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/RobotCancelOrderAction.cs
+++ b/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Services/Robot/Actions/RobotCancelOrderAction.cs
@@ -0,0 +1,56 @@
+using RobotNet.VDA5050.Type;
+using RobotNet10.RobotApp.Interfaces;
+
+namespace RobotNet10.RobotApp.Services.Robot.Actions;
+
+
+[RobotAction(ActionType.CANCEL_ORDER,
+            [ActionScope.INSTANT],
+            [BlockingType.NONE, BlockingType.SOFT, BlockingType.HARD],
+            "Hủy bỏ Order hiện tại của robot.",
+            "Robot đã hủy bỏ Order hiện tại.")]
+public class RobotCancelOrderAction(IServiceProvider ServiceProvider) : RobotAction(ServiceProvider)
+{
+    private const int MAX_TIMEOUT = 4000;
+    private int CountTimeout = 0;
+
+    private IOrder? RobotOrder;
+    private IAction? RobotAction;
+    protected override Task StartAction()
+    {
+        RobotOrder = ServiceProvider.GetRequiredService<IOrder>();
+        RobotAction = ServiceProvider.GetRequiredService<IAction>();
+        RobotOrder.StopOrder();
+        RobotAction.StopOrderAction();
+        CountTimeout = 0;
+        return base.StartAction();
+    }
+
+    protected override Task StopAction()
+    {
+        return Task.CompletedTask;  
+    }
+
+    protected override Task ExecuteAction()
+    {
+        if (RobotOrder is null || RobotAction is null)
+        {
+            SetStatus(ActionEvent.FAILED);
+            ResultDescription = $"Không thể tìm thấy module quản lý {(RobotOrder is null ? "Order" : RobotAction is null ? "Action" : "")}";
+        }
+        else
+        {
+            if (RobotOrder.NodeStates.Length == 0 && RobotOrder.EdgeStates.Length == 0 && !RobotAction.HasActionRunning)
+            {
+                SetStatus(ActionEvent.FINISHED);
+                ResultDescription = string.IsNullOrEmpty(ActionAttribute.ResultDescription) ? ResultDescription : ActionAttribute.ResultDescription;
+            }
+            else if(CountTimeout++ > MAX_TIMEOUT / ActionInterval)
+            {
+                SetStatus(ActionEvent.FAILED);
+                ResultDescription = "Timeout action";
+            }
+        }
+        return base.ExecuteAction();
+    }
+}