Initial commit

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Shared/Devices/CameraQrDataDto.cs

@@ -0,0 +1,13 @@
+using RobotNet10.Shared.Geometry;
+
+namespace RobotNet10.RobotApp.Client.Shared.Devices;
+
+/// <summary>
+/// DTO cho Camera QR data
+/// </summary>
+public class CameraQrDataDto
+{
+    public bool IsConnected { get; set;  }
+    public Dictionary<string, PoseStamped> Codes { get; set; } = [];
+}
+

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Shared/Devices/CiA402ServoDataDto.cs

@@ -0,0 +1,23 @@
+namespace RobotNet10.RobotApp.Client.Shared.Devices;
+
+
+/// <summary>
+/// DTO cho CiA402Servo data
+/// </summary>
+public struct CiA402ServoDataDto
+{
+    public ushort Statusword { get; set; }
+    public string DriveState { get; set; }
+    public string OperationMode { get; set; }
+    public int Position { get; set; }
+    public int Velocity { get; set; }
+    public short Torque { get; set; }
+    public ushort ErrorCode { get; set; }
+    public bool IsConnected { get; set; }
+    /// <summary>Profile Speed (0x6081) - đọc từ drive khi GetServoData</summary>
+    public uint ProfileSpeed { get; set; }
+    /// <summary>Profile Acceleration (0x6083) - đọc từ drive khi GetServoData</summary>
+    public uint ProfileAcceleration { get; set; }
+    /// <summary>Profile Deceleration (0x6084) - đọc từ drive khi GetServoData</summary>
+    public uint ProfileDeceleration { get; set; }
+}

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Shared/Devices/DeviceDto.cs

@@ -0,0 +1,25 @@
+namespace RobotNet10.RobotApp.Client.Shared.Devices;
+
+/// <summary>
+/// DTO cho thông tin device để truyền qua SignalR
+/// </summary>
+public class DeviceDto
+{
+    public string DeviceId { get; set; } = string.Empty;
+    public string DeviceName { get; set; } = string.Empty;
+    public DeviceType DeviceType { get; set; }
+    public string? Description { get; set; }
+    public DeviceStatus Status { get; set; }
+    public bool IsConnected { get; set; }
+    public DateTime LastUpdateTime { get; set; }
+    public DateTime? LastConnectedTime { get; set; }
+    public DateTime? LastDisconnectedTime { get; set; }
+    public string? LastError { get; set; }
+    public int ReconnectAttemptCount { get; set; }
+    public bool AutoReconnectEnabled { get; set; }
+    public int ReconnectDelayMs { get; set; }
+    public int MaxReconnectAttempts { get; set; }
+    public List<PropertyDescription> PropertyDescriptions { get; set; } = new();
+    public Dictionary<string, string> Properties { get; set; } = new();
+}
+

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Shared/Devices/DeviceInfoDto.cs

@@ -0,0 +1,11 @@
+namespace RobotNet10.RobotApp.Client.Shared.Devices;
+
+
+/// <summary>
+/// DTO cho Device info (shared với server)
+/// </summary>
+public class DeviceInfoDto
+{
+    public string DeviceId { get; set; } = string.Empty;
+    public string DeviceName { get; set; } = string.Empty;
+}

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Shared/Devices/DeviceStatus.cs

@@ -0,0 +1,53 @@
+namespace RobotNet10.RobotApp.Client.Shared.Devices;
+
+/// <summary>
+/// Trạng thái của thiết bị (State Machine)
+/// </summary>
+public enum DeviceStatus
+{
+    /// <summary>
+    /// Chưa khởi tạo
+    /// </summary>
+    Uninitialized = 0,
+
+    /// <summary>
+    /// Đang khởi tạo
+    /// </summary>
+    Initializing,
+
+    /// <summary>
+    /// Đang kết nối
+    /// </summary>
+    Connecting,
+
+    /// <summary>
+    /// Đã kết nối và sẵn sàng
+    /// </summary>
+    Connected,
+
+    /// <summary>
+    /// Đang ngắt kết nối
+    /// </summary>
+    Disconnecting,
+
+    /// <summary>
+    /// Đã ngắt kết nối
+    /// </summary>
+    Disconnected,
+
+    /// <summary>
+    /// Đang kết nối lại (auto-reconnect)
+    /// </summary>
+    Reconnecting,
+
+    /// <summary>
+    /// Lỗi - cần xử lý
+    /// </summary>
+    Error,
+
+    /// <summary>
+    /// Đã bị dispose
+    /// </summary>
+    Disposed
+}
+

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Shared/Devices/DeviceType.cs

@@ -0,0 +1,44 @@
+namespace RobotNet10.RobotApp.Client.Shared.Devices;
+
+/// <summary>
+/// Loại thiết bị trong hệ thống AMR
+/// </summary>
+public enum DeviceType
+{
+
+    /// <summary>
+    /// Servo motor theo chuẩn CiA402
+    /// </summary>
+    CiA402Servo = 0,
+
+    /// <summary>
+    /// LiDAR - cảm biến quét laser
+    /// </summary>
+    Lidar,
+
+    /// <summary>
+    /// IMU - Inertial Measurement Unit
+    /// </summary>
+    Imu,
+
+    /// <summary>
+    /// Pin/Battery
+    /// </summary>
+    Battery,
+
+    /// <summary>
+    /// ModbusTCP client/server
+    /// </summary>
+    ModbusTcp,
+
+    /// <summary>
+    /// Tay điều khiển RF (RF Handle)
+    /// </summary>
+    RfHandle,
+
+    /// <summary>
+    /// Camera phát hiện QR code
+    /// </summary>
+    CameraQr,
+}
+

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Shared/Devices/DeviceUpdateDto.cs

@@ -0,0 +1,17 @@
+namespace RobotNet10.RobotApp.Client.Shared.Devices;
+
+/// <summary>
+/// DTO cho device update events qua SignalR
+/// </summary>
+public class DeviceUpdateDto
+{
+    public string DeviceId { get; set; } = string.Empty;
+    public DeviceStatus? Status { get; set; }
+    public Dictionary<string, string>? Properties { get; set; }
+    public string? LastError { get; set; }
+    public DateTime? LastUpdateTime { get; set; }
+    public DateTime? LastConnectedTime { get; set; }
+    public DateTime? LastDisconnectedTime { get; set; }
+    public int? ReconnectAttemptCount { get; set; }
+}
+

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Shared/Devices/ModbusTcpData.cs

@@ -0,0 +1,52 @@
+namespace RobotNet10.RobotApp.Client.Shared.Devices;
+
+
+/// <summary>
+/// DTO cho Modbus value (register)
+/// </summary>
+public struct ModbusValue
+{
+    public ushort Address { get; set; }
+    public ushort Index { get; set; }
+    public ushort Value { get; set; }
+    public string Name { get; set; }
+}
+
+/// <summary>
+/// DTO cho Modbus bool value (coil/discrete input)
+/// </summary>
+public struct ModbusBoolValue
+{
+    public ushort Address { get; set; }
+    public ushort Index { get; set; }
+    public bool Value { get; set; }
+    public string Name { get; set; }
+}
+
+/// <summary>
+/// DTO cho Modbus range data
+/// </summary>
+public struct ModbusRangeData
+{
+    public ushort StartAddress { get; set; }
+    public ushort Quantity { get; set; }
+    public string Name { get; set; }
+    public string[] ChildrenNames { get; set; }
+    public ModbusValue[] Values { get; set; }
+    public ModbusBoolValue[] BoolValues { get; set; }
+}
+
+/// <summary>
+/// DTO cho ModbusTCP data
+/// </summary>
+public struct ModbusTcpData
+{
+    public string IpAddress { get; set; }
+    public int Port { get; set; }
+    public byte SlaveId { get; set; }
+    public bool IsConnected { get; set; }
+    public ModbusRangeData[] HoldingRegisters { get; set; }
+    public ModbusRangeData[] InputRegisters { get; set; }
+    public ModbusRangeData[] Coils { get; set; }
+    public ModbusRangeData[] DiscreteInputs { get; set; }
+}

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Shared/Devices/PropertyDescription.cs

@@ -0,0 +1,69 @@
+namespace RobotNet10.RobotApp.Client.Shared.Devices;
+
+/// <summary>
+/// Mô tả một property của thiết bị (dùng để hiển thị trên web UI)
+/// </summary>
+public class PropertyDescription
+{
+    /// <summary>
+    /// Tên key của property (phải khớp với key trong Properties dictionary)
+    /// </summary>
+    public string Key { get; set; } = string.Empty;
+
+    /// <summary>
+    /// Tên hiển thị trên UI
+    /// </summary>
+    public string DisplayName { get; set; } = string.Empty;
+
+    /// <summary>
+    /// Mô tả chi tiết về property
+    /// </summary>
+    public string? Description { get; set; }
+
+    /// <summary>
+    /// Loại dữ liệu (ví dụ: "string", "number", "boolean", "date", "url", etc.)
+    /// </summary>
+    public string DataType { get; set; } = "string";
+
+    /// <summary>
+    /// Đơn vị đo (ví dụ: "V", "A", "Hz", "°C", "m/s", etc.) - null nếu không có
+    /// </summary>
+    public string? Unit { get; set; }
+
+    /// <summary>
+    /// Giá trị mặc định
+    /// </summary>
+    public string? DefaultValue { get; set; }
+
+    /// <summary>
+    /// Có thể chỉnh sửa trên UI hay không
+    /// </summary>
+    public bool IsReadOnly { get; set; } = false;
+
+    /// <summary>
+    /// Thứ tự hiển thị trên UI (số nhỏ hơn hiển thị trước)
+    /// </summary>
+    public int DisplayOrder { get; set; } = 0;
+
+    /// <summary>
+    /// Nhóm/category của property (để nhóm các properties lại với nhau trên UI)
+    /// </summary>
+    public string? Category { get; set; }
+
+    /// <summary>
+    /// Format string để hiển thị giá trị (ví dụ: "{0:F2}", "{0:yyyy-MM-dd}", etc.)
+    /// </summary>
+    public string? Format { get; set; }
+
+    public PropertyDescription()
+    {
+    }
+
+    public PropertyDescription(string key, string displayName, string? description = null)
+    {
+        Key = key ?? throw new ArgumentNullException(nameof(key));
+        DisplayName = displayName ?? throw new ArgumentNullException(nameof(displayName));
+        Description = description;
+    }
+}
+

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Shared/Devices/RfHandleDataDto.cs

@@ -0,0 +1,29 @@
+namespace RobotNet10.RobotApp.Client.Shared.Devices;
+
+
+// ======================================================================
+// DTO LITE – khớp 100% IRfHandle Lite + RfHandleHub Lite
+// ======================================================================
+public class RfHandleDataDto
+{
+    public string DeviceId { get; set; } = "";
+
+    public int Heartbeat { get; set; }
+    public bool RemoteReady { get; set; }
+    public bool EStop { get; set; }
+
+    public bool LiftUp { get; set; }
+    public bool LiftDown { get; set; }
+    public bool RotateLeft { get; set; }
+    public bool RotateRight { get; set; }
+
+    public bool ModeSelect { get; set; }
+    public bool Enable { get; set; }
+
+    public int Speed { get; set; }
+    public double Linear { get; set; }
+    public double Angular { get; set; }
+    public string Mode { get; set; } = "Unknown";
+
+    public DateTime LastUpdateTime { get; set; }
+}

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Shared/Modules/LiftModuleStatusDto.cs

@@ -0,0 +1,11 @@
+namespace RobotNet10.RobotApp.Client.Shared.Modules;
+
+/// <summary>
+/// DTO cho trạng thái LiftModule (dùng cho SignalR)
+/// </summary>
+public class LiftModuleStatusDto
+{
+    public string State { get; set; } = string.Empty;
+    public bool IsReady { get; set; }
+    public int CurrentPosition { get; set; }
+}

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Shared/Modules/RotationModuleStatusDto.cs

@@ -0,0 +1,11 @@
+namespace RobotNet10.RobotApp.Client.Shared.Modules;
+
+/// <summary>
+/// DTO cho trạng thái RotationModule (dùng cho SignalR)
+/// </summary>
+public class RotationModuleStatusDto
+{
+    public string State { get; set; } = string.Empty;
+    public bool IsReady { get; set; }
+    public double CurrentAngle { get; set; }
+}

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Shared/Motion/ManualControlStatusDto.cs

@@ -0,0 +1,31 @@
+namespace RobotNet10.RobotApp.Client.Shared.Motion;
+
+/// <summary>
+/// DTO cho trạng thái ManualControlService
+/// </summary>
+public class ManualControlStatusDto
+{
+    public string State { get; set; } = string.Empty;
+    public bool IsEnabled { get; set; }
+    public double CurrentLinearVelocity { get; set; }
+    public double CurrentAngularVelocity { get; set; }
+    public RfHandleStatusDto? RfHandleStatus { get; set; }
+}
+
+/// <summary>
+/// DTO cho trạng thái RF Handle
+/// </summary>
+public class RfHandleStatusDto
+{
+    public int Heartbeat { get; set; }
+    public bool Ready { get; set; }
+    public bool Locked { get; set; }
+    public bool EStop { get; set; }
+    public bool Enable { get; set; }
+    public int Speed { get; set; }
+    public double Linear { get; set; }
+    public double Angular { get; set; }
+    public string Mode { get; set; } = string.Empty;
+    public DateTime LastUpdateTime { get; set; }
+}
+

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Shared/Motion/OdometryDto.cs

@@ -0,0 +1,95 @@
+namespace RobotNet10.RobotApp.Client.Shared.Motion;
+
+/// <summary>
+/// DTO cho thông tin Odometry từ IOdometryEstimator
+/// SignalR serialization-friendly version using simple properties
+/// instead of System.Numerics types which don't serialize properly with System.Text.Json
+/// </summary>
+public class OdometryDto
+{
+    /// <summary>
+    /// Timestamp của pose
+    /// </summary>
+    public DateTime Timestamp { get; set; }
+
+    /// <summary>
+    /// Frame ID (header.frame_id, parent frame, typically "odom")
+    /// </summary>
+    public string FrameId { get; set; } = "odom";
+
+    /// <summary>
+    /// Child frame ID (typically "base_link" or "base_footprint") - cùng giá trị gửi lên XLOC
+    /// </summary>
+    public string ChildFrameId { get; set; } = "base_link";
+
+    /// <summary>
+    /// Position X (meters)
+    /// </summary>
+    public double PositionX { get; set; }
+
+    /// <summary>
+    /// Position Y (meters)
+    /// </summary>
+    public double PositionY { get; set; }
+
+    /// <summary>
+    /// Position Z (meters)
+    /// </summary>
+    public double PositionZ { get; set; }
+
+    /// <summary>
+    /// Orientation Quaternion X
+    /// </summary>
+    public double OrientationX { get; set; }
+
+    /// <summary>
+    /// Orientation Quaternion Y
+    /// </summary>
+    public double OrientationY { get; set; }
+
+    /// <summary>
+    /// Orientation Quaternion Z
+    /// </summary>
+    public double OrientationZ { get; set; }
+
+    /// <summary>
+    /// Orientation Quaternion W
+    /// </summary>
+    public double OrientationW { get; set; }
+
+    /// <summary>
+    /// Tần số update odometry hiện tại (Hz)
+    /// </summary>
+    public double UpdateFrequency { get; set; }
+
+    /// <summary>
+    /// Vận tốc tuyến tính X (m/s) - hướng tiến
+    /// </summary>
+    public double LinearVelocityX { get; set; }
+
+    /// <summary>
+    /// Vận tốc tuyến tính Y (m/s)
+    /// </summary>
+    public double LinearVelocityY { get; set; }
+
+    /// <summary>
+    /// Vận tốc tuyến tính Z (m/s)
+    /// </summary>
+    public double LinearVelocityZ { get; set; }
+
+    /// <summary>
+    /// Vận tốc góc X (rad/s)
+    /// </summary>
+    public double AngularVelocityX { get; set; }
+
+    /// <summary>
+    /// Vận tốc góc Y (rad/s)
+    /// </summary>
+    public double AngularVelocityY { get; set; }
+
+    /// <summary>
+    /// Vận tốc góc Z (rad/s) - quay quanh trục dọc
+    /// </summary>
+    public double AngularVelocityZ { get; set; }
+}
+

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Shared/Plc/PlcControllerStatusDto.cs

@@ -0,0 +1,60 @@
+using RobotNet.VDA5050.Type;
+
+namespace RobotNet10.RobotApp.Client.Shared.Plc;
+
+/// <summary>
+/// DTO cho trạng thái PlcController (dùng cho SignalR)
+/// </summary>
+public class PlcControllerStatusDto
+{
+    public bool IsReady { get; set; }
+
+    // Operating mode
+    public string PeripheralMode { get; set; } = string.Empty;
+    public string SafetySpeed { get; set; } = string.Empty;
+
+    // Safety sensors
+    public bool Emergency { get; set; }
+    public bool Bumper { get; set; }
+    public bool LidarFrontProtectField { get; set; }
+    public bool LidarBackProtectField { get; set; }
+    public bool LidarFrontTimProtectField { get; set; }
+
+    // Lift state
+    public bool LiftedUp { get; set; }
+    public bool LiftedDown { get; set; }
+    public bool LiftHome { get; set; }
+
+    // Motor state
+    public bool LeftMotorReady { get; set; }
+    public bool RightMotorReady { get; set; }
+    public bool LiftMotorReady { get; set; }
+
+    // Button state
+    public bool ButtonStart { get; set; }
+    public bool ButtonStop { get; set; }
+    public bool ButtonReset { get; set; }
+
+    // Other state
+    public bool HasLoad { get; set; }
+    public bool EnabledCharger { get; set; }
+    public bool Charging { get; set; }
+    public bool MutedBase { get; set; }
+    public bool MutedLoad { get; set; }
+
+    // Current stop state (for display)
+    public string StopState { get; set; } = "None";
+
+    // Write state - các giá trị đã được ghi xuống PLC
+    public string CurrentSystemState { get; set; } = "INIT";
+    public string CurrentOperationState { get; set; } = "None";
+    public string CurrentRFMode { get; set; } = "None";
+    public bool SetHorizontalLoadValue { get; set; }
+    public bool SetMutedBaseValue { get; set; }
+    public bool SetMutedLoadValue { get; set; }
+    public bool SetEnableChargerValue { get; set; }
+    public bool SetHasLoadValue { get; set; }
+    public bool SetRFEStopValue { get; set; }
+    public bool SetBatteryLowValue { get; set; }
+    public bool SetLightOnValue { get; set; }
+}

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp.Client/Shared/SLAM/SLAMDtos.cs

@@ -0,0 +1,256 @@
+using RobotNet10.Shared.Geometry;
+using RobotNet10.Shared.Numbers;
+using QuaternionGeometry = RobotNet10.Shared.Geometry.Quaternion;
+
+namespace RobotNet10.RobotApp.Client.Shared.SLAM;
+
+/// <summary>
+/// DTO cho Pose với covariance (3x3 matrix flattened to 9 values)
+/// </summary>
+public class PoseDto
+{
+    public RobotNet10.Shared.Numbers.Vector3 Position { get; set; } = new();
+    public QuaternionGeometry Orientation { get; set; } = new();
+    
+    /// <summary>
+    /// Covariance matrix (3x3) flattened to 9 values: [xx, xy, xθ, yx, yy, yθ, θx, θy, θθ]
+    /// null if covariance is not available
+    /// </summary>
+    public double[]? Covariance { get; set; }
+
+    public double Score {  get; set; }
+    
+    public DateTime Timestamp { get; set; }
+}
+
+/// <summary>
+/// DTO cho OccupancyGrid (optimized sparse format for SignalR transmission)
+/// Chỉ chứa các cell đã biết (known cells) và occupied cells để giảm bandwidth
+/// </summary>
+public class OccupancyGridDto
+{
+    public double Resolution { get; set; }
+    public int Width { get; set; }
+    public int Height { get; set; }
+    public Pose Origin { get; set; } = new();
+    
+    /// <summary>
+    /// Sparse format: chỉ chứa các cell đã biết (value >= 0)
+    /// Format: byte[] với mỗi cell = 5 bytes: [index_byte0, index_byte1, index_byte2, index_byte3, value]
+    /// Index: 4 bytes little-endian (32-bit unsigned integer, max 4,294,967,295)
+    /// Value: 1 byte (0-100 = occupancy probability, 0 = free, 100 = occupied)
+    /// Index được tính: y * Width + x (row-major order)
+    /// </summary>
+    public byte[] KnownCells { get; set; } = [];
+    
+    /// <summary>
+    /// Version number để detect changes (increment mỗi khi grid thay đổi)
+    /// </summary>
+    public long Version { get; set; }
+    
+    /// <summary>
+    /// Thời gian cuối cùng update grid base (từ CartographerService.LastUpdatedBase).
+    /// </summary>
+    public DateTime LastBaseUpdated { get; set; }
+    
+    /// <summary>
+    /// Thời gian cuối cùng update OccupancyGridUpdating (từ CartographerService.LastUpdatedUpdating).
+    /// </summary>
+    public DateTime LastUpdated { get; set; }
+
+    /// <summary>
+    /// Trajectory nodes (từ pose graph) kèm theo grid; dùng để vẽ trajectory polyline.
+    /// Có khi lấy grid base hoặc grid updating.
+    /// </summary>
+    public TrajectoryNodeDto[]? TrajectoryNodes { get; set; }
+}
+
+/// <summary>
+/// DTO cho TrajectoryNode
+/// </summary>
+public class TrajectoryNodeDto
+{
+    public int NodeId { get; set; }
+    public Pose Pose { get; set; } = new();
+    public DateTime Timestamp { get; set; }
+}
+
+/// <summary>
+/// DTO cho MapInfo
+/// </summary>
+public class MapInfoDto
+{
+    public string Name { get; set; } = string.Empty;
+    public DateTime CreatedDate { get; set; }
+    public double Resolution { get; set; }
+    /// <summary>
+    /// Width of map in meters
+    /// </summary>
+    public double Width { get; set; }
+    /// <summary>
+    /// Height of map in meters
+    /// </summary>
+    public double Height { get; set; }
+    public int TrajectoryNodeCount { get; set; }
+    /// <summary>
+    /// Origin X coordinate in meters
+    /// </summary>
+    public double OriginX { get; set; }
+    /// <summary>
+    /// Origin Y coordinate in meters
+    /// </summary>
+    public double OriginY { get; set; }
+
+    /// <summary>
+    /// Indicates if the map is currently being processed on the server
+    /// </summary>
+    public bool IsProcessing { get; set; }
+}
+
+/// <summary>
+/// DTO cho error information
+/// </summary>
+public class ErrorDto
+{
+    public string Message { get; set; } = string.Empty;
+    public DateTime Timestamp { get; set; }
+}
+
+/// <summary>
+/// Strategy for merging multiple submaps into a single occupancy grid.
+/// </summary>
+public enum SubmapMergeStrategyDto
+{
+    /// <summary>
+    /// Porter-Duff Source-Over compositing (Cairo-style).
+    /// </summary>
+    PorterDuff = 0,
+
+    /// <summary>
+    /// Sum log-odds from all submaps (Bayesian approach).
+    /// </summary>
+    LogOddsSum = 1,
+
+    /// <summary>
+    /// Take maximum probability (most pessimistic/conservative).
+    /// </summary>
+    MaxProbability = 2
+}
+
+/// <summary>
+/// DTO cho OccupancyGridConfiguration - dùng để customize cách render occupancy grid
+/// </summary>
+public class OccupancyGridConfigurationDto
+{
+    #region Merge Strategy
+
+    /// <summary>
+    /// Strategy for merging overlapping cells from multiple submaps.
+    /// Default: LogOddsSum (clearer free/occupied distinction)
+    /// </summary>
+    public SubmapMergeStrategyDto MergeStrategy { get; set; } = SubmapMergeStrategyDto.LogOddsSum;
+
+    /// <summary>
+    /// Clamp log-odds to prevent extreme values from dominating.
+    /// Range: [1, 20], Default: 10
+    /// </summary>
+    public double LogOddsClamp { get; set; } = 10.0;
+
+    /// <summary>
+    /// When true, use average log-odds instead of sum.
+    /// Default: true
+    /// </summary>
+    public bool UseLogOddsAverage { get; set; } = true;
+
+    #endregion
+
+    #region Threshold Configuration
+
+    /// <summary>
+    /// Threshold for classifying a cell as FREE.
+    /// Higher value = stricter (fewer free cells).
+    /// Range: [0, 255], Default: 100
+    /// </summary>
+    public int FreeSpaceThreshold { get; set; } = 100;
+
+    /// <summary>
+    /// Threshold for classifying a cell as OCCUPIED.
+    /// Higher value = stricter (fewer occupied cells, thinner walls).
+    /// Range: [0, 255], Default: 0
+    /// </summary>
+    public int OccupiedSpaceThreshold { get; set; } = 0;
+
+    #endregion
+
+    #region Output Mode
+
+    /// <summary>
+    /// When true, output only binary values (0=free, 100=occupied, -1=unknown).
+    /// When false, output gradient values (0-100) based on probability.
+    /// Default: true
+    /// </summary>
+    public bool UseBinaryOutput { get; set; } = true;
+
+    #endregion
+
+    #region Wall Thinning (Post-processing)
+
+    /// <summary>
+    /// Enable morphological erosion to thin walls in the occupancy grid.
+    /// Default: false
+    /// </summary>
+    public bool EnableWallThinning { get; set; } = false;
+
+    /// <summary>
+    /// Number of erosion iterations for wall thinning.
+    /// Range: [1, 5], Default: 1
+    /// </summary>
+    public int WallThinningIterations { get; set; } = 1;
+
+    /// <summary>
+    /// Minimum wall thickness to preserve (in pixels) during wall thinning.
+    /// Range: [1, 10], Default: 1
+    /// </summary>
+    public int MinWallThicknessPixels { get; set; } = 1;
+
+    #endregion
+
+    #region Ambiguous Cell Handling
+
+    /// <summary>
+    /// How to handle ambiguous cells (probability ~0.5).
+    /// Values: -1 = Unknown, 0 = Free, 100 = Occupied
+    /// Default: -1
+    /// </summary>
+    public sbyte AmbiguousCellValue { get; set; } = -1;
+
+    /// <summary>
+    /// Lower bound of the ambiguous range (probability).
+    /// Default: 0.35
+    /// </summary>
+    public double AmbiguousRangeLower { get; set; } = 0.35;
+
+    /// <summary>
+    /// Upper bound of the ambiguous range (probability).
+    /// Default: 0.65
+    /// </summary>
+    public double AmbiguousRangeUpper { get; set; } = 0.65;
+
+    #endregion
+
+    #region Advanced Options
+
+    /// <summary>
+    /// Apply median filter to reduce noise.
+    /// Default: false
+    /// </summary>
+    public bool EnableMedianFilter { get; set; } = false;
+
+    /// <summary>
+    /// Kernel size for median filter (must be odd number).
+    /// Range: [3, 7], Default: 3
+    /// </summary>
+    public int MedianFilterKernelSize { get; set; } = 3;
+
+    #endregion
+}