public class CreateDockStationConfigRequest
+{
+    public string StationId { get; set; } = string.Empty;
+    public string? ConfigName { get; set; }
+    public string? Description { get; set; }
+    public double X { get; set; }
+    public double Y { get; set; }
+    public double Yaw { get; set; }
+    public double Width { get; set; }
+    public double Length { get; set; }
+    public bool IsActive { get; set; } = true;
+    public List<DockStationMarkerEntryDto> MarkerEntries { get; set; } = [];
+}
+
+public class UpdateDockStationConfigRequest
+{
+    public string? StationId { get; set; }
+    public string? ConfigName { get; set; }
+    public string? Description { get; set; }
+    public double? X { get; set; }
+    public double? Y { get; set; }
+    public double? Yaw { get; set; }
+    public double? Width { get; set; }
+    public double? Length { get; set; }
+    public bool? IsActive { get; set; }
+    public List<DockStationMarkerEntryDto>? MarkerEntries { get; set; }
+}
+
+public class DockStationConfigSummaryDto
+{
+    public Guid Id { get; set; }
+    public string StationId { get; set; } = string.Empty;
+    public string? ConfigName { get; set; }
+    public string? Description { get; set; }
+    public bool IsActive { get; set; }
+    public int MarkerEntryCount { get; set; }
+    public DateTime CreatedAt { get; set; }
+    public DateTime UpdatedAt { get; set; }
+}

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Shared/Enums/NavigationType.cs

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+namespace RobotNet10.RobotApp.Shared.Enums;
+
+public enum NavigationType
+{
+    Differential,
+    Forklift,
+}

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Shared/Enums/RobotDirection.cs

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+namespace RobotNet10.RobotApp.Shared.Enums;
+
+public enum RobotDirection
+{
+    FORWARD,
+    BACKWARD,
+}

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Shared/Enums/SLAMState.cs

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+namespace RobotNet10.RobotApp.Shared.Enums;
+
+/// <summary>
+/// States cho CartographerService state machine
+/// </summary>
+public enum SLAMState
+{
+    Idle,
+    Initializing,
+    Ready,
+    /// <summary>MCL is computing initial pose; trajectory not added yet. Transitions to Localizing on MclConverged or MclSkipped.</summary>
+    Relocalizing,
+    Localizing,
+    ScanMapping,
+    SavingMap,
+    Error
+}

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Shared/Enums/TrajectoryDegree.cs

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+namespace RobotNet10.RobotApp.Shared.Enums;
+
+public enum TrajectoryDegree
+{
+    One,
+    Two,
+    Three,
+}

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Shared/MapInfo.cs

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+using RobotNet10.Shared.Geometry;
+using RobotNet10.Shared.Localization;
+
+namespace RobotNet10.RobotApp.Shared;
+
+/// <summary>
+/// Represents the size of a map in meters
+/// </summary>
+public record MapSize
+{
+    public double Width { get; init; }
+    public double Height { get; init; }
+
+    public MapSize() { }
+    public MapSize(double width, double height)
+    {
+        Width = width;
+        Height = height;
+    }
+}
+
+/// <summary>
+/// Information about a saved map
+/// </summary>
+public class MapInfo
+{
+    /// <summary>
+    /// Tên map (tên folder)
+    /// </summary>
+    public string Name { get; init; } = string.Empty;
+
+    /// <summary>
+    /// Đường dẫn tuyệt đối đến map folder
+    /// </summary>
+    public string FolderPath { get; init; } = string.Empty;
+
+    /// <summary>
+    /// Ngày tạo map
+    /// </summary>
+    public DateTime CreatedDate { get; init; }
+
+    /// <summary>
+    /// Resolution của occupancy grid (meters/pixel)
+    /// </summary>
+    public double Resolution { get; init; }
+
+    /// <summary>
+    /// Kích thước map (pixels)
+    /// </summary>
+    public MapSize Size { get; init; } = new();
+
+    /// <summary>
+    /// Gốc tọa độ của map
+    /// </summary>
+    public Pose Origin { get; init; } = new();
+
+    /// <summary>
+    /// Bounds của map (meters)
+    /// </summary>
+    public BoundingBox Bounds { get; init; } = new();
+
+    /// <summary>
+    /// Số lượng trajectory nodes
+    /// </summary>
+    public int TrajectoryNodeCount { get; init; }
+}

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Shared/NavigationMonitor/NavigationMonitorDtos.cs

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+namespace RobotNet10.RobotApp.Shared.NavigationMonitor;
+
+/// <summary>
+/// Real-time telemetry snapshot from NavigationMonitorService
+/// </summary>
+public class NavigationTelemetryDto
+{
+    public long TimestampMs { get; set; }
+    public double X { get; set; }
+    public double Y { get; set; }
+    public double Theta { get; set; } // radians
+    public double LinearVelocity { get; set; } // m/s
+    public double AngularVelocity { get; set; } // rad/s
+    public double LinearAcceleration { get; set; } // m/s²
+    public double AngularAcceleration { get; set; } // rad/s²
+    public string NavigationState { get; set; } = "Idle";
+    public bool Driving { get; set; }
+    public double CrossTrackError { get; set; } // meters (0 if no path)
+    public double HeadingError { get; set; } // radians (0 if no path)
+    public double DistanceToGoal { get; set; } // meters (0 if no path)
+    public double ModelConfidence { get; set; }
+
+    /// <summary>
+    /// DockTo-specific telemetry (null when not docking)
+    /// </summary>
+    public DockToTelemetryDto? DockTo { get; set; }
+
+    /// <summary>
+    /// Current navigation path waypoints (downsampled for visualization).
+    /// Empty when not navigating.
+    /// </summary>
+    public List<WaypointDto> Waypoints { get; set; } = [];
+}
+
+/// <summary>
+/// Safety violation detected by NavigationSafetyChecker
+/// </summary>
+public class NavigationSafetyViolationDto
+{
+    public long TimestampMs { get; set; }
+    public SafetyViolationType Type { get; set; }
+    public SafetyViolationSeverity Severity { get; set; }
+    public double Value { get; set; }
+    public double Threshold { get; set; }
+    public string Message { get; set; } = string.Empty;
+}
+
+public enum SafetyViolationType
+{
+    LinearVelocity = 1,
+    AngularVelocity = 2,
+    LinearAcceleration = 3,
+    CrossTrackError = 4,
+    HeadingError = 5
+}
+
+public enum SafetyViolationSeverity
+{
+    Warning = 1,
+    Critical = 2
+}
+
+/// <summary>
+/// Current state of NavigationMonitorService
+/// </summary>
+public class NavigationMonitorStateDto
+{
+    public bool TelemetryEnabled { get; set; }
+    public bool SafetyStopEnabled { get; set; }
+    public bool SafetyStopLatched { get; set; }
+    public string SafetyStopReason { get; set; } = "";
+    public NavigationSafetyConfigDto SafetyConfig { get; set; } = new();
+    public double UpdateFrequencyHz { get; set; } = 10;
+}
+
+/// <summary>
+/// Configurable safety thresholds
+/// </summary>
+public class NavigationSafetyConfigDto
+{
+    public double MaxLinearVelocity { get; set; } = 1.5; // m/s
+    public double MaxAngularVelocity { get; set; } = 6.0; // rad/s
+    public double MaxLinearAcceleration { get; set; } = 3.0; // m/s²
+    public double MaxCrossTrackError { get; set; } = 0.5; // meters
+    public double MaxHeadingError { get; set; } = 45.0; // degrees
+}
+
+/// <summary>
+/// DockTo-specific telemetry data, included when robot is in Docking or FinePositioning state
+/// </summary>
+public class DockToTelemetryDto
+{
+    public string Phase { get; set; } = ""; // "Approaching", "Aligning", "Advancing"
+    public string Direction { get; set; } = ""; // "FORWARD" or "BACKWARD"
+    public int RetryCount { get; set; }
+    public int MaxRetries { get; set; }
+    public double GoalX { get; set; }
+    public double GoalY { get; set; }
+    public double GoalTheta { get; set; } // radians
+    public int TotalWaypoints { get; set; }
+    public double StartX { get; set; }
+    public double StartY { get; set; }
+    public double StartTheta { get; set; } // radians
+    public List<DockWaypointDto> Waypoints { get; set; } = [];
+}
+
+public class DockWaypointDto
+{
+    public double X { get; set; }
+    public double Y { get; set; }
+}
+
+/// <summary>
+/// Navigation path waypoint for visualization
+/// </summary>
+public class WaypointDto
+{
+    public double X { get; set; }
+    public double Y { get; set; }
+    public string Direction { get; set; } = "FORWARD"; // "FORWARD" or "BACKWARD"
+}

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Shared/RobotNet10.RobotApp.Shared.csproj

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+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <TargetFramework>net10.0</TargetFramework>
+    <ImplicitUsings>enable</ImplicitUsings>
+    <Nullable>enable</Nullable>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <ProjectReference Include="..\..\Shared\RobotNet10.Shared\RobotNet10.Shared.csproj" />
+  </ItemGroup>
+
+</Project>