Initial commit

srcs/RobotNet10/RobotApp/Communication/RobotNet10.CANOpen/Models/NmtMessage.cs

@@ -0,0 +1,51 @@
+using RobotNet10.CANOpen.Enums;
+
+namespace RobotNet10.CANOpen.Models;
+
+public readonly struct NmtMessage(NmtCommand command, byte nodeId)
+{
+    public NmtCommand Command { get; init; } = command;
+    public byte NodeId { get; init; } = nodeId;
+
+    public byte[] ToBytes()
+    {
+        return [(byte)Command, NodeId];
+    }
+    
+    public static NmtMessage FromBytes(byte[] data)
+    {
+        if (data.Length < 2)
+            throw new ArgumentException("NMT message must be at least 2 bytes");
+        
+        return new NmtMessage
+        {
+            Command = (NmtCommand)data[0],
+            NodeId = data[1]
+        };
+    }
+}
+
+public readonly struct HeartbeatMessage(byte nodeId, NmtState state)
+{
+    public byte NodeId { get; init; } = nodeId;
+    public NmtState State { get; init; } = state;
+
+    public byte[] ToBytes()
+    {
+        return [(byte)State];
+    }
+    
+    public static HeartbeatMessage FromBytes(uint canId, byte[] data)
+    {
+        if (data.Length < 1)
+            throw new ArgumentException("Heartbeat message must be at least 1 byte");
+        
+        byte nodeId = (byte)(canId & 0x7F);
+        
+        return new HeartbeatMessage
+        {
+            NodeId = nodeId,
+            State = (NmtState)data[0]
+        };
+    }
+}