Initial commit

srcs/RobotNet10/Commons/RobotNet10.NavigationTune/Extensions/ServiceCollectionExtensions.cs

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+using System.Text.Json.Serialization;
+using Microsoft.AspNetCore.SignalR;
+using Microsoft.EntityFrameworkCore;
+using Microsoft.Extensions.DependencyInjection;
+using RobotNet10.NavigationTune.Data;
+using RobotNet10.NavigationTune.Execution;
+using RobotNet10.NavigationTune.Interfaces;
+using RobotNet10.NavigationTune.Services;
+using RobotNet10.NavigationTune.Shared.Interfaces;
+
+namespace RobotNet10.NavigationTune.Extensions;
+
+/// <summary>
+/// Extension methods for service registration
+/// </summary>
+public static class ServiceCollectionExtensions
+{
+    /// <summary>
+    /// Add Navigation Tuning services
+    /// </summary>
+    public static IServiceCollection AddNavigationTuning(
+        this IServiceCollection services,
+        Action<DbContextOptionsBuilder> dbContextOptions)
+    {
+        services.AddDbContext<TuningDbContext>(dbContextOptions);
+
+        // Repositories
+        services.AddScoped<ITestRepository, TestRepository>();
+        services.AddScoped<IScenarioRepository, ScenarioRepository>();
+
+        // Services
+        services.AddScoped<IParameterManager, ParameterManager>();
+        services.AddScoped<IMetricsCalculator, MetricsCalculator>();
+        services.AddScoped<ITuningAdvisor, TuningAdvisor>();
+
+        // Execution
+        services.AddScoped<ITestExecutor, TestExecutor>();
+        services.AddScoped<ITuningNavigation, TuningNavigation>();
+
+        // Singleton: so Stop/EMC Stop (different HTTP request) can cancel the running test
+        services.AddSingleton<IRunningTestCancellationRegistry, RunningTestCancellationRegistry>();
+
+        // Orchestrator
+        services.AddScoped<ITuningOrchestrator, TuningOrchestrator>();
+
+        // SignalR Hub: allow NaN/Infinity in JSON so telemetry/metrics with non-finite floats do not abort the connection
+        services.AddSignalR()
+            .AddJsonProtocol(options =>
+            {
+                options.PayloadSerializerOptions.NumberHandling = JsonNumberHandling.AllowNamedFloatingPointLiterals;
+            });
+
+        return services;
+    }
+
+    /// <summary>
+    /// Add Navigation Tuning with real robot dependencies
+    /// </summary>
+    public static IServiceCollection AddNavigationTuningWithRobot(
+        this IServiceCollection services,
+        Action<DbContextOptionsBuilder> dbContextOptions)
+    {
+        // Add base services
+        services.AddNavigationTuning(dbContextOptions);
+
+        // Note: Adapters for real robot should be registered in the application layer
+        // that has access to RobotApp.Interfaces.ILocalization and IVelocityController
+        // Example:
+        // services.AddScoped<ILocalizationProvider>(sp =>
+        // {
+        //     var localization = sp.GetRequiredService<RobotNet10.RobotApp.Interfaces.ILocalization>();
+        //     return new LocalizationAdapter(
+        //         () => localization.X,
+        //         () => localization.Y,
+        //         () => localization.Theta
+        //     );
+        // });
+
+        return services;
+    }
+
+    /// <summary>
+    /// Map SignalR hubs
+    /// Note: This should be called in the application's Program.cs or Startup.cs
+    /// Example: app.MapHub<TuningHub>("/tuninghub");
+    /// </summary>
+}