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/Sick.SafetyScanners/Exceptions/Cola2Exceptions.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/Sick.SafetyScanners/Exceptions/Cola2Exceptions.cs
@@ -0,0 +1,173 @@
+namespace Sick.SafetyScanners.Exceptions;
+
+/// <summary>
+/// Base exception cho tất cả COLA2 errors
+/// </summary>
+public class Cola2Exception : Exception
+{
+    public ushort? ErrorCode { get; }
+    public uint? SessionId { get; }
+    public ushort? RequestId { get; }
+    
+    public Cola2Exception(string message) : base(message)
+    {
+    }
+    
+    public Cola2Exception(string message, Exception innerException) : base(message, innerException)
+    {
+    }
+    
+    public Cola2Exception(ushort errorCode, string message) : base(message)
+    {
+        ErrorCode = errorCode;
+    }
+    
+    public Cola2Exception(uint sessionId, ushort requestId, ushort errorCode, string message) 
+        : base(message)
+    {
+        SessionId = sessionId;
+        RequestId = requestId;
+        ErrorCode = errorCode;
+    }
+    
+    public Cola2Exception(uint sessionId, string message) 
+        : base(message)
+    {
+        SessionId = sessionId;
+    }
+}
+
+/// <summary>
+/// Session management errors
+/// </summary>
+public class SessionException : Cola2Exception
+{
+    public SessionException(string message) : base(message)
+    {
+    }
+    
+    public SessionException(string message, Exception innerException) : base(message, innerException)
+    {
+    }
+    
+    public SessionException(uint sessionId, string message) : base(sessionId, message)
+    {
+    }
+}
+
+/// <summary>
+/// Command execution errors
+/// </summary>
+public class CommandException : Cola2Exception
+{
+    public byte CommandType { get; }
+    public byte CommandMode { get; }
+    
+    public CommandException(string message) : base(message)
+    {
+    }
+    
+    public CommandException(byte commandType, byte commandMode, string message) : base(message)
+    {
+        CommandType = commandType;
+        CommandMode = commandMode;
+    }
+    
+    public CommandException(uint sessionId, ushort requestId, byte commandType, byte commandMode, 
+        ushort errorCode, string message) : base(sessionId, requestId, errorCode, message)
+    {
+        CommandType = commandType;
+        CommandMode = commandMode;
+    }
+    
+    public override string Message => 
+        $"Command Error (Type: 0x{CommandType:X2}, Mode: 0x{CommandMode:X2}): {base.Message}";
+}
+
+/// <summary>
+/// Timeout errors
+/// </summary>
+public class Cola2TimeoutException : Cola2Exception
+{
+    public TimeSpan Timeout { get; }
+    public string Operation { get; }
+    
+    public Cola2TimeoutException(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>
+/// TCP communication errors
+/// </summary>
+public class TcpCommunicationException : Cola2Exception
+{
+    public string? ServerIp { get; }
+    public ushort? ServerPort { get; }
+    
+    public TcpCommunicationException(string message) : base(message)
+    {
+    }
+    
+    public TcpCommunicationException(string message, Exception innerException) 
+        : base(message, innerException)
+    {
+    }
+    
+    public TcpCommunicationException(string serverIp, ushort serverPort, string message) 
+        : base(message)
+    {
+        ServerIp = serverIp;
+        ServerPort = serverPort;
+    }
+    
+    public TcpCommunicationException(string serverIp, ushort serverPort, string message, 
+        Exception innerException) : base(message, innerException)
+    {
+        ServerIp = serverIp;
+        ServerPort = serverPort;
+    }
+    
+    public override string Message => 
+        ServerIp != null && ServerPort.HasValue
+            ? $"TCP Communication Error to {ServerIp}:{ServerPort}: {base.Message}"
+            : $"TCP Communication Error: {base.Message}";
+}
+
+/// <summary>
+/// Packet parsing errors
+/// </summary>
+public class PacketParsingException : Cola2Exception
+{
+    public PacketParsingException(string message) : base(message)
+    {
+    }
+    
+    public PacketParsingException(string message, Exception innerException) 
+        : base(message, innerException)
+    {
+    }
+}
+
+/// <summary>
+/// UDP communication errors
+/// </summary>
+public class UdpCommunicationException : Cola2Exception
+{
+    public UdpCommunicationException(string message) : base(message)
+    {
+    }
+    
+    public UdpCommunicationException(string message, Exception innerException) 
+        : base(message, innerException)
+    {
+    }
+    
+    public override string Message => $"UDP Communication Error: {base.Message}";
+}
+