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/RobotNet10.RobotApp/Hubs/PlcControllerHub.cs
+++ b/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Hubs/PlcControllerHub.cs
@@ -0,0 +1,84 @@
+using Microsoft.AspNetCore.Authorization;
+using Microsoft.AspNetCore.SignalR;
+using RobotNet10.RobotApp.Client.Shared.Plc;
+using RobotNet10.RobotApp.Interfaces;
+
+namespace RobotNet10.RobotApp.Hubs;
+
+/// <summary>
+/// SignalR Hub cho PlcController
+/// Cung cấp real-time updates về trạng thái PLC (read-only)
+/// </summary>
+[Authorize]
+public class PlcControllerHub(IPlcController plcController) : Hub
+{
+    /// <summary>
+    /// Lấy trạng thái hiện tại của PlcController
+    /// </summary>
+    public Task<PlcControllerStatusDto> GetStatus()
+    {
+        return Task.FromResult(new PlcControllerStatusDto
+        {
+            IsReady = plcController.IsReady,
+
+            // Operating mode
+            PeripheralMode = plcController.PeripheralMode.ToString(),
+            SafetySpeed = plcController.SafetySpeed.ToString(),
+
+            // Safety sensors
+            Emergency = plcController.Emergency,
+            Bumper = plcController.Bumper,
+            LidarFrontProtectField = plcController.LidarFrontProtectField,
+            LidarBackProtectField = plcController.LidarBackProtectField,
+            LidarFrontTimProtectField = plcController.LidarFrontTimProtectField,
+
+            // Lift state
+            LiftedUp = plcController.LiftedUp,
+            LiftedDown = plcController.LiftedDown,
+            LiftHome = plcController.LiftHome,
+
+            // Motor state
+            LeftMotorReady = plcController.LeftMotorReady,
+            RightMotorReady = plcController.RightMotorReady,
+            LiftMotorReady = plcController.LiftMotorReady,
+
+            // Button state
+            ButtonStart = plcController.ButtonStart,
+            ButtonStop = plcController.ButtonStop,
+            ButtonReset = plcController.ButtonReset,
+
+            // Other state
+            HasLoad = plcController.HasLoad,
+            EnabledCharger = plcController.EnabledCharger,
+            Charging = plcController.Charging,
+            MutedBase = plcController.MutedBase,
+            MutedLoad = plcController.MutedLoad,
+
+            // Determine current stop state
+            StopState = GetStopState(),
+
+            // Write state - các giá trị đã được ghi xuống PLC
+            CurrentSystemState = plcController.CurrentSystemState.ToString(),
+            CurrentOperationState = plcController.CurrentOperationState.ToString(),
+            CurrentRFMode = plcController.CurrentRFMode.ToString(),
+            SetHorizontalLoadValue = plcController.SetHorizontalLoadValue,
+            SetMutedBaseValue = plcController.SetMutedBaseValue,
+            SetMutedLoadValue = plcController.SetMutedLoadValue,
+            SetEnableChargerValue = plcController.SetEnableChargerValue,
+            SetHasLoadValue = plcController.SetHasLoadValue,
+            SetRFEStopValue = plcController.SetRFEStopValue,
+            SetBatteryLowValue = plcController.SetBatteryLowValue,
+            SetLightOnValue = plcController.SetLightOnValue
+        });
+    }
+
+    private string GetStopState()
+    {
+        if (plcController.Emergency) return "EMC";
+        if (plcController.Bumper) return "Bumper";
+        if (!plcController.LidarFrontProtectField) return "FrontProtective";
+        if (!plcController.LidarBackProtectField) return "BackProtective";
+        if (plcController.LidarFrontTimProtectField) return "TimProtective";
+        return "None";
+    }
+}