Initial commit

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Modules/PlcApiEndpoints.cs

@@ -0,0 +1,40 @@
+using RobotNet10.RobotApp.Interfaces;
+
+namespace RobotNet10.RobotApp.Modules;
+
+public static class PlcApiEndpoints
+{
+    // PLC Lift module API (giao diện sửa: homing, velocity, position — 10000 = 0.01m)
+    public static IEndpointRouteBuilder MapPlcApiEndpoints(this IEndpointRouteBuilder app)
+    {
+        var plcApi = app.MapGroup("/api/plc").DisableAntiforgery();
+
+        plcApi.MapPost("/lift/homing", (IPlcController plc) =>
+        {
+            plc.LiftHoming();
+            return Results.Ok(new { status = "ok", message = "Lift homing triggered" });
+        });
+
+        plcApi.MapPost("/lift/velocity", async (HttpRequest req, IPlcController plc) =>
+        {
+            var body = await req.ReadFromJsonAsync<LiftVelocityRequest>();
+            if (body == null) return Results.BadRequest(new { status = "error", message = "Body required: { up: bool, down: bool }" });
+            plc.SetLiftVelocity(body.Up, body.Down);
+            return Results.Ok(new { status = "ok", up = body.Up, down = body.Down });
+        });
+
+        plcApi.MapPost("/lift/position", async (HttpRequest req, IPlcController plc) =>
+        {
+            var body = await req.ReadFromJsonAsync<LiftPositionRequest>();
+            if (body == null) return Results.BadRequest(new { status = "error", message = "Body required: { position: int } (10000 = 0.01m)" });
+            plc.SetLiftPositionAndGo(body.Position);
+            return Results.Ok(new { status = "ok", position = body.Position });
+        });
+
+        return app;
+    }
+}
+
+// DTOs for PLC Lift API
+public record LiftVelocityRequest(bool Up, bool Down);
+public record LiftPositionRequest(int Position);