Initial commit

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Interfaces/IPlcController.cs

@@ -0,0 +1,140 @@
+using RobotNet.VDA5050.Type;
+
+namespace RobotNet10.RobotApp.Interfaces;
+
+public enum PeripheralButton
+{
+    Start,
+    Reset,
+    Stop,
+}
+
+public enum SystemState
+{
+    INIT,
+    PAUSED,
+    IDLE,
+    PROCCESSING,
+    DOCKING,
+    MAINTENANCE,
+    MANUAL,
+    OVERRIDE,
+    CHARGING,
+    ERROR,
+}
+
+public enum StopStateType
+{
+    EMC,
+    Bumper,
+    FrontProtective,
+    BackProtective,
+    TimProtective,
+    None,
+}
+
+public enum OperationState
+{
+    Move,
+    Lifting,
+    LiftRotating,
+    None,
+}
+
+public enum RFMode
+{
+    Maintenance,
+    Override,
+    Default,
+    None
+}
+public enum SafetySpeed
+{
+    Very_Slow,
+    Slow,
+    Normal,
+    Medium,
+    Optimal,
+    Fast,
+    Very_Fast,
+}
+
+public interface IPlcController
+{
+    event Action<OperatingMode>? OnPeripheralModeChanged;
+    event Action<PeripheralButton>? OnButtonPressed;
+    event Action<StopStateType>? OnStop;
+    event Action<SafetySpeed>? OnSafetySpeedChanged;
+
+    bool IsReady { get; }
+    bool IsDisconected { get; }
+    OperatingMode PeripheralMode { get; }
+    SafetySpeed SafetySpeed { get; }
+
+    bool Emergency { get; }
+    bool Bumper { get; }
+    bool LidarFrontProtectField { get; }
+    bool LidarBackProtectField { get; }
+    bool LidarFrontTimProtectField { get; }
+
+    bool LiftedUp { get; }
+    bool LiftedDown { get; }
+    bool LiftHome { get; }
+
+    bool LeftMotorReady { get; }
+    bool RightMotorReady { get; }
+    bool LiftMotorReady { get; }
+
+    bool ButtonStart { get; }
+    bool ButtonStop { get; }
+    bool ButtonReset { get; }
+
+    bool HasLoad { get; }
+    bool EnabledCharger { get; }
+    bool Charging { get; }
+    bool MutedBase { get; }
+    bool MutedLoad { get; }
+
+    // Write state tracking (các giá trị đã được ghi xuống PLC)
+    SystemState CurrentSystemState { get; }
+    OperationState CurrentOperationState { get; }
+    RFMode CurrentRFMode { get; }
+    bool SetHorizontalLoadValue { get; }
+    bool SetMutedBaseValue { get; }
+    bool SetMutedLoadValue { get; }
+    bool SetEnableChargerValue { get; }
+    bool SetHasLoadValue { get; }
+    bool SetRFEStopValue { get; }
+    bool SetBatteryLowValue { get; }
+    bool SetLightOnValue { get; }
+
+    void SetSystemState(SystemState state);
+    void SetOperationState(OperationState state);
+    void SetEnableCharger(bool value);
+    void SetHorizontalLoad(bool value);
+    void SetMutedBase(bool muted);
+    void SetMutedLoad(bool muted);
+    void SetRFMode(RFMode mode);
+    void SetHasLoad(bool hasLoad);
+    void SetRFEStop(bool stop);
+    void SetBatteryLow(bool value);
+    /// <summary>Bật/tắt đèn — ghi coil M918 (TCP address 2966).</summary>
+    void SetLightOn(bool value);
+    /// <summary>Ghi hướng di chuyển xuống PLC: tiến M931, lùi M932; không đi thì cả hai off.</summary>
+    void SetDirectionForwardBackward(bool forward, bool backward);
+
+    /// <summary>Ghi M815 Alarm Reset xuống PLC (pulse) — PLC thực hiện alarm reset.</summary>
+    void WriteAlarmResetM815();
+
+    /// <summary>Lift: Homing (pulse coil M933).</summary>
+    void LiftHoming();
+
+    /// <summary>Lift: Điều khiển theo velocity — lên/xuống/dừng (coils M934, M935).</summary>
+    void SetLiftVelocity(bool up, bool down);
+
+    /// <summary>Lift: Ghi vị trí đích (internal units: 10000 = 0.01m) và trigger di chuyển (pulse M936).</summary>
+    void SetLiftPositionAndGo(int position);
+
+    Task Start(CancellationToken cancellationToken);
+    void Stop();
+}