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/Services/Robot/Actions/RobotActionProvider.cs
+++ b/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Services/Robot/Actions/RobotActionProvider.cs
@@ -0,0 +1,105 @@
+using RobotNet.VDA5050.Type;
+using RobotNet10.RobotApp.Interfaces;
+
+namespace RobotNet10.RobotApp.Services.Robot.Actions;
+
+
+public class RobotActionProvider(Logger<RobotActionProvider> Logger, IServiceProvider ServiceProvider) : BackgroundService, IRobotActionProvider
+{
+    public bool IsInitialized { get; private set; }
+    private Dictionary<ActionType, Type> Actions = [];
+
+    public RobotAction GetRobotAction(ActionType type)
+    {
+        if (!Actions.TryGetValue(type, out var actionType))
+        {
+            Logger.Error($"RobotAction not found for ActionType: {type}");
+            throw new InvalidOperationException($"RobotAction not found for ActionType: {type}");
+        }
+
+        try
+        {
+            var instance = ActivatorUtilities.CreateInstance(ServiceProvider, actionType);
+
+            if (instance is not RobotAction robotAction)
+            {
+                Logger.Error($"Type {actionType.Name} is not a RobotAction");
+                throw new InvalidOperationException($"Type {actionType.Name} is not a RobotAction");
+            }
+
+            return robotAction;
+        }
+        catch (Exception ex)
+        {
+            Logger.Error($"Error creating instance of {actionType.Name}: {ex.Message}");
+            throw;
+        }
+    }
+
+    private static Dictionary<ActionType, Type> DiscoverActions()
+    {
+        var actionTypes = new Dictionary<ActionType, Type>();
+        var assemblies = AppDomain.CurrentDomain.GetAssemblies().Where(a => a.FullName?.StartsWith("RobotNet10.RobotApp") == true);
+        foreach (var assembly in assemblies)
+        {
+            var types = assembly.GetTypes().Where(t => t.IsClass && !t.IsAbstract && t.IsSubclassOf(typeof(RobotAction)));
+            foreach (var type in types)
+            {
+                var attributes = type.GetCustomAttributes(typeof(RobotActionAttribute), false);
+                if (attributes.Length > 0)
+                {
+                    foreach(var attribute in attributes)
+                    {
+                        if(attribute is RobotActionAttribute robotAttribute)
+                        {
+                            actionTypes[robotAttribute.ActionType] = type;
+                            break;
+                        }
+                    }
+                }
+            }
+        }
+        return actionTypes;
+    }
+
+    protected override async Task ExecuteAsync(CancellationToken stoppingToken)
+    {
+        await Task.Yield();
+
+        try
+        {
+            Logger.Info("Initializing RobotActionProvider...");
+            Actions = DiscoverActions();
+            IsInitialized = true;
+            Logger.Info($"Discovered {Actions.Count} robot actions.");
+        }
+        catch (Exception ex)
+        {
+            Logger.Warning($"Failed to discover robot actions. {ex}");
+            throw;
+        }
+    }
+
+    public RobotAction[] GetRobotActions()
+    {
+        try
+        {
+            List<RobotAction> robotActions = [];
+            foreach (var actionType in Actions.Values)
+            {
+                var instance = ActivatorUtilities.CreateInstance(ServiceProvider, actionType);
+                if (instance is not RobotAction robotAction)
+                {
+                    Logger.Error($"Type {actionType.Name} is not a RobotAction");
+                    throw new InvalidOperationException($"Type {actionType.Name} is not a RobotAction");
+                }
+                robotActions.Add(robotAction);
+            }
+            return [.. robotActions];
+        }
+        catch (Exception ex)
+        {
+            throw new Exception ($"Error get RobotActions: {ex.Message}");
+        }
+    }
+}