Initial commit

2026-07-03 16:31:37 +07:00
commit 899c7c637d
1939 changed files with 641750 additions and 0 deletions
--- a/srcs/RobotNet10/RobotApp/Communication/RobotNet10.CANOpen/Exceptions/CanOpenExceptions.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/RobotNet10.CANOpen/Exceptions/CanOpenExceptions.cs
@@ -0,0 +1,187 @@
+using RobotNet10.CANOpen.Enums;
+
+namespace RobotNet10.CANOpen.Exceptions;
+
+/// <summary>
+/// Base exception cho tất cả CANOpen errors
+/// </summary>
+public class CanOpenException : Exception
+{
+    public ushort ErrorCode { get; }
+    public byte NodeId { get; }
+    
+    public CanOpenException(string message) : base(message)
+    {
+    }
+    
+    public CanOpenException(string message, Exception innerException) : base(message, innerException)
+    {
+    }
+    
+    public CanOpenException(ushort errorCode, string message) : base(message)
+    {
+        ErrorCode = errorCode;
+    }
+    
+    public CanOpenException(byte nodeId, ushort errorCode, string message) : base(message)
+    {
+        NodeId = nodeId;
+        ErrorCode = errorCode;
+    }
+}
+
+/// <summary>
+/// SDO communication errors
+/// </summary>
+public class SdoException : CanOpenException
+{
+    public uint AbortCode { get; }
+    public ushort Index { get; }
+    public byte SubIndex { get; }
+    
+    public SdoException(uint abortCode, string message) : base(message)
+    {
+        AbortCode = abortCode;
+    }
+    
+    public SdoException(byte nodeId, ushort index, byte subIndex, uint abortCode, string message) 
+        : base(nodeId, 0, message)
+    {
+        Index = index;
+        SubIndex = subIndex;
+        AbortCode = abortCode;
+    }
+    
+    public override string Message => 
+        $"SDO Error on Node {NodeId}, Object {Index:X4}h.{SubIndex:X2}h: {base.Message} (Abort Code: 0x{AbortCode:X8})";
+}
+
+/// <summary>
+/// PDO communication errors
+/// </summary>
+public class PdoException : CanOpenException
+{
+    public byte PdoNumber { get; }
+    public uint CobId { get; }
+    
+    public PdoException(string message) : base(message)
+    {
+    }
+    
+    public PdoException(byte nodeId, byte pdoNumber, uint cobId, string message) : base(nodeId, 0, message)
+    {
+        PdoNumber = pdoNumber;
+        CobId = cobId;
+    }
+    
+    public override string Message => 
+        $"PDO{PdoNumber} Error on Node {NodeId} (COB-ID: 0x{CobId:X3}): {base.Message}";
+}
+
+/// <summary>
+/// NMT communication errors
+/// </summary>
+public class NmtException : CanOpenException
+{
+    public NmtCommand? Command { get; }
+    
+    public NmtException(string message) : base(message)
+    {
+    }
+    
+    public NmtException(byte nodeId, NmtCommand command, string message) : base(nodeId, 0, message)
+    {
+        Command = command;
+    }
+    
+    public override string Message => 
+        Command.HasValue 
+            ? $"NMT Error on Node {NodeId}, Command {Command}: {base.Message}"
+            : base.Message;
+}
+
+/// <summary>
+/// Emergency message errors
+/// </summary>
+public class EmergencyException : CanOpenException
+{
+    public ushort EmergencyErrorCode { get; }
+    public byte ErrorRegister { get; }
+    public byte[] ManufacturerSpecificData { get; }
+    
+    public EmergencyException(byte nodeId, ushort emergencyErrorCode, byte errorRegister, 
+        byte[] manufacturerData, string message) : base(nodeId, emergencyErrorCode, message)
+    {
+        EmergencyErrorCode = emergencyErrorCode;
+        ErrorRegister = errorRegister;
+        ManufacturerSpecificData = manufacturerData;
+    }
+    
+    public override string Message => 
+        $"Emergency on Node {NodeId}: {base.Message} (Error Code: 0x{EmergencyErrorCode:X4}, Error Register: 0x{ErrorRegister:X2})";
+}
+
+/// <summary>
+/// Configuration validation errors
+/// </summary>
+public class ConfigurationException : CanOpenException
+{
+    public string Parameter { get; }
+    public object? InvalidValue { get; }
+    
+    public ConfigurationException(string parameter, string message) : base(message)
+    {
+        Parameter = parameter;
+    }
+    
+    public ConfigurationException(string parameter, object? invalidValue, string message) : base(message)
+    {
+        Parameter = parameter;
+        InvalidValue = invalidValue;
+    }
+    
+    public override string Message => 
+        InvalidValue != null 
+            ? $"Configuration Error for '{Parameter}' = {InvalidValue}: {base.Message}"
+            : $"Configuration Error for '{Parameter}': {base.Message}";
+}
+
+/// <summary>
+/// Timeout errors
+/// </summary>
+public class CanOpenTimeoutException : CanOpenException
+{
+    public TimeSpan Timeout { get; }
+    public string Operation { get; }
+    
+    public CanOpenTimeoutException(string operation, TimeSpan timeout, string message) : base(message)
+    {
+        Operation = operation;
+        Timeout = timeout;
+    }
+    
+    public override string Message => 
+        $"Timeout after {Timeout.TotalMilliseconds}ms during {Operation}: {base.Message}";
+}
+
+/// <summary>
+/// CAN bus communication errors
+/// </summary>
+public class CanBusException : CanOpenException
+{
+    public string InterfaceName { get; }
+    
+    public CanBusException(string interfaceName, string message) : base(message)
+    {
+        InterfaceName = interfaceName;
+    }
+    
+    public CanBusException(string interfaceName, string message, Exception innerException) 
+        : base(message, innerException)
+    {
+        InterfaceName = interfaceName;
+    }
+    
+    public override string Message => 
+        $"CAN Bus Error on interface '{InterfaceName}': {base.Message}";
+}