Initial commit

srcs/RobotNet10/RobotApp/Communication/RobotNet10.CANOpen/Services/NmtMaster.cs

@@ -0,0 +1,51 @@
+using RobotNet10.CANOpen.Enums;
+using RobotNet10.CANOpen.Interfaces;
+using RobotNet10.CANOpen.Models;
+
+namespace RobotNet10.CANOpen.Services;
+
+public class NmtMaster
+{
+    private readonly ICanBus _canBus;
+    
+    public NmtMaster(ICanBus canBus)
+    {
+        _canBus = canBus;
+    }
+    
+    public async Task SendCommandAsync(NmtCommand command, byte nodeId, CancellationToken cancellationToken = default)
+    {
+        var message = new NmtMessage(command, nodeId);
+        await _canBus.SendFrameAsync((uint)CanMessageType.Nmt, message.ToBytes(), cancellationToken);
+    }
+    
+    public async Task BroadcastCommandAsync(NmtCommand command, CancellationToken cancellationToken = default)
+    {
+        await SendCommandAsync(command, 0, cancellationToken);
+    }
+    
+    public async Task StartNodeAsync(byte nodeId, CancellationToken cancellationToken = default)
+    {
+        await SendCommandAsync(NmtCommand.Start, nodeId, cancellationToken);
+    }
+    
+    public async Task StopNodeAsync(byte nodeId, CancellationToken cancellationToken = default)
+    {
+        await SendCommandAsync(NmtCommand.Stop, nodeId, cancellationToken);
+    }
+    
+    public async Task SetPreOperationalAsync(byte nodeId, CancellationToken cancellationToken = default)
+    {
+        await SendCommandAsync(NmtCommand.PreOperational, nodeId, cancellationToken);
+    }
+    
+    public async Task ResetNodeAsync(byte nodeId, CancellationToken cancellationToken = default)
+    {
+        await SendCommandAsync(NmtCommand.ResetNode, nodeId, cancellationToken);
+    }
+    
+    public async Task ResetCommunicationAsync(byte nodeId, CancellationToken cancellationToken = default)
+    {
+        await SendCommandAsync(NmtCommand.ResetCommunication, nodeId, cancellationToken);
+    }
+}