Initial commit

srcs/RobotNet10/FleetManager/RobotNet10.FleetManager/Services/Script/ScriptRobot.cs

@@ -0,0 +1,52 @@
+using RobotNet10.FleetManager.Script;
+using RobotNet10.FleetManager.Services.RobotController;
+
+namespace RobotNet10.FleetManager.Services.Script;
+
+public class ScriptRobot(string robotId, string robotName, Guid modelId, Guid? mapId, IRobotController robotController) : IRobot
+{
+    public string RobotId { get; } = robotId;
+
+    public string Name { get; } = robotName;
+
+    public Guid ModelId { get; } = modelId;
+
+    public Guid? MapId { get; } = mapId;
+
+    public RobotState State => new( robotController.IsReady,
+                                    robotController.Data.State?.BatteryState.BatteryVoltage ?? 0,
+                                    robotController.Data.State?.Loads ?? [],
+                                    robotController.Data.State?.BatteryState.Charging ?? false,
+                                    robotController.Data.Visualization?.AgvPosition.X ?? 0,
+                                    robotController.Data.Visualization?.AgvPosition.Y ?? 0,
+                                    robotController.Data.Visualization?.AgvPosition.Theta ?? 0);
+
+    public Task AbortMovement()
+    {
+        throw new NotImplementedException();
+    }
+
+    public async Task<RobotResult> Execute(RobotNet.VDA5050.InstantAction.Action action, CancellationToken cancellationToken)
+    {
+        var result = await robotController.SendInstantActionAsync(action, cancellationToken);
+        return new(result.IsSuccess, result.Message);
+    }
+
+    public async Task<RobotResult> MoveToNode(string nodeName, CancellationToken cancellationToken)
+    {
+        var result = await robotController.MoveToNodeAsync(nodeName, null, cancellationToken);
+        return new(result.IsSuccess, result.Message);
+    }
+
+    public async Task<RobotResult> MoveToNode(string nodeName, double lastAngle, CancellationToken cancellationToken)
+    {
+        var result = await robotController.MoveToNodeAsync(nodeName, lastAngle, cancellationToken);
+        return new(result.IsSuccess, result.Message);
+    }
+
+    public async Task<RobotResult> MoveToStation(string stationName, StationAction action, CancellationToken cancellationToken)
+    {
+        var result = await robotController.MoveToStationAsync(stationName, action, cancellationToken);
+        return new(result.IsSuccess, result.Message);
+    }
+}