Initial commit

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Hubs/OdometryHub.cs

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+using Microsoft.AspNetCore.SignalR;
+using RobotNet10.RobotApp.Client.Shared.Motion;
+using RobotNet10.RobotApp.Motion;
+using RobotNet10.Shared.Sensor;
+
+namespace RobotNet10.RobotApp.Hubs;
+
+/// <summary>
+/// SignalR Hub cho Odometry - hiển thị pose và velocity từ OdometryService (wheel encoder + IMU).
+/// Cùng nguồn OdometryService.CurrentOdometry được XlocIntegrationService dùng để DispatchOdometry sang XLOC
+/// (khi EnableRawOdometry bật) và NavigationIntegrationService dùng để dispatch sang navigation.
+/// </summary>
+public class OdometryHub(OdometryService odometryService) : Hub
+{
+    /// <summary>
+    /// Lấy odometry hiện tại (pose + velocity) để hiển thị trên UI
+    /// </summary>
+    public Task<OdometryDto?> GetCurrentOdometry()
+    {
+        var odom = odometryService.CurrentOdometry;
+        var dto = MapToDto(odom);
+        return Task.FromResult<OdometryDto?>(dto);
+    }
+
+    private static OdometryDto MapToDto(Odometry odom)
+    {
+        var p = odom.Pose.Pose.Position;
+        var q = odom.Pose.Pose.Orientation;
+        var linear = odom.Twist.Twist.Linear;
+        var angular = odom.Twist.Twist.Angular;
+
+        return new OdometryDto
+        {
+            Timestamp = odom.Header.Stamp,
+            FrameId = odom.Header.FrameId ?? "odom",
+            ChildFrameId = odom.ChildFrameId ?? "base_link",
+            PositionX = p.X,
+            PositionY = p.Y,
+            PositionZ = p.Z,
+            OrientationX = q.X,
+            OrientationY = q.Y,
+            OrientationZ = q.Z,
+            OrientationW = q.W,
+            LinearVelocityX = linear.X,
+            LinearVelocityY = linear.Y,
+            LinearVelocityZ = linear.Z,
+            AngularVelocityX = angular.X,
+            AngularVelocityY = angular.Y,
+            AngularVelocityZ = angular.Z,
+            UpdateFrequency = 0 // Caller can compute if needed
+        };
+    }
+}